63 lines
1.6 KiB
C++
63 lines
1.6 KiB
C++
#include "BNO08xRptUncalGyro.hpp"
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#include "BNO08x.hpp"
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/**
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* @brief Updates uncalibrated gyro data from decoded sensor event.
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*
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* @param sensor_val The sh2_SensorValue_t struct used in sh2_decodeSensorEvent() call.
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*
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* @return void, nothing to return
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*/
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void BNO08xRptUncalGyro::update_data(sh2_SensorValue_t* sensor_val)
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{
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imu->lock_user_data();
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data = sensor_val->un.gyroscopeUncal;
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data.accuracy = static_cast<BNO08xAccuracy>(sensor_val->status);
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bias_data = sensor_val->un.gyroscopeUncal;
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imu->unlock_user_data();
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if (rpt_bit & xEventGroupGetBits(imu->evt_grp_report_en))
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signal_data_available();
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}
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/**
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* @brief Grabs most recent uncalibrated gyroscope data, units are in rad/s.
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*
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* @param vel Reference to save velocity data.
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* @param bias Reference to save bias data.
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*
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* @return void, nothing to return
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*/
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void BNO08xRptUncalGyro::get(bno08x_gyro_t& vel, bno08x_gyro_bias_t& bias)
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{
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imu->lock_user_data();
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vel = data;
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bias = bias_data;
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imu->unlock_user_data();
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}
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/**
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* @brief Grabs most recent uncalibrated gyroscope velocity data, units are in rad/s.
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*
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* @return Struct containing requested data.
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*/
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bno08x_gyro_t BNO08xRptUncalGyro::get_vel()
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{
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imu->lock_user_data();
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bno08x_gyro_t rqdata = data;
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imu->unlock_user_data();
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return rqdata;
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}
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/**
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* @brief Grabs most recent uncalibrated gyroscope bias data, units are in rad/s.
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*
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* @return Struct containing requested data.
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*/
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bno08x_gyro_bias_t BNO08xRptUncalGyro::get_bias()
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{
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imu->lock_user_data();
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bno08x_gyro_bias_t rqdata = bias_data;
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imu->unlock_user_data();
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return rqdata;
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} |