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<div id="projectname">esp32_BNO08x<span id="projectnumber"> 1.01</span>
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<div id="projectbrief">C++ BNO08x IMU driver component for esp-idf.</div>
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<li class="navelem"><a class="el" href="dir_f8bf4cf9c99e2cbdf74bcfc417d31962.html">esp32_BNO08x</a></li> </ul>
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<div class="headertitle"><div class="title">BNO08x.hpp</div></div>
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<a href="_b_n_o08x_8hpp.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno"> 1</span><span class="preprocessor">#pragma once</span></div>
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<div class="line"><a id="l00002" name="l00002"></a><span class="lineno"> 2</span><span class="preprocessor">#include <driver/gpio.h></span></div>
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<div class="line"><a id="l00003" name="l00003"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a4882dbc698d7b730f57e2401037766a9"> 3</a></span><span class="preprocessor">#include <driver/spi_common.h></span></div>
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<div class="line"><a id="l00004" name="l00004"></a><span class="lineno"> 4</span><span class="preprocessor">#include <driver/spi_master.h></span></div>
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<div class="line"><a id="l00005" name="l00005"></a><span class="lineno"> 5</span><span class="preprocessor">#include <esp_log.h></span></div>
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<div class="line"><a id="l00006" name="l00006"></a><span class="lineno"> 6</span><span class="preprocessor">#include <esp_rom_gpio.h></span></div>
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<div class="line"><a id="l00007" name="l00007"></a><span class="lineno"> 7</span><span class="preprocessor">#include <esp_timer.h></span></div>
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<div class="line"><a id="l00008" name="l00008"></a><span class="lineno"> 8</span><span class="preprocessor">#include <freertos/FreeRTOS.h></span></div>
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<div class="line"><a id="l00009" name="l00009"></a><span class="lineno"> 9</span><span class="preprocessor">#include <freertos/semphr.h></span></div>
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<div class="line"><a id="l00010" name="l00010"></a><span class="lineno"> 10</span><span class="preprocessor">#include <freertos/task.h></span></div>
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<div class="line"><a id="l00011" name="l00011"></a><span class="lineno"> 11</span><span class="preprocessor">#include <rom/ets_sys.h></span></div>
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<div class="line"><a id="l00012" name="l00012"></a><span class="lineno"> 12</span> </div>
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<div class="line"><a id="l00013" name="l00013"></a><span class="lineno"> 13</span><span class="preprocessor">#include <inttypes.h></span></div>
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<div class="line"><a id="l00014" name="l00014"></a><span class="lineno"> 14</span><span class="preprocessor">#include <math.h></span></div>
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<div class="line"><a id="l00015" name="l00015"></a><span class="lineno"> 15</span><span class="preprocessor">#include <stdio.h></span></div>
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<div class="line"><a id="l00016" name="l00016"></a><span class="lineno"> 16</span><span class="preprocessor">#include <cstring></span></div>
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<div class="line"><a id="l00017" name="l00017"></a><span class="lineno"> 17</span> </div>
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<div class="foldopen" id="foldopen00019" data-start="{" data-end="};">
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<div class="line"><a id="l00019" name="l00019"></a><span class="lineno"><a class="line" href="_b_n_o08x_8hpp.html#aac50a1392dd0aa905500c755148c556b"> 19</a></span><span class="keyword">enum</span> <a class="code hl_enumeration" href="_b_n_o08x_8hpp.html#aac50a1392dd0aa905500c755148c556b">channels_t</a></div>
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<div class="line"><a id="l00020" name="l00020"></a><span class="lineno"> 20</span>{</div>
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<div class="line"><a id="l00021" name="l00021"></a><span class="lineno"><a class="line" href="_b_n_o08x_8hpp.html#aac50a1392dd0aa905500c755148c556ba1cb5955609063cff1ba49147e786e610"> 21</a></span> <a class="code hl_enumvalue" href="_b_n_o08x_8hpp.html#aac50a1392dd0aa905500c755148c556ba1cb5955609063cff1ba49147e786e610">CHANNEL_COMMAND</a>,</div>
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<div class="line"><a id="l00022" name="l00022"></a><span class="lineno"><a class="line" href="_b_n_o08x_8hpp.html#aac50a1392dd0aa905500c755148c556ba8a5de65712767758887f8fad9523bb72"> 22</a></span> <a class="code hl_enumvalue" href="_b_n_o08x_8hpp.html#aac50a1392dd0aa905500c755148c556ba8a5de65712767758887f8fad9523bb72">CHANNEL_EXECUTABLE</a>,</div>
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<div class="line"><a id="l00023" name="l00023"></a><span class="lineno"><a class="line" href="_b_n_o08x_8hpp.html#aac50a1392dd0aa905500c755148c556ba6c5ca5e5847c55b469afbb435e15b5f0"> 23</a></span> <a class="code hl_enumvalue" href="_b_n_o08x_8hpp.html#aac50a1392dd0aa905500c755148c556ba6c5ca5e5847c55b469afbb435e15b5f0">CHANNEL_CONTROL</a>,</div>
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<div class="line"><a id="l00024" name="l00024"></a><span class="lineno"><a class="line" href="_b_n_o08x_8hpp.html#aac50a1392dd0aa905500c755148c556ba22f0b2ae6fcdc8618a078b0579d09e4a"> 24</a></span> <a class="code hl_enumvalue" href="_b_n_o08x_8hpp.html#aac50a1392dd0aa905500c755148c556ba22f0b2ae6fcdc8618a078b0579d09e4a">CHANNEL_REPORTS</a>,</div>
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<div class="line"><a id="l00025" name="l00025"></a><span class="lineno"><a class="line" href="_b_n_o08x_8hpp.html#aac50a1392dd0aa905500c755148c556bafbb907d12060466f58dd56d3e2430747"> 25</a></span> <a class="code hl_enumvalue" href="_b_n_o08x_8hpp.html#aac50a1392dd0aa905500c755148c556bafbb907d12060466f58dd56d3e2430747">CHANNEL_WAKE_REPORTS</a>,</div>
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<div class="line"><a id="l00026" name="l00026"></a><span class="lineno"> 26</span> <a class="code hl_enumvalue" href="_b_n_o08x_8hpp.html#aac50a1392dd0aa905500c755148c556bafd513a698e54122cec579d9450482832">CHANNEL_GYRO</a></div>
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<div class="line"><a id="l00027" name="l00027"></a><span class="lineno"><a class="line" href="_b_n_o08x_8hpp.html#aac50a1392dd0aa905500c755148c556bafd513a698e54122cec579d9450482832"> 27</a></span>};</div>
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</div>
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<div class="line"><a id="l00028" name="l00028"></a><span class="lineno"> 28</span> </div>
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<div class="foldopen" id="foldopen00030" data-start="{" data-end="};">
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<div class="line"><a id="l00030" name="l00030"></a><span class="lineno"><a class="line" href="_b_n_o08x_8hpp.html#adb7d85b4fa619c860031f469261c6279"> 30</a></span><span class="keyword">enum class</span> <a class="code hl_enumeration" href="_b_n_o08x_8hpp.html#adb7d85b4fa619c860031f469261c6279">IMUAccuracy</a></div>
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<div class="line"><a id="l00031" name="l00031"></a><span class="lineno"> 31</span>{</div>
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<div class="line"><a id="l00032" name="l00032"></a><span class="lineno"> 32</span> <a class="code hl_enumvalue" href="_b_n_o08x_8hpp.html#adb7d85b4fa619c860031f469261c6279a41bc94cbd8eebea13ce0491b2ac11b88">LOW</a> = 1,</div>
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<div class="line"><a id="l00033" name="l00033"></a><span class="lineno"> 33</span> <a class="code hl_enumvalue" href="_b_n_o08x_8hpp.html#adb7d85b4fa619c860031f469261c6279a2ad6d5975c45da2e711c796f3a1b029c">MED</a>,</div>
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<div class="line"><a id="l00034" name="l00034"></a><span class="lineno"> 34</span> <a class="code hl_enumvalue" href="_b_n_o08x_8hpp.html#adb7d85b4fa619c860031f469261c6279ab89de3b4b81c4facfac906edf29aec8c">HIGH</a></div>
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<div class="line"><a id="l00035" name="l00035"></a><span class="lineno"> 35</span>};</div>
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</div>
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<div class="line"><a id="l00036" name="l00036"></a><span class="lineno"> 36</span> </div>
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<div class="foldopen" id="foldopen00038" data-start="{" data-end="};">
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<div class="line"><a id="l00038" name="l00038"></a><span class="lineno"><a class="line" href="structbno08x__config__t.html"> 38</a></span><span class="keyword">typedef</span> <span class="keyword">struct </span><a class="code hl_struct" href="structbno08x__config__t.html">bno08x_config_t</a></div>
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<div class="line"><a id="l00039" name="l00039"></a><span class="lineno"> 39</span>{</div>
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<div class="line"><a id="l00040" name="l00040"></a><span class="lineno"><a class="line" href="structbno08x__config__t.html#a020d2343750bb7debc2a108ae038c9ec"> 40</a></span> spi_host_device_t <a class="code hl_variable" href="structbno08x__config__t.html#a020d2343750bb7debc2a108ae038c9ec">spi_peripheral</a>; </div>
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<div class="line"><a id="l00041" name="l00041"></a><span class="lineno"><a class="line" href="structbno08x__config__t.html#a79023fd80039e41a22b7f73ccd5fc861"> 41</a></span> gpio_num_t <a class="code hl_variable" href="structbno08x__config__t.html#a79023fd80039e41a22b7f73ccd5fc861">io_mosi</a>; </div>
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<div class="line"><a id="l00042" name="l00042"></a><span class="lineno"><a class="line" href="structbno08x__config__t.html#a9468180a773892977db39cc5ed9368e3"> 42</a></span> gpio_num_t <a class="code hl_variable" href="structbno08x__config__t.html#a9468180a773892977db39cc5ed9368e3">io_miso</a>; </div>
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<div class="line"><a id="l00043" name="l00043"></a><span class="lineno"><a class="line" href="structbno08x__config__t.html#a639685b91ae3198909d722316495246a"> 43</a></span> gpio_num_t <a class="code hl_variable" href="structbno08x__config__t.html#a639685b91ae3198909d722316495246a">io_sclk</a>; </div>
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<div class="line"><a id="l00044" name="l00044"></a><span class="lineno"><a class="line" href="structbno08x__config__t.html#ab1b5351b63da0c172c942463d0dc2505"> 44</a></span> gpio_num_t <a class="code hl_variable" href="structbno08x__config__t.html#ab1b5351b63da0c172c942463d0dc2505">io_cs</a>; </div>
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<div class="line"><a id="l00045" name="l00045"></a><span class="lineno"><a class="line" href="structbno08x__config__t.html#a3cfe965659cfbc6b0c5269bd0211975f"> 45</a></span> gpio_num_t <a class="code hl_variable" href="structbno08x__config__t.html#a3cfe965659cfbc6b0c5269bd0211975f">io_int</a>; </div>
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<div class="line"><a id="l00046" name="l00046"></a><span class="lineno"><a class="line" href="structbno08x__config__t.html#a62745c761219139f66ecd173b51577fc"> 46</a></span> gpio_num_t <a class="code hl_variable" href="structbno08x__config__t.html#a62745c761219139f66ecd173b51577fc">io_rst</a>; </div>
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<div class="line"><a id="l00047" name="l00047"></a><span class="lineno"><a class="line" href="structbno08x__config__t.html#a90ad7f316dc443874d19dc7e723a0ce0"> 47</a></span> gpio_num_t <a class="code hl_variable" href="structbno08x__config__t.html#a90ad7f316dc443874d19dc7e723a0ce0">io_wake</a>; </div>
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<div class="line"><a id="l00048" name="l00048"></a><span class="lineno"><a class="line" href="structbno08x__config__t.html#a652ad01310ba21afcae1bb765de51cfe"> 48</a></span> uint64_t <a class="code hl_variable" href="structbno08x__config__t.html#a652ad01310ba21afcae1bb765de51cfe">sclk_speed</a>; </div>
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<div class="line"><a id="l00049" name="l00049"></a><span class="lineno"><a class="line" href="structbno08x__config__t.html#a720c215a75b3922ffa6f683e7ca70abe"> 49</a></span> <span class="keywordtype">bool</span> <a class="code hl_variable" href="structbno08x__config__t.html#a720c215a75b3922ffa6f683e7ca70abe">debug_en</a>; </div>
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<div class="line"><a id="l00050" name="l00050"></a><span class="lineno"> 50</span> </div>
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<div class="line"><a id="l00051" name="l00051"></a><span class="lineno"> 51</span><span class="preprocessor">#ifdef ESP32C3_IMU_CONFIG</span></div>
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<div class="line"><a id="l00054" name="l00054"></a><span class="lineno"> 54</span> <a class="code hl_function" href="structbno08x__config__t.html#abf8805292192f4c30c5000423175a2e1">bno08x_config_t</a>()</div>
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<div class="line"><a id="l00055" name="l00055"></a><span class="lineno"> 55</span> : <a class="code hl_variable" href="structbno08x__config__t.html#a020d2343750bb7debc2a108ae038c9ec">spi_peripheral</a>(SPI2_HOST)</div>
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<div class="line"><a id="l00056" name="l00056"></a><span class="lineno"> 56</span> , <a class="code hl_variable" href="structbno08x__config__t.html#a79023fd80039e41a22b7f73ccd5fc861">io_mosi</a>(GPIO_NUM_4)</div>
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<div class="line"><a id="l00057" name="l00057"></a><span class="lineno"> 57</span> , <a class="code hl_variable" href="structbno08x__config__t.html#a9468180a773892977db39cc5ed9368e3">io_miso</a>(GPIO_NUM_19)</div>
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<div class="line"><a id="l00058" name="l00058"></a><span class="lineno"> 58</span> , <a class="code hl_variable" href="structbno08x__config__t.html#a639685b91ae3198909d722316495246a">io_sclk</a>(GPIO_NUM_18)</div>
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<div class="line"><a id="l00059" name="l00059"></a><span class="lineno"> 59</span> , <a class="code hl_variable" href="structbno08x__config__t.html#ab1b5351b63da0c172c942463d0dc2505">io_cs</a>(GPIO_NUM_5)</div>
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<div class="line"><a id="l00060" name="l00060"></a><span class="lineno"> 60</span> , <a class="code hl_variable" href="structbno08x__config__t.html#a3cfe965659cfbc6b0c5269bd0211975f">io_int</a>(GPIO_NUM_6)</div>
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<div class="line"><a id="l00061" name="l00061"></a><span class="lineno"> 61</span> , <a class="code hl_variable" href="structbno08x__config__t.html#a62745c761219139f66ecd173b51577fc">io_rst</a>(GPIO_NUM_7)</div>
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<div class="line"><a id="l00062" name="l00062"></a><span class="lineno"> 62</span> , <a class="code hl_variable" href="structbno08x__config__t.html#a90ad7f316dc443874d19dc7e723a0ce0">io_wake</a>(GPIO_NUM_NC)</div>
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<div class="line"><a id="l00063" name="l00063"></a><span class="lineno"> 63</span> , <a class="code hl_variable" href="structbno08x__config__t.html#a652ad01310ba21afcae1bb765de51cfe">sclk_speed</a>(2000000UL) <span class="comment">// 2MHz SCLK speed</span></div>
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<div class="line"><a id="l00064" name="l00064"></a><span class="lineno"> 64</span> , <a class="code hl_variable" href="structbno08x__config__t.html#a720c215a75b3922ffa6f683e7ca70abe">debug_en</a>(false)</div>
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<div class="line"><a id="l00065" name="l00065"></a><span class="lineno"> 65</span> {</div>
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<div class="line"><a id="l00066" name="l00066"></a><span class="lineno"> 66</span> }</div>
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<div class="line"><a id="l00067" name="l00067"></a><span class="lineno"> 67</span><span class="preprocessor">#else</span></div>
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<div class="foldopen" id="foldopen00069" data-start="{" data-end="}">
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<div class="line"><a id="l00069" name="l00069"></a><span class="lineno"><a class="line" href="structbno08x__config__t.html#abf8805292192f4c30c5000423175a2e1"> 69</a></span> <a class="code hl_function" href="structbno08x__config__t.html#abf8805292192f4c30c5000423175a2e1">bno08x_config_t</a>()</div>
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<div class="line"><a id="l00070" name="l00070"></a><span class="lineno"> 70</span> : <a class="code hl_variable" href="structbno08x__config__t.html#a020d2343750bb7debc2a108ae038c9ec">spi_peripheral</a>(SPI3_HOST)</div>
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<div class="line"><a id="l00071" name="l00071"></a><span class="lineno"> 71</span> , <a class="code hl_variable" href="structbno08x__config__t.html#a79023fd80039e41a22b7f73ccd5fc861">io_mosi</a>(GPIO_NUM_23)</div>
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<div class="line"><a id="l00072" name="l00072"></a><span class="lineno"> 72</span> , <a class="code hl_variable" href="structbno08x__config__t.html#a9468180a773892977db39cc5ed9368e3">io_miso</a>(GPIO_NUM_19)</div>
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<div class="line"><a id="l00073" name="l00073"></a><span class="lineno"> 73</span> , <a class="code hl_variable" href="structbno08x__config__t.html#a639685b91ae3198909d722316495246a">io_sclk</a>(GPIO_NUM_18)</div>
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<div class="line"><a id="l00074" name="l00074"></a><span class="lineno"> 74</span> , <a class="code hl_variable" href="structbno08x__config__t.html#ab1b5351b63da0c172c942463d0dc2505">io_cs</a>(GPIO_NUM_33)</div>
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<div class="line"><a id="l00075" name="l00075"></a><span class="lineno"> 75</span> , <a class="code hl_variable" href="structbno08x__config__t.html#a3cfe965659cfbc6b0c5269bd0211975f">io_int</a>(GPIO_NUM_26)</div>
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<div class="line"><a id="l00076" name="l00076"></a><span class="lineno"> 76</span> , <a class="code hl_variable" href="structbno08x__config__t.html#a62745c761219139f66ecd173b51577fc">io_rst</a>(GPIO_NUM_32)</div>
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<div class="line"><a id="l00077" name="l00077"></a><span class="lineno"> 77</span> , <a class="code hl_variable" href="structbno08x__config__t.html#a90ad7f316dc443874d19dc7e723a0ce0">io_wake</a>(GPIO_NUM_NC)</div>
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<div class="line"><a id="l00078" name="l00078"></a><span class="lineno"> 78</span> , <a class="code hl_variable" href="structbno08x__config__t.html#a652ad01310ba21afcae1bb765de51cfe">sclk_speed</a>(2000000UL) <span class="comment">// 2MHz SCLK speed</span></div>
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<div class="line"><a id="l00079" name="l00079"></a><span class="lineno"> 79</span> <span class="comment">// , sclk_speed(10000U), //clock slowed to see on AD2</span></div>
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<div class="line"><a id="l00080" name="l00080"></a><span class="lineno"> 80</span> , <a class="code hl_variable" href="structbno08x__config__t.html#a720c215a75b3922ffa6f683e7ca70abe">debug_en</a>(false)</div>
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<div class="line"><a id="l00081" name="l00081"></a><span class="lineno"> 81</span> </div>
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<div class="line"><a id="l00082" name="l00082"></a><span class="lineno"> 82</span> {</div>
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<div class="line"><a id="l00083" name="l00083"></a><span class="lineno"> 83</span> }</div>
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</div>
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<div class="line"><a id="l00084" name="l00084"></a><span class="lineno"> 84</span><span class="preprocessor">#endif</span></div>
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<div class="foldopen" id="foldopen00086" data-start="{" data-end="}">
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<div class="line"><a id="l00086" name="l00086"></a><span class="lineno"><a class="line" href="structbno08x__config__t.html#ae02a72c63211b734cc420cee6f4b5017"> 86</a></span> <a class="code hl_function" href="structbno08x__config__t.html#ae02a72c63211b734cc420cee6f4b5017">bno08x_config_t</a>(spi_host_device_t <a class="code hl_variable" href="structbno08x__config__t.html#a020d2343750bb7debc2a108ae038c9ec">spi_peripheral</a>, gpio_num_t <a class="code hl_variable" href="structbno08x__config__t.html#a79023fd80039e41a22b7f73ccd5fc861">io_mosi</a>, gpio_num_t <a class="code hl_variable" href="structbno08x__config__t.html#a9468180a773892977db39cc5ed9368e3">io_miso</a>, gpio_num_t <a class="code hl_variable" href="structbno08x__config__t.html#a639685b91ae3198909d722316495246a">io_sclk</a>, gpio_num_t <a class="code hl_variable" href="structbno08x__config__t.html#ab1b5351b63da0c172c942463d0dc2505">io_cs</a>,</div>
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<div class="line"><a id="l00087" name="l00087"></a><span class="lineno"> 87</span> gpio_num_t <a class="code hl_variable" href="structbno08x__config__t.html#a3cfe965659cfbc6b0c5269bd0211975f">io_int</a>, gpio_num_t <a class="code hl_variable" href="structbno08x__config__t.html#a62745c761219139f66ecd173b51577fc">io_rst</a>, gpio_num_t <a class="code hl_variable" href="structbno08x__config__t.html#a90ad7f316dc443874d19dc7e723a0ce0">io_wake</a>, uint64_t <a class="code hl_variable" href="structbno08x__config__t.html#a652ad01310ba21afcae1bb765de51cfe">sclk_speed</a>, <span class="keywordtype">bool</span> debug)</div>
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<div class="line"><a id="l00088" name="l00088"></a><span class="lineno"> 88</span> : <a class="code hl_variable" href="structbno08x__config__t.html#a020d2343750bb7debc2a108ae038c9ec">spi_peripheral</a>(<a class="code hl_variable" href="structbno08x__config__t.html#a020d2343750bb7debc2a108ae038c9ec">spi_peripheral</a>)</div>
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<div class="line"><a id="l00089" name="l00089"></a><span class="lineno"> 89</span> , <a class="code hl_variable" href="structbno08x__config__t.html#a79023fd80039e41a22b7f73ccd5fc861">io_mosi</a>(<a class="code hl_variable" href="structbno08x__config__t.html#a79023fd80039e41a22b7f73ccd5fc861">io_mosi</a>)</div>
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<div class="line"><a id="l00090" name="l00090"></a><span class="lineno"> 90</span> , <a class="code hl_variable" href="structbno08x__config__t.html#a9468180a773892977db39cc5ed9368e3">io_miso</a>(<a class="code hl_variable" href="structbno08x__config__t.html#a9468180a773892977db39cc5ed9368e3">io_miso</a>)</div>
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<div class="line"><a id="l00091" name="l00091"></a><span class="lineno"> 91</span> , <a class="code hl_variable" href="structbno08x__config__t.html#a639685b91ae3198909d722316495246a">io_sclk</a>(<a class="code hl_variable" href="structbno08x__config__t.html#a639685b91ae3198909d722316495246a">io_sclk</a>)</div>
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<div class="line"><a id="l00092" name="l00092"></a><span class="lineno"> 92</span> , <a class="code hl_variable" href="structbno08x__config__t.html#ab1b5351b63da0c172c942463d0dc2505">io_cs</a>(<a class="code hl_variable" href="structbno08x__config__t.html#ab1b5351b63da0c172c942463d0dc2505">io_cs</a>)</div>
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<div class="line"><a id="l00093" name="l00093"></a><span class="lineno"> 93</span> , <a class="code hl_variable" href="structbno08x__config__t.html#a3cfe965659cfbc6b0c5269bd0211975f">io_int</a>(<a class="code hl_variable" href="structbno08x__config__t.html#a3cfe965659cfbc6b0c5269bd0211975f">io_int</a>)</div>
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<div class="line"><a id="l00094" name="l00094"></a><span class="lineno"> 94</span> , <a class="code hl_variable" href="structbno08x__config__t.html#a62745c761219139f66ecd173b51577fc">io_rst</a>(<a class="code hl_variable" href="structbno08x__config__t.html#a62745c761219139f66ecd173b51577fc">io_rst</a>)</div>
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<div class="line"><a id="l00095" name="l00095"></a><span class="lineno"> 95</span> , <a class="code hl_variable" href="structbno08x__config__t.html#a90ad7f316dc443874d19dc7e723a0ce0">io_wake</a>(<a class="code hl_variable" href="structbno08x__config__t.html#a90ad7f316dc443874d19dc7e723a0ce0">io_wake</a>)</div>
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<div class="line"><a id="l00096" name="l00096"></a><span class="lineno"> 96</span> , <a class="code hl_variable" href="structbno08x__config__t.html#a652ad01310ba21afcae1bb765de51cfe">sclk_speed</a>(<a class="code hl_variable" href="structbno08x__config__t.html#a652ad01310ba21afcae1bb765de51cfe">sclk_speed</a>)</div>
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<div class="line"><a id="l00097" name="l00097"></a><span class="lineno"> 97</span> , <a class="code hl_variable" href="structbno08x__config__t.html#a720c215a75b3922ffa6f683e7ca70abe">debug_en</a>(false)</div>
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<div class="line"><a id="l00098" name="l00098"></a><span class="lineno"> 98</span> </div>
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<div class="line"><a id="l00099" name="l00099"></a><span class="lineno"> 99</span> {</div>
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<div class="line"><a id="l00100" name="l00100"></a><span class="lineno"> 100</span> }</div>
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</div>
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<div class="line"><a id="l00101" name="l00101"></a><span class="lineno"><a class="line" href="_b_n_o08x_8hpp.html#a648bbdbf22731476890dd8da977d7503"> 101</a></span>} <a class="code hl_typedef" href="_b_n_o08x_8hpp.html#a648bbdbf22731476890dd8da977d7503">bno08x_config_t</a>;</div>
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</div>
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<div class="line"><a id="l00102" name="l00102"></a><span class="lineno"> 102</span> </div>
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<div class="foldopen" id="foldopen00103" data-start="{" data-end="};">
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<div class="line"><a id="l00103" name="l00103"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html"> 103</a></span><span class="keyword">class </span><a class="code hl_class" href="class_b_n_o08x.html">BNO08x</a></div>
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<div class="line"><a id="l00104" name="l00104"></a><span class="lineno"> 104</span>{</div>
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<div class="line"><a id="l00105" name="l00105"></a><span class="lineno"> 105</span> <span class="keyword">public</span>:</div>
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<div class="line"><a id="l00106" name="l00106"></a><span class="lineno"> 106</span> <a class="code hl_function" href="class_b_n_o08x.html#a40f7688e843d74b8bd526c6f5ff17845">BNO08x</a>(<a class="code hl_struct" href="structbno08x__config__t.html">bno08x_config_t</a> <a class="code hl_variable" href="class_b_n_o08x.html#aeda443e9f608fccfec0e6770edc90c82">imu_config</a> = <a class="code hl_variable" href="class_b_n_o08x.html#a6232920a05c0aba34e5560951a20ae87">default_imu_config</a>);</div>
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<div class="line"><a id="l00107" name="l00107"></a><span class="lineno"> 107</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="class_b_n_o08x.html#aea8e2c6dd7a2c9899479a7f39fe94798">initialize</a>();</div>
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<div class="line"><a id="l00108" name="l00108"></a><span class="lineno"> 108</span> </div>
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<div class="line"><a id="l00109" name="l00109"></a><span class="lineno"> 109</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="class_b_n_o08x.html#a28cd1c0b3477571d87133234e6358503">hard_reset</a>();</div>
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<div class="line"><a id="l00110" name="l00110"></a><span class="lineno"> 110</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="class_b_n_o08x.html#a973a1b1785f3302ee1b2702c6a27646e">soft_reset</a>();</div>
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<div class="line"><a id="l00111" name="l00111"></a><span class="lineno"> 111</span> uint8_t <a class="code hl_function" href="class_b_n_o08x.html#a11bb1b3fa44ad8f28c1492b5c07af886">get_reset_reason</a>();</div>
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<div class="line"><a id="l00112" name="l00112"></a><span class="lineno"> 112</span> </div>
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<div class="line"><a id="l00113" name="l00113"></a><span class="lineno"> 113</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="class_b_n_o08x.html#a176ae0112325c05105eacb4566bbfa0b">mode_sleep</a>();</div>
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<div class="line"><a id="l00114" name="l00114"></a><span class="lineno"> 114</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="class_b_n_o08x.html#ac1b3de9b552c611ee9c455d7f19be698">mode_on</a>();</div>
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<div class="line"><a id="l00115" name="l00115"></a><span class="lineno"> 115</span> <span class="keywordtype">float</span> <a class="code hl_function" href="class_b_n_o08x.html#a27fb24e894f794ec6228ef142b6ff8d9">q_to_float</a>(int16_t fixed_point_value, uint8_t q_point);</div>
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<div class="line"><a id="l00116" name="l00116"></a><span class="lineno"> 116</span> </div>
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<div class="line"><a id="l00117" name="l00117"></a><span class="lineno"> 117</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="class_b_n_o08x.html#ae6e875a27ae74ebed806ee1a4576845a">run_full_calibration_routine</a>();</div>
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<div class="line"><a id="l00118" name="l00118"></a><span class="lineno"> 118</span> <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x.html#afd0ca5f9b9741935543d143a5a43d128">calibrate_all</a>();</div>
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<div class="line"><a id="l00119" name="l00119"></a><span class="lineno"> 119</span> <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x.html#aeffce374f558a167d5b5f19ad627e7cc">calibrate_accelerometer</a>();</div>
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<div class="line"><a id="l00120" name="l00120"></a><span class="lineno"> 120</span> <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x.html#a9ada90f8ab6dd33fa2d7c168d9234af1">calibrate_gyro</a>();</div>
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<div class="line"><a id="l00121" name="l00121"></a><span class="lineno"> 121</span> <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x.html#ac26350b55095a346d72598ab8aa74b4a">calibrate_magnetometer</a>();</div>
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<div class="line"><a id="l00122" name="l00122"></a><span class="lineno"> 122</span> <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x.html#a1c6c49c97bc098db89db1aaa37e18f26">calibrate_planar_accelerometer</a>();</div>
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<div class="line"><a id="l00123" name="l00123"></a><span class="lineno"> 123</span> <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x.html#affaaa35abbb872da5299ebab6e2c9b11">request_calibration_status</a>();</div>
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<div class="line"><a id="l00124" name="l00124"></a><span class="lineno"> 124</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="class_b_n_o08x.html#a71ca35f78b98d93d31eb0c187dc8543b">calibration_complete</a>();</div>
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<div class="line"><a id="l00125" name="l00125"></a><span class="lineno"> 125</span> <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x.html#ac9d9b6636745e8180807284da67c92a2">end_calibration</a>();</div>
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<div class="line"><a id="l00126" name="l00126"></a><span class="lineno"> 126</span> <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x.html#aa16609de88bfb7b389348859aa0cee54">save_calibration</a>();</div>
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<div class="line"><a id="l00127" name="l00127"></a><span class="lineno"> 127</span> </div>
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<div class="line"><a id="l00128" name="l00128"></a><span class="lineno"> 128</span> <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x.html#abe9acd2eb1ce2f2e72b7a48c8d025cc4">enable_rotation_vector</a>(uint16_t time_between_reports);</div>
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<div class="line"><a id="l00129" name="l00129"></a><span class="lineno"> 129</span> <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x.html#a639cb013ed17e0f33057742fac97f1a2">enable_game_rotation_vector</a>(uint16_t time_between_reports);</div>
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<div class="line"><a id="l00130" name="l00130"></a><span class="lineno"> 130</span> <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x.html#a04290cb6ba09b93d5a9ef337c13d1abb">enable_ARVR_stabilized_rotation_vector</a>(uint16_t time_between_reports);</div>
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<div class="line"><a id="l00131" name="l00131"></a><span class="lineno"> 131</span> <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x.html#ad9e26658c53c728d7d10381db680765e">enable_ARVR_stabilized_game_rotation_vector</a>(uint16_t time_between_reports);</div>
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<div class="line"><a id="l00132" name="l00132"></a><span class="lineno"> 132</span> <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x.html#a09a0306abec5895dd0450b2fe970347c">enable_gyro_integrated_rotation_vector</a>(uint16_t timeBetweenReports);</div>
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<div class="line"><a id="l00133" name="l00133"></a><span class="lineno"> 133</span> <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x.html#a1d68494d911f7efbbb620d349fb9da0d">enable_accelerometer</a>(uint16_t time_between_reports);</div>
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<div class="line"><a id="l00134" name="l00134"></a><span class="lineno"> 134</span> <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x.html#ad3724e7e602feb2b695d2d88a61d5328">enable_linear_accelerometer</a>(uint16_t time_between_reports);</div>
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<div class="line"><a id="l00135" name="l00135"></a><span class="lineno"> 135</span> <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x.html#a2dc0cd5bc04ca7eb3b4fffd2a3a6f27a">enable_gravity</a>(uint16_t time_between_reports);</div>
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<div class="line"><a id="l00136" name="l00136"></a><span class="lineno"> 136</span> <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x.html#a7619b598cc8e768c4df4805b2958a2c8">enable_gyro</a>(uint16_t time_between_reports);</div>
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<div class="line"><a id="l00137" name="l00137"></a><span class="lineno"> 137</span> <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x.html#ac7b5815c5ad8b83a34ad0855423601e8">enable_uncalibrated_gyro</a>(uint16_t time_between_reports);</div>
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<div class="line"><a id="l00138" name="l00138"></a><span class="lineno"> 138</span> <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x.html#acf4a83a44a221f6495263f00f1b8d849">enable_magnetometer</a>(uint16_t time_between_reports);</div>
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<div class="line"><a id="l00139" name="l00139"></a><span class="lineno"> 139</span> <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x.html#a919c7d94226f4c6adbb8edf6fd1613a9">enable_tap_detector</a>(uint16_t time_between_reports);</div>
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<div class="line"><a id="l00140" name="l00140"></a><span class="lineno"> 140</span> <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x.html#ad550085fa1b51495ce3d8894538f33d5">enable_step_counter</a>(uint16_t time_between_reports);</div>
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<div class="line"><a id="l00141" name="l00141"></a><span class="lineno"> 141</span> <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x.html#a5378a235e3114ccdc63b26bc3fae5dad">enable_stability_classifier</a>(uint16_t time_between_reports);</div>
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<div class="line"><a id="l00142" name="l00142"></a><span class="lineno"> 142</span> <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x.html#a0960ce957058af565dd4c43ad6c40225">enable_activity_classifier</a>(uint16_t time_between_reports, uint32_t activities_to_enable, uint8_t (&activity_confidence_vals)[9]);</div>
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<div class="line"><a id="l00143" name="l00143"></a><span class="lineno"> 143</span> <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x.html#ad6adf3b24a8a559d3bb57e6abcef4ce8">enable_raw_accelerometer</a>(uint16_t time_between_reports);</div>
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<div class="line"><a id="l00144" name="l00144"></a><span class="lineno"> 144</span> <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x.html#af984deb77c92746fe4d193457312be63">enable_raw_gyro</a>(uint16_t time_between_reports);</div>
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<div class="line"><a id="l00145" name="l00145"></a><span class="lineno"> 145</span> <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x.html#ad1ca07ee06ef98d4e11a74dde18e9623">enable_raw_magnetometer</a>(uint16_t time_between_reports);</div>
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<div class="line"><a id="l00146" name="l00146"></a><span class="lineno"> 146</span> </div>
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<div class="line"><a id="l00147" name="l00147"></a><span class="lineno"> 147</span> <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x.html#a4549bbef48208bd9c745fc755b93012f">tare_now</a>(uint8_t axis_sel = <a class="code hl_variable" href="class_b_n_o08x.html#a1ef13f6f330810934416ad5fe0ee55b2">TARE_AXIS_ALL</a>, uint8_t rotation_vector_basis = <a class="code hl_variable" href="class_b_n_o08x.html#a8e2cfc25d0e34ae53a762b88cc3ac3c8">TARE_ROTATION_VECTOR</a>);</div>
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<div class="line"><a id="l00148" name="l00148"></a><span class="lineno"> 148</span> <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x.html#afb2ffc4e7ff0498917bc14a83af306e2">save_tare</a>();</div>
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<div class="line"><a id="l00149" name="l00149"></a><span class="lineno"> 149</span> <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x.html#afe39bfdede7b9a2b273983cb29a27d6e">clear_tare</a>();</div>
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<div class="line"><a id="l00150" name="l00150"></a><span class="lineno"> 150</span> </div>
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<div class="line"><a id="l00151" name="l00151"></a><span class="lineno"> 151</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="class_b_n_o08x.html#a367d525d1c0ba119b3dca3067bb5bccc">data_available</a>();</div>
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<div class="line"><a id="l00152" name="l00152"></a><span class="lineno"> 152</span> uint16_t <a class="code hl_function" href="class_b_n_o08x.html#a7ba1d779ed68edf30090dd0f938a5709">parse_input_report</a>();</div>
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<div class="line"><a id="l00153" name="l00153"></a><span class="lineno"> 153</span> uint16_t <a class="code hl_function" href="class_b_n_o08x.html#a3762125be0025a335f0d918415f4ce18">parse_command_report</a>();</div>
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<div class="line"><a id="l00154" name="l00154"></a><span class="lineno"> 154</span> uint16_t <a class="code hl_function" href="class_b_n_o08x.html#a9cc47f0e5b7d679c80992c993a910ccf">get_readings</a>();</div>
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<div class="line"><a id="l00155" name="l00155"></a><span class="lineno"> 155</span> </div>
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<div class="line"><a id="l00156" name="l00156"></a><span class="lineno"> 156</span> uint32_t <a class="code hl_function" href="class_b_n_o08x.html#ad9137777271421a58159f3fe5e05ed20">get_time_stamp</a>();</div>
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<div class="line"><a id="l00157" name="l00157"></a><span class="lineno"> 157</span> </div>
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<div class="line"><a id="l00158" name="l00158"></a><span class="lineno"> 158</span> <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x.html#a35a224d519a2a243d0d526a34ecde5a8">get_magf</a>(<span class="keywordtype">float</span>& x, <span class="keywordtype">float</span>& y, <span class="keywordtype">float</span>& z, uint8_t& accuracy);</div>
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<div class="line"><a id="l00159" name="l00159"></a><span class="lineno"> 159</span> <span class="keywordtype">float</span> <a class="code hl_function" href="class_b_n_o08x.html#a111601243b913751eb51c1f37cba4e7d">get_magf_X</a>();</div>
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<div class="line"><a id="l00160" name="l00160"></a><span class="lineno"> 160</span> <span class="keywordtype">float</span> <a class="code hl_function" href="class_b_n_o08x.html#a82ed8d7b9a5c25374839df75a3d220ea">get_magf_Y</a>();</div>
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<div class="line"><a id="l00161" name="l00161"></a><span class="lineno"> 161</span> <span class="keywordtype">float</span> <a class="code hl_function" href="class_b_n_o08x.html#ab4c48a91d2f8b29430abc17b7f015282">get_magf_Z</a>();</div>
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<div class="line"><a id="l00162" name="l00162"></a><span class="lineno"> 162</span> uint8_t <a class="code hl_function" href="class_b_n_o08x.html#a487391e6b2dd7f05084804d1fb94976f">get_magf_accuracy</a>();</div>
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<div class="line"><a id="l00163" name="l00163"></a><span class="lineno"> 163</span> </div>
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<div class="line"><a id="l00164" name="l00164"></a><span class="lineno"> 164</span> <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x.html#a386c46ac8965220ab7b9423df838dd4d">get_gravity</a>(<span class="keywordtype">float</span>& x, <span class="keywordtype">float</span>& y, <span class="keywordtype">float</span>& z, uint8_t& accuracy);</div>
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<div class="line"><a id="l00165" name="l00165"></a><span class="lineno"> 165</span> <span class="keywordtype">float</span> <a class="code hl_function" href="class_b_n_o08x.html#a88679bccd9339b87ec35fc4fc4e745ae">get_gravity_X</a>();</div>
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<div class="line"><a id="l00166" name="l00166"></a><span class="lineno"> 166</span> <span class="keywordtype">float</span> <a class="code hl_function" href="class_b_n_o08x.html#a8a36db7f1c932f33e05e494632059801">get_gravity_Y</a>();</div>
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<div class="line"><a id="l00167" name="l00167"></a><span class="lineno"> 167</span> <span class="keywordtype">float</span> <a class="code hl_function" href="class_b_n_o08x.html#a5622b4d1754648ea7eb400c1adf9e807">get_gravity_Z</a>();</div>
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<div class="line"><a id="l00168" name="l00168"></a><span class="lineno"> 168</span> uint8_t <a class="code hl_function" href="class_b_n_o08x.html#accd39f48e9f8ab8267df7184b5b7cd76">get_gravity_accuracy</a>();</div>
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<div class="line"><a id="l00169" name="l00169"></a><span class="lineno"> 169</span> </div>
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<div class="line"><a id="l00170" name="l00170"></a><span class="lineno"> 170</span> <span class="keywordtype">float</span> <a class="code hl_function" href="class_b_n_o08x.html#a89618eba08186ee8e679e7313907ddef">get_roll</a>();</div>
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<div class="line"><a id="l00171" name="l00171"></a><span class="lineno"> 171</span> <span class="keywordtype">float</span> <a class="code hl_function" href="class_b_n_o08x.html#a1b91f234d81c45f1f5ca2f27c9f0f6a3">get_pitch</a>();</div>
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<div class="line"><a id="l00172" name="l00172"></a><span class="lineno"> 172</span> <span class="keywordtype">float</span> <a class="code hl_function" href="class_b_n_o08x.html#a64d3e41750c6de9413d6982511f78f17">get_yaw</a>();</div>
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<div class="line"><a id="l00173" name="l00173"></a><span class="lineno"> 173</span> </div>
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<div class="line"><a id="l00174" name="l00174"></a><span class="lineno"> 174</span> <span class="keywordtype">float</span> <a class="code hl_function" href="class_b_n_o08x.html#a7077b9a130f1dcf0192454e387968dd6">get_roll_deg</a>();</div>
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<div class="line"><a id="l00175" name="l00175"></a><span class="lineno"> 175</span> <span class="keywordtype">float</span> <a class="code hl_function" href="class_b_n_o08x.html#af50010400cbd1445e9ddfa259384b412">get_pitch_deg</a>();</div>
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<div class="line"><a id="l00176" name="l00176"></a><span class="lineno"> 176</span> <span class="keywordtype">float</span> <a class="code hl_function" href="class_b_n_o08x.html#af80f7795656e695e036d3b1557aed94c">get_yaw_deg</a>();</div>
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<div class="line"><a id="l00177" name="l00177"></a><span class="lineno"> 177</span> </div>
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<div class="line"><a id="l00178" name="l00178"></a><span class="lineno"> 178</span> <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x.html#a51a6d594824de2292e70f788454f8a2d">get_quat</a>(<span class="keywordtype">float</span>& i, <span class="keywordtype">float</span>& j, <span class="keywordtype">float</span>& k, <span class="keywordtype">float</span>& real, <span class="keywordtype">float</span>& rad_accuracy, uint8_t& accuracy);</div>
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<div class="line"><a id="l00179" name="l00179"></a><span class="lineno"> 179</span> <span class="keywordtype">float</span> <a class="code hl_function" href="class_b_n_o08x.html#a12c12a8e078b28480fb8828d306656f5">get_quat_I</a>();</div>
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<div class="line"><a id="l00180" name="l00180"></a><span class="lineno"> 180</span> <span class="keywordtype">float</span> <a class="code hl_function" href="class_b_n_o08x.html#a9f6bb642fa0297a7b9bcc94dd7374015">get_quat_J</a>();</div>
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<div class="line"><a id="l00181" name="l00181"></a><span class="lineno"> 181</span> <span class="keywordtype">float</span> <a class="code hl_function" href="class_b_n_o08x.html#a9f42c70c2337a0d831064a40ecfe2dd8">get_quat_K</a>();</div>
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<div class="line"><a id="l00182" name="l00182"></a><span class="lineno"> 182</span> <span class="keywordtype">float</span> <a class="code hl_function" href="class_b_n_o08x.html#a5a556c5ec1baaa7f1156779dbe47a7b7">get_quat_real</a>();</div>
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<div class="line"><a id="l00183" name="l00183"></a><span class="lineno"> 183</span> <span class="keywordtype">float</span> <a class="code hl_function" href="class_b_n_o08x.html#a61b7d10a98afc6903fea6b2cede27630">get_quat_radian_accuracy</a>();</div>
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<div class="line"><a id="l00184" name="l00184"></a><span class="lineno"> 184</span> uint8_t <a class="code hl_function" href="class_b_n_o08x.html#a24ba760d064a1dc45f972c79b9c8d98d">get_quat_accuracy</a>();</div>
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<div class="line"><a id="l00185" name="l00185"></a><span class="lineno"> 185</span> </div>
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<div class="line"><a id="l00186" name="l00186"></a><span class="lineno"> 186</span> <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x.html#a9329c6669282071622c3b3741b1b8142">get_accel</a>(<span class="keywordtype">float</span>& x, <span class="keywordtype">float</span>& y, <span class="keywordtype">float</span>& z, uint8_t& accuracy);</div>
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<div class="line"><a id="l00187" name="l00187"></a><span class="lineno"> 187</span> <span class="keywordtype">float</span> <a class="code hl_function" href="class_b_n_o08x.html#abce574112a9079d2cbc58cfc352b8a69">get_accel_X</a>();</div>
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<div class="line"><a id="l00188" name="l00188"></a><span class="lineno"> 188</span> <span class="keywordtype">float</span> <a class="code hl_function" href="class_b_n_o08x.html#afdf24bb3d54518b23972f21f007817c1">get_accel_Y</a>();</div>
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<div class="line"><a id="l00189" name="l00189"></a><span class="lineno"> 189</span> <span class="keywordtype">float</span> <a class="code hl_function" href="class_b_n_o08x.html#a0a72477cb7a330fedbcb3e2126b882b1">get_accel_Z</a>();</div>
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<div class="line"><a id="l00190" name="l00190"></a><span class="lineno"> 190</span> uint8_t <a class="code hl_function" href="class_b_n_o08x.html#a3fce726d5de821f97ed207036dae2900">get_accel_accuracy</a>();</div>
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<div class="line"><a id="l00191" name="l00191"></a><span class="lineno"> 191</span> </div>
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<div class="line"><a id="l00192" name="l00192"></a><span class="lineno"> 192</span> <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x.html#ad59b029d04341dbef72e059488951980">get_linear_accel</a>(<span class="keywordtype">float</span>& x, <span class="keywordtype">float</span>& y, <span class="keywordtype">float</span>& z, uint8_t& accuracy);</div>
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<div class="line"><a id="l00193" name="l00193"></a><span class="lineno"> 193</span> <span class="keywordtype">float</span> <a class="code hl_function" href="class_b_n_o08x.html#a763c3a9699a1081d430fd9b9b7bc49a3">get_linear_accel_X</a>();</div>
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<div class="line"><a id="l00194" name="l00194"></a><span class="lineno"> 194</span> <span class="keywordtype">float</span> <a class="code hl_function" href="class_b_n_o08x.html#a1033bdd65b42b6706d1dfc67ece66191">get_linear_accel_Y</a>();</div>
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<div class="line"><a id="l00195" name="l00195"></a><span class="lineno"> 195</span> <span class="keywordtype">float</span> <a class="code hl_function" href="class_b_n_o08x.html#afdfa7d50362702da689c5d18bf17fd84">get_linear_accel_Z</a>();</div>
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<div class="line"><a id="l00196" name="l00196"></a><span class="lineno"> 196</span> uint8_t <a class="code hl_function" href="class_b_n_o08x.html#a33fe3c2f47759cfae5f4b612ddd329ea">get_linear_accel_accuracy</a>();</div>
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<div class="line"><a id="l00197" name="l00197"></a><span class="lineno"> 197</span> </div>
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<div class="line"><a id="l00198" name="l00198"></a><span class="lineno"> 198</span> int16_t <a class="code hl_function" href="class_b_n_o08x.html#a1de356dd604c1dffcd1a32faeb4fafe2">get_raw_accel_X</a>();</div>
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<div class="line"><a id="l00199" name="l00199"></a><span class="lineno"> 199</span> int16_t <a class="code hl_function" href="class_b_n_o08x.html#a96563de0eb597a52d595d19da827b1ac">get_raw_accel_Y</a>();</div>
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<div class="line"><a id="l00200" name="l00200"></a><span class="lineno"> 200</span> int16_t <a class="code hl_function" href="class_b_n_o08x.html#a718cdd910e5e7e03fd0a1ad04ee6f0ce">get_raw_accel_Z</a>();</div>
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<div class="line"><a id="l00201" name="l00201"></a><span class="lineno"> 201</span> </div>
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<div class="line"><a id="l00202" name="l00202"></a><span class="lineno"> 202</span> int16_t <a class="code hl_function" href="class_b_n_o08x.html#af1b2c3a383a84fc6dfaddae1052b44d4">get_raw_gyro_X</a>();</div>
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<div class="line"><a id="l00203" name="l00203"></a><span class="lineno"> 203</span> int16_t <a class="code hl_function" href="class_b_n_o08x.html#aff7714441d242b3b9b0c03f94e0a9374">get_raw_gyro_Y</a>();</div>
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<div class="line"><a id="l00204" name="l00204"></a><span class="lineno"> 204</span> int16_t <a class="code hl_function" href="class_b_n_o08x.html#a2e28b5a79c442a6baa2fa5165b9ce37d">get_raw_gyro_Z</a>();</div>
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<div class="line"><a id="l00205" name="l00205"></a><span class="lineno"> 205</span> </div>
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<div class="line"><a id="l00206" name="l00206"></a><span class="lineno"> 206</span> int16_t <a class="code hl_function" href="class_b_n_o08x.html#adf12600b39de41d258439a343fcc1ad8">get_raw_magf_X</a>();</div>
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<div class="line"><a id="l00207" name="l00207"></a><span class="lineno"> 207</span> int16_t <a class="code hl_function" href="class_b_n_o08x.html#a2c842e43ceae19149f6525bcbc48f1cf">get_raw_magf_Y</a>();</div>
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<div class="line"><a id="l00208" name="l00208"></a><span class="lineno"> 208</span> int16_t <a class="code hl_function" href="class_b_n_o08x.html#a99c1bcc2ec3ca3d8feafd6dd61f9d269">get_raw_magf_Z</a>();</div>
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<div class="line"><a id="l00209" name="l00209"></a><span class="lineno"> 209</span> </div>
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<div class="line"><a id="l00210" name="l00210"></a><span class="lineno"> 210</span> <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x.html#a4d3746a376a22acb7a2641bb750c4c89">get_gyro_calibrated_velocity</a>(<span class="keywordtype">float</span>& x, <span class="keywordtype">float</span>& y, <span class="keywordtype">float</span>& z, uint8_t& accuracy);</div>
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<div class="line"><a id="l00211" name="l00211"></a><span class="lineno"> 211</span> <span class="keywordtype">float</span> <a class="code hl_function" href="class_b_n_o08x.html#ab7977391191067282e7f734b9ee45059">get_gyro_calibrated_velocity_X</a>();</div>
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<div class="line"><a id="l00212" name="l00212"></a><span class="lineno"> 212</span> <span class="keywordtype">float</span> <a class="code hl_function" href="class_b_n_o08x.html#ad4fab6e636e239d4b9273f158983ed89">get_gyro_calibrated_velocity_Y</a>();</div>
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<div class="line"><a id="l00213" name="l00213"></a><span class="lineno"> 213</span> <span class="keywordtype">float</span> <a class="code hl_function" href="class_b_n_o08x.html#a15a29c3bb476048b7229abcfb2b1d52a">get_gyro_calibrated_velocity_Z</a>();</div>
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<div class="line"><a id="l00214" name="l00214"></a><span class="lineno"> 214</span> uint8_t <a class="code hl_function" href="class_b_n_o08x.html#a811999653110858311c97a779c388e5d">get_gyro_accuracy</a>();</div>
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<div class="line"><a id="l00215" name="l00215"></a><span class="lineno"> 215</span> </div>
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<div class="line"><a id="l00216" name="l00216"></a><span class="lineno"> 216</span> <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x.html#a1bd3c33e70354bd35a78b83b6786b531">get_uncalibrated_gyro</a>(<span class="keywordtype">float</span>& x, <span class="keywordtype">float</span>& y, <span class="keywordtype">float</span>& z, <span class="keywordtype">float</span>& bx, <span class="keywordtype">float</span>& by, <span class="keywordtype">float</span>& bz, uint8_t& accuracy);</div>
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<div class="line"><a id="l00217" name="l00217"></a><span class="lineno"> 217</span> <span class="keywordtype">float</span> <a class="code hl_function" href="class_b_n_o08x.html#a289ff66f51c94be62c4a556f3a5997bf">get_uncalibrated_gyro_X</a>();</div>
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<div class="line"><a id="l00218" name="l00218"></a><span class="lineno"> 218</span> <span class="keywordtype">float</span> <a class="code hl_function" href="class_b_n_o08x.html#a1874e4bd457bb5b6ecc2c64039b88ba4">get_uncalibrated_gyro_Y</a>();</div>
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<div class="line"><a id="l00219" name="l00219"></a><span class="lineno"> 219</span> <span class="keywordtype">float</span> <a class="code hl_function" href="class_b_n_o08x.html#a0a73633d8929ce4058b14cefc8cad717">get_uncalibrated_gyro_Z</a>();</div>
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<div class="line"><a id="l00220" name="l00220"></a><span class="lineno"> 220</span> <span class="keywordtype">float</span> <a class="code hl_function" href="class_b_n_o08x.html#ad228cdf352b7ea95e484da993045a47b">get_uncalibrated_gyro_bias_X</a>();</div>
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<div class="line"><a id="l00221" name="l00221"></a><span class="lineno"> 221</span> <span class="keywordtype">float</span> <a class="code hl_function" href="class_b_n_o08x.html#a74725517129dd548c7a3de705d5861bd">get_uncalibrated_gyro_bias_Y</a>();</div>
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<div class="line"><a id="l00222" name="l00222"></a><span class="lineno"> 222</span> <span class="keywordtype">float</span> <a class="code hl_function" href="class_b_n_o08x.html#a5050359272abd146ab3c7a6101effbd7">get_uncalibrated_gyro_bias_Z</a>();</div>
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<div class="line"><a id="l00223" name="l00223"></a><span class="lineno"> 223</span> uint8_t <a class="code hl_function" href="class_b_n_o08x.html#a3285613f18b2f2f4c3f9e6d5c971af10">get_uncalibrated_gyro_accuracy</a>();</div>
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<div class="line"><a id="l00224" name="l00224"></a><span class="lineno"> 224</span> </div>
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<div class="line"><a id="l00225" name="l00225"></a><span class="lineno"> 225</span> <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x.html#afe6392012669e7ebd1a9e817e2bd313f">get_gyro_velocity</a>(<span class="keywordtype">float</span>& x, <span class="keywordtype">float</span>& y, <span class="keywordtype">float</span>& z);</div>
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<div class="line"><a id="l00226" name="l00226"></a><span class="lineno"> 226</span> <span class="keywordtype">float</span> <a class="code hl_function" href="class_b_n_o08x.html#acd376cd3e454a87198ec86accbf2ee00">get_gyro_velocity_X</a>();</div>
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<div class="line"><a id="l00227" name="l00227"></a><span class="lineno"> 227</span> <span class="keywordtype">float</span> <a class="code hl_function" href="class_b_n_o08x.html#acd1819a81818f90dc105950b4a7d0b04">get_gyro_velocity_Y</a>();</div>
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<div class="line"><a id="l00228" name="l00228"></a><span class="lineno"> 228</span> <span class="keywordtype">float</span> <a class="code hl_function" href="class_b_n_o08x.html#ae2add976af256ec981248371a2f58207">get_gyro_velocity_Z</a>();</div>
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<div class="line"><a id="l00229" name="l00229"></a><span class="lineno"> 229</span> </div>
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<div class="line"><a id="l00230" name="l00230"></a><span class="lineno"> 230</span> uint8_t <a class="code hl_function" href="class_b_n_o08x.html#a4797ec731de4c158716da1a7af9d1602">get_tap_detector</a>();</div>
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<div class="line"><a id="l00231" name="l00231"></a><span class="lineno"> 231</span> uint16_t <a class="code hl_function" href="class_b_n_o08x.html#adaff49f3d80fdd19fd4210f0c56d41ef">get_step_count</a>();</div>
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<div class="line"><a id="l00232" name="l00232"></a><span class="lineno"> 232</span> int8_t <a class="code hl_function" href="class_b_n_o08x.html#a0d148e00abcfeec48c689e3084a7e786">get_stability_classifier</a>();</div>
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<div class="line"><a id="l00233" name="l00233"></a><span class="lineno"> 233</span> uint8_t <a class="code hl_function" href="class_b_n_o08x.html#a4f7060b2d3c15b359b70b6346730446a">get_activity_classifier</a>();</div>
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<div class="line"><a id="l00234" name="l00234"></a><span class="lineno"> 234</span> </div>
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<div class="line"><a id="l00235" name="l00235"></a><span class="lineno"> 235</span> <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x.html#a08f037df7b3c7e2fc3f0e968f4a5f68c">print_header</a>();</div>
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<div class="line"><a id="l00236" name="l00236"></a><span class="lineno"> 236</span> <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x.html#a0ef39163352bd7a54ac85952e8cb8516">print_packet</a>();</div>
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<div class="line"><a id="l00237" name="l00237"></a><span class="lineno"> 237</span> </div>
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<div class="line"><a id="l00238" name="l00238"></a><span class="lineno"> 238</span> <span class="comment">// Metadata functions</span></div>
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<div class="line"><a id="l00239" name="l00239"></a><span class="lineno"> 239</span> int16_t <a class="code hl_function" href="class_b_n_o08x.html#a4421c43323945946ad605f8422958dcf">get_Q1</a>(uint16_t record_ID);</div>
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<div class="line"><a id="l00240" name="l00240"></a><span class="lineno"> 240</span> int16_t <a class="code hl_function" href="class_b_n_o08x.html#a954dccdcbe8a8c4f1787f13ebb8d932b">get_Q2</a>(uint16_t record_ID);</div>
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<div class="line"><a id="l00241" name="l00241"></a><span class="lineno"> 241</span> int16_t <a class="code hl_function" href="class_b_n_o08x.html#a1590ba793668f9cb1a32a1f4dd07cb9a">get_Q3</a>(uint16_t record_ID);</div>
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<div class="line"><a id="l00242" name="l00242"></a><span class="lineno"> 242</span> <span class="keywordtype">float</span> <a class="code hl_function" href="class_b_n_o08x.html#a1d6ea02d0d4b23ff6a15e9d5c6c92372">get_resolution</a>(uint16_t record_ID);</div>
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<div class="line"><a id="l00243" name="l00243"></a><span class="lineno"> 243</span> <span class="keywordtype">float</span> <a class="code hl_function" href="class_b_n_o08x.html#a0fff04c42c9502615ad73cd1457cb9b0">get_range</a>(uint16_t record_ID);</div>
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<div class="line"><a id="l00244" name="l00244"></a><span class="lineno"> 244</span> uint32_t <a class="code hl_function" href="class_b_n_o08x.html#a27f5dce5c994be18a587fb622574ad41">FRS_read_word</a>(uint16_t record_ID, uint8_t word_number);</div>
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<div class="line"><a id="l00245" name="l00245"></a><span class="lineno"> 245</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="class_b_n_o08x.html#adf789e709ac1667656db757c8d559af9">FRS_read_request</a>(uint16_t record_ID, uint16_t read_offset, uint16_t block_size);</div>
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<div class="line"><a id="l00246" name="l00246"></a><span class="lineno"> 246</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="class_b_n_o08x.html#a40607e557eada666a5e1e416f42cd4a1">FRS_read_data</a>(uint16_t record_ID, uint8_t start_location, uint8_t words_to_read);</div>
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<div class="line"><a id="l00247" name="l00247"></a><span class="lineno"> 247</span> </div>
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<div class="line"><a id="l00248" name="l00248"></a><span class="lineno"> 248</span> <span class="comment">// Record IDs from figure 29, page 29 reference manual</span></div>
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<div class="line"><a id="l00249" name="l00249"></a><span class="lineno"> 249</span> <span class="comment">// These are used to read the metadata for each sensor type</span></div>
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<div class="line"><a id="l00250" name="l00250"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a72d8919cb432a53f57ff63aa29d5f984"> 250</a></span> <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> uint16_t <a class="code hl_variable" href="class_b_n_o08x.html#a72d8919cb432a53f57ff63aa29d5f984">FRS_RECORDID_ACCELEROMETER</a> = 0xE302;</div>
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<div class="line"><a id="l00251" name="l00251"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a6dbd6b8c9d1450c97db1e46861c55132"> 251</a></span> <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> uint16_t <a class="code hl_variable" href="class_b_n_o08x.html#a6dbd6b8c9d1450c97db1e46861c55132">FRS_RECORDID_GYROSCOPE_CALIBRATED</a> = 0xE306;</div>
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<div class="line"><a id="l00252" name="l00252"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#ab9519ab682fedb7224e4c0489c7d5619"> 252</a></span> <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> uint16_t <a class="code hl_variable" href="class_b_n_o08x.html#ab9519ab682fedb7224e4c0489c7d5619">FRS_RECORDID_MAGNETIC_FIELD_CALIBRATED</a> = 0xE309;</div>
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<div class="line"><a id="l00253" name="l00253"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a58e7e3a7bf08fbdb4b75b3a0034ed33e"> 253</a></span> <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> uint16_t <a class="code hl_variable" href="class_b_n_o08x.html#a58e7e3a7bf08fbdb4b75b3a0034ed33e">FRS_RECORDID_ROTATION_VECTOR</a> = 0xE30B;</div>
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<div class="line"><a id="l00254" name="l00254"></a><span class="lineno"> 254</span> </div>
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<div class="line"><a id="l00255" name="l00255"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a1ef13f6f330810934416ad5fe0ee55b2"> 255</a></span> <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> uint8_t <a class="code hl_variable" href="class_b_n_o08x.html#a1ef13f6f330810934416ad5fe0ee55b2">TARE_AXIS_ALL</a> = 0x07; </div>
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<div class="line"><a id="l00256" name="l00256"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#aecb3e11c1ca5769fd60f42c17a105731"> 256</a></span> <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> uint8_t <a class="code hl_variable" href="class_b_n_o08x.html#aecb3e11c1ca5769fd60f42c17a105731">TARE_AXIS_Z</a> = 0x04; </div>
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<div class="line"><a id="l00257" name="l00257"></a><span class="lineno"> 257</span> </div>
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<div class="line"><a id="l00258" name="l00258"></a><span class="lineno"> 258</span> <span class="comment">// Which rotation vector to tare, BNO08x saves them seperately</span></div>
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<div class="line"><a id="l00259" name="l00259"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a8e2cfc25d0e34ae53a762b88cc3ac3c8"> 259</a></span> <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> uint8_t <a class="code hl_variable" href="class_b_n_o08x.html#a8e2cfc25d0e34ae53a762b88cc3ac3c8">TARE_ROTATION_VECTOR</a> = 0; </div>
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<div class="line"><a id="l00260" name="l00260"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#abaf1ec8bb197db1998a9ed3cec6180d5"> 260</a></span> <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> uint8_t <a class="code hl_variable" href="class_b_n_o08x.html#abaf1ec8bb197db1998a9ed3cec6180d5">TARE_GAME_ROTATION_VECTOR</a> = 1; </div>
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<div class="line"><a id="l00261" name="l00261"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a225397a04d849e5647992ca80d68febb"> 261</a></span> <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> uint8_t <a class="code hl_variable" href="class_b_n_o08x.html#a225397a04d849e5647992ca80d68febb">TARE_GEOMAGNETIC_ROTATION_VECTOR</a> = 2; </div>
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<div class="line"><a id="l00262" name="l00262"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a9ec354d75249f06f13599abf7bedfde0"> 262</a></span> <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> uint8_t <a class="code hl_variable" href="class_b_n_o08x.html#a9ec354d75249f06f13599abf7bedfde0">TARE_GYRO_INTEGRATED_ROTATION_VECTOR</a> = 3; </div>
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<div class="line"><a id="l00263" name="l00263"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a32204963cefc4ae64a80f43e71c8667a"> 263</a></span> <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> uint8_t <a class="code hl_variable" href="class_b_n_o08x.html#a32204963cefc4ae64a80f43e71c8667a">TARE_AR_VR_STABILIZED_ROTATION_VECTOR</a> = 4; </div>
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<div class="line"><a id="l00264" name="l00264"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#aed8135fd5e7996ef06bf5968692ccd84"> 264</a></span> <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> uint8_t <a class="code hl_variable" href="class_b_n_o08x.html#aed8135fd5e7996ef06bf5968692ccd84">TARE_AR_VR_STABILIZED_GAME_ROTATION_VECTOR</a> = 5; </div>
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<div class="line"><a id="l00265" name="l00265"></a><span class="lineno"> 265</span> </div>
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<div class="line"><a id="l00266" name="l00266"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a0b19c8f2de2b2bfe033da7f93cdd2608"> 266</a></span> <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> int16_t <a class="code hl_variable" href="class_b_n_o08x.html#a0b19c8f2de2b2bfe033da7f93cdd2608">ROTATION_VECTOR_Q1</a> = 14; </div>
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<div class="line"><a id="l00267" name="l00267"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a923d65d8568cc31873ad56a3908e1939"> 267</a></span> <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> int16_t <a class="code hl_variable" href="class_b_n_o08x.html#a923d65d8568cc31873ad56a3908e1939">ROTATION_VECTOR_ACCURACY_Q1</a> = 12; </div>
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<div class="line"><a id="l00268" name="l00268"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a0564aaf5b20dc42b54db4fb3115ac1c7"> 268</a></span> <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> int16_t <a class="code hl_variable" href="class_b_n_o08x.html#a0564aaf5b20dc42b54db4fb3115ac1c7">ACCELEROMETER_Q1</a> = 8; </div>
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<div class="line"><a id="l00269" name="l00269"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#ad0d37fe07ced24f2c9afc21145a74e7b"> 269</a></span> <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> int16_t <a class="code hl_variable" href="class_b_n_o08x.html#ad0d37fe07ced24f2c9afc21145a74e7b">LINEAR_ACCELEROMETER_Q1</a> = 8; </div>
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<div class="line"><a id="l00270" name="l00270"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#aa3bec8effefa61cec6fa170e9d02c4dd"> 270</a></span> <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> int16_t <a class="code hl_variable" href="class_b_n_o08x.html#aa3bec8effefa61cec6fa170e9d02c4dd">GYRO_Q1</a> = 9; </div>
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<div class="line"><a id="l00271" name="l00271"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a9fac9b811b7c2117675a784cb4df204c"> 271</a></span> <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> int16_t <a class="code hl_variable" href="class_b_n_o08x.html#a9fac9b811b7c2117675a784cb4df204c">MAGNETOMETER_Q1</a> = 4; </div>
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<div class="line"><a id="l00272" name="l00272"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#aafe117561fe9138800073a04a778b4ce"> 272</a></span> <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> int16_t <a class="code hl_variable" href="class_b_n_o08x.html#aafe117561fe9138800073a04a778b4ce">ANGULAR_VELOCITY_Q1</a> = 10; </div>
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<div class="line"><a id="l00273" name="l00273"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#ae10722334dfce9635e76519598e165a2"> 273</a></span> <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> int16_t <a class="code hl_variable" href="class_b_n_o08x.html#ae10722334dfce9635e76519598e165a2">GRAVITY_Q1</a> = 8; </div>
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<div class="line"><a id="l00274" name="l00274"></a><span class="lineno"> 274</span> </div>
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<div class="line"><a id="l00275" name="l00275"></a><span class="lineno"> 275</span> <span class="keyword">private</span>:</div>
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<div class="line"><a id="l00276" name="l00276"></a><span class="lineno"> 276</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="class_b_n_o08x.html#a988c45b4afa4dcd6a24610ff308c1faa">wait_for_device_int</a>();</div>
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<div class="line"><a id="l00277" name="l00277"></a><span class="lineno"> 277</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="class_b_n_o08x.html#ae540799865934fcff54caed0772df071">receive_packet</a>();</div>
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<div class="line"><a id="l00278" name="l00278"></a><span class="lineno"> 278</span> <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x.html#a0ee58cedbc06d4a7db8821f40c0ee207">send_packet</a>();</div>
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<div class="line"><a id="l00279" name="l00279"></a><span class="lineno"> 279</span> <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x.html#a67d0b5302a60083cef1b31936e2b65d8">queue_packet</a>(uint8_t channel_number, uint8_t data_length);</div>
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<div class="line"><a id="l00280" name="l00280"></a><span class="lineno"> 280</span> <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x.html#a1742d6445ffb6e9297b8bf84dec24f22">queue_command</a>(uint8_t command);</div>
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<div class="line"><a id="l00281" name="l00281"></a><span class="lineno"> 281</span> <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x.html#a6c004a16b146527aa9eeeb6ff37db281">queue_feature_command</a>(uint8_t report_ID, uint16_t time_between_reports);</div>
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<div class="line"><a id="l00282" name="l00282"></a><span class="lineno"> 282</span> <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x.html#a6c004a16b146527aa9eeeb6ff37db281">queue_feature_command</a>(uint8_t report_ID, uint16_t time_between_reports, uint32_t specific_config);</div>
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<div class="line"><a id="l00283" name="l00283"></a><span class="lineno"> 283</span> <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x.html#ad097849616c5caab1fd3eb3632ee2b91">queue_calibrate_command</a>(uint8_t _to_calibrate);</div>
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<div class="line"><a id="l00284" name="l00284"></a><span class="lineno"> 284</span> <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x.html#a4c6353e795f734ed28613f9a3d161ea2">queue_tare_command</a>(uint8_t command, uint8_t axis = <a class="code hl_variable" href="class_b_n_o08x.html#a1ef13f6f330810934416ad5fe0ee55b2">TARE_AXIS_ALL</a>, uint8_t rotation_vector_basis = <a class="code hl_variable" href="class_b_n_o08x.html#a8e2cfc25d0e34ae53a762b88cc3ac3c8">TARE_ROTATION_VECTOR</a>);</div>
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<div class="line"><a id="l00285" name="l00285"></a><span class="lineno"> 285</span> <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x.html#ab5f200069a2f8cb74cb79c6f162da5a1">queue_request_product_id_command</a>();</div>
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<div class="line"><a id="l00286" name="l00286"></a><span class="lineno"> 286</span> </div>
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<div class="line"><a id="l00287" name="l00287"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a6232920a05c0aba34e5560951a20ae87"> 287</a></span> <span class="keyword">static</span> <a class="code hl_struct" href="structbno08x__config__t.html">bno08x_config_t</a> <a class="code hl_variable" href="class_b_n_o08x.html#a6232920a05c0aba34e5560951a20ae87">default_imu_config</a>; </div>
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<div class="line"><a id="l00288" name="l00288"></a><span class="lineno"> 288</span> </div>
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<div class="line"><a id="l00289" name="l00289"></a><span class="lineno"> 289</span> <span class="keyword">volatile</span> uint8_t</div>
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<div class="line"><a id="l00290" name="l00290"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a5b1f13a3170f1c8fdcc886353efa0c08"> 290</a></span> <a class="code hl_variable" href="class_b_n_o08x.html#a5b1f13a3170f1c8fdcc886353efa0c08">tx_packet_queued</a>; </div>
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<div class="line"><a id="l00291" name="l00291"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#aee2d0bcb8e9d7bacacccacbb04ded661"> 291</a></span> SemaphoreHandle_t <a class="code hl_variable" href="class_b_n_o08x.html#aee2d0bcb8e9d7bacacccacbb04ded661">tx_semaphore</a>; </div>
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<div class="line"><a id="l00292" name="l00292"></a><span class="lineno"> 292</span> SemaphoreHandle_t</div>
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<div class="line"><a id="l00293" name="l00293"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a33aee99f7f0d07c3061bab90831bc309"> 293</a></span> <a class="code hl_variable" href="class_b_n_o08x.html#a33aee99f7f0d07c3061bab90831bc309">int_asserted_semaphore</a>; </div>
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<div class="line"><a id="l00294" name="l00294"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a7a85ccea09eadf865e8bbbf00d800e64"> 294</a></span> uint8_t <a class="code hl_variable" href="class_b_n_o08x.html#a7a85ccea09eadf865e8bbbf00d800e64">rx_buffer</a>[300]; </div>
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<div class="line"><a id="l00295" name="l00295"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a74d936708ba924b6ba21004ff9a0b30b"> 295</a></span> uint8_t <a class="code hl_variable" href="class_b_n_o08x.html#a74d936708ba924b6ba21004ff9a0b30b">tx_buffer</a>[50]; </div>
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<div class="line"><a id="l00296" name="l00296"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a908264b797fff9dc6679abde5e7584a5"> 296</a></span> uint8_t <a class="code hl_variable" href="class_b_n_o08x.html#a908264b797fff9dc6679abde5e7584a5">packet_header_rx</a>[4]; </div>
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|
<div class="line"><a id="l00297" name="l00297"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#acbca88b37c8c5a590ca971b241dac64f"> 297</a></span> uint8_t <a class="code hl_variable" href="class_b_n_o08x.html#acbca88b37c8c5a590ca971b241dac64f">commands</a>[20]; </div>
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|
<div class="line"><a id="l00298" name="l00298"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#aa722dbc6f6f07c63e9ea2a9271614af3"> 298</a></span> uint8_t <a class="code hl_variable" href="class_b_n_o08x.html#aa722dbc6f6f07c63e9ea2a9271614af3">sequence_number</a>[6]; </div>
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<div class="line"><a id="l00299" name="l00299"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a7bd032712a975e73e66bd72a3502baba"> 299</a></span> uint32_t <a class="code hl_variable" href="class_b_n_o08x.html#a7bd032712a975e73e66bd72a3502baba">meta_data</a>[9]; </div>
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|
<div class="line"><a id="l00300" name="l00300"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#ac1daa730e75d17e6afd1edaa288260ae"> 300</a></span> uint8_t <a class="code hl_variable" href="class_b_n_o08x.html#ac1daa730e75d17e6afd1edaa288260ae">command_sequence_number</a> = 0; </div>
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<div class="line"><a id="l00301" name="l00301"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a6fbc6d086654b022a3ea53dfacd4fdf5"> 301</a></span> uint16_t <a class="code hl_variable" href="class_b_n_o08x.html#a6fbc6d086654b022a3ea53dfacd4fdf5">packet_length_tx</a> = 0; </div>
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|
<div class="line"><a id="l00302" name="l00302"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#af65e3fd0bfdb5b82dcf775e2c061c65a"> 302</a></span> uint16_t <a class="code hl_variable" href="class_b_n_o08x.html#af65e3fd0bfdb5b82dcf775e2c061c65a">packet_length_rx</a> = 0; </div>
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|
<div class="line"><a id="l00303" name="l00303"></a><span class="lineno"> 303</span> </div>
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|
<div class="line"><a id="l00304" name="l00304"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#aeda443e9f608fccfec0e6770edc90c82"> 304</a></span> <a class="code hl_struct" href="structbno08x__config__t.html">bno08x_config_t</a> <a class="code hl_variable" href="class_b_n_o08x.html#aeda443e9f608fccfec0e6770edc90c82">imu_config</a>{}; </div>
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<div class="line"><a id="l00305" name="l00305"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a982f065df42f00e53fd87c840efdb0f1"> 305</a></span> spi_bus_config_t <a class="code hl_variable" href="class_b_n_o08x.html#a982f065df42f00e53fd87c840efdb0f1">bus_config</a>{}; </div>
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<div class="line"><a id="l00306" name="l00306"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a425a1f5a9f3232aadc685caaf4c2f82e"> 306</a></span> spi_device_interface_config_t <a class="code hl_variable" href="class_b_n_o08x.html#a425a1f5a9f3232aadc685caaf4c2f82e">imu_spi_config</a>{}; </div>
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<div class="line"><a id="l00307" name="l00307"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#acc0ea091465fc9a5736f5e0c6a0ce8ef"> 307</a></span> spi_device_handle_t <a class="code hl_variable" href="class_b_n_o08x.html#acc0ea091465fc9a5736f5e0c6a0ce8ef">spi_hdl</a>{}; </div>
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<div class="line"><a id="l00308" name="l00308"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#ac16adc5f00b0039c98a4921f13895026"> 308</a></span> spi_transaction_t <a class="code hl_variable" href="class_b_n_o08x.html#ac16adc5f00b0039c98a4921f13895026">spi_transaction</a>{}; </div>
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<div class="line"><a id="l00309" name="l00309"></a><span class="lineno"> 309</span> </div>
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<div class="line"><a id="l00310" name="l00310"></a><span class="lineno"> 310</span> <span class="comment">// These are the raw sensor values (without Q applied) pulled from the user requested Input Report</span></div>
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<div class="line"><a id="l00311" name="l00311"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#abc972db20affbd0040b4e6c4892dd57b"> 311</a></span> uint32_t <a class="code hl_variable" href="class_b_n_o08x.html#abc972db20affbd0040b4e6c4892dd57b">time_stamp</a>; </div>
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|
<div class="line"><a id="l00312" name="l00312"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a75fb2f06c5bbe26e3f3c794934ef954c"> 312</a></span> uint16_t <a class="code hl_variable" href="class_b_n_o08x.html#a75fb2f06c5bbe26e3f3c794934ef954c">raw_accel_X</a>, <a class="code hl_variable" href="class_b_n_o08x.html#ab56e2ba505fa293d03e955137625c562">raw_accel_Y</a>, <a class="code hl_variable" href="class_b_n_o08x.html#af254d245b368027df6952b7d7522bd35">raw_accel_Z</a>,</div>
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|
<div class="line"><a id="l00313" name="l00313"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a3365b7ebde01e284274e655c60343df9"> 313</a></span> <a class="code hl_variable" href="class_b_n_o08x.html#a3365b7ebde01e284274e655c60343df9">accel_accuracy</a>; </div>
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<div class="line"><a id="l00314" name="l00314"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#ae1f71a432cb15e75f522fa18f29f4d50"> 314</a></span> uint16_t <a class="code hl_variable" href="class_b_n_o08x.html#ae1f71a432cb15e75f522fa18f29f4d50">raw_lin_accel_X</a>, <a class="code hl_variable" href="class_b_n_o08x.html#aff3a5590471d1c9fc485a5610433915f">raw_lin_accel_Y</a>, <a class="code hl_variable" href="class_b_n_o08x.html#abc8add47f1babc66c812a015614143d3">raw_lin_accel_Z</a>,</div>
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<div class="line"><a id="l00315" name="l00315"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a35e1635ef5edde8fc8640f978c6f2e3c"> 315</a></span> <a class="code hl_variable" href="class_b_n_o08x.html#a35e1635ef5edde8fc8640f978c6f2e3c">accel_lin_accuracy</a>; </div>
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|
<div class="line"><a id="l00316" name="l00316"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a98ea35dd0fbd0c409d25fd8a6ed9f277"> 316</a></span> uint16_t <a class="code hl_variable" href="class_b_n_o08x.html#a19696327a056a448ed5ba706e747bbe5">raw_gyro_X</a>, <a class="code hl_variable" href="class_b_n_o08x.html#a61df9f571555f5f682eb51f24a279489">raw_gyro_Y</a>, <a class="code hl_variable" href="class_b_n_o08x.html#a03f567cda2a3cc966301e96732fca9ad">raw_gyro_Z</a>, <a class="code hl_variable" href="class_b_n_o08x.html#a98ea35dd0fbd0c409d25fd8a6ed9f277">gyro_accuracy</a>; </div>
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<div class="line"><a id="l00317" name="l00317"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a69dc7e97875060213085ba964b3bd987"> 317</a></span> uint16_t <a class="code hl_variable" href="class_b_n_o08x.html#a69dc7e97875060213085ba964b3bd987">raw_quat_I</a>, <a class="code hl_variable" href="class_b_n_o08x.html#a61ae05dc5572b326541bf8099f0c2a54">raw_quat_J</a>, <a class="code hl_variable" href="class_b_n_o08x.html#a7720c44ed1c0f1a0663d2adc5e1a1ea1">raw_quat_K</a>, <a class="code hl_variable" href="class_b_n_o08x.html#a867354267253ae828be4fae15c062db3">raw_quat_real</a>, <a class="code hl_variable" href="class_b_n_o08x.html#a033d6cb1aa137743b69cc3e401df67b7">raw_quat_radian_accuracy</a>,</div>
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<div class="line"><a id="l00318" name="l00318"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a36223f7124751fa71e860b2ef55dd2ac"> 318</a></span> <a class="code hl_variable" href="class_b_n_o08x.html#a36223f7124751fa71e860b2ef55dd2ac">quat_accuracy</a>; </div>
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<div class="line"><a id="l00319" name="l00319"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#aa5bb03dbeabed729c012ec7164a3354f"> 319</a></span> uint16_t <a class="code hl_variable" href="class_b_n_o08x.html#aa5bb03dbeabed729c012ec7164a3354f">raw_velocity_gyro_X</a>, <a class="code hl_variable" href="class_b_n_o08x.html#a4f188bf76ba862f07606d1351d28548f">raw_velocity_gyro_Y</a>,</div>
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<div class="line"><a id="l00320" name="l00320"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#ab49f9a6586d709bbd26280ef44a4bbf7"> 320</a></span> <a class="code hl_variable" href="class_b_n_o08x.html#ab49f9a6586d709bbd26280ef44a4bbf7">raw_velocity_gyro_Z</a>; </div>
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<div class="line"><a id="l00321" name="l00321"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#af45016be9ea523d80be8467b2907b499"> 321</a></span> uint16_t <a class="code hl_variable" href="class_b_n_o08x.html#af45016be9ea523d80be8467b2907b499">gravity_X</a>, <a class="code hl_variable" href="class_b_n_o08x.html#af20dcd487a9fe8fa6243817d51e37be5">gravity_Y</a>, <a class="code hl_variable" href="class_b_n_o08x.html#afa1cf5c3afbb258d97c55c5fb187f2d6">gravity_Z</a>,</div>
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<div class="line"><a id="l00322" name="l00322"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#ae01698d287ea999179a11e2244902022"> 322</a></span> <a class="code hl_variable" href="class_b_n_o08x.html#ae01698d287ea999179a11e2244902022">gravity_accuracy</a>; </div>
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<div class="line"><a id="l00323" name="l00323"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a8a2667f668317cee0a9fc4ef0accc3f5"> 323</a></span> uint16_t <a class="code hl_variable" href="class_b_n_o08x.html#afdc5cdb65bd0b36528b5b671b9d27053">raw_uncalib_gyro_X</a>, <a class="code hl_variable" href="class_b_n_o08x.html#acc2c66e2985975266a286385ea855117">raw_uncalib_gyro_Y</a>, <a class="code hl_variable" href="class_b_n_o08x.html#afac9dd4161f4c0051255293680c9082b">raw_uncalib_gyro_Z</a>, <a class="code hl_variable" href="class_b_n_o08x.html#a8a2667f668317cee0a9fc4ef0accc3f5">raw_bias_X</a>, <a class="code hl_variable" href="class_b_n_o08x.html#ac38ff5eb93d3c3db0af2504ba02fd93c">raw_bias_Y</a>, <a class="code hl_variable" href="class_b_n_o08x.html#a0968eaed9b3d979a2caa1aba6e6b417a">raw_bias_Z</a>,</div>
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<div class="line"><a id="l00324" name="l00324"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a081c666a3f24016d0ec5c5edc49f2903"> 324</a></span> <a class="code hl_variable" href="class_b_n_o08x.html#a081c666a3f24016d0ec5c5edc49f2903">uncalib_gyro_accuracy</a>; </div>
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<div class="line"><a id="l00325" name="l00325"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#aa5bdf740161b7c37adcac0154a410118"> 325</a></span> uint16_t <a class="code hl_variable" href="class_b_n_o08x.html#aa5bdf740161b7c37adcac0154a410118">raw_magf_X</a>, <a class="code hl_variable" href="class_b_n_o08x.html#acd365418f24a6da61122c66d82086639">raw_magf_Y</a>, <a class="code hl_variable" href="class_b_n_o08x.html#ab4862de31d0874b44b6745678e1c905e">raw_magf_Z</a>,</div>
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<div class="line"><a id="l00326" name="l00326"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#ac5d4e151690774687efa951ca41c16ae"> 326</a></span> <a class="code hl_variable" href="class_b_n_o08x.html#ac5d4e151690774687efa951ca41c16ae">magf_accuracy</a>; </div>
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<div class="line"><a id="l00327" name="l00327"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a1171a5738a4e6831ec7fa32a29f15554"> 327</a></span> uint8_t <a class="code hl_variable" href="class_b_n_o08x.html#a1171a5738a4e6831ec7fa32a29f15554">tap_detector</a>; </div>
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<div class="line"><a id="l00328" name="l00328"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#ad80a77973371b12d722ea39063c648be"> 328</a></span> uint16_t <a class="code hl_variable" href="class_b_n_o08x.html#ad80a77973371b12d722ea39063c648be">step_count</a>; </div>
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<div class="line"><a id="l00329" name="l00329"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a1b12471e92536a79d0c425d77676f2e1"> 329</a></span> uint8_t <a class="code hl_variable" href="class_b_n_o08x.html#a1b12471e92536a79d0c425d77676f2e1">stability_classifier</a>; </div>
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<div class="line"><a id="l00330" name="l00330"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a75cea49c1c08ca28d9fa7e5ed61c6e7b"> 330</a></span> uint8_t <a class="code hl_variable" href="class_b_n_o08x.html#a75cea49c1c08ca28d9fa7e5ed61c6e7b">activity_classifier</a>; </div>
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<div class="line"><a id="l00331" name="l00331"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#af96e8cd070459f945ffbf01b98106e13"> 331</a></span> uint8_t* <a class="code hl_variable" href="class_b_n_o08x.html#af96e8cd070459f945ffbf01b98106e13">activity_confidences</a>; </div>
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<div class="line"><a id="l00332" name="l00332"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#ad212b5028a31e857e76d251ced2724e1"> 332</a></span> uint8_t <a class="code hl_variable" href="class_b_n_o08x.html#ad212b5028a31e857e76d251ced2724e1">calibration_status</a>; </div>
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<div class="line"><a id="l00333" name="l00333"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a937cbdc4edaac72c8cad041d79de5701"> 333</a></span> uint16_t <a class="code hl_variable" href="class_b_n_o08x.html#a937cbdc4edaac72c8cad041d79de5701">mems_raw_accel_X</a>, <a class="code hl_variable" href="class_b_n_o08x.html#ad83cecb8a5d2be01db6792755b6057e9">mems_raw_accel_Y</a>,</div>
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<div class="line"><a id="l00334" name="l00334"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a59a4d75f1302ab693b1b26e9ccaa5341"> 334</a></span> <a class="code hl_variable" href="class_b_n_o08x.html#a59a4d75f1302ab693b1b26e9ccaa5341">mems_raw_accel_Z</a>; </div>
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<div class="line"><a id="l00335" name="l00335"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a3d6b6257462951ea023af7076c80f6dd"> 335</a></span> uint16_t <a class="code hl_variable" href="class_b_n_o08x.html#a3d6b6257462951ea023af7076c80f6dd">mems_raw_gyro_X</a>, <a class="code hl_variable" href="class_b_n_o08x.html#ab6b142416912a096886dd63ad0beb865">mems_raw_gyro_Y</a>,</div>
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<div class="line"><a id="l00336" name="l00336"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#ac35d5b12721ab876eaeb1f714a9b3b1d"> 336</a></span> <a class="code hl_variable" href="class_b_n_o08x.html#ac35d5b12721ab876eaeb1f714a9b3b1d">mems_raw_gyro_Z</a>; </div>
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<div class="line"><a id="l00337" name="l00337"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#ab587cdf991342b69b7fff3b33f537eb5"> 337</a></span> uint16_t <a class="code hl_variable" href="class_b_n_o08x.html#ab587cdf991342b69b7fff3b33f537eb5">mems_raw_magf_X</a>, <a class="code hl_variable" href="class_b_n_o08x.html#aad926054c81818fff611e10ed913706a">mems_raw_magf_Y</a>,</div>
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<div class="line"><a id="l00338" name="l00338"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a90f0cdf11decc276006f76a494d42ce3"> 338</a></span> <a class="code hl_variable" href="class_b_n_o08x.html#a90f0cdf11decc276006f76a494d42ce3">mems_raw_magf_Z</a>; </div>
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<div class="line"><a id="l00339" name="l00339"></a><span class="lineno"> 339</span> </div>
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<div class="line"><a id="l00340" name="l00340"></a><span class="lineno"> 340</span> <span class="comment">// spi task</span></div>
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<div class="line"><a id="l00341" name="l00341"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a615090aae15f1b0410a7e5ecb94957b5"> 341</a></span> TaskHandle_t <a class="code hl_variable" href="class_b_n_o08x.html#a615090aae15f1b0410a7e5ecb94957b5">spi_task_hdl</a>; </div>
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<div class="line"><a id="l00342" name="l00342"></a><span class="lineno"> 342</span> <span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x.html#a0ce6d9db873555f1ebe7e095251eab74">spi_task_trampoline</a>(<span class="keywordtype">void</span>* arg);</div>
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<div class="line"><a id="l00343" name="l00343"></a><span class="lineno"> 343</span> <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x.html#a2ecd4ed60f82730ae230c61687ec92bf">spi_task</a>();</div>
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<div class="line"><a id="l00344" name="l00344"></a><span class="lineno"> 344</span> </div>
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<div class="line"><a id="l00345" name="l00345"></a><span class="lineno"> 345</span> <span class="keyword">static</span> <span class="keywordtype">void</span> IRAM_ATTR <a class="code hl_function" href="class_b_n_o08x.html#a804b95c58c30d36933fd251626b85bf7">hint_handler</a>(<span class="keywordtype">void</span>* arg);</div>
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<div class="line"><a id="l00346" name="l00346"></a><span class="lineno"> 346</span> <span class="keyword">static</span> <span class="keywordtype">bool</span></div>
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<div class="line"><a id="l00347" name="l00347"></a><span class="lineno"> 347</span> <a class="code hl_variable" href="class_b_n_o08x.html#a4882dbc698d7b730f57e2401037766a9">isr_service_installed</a>; </div>
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<div class="line"><a id="l00348" name="l00348"></a><span class="lineno"> 348</span> </div>
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<div class="line"><a id="l00349" name="l00349"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#ae7f34752f888c637d5619f898e62a6d4"> 349</a></span> <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> uint64_t <a class="code hl_variable" href="class_b_n_o08x.html#ae7f34752f888c637d5619f898e62a6d4">HOST_INT_TIMEOUT_MS</a> =</div>
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<div class="line"><a id="l00350" name="l00350"></a><span class="lineno"> 350</span> 150ULL; </div>
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<div class="line"><a id="l00351" name="l00351"></a><span class="lineno"> 351</span> </div>
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<div class="line"><a id="l00352" name="l00352"></a><span class="lineno"> 352</span> <span class="comment">// Higher level calibration commands, used by queue_calibrate_command</span></div>
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<div class="line"><a id="l00353" name="l00353"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#acd5b44d705af1f9aaa271a59a9d2d595"> 353</a></span> <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> uint8_t <a class="code hl_variable" href="class_b_n_o08x.html#acd5b44d705af1f9aaa271a59a9d2d595">CALIBRATE_ACCEL</a> = 0; </div>
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<div class="line"><a id="l00354" name="l00354"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#aeac84719a1cc0f9c8d5a9a749391d4db"> 354</a></span> <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> uint8_t <a class="code hl_variable" href="class_b_n_o08x.html#aeac84719a1cc0f9c8d5a9a749391d4db">CALIBRATE_GYRO</a> = 1; </div>
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<div class="line"><a id="l00355" name="l00355"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#ac00e8b59ae8d710cf79956eaafa97ddb"> 355</a></span> <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> uint8_t <a class="code hl_variable" href="class_b_n_o08x.html#ac00e8b59ae8d710cf79956eaafa97ddb">CALIBRATE_MAG</a> = 2; </div>
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<div class="line"><a id="l00356" name="l00356"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a955dcb60da150490e17367a871b3a3d2"> 356</a></span> <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> uint8_t <a class="code hl_variable" href="class_b_n_o08x.html#a955dcb60da150490e17367a871b3a3d2">CALIBRATE_PLANAR_ACCEL</a> = 3; </div>
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<div class="line"><a id="l00357" name="l00357"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#af53d9e99f163d97ef92fe989b1dd25cc"> 357</a></span> <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> uint8_t <a class="code hl_variable" href="class_b_n_o08x.html#af53d9e99f163d97ef92fe989b1dd25cc">CALIBRATE_ACCEL_GYRO_MAG</a> =</div>
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<div class="line"><a id="l00358" name="l00358"></a><span class="lineno"> 358</span> 4; </div>
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<div class="line"><a id="l00359" name="l00359"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a584bfa04a39feb93279ee673c340db54"> 359</a></span> <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> uint8_t <a class="code hl_variable" href="class_b_n_o08x.html#a584bfa04a39feb93279ee673c340db54">CALIBRATE_STOP</a> = 5; </div>
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<div class="line"><a id="l00360" name="l00360"></a><span class="lineno"> 360</span> </div>
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<div class="line"><a id="l00361" name="l00361"></a><span class="lineno"> 361</span> <span class="comment">// Command IDs (see Ref. Manual 6.4)</span></div>
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|
<div class="line"><a id="l00362" name="l00362"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a384a1efc9857ad938be3bb44f871539b"> 362</a></span> <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> uint8_t <a class="code hl_variable" href="class_b_n_o08x.html#a384a1efc9857ad938be3bb44f871539b">COMMAND_ERRORS</a> = 1;</div>
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|
<div class="line"><a id="l00363" name="l00363"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a93dd073c0cc1f3ccfde552649f6ebccc"> 363</a></span> <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> uint8_t <a class="code hl_variable" href="class_b_n_o08x.html#a93dd073c0cc1f3ccfde552649f6ebccc">COMMAND_COUNTER</a> = 2;</div>
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|
<div class="line"><a id="l00364" name="l00364"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a0a1756bc16ba3eac45f4229b1e350107"> 364</a></span> <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> uint8_t <a class="code hl_variable" href="class_b_n_o08x.html#a0a1756bc16ba3eac45f4229b1e350107">COMMAND_TARE</a> = 3; </div>
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<div class="line"><a id="l00365" name="l00365"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a30eb6d305a187d4d36546841e12176b9"> 365</a></span> <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> uint8_t <a class="code hl_variable" href="class_b_n_o08x.html#a30eb6d305a187d4d36546841e12176b9">COMMAND_INITIALIZE</a> = 4; </div>
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<div class="line"><a id="l00366" name="l00366"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#af124a6c1d8b871f3181b6c85f1099cb2"> 366</a></span> <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> uint8_t <a class="code hl_variable" href="class_b_n_o08x.html#af124a6c1d8b871f3181b6c85f1099cb2">COMMAND_DCD</a> = 6; </div>
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<div class="line"><a id="l00367" name="l00367"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a8381dfe403ddff522f172cb16780731a"> 367</a></span> <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> uint8_t <a class="code hl_variable" href="class_b_n_o08x.html#a8381dfe403ddff522f172cb16780731a">COMMAND_ME_CALIBRATE</a> = 7; </div>
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<div class="line"><a id="l00368" name="l00368"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a7a246989c94cd87f68166b20b7ad4c8b"> 368</a></span> <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> uint8_t <a class="code hl_variable" href="class_b_n_o08x.html#a7a246989c94cd87f68166b20b7ad4c8b">COMMAND_DCD_PERIOD_SAVE</a> = 9; </div>
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<div class="line"><a id="l00369" name="l00369"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a308c8b5307d93a67b5b9066d44494aa5"> 369</a></span> <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> uint8_t <a class="code hl_variable" href="class_b_n_o08x.html#a308c8b5307d93a67b5b9066d44494aa5">COMMAND_OSCILLATOR</a> = 10; </div>
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<div class="line"><a id="l00370" name="l00370"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a4f580b3cb232a762ea7019ee7b04d419"> 370</a></span> <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> uint8_t <a class="code hl_variable" href="class_b_n_o08x.html#a4f580b3cb232a762ea7019ee7b04d419">COMMAND_CLEAR_DCD</a> = 11; </div>
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<div class="line"><a id="l00371" name="l00371"></a><span class="lineno"> 371</span> </div>
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|
<div class="line"><a id="l00372" name="l00372"></a><span class="lineno"> 372</span> <span class="comment">// SHTP channel 2 control report IDs, used in communication with sensor (See Ref. Manual 6.2)</span></div>
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<div class="line"><a id="l00373" name="l00373"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a1e5b64caa514b7e4fe64ab214758b875"> 373</a></span> <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> uint8_t <a class="code hl_variable" href="class_b_n_o08x.html#a1e5b64caa514b7e4fe64ab214758b875">SHTP_REPORT_COMMAND_RESPONSE</a> = 0xF1; </div>
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<div class="line"><a id="l00374" name="l00374"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#ab04695dd189412092254e52bd6e5a75a"> 374</a></span> <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> uint8_t <a class="code hl_variable" href="class_b_n_o08x.html#ab04695dd189412092254e52bd6e5a75a">SHTP_REPORT_COMMAND_REQUEST</a> = 0xF2; </div>
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|
<div class="line"><a id="l00375" name="l00375"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#aeb760b095dcf808a413ef696f2608e43"> 375</a></span> <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> uint8_t <a class="code hl_variable" href="class_b_n_o08x.html#aeb760b095dcf808a413ef696f2608e43">SHTP_REPORT_FRS_READ_RESPONSE</a> = 0xF3; </div>
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|
<div class="line"><a id="l00376" name="l00376"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a74af7eacc35cc825940b647c2de0d368"> 376</a></span> <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> uint8_t <a class="code hl_variable" href="class_b_n_o08x.html#a74af7eacc35cc825940b647c2de0d368">SHTP_REPORT_FRS_READ_REQUEST</a> = 0xF4; </div>
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<div class="line"><a id="l00377" name="l00377"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a0177134162e116501bc9483c6e4b76c3"> 377</a></span> <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> uint8_t <a class="code hl_variable" href="class_b_n_o08x.html#a0177134162e116501bc9483c6e4b76c3">SHTP_REPORT_PRODUCT_ID_RESPONSE</a> = 0xF8; </div>
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|
<div class="line"><a id="l00378" name="l00378"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a542405639c28bd56bc4361b922763c95"> 378</a></span> <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> uint8_t <a class="code hl_variable" href="class_b_n_o08x.html#a542405639c28bd56bc4361b922763c95">SHTP_REPORT_PRODUCT_ID_REQUEST</a> = 0xF9; </div>
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|
<div class="line"><a id="l00379" name="l00379"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#ae37d6f8431c8c465bfb0c662772b5cb9"> 379</a></span> <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> uint8_t <a class="code hl_variable" href="class_b_n_o08x.html#ae37d6f8431c8c465bfb0c662772b5cb9">SHTP_REPORT_BASE_TIMESTAMP</a> = 0xFB; </div>
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|
<div class="line"><a id="l00380" name="l00380"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a1d3bff4e20c2c3d47db322c9e34ef338"> 380</a></span> <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> uint8_t <a class="code hl_variable" href="class_b_n_o08x.html#a1d3bff4e20c2c3d47db322c9e34ef338">SHTP_REPORT_SET_FEATURE_COMMAND</a> = 0xFD; </div>
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|
<div class="line"><a id="l00381" name="l00381"></a><span class="lineno"> 381</span> </div>
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<div class="line"><a id="l00382" name="l00382"></a><span class="lineno"> 382</span> <span class="comment">// Sensor report IDs, used when enabling and reading BNO08x reports</span></div>
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<div class="line"><a id="l00383" name="l00383"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a476b35f11a2f096cdb70f7ee73cf2e90"> 383</a></span> <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> uint8_t <a class="code hl_variable" href="class_b_n_o08x.html#a476b35f11a2f096cdb70f7ee73cf2e90">SENSOR_REPORTID_ACCELEROMETER</a> = 0x01; </div>
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|
<div class="line"><a id="l00384" name="l00384"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a29ab9f86763cce89e833392553f7abb4"> 384</a></span> <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> uint8_t <a class="code hl_variable" href="class_b_n_o08x.html#a29ab9f86763cce89e833392553f7abb4">SENSOR_REPORTID_GYROSCOPE</a> = 0x02; </div>
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<div class="line"><a id="l00385" name="l00385"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a6f3bf6774ceb583c5c56f2ad80573834"> 385</a></span> <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> uint8_t <a class="code hl_variable" href="class_b_n_o08x.html#a6f3bf6774ceb583c5c56f2ad80573834">SENSOR_REPORTID_MAGNETIC_FIELD</a> = 0x03; </div>
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<div class="line"><a id="l00386" name="l00386"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a53898b82dbac7ef27e1adb519dfcd686"> 386</a></span> <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> uint8_t <a class="code hl_variable" href="class_b_n_o08x.html#a53898b82dbac7ef27e1adb519dfcd686">SENSOR_REPORTID_LINEAR_ACCELERATION</a> = 0x04; </div>
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<div class="line"><a id="l00387" name="l00387"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#ab0279e8622ed188ee48411e074fb7e9d"> 387</a></span> <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> uint8_t <a class="code hl_variable" href="class_b_n_o08x.html#ab0279e8622ed188ee48411e074fb7e9d">SENSOR_REPORTID_ROTATION_VECTOR</a> = 0x05; </div>
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<div class="line"><a id="l00388" name="l00388"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#aeeb54b0b516917f3ff58cb655ae707a8"> 388</a></span> <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> uint8_t <a class="code hl_variable" href="class_b_n_o08x.html#aeeb54b0b516917f3ff58cb655ae707a8">SENSOR_REPORTID_GRAVITY</a> = 0x06; </div>
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|
<div class="line"><a id="l00389" name="l00389"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#ab94bfdbbffc0a7a255e752244b22322a"> 389</a></span> <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> uint8_t <a class="code hl_variable" href="class_b_n_o08x.html#ab94bfdbbffc0a7a255e752244b22322a">SENSOR_REPORTID_UNCALIBRATED_GYRO</a> = 0x07; </div>
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<div class="line"><a id="l00390" name="l00390"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#ab3dc8b362050d438d8a05b26e86af638"> 390</a></span> <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> uint8_t <a class="code hl_variable" href="class_b_n_o08x.html#ab3dc8b362050d438d8a05b26e86af638">SENSOR_REPORTID_GAME_ROTATION_VECTOR</a> = 0x08; </div>
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<div class="line"><a id="l00391" name="l00391"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#aec618850b70a4e32a5148b05281aa8f0"> 391</a></span> <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> uint8_t <a class="code hl_variable" href="class_b_n_o08x.html#aec618850b70a4e32a5148b05281aa8f0">SENSOR_REPORTID_GEOMAGNETIC_ROTATION_VECTOR</a> = 0x09; </div>
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|
<div class="line"><a id="l00392" name="l00392"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a8b55a8131c251bb234d5391b0cd6aa48"> 392</a></span> <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> uint8_t <a class="code hl_variable" href="class_b_n_o08x.html#a8b55a8131c251bb234d5391b0cd6aa48">SENSOR_REPORTID_GYRO_INTEGRATED_ROTATION_VECTOR</a> = 0x2A; </div>
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|
<div class="line"><a id="l00393" name="l00393"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a437fed4cb82edd32f839d88679ff8ed9"> 393</a></span> <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> uint8_t <a class="code hl_variable" href="class_b_n_o08x.html#a437fed4cb82edd32f839d88679ff8ed9">SENSOR_REPORTID_TAP_DETECTOR</a> = 0x10; </div>
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|
<div class="line"><a id="l00394" name="l00394"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#aaff9af63d5f35c05f0a1e485f3d97bc5"> 394</a></span> <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> uint8_t <a class="code hl_variable" href="class_b_n_o08x.html#aaff9af63d5f35c05f0a1e485f3d97bc5">SENSOR_REPORTID_STEP_COUNTER</a> = 0x11; </div>
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|
<div class="line"><a id="l00395" name="l00395"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#afad93ba52698512205df714109cadcfc"> 395</a></span> <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> uint8_t <a class="code hl_variable" href="class_b_n_o08x.html#afad93ba52698512205df714109cadcfc">SENSOR_REPORTID_STABILITY_CLASSIFIER</a> = 0x13; </div>
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|
<div class="line"><a id="l00396" name="l00396"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#aa8d2d5c66b72af3966dca751e7343a97"> 396</a></span> <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> uint8_t <a class="code hl_variable" href="class_b_n_o08x.html#aa8d2d5c66b72af3966dca751e7343a97">SENSOR_REPORTID_RAW_ACCELEROMETER</a> = 0x14; </div>
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|
<div class="line"><a id="l00397" name="l00397"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#aaed7faffc8f2bba8a2ae56933236f9f7"> 397</a></span> <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> uint8_t <a class="code hl_variable" href="class_b_n_o08x.html#aaed7faffc8f2bba8a2ae56933236f9f7">SENSOR_REPORTID_RAW_GYROSCOPE</a> = 0x15; </div>
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|
<div class="line"><a id="l00398" name="l00398"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#ac719a06278c239cc36f666b99a41b1c0"> 398</a></span> <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> uint8_t <a class="code hl_variable" href="class_b_n_o08x.html#ac719a06278c239cc36f666b99a41b1c0">SENSOR_REPORTID_RAW_MAGNETOMETER</a> = 0x16; </div>
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|
<div class="line"><a id="l00399" name="l00399"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a001b45f56e347fb8e8149bcecbe2b40c"> 399</a></span> <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> uint8_t <a class="code hl_variable" href="class_b_n_o08x.html#a001b45f56e347fb8e8149bcecbe2b40c">SENSOR_REPORTID_PERSONAL_ACTIVITY_CLASSIFIER</a> = 0x1E; </div>
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<div class="line"><a id="l00400" name="l00400"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a263b8c25089c38f9ffa85493aef79606"> 400</a></span> <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> uint8_t <a class="code hl_variable" href="class_b_n_o08x.html#a263b8c25089c38f9ffa85493aef79606">SENSOR_REPORTID_AR_VR_STABILIZED_ROTATION_VECTOR</a> = 0x28; </div>
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<div class="line"><a id="l00401" name="l00401"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a09dd6846e22801427b92b325385653e0"> 401</a></span> <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> uint8_t <a class="code hl_variable" href="class_b_n_o08x.html#a09dd6846e22801427b92b325385653e0">SENSOR_REPORTID_AR_VR_STABILIZED_GAME_ROTATION_VECTOR</a> = 0x29; </div>
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<div class="line"><a id="l00402" name="l00402"></a><span class="lineno"> 402</span> </div>
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<div class="line"><a id="l00403" name="l00403"></a><span class="lineno"> 403</span> <span class="comment">// Tare commands used by queue_tare_command</span></div>
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<div class="line"><a id="l00404" name="l00404"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a27df630f3e52b35552d2c1f2cf3496b0"> 404</a></span> <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> uint8_t <a class="code hl_variable" href="class_b_n_o08x.html#a27df630f3e52b35552d2c1f2cf3496b0">TARE_NOW</a> = 0; </div>
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<div class="line"><a id="l00405" name="l00405"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a115aef7b38ec0dec2085f6917d832912"> 405</a></span> <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> uint8_t <a class="code hl_variable" href="class_b_n_o08x.html#a115aef7b38ec0dec2085f6917d832912">TARE_PERSIST</a> = 1; </div>
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<div class="line"><a id="l00406" name="l00406"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a59cde7dd301c94a20b84735c5d49008e"> 406</a></span> <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> uint8_t <a class="code hl_variable" href="class_b_n_o08x.html#a59cde7dd301c94a20b84735c5d49008e">TARE_SET_REORIENTATION</a> = 2; </div>
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<div class="line"><a id="l00407" name="l00407"></a><span class="lineno"> 407</span> </div>
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<div class="line"><a id="l00408" name="l00408"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a2c98d5f2c406a3efd0b48c5666fa8c46"> 408</a></span> <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> <span class="keywordtype">char</span>* <a class="code hl_variable" href="class_b_n_o08x.html#a2c98d5f2c406a3efd0b48c5666fa8c46">TAG</a> = <span class="stringliteral">"BNO08x"</span>; </div>
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<div class="line"><a id="l00409" name="l00409"></a><span class="lineno"> 409</span>};</div>
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</div>
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<div class="ttc" id="a_b_n_o08x_8hpp_html_a648bbdbf22731476890dd8da977d7503"><div class="ttname"><a href="_b_n_o08x_8hpp.html#a648bbdbf22731476890dd8da977d7503">bno08x_config_t</a></div><div class="ttdeci">struct bno08x_config_t bno08x_config_t</div><div class="ttdoc">IMU configuration settings passed into constructor.</div></div>
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<div class="ttc" id="a_b_n_o08x_8hpp_html_aac50a1392dd0aa905500c755148c556b"><div class="ttname"><a href="_b_n_o08x_8hpp.html#aac50a1392dd0aa905500c755148c556b">channels_t</a></div><div class="ttdeci">channels_t</div><div class="ttdoc">SHTP protocol channels.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:20</div></div>
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<div class="ttc" id="a_b_n_o08x_8hpp_html_aac50a1392dd0aa905500c755148c556ba1cb5955609063cff1ba49147e786e610"><div class="ttname"><a href="_b_n_o08x_8hpp.html#aac50a1392dd0aa905500c755148c556ba1cb5955609063cff1ba49147e786e610">CHANNEL_COMMAND</a></div><div class="ttdeci">@ CHANNEL_COMMAND</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:21</div></div>
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<div class="ttc" id="a_b_n_o08x_8hpp_html_aac50a1392dd0aa905500c755148c556ba22f0b2ae6fcdc8618a078b0579d09e4a"><div class="ttname"><a href="_b_n_o08x_8hpp.html#aac50a1392dd0aa905500c755148c556ba22f0b2ae6fcdc8618a078b0579d09e4a">CHANNEL_REPORTS</a></div><div class="ttdeci">@ CHANNEL_REPORTS</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:24</div></div>
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<div class="ttc" id="a_b_n_o08x_8hpp_html_aac50a1392dd0aa905500c755148c556ba6c5ca5e5847c55b469afbb435e15b5f0"><div class="ttname"><a href="_b_n_o08x_8hpp.html#aac50a1392dd0aa905500c755148c556ba6c5ca5e5847c55b469afbb435e15b5f0">CHANNEL_CONTROL</a></div><div class="ttdeci">@ CHANNEL_CONTROL</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:23</div></div>
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<div class="ttc" id="a_b_n_o08x_8hpp_html_aac50a1392dd0aa905500c755148c556ba8a5de65712767758887f8fad9523bb72"><div class="ttname"><a href="_b_n_o08x_8hpp.html#aac50a1392dd0aa905500c755148c556ba8a5de65712767758887f8fad9523bb72">CHANNEL_EXECUTABLE</a></div><div class="ttdeci">@ CHANNEL_EXECUTABLE</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:22</div></div>
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<div class="ttc" id="a_b_n_o08x_8hpp_html_aac50a1392dd0aa905500c755148c556bafbb907d12060466f58dd56d3e2430747"><div class="ttname"><a href="_b_n_o08x_8hpp.html#aac50a1392dd0aa905500c755148c556bafbb907d12060466f58dd56d3e2430747">CHANNEL_WAKE_REPORTS</a></div><div class="ttdeci">@ CHANNEL_WAKE_REPORTS</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:25</div></div>
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<div class="ttc" id="a_b_n_o08x_8hpp_html_aac50a1392dd0aa905500c755148c556bafd513a698e54122cec579d9450482832"><div class="ttname"><a href="_b_n_o08x_8hpp.html#aac50a1392dd0aa905500c755148c556bafd513a698e54122cec579d9450482832">CHANNEL_GYRO</a></div><div class="ttdeci">@ CHANNEL_GYRO</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:26</div></div>
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<div class="ttc" id="a_b_n_o08x_8hpp_html_adb7d85b4fa619c860031f469261c6279"><div class="ttname"><a href="_b_n_o08x_8hpp.html#adb7d85b4fa619c860031f469261c6279">IMUAccuracy</a></div><div class="ttdeci">IMUAccuracy</div><div class="ttdoc">Sensor accuracy returned during sensor calibration.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:31</div></div>
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<div class="ttc" id="a_b_n_o08x_8hpp_html_adb7d85b4fa619c860031f469261c6279a2ad6d5975c45da2e711c796f3a1b029c"><div class="ttname"><a href="_b_n_o08x_8hpp.html#adb7d85b4fa619c860031f469261c6279a2ad6d5975c45da2e711c796f3a1b029c">IMUAccuracy::MED</a></div><div class="ttdeci">@ MED</div></div>
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<div class="ttc" id="a_b_n_o08x_8hpp_html_adb7d85b4fa619c860031f469261c6279a41bc94cbd8eebea13ce0491b2ac11b88"><div class="ttname"><a href="_b_n_o08x_8hpp.html#adb7d85b4fa619c860031f469261c6279a41bc94cbd8eebea13ce0491b2ac11b88">IMUAccuracy::LOW</a></div><div class="ttdeci">@ LOW</div></div>
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<div class="ttc" id="a_b_n_o08x_8hpp_html_adb7d85b4fa619c860031f469261c6279ab89de3b4b81c4facfac906edf29aec8c"><div class="ttname"><a href="_b_n_o08x_8hpp.html#adb7d85b4fa619c860031f469261c6279ab89de3b4b81c4facfac906edf29aec8c">IMUAccuracy::HIGH</a></div><div class="ttdeci">@ HIGH</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html"><div class="ttname"><a href="class_b_n_o08x.html">BNO08x</a></div><div class="ttdef"><b>Definition</b> BNO08x.hpp:104</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a001b45f56e347fb8e8149bcecbe2b40c"><div class="ttname"><a href="class_b_n_o08x.html#a001b45f56e347fb8e8149bcecbe2b40c">BNO08x::SENSOR_REPORTID_PERSONAL_ACTIVITY_CLASSIFIER</a></div><div class="ttdeci">static const constexpr uint8_t SENSOR_REPORTID_PERSONAL_ACTIVITY_CLASSIFIER</div><div class="ttdoc">See SH2 Ref. Manual 6.5.36.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:399</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a0177134162e116501bc9483c6e4b76c3"><div class="ttname"><a href="class_b_n_o08x.html#a0177134162e116501bc9483c6e4b76c3">BNO08x::SHTP_REPORT_PRODUCT_ID_RESPONSE</a></div><div class="ttdeci">static const constexpr uint8_t SHTP_REPORT_PRODUCT_ID_RESPONSE</div><div class="ttdoc">See SH2 Ref. Manual 6.3.2.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:377</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a033d6cb1aa137743b69cc3e401df67b7"><div class="ttname"><a href="class_b_n_o08x.html#a033d6cb1aa137743b69cc3e401df67b7">BNO08x::raw_quat_radian_accuracy</a></div><div class="ttdeci">uint16_t raw_quat_radian_accuracy</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:317</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a03f567cda2a3cc966301e96732fca9ad"><div class="ttname"><a href="class_b_n_o08x.html#a03f567cda2a3cc966301e96732fca9ad">BNO08x::raw_gyro_Z</a></div><div class="ttdeci">uint16_t raw_gyro_Z</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:316</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a04290cb6ba09b93d5a9ef337c13d1abb"><div class="ttname"><a href="class_b_n_o08x.html#a04290cb6ba09b93d5a9ef337c13d1abb">BNO08x::enable_ARVR_stabilized_rotation_vector</a></div><div class="ttdeci">void enable_ARVR_stabilized_rotation_vector(uint16_t time_between_reports)</div><div class="ttdoc">Sends command to enable ARVR stabilized rotation vector reports (See Ref. Manual 6....</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1028</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a0564aaf5b20dc42b54db4fb3115ac1c7"><div class="ttname"><a href="class_b_n_o08x.html#a0564aaf5b20dc42b54db4fb3115ac1c7">BNO08x::ACCELEROMETER_Q1</a></div><div class="ttdeci">static const constexpr int16_t ACCELEROMETER_Q1</div><div class="ttdoc">Acceleration Q point (See SH-2 Ref. Manual 6.5.9)</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:268</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a081c666a3f24016d0ec5c5edc49f2903"><div class="ttname"><a href="class_b_n_o08x.html#a081c666a3f24016d0ec5c5edc49f2903">BNO08x::uncalib_gyro_accuracy</a></div><div class="ttdeci">uint16_t uncalib_gyro_accuracy</div><div class="ttdoc">Uncalibrated gyro reading (See SH-2 Ref. Manual 6.5.14)</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:324</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a08f037df7b3c7e2fc3f0e968f4a5f68c"><div class="ttname"><a href="class_b_n_o08x.html#a08f037df7b3c7e2fc3f0e968f4a5f68c">BNO08x::print_header</a></div><div class="ttdeci">void print_header()</div><div class="ttdoc">Prints the most recently received SHTP header to serial console with ESP_LOG statement.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:2078</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a0960ce957058af565dd4c43ad6c40225"><div class="ttname"><a href="class_b_n_o08x.html#a0960ce957058af565dd4c43ad6c40225">BNO08x::enable_activity_classifier</a></div><div class="ttdeci">void enable_activity_classifier(uint16_t time_between_reports, uint32_t activities_to_enable, uint8_t(&activity_confidence_vals)[9])</div><div class="ttdoc">Sends command to enable activity classifier reports (See Ref. Manual 6.5.36)</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1186</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a0968eaed9b3d979a2caa1aba6e6b417a"><div class="ttname"><a href="class_b_n_o08x.html#a0968eaed9b3d979a2caa1aba6e6b417a">BNO08x::raw_bias_Z</a></div><div class="ttdeci">uint16_t raw_bias_Z</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:323</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a09a0306abec5895dd0450b2fe970347c"><div class="ttname"><a href="class_b_n_o08x.html#a09a0306abec5895dd0450b2fe970347c">BNO08x::enable_gyro_integrated_rotation_vector</a></div><div class="ttdeci">void enable_gyro_integrated_rotation_vector(uint16_t timeBetweenReports)</div><div class="ttdoc">Sends command to enable gyro integrated rotation vector reports (See Ref. Manual 6....</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1054</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a09dd6846e22801427b92b325385653e0"><div class="ttname"><a href="class_b_n_o08x.html#a09dd6846e22801427b92b325385653e0">BNO08x::SENSOR_REPORTID_AR_VR_STABILIZED_GAME_ROTATION_VECTOR</a></div><div class="ttdeci">static const constexpr uint8_t SENSOR_REPORTID_AR_VR_STABILIZED_GAME_ROTATION_VECTOR</div><div class="ttdoc">See SH2 Ref. Manual 6.5.43.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:401</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a0a1756bc16ba3eac45f4229b1e350107"><div class="ttname"><a href="class_b_n_o08x.html#a0a1756bc16ba3eac45f4229b1e350107">BNO08x::COMMAND_TARE</a></div><div class="ttdeci">static const constexpr uint8_t COMMAND_TARE</div><div class="ttdoc">Command and response to tare command (See Sh2 Ref. Manual 6.4.4)</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:364</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a0a72477cb7a330fedbcb3e2126b882b1"><div class="ttname"><a href="class_b_n_o08x.html#a0a72477cb7a330fedbcb3e2126b882b1">BNO08x::get_accel_Z</a></div><div class="ttdeci">float get_accel_Z()</div><div class="ttdoc">Get z axis acceleration (total acceleration of device, units in m/s^2).</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1660</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a0a73633d8929ce4058b14cefc8cad717"><div class="ttname"><a href="class_b_n_o08x.html#a0a73633d8929ce4058b14cefc8cad717">BNO08x::get_uncalibrated_gyro_Z</a></div><div class="ttdeci">float get_uncalibrated_gyro_Z()</div><div class="ttdoc">Get uncalibrated gyro Z axis angular velocity measurement.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1931</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a0b19c8f2de2b2bfe033da7f93cdd2608"><div class="ttname"><a href="class_b_n_o08x.html#a0b19c8f2de2b2bfe033da7f93cdd2608">BNO08x::ROTATION_VECTOR_Q1</a></div><div class="ttdeci">static const constexpr int16_t ROTATION_VECTOR_Q1</div><div class="ttdoc">Rotation vector Q point (See SH-2 Ref. Manual 6.5.18)</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:266</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a0ce6d9db873555f1ebe7e095251eab74"><div class="ttname"><a href="class_b_n_o08x.html#a0ce6d9db873555f1ebe7e095251eab74">BNO08x::spi_task_trampoline</a></div><div class="ttdeci">static void spi_task_trampoline(void *arg)</div><div class="ttdoc">Static function used to launch spi task.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:2416</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a0d148e00abcfeec48c689e3084a7e786"><div class="ttname"><a href="class_b_n_o08x.html#a0d148e00abcfeec48c689e3084a7e786">BNO08x::get_stability_classifier</a></div><div class="ttdeci">int8_t get_stability_classifier()</div><div class="ttdoc">Get the current stability classifier (Seee Ref. Manual 6.5.31)</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:2049</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a0ee58cedbc06d4a7db8821f40c0ee207"><div class="ttname"><a href="class_b_n_o08x.html#a0ee58cedbc06d4a7db8821f40c0ee207">BNO08x::send_packet</a></div><div class="ttdeci">void send_packet()</div><div class="ttdoc">Sends a queued SHTP packet via SPI.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:413</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a0ef39163352bd7a54ac85952e8cb8516"><div class="ttname"><a href="class_b_n_o08x.html#a0ef39163352bd7a54ac85952e8cb8516">BNO08x::print_packet</a></div><div class="ttdeci">void print_packet()</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:2099</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a0fff04c42c9502615ad73cd1457cb9b0"><div class="ttname"><a href="class_b_n_o08x.html#a0fff04c42c9502615ad73cd1457cb9b0">BNO08x::get_range</a></div><div class="ttdeci">float get_range(uint16_t record_ID)</div><div class="ttdoc">Gets range from BNO08x FRS (flash record system).</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:2210</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a1033bdd65b42b6706d1dfc67ece66191"><div class="ttname"><a href="class_b_n_o08x.html#a1033bdd65b42b6706d1dfc67ece66191">BNO08x::get_linear_accel_Y</a></div><div class="ttdeci">float get_linear_accel_Y()</div><div class="ttdoc">Get y axis linear acceleration (acceleration of device minus gravity, units in m/s^2)</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1708</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a111601243b913751eb51c1f37cba4e7d"><div class="ttname"><a href="class_b_n_o08x.html#a111601243b913751eb51c1f37cba4e7d">BNO08x::get_magf_X</a></div><div class="ttdeci">float get_magf_X()</div><div class="ttdoc">Get X component of magnetic field vector.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1321</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a115aef7b38ec0dec2085f6917d832912"><div class="ttname"><a href="class_b_n_o08x.html#a115aef7b38ec0dec2085f6917d832912">BNO08x::TARE_PERSIST</a></div><div class="ttdeci">static const constexpr uint8_t TARE_PERSIST</div><div class="ttdoc">See SH2 Ref. Manual 6.4.4.2.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:405</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a1171a5738a4e6831ec7fa32a29f15554"><div class="ttname"><a href="class_b_n_o08x.html#a1171a5738a4e6831ec7fa32a29f15554">BNO08x::tap_detector</a></div><div class="ttdeci">uint8_t tap_detector</div><div class="ttdoc">Tap detector reading (See SH-2 Ref. Manual 6.5.27)</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:327</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a11bb1b3fa44ad8f28c1492b5c07af886"><div class="ttname"><a href="class_b_n_o08x.html#a11bb1b3fa44ad8f28c1492b5c07af886">BNO08x::get_reset_reason</a></div><div class="ttdeci">uint8_t get_reset_reason()</div><div class="ttdoc">Get the reason for the most recent reset.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:264</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a12c12a8e078b28480fb8828d306656f5"><div class="ttname"><a href="class_b_n_o08x.html#a12c12a8e078b28480fb8828d306656f5">BNO08x::get_quat_I</a></div><div class="ttdeci">float get_quat_I()</div><div class="ttdoc">Get I component of reported quaternion.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1557</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a1590ba793668f9cb1a32a1f4dd07cb9a"><div class="ttname"><a href="class_b_n_o08x.html#a1590ba793668f9cb1a32a1f4dd07cb9a">BNO08x::get_Q3</a></div><div class="ttdeci">int16_t get_Q3(uint16_t record_ID)</div><div class="ttdoc">Gets Q3 point from BNO08x FRS (flash record system).</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:2180</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a15a29c3bb476048b7229abcfb2b1d52a"><div class="ttname"><a href="class_b_n_o08x.html#a15a29c3bb476048b7229abcfb2b1d52a">BNO08x::get_gyro_calibrated_velocity_Z</a></div><div class="ttdeci">float get_gyro_calibrated_velocity_Z()</div><div class="ttdoc">Get calibrated gyro z axis angular velocity measurement.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1866</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a1742d6445ffb6e9297b8bf84dec24f22"><div class="ttname"><a href="class_b_n_o08x.html#a1742d6445ffb6e9297b8bf84dec24f22">BNO08x::queue_command</a></div><div class="ttdeci">void queue_command(uint8_t command)</div><div class="ttdoc">Queues a packet containing a command.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:436</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a176ae0112325c05105eacb4566bbfa0b"><div class="ttname"><a href="class_b_n_o08x.html#a176ae0112325c05105eacb4566bbfa0b">BNO08x::mode_sleep</a></div><div class="ttdeci">bool mode_sleep()</div><div class="ttdoc">Puts BNO08x sensor into sleep/low power mode using executable channel.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:310</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a1874e4bd457bb5b6ecc2c64039b88ba4"><div class="ttname"><a href="class_b_n_o08x.html#a1874e4bd457bb5b6ecc2c64039b88ba4">BNO08x::get_uncalibrated_gyro_Y</a></div><div class="ttdeci">float get_uncalibrated_gyro_Y()</div><div class="ttdoc">Get uncalibrated gyro Y axis angular velocity measurement.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1921</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a19696327a056a448ed5ba706e747bbe5"><div class="ttname"><a href="class_b_n_o08x.html#a19696327a056a448ed5ba706e747bbe5">BNO08x::raw_gyro_X</a></div><div class="ttdeci">uint16_t raw_gyro_X</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:316</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a1b12471e92536a79d0c425d77676f2e1"><div class="ttname"><a href="class_b_n_o08x.html#a1b12471e92536a79d0c425d77676f2e1">BNO08x::stability_classifier</a></div><div class="ttdeci">uint8_t stability_classifier</div><div class="ttdoc">Stability status reading (See SH-2 Ref. Manual 6.5.31)</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:329</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a1b91f234d81c45f1f5ca2f27c9f0f6a3"><div class="ttname"><a href="class_b_n_o08x.html#a1b91f234d81c45f1f5ca2f27c9f0f6a3">BNO08x::get_pitch</a></div><div class="ttdeci">float get_pitch()</div><div class="ttdoc">Get the reported rotation about y axis.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1449</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a1bd3c33e70354bd35a78b83b6786b531"><div class="ttname"><a href="class_b_n_o08x.html#a1bd3c33e70354bd35a78b83b6786b531">BNO08x::get_uncalibrated_gyro</a></div><div class="ttdeci">void get_uncalibrated_gyro(float &x, float &y, float &z, float &bx, float &by, float &bz, uint8_t &accuracy)</div><div class="ttdoc">Get full rotational velocity without drift compensation (units in Rad/s). An estimate of drift is giv...</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1895</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a1c6c49c97bc098db89db1aaa37e18f26"><div class="ttname"><a href="class_b_n_o08x.html#a1c6c49c97bc098db89db1aaa37e18f26">BNO08x::calibrate_planar_accelerometer</a></div><div class="ttdeci">void calibrate_planar_accelerometer()</div><div class="ttdoc">Sends command to calibrate planar accelerometer.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:510</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a1d3bff4e20c2c3d47db322c9e34ef338"><div class="ttname"><a href="class_b_n_o08x.html#a1d3bff4e20c2c3d47db322c9e34ef338">BNO08x::SHTP_REPORT_SET_FEATURE_COMMAND</a></div><div class="ttdeci">static const constexpr uint8_t SHTP_REPORT_SET_FEATURE_COMMAND</div><div class="ttdoc">See SH2 Ref. Manual 6.5.4.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:380</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a1d68494d911f7efbbb620d349fb9da0d"><div class="ttname"><a href="class_b_n_o08x.html#a1d68494d911f7efbbb620d349fb9da0d">BNO08x::enable_accelerometer</a></div><div class="ttdeci">void enable_accelerometer(uint16_t time_between_reports)</div><div class="ttdoc">Sends command to enable accelerometer reports (See Ref. Manual 6.5.9)</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1067</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a1d6ea02d0d4b23ff6a15e9d5c6c92372"><div class="ttname"><a href="class_b_n_o08x.html#a1d6ea02d0d4b23ff6a15e9d5c6c92372">BNO08x::get_resolution</a></div><div class="ttdeci">float get_resolution(uint16_t record_ID)</div><div class="ttdoc">Gets resolution from BNO08x FRS (flash record system).</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:2193</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a1de356dd604c1dffcd1a32faeb4fafe2"><div class="ttname"><a href="class_b_n_o08x.html#a1de356dd604c1dffcd1a32faeb4fafe2">BNO08x::get_raw_accel_X</a></div><div class="ttdeci">int16_t get_raw_accel_X()</div><div class="ttdoc">Get raw accelerometer x axis reading from physical accelerometer MEMs sensor (See Ref....</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1738</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a1e5b64caa514b7e4fe64ab214758b875"><div class="ttname"><a href="class_b_n_o08x.html#a1e5b64caa514b7e4fe64ab214758b875">BNO08x::SHTP_REPORT_COMMAND_RESPONSE</a></div><div class="ttdeci">static const constexpr uint8_t SHTP_REPORT_COMMAND_RESPONSE</div><div class="ttdoc">See SH2 Ref. Manual 6.3.9.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:373</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a1ef13f6f330810934416ad5fe0ee55b2"><div class="ttname"><a href="class_b_n_o08x.html#a1ef13f6f330810934416ad5fe0ee55b2">BNO08x::TARE_AXIS_ALL</a></div><div class="ttdeci">static const constexpr uint8_t TARE_AXIS_ALL</div><div class="ttdoc">Tare all axes (used with tare now command)</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:255</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a225397a04d849e5647992ca80d68febb"><div class="ttname"><a href="class_b_n_o08x.html#a225397a04d849e5647992ca80d68febb">BNO08x::TARE_GEOMAGNETIC_ROTATION_VECTOR</a></div><div class="ttdeci">static const constexpr uint8_t TARE_GEOMAGNETIC_ROTATION_VECTOR</div><div class="ttdoc">tare geomagnetic rotation vector</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:261</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a24ba760d064a1dc45f972c79b9c8d98d"><div class="ttname"><a href="class_b_n_o08x.html#a24ba760d064a1dc45f972c79b9c8d98d">BNO08x::get_quat_accuracy</a></div><div class="ttdeci">uint8_t get_quat_accuracy()</div><div class="ttdoc">Get accuracy of reported quaternion.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1612</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a263b8c25089c38f9ffa85493aef79606"><div class="ttname"><a href="class_b_n_o08x.html#a263b8c25089c38f9ffa85493aef79606">BNO08x::SENSOR_REPORTID_AR_VR_STABILIZED_ROTATION_VECTOR</a></div><div class="ttdeci">static const constexpr uint8_t SENSOR_REPORTID_AR_VR_STABILIZED_ROTATION_VECTOR</div><div class="ttdoc">See SH2 Ref. Manual 6.5.42.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:400</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a27df630f3e52b35552d2c1f2cf3496b0"><div class="ttname"><a href="class_b_n_o08x.html#a27df630f3e52b35552d2c1f2cf3496b0">BNO08x::TARE_NOW</a></div><div class="ttdeci">static const constexpr uint8_t TARE_NOW</div><div class="ttdoc">See SH2 Ref. Manual 6.4.4.1.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:404</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a27f5dce5c994be18a587fb622574ad41"><div class="ttname"><a href="class_b_n_o08x.html#a27f5dce5c994be18a587fb622574ad41">BNO08x::FRS_read_word</a></div><div class="ttdeci">uint32_t FRS_read_word(uint16_t record_ID, uint8_t word_number)</div><div class="ttdoc">Reads meta data word from BNO08x FRS (flash record system) given the record ID and word number....</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:2231</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a27fb24e894f794ec6228ef142b6ff8d9"><div class="ttname"><a href="class_b_n_o08x.html#a27fb24e894f794ec6228ef142b6ff8d9">BNO08x::q_to_float</a></div><div class="ttdeci">float q_to_float(int16_t fixed_point_value, uint8_t q_point)</div><div class="ttdoc">Converts a register value to a float using its associated Q point. (See https://en....</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1281</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a289ff66f51c94be62c4a556f3a5997bf"><div class="ttname"><a href="class_b_n_o08x.html#a289ff66f51c94be62c4a556f3a5997bf">BNO08x::get_uncalibrated_gyro_X</a></div><div class="ttdeci">float get_uncalibrated_gyro_X()</div><div class="ttdoc">Get uncalibrated gyro x axis angular velocity measurement.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1911</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a28cd1c0b3477571d87133234e6358503"><div class="ttname"><a href="class_b_n_o08x.html#a28cd1c0b3477571d87133234e6358503">BNO08x::hard_reset</a></div><div class="ttdeci">bool hard_reset()</div><div class="ttdoc">Hard resets BNO08x sensor.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:216</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a29ab9f86763cce89e833392553f7abb4"><div class="ttname"><a href="class_b_n_o08x.html#a29ab9f86763cce89e833392553f7abb4">BNO08x::SENSOR_REPORTID_GYROSCOPE</a></div><div class="ttdeci">static const constexpr uint8_t SENSOR_REPORTID_GYROSCOPE</div><div class="ttdoc">See SH2 Ref. Manual 6.5.13.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:384</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a2c842e43ceae19149f6525bcbc48f1cf"><div class="ttname"><a href="class_b_n_o08x.html#a2c842e43ceae19149f6525bcbc48f1cf">BNO08x::get_raw_magf_Y</a></div><div class="ttdeci">int16_t get_raw_magf_Y()</div><div class="ttdoc">Get raw magnetometer y axis reading from physical magnetometer sensor (See Ref. Manual 6....</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1808</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a2c98d5f2c406a3efd0b48c5666fa8c46"><div class="ttname"><a href="class_b_n_o08x.html#a2c98d5f2c406a3efd0b48c5666fa8c46">BNO08x::TAG</a></div><div class="ttdeci">static const constexpr char * TAG</div><div class="ttdoc">Class tag used for serial print statements.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:408</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a2dc0cd5bc04ca7eb3b4fffd2a3a6f27a"><div class="ttname"><a href="class_b_n_o08x.html#a2dc0cd5bc04ca7eb3b4fffd2a3a6f27a">BNO08x::enable_gravity</a></div><div class="ttdeci">void enable_gravity(uint16_t time_between_reports)</div><div class="ttdoc">Sends command to enable gravity reading reports (See Ref. Manual 6.5.11)</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1093</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a2e28b5a79c442a6baa2fa5165b9ce37d"><div class="ttname"><a href="class_b_n_o08x.html#a2e28b5a79c442a6baa2fa5165b9ce37d">BNO08x::get_raw_gyro_Z</a></div><div class="ttdeci">int16_t get_raw_gyro_Z()</div><div class="ttdoc">Get raw gyroscope z axis reading from physical gyroscope MEMs sensor (See Ref. Manual 6....</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1788</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a2ecd4ed60f82730ae230c61687ec92bf"><div class="ttname"><a href="class_b_n_o08x.html#a2ecd4ed60f82730ae230c61687ec92bf">BNO08x::spi_task</a></div><div class="ttdeci">void spi_task()</div><div class="ttdoc">Task responsible for SPI transactions. Executed when HINT in is asserted by BNO08x.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:2427</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a308c8b5307d93a67b5b9066d44494aa5"><div class="ttname"><a href="class_b_n_o08x.html#a308c8b5307d93a67b5b9066d44494aa5">BNO08x::COMMAND_OSCILLATOR</a></div><div class="ttdeci">static const constexpr uint8_t COMMAND_OSCILLATOR</div><div class="ttdoc">Retrieve oscillator type command (See SH2 Ref. Manual 6.4)</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:369</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a30eb6d305a187d4d36546841e12176b9"><div class="ttname"><a href="class_b_n_o08x.html#a30eb6d305a187d4d36546841e12176b9">BNO08x::COMMAND_INITIALIZE</a></div><div class="ttdeci">static const constexpr uint8_t COMMAND_INITIALIZE</div><div class="ttdoc">Reinitialize sensor hub components See (SH2 Ref. Manual 6.4.5)</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:365</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a32204963cefc4ae64a80f43e71c8667a"><div class="ttname"><a href="class_b_n_o08x.html#a32204963cefc4ae64a80f43e71c8667a">BNO08x::TARE_AR_VR_STABILIZED_ROTATION_VECTOR</a></div><div class="ttdeci">static const constexpr uint8_t TARE_AR_VR_STABILIZED_ROTATION_VECTOR</div><div class="ttdoc">Tare ARVR stabilized rotation vector.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:263</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a3285613f18b2f2f4c3f9e6d5c971af10"><div class="ttname"><a href="class_b_n_o08x.html#a3285613f18b2f2f4c3f9e6d5c971af10">BNO08x::get_uncalibrated_gyro_accuracy</a></div><div class="ttdeci">uint8_t get_uncalibrated_gyro_accuracy()</div><div class="ttdoc">Get uncalibrated gyro accuracy.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1971</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a3365b7ebde01e284274e655c60343df9"><div class="ttname"><a href="class_b_n_o08x.html#a3365b7ebde01e284274e655c60343df9">BNO08x::accel_accuracy</a></div><div class="ttdeci">uint16_t accel_accuracy</div><div class="ttdoc">Raw acceleration readings (See SH-2 Ref. Manual 6.5.8)</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:313</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a33aee99f7f0d07c3061bab90831bc309"><div class="ttname"><a href="class_b_n_o08x.html#a33aee99f7f0d07c3061bab90831bc309">BNO08x::int_asserted_semaphore</a></div><div class="ttdeci">SemaphoreHandle_t int_asserted_semaphore</div><div class="ttdoc">Binary semaphore used to synchronize spi_task() calling wait_for_device_int(), given after hint_handl...</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:293</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a33fe3c2f47759cfae5f4b612ddd329ea"><div class="ttname"><a href="class_b_n_o08x.html#a33fe3c2f47759cfae5f4b612ddd329ea">BNO08x::get_linear_accel_accuracy</a></div><div class="ttdeci">uint8_t get_linear_accel_accuracy()</div><div class="ttdoc">Get accuracy of linear acceleration.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1728</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a35a224d519a2a243d0d526a34ecde5a8"><div class="ttname"><a href="class_b_n_o08x.html#a35a224d519a2a243d0d526a34ecde5a8">BNO08x::get_magf</a></div><div class="ttdeci">void get_magf(float &x, float &y, float &z, uint8_t &accuracy)</div><div class="ttdoc">Get the full magnetic field vector.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1308</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a35e1635ef5edde8fc8640f978c6f2e3c"><div class="ttname"><a href="class_b_n_o08x.html#a35e1635ef5edde8fc8640f978c6f2e3c">BNO08x::accel_lin_accuracy</a></div><div class="ttdeci">uint16_t accel_lin_accuracy</div><div class="ttdoc">Raw linear acceleration (See SH-2 Ref. Manual 6.5.10)</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:315</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a36223f7124751fa71e860b2ef55dd2ac"><div class="ttname"><a href="class_b_n_o08x.html#a36223f7124751fa71e860b2ef55dd2ac">BNO08x::quat_accuracy</a></div><div class="ttdeci">uint16_t quat_accuracy</div><div class="ttdoc">Raw quaternion reading (See SH-2 Ref. Manual 6.5.44)</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:318</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a367d525d1c0ba119b3dca3067bb5bccc"><div class="ttname"><a href="class_b_n_o08x.html#a367d525d1c0ba119b3dca3067bb5bccc">BNO08x::data_available</a></div><div class="ttdeci">bool data_available()</div><div class="ttdoc">Checks if BNO08x has asserted interrupt and sent data.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:725</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a3762125be0025a335f0d918415f4ce18"><div class="ttname"><a href="class_b_n_o08x.html#a3762125be0025a335f0d918415f4ce18">BNO08x::parse_command_report</a></div><div class="ttdeci">uint16_t parse_command_report()</div><div class="ttdoc">Parses received command report sent by BNO08x (See Ref. Manual 6.3.9)</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:972</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a384a1efc9857ad938be3bb44f871539b"><div class="ttname"><a href="class_b_n_o08x.html#a384a1efc9857ad938be3bb44f871539b">BNO08x::COMMAND_ERRORS</a></div><div class="ttdeci">static const constexpr uint8_t COMMAND_ERRORS</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:362</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a386c46ac8965220ab7b9423df838dd4d"><div class="ttname"><a href="class_b_n_o08x.html#a386c46ac8965220ab7b9423df838dd4d">BNO08x::get_gravity</a></div><div class="ttdeci">void get_gravity(float &x, float &y, float &z, uint8_t &accuracy)</div><div class="ttdoc">Get full reported gravity vector, units in m/s^2.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1369</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a3d6b6257462951ea023af7076c80f6dd"><div class="ttname"><a href="class_b_n_o08x.html#a3d6b6257462951ea023af7076c80f6dd">BNO08x::mems_raw_gyro_X</a></div><div class="ttdeci">uint16_t mems_raw_gyro_X</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:335</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a3fce726d5de821f97ed207036dae2900"><div class="ttname"><a href="class_b_n_o08x.html#a3fce726d5de821f97ed207036dae2900">BNO08x::get_accel_accuracy</a></div><div class="ttdeci">uint8_t get_accel_accuracy()</div><div class="ttdoc">Get accuracy of linear acceleration.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1670</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a40607e557eada666a5e1e416f42cd4a1"><div class="ttname"><a href="class_b_n_o08x.html#a40607e557eada666a5e1e416f42cd4a1">BNO08x::FRS_read_data</a></div><div class="ttdeci">bool FRS_read_data(uint16_t record_ID, uint8_t start_location, uint8_t words_to_read)</div><div class="ttdoc">Read meta data from BNO08x FRS (flash record system) given the record ID. Contains Q points and other...</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:2281</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a40f7688e843d74b8bd526c6f5ff17845"><div class="ttname"><a href="class_b_n_o08x.html#a40f7688e843d74b8bd526c6f5ff17845">BNO08x::BNO08x</a></div><div class="ttdeci">BNO08x(bno08x_config_t imu_config=default_imu_config)</div><div class="ttdoc">BNO08x imu constructor.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:15</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a425a1f5a9f3232aadc685caaf4c2f82e"><div class="ttname"><a href="class_b_n_o08x.html#a425a1f5a9f3232aadc685caaf4c2f82e">BNO08x::imu_spi_config</a></div><div class="ttdeci">spi_device_interface_config_t imu_spi_config</div><div class="ttdoc">SPI slave device settings.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:306</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a437fed4cb82edd32f839d88679ff8ed9"><div class="ttname"><a href="class_b_n_o08x.html#a437fed4cb82edd32f839d88679ff8ed9">BNO08x::SENSOR_REPORTID_TAP_DETECTOR</a></div><div class="ttdeci">static const constexpr uint8_t SENSOR_REPORTID_TAP_DETECTOR</div><div class="ttdoc">See SH2 Ref. Manual 6.5.27.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:393</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a4421c43323945946ad605f8422958dcf"><div class="ttname"><a href="class_b_n_o08x.html#a4421c43323945946ad605f8422958dcf">BNO08x::get_Q1</a></div><div class="ttdeci">int16_t get_Q1(uint16_t record_ID)</div><div class="ttdoc">Gets Q1 point from BNO08x FRS (flash record system).</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:2150</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a4549bbef48208bd9c745fc755b93012f"><div class="ttname"><a href="class_b_n_o08x.html#a4549bbef48208bd9c745fc755b93012f">BNO08x::tare_now</a></div><div class="ttdeci">void tare_now(uint8_t axis_sel=TARE_AXIS_ALL, uint8_t rotation_vector_basis=TARE_ROTATION_VECTOR)</div><div class="ttdoc">Sends command to tare an axis (See Ref. Manual 6.4.4.1)</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1241</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a476b35f11a2f096cdb70f7ee73cf2e90"><div class="ttname"><a href="class_b_n_o08x.html#a476b35f11a2f096cdb70f7ee73cf2e90">BNO08x::SENSOR_REPORTID_ACCELEROMETER</a></div><div class="ttdeci">static const constexpr uint8_t SENSOR_REPORTID_ACCELEROMETER</div><div class="ttdoc">See SH2 Ref. Manual 6.5.9.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:383</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a4797ec731de4c158716da1a7af9d1602"><div class="ttname"><a href="class_b_n_o08x.html#a4797ec731de4c158716da1a7af9d1602">BNO08x::get_tap_detector</a></div><div class="ttdeci">uint8_t get_tap_detector()</div><div class="ttdoc">Get if tap has occured.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:2027</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a487391e6b2dd7f05084804d1fb94976f"><div class="ttname"><a href="class_b_n_o08x.html#a487391e6b2dd7f05084804d1fb94976f">BNO08x::get_magf_accuracy</a></div><div class="ttdeci">uint8_t get_magf_accuracy()</div><div class="ttdoc">Get accuracy of reported magnetic field vector.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1354</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a4882dbc698d7b730f57e2401037766a9"><div class="ttname"><a href="class_b_n_o08x.html#a4882dbc698d7b730f57e2401037766a9">BNO08x::isr_service_installed</a></div><div class="ttdeci">static bool isr_service_installed</div><div class="ttdoc">true of the isr service has been installed, only has to be done once regardless of how many devices a...</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:3</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a4c6353e795f734ed28613f9a3d161ea2"><div class="ttname"><a href="class_b_n_o08x.html#a4c6353e795f734ed28613f9a3d161ea2">BNO08x::queue_tare_command</a></div><div class="ttdeci">void queue_tare_command(uint8_t command, uint8_t axis=TARE_AXIS_ALL, uint8_t rotation_vector_basis=TARE_ROTATION_VECTOR)</div><div class="ttdoc">Queues a packet containing a command related to zeroing sensor's axes. (See Ref. Manual 6....</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:2380</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a4d3746a376a22acb7a2641bb750c4c89"><div class="ttname"><a href="class_b_n_o08x.html#a4d3746a376a22acb7a2641bb750c4c89">BNO08x::get_gyro_calibrated_velocity</a></div><div class="ttdeci">void get_gyro_calibrated_velocity(float &x, float &y, float &z, uint8_t &accuracy)</div><div class="ttdoc">Get full rotational velocity with drift compensation (units in Rad/s).</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1833</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a4f188bf76ba862f07606d1351d28548f"><div class="ttname"><a href="class_b_n_o08x.html#a4f188bf76ba862f07606d1351d28548f">BNO08x::raw_velocity_gyro_Y</a></div><div class="ttdeci">uint16_t raw_velocity_gyro_Y</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:319</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a4f580b3cb232a762ea7019ee7b04d419"><div class="ttname"><a href="class_b_n_o08x.html#a4f580b3cb232a762ea7019ee7b04d419">BNO08x::COMMAND_CLEAR_DCD</a></div><div class="ttdeci">static const constexpr uint8_t COMMAND_CLEAR_DCD</div><div class="ttdoc">Clear DCD & Reset command (See SH2 Ref. Manual 6.4)</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:370</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a4f7060b2d3c15b359b70b6346730446a"><div class="ttname"><a href="class_b_n_o08x.html#a4f7060b2d3c15b359b70b6346730446a">BNO08x::get_activity_classifier</a></div><div class="ttdeci">uint8_t get_activity_classifier()</div><div class="ttdoc">Get the current activity classifier (Seee Ref. Manual 6.5.36)</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:2068</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a5050359272abd146ab3c7a6101effbd7"><div class="ttname"><a href="class_b_n_o08x.html#a5050359272abd146ab3c7a6101effbd7">BNO08x::get_uncalibrated_gyro_bias_Z</a></div><div class="ttdeci">float get_uncalibrated_gyro_bias_Z()</div><div class="ttdoc">Get uncalibrated gyro Z axis drift estimate.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1961</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a51a6d594824de2292e70f788454f8a2d"><div class="ttname"><a href="class_b_n_o08x.html#a51a6d594824de2292e70f788454f8a2d">BNO08x::get_quat</a></div><div class="ttdeci">void get_quat(float &i, float &j, float &k, float &real, float &rad_accuracy, uint8_t &accuracy)</div><div class="ttdoc">Get the full quaternion reading.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1542</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a5378a235e3114ccdc63b26bc3fae5dad"><div class="ttname"><a href="class_b_n_o08x.html#a5378a235e3114ccdc63b26bc3fae5dad">BNO08x::enable_stability_classifier</a></div><div class="ttdeci">void enable_stability_classifier(uint16_t time_between_reports)</div><div class="ttdoc">Sends command to enable activity stability classifier reports (See Ref. Manual 6.5....</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1171</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a53898b82dbac7ef27e1adb519dfcd686"><div class="ttname"><a href="class_b_n_o08x.html#a53898b82dbac7ef27e1adb519dfcd686">BNO08x::SENSOR_REPORTID_LINEAR_ACCELERATION</a></div><div class="ttdeci">static const constexpr uint8_t SENSOR_REPORTID_LINEAR_ACCELERATION</div><div class="ttdoc">See SH2 Ref. Manual 6.5.10.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:386</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a542405639c28bd56bc4361b922763c95"><div class="ttname"><a href="class_b_n_o08x.html#a542405639c28bd56bc4361b922763c95">BNO08x::SHTP_REPORT_PRODUCT_ID_REQUEST</a></div><div class="ttdeci">static const constexpr uint8_t SHTP_REPORT_PRODUCT_ID_REQUEST</div><div class="ttdoc">See SH2 Ref. Manual 6.3.1.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:378</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a5622b4d1754648ea7eb400c1adf9e807"><div class="ttname"><a href="class_b_n_o08x.html#a5622b4d1754648ea7eb400c1adf9e807">BNO08x::get_gravity_Z</a></div><div class="ttdeci">float get_gravity_Z()</div><div class="ttdoc">Get the reported z axis gravity.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1402</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a584bfa04a39feb93279ee673c340db54"><div class="ttname"><a href="class_b_n_o08x.html#a584bfa04a39feb93279ee673c340db54">BNO08x::CALIBRATE_STOP</a></div><div class="ttdeci">static const constexpr uint8_t CALIBRATE_STOP</div><div class="ttdoc">Stop calibration command used by queue_calibrate_command.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:359</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a58e7e3a7bf08fbdb4b75b3a0034ed33e"><div class="ttname"><a href="class_b_n_o08x.html#a58e7e3a7bf08fbdb4b75b3a0034ed33e">BNO08x::FRS_RECORDID_ROTATION_VECTOR</a></div><div class="ttdeci">static const constexpr uint16_t FRS_RECORDID_ROTATION_VECTOR</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:253</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a59a4d75f1302ab693b1b26e9ccaa5341"><div class="ttname"><a href="class_b_n_o08x.html#a59a4d75f1302ab693b1b26e9ccaa5341">BNO08x::mems_raw_accel_Z</a></div><div class="ttdeci">uint16_t mems_raw_accel_Z</div><div class="ttdoc">Raw accelerometer readings from MEMS sensor (See SH2 Ref. Manual 6.5.8)</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:334</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a59cde7dd301c94a20b84735c5d49008e"><div class="ttname"><a href="class_b_n_o08x.html#a59cde7dd301c94a20b84735c5d49008e">BNO08x::TARE_SET_REORIENTATION</a></div><div class="ttdeci">static const constexpr uint8_t TARE_SET_REORIENTATION</div><div class="ttdoc">See SH2 Ref. Manual 6.4.4.3.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:406</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a5a556c5ec1baaa7f1156779dbe47a7b7"><div class="ttname"><a href="class_b_n_o08x.html#a5a556c5ec1baaa7f1156779dbe47a7b7">BNO08x::get_quat_real</a></div><div class="ttdeci">float get_quat_real()</div><div class="ttdoc">Get real component of reported quaternion.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1590</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a5b1f13a3170f1c8fdcc886353efa0c08"><div class="ttname"><a href="class_b_n_o08x.html#a5b1f13a3170f1c8fdcc886353efa0c08">BNO08x::tx_packet_queued</a></div><div class="ttdeci">volatile uint8_t tx_packet_queued</div><div class="ttdoc">Whether or not a packet is currently waiting to be sent, a queued packet is sent on assertion of BNO0...</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:290</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a615090aae15f1b0410a7e5ecb94957b5"><div class="ttname"><a href="class_b_n_o08x.html#a615090aae15f1b0410a7e5ecb94957b5">BNO08x::spi_task_hdl</a></div><div class="ttdeci">TaskHandle_t spi_task_hdl</div><div class="ttdoc">SPI task handle.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:341</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a61ae05dc5572b326541bf8099f0c2a54"><div class="ttname"><a href="class_b_n_o08x.html#a61ae05dc5572b326541bf8099f0c2a54">BNO08x::raw_quat_J</a></div><div class="ttdeci">uint16_t raw_quat_J</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:317</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a61b7d10a98afc6903fea6b2cede27630"><div class="ttname"><a href="class_b_n_o08x.html#a61b7d10a98afc6903fea6b2cede27630">BNO08x::get_quat_radian_accuracy</a></div><div class="ttdeci">float get_quat_radian_accuracy()</div><div class="ttdoc">Get radian accuracy of reported quaternion.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1601</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a61df9f571555f5f682eb51f24a279489"><div class="ttname"><a href="class_b_n_o08x.html#a61df9f571555f5f682eb51f24a279489">BNO08x::raw_gyro_Y</a></div><div class="ttdeci">uint16_t raw_gyro_Y</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:316</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a6232920a05c0aba34e5560951a20ae87"><div class="ttname"><a href="class_b_n_o08x.html#a6232920a05c0aba34e5560951a20ae87">BNO08x::default_imu_config</a></div><div class="ttdeci">static bno08x_config_t default_imu_config</div><div class="ttdoc">default imu config settings</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:287</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a639cb013ed17e0f33057742fac97f1a2"><div class="ttname"><a href="class_b_n_o08x.html#a639cb013ed17e0f33057742fac97f1a2">BNO08x::enable_game_rotation_vector</a></div><div class="ttdeci">void enable_game_rotation_vector(uint16_t time_between_reports)</div><div class="ttdoc">Sends command to enable game rotation vector reports (See Ref. Manual 6.5.19)</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1002</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a64d3e41750c6de9413d6982511f78f17"><div class="ttname"><a href="class_b_n_o08x.html#a64d3e41750c6de9413d6982511f78f17">BNO08x::get_yaw</a></div><div class="ttdeci">float get_yaw()</div><div class="ttdoc">Get the reported rotation about z axis.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1478</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a67d0b5302a60083cef1b31936e2b65d8"><div class="ttname"><a href="class_b_n_o08x.html#a67d0b5302a60083cef1b31936e2b65d8">BNO08x::queue_packet</a></div><div class="ttdeci">void queue_packet(uint8_t channel_number, uint8_t data_length)</div><div class="ttdoc">Queues an SHTP packet to be sent via SPI.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:383</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a69dc7e97875060213085ba964b3bd987"><div class="ttname"><a href="class_b_n_o08x.html#a69dc7e97875060213085ba964b3bd987">BNO08x::raw_quat_I</a></div><div class="ttdeci">uint16_t raw_quat_I</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:317</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a6c004a16b146527aa9eeeb6ff37db281"><div class="ttname"><a href="class_b_n_o08x.html#a6c004a16b146527aa9eeeb6ff37db281">BNO08x::queue_feature_command</a></div><div class="ttdeci">void queue_feature_command(uint8_t report_ID, uint16_t time_between_reports)</div><div class="ttdoc">Queues a packet containing a command with a request for sensor reports, reported periodically....</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:2404</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a6dbd6b8c9d1450c97db1e46861c55132"><div class="ttname"><a href="class_b_n_o08x.html#a6dbd6b8c9d1450c97db1e46861c55132">BNO08x::FRS_RECORDID_GYROSCOPE_CALIBRATED</a></div><div class="ttdeci">static const constexpr uint16_t FRS_RECORDID_GYROSCOPE_CALIBRATED</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:251</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a6f3bf6774ceb583c5c56f2ad80573834"><div class="ttname"><a href="class_b_n_o08x.html#a6f3bf6774ceb583c5c56f2ad80573834">BNO08x::SENSOR_REPORTID_MAGNETIC_FIELD</a></div><div class="ttdeci">static const constexpr uint8_t SENSOR_REPORTID_MAGNETIC_FIELD</div><div class="ttdoc">See SH2 Ref. Manual 6.5.16.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:385</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a6fbc6d086654b022a3ea53dfacd4fdf5"><div class="ttname"><a href="class_b_n_o08x.html#a6fbc6d086654b022a3ea53dfacd4fdf5">BNO08x::packet_length_tx</a></div><div class="ttdeci">uint16_t packet_length_tx</div><div class="ttdoc">Packet length to be sent with send_packet()</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:301</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a7077b9a130f1dcf0192454e387968dd6"><div class="ttname"><a href="class_b_n_o08x.html#a7077b9a130f1dcf0192454e387968dd6">BNO08x::get_roll_deg</a></div><div class="ttdeci">float get_roll_deg()</div><div class="ttdoc">Get the reported rotation about x axis.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1505</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a718cdd910e5e7e03fd0a1ad04ee6f0ce"><div class="ttname"><a href="class_b_n_o08x.html#a718cdd910e5e7e03fd0a1ad04ee6f0ce">BNO08x::get_raw_accel_Z</a></div><div class="ttdeci">int16_t get_raw_accel_Z()</div><div class="ttdoc">Get raw accelerometer z axis reading from physical accelerometer MEMs sensor (See Ref....</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1758</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a71ca35f78b98d93d31eb0c187dc8543b"><div class="ttname"><a href="class_b_n_o08x.html#a71ca35f78b98d93d31eb0c187dc8543b">BNO08x::calibration_complete</a></div><div class="ttdeci">bool calibration_complete()</div><div class="ttdoc">Returns true if calibration has completed.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:587</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a72d8919cb432a53f57ff63aa29d5f984"><div class="ttname"><a href="class_b_n_o08x.html#a72d8919cb432a53f57ff63aa29d5f984">BNO08x::FRS_RECORDID_ACCELEROMETER</a></div><div class="ttdeci">static const constexpr uint16_t FRS_RECORDID_ACCELEROMETER</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:250</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a74725517129dd548c7a3de705d5861bd"><div class="ttname"><a href="class_b_n_o08x.html#a74725517129dd548c7a3de705d5861bd">BNO08x::get_uncalibrated_gyro_bias_Y</a></div><div class="ttdeci">float get_uncalibrated_gyro_bias_Y()</div><div class="ttdoc">Get uncalibrated gyro Y axis drift estimate.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1951</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a74af7eacc35cc825940b647c2de0d368"><div class="ttname"><a href="class_b_n_o08x.html#a74af7eacc35cc825940b647c2de0d368">BNO08x::SHTP_REPORT_FRS_READ_REQUEST</a></div><div class="ttdeci">static const constexpr uint8_t SHTP_REPORT_FRS_READ_REQUEST</div><div class="ttdoc">See SH2 Ref. Manual 6.3.6.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:376</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a74d936708ba924b6ba21004ff9a0b30b"><div class="ttname"><a href="class_b_n_o08x.html#a74d936708ba924b6ba21004ff9a0b30b">BNO08x::tx_buffer</a></div><div class="ttdeci">uint8_t tx_buffer[50]</div><div class="ttdoc">buffer used for sending packet with send_packet()</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:295</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a75cea49c1c08ca28d9fa7e5ed61c6e7b"><div class="ttname"><a href="class_b_n_o08x.html#a75cea49c1c08ca28d9fa7e5ed61c6e7b">BNO08x::activity_classifier</a></div><div class="ttdeci">uint8_t activity_classifier</div><div class="ttdoc">Activity status reading (See SH-2 Ref. Manual 6.5.36)</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:330</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a75fb2f06c5bbe26e3f3c794934ef954c"><div class="ttname"><a href="class_b_n_o08x.html#a75fb2f06c5bbe26e3f3c794934ef954c">BNO08x::raw_accel_X</a></div><div class="ttdeci">uint16_t raw_accel_X</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:312</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a7619b598cc8e768c4df4805b2958a2c8"><div class="ttname"><a href="class_b_n_o08x.html#a7619b598cc8e768c4df4805b2958a2c8">BNO08x::enable_gyro</a></div><div class="ttdeci">void enable_gyro(uint16_t time_between_reports)</div><div class="ttdoc">Sends command to enable gyro reports (See Ref. Manual 6.5.13)</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1106</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a763c3a9699a1081d430fd9b9b7bc49a3"><div class="ttname"><a href="class_b_n_o08x.html#a763c3a9699a1081d430fd9b9b7bc49a3">BNO08x::get_linear_accel_X</a></div><div class="ttdeci">float get_linear_accel_X()</div><div class="ttdoc">Get x axis linear acceleration (acceleration of device minus gravity, units in m/s^2)</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1698</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a7720c44ed1c0f1a0663d2adc5e1a1ea1"><div class="ttname"><a href="class_b_n_o08x.html#a7720c44ed1c0f1a0663d2adc5e1a1ea1">BNO08x::raw_quat_K</a></div><div class="ttdeci">uint16_t raw_quat_K</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:317</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a7a246989c94cd87f68166b20b7ad4c8b"><div class="ttname"><a href="class_b_n_o08x.html#a7a246989c94cd87f68166b20b7ad4c8b">BNO08x::COMMAND_DCD_PERIOD_SAVE</a></div><div class="ttdeci">static const constexpr uint8_t COMMAND_DCD_PERIOD_SAVE</div><div class="ttdoc">Configure DCD periodic saving (See SH2 Ref. Manual 6.4)</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:368</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a7a85ccea09eadf865e8bbbf00d800e64"><div class="ttname"><a href="class_b_n_o08x.html#a7a85ccea09eadf865e8bbbf00d800e64">BNO08x::rx_buffer</a></div><div class="ttdeci">uint8_t rx_buffer[300]</div><div class="ttdoc">buffer used to receive packet with receive_packet()</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:294</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a7ba1d779ed68edf30090dd0f938a5709"><div class="ttname"><a href="class_b_n_o08x.html#a7ba1d779ed68edf30090dd0f938a5709">BNO08x::parse_input_report</a></div><div class="ttdeci">uint16_t parse_input_report()</div><div class="ttdoc">Parses received input report sent by BNO08x.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:791</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a7bd032712a975e73e66bd72a3502baba"><div class="ttname"><a href="class_b_n_o08x.html#a7bd032712a975e73e66bd72a3502baba">BNO08x::meta_data</a></div><div class="ttdeci">uint32_t meta_data[9]</div><div class="ttdoc">First 9 bytes of meta data returned from FRS read operation (we don't really need the rest) (See Ref....</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:299</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a804b95c58c30d36933fd251626b85bf7"><div class="ttname"><a href="class_b_n_o08x.html#a804b95c58c30d36933fd251626b85bf7">BNO08x::hint_handler</a></div><div class="ttdeci">static void IRAM_ATTR hint_handler(void *arg)</div><div class="ttdoc">HINT interrupt service routine, handles falling edge of BNO08x HINT pin.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:2451</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a811999653110858311c97a779c388e5d"><div class="ttname"><a href="class_b_n_o08x.html#a811999653110858311c97a779c388e5d">BNO08x::get_gyro_accuracy</a></div><div class="ttdeci">uint8_t get_gyro_accuracy()</div><div class="ttdoc">Get calibrated gyro accuracy.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1876</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a82ed8d7b9a5c25374839df75a3d220ea"><div class="ttname"><a href="class_b_n_o08x.html#a82ed8d7b9a5c25374839df75a3d220ea">BNO08x::get_magf_Y</a></div><div class="ttdeci">float get_magf_Y()</div><div class="ttdoc">Get Y component of magnetic field vector.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1332</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a8381dfe403ddff522f172cb16780731a"><div class="ttname"><a href="class_b_n_o08x.html#a8381dfe403ddff522f172cb16780731a">BNO08x::COMMAND_ME_CALIBRATE</a></div><div class="ttdeci">static const constexpr uint8_t COMMAND_ME_CALIBRATE</div><div class="ttdoc">Command and response to configure ME calibration (See SH2 Ref. Manual 6.4.7)</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:367</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a867354267253ae828be4fae15c062db3"><div class="ttname"><a href="class_b_n_o08x.html#a867354267253ae828be4fae15c062db3">BNO08x::raw_quat_real</a></div><div class="ttdeci">uint16_t raw_quat_real</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:317</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a88679bccd9339b87ec35fc4fc4e745ae"><div class="ttname"><a href="class_b_n_o08x.html#a88679bccd9339b87ec35fc4fc4e745ae">BNO08x::get_gravity_X</a></div><div class="ttdeci">float get_gravity_X()</div><div class="ttdoc">Get the reported x axis gravity.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1382</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a89618eba08186ee8e679e7313907ddef"><div class="ttname"><a href="class_b_n_o08x.html#a89618eba08186ee8e679e7313907ddef">BNO08x::get_roll</a></div><div class="ttdeci">float get_roll()</div><div class="ttdoc">Get the reported rotation about x axis.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1422</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a8a2667f668317cee0a9fc4ef0accc3f5"><div class="ttname"><a href="class_b_n_o08x.html#a8a2667f668317cee0a9fc4ef0accc3f5">BNO08x::raw_bias_X</a></div><div class="ttdeci">uint16_t raw_bias_X</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:323</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a8a36db7f1c932f33e05e494632059801"><div class="ttname"><a href="class_b_n_o08x.html#a8a36db7f1c932f33e05e494632059801">BNO08x::get_gravity_Y</a></div><div class="ttdeci">float get_gravity_Y()</div><div class="ttdoc">Get the reported y axis gravity.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1392</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a8b55a8131c251bb234d5391b0cd6aa48"><div class="ttname"><a href="class_b_n_o08x.html#a8b55a8131c251bb234d5391b0cd6aa48">BNO08x::SENSOR_REPORTID_GYRO_INTEGRATED_ROTATION_VECTOR</a></div><div class="ttdeci">static const constexpr uint8_t SENSOR_REPORTID_GYRO_INTEGRATED_ROTATION_VECTOR</div><div class="ttdoc">See SH2 Ref. Manual 6.5.44.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:392</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a8e2cfc25d0e34ae53a762b88cc3ac3c8"><div class="ttname"><a href="class_b_n_o08x.html#a8e2cfc25d0e34ae53a762b88cc3ac3c8">BNO08x::TARE_ROTATION_VECTOR</a></div><div class="ttdeci">static const constexpr uint8_t TARE_ROTATION_VECTOR</div><div class="ttdoc">Tare rotation vector.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:259</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a908264b797fff9dc6679abde5e7584a5"><div class="ttname"><a href="class_b_n_o08x.html#a908264b797fff9dc6679abde5e7584a5">BNO08x::packet_header_rx</a></div><div class="ttdeci">uint8_t packet_header_rx[4]</div><div class="ttdoc">SHTP header received with receive_packet()</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:296</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a90f0cdf11decc276006f76a494d42ce3"><div class="ttname"><a href="class_b_n_o08x.html#a90f0cdf11decc276006f76a494d42ce3">BNO08x::mems_raw_magf_Z</a></div><div class="ttdeci">uint16_t mems_raw_magf_Z</div><div class="ttdoc">Raw magnetometer (compass) readings from MEMS sensor (See SH-2 Ref. Manual 6.5.15)</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:338</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a919c7d94226f4c6adbb8edf6fd1613a9"><div class="ttname"><a href="class_b_n_o08x.html#a919c7d94226f4c6adbb8edf6fd1613a9">BNO08x::enable_tap_detector</a></div><div class="ttdeci">void enable_tap_detector(uint16_t time_between_reports)</div><div class="ttdoc">Sends command to enable tap detector reports (See Ref. Manual 6.5.27)</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1145</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a923d65d8568cc31873ad56a3908e1939"><div class="ttname"><a href="class_b_n_o08x.html#a923d65d8568cc31873ad56a3908e1939">BNO08x::ROTATION_VECTOR_ACCURACY_Q1</a></div><div class="ttdeci">static const constexpr int16_t ROTATION_VECTOR_ACCURACY_Q1</div><div class="ttdoc">Rotation vector accuracy estimate Q point (See SH-2 Ref. Manual 6.5.18)</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:267</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a9329c6669282071622c3b3741b1b8142"><div class="ttname"><a href="class_b_n_o08x.html#a9329c6669282071622c3b3741b1b8142">BNO08x::get_accel</a></div><div class="ttdeci">void get_accel(float &x, float &y, float &z, uint8_t &accuracy)</div><div class="ttdoc">Get full acceleration (total acceleration of device, units in m/s^2).</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1627</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a937cbdc4edaac72c8cad041d79de5701"><div class="ttname"><a href="class_b_n_o08x.html#a937cbdc4edaac72c8cad041d79de5701">BNO08x::mems_raw_accel_X</a></div><div class="ttdeci">uint16_t mems_raw_accel_X</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:333</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a93dd073c0cc1f3ccfde552649f6ebccc"><div class="ttname"><a href="class_b_n_o08x.html#a93dd073c0cc1f3ccfde552649f6ebccc">BNO08x::COMMAND_COUNTER</a></div><div class="ttdeci">static const constexpr uint8_t COMMAND_COUNTER</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:363</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a954dccdcbe8a8c4f1787f13ebb8d932b"><div class="ttname"><a href="class_b_n_o08x.html#a954dccdcbe8a8c4f1787f13ebb8d932b">BNO08x::get_Q2</a></div><div class="ttdeci">int16_t get_Q2(uint16_t record_ID)</div><div class="ttdoc">Gets Q2 point from BNO08x FRS (flash record system).</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:2165</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a955dcb60da150490e17367a871b3a3d2"><div class="ttname"><a href="class_b_n_o08x.html#a955dcb60da150490e17367a871b3a3d2">BNO08x::CALIBRATE_PLANAR_ACCEL</a></div><div class="ttdeci">static const constexpr uint8_t CALIBRATE_PLANAR_ACCEL</div><div class="ttdoc">Calibrate planar acceleration command used by queue_calibrate_command.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:356</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a96563de0eb597a52d595d19da827b1ac"><div class="ttname"><a href="class_b_n_o08x.html#a96563de0eb597a52d595d19da827b1ac">BNO08x::get_raw_accel_Y</a></div><div class="ttdeci">int16_t get_raw_accel_Y()</div><div class="ttdoc">Get raw accelerometer y axis reading from physical accelerometer MEMs sensor (See Ref....</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1748</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a973a1b1785f3302ee1b2702c6a27646e"><div class="ttname"><a href="class_b_n_o08x.html#a973a1b1785f3302ee1b2702c6a27646e">BNO08x::soft_reset</a></div><div class="ttdeci">bool soft_reset()</div><div class="ttdoc">Soft resets BNO08x sensor using executable channel.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:241</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a982f065df42f00e53fd87c840efdb0f1"><div class="ttname"><a href="class_b_n_o08x.html#a982f065df42f00e53fd87c840efdb0f1">BNO08x::bus_config</a></div><div class="ttdeci">spi_bus_config_t bus_config</div><div class="ttdoc">SPI bus GPIO configuration settings.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:305</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a988c45b4afa4dcd6a24610ff308c1faa"><div class="ttname"><a href="class_b_n_o08x.html#a988c45b4afa4dcd6a24610ff308c1faa">BNO08x::wait_for_device_int</a></div><div class="ttdeci">bool wait_for_device_int()</div><div class="ttdoc">Re-enables interrupts and waits for BNO08x to assert HINT pin.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:192</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a98ea35dd0fbd0c409d25fd8a6ed9f277"><div class="ttname"><a href="class_b_n_o08x.html#a98ea35dd0fbd0c409d25fd8a6ed9f277">BNO08x::gyro_accuracy</a></div><div class="ttdeci">uint16_t gyro_accuracy</div><div class="ttdoc">Raw gyro reading (See SH-2 Ref. Manual 6.5.13)</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:316</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a99c1bcc2ec3ca3d8feafd6dd61f9d269"><div class="ttname"><a href="class_b_n_o08x.html#a99c1bcc2ec3ca3d8feafd6dd61f9d269">BNO08x::get_raw_magf_Z</a></div><div class="ttdeci">int16_t get_raw_magf_Z()</div><div class="ttdoc">Get raw magnetometer z axis reading from physical magnetometer sensor (See Ref. Manual 6....</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1818</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a9ada90f8ab6dd33fa2d7c168d9234af1"><div class="ttname"><a href="class_b_n_o08x.html#a9ada90f8ab6dd33fa2d7c168d9234af1">BNO08x::calibrate_gyro</a></div><div class="ttdeci">void calibrate_gyro()</div><div class="ttdoc">Sends command to calibrate gyro.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:486</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a9cc47f0e5b7d679c80992c993a910ccf"><div class="ttname"><a href="class_b_n_o08x.html#a9cc47f0e5b7d679c80992c993a910ccf">BNO08x::get_readings</a></div><div class="ttdeci">uint16_t get_readings()</div><div class="ttdoc">Waits for BNO08x HINT pin to assert, and parses the received data.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:735</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a9ec354d75249f06f13599abf7bedfde0"><div class="ttname"><a href="class_b_n_o08x.html#a9ec354d75249f06f13599abf7bedfde0">BNO08x::TARE_GYRO_INTEGRATED_ROTATION_VECTOR</a></div><div class="ttdeci">static const constexpr uint8_t TARE_GYRO_INTEGRATED_ROTATION_VECTOR</div><div class="ttdoc">Tare gyro integrated rotation vector.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:262</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a9f42c70c2337a0d831064a40ecfe2dd8"><div class="ttname"><a href="class_b_n_o08x.html#a9f42c70c2337a0d831064a40ecfe2dd8">BNO08x::get_quat_K</a></div><div class="ttdeci">float get_quat_K()</div><div class="ttdoc">Get K component of reported quaternion.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1579</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a9f6bb642fa0297a7b9bcc94dd7374015"><div class="ttname"><a href="class_b_n_o08x.html#a9f6bb642fa0297a7b9bcc94dd7374015">BNO08x::get_quat_J</a></div><div class="ttdeci">float get_quat_J()</div><div class="ttdoc">Get J component of reported quaternion.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1568</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a9fac9b811b7c2117675a784cb4df204c"><div class="ttname"><a href="class_b_n_o08x.html#a9fac9b811b7c2117675a784cb4df204c">BNO08x::MAGNETOMETER_Q1</a></div><div class="ttdeci">static const constexpr int16_t MAGNETOMETER_Q1</div><div class="ttdoc">Magnetometer Q point (See SH-2 Ref. Manual 6.5.16)</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:271</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_aa16609de88bfb7b389348859aa0cee54"><div class="ttname"><a href="class_b_n_o08x.html#aa16609de88bfb7b389348859aa0cee54">BNO08x::save_calibration</a></div><div class="ttdeci">void save_calibration()</div><div class="ttdoc">Sends command to save internal calibration data (See Ref. Manual 6.4.7).</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:612</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_aa3bec8effefa61cec6fa170e9d02c4dd"><div class="ttname"><a href="class_b_n_o08x.html#aa3bec8effefa61cec6fa170e9d02c4dd">BNO08x::GYRO_Q1</a></div><div class="ttdeci">static const constexpr int16_t GYRO_Q1</div><div class="ttdoc">Gyro Q point (See SH-2 Ref. Manual 6.5.13)</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:270</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_aa5bb03dbeabed729c012ec7164a3354f"><div class="ttname"><a href="class_b_n_o08x.html#aa5bb03dbeabed729c012ec7164a3354f">BNO08x::raw_velocity_gyro_X</a></div><div class="ttdeci">uint16_t raw_velocity_gyro_X</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:319</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_aa5bdf740161b7c37adcac0154a410118"><div class="ttname"><a href="class_b_n_o08x.html#aa5bdf740161b7c37adcac0154a410118">BNO08x::raw_magf_X</a></div><div class="ttdeci">uint16_t raw_magf_X</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:325</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_aa722dbc6f6f07c63e9ea2a9271614af3"><div class="ttname"><a href="class_b_n_o08x.html#aa722dbc6f6f07c63e9ea2a9271614af3">BNO08x::sequence_number</a></div><div class="ttdeci">uint8_t sequence_number[6]</div><div class="ttdoc">Sequence num of each com channel, 6 in total.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:298</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_aa8d2d5c66b72af3966dca751e7343a97"><div class="ttname"><a href="class_b_n_o08x.html#aa8d2d5c66b72af3966dca751e7343a97">BNO08x::SENSOR_REPORTID_RAW_ACCELEROMETER</a></div><div class="ttdeci">static const constexpr uint8_t SENSOR_REPORTID_RAW_ACCELEROMETER</div><div class="ttdoc">See SH2 Ref. Manual 6.5.8.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:396</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_aad926054c81818fff611e10ed913706a"><div class="ttname"><a href="class_b_n_o08x.html#aad926054c81818fff611e10ed913706a">BNO08x::mems_raw_magf_Y</a></div><div class="ttdeci">uint16_t mems_raw_magf_Y</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:337</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_aaed7faffc8f2bba8a2ae56933236f9f7"><div class="ttname"><a href="class_b_n_o08x.html#aaed7faffc8f2bba8a2ae56933236f9f7">BNO08x::SENSOR_REPORTID_RAW_GYROSCOPE</a></div><div class="ttdeci">static const constexpr uint8_t SENSOR_REPORTID_RAW_GYROSCOPE</div><div class="ttdoc">See SH2 Ref. Manual 6.5.12.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:397</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_aafe117561fe9138800073a04a778b4ce"><div class="ttname"><a href="class_b_n_o08x.html#aafe117561fe9138800073a04a778b4ce">BNO08x::ANGULAR_VELOCITY_Q1</a></div><div class="ttdeci">static const constexpr int16_t ANGULAR_VELOCITY_Q1</div><div class="ttdoc">Angular velocity Q point (See SH-2 Ref. Manual 6.5.44)</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:272</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_aaff9af63d5f35c05f0a1e485f3d97bc5"><div class="ttname"><a href="class_b_n_o08x.html#aaff9af63d5f35c05f0a1e485f3d97bc5">BNO08x::SENSOR_REPORTID_STEP_COUNTER</a></div><div class="ttdeci">static const constexpr uint8_t SENSOR_REPORTID_STEP_COUNTER</div><div class="ttdoc">See SH2 Ref. Manual 6.5.29.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:394</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_ab0279e8622ed188ee48411e074fb7e9d"><div class="ttname"><a href="class_b_n_o08x.html#ab0279e8622ed188ee48411e074fb7e9d">BNO08x::SENSOR_REPORTID_ROTATION_VECTOR</a></div><div class="ttdeci">static const constexpr uint8_t SENSOR_REPORTID_ROTATION_VECTOR</div><div class="ttdoc">See SH2 Ref. Manual 6.5.18.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:387</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_ab04695dd189412092254e52bd6e5a75a"><div class="ttname"><a href="class_b_n_o08x.html#ab04695dd189412092254e52bd6e5a75a">BNO08x::SHTP_REPORT_COMMAND_REQUEST</a></div><div class="ttdeci">static const constexpr uint8_t SHTP_REPORT_COMMAND_REQUEST</div><div class="ttdoc">See SH2 Ref. Manual 6.3.8.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:374</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_ab3dc8b362050d438d8a05b26e86af638"><div class="ttname"><a href="class_b_n_o08x.html#ab3dc8b362050d438d8a05b26e86af638">BNO08x::SENSOR_REPORTID_GAME_ROTATION_VECTOR</a></div><div class="ttdeci">static const constexpr uint8_t SENSOR_REPORTID_GAME_ROTATION_VECTOR</div><div class="ttdoc">See SH2 Ref. Manual 6.5.19.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:390</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_ab4862de31d0874b44b6745678e1c905e"><div class="ttname"><a href="class_b_n_o08x.html#ab4862de31d0874b44b6745678e1c905e">BNO08x::raw_magf_Z</a></div><div class="ttdeci">uint16_t raw_magf_Z</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:325</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_ab49f9a6586d709bbd26280ef44a4bbf7"><div class="ttname"><a href="class_b_n_o08x.html#ab49f9a6586d709bbd26280ef44a4bbf7">BNO08x::raw_velocity_gyro_Z</a></div><div class="ttdeci">uint16_t raw_velocity_gyro_Z</div><div class="ttdoc">Raw gyro angular velocity reading (See SH-2 Ref. Manual 6.5.44)</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:320</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_ab4c48a91d2f8b29430abc17b7f015282"><div class="ttname"><a href="class_b_n_o08x.html#ab4c48a91d2f8b29430abc17b7f015282">BNO08x::get_magf_Z</a></div><div class="ttdeci">float get_magf_Z()</div><div class="ttdoc">Get Z component of magnetic field vector.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1343</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_ab56e2ba505fa293d03e955137625c562"><div class="ttname"><a href="class_b_n_o08x.html#ab56e2ba505fa293d03e955137625c562">BNO08x::raw_accel_Y</a></div><div class="ttdeci">uint16_t raw_accel_Y</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:312</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_ab587cdf991342b69b7fff3b33f537eb5"><div class="ttname"><a href="class_b_n_o08x.html#ab587cdf991342b69b7fff3b33f537eb5">BNO08x::mems_raw_magf_X</a></div><div class="ttdeci">uint16_t mems_raw_magf_X</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:337</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_ab5f200069a2f8cb74cb79c6f162da5a1"><div class="ttname"><a href="class_b_n_o08x.html#ab5f200069a2f8cb74cb79c6f162da5a1">BNO08x::queue_request_product_id_command</a></div><div class="ttdeci">void queue_request_product_id_command()</div><div class="ttdoc">Queues a packet containing the request product ID command.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:450</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_ab6b142416912a096886dd63ad0beb865"><div class="ttname"><a href="class_b_n_o08x.html#ab6b142416912a096886dd63ad0beb865">BNO08x::mems_raw_gyro_Y</a></div><div class="ttdeci">uint16_t mems_raw_gyro_Y</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:335</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_ab7977391191067282e7f734b9ee45059"><div class="ttname"><a href="class_b_n_o08x.html#ab7977391191067282e7f734b9ee45059">BNO08x::get_gyro_calibrated_velocity_X</a></div><div class="ttdeci">float get_gyro_calibrated_velocity_X()</div><div class="ttdoc">Get calibrated gyro x axis angular velocity measurement.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1846</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_ab94bfdbbffc0a7a255e752244b22322a"><div class="ttname"><a href="class_b_n_o08x.html#ab94bfdbbffc0a7a255e752244b22322a">BNO08x::SENSOR_REPORTID_UNCALIBRATED_GYRO</a></div><div class="ttdeci">static const constexpr uint8_t SENSOR_REPORTID_UNCALIBRATED_GYRO</div><div class="ttdoc">See SH2 Ref. Manual 6.5.14.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:389</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_ab9519ab682fedb7224e4c0489c7d5619"><div class="ttname"><a href="class_b_n_o08x.html#ab9519ab682fedb7224e4c0489c7d5619">BNO08x::FRS_RECORDID_MAGNETIC_FIELD_CALIBRATED</a></div><div class="ttdeci">static const constexpr uint16_t FRS_RECORDID_MAGNETIC_FIELD_CALIBRATED</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:252</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_abaf1ec8bb197db1998a9ed3cec6180d5"><div class="ttname"><a href="class_b_n_o08x.html#abaf1ec8bb197db1998a9ed3cec6180d5">BNO08x::TARE_GAME_ROTATION_VECTOR</a></div><div class="ttdeci">static const constexpr uint8_t TARE_GAME_ROTATION_VECTOR</div><div class="ttdoc">Tare game rotation vector.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:260</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_abc8add47f1babc66c812a015614143d3"><div class="ttname"><a href="class_b_n_o08x.html#abc8add47f1babc66c812a015614143d3">BNO08x::raw_lin_accel_Z</a></div><div class="ttdeci">uint16_t raw_lin_accel_Z</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:314</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_abc972db20affbd0040b4e6c4892dd57b"><div class="ttname"><a href="class_b_n_o08x.html#abc972db20affbd0040b4e6c4892dd57b">BNO08x::time_stamp</a></div><div class="ttdeci">uint32_t time_stamp</div><div class="ttdoc">Report timestamp (see datasheet 1.3.5.3)</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:311</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_abce574112a9079d2cbc58cfc352b8a69"><div class="ttname"><a href="class_b_n_o08x.html#abce574112a9079d2cbc58cfc352b8a69">BNO08x::get_accel_X</a></div><div class="ttdeci">float get_accel_X()</div><div class="ttdoc">Get x axis acceleration (total acceleration of device, units in m/s^2).</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1640</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_abe9acd2eb1ce2f2e72b7a48c8d025cc4"><div class="ttname"><a href="class_b_n_o08x.html#abe9acd2eb1ce2f2e72b7a48c8d025cc4">BNO08x::enable_rotation_vector</a></div><div class="ttdeci">void enable_rotation_vector(uint16_t time_between_reports)</div><div class="ttdoc">Sends command to enable rotation vector reports (See Ref. Manual 6.5.18)</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1015</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_ac00e8b59ae8d710cf79956eaafa97ddb"><div class="ttname"><a href="class_b_n_o08x.html#ac00e8b59ae8d710cf79956eaafa97ddb">BNO08x::CALIBRATE_MAG</a></div><div class="ttdeci">static const constexpr uint8_t CALIBRATE_MAG</div><div class="ttdoc">Calibrate magnetometer command used by queue_calibrate_command.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:355</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_ac16adc5f00b0039c98a4921f13895026"><div class="ttname"><a href="class_b_n_o08x.html#ac16adc5f00b0039c98a4921f13895026">BNO08x::spi_transaction</a></div><div class="ttdeci">spi_transaction_t spi_transaction</div><div class="ttdoc">SPI transaction handle.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:308</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_ac1b3de9b552c611ee9c455d7f19be698"><div class="ttname"><a href="class_b_n_o08x.html#ac1b3de9b552c611ee9c455d7f19be698">BNO08x::mode_on</a></div><div class="ttdeci">bool mode_on()</div><div class="ttdoc">Turns on/ brings BNO08x sensor out of sleep mode using executable channel.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:288</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_ac1daa730e75d17e6afd1edaa288260ae"><div class="ttname"><a href="class_b_n_o08x.html#ac1daa730e75d17e6afd1edaa288260ae">BNO08x::command_sequence_number</a></div><div class="ttdeci">uint8_t command_sequence_number</div><div class="ttdoc">Sequence num of command, sent within command packet.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:300</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_ac26350b55095a346d72598ab8aa74b4a"><div class="ttname"><a href="class_b_n_o08x.html#ac26350b55095a346d72598ab8aa74b4a">BNO08x::calibrate_magnetometer</a></div><div class="ttdeci">void calibrate_magnetometer()</div><div class="ttdoc">Sends command to calibrate magnetometer.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:498</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_ac35d5b12721ab876eaeb1f714a9b3b1d"><div class="ttname"><a href="class_b_n_o08x.html#ac35d5b12721ab876eaeb1f714a9b3b1d">BNO08x::mems_raw_gyro_Z</a></div><div class="ttdeci">uint16_t mems_raw_gyro_Z</div><div class="ttdoc">Raw gyro readings from MEMS sensor (See SH-2 Ref. Manual 6.5.12)</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:336</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_ac38ff5eb93d3c3db0af2504ba02fd93c"><div class="ttname"><a href="class_b_n_o08x.html#ac38ff5eb93d3c3db0af2504ba02fd93c">BNO08x::raw_bias_Y</a></div><div class="ttdeci">uint16_t raw_bias_Y</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:323</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_ac5d4e151690774687efa951ca41c16ae"><div class="ttname"><a href="class_b_n_o08x.html#ac5d4e151690774687efa951ca41c16ae">BNO08x::magf_accuracy</a></div><div class="ttdeci">uint16_t magf_accuracy</div><div class="ttdoc">Calibrated magnetic field reading in uTesla (See SH-2 Ref. Manual 6.5.16)</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:326</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_ac719a06278c239cc36f666b99a41b1c0"><div class="ttname"><a href="class_b_n_o08x.html#ac719a06278c239cc36f666b99a41b1c0">BNO08x::SENSOR_REPORTID_RAW_MAGNETOMETER</a></div><div class="ttdeci">static const constexpr uint8_t SENSOR_REPORTID_RAW_MAGNETOMETER</div><div class="ttdoc">See SH2 Ref. Manual 6.5.15.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:398</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_ac7b5815c5ad8b83a34ad0855423601e8"><div class="ttname"><a href="class_b_n_o08x.html#ac7b5815c5ad8b83a34ad0855423601e8">BNO08x::enable_uncalibrated_gyro</a></div><div class="ttdeci">void enable_uncalibrated_gyro(uint16_t time_between_reports)</div><div class="ttdoc">Sends command to enable uncalibrated gyro reports (See Ref. Manual 6.5.14)</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1119</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_ac9d9b6636745e8180807284da67c92a2"><div class="ttname"><a href="class_b_n_o08x.html#ac9d9b6636745e8180807284da67c92a2">BNO08x::end_calibration</a></div><div class="ttdeci">void end_calibration()</div><div class="ttdoc">Sends command to end calibration procedure.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:600</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_acbca88b37c8c5a590ca971b241dac64f"><div class="ttname"><a href="class_b_n_o08x.html#acbca88b37c8c5a590ca971b241dac64f">BNO08x::commands</a></div><div class="ttdeci">uint8_t commands[20]</div><div class="ttdoc">Command to be sent with send_packet()</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:297</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_acc0ea091465fc9a5736f5e0c6a0ce8ef"><div class="ttname"><a href="class_b_n_o08x.html#acc0ea091465fc9a5736f5e0c6a0ce8ef">BNO08x::spi_hdl</a></div><div class="ttdeci">spi_device_handle_t spi_hdl</div><div class="ttdoc">SPI device handle.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:307</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_acc2c66e2985975266a286385ea855117"><div class="ttname"><a href="class_b_n_o08x.html#acc2c66e2985975266a286385ea855117">BNO08x::raw_uncalib_gyro_Y</a></div><div class="ttdeci">uint16_t raw_uncalib_gyro_Y</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:323</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_accd39f48e9f8ab8267df7184b5b7cd76"><div class="ttname"><a href="class_b_n_o08x.html#accd39f48e9f8ab8267df7184b5b7cd76">BNO08x::get_gravity_accuracy</a></div><div class="ttdeci">uint8_t get_gravity_accuracy()</div><div class="ttdoc">Get the reported gravity accuracy.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1412</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_acd1819a81818f90dc105950b4a7d0b04"><div class="ttname"><a href="class_b_n_o08x.html#acd1819a81818f90dc105950b4a7d0b04">BNO08x::get_gyro_velocity_Y</a></div><div class="ttdeci">float get_gyro_velocity_Y()</div><div class="ttdoc">Get y axis angular velocity from gyro-integrated rotation vector. (See Ref. Manual 6....</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:2007</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_acd365418f24a6da61122c66d82086639"><div class="ttname"><a href="class_b_n_o08x.html#acd365418f24a6da61122c66d82086639">BNO08x::raw_magf_Y</a></div><div class="ttdeci">uint16_t raw_magf_Y</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:325</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_acd376cd3e454a87198ec86accbf2ee00"><div class="ttname"><a href="class_b_n_o08x.html#acd376cd3e454a87198ec86accbf2ee00">BNO08x::get_gyro_velocity_X</a></div><div class="ttdeci">float get_gyro_velocity_X()</div><div class="ttdoc">Get x axis angular velocity from gyro-integrated rotation vector. (See Ref. Manual 6....</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1997</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_acd5b44d705af1f9aaa271a59a9d2d595"><div class="ttname"><a href="class_b_n_o08x.html#acd5b44d705af1f9aaa271a59a9d2d595">BNO08x::CALIBRATE_ACCEL</a></div><div class="ttdeci">static const constexpr uint8_t CALIBRATE_ACCEL</div><div class="ttdoc">Calibrate accelerometer command used by queue_calibrate_command.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:353</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_acf4a83a44a221f6495263f00f1b8d849"><div class="ttname"><a href="class_b_n_o08x.html#acf4a83a44a221f6495263f00f1b8d849">BNO08x::enable_magnetometer</a></div><div class="ttdeci">void enable_magnetometer(uint16_t time_between_reports)</div><div class="ttdoc">Sends command to enable magnetometer reports (See Ref. Manual 6.5.16)</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1132</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_ad097849616c5caab1fd3eb3632ee2b91"><div class="ttname"><a href="class_b_n_o08x.html#ad097849616c5caab1fd3eb3632ee2b91">BNO08x::queue_calibrate_command</a></div><div class="ttdeci">void queue_calibrate_command(uint8_t _to_calibrate)</div><div class="ttdoc">Queues a packet containing a command to calibrate the specified sensor.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:523</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_ad0d37fe07ced24f2c9afc21145a74e7b"><div class="ttname"><a href="class_b_n_o08x.html#ad0d37fe07ced24f2c9afc21145a74e7b">BNO08x::LINEAR_ACCELEROMETER_Q1</a></div><div class="ttdeci">static const constexpr int16_t LINEAR_ACCELEROMETER_Q1</div><div class="ttdoc">Linear acceleration Q point (See SH-2 Ref. Manual 6.5.10)</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:269</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_ad1ca07ee06ef98d4e11a74dde18e9623"><div class="ttname"><a href="class_b_n_o08x.html#ad1ca07ee06ef98d4e11a74dde18e9623">BNO08x::enable_raw_magnetometer</a></div><div class="ttdeci">void enable_raw_magnetometer(uint16_t time_between_reports)</div><div class="ttdoc">Sends command to enable raw magnetometer reports (See Ref. Manual 6.5.15)</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1226</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_ad212b5028a31e857e76d251ced2724e1"><div class="ttname"><a href="class_b_n_o08x.html#ad212b5028a31e857e76d251ced2724e1">BNO08x::calibration_status</a></div><div class="ttdeci">uint8_t calibration_status</div><div class="ttdoc">Calibration status of device (See SH-2 Ref. Manual 6.4.7.1 & 6.4.7.2)</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:332</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_ad228cdf352b7ea95e484da993045a47b"><div class="ttname"><a href="class_b_n_o08x.html#ad228cdf352b7ea95e484da993045a47b">BNO08x::get_uncalibrated_gyro_bias_X</a></div><div class="ttdeci">float get_uncalibrated_gyro_bias_X()</div><div class="ttdoc">Get uncalibrated gyro x axis drift estimate.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1941</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_ad3724e7e602feb2b695d2d88a61d5328"><div class="ttname"><a href="class_b_n_o08x.html#ad3724e7e602feb2b695d2d88a61d5328">BNO08x::enable_linear_accelerometer</a></div><div class="ttdeci">void enable_linear_accelerometer(uint16_t time_between_reports)</div><div class="ttdoc">Sends command to enable linear accelerometer reports (See Ref. Manual 6.5.10)</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1080</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_ad4fab6e636e239d4b9273f158983ed89"><div class="ttname"><a href="class_b_n_o08x.html#ad4fab6e636e239d4b9273f158983ed89">BNO08x::get_gyro_calibrated_velocity_Y</a></div><div class="ttdeci">float get_gyro_calibrated_velocity_Y()</div><div class="ttdoc">Get calibrated gyro y axis angular velocity measurement.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1856</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_ad550085fa1b51495ce3d8894538f33d5"><div class="ttname"><a href="class_b_n_o08x.html#ad550085fa1b51495ce3d8894538f33d5">BNO08x::enable_step_counter</a></div><div class="ttdeci">void enable_step_counter(uint16_t time_between_reports)</div><div class="ttdoc">Sends command to enable step counter reports (See Ref. Manual 6.5.29)</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1158</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_ad59b029d04341dbef72e059488951980"><div class="ttname"><a href="class_b_n_o08x.html#ad59b029d04341dbef72e059488951980">BNO08x::get_linear_accel</a></div><div class="ttdeci">void get_linear_accel(float &x, float &y, float &z, uint8_t &accuracy)</div><div class="ttdoc">Get full linear acceleration (acceleration of the device minus gravity, units in m/s^2).</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1685</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_ad6adf3b24a8a559d3bb57e6abcef4ce8"><div class="ttname"><a href="class_b_n_o08x.html#ad6adf3b24a8a559d3bb57e6abcef4ce8">BNO08x::enable_raw_accelerometer</a></div><div class="ttdeci">void enable_raw_accelerometer(uint16_t time_between_reports)</div><div class="ttdoc">Sends command to enable raw accelerometer reports (See Ref. Manual 6.5.8)</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1200</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_ad80a77973371b12d722ea39063c648be"><div class="ttname"><a href="class_b_n_o08x.html#ad80a77973371b12d722ea39063c648be">BNO08x::step_count</a></div><div class="ttdeci">uint16_t step_count</div><div class="ttdoc">Step counter reading (See SH-2 Ref. Manual 6.5.29)</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:328</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_ad83cecb8a5d2be01db6792755b6057e9"><div class="ttname"><a href="class_b_n_o08x.html#ad83cecb8a5d2be01db6792755b6057e9">BNO08x::mems_raw_accel_Y</a></div><div class="ttdeci">uint16_t mems_raw_accel_Y</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:333</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_ad9137777271421a58159f3fe5e05ed20"><div class="ttname"><a href="class_b_n_o08x.html#ad9137777271421a58159f3fe5e05ed20">BNO08x::get_time_stamp</a></div><div class="ttdeci">uint32_t get_time_stamp()</div><div class="ttdoc">Return timestamp of most recent report.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1293</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_ad9e26658c53c728d7d10381db680765e"><div class="ttname"><a href="class_b_n_o08x.html#ad9e26658c53c728d7d10381db680765e">BNO08x::enable_ARVR_stabilized_game_rotation_vector</a></div><div class="ttdeci">void enable_ARVR_stabilized_game_rotation_vector(uint16_t time_between_reports)</div><div class="ttdoc">Sends command to enable ARVR stabilized game rotation vector reports (See Ref. Manual 6....</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1041</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_adaff49f3d80fdd19fd4210f0c56d41ef"><div class="ttname"><a href="class_b_n_o08x.html#adaff49f3d80fdd19fd4210f0c56d41ef">BNO08x::get_step_count</a></div><div class="ttdeci">uint16_t get_step_count()</div><div class="ttdoc">Get the counted amount of steps.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:2039</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_adf12600b39de41d258439a343fcc1ad8"><div class="ttname"><a href="class_b_n_o08x.html#adf12600b39de41d258439a343fcc1ad8">BNO08x::get_raw_magf_X</a></div><div class="ttdeci">int16_t get_raw_magf_X()</div><div class="ttdoc">Get raw magnetometer x axis reading from physical magnetometer sensor (See Ref. Manual 6....</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1798</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_adf789e709ac1667656db757c8d559af9"><div class="ttname"><a href="class_b_n_o08x.html#adf789e709ac1667656db757c8d559af9">BNO08x::FRS_read_request</a></div><div class="ttdeci">bool FRS_read_request(uint16_t record_ID, uint16_t read_offset, uint16_t block_size)</div><div class="ttdoc">Requests meta data from BNO08x FRS (flash record system) given the record ID. Contains Q points and o...</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:2251</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_ae01698d287ea999179a11e2244902022"><div class="ttname"><a href="class_b_n_o08x.html#ae01698d287ea999179a11e2244902022">BNO08x::gravity_accuracy</a></div><div class="ttdeci">uint16_t gravity_accuracy</div><div class="ttdoc">Gravity reading in m/s^2 (See SH-2 Ref. Manual 6.5.11)</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:322</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_ae10722334dfce9635e76519598e165a2"><div class="ttname"><a href="class_b_n_o08x.html#ae10722334dfce9635e76519598e165a2">BNO08x::GRAVITY_Q1</a></div><div class="ttdeci">static const constexpr int16_t GRAVITY_Q1</div><div class="ttdoc">Gravity Q point (See SH-2 Ref. Manual 6.5.11)</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:273</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_ae1f71a432cb15e75f522fa18f29f4d50"><div class="ttname"><a href="class_b_n_o08x.html#ae1f71a432cb15e75f522fa18f29f4d50">BNO08x::raw_lin_accel_X</a></div><div class="ttdeci">uint16_t raw_lin_accel_X</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:314</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_ae2add976af256ec981248371a2f58207"><div class="ttname"><a href="class_b_n_o08x.html#ae2add976af256ec981248371a2f58207">BNO08x::get_gyro_velocity_Z</a></div><div class="ttdeci">float get_gyro_velocity_Z()</div><div class="ttdoc">Get z axis angular velocity from gyro-integrated rotation vector. (See Ref. Manual 6....</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:2017</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_ae37d6f8431c8c465bfb0c662772b5cb9"><div class="ttname"><a href="class_b_n_o08x.html#ae37d6f8431c8c465bfb0c662772b5cb9">BNO08x::SHTP_REPORT_BASE_TIMESTAMP</a></div><div class="ttdeci">static const constexpr uint8_t SHTP_REPORT_BASE_TIMESTAMP</div><div class="ttdoc">See SH2 Ref. Manual 7.2.1.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:379</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_ae540799865934fcff54caed0772df071"><div class="ttname"><a href="class_b_n_o08x.html#ae540799865934fcff54caed0772df071">BNO08x::receive_packet</a></div><div class="ttdeci">bool receive_packet()</div><div class="ttdoc">Receives a SHTP packet via SPI.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:332</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_ae6e875a27ae74ebed806ee1a4576845a"><div class="ttname"><a href="class_b_n_o08x.html#ae6e875a27ae74ebed806ee1a4576845a">BNO08x::run_full_calibration_routine</a></div><div class="ttdeci">bool run_full_calibration_routine()</div><div class="ttdoc">Runs full calibration routine.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:631</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_ae7f34752f888c637d5619f898e62a6d4"><div class="ttname"><a href="class_b_n_o08x.html#ae7f34752f888c637d5619f898e62a6d4">BNO08x::HOST_INT_TIMEOUT_MS</a></div><div class="ttdeci">static const constexpr uint64_t HOST_INT_TIMEOUT_MS</div><div class="ttdoc">Max wait between HINT being asserted by BNO08x before transaction is considered failed (in milisecond...</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:349</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_aea8e2c6dd7a2c9899479a7f39fe94798"><div class="ttname"><a href="class_b_n_o08x.html#aea8e2c6dd7a2c9899479a7f39fe94798">BNO08x::initialize</a></div><div class="ttdeci">bool initialize()</div><div class="ttdoc">Initializes BNO08x sensor.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:119</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_aeac84719a1cc0f9c8d5a9a749391d4db"><div class="ttname"><a href="class_b_n_o08x.html#aeac84719a1cc0f9c8d5a9a749391d4db">BNO08x::CALIBRATE_GYRO</a></div><div class="ttdeci">static const constexpr uint8_t CALIBRATE_GYRO</div><div class="ttdoc">Calibrate gyro command used by queue_calibrate_command.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:354</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_aeb760b095dcf808a413ef696f2608e43"><div class="ttname"><a href="class_b_n_o08x.html#aeb760b095dcf808a413ef696f2608e43">BNO08x::SHTP_REPORT_FRS_READ_RESPONSE</a></div><div class="ttdeci">static const constexpr uint8_t SHTP_REPORT_FRS_READ_RESPONSE</div><div class="ttdoc">See SH2 Ref. Manual 6.3.7.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:375</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_aec618850b70a4e32a5148b05281aa8f0"><div class="ttname"><a href="class_b_n_o08x.html#aec618850b70a4e32a5148b05281aa8f0">BNO08x::SENSOR_REPORTID_GEOMAGNETIC_ROTATION_VECTOR</a></div><div class="ttdeci">static const constexpr uint8_t SENSOR_REPORTID_GEOMAGNETIC_ROTATION_VECTOR</div><div class="ttdoc">See SH2 Ref. Manual 6.5.20.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:391</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_aecb3e11c1ca5769fd60f42c17a105731"><div class="ttname"><a href="class_b_n_o08x.html#aecb3e11c1ca5769fd60f42c17a105731">BNO08x::TARE_AXIS_Z</a></div><div class="ttdeci">static const constexpr uint8_t TARE_AXIS_Z</div><div class="ttdoc">Tar yaw axis only (used with tare now command)</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:256</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_aed8135fd5e7996ef06bf5968692ccd84"><div class="ttname"><a href="class_b_n_o08x.html#aed8135fd5e7996ef06bf5968692ccd84">BNO08x::TARE_AR_VR_STABILIZED_GAME_ROTATION_VECTOR</a></div><div class="ttdeci">static const constexpr uint8_t TARE_AR_VR_STABILIZED_GAME_ROTATION_VECTOR</div><div class="ttdoc">Tare ARVR stabilized game rotation vector.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:264</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_aeda443e9f608fccfec0e6770edc90c82"><div class="ttname"><a href="class_b_n_o08x.html#aeda443e9f608fccfec0e6770edc90c82">BNO08x::imu_config</a></div><div class="ttdeci">bno08x_config_t imu_config</div><div class="ttdoc">IMU configuration settings.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:304</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_aee2d0bcb8e9d7bacacccacbb04ded661"><div class="ttname"><a href="class_b_n_o08x.html#aee2d0bcb8e9d7bacacccacbb04ded661">BNO08x::tx_semaphore</a></div><div class="ttdeci">SemaphoreHandle_t tx_semaphore</div><div class="ttdoc">Mutex semaphore used to prevent sending or receiving of packets if packet is currently being queued.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:291</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_aeeb54b0b516917f3ff58cb655ae707a8"><div class="ttname"><a href="class_b_n_o08x.html#aeeb54b0b516917f3ff58cb655ae707a8">BNO08x::SENSOR_REPORTID_GRAVITY</a></div><div class="ttdeci">static const constexpr uint8_t SENSOR_REPORTID_GRAVITY</div><div class="ttdoc">See SH2 Ref. Manual 6.5.11.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:388</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_aeffce374f558a167d5b5f19ad627e7cc"><div class="ttname"><a href="class_b_n_o08x.html#aeffce374f558a167d5b5f19ad627e7cc">BNO08x::calibrate_accelerometer</a></div><div class="ttdeci">void calibrate_accelerometer()</div><div class="ttdoc">Sends command to calibrate accelerometer.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:474</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_af124a6c1d8b871f3181b6c85f1099cb2"><div class="ttname"><a href="class_b_n_o08x.html#af124a6c1d8b871f3181b6c85f1099cb2">BNO08x::COMMAND_DCD</a></div><div class="ttdeci">static const constexpr uint8_t COMMAND_DCD</div><div class="ttdoc">Save DCD command (See SH2 Ref. Manual 6.4.7)</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:366</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_af1b2c3a383a84fc6dfaddae1052b44d4"><div class="ttname"><a href="class_b_n_o08x.html#af1b2c3a383a84fc6dfaddae1052b44d4">BNO08x::get_raw_gyro_X</a></div><div class="ttdeci">int16_t get_raw_gyro_X()</div><div class="ttdoc">Get raw gyroscope x axis reading from physical gyroscope MEMs sensor (See Ref. Manual 6....</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1768</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_af20dcd487a9fe8fa6243817d51e37be5"><div class="ttname"><a href="class_b_n_o08x.html#af20dcd487a9fe8fa6243817d51e37be5">BNO08x::gravity_Y</a></div><div class="ttdeci">uint16_t gravity_Y</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:321</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_af254d245b368027df6952b7d7522bd35"><div class="ttname"><a href="class_b_n_o08x.html#af254d245b368027df6952b7d7522bd35">BNO08x::raw_accel_Z</a></div><div class="ttdeci">uint16_t raw_accel_Z</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:312</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_af45016be9ea523d80be8467b2907b499"><div class="ttname"><a href="class_b_n_o08x.html#af45016be9ea523d80be8467b2907b499">BNO08x::gravity_X</a></div><div class="ttdeci">uint16_t gravity_X</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:321</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_af50010400cbd1445e9ddfa259384b412"><div class="ttname"><a href="class_b_n_o08x.html#af50010400cbd1445e9ddfa259384b412">BNO08x::get_pitch_deg</a></div><div class="ttdeci">float get_pitch_deg()</div><div class="ttdoc">Get the reported rotation about y axis.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1515</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_af53d9e99f163d97ef92fe989b1dd25cc"><div class="ttname"><a href="class_b_n_o08x.html#af53d9e99f163d97ef92fe989b1dd25cc">BNO08x::CALIBRATE_ACCEL_GYRO_MAG</a></div><div class="ttdeci">static const constexpr uint8_t CALIBRATE_ACCEL_GYRO_MAG</div><div class="ttdoc">Calibrate accelerometer, gyro, & magnetometer command used by queue_calibrate_command.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:357</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_af65e3fd0bfdb5b82dcf775e2c061c65a"><div class="ttname"><a href="class_b_n_o08x.html#af65e3fd0bfdb5b82dcf775e2c061c65a">BNO08x::packet_length_rx</a></div><div class="ttdeci">uint16_t packet_length_rx</div><div class="ttdoc">Packet length received (calculated from packet_header_rx)</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:302</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_af80f7795656e695e036d3b1557aed94c"><div class="ttname"><a href="class_b_n_o08x.html#af80f7795656e695e036d3b1557aed94c">BNO08x::get_yaw_deg</a></div><div class="ttdeci">float get_yaw_deg()</div><div class="ttdoc">Get the reported rotation about z axis.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1525</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_af96e8cd070459f945ffbf01b98106e13"><div class="ttname"><a href="class_b_n_o08x.html#af96e8cd070459f945ffbf01b98106e13">BNO08x::activity_confidences</a></div><div class="ttdeci">uint8_t * activity_confidences</div><div class="ttdoc">Confidence of read activities (See SH-2 Ref. Manual 6.5.36)</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:331</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_af984deb77c92746fe4d193457312be63"><div class="ttname"><a href="class_b_n_o08x.html#af984deb77c92746fe4d193457312be63">BNO08x::enable_raw_gyro</a></div><div class="ttdeci">void enable_raw_gyro(uint16_t time_between_reports)</div><div class="ttdoc">Sends command to enable raw gyro reports (See Ref. Manual 6.5.12)</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1213</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_afa1cf5c3afbb258d97c55c5fb187f2d6"><div class="ttname"><a href="class_b_n_o08x.html#afa1cf5c3afbb258d97c55c5fb187f2d6">BNO08x::gravity_Z</a></div><div class="ttdeci">uint16_t gravity_Z</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:321</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_afac9dd4161f4c0051255293680c9082b"><div class="ttname"><a href="class_b_n_o08x.html#afac9dd4161f4c0051255293680c9082b">BNO08x::raw_uncalib_gyro_Z</a></div><div class="ttdeci">uint16_t raw_uncalib_gyro_Z</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:323</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_afad93ba52698512205df714109cadcfc"><div class="ttname"><a href="class_b_n_o08x.html#afad93ba52698512205df714109cadcfc">BNO08x::SENSOR_REPORTID_STABILITY_CLASSIFIER</a></div><div class="ttdeci">static const constexpr uint8_t SENSOR_REPORTID_STABILITY_CLASSIFIER</div><div class="ttdoc">See SH2 Ref. Manual 6.5.31.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:395</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_afb2ffc4e7ff0498917bc14a83af306e2"><div class="ttname"><a href="class_b_n_o08x.html#afb2ffc4e7ff0498917bc14a83af306e2">BNO08x::save_tare</a></div><div class="ttdeci">void save_tare()</div><div class="ttdoc">Sends command to save tare into non-volatile memory of BNO08x (See Ref. Manual 6.4....</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1253</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_afd0ca5f9b9741935543d143a5a43d128"><div class="ttname"><a href="class_b_n_o08x.html#afd0ca5f9b9741935543d143a5a43d128">BNO08x::calibrate_all</a></div><div class="ttdeci">void calibrate_all()</div><div class="ttdoc">Sends command to calibrate accelerometer, gyro, and magnetometer.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:462</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_afdc5cdb65bd0b36528b5b671b9d27053"><div class="ttname"><a href="class_b_n_o08x.html#afdc5cdb65bd0b36528b5b671b9d27053">BNO08x::raw_uncalib_gyro_X</a></div><div class="ttdeci">uint16_t raw_uncalib_gyro_X</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:323</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_afdf24bb3d54518b23972f21f007817c1"><div class="ttname"><a href="class_b_n_o08x.html#afdf24bb3d54518b23972f21f007817c1">BNO08x::get_accel_Y</a></div><div class="ttdeci">float get_accel_Y()</div><div class="ttdoc">Get y axis acceleration (total acceleration of device, units in m/s^2).</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1650</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_afdfa7d50362702da689c5d18bf17fd84"><div class="ttname"><a href="class_b_n_o08x.html#afdfa7d50362702da689c5d18bf17fd84">BNO08x::get_linear_accel_Z</a></div><div class="ttdeci">float get_linear_accel_Z()</div><div class="ttdoc">Get z axis linear acceleration (acceleration of device minus gravity, units in m/s^2)</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1718</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_afe39bfdede7b9a2b273983cb29a27d6e"><div class="ttname"><a href="class_b_n_o08x.html#afe39bfdede7b9a2b273983cb29a27d6e">BNO08x::clear_tare</a></div><div class="ttdeci">void clear_tare()</div><div class="ttdoc">Sends command to clear persistent tare settings in non-volatile memory of BNO08x (See Ref....</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1265</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_afe6392012669e7ebd1a9e817e2bd313f"><div class="ttname"><a href="class_b_n_o08x.html#afe6392012669e7ebd1a9e817e2bd313f">BNO08x::get_gyro_velocity</a></div><div class="ttdeci">void get_gyro_velocity(float &x, float &y, float &z)</div><div class="ttdoc">Full rotational velocity from gyro-integrated rotation vector (See Ref. Manual 6.5....</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1985</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_aff3a5590471d1c9fc485a5610433915f"><div class="ttname"><a href="class_b_n_o08x.html#aff3a5590471d1c9fc485a5610433915f">BNO08x::raw_lin_accel_Y</a></div><div class="ttdeci">uint16_t raw_lin_accel_Y</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:314</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_aff7714441d242b3b9b0c03f94e0a9374"><div class="ttname"><a href="class_b_n_o08x.html#aff7714441d242b3b9b0c03f94e0a9374">BNO08x::get_raw_gyro_Y</a></div><div class="ttdeci">int16_t get_raw_gyro_Y()</div><div class="ttdoc">Get raw gyroscope y axis reading from physical gyroscope MEMs sensor (See Ref. Manual 6....</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1778</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_affaaa35abbb872da5299ebab6e2c9b11"><div class="ttname"><a href="class_b_n_o08x.html#affaaa35abbb872da5299ebab6e2c9b11">BNO08x::request_calibration_status</a></div><div class="ttdeci">void request_calibration_status()</div><div class="ttdoc">Requests ME calibration status from BNO08x (see Ref. Manual 6.4.7.2)</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:570</div></div>
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<div class="ttc" id="astructbno08x__config__t_html"><div class="ttname"><a href="structbno08x__config__t.html">bno08x_config_t</a></div><div class="ttdoc">IMU configuration settings passed into constructor.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:39</div></div>
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<div class="ttc" id="astructbno08x__config__t_html_a020d2343750bb7debc2a108ae038c9ec"><div class="ttname"><a href="structbno08x__config__t.html#a020d2343750bb7debc2a108ae038c9ec">bno08x_config_t::spi_peripheral</a></div><div class="ttdeci">spi_host_device_t spi_peripheral</div><div class="ttdoc">SPI peripheral to be used.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:40</div></div>
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<div class="ttc" id="astructbno08x__config__t_html_a3cfe965659cfbc6b0c5269bd0211975f"><div class="ttname"><a href="structbno08x__config__t.html#a3cfe965659cfbc6b0c5269bd0211975f">bno08x_config_t::io_int</a></div><div class="ttdeci">gpio_num_t io_int</div><div class="ttdoc">Chip select pin (connects to BNO08x CS pin)</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:45</div></div>
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<div class="ttc" id="astructbno08x__config__t_html_a62745c761219139f66ecd173b51577fc"><div class="ttname"><a href="structbno08x__config__t.html#a62745c761219139f66ecd173b51577fc">bno08x_config_t::io_rst</a></div><div class="ttdeci">gpio_num_t io_rst</div><div class="ttdoc">Host interrupt pin (connects to BNO08x INT pin)</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:46</div></div>
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<div class="ttc" id="astructbno08x__config__t_html_a639685b91ae3198909d722316495246a"><div class="ttname"><a href="structbno08x__config__t.html#a639685b91ae3198909d722316495246a">bno08x_config_t::io_sclk</a></div><div class="ttdeci">gpio_num_t io_sclk</div><div class="ttdoc">SCLK pin (connects to BNO08x SCL pin)</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:43</div></div>
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<div class="ttc" id="astructbno08x__config__t_html_a652ad01310ba21afcae1bb765de51cfe"><div class="ttname"><a href="structbno08x__config__t.html#a652ad01310ba21afcae1bb765de51cfe">bno08x_config_t::sclk_speed</a></div><div class="ttdeci">uint64_t sclk_speed</div><div class="ttdoc">Desired SPI SCLK speed in Hz (max 3MHz)</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:48</div></div>
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<div class="ttc" id="astructbno08x__config__t_html_a720c215a75b3922ffa6f683e7ca70abe"><div class="ttname"><a href="structbno08x__config__t.html#a720c215a75b3922ffa6f683e7ca70abe">bno08x_config_t::debug_en</a></div><div class="ttdeci">bool debug_en</div><div class="ttdoc">Whether or not debugging print statements are enabled.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:49</div></div>
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<div class="ttc" id="astructbno08x__config__t_html_a79023fd80039e41a22b7f73ccd5fc861"><div class="ttname"><a href="structbno08x__config__t.html#a79023fd80039e41a22b7f73ccd5fc861">bno08x_config_t::io_mosi</a></div><div class="ttdeci">gpio_num_t io_mosi</div><div class="ttdoc">MOSI GPIO pin (connects to BNO08x DI pin)</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:41</div></div>
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<div class="ttc" id="astructbno08x__config__t_html_a90ad7f316dc443874d19dc7e723a0ce0"><div class="ttname"><a href="structbno08x__config__t.html#a90ad7f316dc443874d19dc7e723a0ce0">bno08x_config_t::io_wake</a></div><div class="ttdeci">gpio_num_t io_wake</div><div class="ttdoc">Reset pin (connects to BNO08x RST pin)</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:47</div></div>
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<div class="ttc" id="astructbno08x__config__t_html_a9468180a773892977db39cc5ed9368e3"><div class="ttname"><a href="structbno08x__config__t.html#a9468180a773892977db39cc5ed9368e3">bno08x_config_t::io_miso</a></div><div class="ttdeci">gpio_num_t io_miso</div><div class="ttdoc">MISO GPIO pin (connects to BNO08x SDA pin)</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:42</div></div>
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<div class="ttc" id="astructbno08x__config__t_html_ab1b5351b63da0c172c942463d0dc2505"><div class="ttname"><a href="structbno08x__config__t.html#ab1b5351b63da0c172c942463d0dc2505">bno08x_config_t::io_cs</a></div><div class="ttdeci">gpio_num_t io_cs</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:44</div></div>
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<div class="ttc" id="astructbno08x__config__t_html_abf8805292192f4c30c5000423175a2e1"><div class="ttname"><a href="structbno08x__config__t.html#abf8805292192f4c30c5000423175a2e1">bno08x_config_t::bno08x_config_t</a></div><div class="ttdeci">bno08x_config_t()</div><div class="ttdoc">Default IMU configuration settings constructor for ESP32.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:69</div></div>
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<div class="ttc" id="astructbno08x__config__t_html_ae02a72c63211b734cc420cee6f4b5017"><div class="ttname"><a href="structbno08x__config__t.html#ae02a72c63211b734cc420cee6f4b5017">bno08x_config_t::bno08x_config_t</a></div><div class="ttdeci">bno08x_config_t(spi_host_device_t spi_peripheral, gpio_num_t io_mosi, gpio_num_t io_miso, gpio_num_t io_sclk, gpio_num_t io_cs, gpio_num_t io_int, gpio_num_t io_rst, gpio_num_t io_wake, uint64_t sclk_speed, bool debug)</div><div class="ttdoc">Overloaded IMU configuration settings constructor for custom pin settings.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:86</div></div>
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