37 lines
885 B
C++
37 lines
885 B
C++
/**
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* @file BNO08xRptCalGyro.cpp
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* @author Myles Parfeniuk
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*/
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#include "BNO08xRptCalGyro.hpp"
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/**
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* @brief Updates calibrated 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 BNO08xRptCalGyro::update_data(sh2_SensorValue_t* sensor_val)
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{
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lock_user_data();
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data = sensor_val->un.gyroscope;
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data.accuracy = static_cast<BNO08xAccuracy>(sensor_val->status);
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unlock_user_data();
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if (rpt_bit & xEventGroupGetBits(*_evt_grp_rpt_en))
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signal_data_available();
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}
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/**
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* @brief Grabs most recent gyroscope data (velocity), 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 BNO08xRptCalGyro::get()
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{
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lock_user_data();
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bno08x_gyro_t rqdata = data;
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unlock_user_data();
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return rqdata;
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} |