283 lines
38 KiB
TeX
283 lines
38 KiB
TeX
\hypertarget{_b_n_o08x_8hpp_source}{}\doxysection{BNO08x.\+hpp}
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\label{_b_n_o08x_8hpp_source}\index{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/BNO08x.hpp@{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/BNO08x.hpp}}
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\mbox{\hyperlink{_b_n_o08x_8hpp}{Go to the documentation of this file.}}
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\begin{DoxyCode}{0}
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\DoxyCodeLine{1 }
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\DoxyCodeLine{6 \textcolor{preprocessor}{\#pragma once}}
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\DoxyCodeLine{7 }
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\DoxyCodeLine{8 \textcolor{comment}{// etl includes}}
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\DoxyCodeLine{9 \textcolor{preprocessor}{\#include <etl/vector.h>}}
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\DoxyCodeLine{10 \textcolor{preprocessor}{\#include <etl/variant.h>}}
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\DoxyCodeLine{11 \textcolor{preprocessor}{\#include <etl/map.h>}}
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\DoxyCodeLine{12 }
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\DoxyCodeLine{13 \textcolor{comment}{// esp-\/idf includes}}
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\DoxyCodeLine{14 \textcolor{preprocessor}{\#include <driver/gpio.h>}}
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\DoxyCodeLine{15 \textcolor{preprocessor}{\#include <driver/spi\_common.h>}}
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\DoxyCodeLine{16 \textcolor{preprocessor}{\#include <driver/spi\_master.h>}}
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\DoxyCodeLine{17 \textcolor{preprocessor}{\#include <freertos/FreeRTOS.h>}}
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\DoxyCodeLine{18 \textcolor{preprocessor}{\#include <freertos/task.h>}}
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\DoxyCodeLine{19 \textcolor{preprocessor}{\#include <freertos/event\_groups.h>}}
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\DoxyCodeLine{20 \textcolor{preprocessor}{\#include <freertos/queue.h>}}
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\DoxyCodeLine{21 \textcolor{comment}{// in-\/house includes}}
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\DoxyCodeLine{22 \textcolor{preprocessor}{\#include "{}\mbox{\hyperlink{_b_n_o08x_global_types_8hpp}{BNO08xGlobalTypes.hpp}}"{}}}
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\DoxyCodeLine{23 \textcolor{preprocessor}{\#include "{}\mbox{\hyperlink{_b_n_o08x_private_types_8hpp}{BNO08xPrivateTypes.hpp}}"{}}}
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\DoxyCodeLine{24 \textcolor{preprocessor}{\#include "{}\mbox{\hyperlink{_b_n_o08x_s_h2_h_a_l_8hpp}{BNO08xSH2HAL.hpp}}"{}}}
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\DoxyCodeLine{25 \textcolor{preprocessor}{\#include "{}\mbox{\hyperlink{_b_n_o08x_reports_8hpp}{BNO08xReports.hpp}}"{}}}
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\DoxyCodeLine{26 }
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\DoxyCodeLine{32 \textcolor{keyword}{class }\mbox{\hyperlink{class_b_n_o08x}{BNO08x}}}
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\DoxyCodeLine{33 \{}
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\DoxyCodeLine{34 \textcolor{keyword}{public}:}
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\DoxyCodeLine{35 \mbox{\hyperlink{class_b_n_o08x_ad12fb6cf310ad7a04a4e53809833bd61}{BNO08x}}(\mbox{\hyperlink{structbno08x__config__t}{bno08x\_config\_t}} imu\_config = \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a648bbdbf22731476890dd8da977d7503}{bno08x\_config\_t}}());}
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\DoxyCodeLine{36 \mbox{\hyperlink{class_b_n_o08x_a687eee44d68e1bcabce04780d7eb5fb9}{\string~BNO08x}}();}
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\DoxyCodeLine{37 }
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\DoxyCodeLine{38 \textcolor{keywordtype}{bool} \mbox{\hyperlink{class_b_n_o08x_aea8e2c6dd7a2c9899479a7f39fe94798}{initialize}}();}
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\DoxyCodeLine{39 \textcolor{keywordtype}{bool} \mbox{\hyperlink{class_b_n_o08x_a28cd1c0b3477571d87133234e6358503}{hard\_reset}}();}
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\DoxyCodeLine{40 \textcolor{keywordtype}{bool} \mbox{\hyperlink{class_b_n_o08x_a973a1b1785f3302ee1b2702c6a27646e}{soft\_reset}}();}
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\DoxyCodeLine{41 \textcolor{keywordtype}{bool} \mbox{\hyperlink{class_b_n_o08x_aebacbe092615cd083cf996b14402bba6}{disable\_all\_reports}}();}
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\DoxyCodeLine{42 \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_afed71c9ed8a8563767f26282408ccee2}{BNO08xResetReason}} \mbox{\hyperlink{class_b_n_o08x_a96d47dd0f9aedfbe3f731f8ae76b2e85}{get\_reset\_reason}}();}
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\DoxyCodeLine{43 }
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\DoxyCodeLine{44 \textcolor{keywordtype}{bool} \mbox{\hyperlink{class_b_n_o08x_aaaa15b21ad98a3b161065c3d03ff62b5}{on}}();}
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\DoxyCodeLine{45 \textcolor{keywordtype}{bool} \mbox{\hyperlink{class_b_n_o08x_a7c5774a48227e8e3346fa5df7dfa420c}{sleep}}();}
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\DoxyCodeLine{46 }
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\DoxyCodeLine{47 \textcolor{comment}{// bool calibration\_turntable\_start(uint32\_t period\_us);}}
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\DoxyCodeLine{48 \textcolor{comment}{// bool calibration\_turntable\_end(sh2\_CalStatus\_t\& status);}}
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\DoxyCodeLine{49 }
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\DoxyCodeLine{50 \textcolor{keywordtype}{bool} \mbox{\hyperlink{class_b_n_o08x_a90ea8e811d4bea28a356290d6f5caac5}{dynamic\_calibration\_enable}}(\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a25947bbe6bc4a7c9edd7067fdce0e9cc}{BNO08xCalSel}} sensor);}
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\DoxyCodeLine{51 \textcolor{keywordtype}{bool} \mbox{\hyperlink{class_b_n_o08x_a5c7498f6fa4bd43280dff1d322233b95}{dynamic\_calibration\_disable}}(\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a25947bbe6bc4a7c9edd7067fdce0e9cc}{BNO08xCalSel}} sensor);}
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\DoxyCodeLine{52 \textcolor{keywordtype}{bool} \mbox{\hyperlink{class_b_n_o08x_a4e8b49abd33e6e11f23b2ae345058b9b}{dynamic\_calibration\_autosave\_enable}}();}
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\DoxyCodeLine{53 \textcolor{keywordtype}{bool} \mbox{\hyperlink{class_b_n_o08x_a9387728c276734da27388dbea38b6b32}{dynamic\_calibration\_autosave\_disable}}();}
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\DoxyCodeLine{54 \textcolor{keywordtype}{bool} \mbox{\hyperlink{class_b_n_o08x_a85f1eca475ea0e6fbaff75c8a297d671}{dynamic\_calibration\_save}}();}
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\DoxyCodeLine{55 \textcolor{keywordtype}{bool} \mbox{\hyperlink{class_b_n_o08x_a441681a5133b1a125b534925c9bc10f9}{dynamic\_calibration\_data\_clear\_ram}}();}
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\DoxyCodeLine{56 \textcolor{keywordtype}{bool} \mbox{\hyperlink{class_b_n_o08x_a65a7175b6f6ad6ce687e4fd4cd4bc396}{dynamic\_calibration\_data\_delete}}();}
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\DoxyCodeLine{57 \textcolor{keywordtype}{bool} \mbox{\hyperlink{class_b_n_o08x_abcdba0d0e82db480d20ea4564511a276}{dynamic\_calibration\_run\_routine}}(); }
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\DoxyCodeLine{58 }
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\DoxyCodeLine{59 \textcolor{keyword}{constexpr} \textcolor{keyword}{static} \textcolor{keywordtype}{float} \mbox{\hyperlink{class_b_n_o08x_ab8d5ebfc080838870e320494da3fa64d}{SQRT2OVER2}} = 0.7071067811865476f; \textcolor{comment}{// sqrt(2)/2, used for setting system orientation}}
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\DoxyCodeLine{60 \textcolor{keywordtype}{bool} \mbox{\hyperlink{class_b_n_o08x_abba85271f3333b7f395ec55915c1d5f9}{set\_system\_orientation}}(\textcolor{keywordtype}{float} w, \textcolor{keywordtype}{float} x, \textcolor{keywordtype}{float} y, \textcolor{keywordtype}{float} z);}
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\DoxyCodeLine{61 \textcolor{keywordtype}{bool} \mbox{\hyperlink{class_b_n_o08x_ad42c335827c7b09cd2e4ff303a0d3520}{get\_system\_orientation}}(\textcolor{keywordtype}{float} \&w, \textcolor{keywordtype}{float} \&x, \textcolor{keywordtype}{float} \&y, \textcolor{keywordtype}{float} \&z);}
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\DoxyCodeLine{62 }
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\DoxyCodeLine{63 \textcolor{keywordtype}{bool} \mbox{\hyperlink{class_b_n_o08x_a138577792350b8d5cc48cbf46b34c4f3}{get\_frs}}(\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8e}{BNO08xFrsID}} frs\_ID, uint32\_t (\&data)[16], uint16\_t\& rx\_data\_sz);}
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\DoxyCodeLine{64 \textcolor{keywordtype}{bool} \mbox{\hyperlink{class_b_n_o08x_aa616a645a4fc9054194fdbf76ec9c5b5}{write\_frs}}(\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8e}{BNO08xFrsID}} frs\_ID, uint32\_t *data, \textcolor{keyword}{const} uint16\_t tx\_data\_sz);}
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\DoxyCodeLine{65 sh2\_ProductIds\_t \mbox{\hyperlink{class_b_n_o08x_aa8fd64f60de86ff6b8562f90f3b09690}{get\_product\_IDs}}();}
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\DoxyCodeLine{66 }
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\DoxyCodeLine{67 \textcolor{keywordtype}{bool} \mbox{\hyperlink{class_b_n_o08x_a367d525d1c0ba119b3dca3067bb5bccc}{data\_available}}();}
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\DoxyCodeLine{68 \textcolor{keywordtype}{bool} \mbox{\hyperlink{class_b_n_o08x_aadd44524e6d22c48916acd9518b63ec3}{register\_cb}}(std::function<\textcolor{keywordtype}{void}(\textcolor{keywordtype}{void})> cb\_fxn);}
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\DoxyCodeLine{69 \textcolor{keywordtype}{bool} \mbox{\hyperlink{class_b_n_o08x_aadd44524e6d22c48916acd9518b63ec3}{register\_cb}}(std::function<\textcolor{keywordtype}{void}(uint8\_t report\_ID)> cb\_fxn);}
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\DoxyCodeLine{70 }
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\DoxyCodeLine{71 \textcolor{keywordtype}{void} \mbox{\hyperlink{class_b_n_o08x_a7441f7f2477c152deca17054041bf3e6}{print\_product\_ids}}();}
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\DoxyCodeLine{72 \textcolor{keywordtype}{void} \mbox{\hyperlink{class_b_n_o08x_aae4512fa4768becf0e3919a0e0ec34d8}{print\_system\_orientation}}();}
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\DoxyCodeLine{73 }
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\DoxyCodeLine{75 \textcolor{keyword}{typedef} \textcolor{keyword}{struct }\textcolor{keyword}{alignas}(4) \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t}{bno08x\_reports\_t}}}
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\DoxyCodeLine{76 \{}
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\DoxyCodeLine{77 \mbox{\hyperlink{class_b_n_o08x_rpt_i_gyro_r_v}{BNO08xRptIGyroRV}} \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_a6937b5d9bf8af9344a5013e1c543ab42}{rv\_gyro\_integrated}};}
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\DoxyCodeLine{78 \mbox{\hyperlink{class_b_n_o08x_rpt_uncal_magnetometer}{BNO08xRptUncalMagnetometer}} \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_a5774fa69fc74264d40478a729aeb5ece}{uncal\_magnetometer}};}
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\DoxyCodeLine{79 \mbox{\hyperlink{class_b_n_o08x_rpt_uncal_gyro}{BNO08xRptUncalGyro}} \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_a6f1929843393c09c21b1f107a47c8fe3}{uncal\_gyro}};}
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\DoxyCodeLine{80 \mbox{\hyperlink{class_b_n_o08x_rpt_r_v}{BNO08xRptRV}} \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_aeab138f8ddfed3f4d6b855a73b7e2db5}{rv}};}
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\DoxyCodeLine{81 \mbox{\hyperlink{class_b_n_o08x_rpt_game_r_v}{BNO08xRptGameRV}} \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_a7f33ac650137f5933ee1eab1ce936db6}{rv\_game}};}
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\DoxyCodeLine{82 \mbox{\hyperlink{class_b_n_o08x_rpt_a_r_v_r_stabilized_r_v}{BNO08xRptARVRStabilizedRV}} \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_a027c914e51da445148dc9b2735cc5fc9}{rv\_ARVR\_stabilized}};}
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\DoxyCodeLine{83 \mbox{\hyperlink{class_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v}{BNO08xRptARVRStabilizedGameRV}} \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_af550968d0e56f114b4afb20a5a442206}{rv\_ARVR\_stabilized\_game}};}
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\DoxyCodeLine{84 \mbox{\hyperlink{class_b_n_o08x_rpt_r_v_geomag}{BNO08xRptRVGeomag}} \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_a7e17ff7b9763ed040158813c69614a9f}{rv\_geomagnetic}};}
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\DoxyCodeLine{85 \mbox{\hyperlink{class_b_n_o08x_rpt_activity_classifier}{BNO08xRptActivityClassifier}} \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_a6475bdab7c49091f3086537efc00c12f}{activity\_classifier}};}
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\DoxyCodeLine{86 \mbox{\hyperlink{class_b_n_o08x_rpt_acceleration}{BNO08xRptAcceleration}} \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_ab7939486c9ba7e7c70f82d2284fb6119}{accelerometer}};}
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\DoxyCodeLine{87 \mbox{\hyperlink{class_b_n_o08x_rpt_linear_acceleration}{BNO08xRptLinearAcceleration}} \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_ac8114db28ee3f7be5578e52f48caa9c3}{linear\_accelerometer}};}
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\DoxyCodeLine{88 \mbox{\hyperlink{class_b_n_o08x_rpt_gravity}{BNO08xRptGravity}} \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_af5245d5e4a6f7548a0c3a30af53b7355}{gravity}};}
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\DoxyCodeLine{89 \mbox{\hyperlink{class_b_n_o08x_rpt_cal_magnetometer}{BNO08xRptCalMagnetometer}} \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_a03d6194225331df5326a97ec6d45b094}{cal\_magnetometer}};}
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\DoxyCodeLine{90 \mbox{\hyperlink{class_b_n_o08x_rpt_cal_gyro}{BNO08xRptCalGyro}} \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_adabe838126b5bbc83fc4f69bba78123e}{cal\_gyro}};}
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\DoxyCodeLine{91 \mbox{\hyperlink{class_b_n_o08x_rpt_raw_m_e_m_s_gyro}{BNO08xRptRawMEMSGyro}} \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_a13357e58bc926c2420ab41e4ffef4196}{raw\_gyro}};}
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\DoxyCodeLine{92 \mbox{\hyperlink{class_b_n_o08x_rpt_raw_m_e_m_s_accelerometer}{BNO08xRptRawMEMSAccelerometer}} \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_aa3a65aaf2adf05aa014b72c2d4485590}{raw\_accelerometer}};}
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\DoxyCodeLine{93 \mbox{\hyperlink{class_b_n_o08x_rpt_raw_m_e_m_s_magnetometer}{BNO08xRptRawMEMSMagnetometer}} \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_aad8698945b261c0a871f2f409897b071}{raw\_magnetometer}};}
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\DoxyCodeLine{94 \mbox{\hyperlink{class_b_n_o08x_rpt_step_counter}{BNO08xRptStepCounter}} \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_aee9528ea57ab86ef29e10de9ecfefcf7}{step\_counter}};}
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\DoxyCodeLine{95 \mbox{\hyperlink{class_b_n_o08x_rpt_tap_detector}{BNO08xRptTapDetector}} \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_a0cabee7da991a7399d607373f09548a7}{tap\_detector}};}
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\DoxyCodeLine{96 \mbox{\hyperlink{class_b_n_o08x_rpt_stability_classifier}{BNO08xRptStabilityClassifier}} \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_a2edee4386eaea86ef3d316f5840d7a2f}{stability\_classifier}};}
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\DoxyCodeLine{97 \mbox{\hyperlink{class_b_n_o08x_rpt_shake_detector}{BNO08xRptShakeDetector}} \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_a9d7ff08c5a141c3d1ad3493423e7c49c}{shake\_detector}};}
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\DoxyCodeLine{98 }
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\DoxyCodeLine{99 \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_aad0b1641e9c31927c33d0f69c174f9cb}{bno08x\_reports\_t}}(\mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08xPrivateTypes::bno08x\_sync\_ctx\_t}}* sync\_ctx)}
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\DoxyCodeLine{100 : \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_a6937b5d9bf8af9344a5013e1c543ab42}{rv\_gyro\_integrated}}(SH2\_GYRO\_INTEGRATED\_RV, \mbox{\hyperlink{namespace_b_n_o08x_private_types}{BNO08xPrivateTypes}}::\mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fa6835a63fb08379608cda0a108098aac7}{EVT\_GRP\_RPT\_GYRO\_INTEGRATED\_RV\_BIT}}, sync\_ctx)}
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\DoxyCodeLine{101 , \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_a5774fa69fc74264d40478a729aeb5ece}{uncal\_magnetometer}}(}
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\DoxyCodeLine{102 SH2\_MAGNETIC\_FIELD\_UNCALIBRATED, \mbox{\hyperlink{namespace_b_n_o08x_private_types}{BNO08xPrivateTypes}}::\mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2faa54d15cc17179a6840b9ec3f4e0038cb}{EVT\_GRP\_RPT\_UNCAL\_MAGNETOMETER\_BIT}}, sync\_ctx)}
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\DoxyCodeLine{103 , \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_a6f1929843393c09c21b1f107a47c8fe3}{uncal\_gyro}}(SH2\_GYROSCOPE\_UNCALIBRATED, \mbox{\hyperlink{namespace_b_n_o08x_private_types}{BNO08xPrivateTypes}}::\mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fa591c062247280798af0e40d6141614c6}{EVT\_GRP\_RPT\_UNCAL\_GYRO\_BIT}}, sync\_ctx)}
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\DoxyCodeLine{104 , \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_aeab138f8ddfed3f4d6b855a73b7e2db5}{rv}}(SH2\_ROTATION\_VECTOR, \mbox{\hyperlink{namespace_b_n_o08x_private_types}{BNO08xPrivateTypes}}::\mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fac0ff3fde600aac814ad76a4769515ae8}{EVT\_GRP\_RPT\_RV\_BIT}}, sync\_ctx)}
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\DoxyCodeLine{105 , \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_a7f33ac650137f5933ee1eab1ce936db6}{rv\_game}}(SH2\_GAME\_ROTATION\_VECTOR, \mbox{\hyperlink{namespace_b_n_o08x_private_types}{BNO08xPrivateTypes}}::\mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fad39283f98adf7242b3b3ccf847c150cd}{EVT\_GRP\_RPT\_RV\_GAME\_BIT}}, sync\_ctx)}
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\DoxyCodeLine{106 , \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_a027c914e51da445148dc9b2735cc5fc9}{rv\_ARVR\_stabilized}}(SH2\_ARVR\_STABILIZED\_RV, \mbox{\hyperlink{namespace_b_n_o08x_private_types}{BNO08xPrivateTypes}}::\mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fab5d141bdda220e3fa0bd9eb0fe3f31b5}{EVT\_GRP\_RPT\_RV\_ARVR\_S\_BIT}}, sync\_ctx)}
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\DoxyCodeLine{107 , \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_af550968d0e56f114b4afb20a5a442206}{rv\_ARVR\_stabilized\_game}}(}
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\DoxyCodeLine{108 SH2\_ARVR\_STABILIZED\_GRV, \mbox{\hyperlink{namespace_b_n_o08x_private_types}{BNO08xPrivateTypes}}::\mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fab77588c26929a2d8dd8eeea883b905ca}{EVT\_GRP\_RPT\_RV\_ARVR\_S\_GAME\_BIT}}, sync\_ctx)}
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\DoxyCodeLine{109 , \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_a7e17ff7b9763ed040158813c69614a9f}{rv\_geomagnetic}}(SH2\_GEOMAGNETIC\_ROTATION\_VECTOR, \mbox{\hyperlink{namespace_b_n_o08x_private_types}{BNO08xPrivateTypes}}::\mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fa728314f4744fc408c6b153e8fbb3feb4}{EVT\_GRP\_RPT\_GEOMAG\_RV\_BIT}}, sync\_ctx)}
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\DoxyCodeLine{110 , \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_a6475bdab7c49091f3086537efc00c12f}{activity\_classifier}}(}
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\DoxyCodeLine{111 SH2\_PERSONAL\_ACTIVITY\_CLASSIFIER, \mbox{\hyperlink{namespace_b_n_o08x_private_types}{BNO08xPrivateTypes}}::\mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fa94cddd1837a77bba5644543b1ad8b9e7}{EVT\_GRP\_RPT\_ACTIVITY\_CLASSIFIER\_BIT}}, sync\_ctx)}
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\DoxyCodeLine{112 , \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_ab7939486c9ba7e7c70f82d2284fb6119}{accelerometer}}(SH2\_ACCELEROMETER, \mbox{\hyperlink{namespace_b_n_o08x_private_types}{BNO08xPrivateTypes}}::\mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2faa5b9ffe097d1eb83a6a5a13871da0891}{EVT\_GRP\_RPT\_ACCELEROMETER\_BIT}}, sync\_ctx)}
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\DoxyCodeLine{113 , \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_ac8114db28ee3f7be5578e52f48caa9c3}{linear\_accelerometer}}(}
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\DoxyCodeLine{114 SH2\_LINEAR\_ACCELERATION, \mbox{\hyperlink{namespace_b_n_o08x_private_types}{BNO08xPrivateTypes}}::\mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fa68851003c2b7df34c3acf882251c60e2}{EVT\_GRP\_RPT\_LINEAR\_ACCELEROMETER\_BIT}}, sync\_ctx)}
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\DoxyCodeLine{115 , \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_af5245d5e4a6f7548a0c3a30af53b7355}{gravity}}(SH2\_GRAVITY, \mbox{\hyperlink{namespace_b_n_o08x_private_types}{BNO08xPrivateTypes}}::\mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fabd9e62157a0bc3dc38c3473d7bc2799f}{EVT\_GRP\_RPT\_GRAVITY\_BIT}}, sync\_ctx)}
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\DoxyCodeLine{116 , \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_a03d6194225331df5326a97ec6d45b094}{cal\_magnetometer}}(}
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\DoxyCodeLine{117 SH2\_MAGNETIC\_FIELD\_CALIBRATED, \mbox{\hyperlink{namespace_b_n_o08x_private_types}{BNO08xPrivateTypes}}::\mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fac1d15dddeab169b213c719e6b0fef32d}{EVT\_GRP\_RPT\_CAL\_MAGNETOMETER\_BIT}}, sync\_ctx)}
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\DoxyCodeLine{118 , \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_adabe838126b5bbc83fc4f69bba78123e}{cal\_gyro}}(SH2\_GYROSCOPE\_CALIBRATED, \mbox{\hyperlink{namespace_b_n_o08x_private_types}{BNO08xPrivateTypes}}::\mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2faeb1961d7852ea305443610b2521aaea7}{EVT\_GRP\_RPT\_CAL\_GYRO\_BIT}}, sync\_ctx)}
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\DoxyCodeLine{119 , \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_a13357e58bc926c2420ab41e4ffef4196}{raw\_gyro}}(SH2\_RAW\_GYROSCOPE, \mbox{\hyperlink{namespace_b_n_o08x_private_types}{BNO08xPrivateTypes}}::\mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fadcfcdea69099869ebf7f246ff5b7e8bb}{EVT\_GRP\_RPT\_RAW\_GYRO\_BIT}}, sync\_ctx)}
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\DoxyCodeLine{120 , \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_aa3a65aaf2adf05aa014b72c2d4485590}{raw\_accelerometer}}(SH2\_RAW\_ACCELEROMETER, \mbox{\hyperlink{namespace_b_n_o08x_private_types}{BNO08xPrivateTypes}}::\mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fab7e6b36da354702880ff9118d45b6af2}{EVT\_GRP\_RPT\_RAW\_ACCELEROMETER\_BIT}}, sync\_ctx)}
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\DoxyCodeLine{121 , \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_aad8698945b261c0a871f2f409897b071}{raw\_magnetometer}}(SH2\_RAW\_MAGNETOMETER, \mbox{\hyperlink{namespace_b_n_o08x_private_types}{BNO08xPrivateTypes}}::\mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fab57a2ea711bebb4d4e031a0b449160c7}{EVT\_GRP\_RPT\_RAW\_MAGNETOMETER\_BIT}}, sync\_ctx)}
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\DoxyCodeLine{122 , \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_aee9528ea57ab86ef29e10de9ecfefcf7}{step\_counter}}(SH2\_STEP\_COUNTER, \mbox{\hyperlink{namespace_b_n_o08x_private_types}{BNO08xPrivateTypes}}::\mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fafb8f448edba339f37fdf794bd891f903}{EVT\_GRP\_RPT\_STEP\_COUNTER\_BIT}}, sync\_ctx)}
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\DoxyCodeLine{123 , \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_a0cabee7da991a7399d607373f09548a7}{tap\_detector}}(SH2\_TAP\_DETECTOR, \mbox{\hyperlink{namespace_b_n_o08x_private_types}{BNO08xPrivateTypes}}::\mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fad4482fb4fb6693a492584508691f2c77}{EVT\_GRP\_RPT\_TAP\_DETECTOR\_BIT}}, sync\_ctx)}
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\DoxyCodeLine{124 , \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_a2edee4386eaea86ef3d316f5840d7a2f}{stability\_classifier}}(}
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\DoxyCodeLine{125 SH2\_STABILITY\_CLASSIFIER, \mbox{\hyperlink{namespace_b_n_o08x_private_types}{BNO08xPrivateTypes}}::\mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fae138ae8422830982a470025d81c4be4b}{EVT\_GRP\_RPT\_STABILITY\_CLASSIFIER\_BIT}}, sync\_ctx)}
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\DoxyCodeLine{126 , \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_a9d7ff08c5a141c3d1ad3493423e7c49c}{shake\_detector}}(SH2\_SHAKE\_DETECTOR, \mbox{\hyperlink{namespace_b_n_o08x_private_types}{BNO08xPrivateTypes}}::\mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fad517d3ea5b1b259f20ed43e1fcf40e0c}{EVT\_GRP\_RPT\_SHAKE\_DETECTOR\_BIT}}, sync\_ctx)}
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\DoxyCodeLine{127 \{}
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\DoxyCodeLine{128 \}}
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\DoxyCodeLine{129 \} \mbox{\hyperlink{class_b_n_o08x_ae08bdaff01ecacf0f399ab289fdf0b99}{bno08x\_reports\_t}};}
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\DoxyCodeLine{130 }
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\DoxyCodeLine{131 \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t}{bno08x\_reports\_t}} \mbox{\hyperlink{class_b_n_o08x_ae1db7422ee9c2cac77382cc0a7aa430e}{rpt}};}
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\DoxyCodeLine{132 }
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\DoxyCodeLine{133 \textcolor{keyword}{private}:}
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\DoxyCodeLine{134 \textcolor{comment}{// data processing task}}
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\DoxyCodeLine{135 \textcolor{keyword}{static} \textcolor{keyword}{const} \textcolor{keyword}{constexpr} configSTACK\_DEPTH\_TYPE DATA\_PROC\_TASK\_SZ =}
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\DoxyCodeLine{136 CONFIG\_ESP32\_BNO08X\_DATA\_PROC\_TASK\_SZ; }
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\DoxyCodeLine{137 TaskHandle\_t data\_proc\_task\_hdl; }
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\DoxyCodeLine{138 \textcolor{keyword}{static} \textcolor{keywordtype}{void} data\_proc\_task\_trampoline(\textcolor{keywordtype}{void}* arg);}
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\DoxyCodeLine{139 \textcolor{keywordtype}{void} data\_proc\_task();}
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\DoxyCodeLine{140 }
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\DoxyCodeLine{141 \textcolor{comment}{// sh2 service task}}
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\DoxyCodeLine{142 \textcolor{keyword}{static} \textcolor{keyword}{const} \textcolor{keyword}{constexpr} configSTACK\_DEPTH\_TYPE SH2\_HAL\_SERVICE\_TASK\_SZ =}
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\DoxyCodeLine{143 CONFIG\_ESP32\_BNO08X\_SH2\_HAL\_SERVICE\_TASK\_SZ; }
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\DoxyCodeLine{144 TaskHandle\_t sh2\_HAL\_service\_task\_hdl; }
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\DoxyCodeLine{145 \textcolor{keyword}{static} \textcolor{keywordtype}{void} sh2\_HAL\_service\_task\_trampoline(\textcolor{keywordtype}{void}* arg);}
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\DoxyCodeLine{146 \textcolor{keywordtype}{void} sh2\_HAL\_service\_task();}
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\DoxyCodeLine{147 }
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\DoxyCodeLine{148 \textcolor{comment}{// callback task}}
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\DoxyCodeLine{149 \textcolor{keyword}{static} \textcolor{keyword}{const} \textcolor{keyword}{constexpr} configSTACK\_DEPTH\_TYPE CB\_TASK\_SZ =}
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\DoxyCodeLine{150 CONFIG\_ESP32\_BNO08X\_CB\_TASK\_SZ; }
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\DoxyCodeLine{151 TaskHandle\_t cb\_task\_hdl; }
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\DoxyCodeLine{152 \textcolor{keyword}{static} \textcolor{keywordtype}{void} cb\_task\_trampoline(\textcolor{keywordtype}{void}* arg);}
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\DoxyCodeLine{153 \textcolor{keywordtype}{void} cb\_task();}
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\DoxyCodeLine{154 }
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\DoxyCodeLine{155 \textcolor{keyword}{static} \textcolor{keyword}{const} \textcolor{keyword}{constexpr} BaseType\_t CB\_TASK\_AFFINITY = }
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\DoxyCodeLine{156 CONFIG\_ESP32\_BNO08X\_CB\_TASK\_AFFINITY < 0 ? tskNO\_AFFINITY : CONFIG\_ESP32\_BNO08X\_CB\_TASK\_AFFINITY ; }
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\DoxyCodeLine{157 \textcolor{keyword}{static} \textcolor{keyword}{const} \textcolor{keyword}{constexpr} UBaseType\_t CB\_TASK\_PRIORITY = CONFIG\_ESP32\_BNO08X\_CB\_TASK\_PRIORITY; }
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\DoxyCodeLine{158 }
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\DoxyCodeLine{159 \textcolor{keyword}{static} \textcolor{keyword}{const} \textcolor{keyword}{constexpr} BaseType\_t DATA\_PROC\_TASK\_AFFINITY = }
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\DoxyCodeLine{160 CONFIG\_ESP32\_BNO08X\_DATA\_PROC\_TASK\_AFFINITY < 0 ? tskNO\_AFFINITY : CONFIG\_ESP32\_BNO08X\_DATA\_PROC\_TASK\_AFFINITY; }
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\DoxyCodeLine{161 \textcolor{keyword}{static} \textcolor{keyword}{const} \textcolor{keyword}{constexpr} UBaseType\_t DATA\_PROC\_TASK\_PRIORITY = CONFIG\_ESP32\_BNO08X\_DATA\_PROC\_TASK\_PRIORITY; }
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\DoxyCodeLine{162 }
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\DoxyCodeLine{163 \textcolor{keyword}{static} \textcolor{keyword}{const} \textcolor{keyword}{constexpr} BaseType\_t SH2\_HAL\_SERVICE\_TASK\_AFFINITY = }
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\DoxyCodeLine{164 CONFIG\_ESP32\_BNO08X\_SH2\_HAL\_SERVICE\_TASK\_AFFINITY < 0 ? tskNO\_AFFINITY : CONFIG\_ESP32\_BNO08X\_SH2\_HAL\_SERVICE\_TASK\_AFFINITY; }
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\DoxyCodeLine{165 \textcolor{keyword}{static} \textcolor{keyword}{const} \textcolor{keyword}{constexpr} UBaseType\_t SH2\_HAL\_SERVICE\_TASK\_PRIORITY = CONFIG\_ESP32\_BNO08X\_SH2\_HAL\_SERVICE\_TASK\_PRIORITY; }
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\DoxyCodeLine{166 }
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\DoxyCodeLine{167 }
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\DoxyCodeLine{168 SemaphoreHandle\_t sem\_kill\_tasks; }
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\DoxyCodeLine{169 }
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\DoxyCodeLine{170 \textcolor{keywordtype}{void} lock\_sh2\_HAL();}
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\DoxyCodeLine{171 \textcolor{keywordtype}{void} unlock\_sh2\_HAL();}
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\DoxyCodeLine{172 \textcolor{keywordtype}{void} lock\_user\_data();}
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\DoxyCodeLine{173 \textcolor{keywordtype}{void} unlock\_user\_data();}
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\DoxyCodeLine{174 }
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\DoxyCodeLine{175 \textcolor{keywordtype}{void} handle\_sensor\_report(sh2\_SensorValue\_t* sensor\_val);}
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\DoxyCodeLine{176 \textcolor{keywordtype}{void} handle\_cb(uint8\_t rpt\_ID, \mbox{\hyperlink{class_b_n_o08x_cb_generic}{BNO08xCbGeneric}}* cb\_entry);}
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\DoxyCodeLine{177 }
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\DoxyCodeLine{178 esp\_err\_t init\_config\_args();}
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\DoxyCodeLine{179 esp\_err\_t init\_gpio();}
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\DoxyCodeLine{180 esp\_err\_t init\_gpio\_inputs();}
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\DoxyCodeLine{181 esp\_err\_t init\_gpio\_outputs();}
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\DoxyCodeLine{182 esp\_err\_t init\_hint\_isr();}
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\DoxyCodeLine{183 esp\_err\_t init\_spi();}
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\DoxyCodeLine{184 esp\_err\_t init\_tasks();}
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\DoxyCodeLine{185 esp\_err\_t init\_sh2\_HAL();}
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\DoxyCodeLine{186 }
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\DoxyCodeLine{187 esp\_err\_t deinit\_gpio();}
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\DoxyCodeLine{188 esp\_err\_t deinit\_gpio\_inputs();}
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\DoxyCodeLine{189 esp\_err\_t deinit\_gpio\_outputs();}
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\DoxyCodeLine{190 esp\_err\_t deinit\_hint\_isr();}
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\DoxyCodeLine{191 esp\_err\_t deinit\_spi();}
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\DoxyCodeLine{192 esp\_err\_t deinit\_tasks();}
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\DoxyCodeLine{193 esp\_err\_t deinit\_sh2\_HAL();}
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\DoxyCodeLine{194 }
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\DoxyCodeLine{195 esp\_err\_t wait\_for\_hint();}
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\DoxyCodeLine{196 esp\_err\_t wait\_for\_reset();}
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\DoxyCodeLine{197 }
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\DoxyCodeLine{198 \textcolor{keywordtype}{void} toggle\_reset();}
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\DoxyCodeLine{199 }
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\DoxyCodeLine{200 esp\_err\_t re\_enable\_reports();}
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\DoxyCodeLine{201 }
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\DoxyCodeLine{202 sh2\_Hal\_t sh2\_HAL; }
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\DoxyCodeLine{203 }
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\DoxyCodeLine{204 QueueHandle\_t}
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\DoxyCodeLine{205 queue\_rx\_sensor\_event; }
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\DoxyCodeLine{206 }
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\DoxyCodeLine{207 QueueHandle\_t queue\_cb\_report\_id; }
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\DoxyCodeLine{208 }
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\DoxyCodeLine{209 \mbox{\hyperlink{structbno08x__config__t}{bno08x\_config\_t}} imu\_config\{\}; }
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\DoxyCodeLine{210 spi\_bus\_config\_t bus\_config\{\}; }
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\DoxyCodeLine{211 spi\_device\_interface\_config\_t imu\_spi\_config\{\}; }
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\DoxyCodeLine{212 spi\_device\_handle\_t spi\_hdl\{\}; }
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\DoxyCodeLine{213 spi\_transaction\_t spi\_transaction\{\}; }
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\DoxyCodeLine{214 \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__init__status__t}{BNO08xPrivateTypes::bno08x\_init\_status\_t}}}
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\DoxyCodeLine{215 init\_status; }
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\DoxyCodeLine{216 \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08xPrivateTypes::bno08x\_sync\_ctx\_t}} sync\_ctx; }
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\DoxyCodeLine{217 sh2\_ProductIds\_t product\_IDs; }
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\DoxyCodeLine{218 }
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\DoxyCodeLine{219 \textcolor{comment}{// clang-\/format off}}
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\DoxyCodeLine{220 etl::map<uint8\_t, BNO08xRpt*, TOTAL\_RPT\_COUNT, etl::less<uint8\_t>> usr\_reports = }
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\DoxyCodeLine{221 \{}
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\DoxyCodeLine{222 \{SH2\_ACCELEROMETER, \&\mbox{\hyperlink{class_b_n_o08x_ae1db7422ee9c2cac77382cc0a7aa430e}{rpt}}.\mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_ab7939486c9ba7e7c70f82d2284fb6119}{accelerometer}}\},}
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\DoxyCodeLine{223 \{SH2\_LINEAR\_ACCELERATION, \&\mbox{\hyperlink{class_b_n_o08x_ae1db7422ee9c2cac77382cc0a7aa430e}{rpt}}.\mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_ac8114db28ee3f7be5578e52f48caa9c3}{linear\_accelerometer}}\}, }
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\DoxyCodeLine{224 \{SH2\_GRAVITY, \&\mbox{\hyperlink{class_b_n_o08x_ae1db7422ee9c2cac77382cc0a7aa430e}{rpt}}.\mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_af5245d5e4a6f7548a0c3a30af53b7355}{gravity}}\}, }
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\DoxyCodeLine{225 \{SH2\_MAGNETIC\_FIELD\_CALIBRATED, \&\mbox{\hyperlink{class_b_n_o08x_ae1db7422ee9c2cac77382cc0a7aa430e}{rpt}}.\mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_a03d6194225331df5326a97ec6d45b094}{cal\_magnetometer}}\},}
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\DoxyCodeLine{226 \{SH2\_MAGNETIC\_FIELD\_UNCALIBRATED, \&\mbox{\hyperlink{class_b_n_o08x_ae1db7422ee9c2cac77382cc0a7aa430e}{rpt}}.\mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_a5774fa69fc74264d40478a729aeb5ece}{uncal\_magnetometer}}\}, }
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\DoxyCodeLine{227 \{SH2\_GYROSCOPE\_CALIBRATED, \&\mbox{\hyperlink{class_b_n_o08x_ae1db7422ee9c2cac77382cc0a7aa430e}{rpt}}.\mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_adabe838126b5bbc83fc4f69bba78123e}{cal\_gyro}}\},}
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\DoxyCodeLine{228 \{SH2\_GYROSCOPE\_UNCALIBRATED, \&\mbox{\hyperlink{class_b_n_o08x_ae1db7422ee9c2cac77382cc0a7aa430e}{rpt}}.\mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_a6f1929843393c09c21b1f107a47c8fe3}{uncal\_gyro}}\}, }
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\DoxyCodeLine{229 \{SH2\_ROTATION\_VECTOR, \&\mbox{\hyperlink{class_b_n_o08x_ae1db7422ee9c2cac77382cc0a7aa430e}{rpt}}.\mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_aeab138f8ddfed3f4d6b855a73b7e2db5}{rv}}\}, }
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\DoxyCodeLine{230 \{SH2\_GAME\_ROTATION\_VECTOR, \&\mbox{\hyperlink{class_b_n_o08x_ae1db7422ee9c2cac77382cc0a7aa430e}{rpt}}.\mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_a7f33ac650137f5933ee1eab1ce936db6}{rv\_game}}\},}
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\DoxyCodeLine{231 \{SH2\_ARVR\_STABILIZED\_RV, \&\mbox{\hyperlink{class_b_n_o08x_ae1db7422ee9c2cac77382cc0a7aa430e}{rpt}}.\mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_a027c914e51da445148dc9b2735cc5fc9}{rv\_ARVR\_stabilized}}\}, }
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\DoxyCodeLine{232 \{SH2\_ARVR\_STABILIZED\_GRV, \&\mbox{\hyperlink{class_b_n_o08x_ae1db7422ee9c2cac77382cc0a7aa430e}{rpt}}.\mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_af550968d0e56f114b4afb20a5a442206}{rv\_ARVR\_stabilized\_game}}\},}
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\DoxyCodeLine{233 \{SH2\_GYRO\_INTEGRATED\_RV, \&\mbox{\hyperlink{class_b_n_o08x_ae1db7422ee9c2cac77382cc0a7aa430e}{rpt}}.\mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_a6937b5d9bf8af9344a5013e1c543ab42}{rv\_gyro\_integrated}}\}, }
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\DoxyCodeLine{234 \{SH2\_GEOMAGNETIC\_ROTATION\_VECTOR, \&\mbox{\hyperlink{class_b_n_o08x_ae1db7422ee9c2cac77382cc0a7aa430e}{rpt}}.\mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_a7e17ff7b9763ed040158813c69614a9f}{rv\_geomagnetic}}\}, }
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\DoxyCodeLine{235 \{SH2\_RAW\_GYROSCOPE, \&\mbox{\hyperlink{class_b_n_o08x_ae1db7422ee9c2cac77382cc0a7aa430e}{rpt}}.\mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_a13357e58bc926c2420ab41e4ffef4196}{raw\_gyro}}\},}
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\DoxyCodeLine{236 \{SH2\_RAW\_ACCELEROMETER, \&\mbox{\hyperlink{class_b_n_o08x_ae1db7422ee9c2cac77382cc0a7aa430e}{rpt}}.\mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_aa3a65aaf2adf05aa014b72c2d4485590}{raw\_accelerometer}}\}, }
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\DoxyCodeLine{237 \{SH2\_RAW\_MAGNETOMETER, \&\mbox{\hyperlink{class_b_n_o08x_ae1db7422ee9c2cac77382cc0a7aa430e}{rpt}}.\mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_aad8698945b261c0a871f2f409897b071}{raw\_magnetometer}}\}, }
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\DoxyCodeLine{238 \{SH2\_STEP\_COUNTER, \&\mbox{\hyperlink{class_b_n_o08x_ae1db7422ee9c2cac77382cc0a7aa430e}{rpt}}.\mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_aee9528ea57ab86ef29e10de9ecfefcf7}{step\_counter}}\},}
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\DoxyCodeLine{239 \{SH2\_PERSONAL\_ACTIVITY\_CLASSIFIER, \&\mbox{\hyperlink{class_b_n_o08x_ae1db7422ee9c2cac77382cc0a7aa430e}{rpt}}.\mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_a6475bdab7c49091f3086537efc00c12f}{activity\_classifier}}\}, }
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\DoxyCodeLine{240 \{SH2\_STABILITY\_CLASSIFIER, \&\mbox{\hyperlink{class_b_n_o08x_ae1db7422ee9c2cac77382cc0a7aa430e}{rpt}}.\mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_a2edee4386eaea86ef3d316f5840d7a2f}{stability\_classifier}}\},}
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\DoxyCodeLine{241 \{SH2\_SHAKE\_DETECTOR, \&\mbox{\hyperlink{class_b_n_o08x_ae1db7422ee9c2cac77382cc0a7aa430e}{rpt}}.\mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_a9d7ff08c5a141c3d1ad3493423e7c49c}{shake\_detector}}\}, }
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\DoxyCodeLine{242 \{SH2\_TAP\_DETECTOR, \&\mbox{\hyperlink{class_b_n_o08x_ae1db7422ee9c2cac77382cc0a7aa430e}{rpt}}.\mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_a0cabee7da991a7399d607373f09548a7}{tap\_detector}}\},}
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\DoxyCodeLine{243 }
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\DoxyCodeLine{244 \textcolor{comment}{// not implemented, see include/report for existing implementations to add your own}}
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\DoxyCodeLine{245 \{SH2\_PRESSURE, \textcolor{keyword}{nullptr}\}, \textcolor{comment}{// requires auxilary i2c sensor}}
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\DoxyCodeLine{246 \{SH2\_AMBIENT\_LIGHT, \textcolor{keyword}{nullptr}\}, \textcolor{comment}{// requires auxilary i2c sensor}}
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\DoxyCodeLine{247 \{SH2\_HUMIDITY, \textcolor{keyword}{nullptr}\}, \textcolor{comment}{// requires auxilary i2c sensor}}
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\DoxyCodeLine{248 \{SH2\_PROXIMITY, \textcolor{keyword}{nullptr}\}, \textcolor{comment}{// requires auxilary i2c sensor}}
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\DoxyCodeLine{249 \{SH2\_TEMPERATURE, \textcolor{keyword}{nullptr}\}, \textcolor{comment}{// requires auxilary i2c sensor}}
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\DoxyCodeLine{250 \{SH2\_HEART\_RATE\_MONITOR, \textcolor{keyword}{nullptr}\}, \textcolor{comment}{// requires auxilary i2c sensor}}
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\DoxyCodeLine{251 \{SH2\_STEP\_DETECTOR, \textcolor{keyword}{nullptr}\},}
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\DoxyCodeLine{252 \{SH2\_SIGNIFICANT\_MOTION, \textcolor{keyword}{nullptr}\},}
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\DoxyCodeLine{253 \{SH2\_FLIP\_DETECTOR, \textcolor{keyword}{nullptr}\},}
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\DoxyCodeLine{254 \{SH2\_PICKUP\_DETECTOR, \textcolor{keyword}{nullptr}\},}
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\DoxyCodeLine{255 \{SH2\_STABILITY\_DETECTOR, \textcolor{keyword}{nullptr}\},}
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\DoxyCodeLine{256 \{SH2\_SLEEP\_DETECTOR, \textcolor{keyword}{nullptr}\},}
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\DoxyCodeLine{257 \{SH2\_TILT\_DETECTOR, \textcolor{keyword}{nullptr}\},}
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\DoxyCodeLine{258 \{SH2\_POCKET\_DETECTOR, \textcolor{keyword}{nullptr}\},}
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\DoxyCodeLine{259 \{SH2\_CIRCLE\_DETECTOR, \textcolor{keyword}{nullptr}\},}
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\DoxyCodeLine{260 \{SH2\_IZRO\_MOTION\_REQUEST, \textcolor{keyword}{nullptr}\}}
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\DoxyCodeLine{261 \};}
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\DoxyCodeLine{262 \textcolor{comment}{// clang-\/format on}}
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\DoxyCodeLine{263 }
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\DoxyCodeLine{264 \textcolor{keyword}{static} \textcolor{keywordtype}{void} IRAM\_ATTR hint\_handler(\textcolor{keywordtype}{void}* arg);}
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\DoxyCodeLine{265 }
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\DoxyCodeLine{266 \textcolor{keyword}{static} \textcolor{keyword}{const} \textcolor{keyword}{constexpr} uint16\_t RX\_DATA\_LENGTH = 300U; }
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\DoxyCodeLine{267 }
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\DoxyCodeLine{268 \textcolor{keyword}{static} \textcolor{keyword}{const} \textcolor{keyword}{constexpr} TickType\_t HOST\_INT\_TIMEOUT\_DEFAULT\_MS =}
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\DoxyCodeLine{269 CONFIG\_ESP32\_BNO08X\_HINT\_TIMEOUT\_MS /}
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\DoxyCodeLine{270 portTICK\_PERIOD\_MS; }
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\DoxyCodeLine{271 }
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\DoxyCodeLine{272 \textcolor{keyword}{static} \textcolor{keyword}{const} \textcolor{keyword}{constexpr} TickType\_t DATA\_AVAILABLE\_TIMEOUT\_MS =}
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\DoxyCodeLine{273 CONFIG\_ESP32\_BNO08X\_DATA\_AVAILABLE\_TIMEOUT\_MS /}
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\DoxyCodeLine{274 portTICK\_PERIOD\_MS; }
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\DoxyCodeLine{275 }
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\DoxyCodeLine{276 \textcolor{keyword}{static} \textcolor{keyword}{const} \textcolor{keyword}{constexpr} TickType\_t HARD\_RESET\_DELAY\_MS =}
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\DoxyCodeLine{277 CONFIG\_ESP32\_BNO08X\_HARD\_RESET\_DELAY\_MS /}
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\DoxyCodeLine{278 portTICK\_PERIOD\_MS; }
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\DoxyCodeLine{279 }
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\DoxyCodeLine{280 \textcolor{keyword}{static} \textcolor{keyword}{const} \textcolor{keyword}{constexpr} uint32\_t SCLK\_MAX\_SPEED = 3000000UL; }
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\DoxyCodeLine{281 }
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\DoxyCodeLine{282 \textcolor{keyword}{static} \textcolor{keyword}{const} \textcolor{keyword}{constexpr} \textcolor{keywordtype}{char}* TAG = \textcolor{stringliteral}{"{}BNO08x"{}}; }
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\DoxyCodeLine{283 }
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\DoxyCodeLine{284 \textcolor{keyword}{friend} \textcolor{keyword}{class }\mbox{\hyperlink{class_b_n_o08x_s_h2_h_a_l}{BNO08xSH2HAL}};}
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\DoxyCodeLine{285 \textcolor{keyword}{friend} \textcolor{keyword}{class }\mbox{\hyperlink{class_b_n_o08x_test_helper}{BNO08xTestHelper}};}
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\DoxyCodeLine{286 \};}
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\end{DoxyCode}
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