426 lines
68 KiB
TeX
426 lines
68 KiB
TeX
\doxysection{BNO08x.\+hpp}
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\hypertarget{_b_n_o08x_8hpp_source}{}\label{_b_n_o08x_8hpp_source}\index{esp32\_BNO08x/BNO08x.hpp@{esp32\_BNO08x/BNO08x.hpp}}
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\mbox{\hyperlink{_b_n_o08x_8hpp}{Go to the documentation of this file.}}
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\begin{DoxyCode}{0}
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\DoxyCodeLine{00001\ \textcolor{preprocessor}{\#pragma\ once}}
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\DoxyCodeLine{00002\ \textcolor{preprocessor}{\#include\ <driver/gpio.h>}}
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\DoxyCodeLine{00003\ \textcolor{preprocessor}{\#include\ <driver/spi\_common.h>}}
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\DoxyCodeLine{00004\ \textcolor{preprocessor}{\#include\ <driver/spi\_master.h>}}
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\DoxyCodeLine{00005\ \textcolor{preprocessor}{\#include\ <esp\_log.h>}}
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\DoxyCodeLine{00006\ \textcolor{preprocessor}{\#include\ <esp\_rom\_gpio.h>}}
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\DoxyCodeLine{00007\ \textcolor{preprocessor}{\#include\ <esp\_timer.h>}}
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\DoxyCodeLine{00008\ \textcolor{preprocessor}{\#include\ <freertos/FreeRTOS.h>}}
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\DoxyCodeLine{00009\ \textcolor{preprocessor}{\#include\ <freertos/semphr.h>}}
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\DoxyCodeLine{00010\ \textcolor{preprocessor}{\#include\ <freertos/task.h>}}
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\DoxyCodeLine{00011\ \textcolor{preprocessor}{\#include\ <rom/ets\_sys.h>}}
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\DoxyCodeLine{00012\ }
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\DoxyCodeLine{00013\ \textcolor{preprocessor}{\#include\ <inttypes.h>}}
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\DoxyCodeLine{00014\ \textcolor{preprocessor}{\#include\ <math.h>}}
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\DoxyCodeLine{00015\ \textcolor{preprocessor}{\#include\ <stdio.h>}}
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\DoxyCodeLine{00016\ \textcolor{preprocessor}{\#include\ <cstring>}}
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\DoxyCodeLine{00017\ }
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\DoxyCodeLine{00019\ \textcolor{keyword}{enum}\ \mbox{\hyperlink{_b_n_o08x_8hpp_aac50a1392dd0aa905500c755148c556b}{channels\_t}}}
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\DoxyCodeLine{00020\ \{}
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\DoxyCodeLine{00021\ \ \ \ \ \mbox{\hyperlink{_b_n_o08x_8hpp_aac50a1392dd0aa905500c755148c556ba1cb5955609063cff1ba49147e786e610}{CHANNEL\_COMMAND}},}
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\DoxyCodeLine{00022\ \ \ \ \ \mbox{\hyperlink{_b_n_o08x_8hpp_aac50a1392dd0aa905500c755148c556ba8a5de65712767758887f8fad9523bb72}{CHANNEL\_EXECUTABLE}},}
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\DoxyCodeLine{00023\ \ \ \ \ \mbox{\hyperlink{_b_n_o08x_8hpp_aac50a1392dd0aa905500c755148c556ba6c5ca5e5847c55b469afbb435e15b5f0}{CHANNEL\_CONTROL}},}
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\DoxyCodeLine{00024\ \ \ \ \ \mbox{\hyperlink{_b_n_o08x_8hpp_aac50a1392dd0aa905500c755148c556ba22f0b2ae6fcdc8618a078b0579d09e4a}{CHANNEL\_REPORTS}},}
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\DoxyCodeLine{00025\ \ \ \ \ \mbox{\hyperlink{_b_n_o08x_8hpp_aac50a1392dd0aa905500c755148c556bafbb907d12060466f58dd56d3e2430747}{CHANNEL\_WAKE\_REPORTS}},}
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\DoxyCodeLine{00026\ \ \ \ \ \mbox{\hyperlink{_b_n_o08x_8hpp_aac50a1392dd0aa905500c755148c556bafd513a698e54122cec579d9450482832}{CHANNEL\_GYRO}}}
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\DoxyCodeLine{00027\ \};}
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\DoxyCodeLine{00028\ }
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\DoxyCodeLine{00030\ \textcolor{keyword}{enum\ class}\ \mbox{\hyperlink{_b_n_o08x_8hpp_adb7d85b4fa619c860031f469261c6279}{IMUAccuracy}}}
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\DoxyCodeLine{00031\ \{}
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\DoxyCodeLine{00032\ \ \ \ \ \mbox{\hyperlink{_b_n_o08x_8hpp_adb7d85b4fa619c860031f469261c6279a41bc94cbd8eebea13ce0491b2ac11b88}{LOW}}\ =\ 1,}
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\DoxyCodeLine{00033\ \ \ \ \ \mbox{\hyperlink{_b_n_o08x_8hpp_adb7d85b4fa619c860031f469261c6279a2ad6d5975c45da2e711c796f3a1b029c}{MED}},}
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\DoxyCodeLine{00034\ \ \ \ \ \mbox{\hyperlink{_b_n_o08x_8hpp_adb7d85b4fa619c860031f469261c6279ab89de3b4b81c4facfac906edf29aec8c}{HIGH}}}
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\DoxyCodeLine{00035\ \};}
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\DoxyCodeLine{00036\ }
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\DoxyCodeLine{00038\ \textcolor{keyword}{typedef}\ \textcolor{keyword}{struct\ }\mbox{\hyperlink{structbno08x__config__t}{bno08x\_config\_t}}}
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\DoxyCodeLine{00039\ \{}
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\DoxyCodeLine{00040\ \ \ \ \ \ \ \ \ spi\_host\_device\_t\ \mbox{\hyperlink{structbno08x__config__t_a020d2343750bb7debc2a108ae038c9ec}{spi\_peripheral}};\ }
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\DoxyCodeLine{00041\ \ \ \ \ \ \ \ \ gpio\_num\_t\ \mbox{\hyperlink{structbno08x__config__t_a79023fd80039e41a22b7f73ccd5fc861}{io\_mosi}};\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ }
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\DoxyCodeLine{00042\ \ \ \ \ \ \ \ \ gpio\_num\_t\ \mbox{\hyperlink{structbno08x__config__t_a9468180a773892977db39cc5ed9368e3}{io\_miso}};\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ }
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\DoxyCodeLine{00043\ \ \ \ \ \ \ \ \ gpio\_num\_t\ \mbox{\hyperlink{structbno08x__config__t_a639685b91ae3198909d722316495246a}{io\_sclk}};\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ }
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\DoxyCodeLine{00044\ \ \ \ \ \ \ \ \ gpio\_num\_t\ \mbox{\hyperlink{structbno08x__config__t_ab1b5351b63da0c172c942463d0dc2505}{io\_cs}};\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ }
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\DoxyCodeLine{00045\ \ \ \ \ \ \ \ \ gpio\_num\_t\ \mbox{\hyperlink{structbno08x__config__t_a3cfe965659cfbc6b0c5269bd0211975f}{io\_int}};\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ }
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\DoxyCodeLine{00046\ \ \ \ \ \ \ \ \ gpio\_num\_t\ \mbox{\hyperlink{structbno08x__config__t_a62745c761219139f66ecd173b51577fc}{io\_rst}};\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ }
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\DoxyCodeLine{00047\ \ \ \ \ \ \ \ \ gpio\_num\_t\ \mbox{\hyperlink{structbno08x__config__t_a90ad7f316dc443874d19dc7e723a0ce0}{io\_wake}};\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ }
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\DoxyCodeLine{00048\ \ \ \ \ \ \ \ \ uint64\_t\ \mbox{\hyperlink{structbno08x__config__t_a652ad01310ba21afcae1bb765de51cfe}{sclk\_speed}};\ \ \ \ \ \ \ \ \ \ \ \ \ \ }
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\DoxyCodeLine{00049\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{bool}\ \mbox{\hyperlink{structbno08x__config__t_a720c215a75b3922ffa6f683e7ca70abe}{debug\_en}};\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ }
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\DoxyCodeLine{00050\ }
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\DoxyCodeLine{00051\ \textcolor{preprocessor}{\#ifdef\ ESP32C3\_IMU\_CONFIG}}
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\DoxyCodeLine{00054\ \ \ \ \ \ \ \ \ \mbox{\hyperlink{structbno08x__config__t_abf8805292192f4c30c5000423175a2e1}{bno08x\_config\_t}}()}
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\DoxyCodeLine{00055\ \ \ \ \ \ \ \ \ \ \ \ \ :\ \mbox{\hyperlink{structbno08x__config__t_a020d2343750bb7debc2a108ae038c9ec}{spi\_peripheral}}(SPI2\_HOST)}
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\DoxyCodeLine{00056\ \ \ \ \ \ \ \ \ \ \ \ \ ,\ \mbox{\hyperlink{structbno08x__config__t_a79023fd80039e41a22b7f73ccd5fc861}{io\_mosi}}(GPIO\_NUM\_4)}
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\DoxyCodeLine{00057\ \ \ \ \ \ \ \ \ \ \ \ \ ,\ \mbox{\hyperlink{structbno08x__config__t_a9468180a773892977db39cc5ed9368e3}{io\_miso}}(GPIO\_NUM\_19)}
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\DoxyCodeLine{00058\ \ \ \ \ \ \ \ \ \ \ \ \ ,\ \mbox{\hyperlink{structbno08x__config__t_a639685b91ae3198909d722316495246a}{io\_sclk}}(GPIO\_NUM\_18)}
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\DoxyCodeLine{00059\ \ \ \ \ \ \ \ \ \ \ \ \ ,\ \mbox{\hyperlink{structbno08x__config__t_ab1b5351b63da0c172c942463d0dc2505}{io\_cs}}(GPIO\_NUM\_5)}
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\DoxyCodeLine{00060\ \ \ \ \ \ \ \ \ \ \ \ \ ,\ \mbox{\hyperlink{structbno08x__config__t_a3cfe965659cfbc6b0c5269bd0211975f}{io\_int}}(GPIO\_NUM\_6)}
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\DoxyCodeLine{00061\ \ \ \ \ \ \ \ \ \ \ \ \ ,\ \mbox{\hyperlink{structbno08x__config__t_a62745c761219139f66ecd173b51577fc}{io\_rst}}(GPIO\_NUM\_7)}
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\DoxyCodeLine{00062\ \ \ \ \ \ \ \ \ \ \ \ \ ,\ \mbox{\hyperlink{structbno08x__config__t_a90ad7f316dc443874d19dc7e723a0ce0}{io\_wake}}(GPIO\_NUM\_NC)}
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\DoxyCodeLine{00063\ \ \ \ \ \ \ \ \ \ \ \ \ ,\ \mbox{\hyperlink{structbno08x__config__t_a652ad01310ba21afcae1bb765de51cfe}{sclk\_speed}}(2000000UL)\ \textcolor{comment}{//\ 2MHz\ SCLK\ speed}}
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\DoxyCodeLine{00064\ \ \ \ \ \ \ \ \ \ \ \ \ ,\ \mbox{\hyperlink{structbno08x__config__t_a720c215a75b3922ffa6f683e7ca70abe}{debug\_en}}(false)}
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\DoxyCodeLine{00065\ \ \ \ \ \ \ \ \ \{}
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\DoxyCodeLine{00066\ \ \ \ \ \ \ \ \ \}}
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\DoxyCodeLine{00067\ \textcolor{preprocessor}{\#else}}
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\DoxyCodeLine{00069\ \ \ \ \ \ \ \ \ \mbox{\hyperlink{structbno08x__config__t_abf8805292192f4c30c5000423175a2e1}{bno08x\_config\_t}}()}
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\DoxyCodeLine{00070\ \ \ \ \ \ \ \ \ \ \ \ \ :\ \mbox{\hyperlink{structbno08x__config__t_a020d2343750bb7debc2a108ae038c9ec}{spi\_peripheral}}(SPI3\_HOST)}
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\DoxyCodeLine{00071\ \ \ \ \ \ \ \ \ \ \ \ \ ,\ \mbox{\hyperlink{structbno08x__config__t_a79023fd80039e41a22b7f73ccd5fc861}{io\_mosi}}(GPIO\_NUM\_23)}
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\DoxyCodeLine{00072\ \ \ \ \ \ \ \ \ \ \ \ \ ,\ \mbox{\hyperlink{structbno08x__config__t_a9468180a773892977db39cc5ed9368e3}{io\_miso}}(GPIO\_NUM\_19)}
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\DoxyCodeLine{00073\ \ \ \ \ \ \ \ \ \ \ \ \ ,\ \mbox{\hyperlink{structbno08x__config__t_a639685b91ae3198909d722316495246a}{io\_sclk}}(GPIO\_NUM\_18)}
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\DoxyCodeLine{00074\ \ \ \ \ \ \ \ \ \ \ \ \ ,\ \mbox{\hyperlink{structbno08x__config__t_ab1b5351b63da0c172c942463d0dc2505}{io\_cs}}(GPIO\_NUM\_33)}
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\DoxyCodeLine{00075\ \ \ \ \ \ \ \ \ \ \ \ \ ,\ \mbox{\hyperlink{structbno08x__config__t_a3cfe965659cfbc6b0c5269bd0211975f}{io\_int}}(GPIO\_NUM\_26)}
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\DoxyCodeLine{00076\ \ \ \ \ \ \ \ \ \ \ \ \ ,\ \mbox{\hyperlink{structbno08x__config__t_a62745c761219139f66ecd173b51577fc}{io\_rst}}(GPIO\_NUM\_32)}
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\DoxyCodeLine{00077\ \ \ \ \ \ \ \ \ \ \ \ \ ,\ \mbox{\hyperlink{structbno08x__config__t_a90ad7f316dc443874d19dc7e723a0ce0}{io\_wake}}(GPIO\_NUM\_NC)}
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\DoxyCodeLine{00078\ \ \ \ \ \ \ \ \ \ \ \ \ ,\ \mbox{\hyperlink{structbno08x__config__t_a652ad01310ba21afcae1bb765de51cfe}{sclk\_speed}}(2000000UL)\ \textcolor{comment}{//\ 2MHz\ SCLK\ speed}}
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\DoxyCodeLine{00079\ \ \ \ \ \ \ \ \ \ \ \ \ \textcolor{comment}{//\ ,\ sclk\_speed(10000U),\ //clock\ slowed\ to\ see\ on\ AD2}}
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\DoxyCodeLine{00080\ \ \ \ \ \ \ \ \ \ \ \ \ ,\ \mbox{\hyperlink{structbno08x__config__t_a720c215a75b3922ffa6f683e7ca70abe}{debug\_en}}(false)}
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\DoxyCodeLine{00081\ }
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\DoxyCodeLine{00082\ \ \ \ \ \ \ \ \ \{}
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\DoxyCodeLine{00083\ \ \ \ \ \ \ \ \ \}}
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\DoxyCodeLine{00084\ \textcolor{preprocessor}{\#endif}}
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\DoxyCodeLine{00086\ \ \ \ \ \ \ \ \ \mbox{\hyperlink{structbno08x__config__t_ae02a72c63211b734cc420cee6f4b5017}{bno08x\_config\_t}}(spi\_host\_device\_t\ \mbox{\hyperlink{structbno08x__config__t_a020d2343750bb7debc2a108ae038c9ec}{spi\_peripheral}},\ gpio\_num\_t\ \mbox{\hyperlink{structbno08x__config__t_a79023fd80039e41a22b7f73ccd5fc861}{io\_mosi}},\ gpio\_num\_t\ \mbox{\hyperlink{structbno08x__config__t_a9468180a773892977db39cc5ed9368e3}{io\_miso}},\ gpio\_num\_t\ \mbox{\hyperlink{structbno08x__config__t_a639685b91ae3198909d722316495246a}{io\_sclk}},\ gpio\_num\_t\ \mbox{\hyperlink{structbno08x__config__t_ab1b5351b63da0c172c942463d0dc2505}{io\_cs}},}
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\DoxyCodeLine{00087\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ gpio\_num\_t\ \mbox{\hyperlink{structbno08x__config__t_a3cfe965659cfbc6b0c5269bd0211975f}{io\_int}},\ gpio\_num\_t\ \mbox{\hyperlink{structbno08x__config__t_a62745c761219139f66ecd173b51577fc}{io\_rst}},\ gpio\_num\_t\ \mbox{\hyperlink{structbno08x__config__t_a90ad7f316dc443874d19dc7e723a0ce0}{io\_wake}},\ uint64\_t\ \mbox{\hyperlink{structbno08x__config__t_a652ad01310ba21afcae1bb765de51cfe}{sclk\_speed}},\ \textcolor{keywordtype}{bool}\ debug)}
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\DoxyCodeLine{00088\ \ \ \ \ \ \ \ \ \ \ \ \ :\ \mbox{\hyperlink{structbno08x__config__t_a020d2343750bb7debc2a108ae038c9ec}{spi\_peripheral}}(\mbox{\hyperlink{structbno08x__config__t_a020d2343750bb7debc2a108ae038c9ec}{spi\_peripheral}})}
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\DoxyCodeLine{00089\ \ \ \ \ \ \ \ \ \ \ \ \ ,\ \mbox{\hyperlink{structbno08x__config__t_a79023fd80039e41a22b7f73ccd5fc861}{io\_mosi}}(\mbox{\hyperlink{structbno08x__config__t_a79023fd80039e41a22b7f73ccd5fc861}{io\_mosi}})}
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\DoxyCodeLine{00090\ \ \ \ \ \ \ \ \ \ \ \ \ ,\ \mbox{\hyperlink{structbno08x__config__t_a9468180a773892977db39cc5ed9368e3}{io\_miso}}(\mbox{\hyperlink{structbno08x__config__t_a9468180a773892977db39cc5ed9368e3}{io\_miso}})}
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\DoxyCodeLine{00091\ \ \ \ \ \ \ \ \ \ \ \ \ ,\ \mbox{\hyperlink{structbno08x__config__t_a639685b91ae3198909d722316495246a}{io\_sclk}}(\mbox{\hyperlink{structbno08x__config__t_a639685b91ae3198909d722316495246a}{io\_sclk}})}
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\DoxyCodeLine{00092\ \ \ \ \ \ \ \ \ \ \ \ \ ,\ \mbox{\hyperlink{structbno08x__config__t_ab1b5351b63da0c172c942463d0dc2505}{io\_cs}}(\mbox{\hyperlink{structbno08x__config__t_ab1b5351b63da0c172c942463d0dc2505}{io\_cs}})}
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\DoxyCodeLine{00093\ \ \ \ \ \ \ \ \ \ \ \ \ ,\ \mbox{\hyperlink{structbno08x__config__t_a3cfe965659cfbc6b0c5269bd0211975f}{io\_int}}(\mbox{\hyperlink{structbno08x__config__t_a3cfe965659cfbc6b0c5269bd0211975f}{io\_int}})}
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\DoxyCodeLine{00094\ \ \ \ \ \ \ \ \ \ \ \ \ ,\ \mbox{\hyperlink{structbno08x__config__t_a62745c761219139f66ecd173b51577fc}{io\_rst}}(\mbox{\hyperlink{structbno08x__config__t_a62745c761219139f66ecd173b51577fc}{io\_rst}})}
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\DoxyCodeLine{00095\ \ \ \ \ \ \ \ \ \ \ \ \ ,\ \mbox{\hyperlink{structbno08x__config__t_a90ad7f316dc443874d19dc7e723a0ce0}{io\_wake}}(\mbox{\hyperlink{structbno08x__config__t_a90ad7f316dc443874d19dc7e723a0ce0}{io\_wake}})}
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\DoxyCodeLine{00096\ \ \ \ \ \ \ \ \ \ \ \ \ ,\ \mbox{\hyperlink{structbno08x__config__t_a652ad01310ba21afcae1bb765de51cfe}{sclk\_speed}}(\mbox{\hyperlink{structbno08x__config__t_a652ad01310ba21afcae1bb765de51cfe}{sclk\_speed}})}
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\DoxyCodeLine{00097\ \ \ \ \ \ \ \ \ \ \ \ \ ,\ \mbox{\hyperlink{structbno08x__config__t_a720c215a75b3922ffa6f683e7ca70abe}{debug\_en}}(false)}
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\DoxyCodeLine{00098\ }
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\DoxyCodeLine{00099\ \ \ \ \ \ \ \ \ \{}
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\DoxyCodeLine{00100\ \ \ \ \ \ \ \ \ \}}
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\DoxyCodeLine{00101\ \}\ \mbox{\hyperlink{_b_n_o08x_8hpp_a648bbdbf22731476890dd8da977d7503}{bno08x\_config\_t}};}
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\DoxyCodeLine{00102\ }
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\DoxyCodeLine{00103\ \textcolor{keyword}{class\ }\mbox{\hyperlink{class_b_n_o08x}{BNO08x}}}
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\DoxyCodeLine{00104\ \{}
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\DoxyCodeLine{00105\ \ \ \ \ \textcolor{keyword}{public}:}
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\DoxyCodeLine{00106\ \ \ \ \ \ \ \ \ \mbox{\hyperlink{class_b_n_o08x_a40f7688e843d74b8bd526c6f5ff17845}{BNO08x}}(\mbox{\hyperlink{structbno08x__config__t}{bno08x\_config\_t}}\ \mbox{\hyperlink{class_b_n_o08x_aeda443e9f608fccfec0e6770edc90c82}{imu\_config}}\ =\ \mbox{\hyperlink{class_b_n_o08x_a6232920a05c0aba34e5560951a20ae87}{default\_imu\_config}});}
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\DoxyCodeLine{00107\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{bool}\ \mbox{\hyperlink{class_b_n_o08x_aea8e2c6dd7a2c9899479a7f39fe94798}{initialize}}();}
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\DoxyCodeLine{00108\ }
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\DoxyCodeLine{00109\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{bool}\ \mbox{\hyperlink{class_b_n_o08x_a28cd1c0b3477571d87133234e6358503}{hard\_reset}}();}
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\DoxyCodeLine{00110\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{bool}\ \mbox{\hyperlink{class_b_n_o08x_a973a1b1785f3302ee1b2702c6a27646e}{soft\_reset}}();}
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\DoxyCodeLine{00111\ \ \ \ \ \ \ \ \ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a11bb1b3fa44ad8f28c1492b5c07af886}{get\_reset\_reason}}();}
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\DoxyCodeLine{00112\ }
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\DoxyCodeLine{00113\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{bool}\ \mbox{\hyperlink{class_b_n_o08x_a176ae0112325c05105eacb4566bbfa0b}{mode\_sleep}}();}
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\DoxyCodeLine{00114\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{bool}\ \mbox{\hyperlink{class_b_n_o08x_ac1b3de9b552c611ee9c455d7f19be698}{mode\_on}}();}
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\DoxyCodeLine{00115\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_a27fb24e894f794ec6228ef142b6ff8d9}{q\_to\_float}}(int16\_t\ fixed\_point\_value,\ uint8\_t\ q\_point);}
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\DoxyCodeLine{00116\ }
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\DoxyCodeLine{00117\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{bool}\ \mbox{\hyperlink{class_b_n_o08x_ae6e875a27ae74ebed806ee1a4576845a}{run\_full\_calibration\_routine}}();}
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\DoxyCodeLine{00118\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_afd0ca5f9b9741935543d143a5a43d128}{calibrate\_all}}();}
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\DoxyCodeLine{00119\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_aeffce374f558a167d5b5f19ad627e7cc}{calibrate\_accelerometer}}();}
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\DoxyCodeLine{00120\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_a9ada90f8ab6dd33fa2d7c168d9234af1}{calibrate\_gyro}}();}
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\DoxyCodeLine{00121\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_ac26350b55095a346d72598ab8aa74b4a}{calibrate\_magnetometer}}();}
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\DoxyCodeLine{00122\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_a1c6c49c97bc098db89db1aaa37e18f26}{calibrate\_planar\_accelerometer}}();}
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\DoxyCodeLine{00123\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_affaaa35abbb872da5299ebab6e2c9b11}{request\_calibration\_status}}();}
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\DoxyCodeLine{00124\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{bool}\ \mbox{\hyperlink{class_b_n_o08x_a71ca35f78b98d93d31eb0c187dc8543b}{calibration\_complete}}();}
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\DoxyCodeLine{00125\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_ac9d9b6636745e8180807284da67c92a2}{end\_calibration}}();}
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\DoxyCodeLine{00126\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_aa16609de88bfb7b389348859aa0cee54}{save\_calibration}}();}
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\DoxyCodeLine{00127\ }
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\DoxyCodeLine{00235\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_a1bd3c33e70354bd35a78b83b6786b531}{get\_uncalibrated\_gyro}}(\textcolor{keywordtype}{float}\&\ x,\ \textcolor{keywordtype}{float}\&\ y,\ \textcolor{keywordtype}{float}\&\ z,\ \textcolor{keywordtype}{float}\&\ bx,\ \textcolor{keywordtype}{float}\&\ by,\ \textcolor{keywordtype}{float}\&\ bz,\ uint8\_t\&\ accuracy);}
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\DoxyCodeLine{00236\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_a289ff66f51c94be62c4a556f3a5997bf}{get\_uncalibrated\_gyro\_X}}();}
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\DoxyCodeLine{00237\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_a1874e4bd457bb5b6ecc2c64039b88ba4}{get\_uncalibrated\_gyro\_Y}}();}
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\DoxyCodeLine{00238\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_a0a73633d8929ce4058b14cefc8cad717}{get\_uncalibrated\_gyro\_Z}}();}
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\DoxyCodeLine{00239\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_ad228cdf352b7ea95e484da993045a47b}{get\_uncalibrated\_gyro\_bias\_X}}();}
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\DoxyCodeLine{00240\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_a74725517129dd548c7a3de705d5861bd}{get\_uncalibrated\_gyro\_bias\_Y}}();}
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\DoxyCodeLine{00241\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_a5050359272abd146ab3c7a6101effbd7}{get\_uncalibrated\_gyro\_bias\_Z}}();}
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\DoxyCodeLine{00242\ \ \ \ \ \ \ \ \ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a3285613f18b2f2f4c3f9e6d5c971af10}{get\_uncalibrated\_gyro\_accuracy}}();}
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\DoxyCodeLine{00243\ }
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\DoxyCodeLine{00244\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_afe6392012669e7ebd1a9e817e2bd313f}{get\_gyro\_velocity}}(\textcolor{keywordtype}{float}\&\ x,\ \textcolor{keywordtype}{float}\&\ y,\ \textcolor{keywordtype}{float}\&\ z);}
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\DoxyCodeLine{00245\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_acd376cd3e454a87198ec86accbf2ee00}{get\_gyro\_velocity\_X}}();}
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\DoxyCodeLine{00246\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_acd1819a81818f90dc105950b4a7d0b04}{get\_gyro\_velocity\_Y}}();}
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\DoxyCodeLine{00247\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_ae2add976af256ec981248371a2f58207}{get\_gyro\_velocity\_Z}}();}
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\DoxyCodeLine{00248\ }
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\DoxyCodeLine{00249\ \ \ \ \ \ \ \ \ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a4797ec731de4c158716da1a7af9d1602}{get\_tap\_detector}}();}
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\DoxyCodeLine{00250\ \ \ \ \ \ \ \ \ uint16\_t\ \mbox{\hyperlink{class_b_n_o08x_adaff49f3d80fdd19fd4210f0c56d41ef}{get\_step\_count}}();}
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\DoxyCodeLine{00251\ \ \ \ \ \ \ \ \ int8\_t\ \mbox{\hyperlink{class_b_n_o08x_a0d148e00abcfeec48c689e3084a7e786}{get\_stability\_classifier}}();}
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\DoxyCodeLine{00252\ \ \ \ \ \ \ \ \ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a4f7060b2d3c15b359b70b6346730446a}{get\_activity\_classifier}}();}
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\DoxyCodeLine{00253\ }
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\DoxyCodeLine{00254\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_a08f037df7b3c7e2fc3f0e968f4a5f68c}{print\_header}}();}
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\DoxyCodeLine{00255\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_a0ef39163352bd7a54ac85952e8cb8516}{print\_packet}}();}
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\DoxyCodeLine{00256\ }
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\DoxyCodeLine{00257\ \ \ \ \ \ \ \ \ \textcolor{comment}{//\ Metadata\ functions}}
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\DoxyCodeLine{00258\ \ \ \ \ \ \ \ \ int16\_t\ \mbox{\hyperlink{class_b_n_o08x_a4421c43323945946ad605f8422958dcf}{get\_Q1}}(uint16\_t\ record\_ID);}
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\DoxyCodeLine{00259\ \ \ \ \ \ \ \ \ int16\_t\ \mbox{\hyperlink{class_b_n_o08x_a954dccdcbe8a8c4f1787f13ebb8d932b}{get\_Q2}}(uint16\_t\ record\_ID);}
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\DoxyCodeLine{00260\ \ \ \ \ \ \ \ \ int16\_t\ \mbox{\hyperlink{class_b_n_o08x_a1590ba793668f9cb1a32a1f4dd07cb9a}{get\_Q3}}(uint16\_t\ record\_ID);}
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\DoxyCodeLine{00261\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_a1d6ea02d0d4b23ff6a15e9d5c6c92372}{get\_resolution}}(uint16\_t\ record\_ID);}
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\DoxyCodeLine{00262\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_a0fff04c42c9502615ad73cd1457cb9b0}{get\_range}}(uint16\_t\ record\_ID);}
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\DoxyCodeLine{00263\ \ \ \ \ \ \ \ \ uint32\_t\ \mbox{\hyperlink{class_b_n_o08x_a27f5dce5c994be18a587fb622574ad41}{FRS\_read\_word}}(uint16\_t\ record\_ID,\ uint8\_t\ word\_number);}
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\DoxyCodeLine{00264\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{bool}\ \mbox{\hyperlink{class_b_n_o08x_adf789e709ac1667656db757c8d559af9}{FRS\_read\_request}}(uint16\_t\ record\_ID,\ uint16\_t\ read\_offset,\ uint16\_t\ block\_size);}
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\DoxyCodeLine{00265\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{bool}\ \mbox{\hyperlink{class_b_n_o08x_a40607e557eada666a5e1e416f42cd4a1}{FRS\_read\_data}}(uint16\_t\ record\_ID,\ uint8\_t\ start\_location,\ uint8\_t\ words\_to\_read);}
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\DoxyCodeLine{00266\ }
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\DoxyCodeLine{00267\ \ \ \ \ \ \ \ \ \textcolor{comment}{//\ Record\ IDs\ from\ figure\ 29,\ page\ 29\ reference\ manual}}
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\DoxyCodeLine{00268\ \ \ \ \ \ \ \ \ \textcolor{comment}{//\ These\ are\ used\ to\ read\ the\ metadata\ for\ each\ sensor\ type}}
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\DoxyCodeLine{00269\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint16\_t\ \mbox{\hyperlink{class_b_n_o08x_a72d8919cb432a53f57ff63aa29d5f984}{FRS\_RECORDID\_ACCELEROMETER}}\ =\ 0xE302;}
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\DoxyCodeLine{00270\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint16\_t\ \mbox{\hyperlink{class_b_n_o08x_a6dbd6b8c9d1450c97db1e46861c55132}{FRS\_RECORDID\_GYROSCOPE\_CALIBRATED}}\ =\ 0xE306;}
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\DoxyCodeLine{00271\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint16\_t\ \mbox{\hyperlink{class_b_n_o08x_ab9519ab682fedb7224e4c0489c7d5619}{FRS\_RECORDID\_MAGNETIC\_FIELD\_CALIBRATED}}\ =\ 0xE309;}
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\DoxyCodeLine{00272\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint16\_t\ \mbox{\hyperlink{class_b_n_o08x_a58e7e3a7bf08fbdb4b75b3a0034ed33e}{FRS\_RECORDID\_ROTATION\_VECTOR}}\ =\ 0xE30B;}
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\DoxyCodeLine{00273\ }
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\DoxyCodeLine{00274\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a1ef13f6f330810934416ad5fe0ee55b2}{TARE\_AXIS\_ALL}}\ =\ 0x07;\ }
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\DoxyCodeLine{00275\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_aecb3e11c1ca5769fd60f42c17a105731}{TARE\_AXIS\_Z}}\ =\ 0x04;\ \ \ }
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\DoxyCodeLine{00276\ }
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\DoxyCodeLine{00277\ \ \ \ \ \ \ \ \ \textcolor{comment}{//\ Which\ rotation\ vector\ to\ tare,\ BNO08x\ saves\ them\ seperately}}
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\DoxyCodeLine{00278\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a8e2cfc25d0e34ae53a762b88cc3ac3c8}{TARE\_ROTATION\_VECTOR}}\ =\ 0;\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ }
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\DoxyCodeLine{00279\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_abaf1ec8bb197db1998a9ed3cec6180d5}{TARE\_GAME\_ROTATION\_VECTOR}}\ =\ 1;\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ }
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\DoxyCodeLine{00280\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a225397a04d849e5647992ca80d68febb}{TARE\_GEOMAGNETIC\_ROTATION\_VECTOR}}\ =\ 2;\ \ \ \ \ \ \ \ \ \ \ }
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\DoxyCodeLine{00281\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a9ec354d75249f06f13599abf7bedfde0}{TARE\_GYRO\_INTEGRATED\_ROTATION\_VECTOR}}\ =\ 3;\ \ \ \ \ \ \ }
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\DoxyCodeLine{00282\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a32204963cefc4ae64a80f43e71c8667a}{TARE\_AR\_VR\_STABILIZED\_ROTATION\_VECTOR}}\ =\ 4;\ \ \ \ \ \ }
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\DoxyCodeLine{00283\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_aed8135fd5e7996ef06bf5968692ccd84}{TARE\_AR\_VR\_STABILIZED\_GAME\_ROTATION\_VECTOR}}\ =\ 5;\ }
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\DoxyCodeLine{00284\ }
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\DoxyCodeLine{00285\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ int16\_t\ \mbox{\hyperlink{class_b_n_o08x_a0b19c8f2de2b2bfe033da7f93cdd2608}{ROTATION\_VECTOR\_Q1}}\ =\ 14;\ \ \ \ \ \ \ \ \ \ }
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\DoxyCodeLine{00286\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ int16\_t\ \mbox{\hyperlink{class_b_n_o08x_a923d65d8568cc31873ad56a3908e1939}{ROTATION\_VECTOR\_ACCURACY\_Q1}}\ =\ 12;\ }
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\DoxyCodeLine{00287\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ int16\_t\ \mbox{\hyperlink{class_b_n_o08x_a0564aaf5b20dc42b54db4fb3115ac1c7}{ACCELEROMETER\_Q1}}\ =\ 8;\ \ \ \ \ \ \ \ \ \ \ \ \ }
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\DoxyCodeLine{00288\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ int16\_t\ \mbox{\hyperlink{class_b_n_o08x_ad0d37fe07ced24f2c9afc21145a74e7b}{LINEAR\_ACCELEROMETER\_Q1}}\ =\ 8;\ \ \ \ \ \ }
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\DoxyCodeLine{00289\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ int16\_t\ \mbox{\hyperlink{class_b_n_o08x_aa3bec8effefa61cec6fa170e9d02c4dd}{GYRO\_Q1}}\ =\ 9;\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ }
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\DoxyCodeLine{00290\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ int16\_t\ \mbox{\hyperlink{class_b_n_o08x_a9fac9b811b7c2117675a784cb4df204c}{MAGNETOMETER\_Q1}}\ =\ 4;\ \ \ \ \ \ \ \ \ \ \ \ \ \ }
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\DoxyCodeLine{00291\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ int16\_t\ \mbox{\hyperlink{class_b_n_o08x_aafe117561fe9138800073a04a778b4ce}{ANGULAR\_VELOCITY\_Q1}}\ =\ 10;\ \ \ \ \ \ \ \ \ }
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\DoxyCodeLine{00292\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ int16\_t\ \mbox{\hyperlink{class_b_n_o08x_ae10722334dfce9635e76519598e165a2}{GRAVITY\_Q1}}\ =\ 8;\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ }
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\DoxyCodeLine{00293\ }
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\DoxyCodeLine{00294\ \ \ \ \ \textcolor{keyword}{private}:}
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\DoxyCodeLine{00295\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{bool}\ \mbox{\hyperlink{class_b_n_o08x_a988c45b4afa4dcd6a24610ff308c1faa}{wait\_for\_device\_int}}();}
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\DoxyCodeLine{00296\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{bool}\ \mbox{\hyperlink{class_b_n_o08x_ae540799865934fcff54caed0772df071}{receive\_packet}}();}
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\DoxyCodeLine{00297\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_a0ee58cedbc06d4a7db8821f40c0ee207}{send\_packet}}();}
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\DoxyCodeLine{00298\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_a67d0b5302a60083cef1b31936e2b65d8}{queue\_packet}}(uint8\_t\ channel\_number,\ uint8\_t\ data\_length);}
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\DoxyCodeLine{00299\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_a1742d6445ffb6e9297b8bf84dec24f22}{queue\_command}}(uint8\_t\ command);}
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\DoxyCodeLine{00300\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_af2951f6ea448af7cf7932fbfed9fec3c}{queue\_feature\_command}}(uint8\_t\ report\_ID,\ uint32\_t\ time\_between\_reports);}
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\DoxyCodeLine{00301\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_af2951f6ea448af7cf7932fbfed9fec3c}{queue\_feature\_command}}(uint8\_t\ report\_ID,\ uint32\_t\ time\_between\_reports,\ uint32\_t\ specific\_config);}
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\DoxyCodeLine{00302\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_ad097849616c5caab1fd3eb3632ee2b91}{queue\_calibrate\_command}}(uint8\_t\ \_to\_calibrate);}
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\DoxyCodeLine{00303\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_a4c6353e795f734ed28613f9a3d161ea2}{queue\_tare\_command}}(uint8\_t\ command,\ uint8\_t\ axis\ =\ \mbox{\hyperlink{class_b_n_o08x_a1ef13f6f330810934416ad5fe0ee55b2}{TARE\_AXIS\_ALL}},\ uint8\_t\ rotation\_vector\_basis\ =\ \mbox{\hyperlink{class_b_n_o08x_a8e2cfc25d0e34ae53a762b88cc3ac3c8}{TARE\_ROTATION\_VECTOR}});}
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\DoxyCodeLine{00304\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_ab5f200069a2f8cb74cb79c6f162da5a1}{queue\_request\_product\_id\_command}}();}
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\DoxyCodeLine{00305\ }
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\DoxyCodeLine{00306\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \mbox{\hyperlink{structbno08x__config__t}{bno08x\_config\_t}}\ \mbox{\hyperlink{class_b_n_o08x_a6232920a05c0aba34e5560951a20ae87}{default\_imu\_config}};\ }
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\DoxyCodeLine{00307\ }
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\DoxyCodeLine{00308\ \ \ \ \ \ \ \ \ \ SemaphoreHandle\_t\ \mbox{\hyperlink{class_b_n_o08x_aee2d0bcb8e9d7bacacccacbb04ded661}{tx\_semaphore}};\ }
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\DoxyCodeLine{00309\ \ \ \ \ \ \ \ \ SemaphoreHandle\_t}
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\DoxyCodeLine{00310\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \mbox{\hyperlink{class_b_n_o08x_a33aee99f7f0d07c3061bab90831bc309}{int\_asserted\_semaphore}};\ }
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\DoxyCodeLine{00311\ \ \ \ \ \ \ \ \ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a7a85ccea09eadf865e8bbbf00d800e64}{rx\_buffer}}[300];\ \ \ \ \ \ \ \ \ }
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\DoxyCodeLine{00312\ \ \ \ \ \ \ \ \ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a74d936708ba924b6ba21004ff9a0b30b}{tx\_buffer}}[50];\ \ \ \ \ \ \ \ \ \ }
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\DoxyCodeLine{00313\ \ \ \ \ \ \ \ \ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a908264b797fff9dc6679abde5e7584a5}{packet\_header\_rx}}[4];\ \ \ \ }
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\DoxyCodeLine{00314\ \ \ \ \ \ \ \ \ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_acbca88b37c8c5a590ca971b241dac64f}{commands}}[20];\ \ \ \ \ \ \ \ \ \ \ }
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\DoxyCodeLine{00315\ \ \ \ \ \ \ \ \ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_aa722dbc6f6f07c63e9ea2a9271614af3}{sequence\_number}}[6];\ \ \ \ \ }
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\DoxyCodeLine{00316\ \ \ \ \ \ \ \ \ uint32\_t\ \mbox{\hyperlink{class_b_n_o08x_a7bd032712a975e73e66bd72a3502baba}{meta\_data}}[9];\ }
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\DoxyCodeLine{00317\ \ \ \ \ \ \ \ \ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_ac1daa730e75d17e6afd1edaa288260ae}{command\_sequence\_number}}\ =\ 0;\ }
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\DoxyCodeLine{00318\ \ \ \ \ \ \ \ \ uint16\_t\ \mbox{\hyperlink{class_b_n_o08x_a6fbc6d086654b022a3ea53dfacd4fdf5}{packet\_length\_tx}}\ =\ 0;\ \ \ \ \ \ \ }
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\DoxyCodeLine{00319\ \ \ \ \ \ \ \ \ uint16\_t\ \mbox{\hyperlink{class_b_n_o08x_af65e3fd0bfdb5b82dcf775e2c061c65a}{packet\_length\_rx}}\ =\ 0;\ \ \ \ \ \ \ }
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\DoxyCodeLine{00320\ }
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\DoxyCodeLine{00321\ \ \ \ \ \ \ \ \ \mbox{\hyperlink{structbno08x__config__t}{bno08x\_config\_t}}\ \mbox{\hyperlink{class_b_n_o08x_aeda443e9f608fccfec0e6770edc90c82}{imu\_config}}\{\};\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ }
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\DoxyCodeLine{00322\ \ \ \ \ \ \ \ \ spi\_bus\_config\_t\ \mbox{\hyperlink{class_b_n_o08x_a982f065df42f00e53fd87c840efdb0f1}{bus\_config}}\{\};\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ }
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\DoxyCodeLine{00323\ \ \ \ \ \ \ \ \ spi\_device\_interface\_config\_t\ \mbox{\hyperlink{class_b_n_o08x_a425a1f5a9f3232aadc685caaf4c2f82e}{imu\_spi\_config}}\{\};\ }
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\DoxyCodeLine{00324\ \ \ \ \ \ \ \ \ spi\_device\_handle\_t\ \mbox{\hyperlink{class_b_n_o08x_acc0ea091465fc9a5736f5e0c6a0ce8ef}{spi\_hdl}}\{\};\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ }
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\DoxyCodeLine{00325\ \ \ \ \ \ \ \ \ spi\_transaction\_t\ \mbox{\hyperlink{class_b_n_o08x_ac16adc5f00b0039c98a4921f13895026}{spi\_transaction}}\{\};\ \ \ \ \ \ \ \ \ \ \ \ }
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\DoxyCodeLine{00326\ }
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\DoxyCodeLine{00327\ \ \ \ \ \ \ \ \ \textcolor{comment}{//\ These\ are\ the\ raw\ sensor\ values\ (without\ Q\ applied)\ pulled\ from\ the\ user\ requested\ Input\ Report}}
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\DoxyCodeLine{00328\ \ \ \ \ \ \ \ \ uint32\_t\ \mbox{\hyperlink{class_b_n_o08x_abc972db20affbd0040b4e6c4892dd57b}{time\_stamp}};\ }
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\DoxyCodeLine{00329\ \ \ \ \ \ \ \ \ uint16\_t\ \mbox{\hyperlink{class_b_n_o08x_a75fb2f06c5bbe26e3f3c794934ef954c}{raw\_accel\_X}},\ \mbox{\hyperlink{class_b_n_o08x_ab56e2ba505fa293d03e955137625c562}{raw\_accel\_Y}},\ \mbox{\hyperlink{class_b_n_o08x_af254d245b368027df6952b7d7522bd35}{raw\_accel\_Z}},}
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\DoxyCodeLine{00330\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \mbox{\hyperlink{class_b_n_o08x_a3365b7ebde01e284274e655c60343df9}{accel\_accuracy}};\ }
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\DoxyCodeLine{00331\ \ \ \ \ \ \ \ \ uint16\_t\ \mbox{\hyperlink{class_b_n_o08x_ae1f71a432cb15e75f522fa18f29f4d50}{raw\_lin\_accel\_X}},\ \mbox{\hyperlink{class_b_n_o08x_aff3a5590471d1c9fc485a5610433915f}{raw\_lin\_accel\_Y}},\ \mbox{\hyperlink{class_b_n_o08x_abc8add47f1babc66c812a015614143d3}{raw\_lin\_accel\_Z}},}
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\DoxyCodeLine{00333\ \ \ \ \ \ \ \ \ uint16\_t\ \mbox{\hyperlink{class_b_n_o08x_a19696327a056a448ed5ba706e747bbe5}{raw\_gyro\_X}},\ \mbox{\hyperlink{class_b_n_o08x_a61df9f571555f5f682eb51f24a279489}{raw\_gyro\_Y}},\ \mbox{\hyperlink{class_b_n_o08x_a03f567cda2a3cc966301e96732fca9ad}{raw\_gyro\_Z}},\ \mbox{\hyperlink{class_b_n_o08x_a98ea35dd0fbd0c409d25fd8a6ed9f277}{gyro\_accuracy}};\ }
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\DoxyCodeLine{00334\ \ \ \ \ \ \ \ \ uint16\_t\ \mbox{\hyperlink{class_b_n_o08x_a69dc7e97875060213085ba964b3bd987}{raw\_quat\_I}},\ \mbox{\hyperlink{class_b_n_o08x_a61ae05dc5572b326541bf8099f0c2a54}{raw\_quat\_J}},\ \mbox{\hyperlink{class_b_n_o08x_a7720c44ed1c0f1a0663d2adc5e1a1ea1}{raw\_quat\_K}},\ \mbox{\hyperlink{class_b_n_o08x_a867354267253ae828be4fae15c062db3}{raw\_quat\_real}},\ \mbox{\hyperlink{class_b_n_o08x_a033d6cb1aa137743b69cc3e401df67b7}{raw\_quat\_radian\_accuracy}},}
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\DoxyCodeLine{00335\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \mbox{\hyperlink{class_b_n_o08x_a36223f7124751fa71e860b2ef55dd2ac}{quat\_accuracy}};\ }
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\DoxyCodeLine{00336\ \ \ \ \ \ \ \ \ uint16\_t\ \mbox{\hyperlink{class_b_n_o08x_aa5bb03dbeabed729c012ec7164a3354f}{raw\_velocity\_gyro\_X}},\ \mbox{\hyperlink{class_b_n_o08x_a4f188bf76ba862f07606d1351d28548f}{raw\_velocity\_gyro\_Y}},}
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\DoxyCodeLine{00337\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \mbox{\hyperlink{class_b_n_o08x_ab49f9a6586d709bbd26280ef44a4bbf7}{raw\_velocity\_gyro\_Z}};\ }
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\DoxyCodeLine{00338\ \ \ \ \ \ \ \ \ uint16\_t\ \mbox{\hyperlink{class_b_n_o08x_af45016be9ea523d80be8467b2907b499}{gravity\_X}},\ \mbox{\hyperlink{class_b_n_o08x_af20dcd487a9fe8fa6243817d51e37be5}{gravity\_Y}},\ \mbox{\hyperlink{class_b_n_o08x_afa1cf5c3afbb258d97c55c5fb187f2d6}{gravity\_Z}},}
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\DoxyCodeLine{00339\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \mbox{\hyperlink{class_b_n_o08x_ae01698d287ea999179a11e2244902022}{gravity\_accuracy}};\ }
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\DoxyCodeLine{00340\ \ \ \ \ \ \ \ \ uint16\_t\ \mbox{\hyperlink{class_b_n_o08x_afdc5cdb65bd0b36528b5b671b9d27053}{raw\_uncalib\_gyro\_X}},\ \mbox{\hyperlink{class_b_n_o08x_acc2c66e2985975266a286385ea855117}{raw\_uncalib\_gyro\_Y}},\ \mbox{\hyperlink{class_b_n_o08x_afac9dd4161f4c0051255293680c9082b}{raw\_uncalib\_gyro\_Z}},\ \mbox{\hyperlink{class_b_n_o08x_a8a2667f668317cee0a9fc4ef0accc3f5}{raw\_bias\_X}},\ \mbox{\hyperlink{class_b_n_o08x_ac38ff5eb93d3c3db0af2504ba02fd93c}{raw\_bias\_Y}},\ \mbox{\hyperlink{class_b_n_o08x_a0968eaed9b3d979a2caa1aba6e6b417a}{raw\_bias\_Z}},}
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\DoxyCodeLine{00341\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \mbox{\hyperlink{class_b_n_o08x_a081c666a3f24016d0ec5c5edc49f2903}{uncalib\_gyro\_accuracy}};\ }
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\DoxyCodeLine{00342\ \ \ \ \ \ \ \ \ uint16\_t\ \mbox{\hyperlink{class_b_n_o08x_aa5bdf740161b7c37adcac0154a410118}{raw\_magf\_X}},\ \mbox{\hyperlink{class_b_n_o08x_acd365418f24a6da61122c66d82086639}{raw\_magf\_Y}},\ \mbox{\hyperlink{class_b_n_o08x_ab4862de31d0874b44b6745678e1c905e}{raw\_magf\_Z}},}
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\DoxyCodeLine{00343\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \mbox{\hyperlink{class_b_n_o08x_ac5d4e151690774687efa951ca41c16ae}{magf\_accuracy}};\ \ \ \ \ \ \ \ \ }
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\DoxyCodeLine{00344\ \ \ \ \ \ \ \ \ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a1171a5738a4e6831ec7fa32a29f15554}{tap\_detector}};\ \ \ \ \ \ \ \ \ \ }
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\DoxyCodeLine{00345\ \ \ \ \ \ \ \ \ uint16\_t\ \mbox{\hyperlink{class_b_n_o08x_ad80a77973371b12d722ea39063c648be}{step\_count}};\ \ \ \ \ \ \ \ \ \ \ }
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\DoxyCodeLine{00346\ \ \ \ \ \ \ \ \ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a1b12471e92536a79d0c425d77676f2e1}{stability\_classifier}};\ \ }
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\DoxyCodeLine{00347\ \ \ \ \ \ \ \ \ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a75cea49c1c08ca28d9fa7e5ed61c6e7b}{activity\_classifier}};\ \ \ }
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\DoxyCodeLine{00348\ \ \ \ \ \ \ \ \ uint8\_t*\ \mbox{\hyperlink{class_b_n_o08x_af96e8cd070459f945ffbf01b98106e13}{activity\_confidences}};\ }
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\DoxyCodeLine{00349\ \ \ \ \ \ \ \ \ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_ad212b5028a31e857e76d251ced2724e1}{calibration\_status}};\ \ \ \ }
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\DoxyCodeLine{00350\ \ \ \ \ \ \ \ \ uint16\_t\ \mbox{\hyperlink{class_b_n_o08x_a937cbdc4edaac72c8cad041d79de5701}{mems\_raw\_accel\_X}},\ \mbox{\hyperlink{class_b_n_o08x_ad83cecb8a5d2be01db6792755b6057e9}{mems\_raw\_accel\_Y}},}
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\DoxyCodeLine{00351\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \mbox{\hyperlink{class_b_n_o08x_a59a4d75f1302ab693b1b26e9ccaa5341}{mems\_raw\_accel\_Z}};\ }
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\DoxyCodeLine{00352\ \ \ \ \ \ \ \ \ uint16\_t\ \mbox{\hyperlink{class_b_n_o08x_a3d6b6257462951ea023af7076c80f6dd}{mems\_raw\_gyro\_X}},\ \mbox{\hyperlink{class_b_n_o08x_ab6b142416912a096886dd63ad0beb865}{mems\_raw\_gyro\_Y}},}
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\DoxyCodeLine{00353\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \mbox{\hyperlink{class_b_n_o08x_ac35d5b12721ab876eaeb1f714a9b3b1d}{mems\_raw\_gyro\_Z}};\ }
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\DoxyCodeLine{00354\ \ \ \ \ \ \ \ \ uint16\_t\ \mbox{\hyperlink{class_b_n_o08x_ab587cdf991342b69b7fff3b33f537eb5}{mems\_raw\_magf\_X}},\ \mbox{\hyperlink{class_b_n_o08x_aad926054c81818fff611e10ed913706a}{mems\_raw\_magf\_Y}},}
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\DoxyCodeLine{00355\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \mbox{\hyperlink{class_b_n_o08x_a90f0cdf11decc276006f76a494d42ce3}{mems\_raw\_magf\_Z}};\ }
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\DoxyCodeLine{00356\ }
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\DoxyCodeLine{00357\ \ \ \ \ \ \ \ \ \textcolor{comment}{//\ spi\ task}}
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\DoxyCodeLine{00358\ \ \ \ \ \ \ \ \ TaskHandle\_t\ \mbox{\hyperlink{class_b_n_o08x_a615090aae15f1b0410a7e5ecb94957b5}{spi\_task\_hdl}};\ }
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\DoxyCodeLine{00359\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_a0ce6d9db873555f1ebe7e095251eab74}{spi\_task\_trampoline}}(\textcolor{keywordtype}{void}*\ arg);}
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\DoxyCodeLine{00360\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_a2ecd4ed60f82730ae230c61687ec92bf}{spi\_task}}();}
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\DoxyCodeLine{00361\ }
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\DoxyCodeLine{00362\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keywordtype}{void}\ IRAM\_ATTR\ \mbox{\hyperlink{class_b_n_o08x_a804b95c58c30d36933fd251626b85bf7}{hint\_handler}}(\textcolor{keywordtype}{void}*\ arg);}
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\DoxyCodeLine{00363\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keywordtype}{bool}}
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\DoxyCodeLine{00364\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \mbox{\hyperlink{class_b_n_o08x_a4882dbc698d7b730f57e2401037766a9}{isr\_service\_installed}};\ }
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\DoxyCodeLine{00365\ }
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\DoxyCodeLine{00366\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint64\_t\ \mbox{\hyperlink{class_b_n_o08x_ae7f34752f888c637d5619f898e62a6d4}{HOST\_INT\_TIMEOUT\_MS}}\ =}
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\DoxyCodeLine{00367\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ 150ULL;\ }
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\DoxyCodeLine{00368\ }
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\DoxyCodeLine{00369\ \ \ \ \ \ \ \ \ \textcolor{comment}{//\ Higher\ level\ calibration\ commands,\ used\ by\ queue\_calibrate\_command}}
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\DoxyCodeLine{00370\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_acd5b44d705af1f9aaa271a59a9d2d595}{CALIBRATE\_ACCEL}}\ =\ 0;\ \ \ \ \ \ \ \ }
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\DoxyCodeLine{00371\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_aeac84719a1cc0f9c8d5a9a749391d4db}{CALIBRATE\_GYRO}}\ =\ 1;\ \ \ \ \ \ \ \ \ }
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\DoxyCodeLine{00372\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_ac00e8b59ae8d710cf79956eaafa97ddb}{CALIBRATE\_MAG}}\ =\ 2;\ \ \ \ \ \ \ \ \ \ }
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\DoxyCodeLine{00373\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a955dcb60da150490e17367a871b3a3d2}{CALIBRATE\_PLANAR\_ACCEL}}\ =\ 3;\ }
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\DoxyCodeLine{00374\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_af53d9e99f163d97ef92fe989b1dd25cc}{CALIBRATE\_ACCEL\_GYRO\_MAG}}\ =}
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\DoxyCodeLine{00375\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ 4;\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ }
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\DoxyCodeLine{00376\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a584bfa04a39feb93279ee673c340db54}{CALIBRATE\_STOP}}\ =\ 5;\ }
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\DoxyCodeLine{00377\ }
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\DoxyCodeLine{00378\ \ \ \ \ \ \ \ \ \textcolor{comment}{//\ Command\ IDs\ (see\ Ref.\ Manual\ 6.4)}}
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\DoxyCodeLine{00379\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a384a1efc9857ad938be3bb44f871539b}{COMMAND\_ERRORS}}\ =\ 1;}
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\DoxyCodeLine{00380\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a93dd073c0cc1f3ccfde552649f6ebccc}{COMMAND\_COUNTER}}\ =\ 2;}
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\DoxyCodeLine{00381\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a0a1756bc16ba3eac45f4229b1e350107}{COMMAND\_TARE}}\ =\ 3;\ \ \ \ \ \ \ \ \ \ \ \ }
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\DoxyCodeLine{00382\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a30eb6d305a187d4d36546841e12176b9}{COMMAND\_INITIALIZE}}\ =\ 4;\ \ \ \ \ \ }
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\DoxyCodeLine{00383\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_af124a6c1d8b871f3181b6c85f1099cb2}{COMMAND\_DCD}}\ =\ 6;\ \ \ \ \ \ \ \ \ \ \ \ \ }
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\DoxyCodeLine{00384\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a8381dfe403ddff522f172cb16780731a}{COMMAND\_ME\_CALIBRATE}}\ =\ 7;\ \ \ \ }
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\DoxyCodeLine{00385\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a7a246989c94cd87f68166b20b7ad4c8b}{COMMAND\_DCD\_PERIOD\_SAVE}}\ =\ 9;\ }
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\DoxyCodeLine{00386\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a308c8b5307d93a67b5b9066d44494aa5}{COMMAND\_OSCILLATOR}}\ =\ 10;\ \ \ \ \ }
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\DoxyCodeLine{00387\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a4f580b3cb232a762ea7019ee7b04d419}{COMMAND\_CLEAR\_DCD}}\ =\ 11;\ \ \ \ \ \ }
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\DoxyCodeLine{00388\ }
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\DoxyCodeLine{00389\ \ \ \ \ \ \ \ \ \textcolor{comment}{//\ SHTP\ channel\ 2\ control\ report\ IDs,\ used\ in\ communication\ with\ sensor\ (See\ Ref.\ Manual\ 6.2)}}
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\DoxyCodeLine{00390\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a1e5b64caa514b7e4fe64ab214758b875}{SHTP\_REPORT\_COMMAND\_RESPONSE}}\ =\ 0xF1;\ \ \ \ }
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\DoxyCodeLine{00391\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_ab04695dd189412092254e52bd6e5a75a}{SHTP\_REPORT\_COMMAND\_REQUEST}}\ =\ 0xF2;\ \ \ \ \ }
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\DoxyCodeLine{00392\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_aeb760b095dcf808a413ef696f2608e43}{SHTP\_REPORT\_FRS\_READ\_RESPONSE}}\ =\ 0xF3;\ \ \ }
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\DoxyCodeLine{00393\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a74af7eacc35cc825940b647c2de0d368}{SHTP\_REPORT\_FRS\_READ\_REQUEST}}\ =\ 0xF4;\ \ \ \ }
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\DoxyCodeLine{00394\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a0177134162e116501bc9483c6e4b76c3}{SHTP\_REPORT\_PRODUCT\_ID\_RESPONSE}}\ =\ 0xF8;\ }
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\DoxyCodeLine{00395\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a542405639c28bd56bc4361b922763c95}{SHTP\_REPORT\_PRODUCT\_ID\_REQUEST}}\ =\ 0xF9;\ \ }
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\DoxyCodeLine{00396\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_ae37d6f8431c8c465bfb0c662772b5cb9}{SHTP\_REPORT\_BASE\_TIMESTAMP}}\ =\ 0xFB;\ \ \ \ \ \ }
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\DoxyCodeLine{00397\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a1d3bff4e20c2c3d47db322c9e34ef338}{SHTP\_REPORT\_SET\_FEATURE\_COMMAND}}\ =\ 0xFD;\ }
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\DoxyCodeLine{00398\ }
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\DoxyCodeLine{00399\ \ \ \ \ \ \ \ \ \textcolor{comment}{//\ Sensor\ report\ IDs,\ used\ when\ enabling\ and\ reading\ BNO08x\ reports}}
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\DoxyCodeLine{00400\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a476b35f11a2f096cdb70f7ee73cf2e90}{SENSOR\_REPORTID\_ACCELEROMETER}}\ =\ 0x01;\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ }
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\DoxyCodeLine{00401\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a29ab9f86763cce89e833392553f7abb4}{SENSOR\_REPORTID\_GYROSCOPE}}\ =\ 0x02;\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ }
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\DoxyCodeLine{00402\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a6f3bf6774ceb583c5c56f2ad80573834}{SENSOR\_REPORTID\_MAGNETIC\_FIELD}}\ =\ 0x03;\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ }
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\DoxyCodeLine{00403\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a53898b82dbac7ef27e1adb519dfcd686}{SENSOR\_REPORTID\_LINEAR\_ACCELERATION}}\ =\ 0x04;\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ }
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\DoxyCodeLine{00404\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_ab0279e8622ed188ee48411e074fb7e9d}{SENSOR\_REPORTID\_ROTATION\_VECTOR}}\ =\ 0x05;\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ }
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\DoxyCodeLine{00405\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_aeeb54b0b516917f3ff58cb655ae707a8}{SENSOR\_REPORTID\_GRAVITY}}\ =\ 0x06;\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ }
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\DoxyCodeLine{00406\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_ab94bfdbbffc0a7a255e752244b22322a}{SENSOR\_REPORTID\_UNCALIBRATED\_GYRO}}\ =\ 0x07;\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ }
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\DoxyCodeLine{00407\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_ab3dc8b362050d438d8a05b26e86af638}{SENSOR\_REPORTID\_GAME\_ROTATION\_VECTOR}}\ =\ 0x08;\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ }
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\DoxyCodeLine{00408\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_aec618850b70a4e32a5148b05281aa8f0}{SENSOR\_REPORTID\_GEOMAGNETIC\_ROTATION\_VECTOR}}\ =\ 0x09;\ \ \ \ \ \ \ \ \ \ \ }
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\DoxyCodeLine{00409\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a8b55a8131c251bb234d5391b0cd6aa48}{SENSOR\_REPORTID\_GYRO\_INTEGRATED\_ROTATION\_VECTOR}}\ =\ 0x2A;\ \ \ \ \ \ \ }
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\DoxyCodeLine{00410\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a437fed4cb82edd32f839d88679ff8ed9}{SENSOR\_REPORTID\_TAP\_DETECTOR}}\ =\ 0x10;\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ }
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\DoxyCodeLine{00411\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_aaff9af63d5f35c05f0a1e485f3d97bc5}{SENSOR\_REPORTID\_STEP\_COUNTER}}\ =\ 0x11;\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ }
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\DoxyCodeLine{00412\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_afad93ba52698512205df714109cadcfc}{SENSOR\_REPORTID\_STABILITY\_CLASSIFIER}}\ =\ 0x13;\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ }
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\DoxyCodeLine{00413\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_aa8d2d5c66b72af3966dca751e7343a97}{SENSOR\_REPORTID\_RAW\_ACCELEROMETER}}\ =\ 0x14;\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ }
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\DoxyCodeLine{00414\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_aaed7faffc8f2bba8a2ae56933236f9f7}{SENSOR\_REPORTID\_RAW\_GYROSCOPE}}\ =\ 0x15;\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ }
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\DoxyCodeLine{00415\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_ac719a06278c239cc36f666b99a41b1c0}{SENSOR\_REPORTID\_RAW\_MAGNETOMETER}}\ =\ 0x16;\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ }
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\DoxyCodeLine{00416\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a001b45f56e347fb8e8149bcecbe2b40c}{SENSOR\_REPORTID\_PERSONAL\_ACTIVITY\_CLASSIFIER}}\ =\ 0x1E;\ \ \ \ \ \ \ \ \ \ }
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\DoxyCodeLine{00417\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a263b8c25089c38f9ffa85493aef79606}{SENSOR\_REPORTID\_AR\_VR\_STABILIZED\_ROTATION\_VECTOR}}\ =\ 0x28;\ \ \ \ \ \ }
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\DoxyCodeLine{00418\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a09dd6846e22801427b92b325385653e0}{SENSOR\_REPORTID\_AR\_VR\_STABILIZED\_GAME\_ROTATION\_VECTOR}}\ =\ 0x29;\ }
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\DoxyCodeLine{00419\ }
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\DoxyCodeLine{00420\ \ \ \ \ \ \ \ \ \textcolor{comment}{//\ Tare\ commands\ used\ by\ queue\_tare\_command}}
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\DoxyCodeLine{00421\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a27df630f3e52b35552d2c1f2cf3496b0}{TARE\_NOW}}\ =\ 0;\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ }
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\DoxyCodeLine{00422\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a115aef7b38ec0dec2085f6917d832912}{TARE\_PERSIST}}\ =\ 1;\ \ \ \ \ \ \ \ \ \ \ }
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\DoxyCodeLine{00423\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a59cde7dd301c94a20b84735c5d49008e}{TARE\_SET\_REORIENTATION}}\ =\ 2;\ }
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\DoxyCodeLine{00424\ }
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\DoxyCodeLine{00425\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ \textcolor{keywordtype}{char}*\ \mbox{\hyperlink{class_b_n_o08x_a2c98d5f2c406a3efd0b48c5666fa8c46}{TAG}}\ =\ \textcolor{stringliteral}{"{}BNO08x"{}};\ }
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\DoxyCodeLine{00426\ \};}
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\end{DoxyCode}
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