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<div id="projectname">esp32_BNO08x<span id="projectnumber"> 1.4</span>
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<div id="projectbrief">C++ BNO08x IMU driver component for esp-idf.</div>
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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> </div>
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<div class="line"><a id="l00006" name="l00006"></a><span class="lineno"> 6</span><span class="preprocessor">#pragma once</span></div>
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<div class="line"><a id="l00007" name="l00007"></a><span class="lineno"> 7</span> </div>
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<div class="line"><a id="l00008" name="l00008"></a><span class="lineno"> 8</span><span class="comment">// etl includes</span></div>
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<div class="line"><a id="l00009" name="l00009"></a><span class="lineno"> 9</span><span class="preprocessor">#include <etl/vector.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 <etl/variant.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 <etl/map.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="comment">// esp-idf includes</span></div>
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<div class="line"><a id="l00014" name="l00014"></a><span class="lineno"> 14</span><span class="preprocessor">#include <driver/gpio.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 <driver/spi_common.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 <driver/spi_master.h></span></div>
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<div class="line"><a id="l00017" name="l00017"></a><span class="lineno"> 17</span><span class="preprocessor">#include <freertos/FreeRTOS.h></span></div>
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<div class="line"><a id="l00018" name="l00018"></a><span class="lineno"> 18</span><span class="preprocessor">#include <freertos/task.h></span></div>
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<div class="line"><a id="l00019" name="l00019"></a><span class="lineno"> 19</span><span class="preprocessor">#include <freertos/event_groups.h></span></div>
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<div class="line"><a id="l00020" name="l00020"></a><span class="lineno"> 20</span><span class="preprocessor">#include <freertos/queue.h></span></div>
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<div class="line"><a id="l00021" name="l00021"></a><span class="lineno"> 21</span><span class="comment">// in-house includes</span></div>
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<div class="line"><a id="l00022" name="l00022"></a><span class="lineno"> 22</span><span class="preprocessor">#include "<a class="code" href="_b_n_o08x_global_types_8hpp.html">BNO08xGlobalTypes.hpp</a>"</span></div>
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<div class="line"><a id="l00023" name="l00023"></a><span class="lineno"> 23</span><span class="preprocessor">#include "<a class="code" href="_b_n_o08x_private_types_8hpp.html">BNO08xPrivateTypes.hpp</a>"</span></div>
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<div class="line"><a id="l00024" name="l00024"></a><span class="lineno"> 24</span><span class="preprocessor">#include "<a class="code" href="_b_n_o08x_s_h2_h_a_l_8hpp.html">BNO08xSH2HAL.hpp</a>"</span></div>
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<div class="line"><a id="l00025" name="l00025"></a><span class="lineno"> 25</span><span class="preprocessor">#include "<a class="code" href="_b_n_o08x_reports_8hpp.html">BNO08xReports.hpp</a>"</span></div>
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<div class="line"><a id="l00026" name="l00026"></a><span class="lineno"> 26</span> </div>
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<div class="line"><a id="l00032" name="l00032"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html"> 32</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="l00033" name="l00033"></a><span class="lineno"> 33</span>{</div>
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<div class="line"><a id="l00034" name="l00034"></a><span class="lineno"> 34</span> <span class="keyword">public</span>:</div>
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<div class="line"><a id="l00035" name="l00035"></a><span class="lineno"> 35</span> <a class="code hl_function" href="class_b_n_o08x.html#ad12fb6cf310ad7a04a4e53809833bd61">BNO08x</a>(<a class="code hl_struct" href="structbno08x__config__t.html">bno08x_config_t</a> imu_config = <a class="code hl_typedef" href="_b_n_o08x_global_types_8hpp.html#a648bbdbf22731476890dd8da977d7503">bno08x_config_t</a>());</div>
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<div class="line"><a id="l00036" name="l00036"></a><span class="lineno"> 36</span> <a class="code hl_function" href="class_b_n_o08x.html#a687eee44d68e1bcabce04780d7eb5fb9">~BNO08x</a>();</div>
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<div class="line"><a id="l00037" name="l00037"></a><span class="lineno"> 37</span> </div>
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<div class="line"><a id="l00038" name="l00038"></a><span class="lineno"> 38</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="l00039" name="l00039"></a><span class="lineno"> 39</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="l00040" name="l00040"></a><span class="lineno"> 40</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="l00041" name="l00041"></a><span class="lineno"> 41</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="class_b_n_o08x.html#aebacbe092615cd083cf996b14402bba6">disable_all_reports</a>();</div>
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<div class="line"><a id="l00042" name="l00042"></a><span class="lineno"> 42</span> <a class="code hl_enumeration" href="_b_n_o08x_global_types_8hpp.html#afed71c9ed8a8563767f26282408ccee2">BNO08xResetReason</a> <a class="code hl_function" href="class_b_n_o08x.html#a96d47dd0f9aedfbe3f731f8ae76b2e85">get_reset_reason</a>();</div>
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<div class="line"><a id="l00043" name="l00043"></a><span class="lineno"> 43</span> </div>
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<div class="line"><a id="l00044" name="l00044"></a><span class="lineno"> 44</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="class_b_n_o08x.html#aaaa15b21ad98a3b161065c3d03ff62b5">on</a>();</div>
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<div class="line"><a id="l00045" name="l00045"></a><span class="lineno"> 45</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="class_b_n_o08x.html#a7c5774a48227e8e3346fa5df7dfa420c">sleep</a>();</div>
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<div class="line"><a id="l00046" name="l00046"></a><span class="lineno"> 46</span> </div>
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<div class="line"><a id="l00047" name="l00047"></a><span class="lineno"> 47</span> <span class="comment">// bool calibration_turntable_start(uint32_t period_us);</span></div>
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<div class="line"><a id="l00048" name="l00048"></a><span class="lineno"> 48</span> <span class="comment">// bool calibration_turntable_end(sh2_CalStatus_t& status);</span></div>
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<div class="line"><a id="l00049" name="l00049"></a><span class="lineno"> 49</span> </div>
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<div class="line"><a id="l00050" name="l00050"></a><span class="lineno"> 50</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="class_b_n_o08x.html#a90ea8e811d4bea28a356290d6f5caac5">dynamic_calibration_enable</a>(<a class="code hl_enumeration" href="_b_n_o08x_global_types_8hpp.html#a25947bbe6bc4a7c9edd7067fdce0e9cc">BNO08xCalSel</a> sensor);</div>
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<div class="line"><a id="l00051" name="l00051"></a><span class="lineno"> 51</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="class_b_n_o08x.html#a5c7498f6fa4bd43280dff1d322233b95">dynamic_calibration_disable</a>(<a class="code hl_enumeration" href="_b_n_o08x_global_types_8hpp.html#a25947bbe6bc4a7c9edd7067fdce0e9cc">BNO08xCalSel</a> sensor);</div>
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<div class="line"><a id="l00052" name="l00052"></a><span class="lineno"> 52</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="class_b_n_o08x.html#a4e8b49abd33e6e11f23b2ae345058b9b">dynamic_calibration_autosave_enable</a>();</div>
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<div class="line"><a id="l00053" name="l00053"></a><span class="lineno"> 53</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="class_b_n_o08x.html#a9387728c276734da27388dbea38b6b32">dynamic_calibration_autosave_disable</a>();</div>
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<div class="line"><a id="l00054" name="l00054"></a><span class="lineno"> 54</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="class_b_n_o08x.html#a85f1eca475ea0e6fbaff75c8a297d671">dynamic_calibration_save</a>();</div>
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<div class="line"><a id="l00055" name="l00055"></a><span class="lineno"> 55</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="class_b_n_o08x.html#a441681a5133b1a125b534925c9bc10f9">dynamic_calibration_data_clear_ram</a>();</div>
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<div class="line"><a id="l00056" name="l00056"></a><span class="lineno"> 56</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="class_b_n_o08x.html#a65a7175b6f6ad6ce687e4fd4cd4bc396">dynamic_calibration_data_delete</a>();</div>
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<div class="line"><a id="l00057" name="l00057"></a><span class="lineno"> 57</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="class_b_n_o08x.html#abcdba0d0e82db480d20ea4564511a276">dynamic_calibration_run_routine</a>(); </div>
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<div class="line"><a id="l00058" name="l00058"></a><span class="lineno"> 58</span> </div>
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<div class="line"><a id="l00059" name="l00059"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#ab8d5ebfc080838870e320494da3fa64d"> 59</a></span> <span class="keyword">constexpr</span> <span class="keyword">static</span> <span class="keywordtype">float</span> <a class="code hl_variable" href="class_b_n_o08x.html#ab8d5ebfc080838870e320494da3fa64d">SQRT2OVER2</a> = 0.7071067811865476f; <span class="comment">// sqrt(2)/2, used for setting system orientation</span></div>
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<div class="line"><a id="l00060" name="l00060"></a><span class="lineno"> 60</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="class_b_n_o08x.html#abba85271f3333b7f395ec55915c1d5f9">set_system_orientation</a>(<span class="keywordtype">float</span> w, <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="l00061" name="l00061"></a><span class="lineno"> 61</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="class_b_n_o08x.html#ad42c335827c7b09cd2e4ff303a0d3520">get_system_orientation</a>(<span class="keywordtype">float</span> &w, <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="l00062" name="l00062"></a><span class="lineno"> 62</span> </div>
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<div class="line"><a id="l00063" name="l00063"></a><span class="lineno"> 63</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="class_b_n_o08x.html#a138577792350b8d5cc48cbf46b34c4f3">get_frs</a>(<a class="code hl_enumeration" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8e">BNO08xFrsID</a> frs_ID, uint32_t (&data)[16], uint16_t& rx_data_sz);</div>
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<div class="line"><a id="l00064" name="l00064"></a><span class="lineno"> 64</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="class_b_n_o08x.html#aa616a645a4fc9054194fdbf76ec9c5b5">write_frs</a>(<a class="code hl_enumeration" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8e">BNO08xFrsID</a> frs_ID, uint32_t *data, <span class="keyword">const</span> uint16_t tx_data_sz);</div>
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<div class="line"><a id="l00065" name="l00065"></a><span class="lineno"> 65</span> sh2_ProductIds_t <a class="code hl_function" href="class_b_n_o08x.html#aa8fd64f60de86ff6b8562f90f3b09690">get_product_IDs</a>();</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="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="l00068" name="l00068"></a><span class="lineno"> 68</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="class_b_n_o08x.html#aadd44524e6d22c48916acd9518b63ec3">register_cb</a>(std::function<<span class="keywordtype">void</span>(<span class="keywordtype">void</span>)> cb_fxn);</div>
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<div class="line"><a id="l00069" name="l00069"></a><span class="lineno"> 69</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="class_b_n_o08x.html#aadd44524e6d22c48916acd9518b63ec3">register_cb</a>(std::function<<span class="keywordtype">void</span>(uint8_t report_ID)> cb_fxn);</div>
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<div class="line"><a id="l00070" name="l00070"></a><span class="lineno"> 70</span> </div>
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<div class="line"><a id="l00071" name="l00071"></a><span class="lineno"> 71</span> <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x.html#a7441f7f2477c152deca17054041bf3e6">print_product_ids</a>();</div>
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<div class="line"><a id="l00072" name="l00072"></a><span class="lineno"> 72</span> <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x.html#aae4512fa4768becf0e3919a0e0ec34d8">print_system_orientation</a>();</div>
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<div class="line"><a id="l00073" name="l00073"></a><span class="lineno"> 73</span> </div>
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<div class="line"><a id="l00075" name="l00075"></a><span class="lineno"><a class="line" href="struct_b_n_o08x_1_1bno08x__reports__t.html"> 75</a></span> <span class="keyword">typedef</span> <span class="keyword">struct </span><span class="keyword">alignas</span>(4) <a class="code hl_struct" href="struct_b_n_o08x_1_1bno08x__reports__t.html">bno08x_reports_t</a></div>
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<div class="line"><a id="l00076" name="l00076"></a><span class="lineno"> 76</span> {</div>
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<div class="line"><a id="l00077" name="l00077"></a><span class="lineno"><a class="line" href="struct_b_n_o08x_1_1bno08x__reports__t.html#a6937b5d9bf8af9344a5013e1c543ab42"> 77</a></span> <a class="code hl_class" href="class_b_n_o08x_rpt_i_gyro_r_v.html">BNO08xRptIGyroRV</a> <a class="code hl_variable" href="struct_b_n_o08x_1_1bno08x__reports__t.html#a6937b5d9bf8af9344a5013e1c543ab42">rv_gyro_integrated</a>;</div>
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<div class="line"><a id="l00078" name="l00078"></a><span class="lineno"><a class="line" href="struct_b_n_o08x_1_1bno08x__reports__t.html#a5774fa69fc74264d40478a729aeb5ece"> 78</a></span> <a class="code hl_class" href="class_b_n_o08x_rpt_uncal_magnetometer.html">BNO08xRptUncalMagnetometer</a> <a class="code hl_variable" href="struct_b_n_o08x_1_1bno08x__reports__t.html#a5774fa69fc74264d40478a729aeb5ece">uncal_magnetometer</a>;</div>
|
|
<div class="line"><a id="l00079" name="l00079"></a><span class="lineno"><a class="line" href="struct_b_n_o08x_1_1bno08x__reports__t.html#a6f1929843393c09c21b1f107a47c8fe3"> 79</a></span> <a class="code hl_class" href="class_b_n_o08x_rpt_uncal_gyro.html">BNO08xRptUncalGyro</a> <a class="code hl_variable" href="struct_b_n_o08x_1_1bno08x__reports__t.html#a6f1929843393c09c21b1f107a47c8fe3">uncal_gyro</a>;</div>
|
|
<div class="line"><a id="l00080" name="l00080"></a><span class="lineno"><a class="line" href="struct_b_n_o08x_1_1bno08x__reports__t.html#aeab138f8ddfed3f4d6b855a73b7e2db5"> 80</a></span> <a class="code hl_class" href="class_b_n_o08x_rpt_r_v.html">BNO08xRptRV</a> <a class="code hl_variable" href="struct_b_n_o08x_1_1bno08x__reports__t.html#aeab138f8ddfed3f4d6b855a73b7e2db5">rv</a>;</div>
|
|
<div class="line"><a id="l00081" name="l00081"></a><span class="lineno"><a class="line" href="struct_b_n_o08x_1_1bno08x__reports__t.html#a7f33ac650137f5933ee1eab1ce936db6"> 81</a></span> <a class="code hl_class" href="class_b_n_o08x_rpt_game_r_v.html">BNO08xRptGameRV</a> <a class="code hl_variable" href="struct_b_n_o08x_1_1bno08x__reports__t.html#a7f33ac650137f5933ee1eab1ce936db6">rv_game</a>;</div>
|
|
<div class="line"><a id="l00082" name="l00082"></a><span class="lineno"><a class="line" href="struct_b_n_o08x_1_1bno08x__reports__t.html#a027c914e51da445148dc9b2735cc5fc9"> 82</a></span> <a class="code hl_class" href="class_b_n_o08x_rpt_a_r_v_r_stabilized_r_v.html">BNO08xRptARVRStabilizedRV</a> <a class="code hl_variable" href="struct_b_n_o08x_1_1bno08x__reports__t.html#a027c914e51da445148dc9b2735cc5fc9">rv_ARVR_stabilized</a>;</div>
|
|
<div class="line"><a id="l00083" name="l00083"></a><span class="lineno"><a class="line" href="struct_b_n_o08x_1_1bno08x__reports__t.html#af550968d0e56f114b4afb20a5a442206"> 83</a></span> <a class="code hl_class" href="class_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v.html">BNO08xRptARVRStabilizedGameRV</a> <a class="code hl_variable" href="struct_b_n_o08x_1_1bno08x__reports__t.html#af550968d0e56f114b4afb20a5a442206">rv_ARVR_stabilized_game</a>;</div>
|
|
<div class="line"><a id="l00084" name="l00084"></a><span class="lineno"><a class="line" href="struct_b_n_o08x_1_1bno08x__reports__t.html#a7e17ff7b9763ed040158813c69614a9f"> 84</a></span> <a class="code hl_class" href="class_b_n_o08x_rpt_r_v_geomag.html">BNO08xRptRVGeomag</a> <a class="code hl_variable" href="struct_b_n_o08x_1_1bno08x__reports__t.html#a7e17ff7b9763ed040158813c69614a9f">rv_geomagnetic</a>;</div>
|
|
<div class="line"><a id="l00085" name="l00085"></a><span class="lineno"><a class="line" href="struct_b_n_o08x_1_1bno08x__reports__t.html#a6475bdab7c49091f3086537efc00c12f"> 85</a></span> <a class="code hl_class" href="class_b_n_o08x_rpt_activity_classifier.html">BNO08xRptActivityClassifier</a> <a class="code hl_variable" href="struct_b_n_o08x_1_1bno08x__reports__t.html#a6475bdab7c49091f3086537efc00c12f">activity_classifier</a>;</div>
|
|
<div class="line"><a id="l00086" name="l00086"></a><span class="lineno"><a class="line" href="struct_b_n_o08x_1_1bno08x__reports__t.html#ab7939486c9ba7e7c70f82d2284fb6119"> 86</a></span> <a class="code hl_class" href="class_b_n_o08x_rpt_acceleration.html">BNO08xRptAcceleration</a> <a class="code hl_variable" href="struct_b_n_o08x_1_1bno08x__reports__t.html#ab7939486c9ba7e7c70f82d2284fb6119">accelerometer</a>;</div>
|
|
<div class="line"><a id="l00087" name="l00087"></a><span class="lineno"><a class="line" href="struct_b_n_o08x_1_1bno08x__reports__t.html#ac8114db28ee3f7be5578e52f48caa9c3"> 87</a></span> <a class="code hl_class" href="class_b_n_o08x_rpt_linear_acceleration.html">BNO08xRptLinearAcceleration</a> <a class="code hl_variable" href="struct_b_n_o08x_1_1bno08x__reports__t.html#ac8114db28ee3f7be5578e52f48caa9c3">linear_accelerometer</a>;</div>
|
|
<div class="line"><a id="l00088" name="l00088"></a><span class="lineno"><a class="line" href="struct_b_n_o08x_1_1bno08x__reports__t.html#af5245d5e4a6f7548a0c3a30af53b7355"> 88</a></span> <a class="code hl_class" href="class_b_n_o08x_rpt_gravity.html">BNO08xRptGravity</a> <a class="code hl_variable" href="struct_b_n_o08x_1_1bno08x__reports__t.html#af5245d5e4a6f7548a0c3a30af53b7355">gravity</a>;</div>
|
|
<div class="line"><a id="l00089" name="l00089"></a><span class="lineno"><a class="line" href="struct_b_n_o08x_1_1bno08x__reports__t.html#a03d6194225331df5326a97ec6d45b094"> 89</a></span> <a class="code hl_class" href="class_b_n_o08x_rpt_cal_magnetometer.html">BNO08xRptCalMagnetometer</a> <a class="code hl_variable" href="struct_b_n_o08x_1_1bno08x__reports__t.html#a03d6194225331df5326a97ec6d45b094">cal_magnetometer</a>;</div>
|
|
<div class="line"><a id="l00090" name="l00090"></a><span class="lineno"><a class="line" href="struct_b_n_o08x_1_1bno08x__reports__t.html#adabe838126b5bbc83fc4f69bba78123e"> 90</a></span> <a class="code hl_class" href="class_b_n_o08x_rpt_cal_gyro.html">BNO08xRptCalGyro</a> <a class="code hl_variable" href="struct_b_n_o08x_1_1bno08x__reports__t.html#adabe838126b5bbc83fc4f69bba78123e">cal_gyro</a>;</div>
|
|
<div class="line"><a id="l00091" name="l00091"></a><span class="lineno"><a class="line" href="struct_b_n_o08x_1_1bno08x__reports__t.html#a13357e58bc926c2420ab41e4ffef4196"> 91</a></span> <a class="code hl_class" href="class_b_n_o08x_rpt_raw_m_e_m_s_gyro.html">BNO08xRptRawMEMSGyro</a> <a class="code hl_variable" href="struct_b_n_o08x_1_1bno08x__reports__t.html#a13357e58bc926c2420ab41e4ffef4196">raw_gyro</a>;</div>
|
|
<div class="line"><a id="l00092" name="l00092"></a><span class="lineno"><a class="line" href="struct_b_n_o08x_1_1bno08x__reports__t.html#aa3a65aaf2adf05aa014b72c2d4485590"> 92</a></span> <a class="code hl_class" href="class_b_n_o08x_rpt_raw_m_e_m_s_accelerometer.html">BNO08xRptRawMEMSAccelerometer</a> <a class="code hl_variable" href="struct_b_n_o08x_1_1bno08x__reports__t.html#aa3a65aaf2adf05aa014b72c2d4485590">raw_accelerometer</a>;</div>
|
|
<div class="line"><a id="l00093" name="l00093"></a><span class="lineno"><a class="line" href="struct_b_n_o08x_1_1bno08x__reports__t.html#aad8698945b261c0a871f2f409897b071"> 93</a></span> <a class="code hl_class" href="class_b_n_o08x_rpt_raw_m_e_m_s_magnetometer.html">BNO08xRptRawMEMSMagnetometer</a> <a class="code hl_variable" href="struct_b_n_o08x_1_1bno08x__reports__t.html#aad8698945b261c0a871f2f409897b071">raw_magnetometer</a>;</div>
|
|
<div class="line"><a id="l00094" name="l00094"></a><span class="lineno"><a class="line" href="struct_b_n_o08x_1_1bno08x__reports__t.html#aee9528ea57ab86ef29e10de9ecfefcf7"> 94</a></span> <a class="code hl_class" href="class_b_n_o08x_rpt_step_counter.html">BNO08xRptStepCounter</a> <a class="code hl_variable" href="struct_b_n_o08x_1_1bno08x__reports__t.html#aee9528ea57ab86ef29e10de9ecfefcf7">step_counter</a>;</div>
|
|
<div class="line"><a id="l00095" name="l00095"></a><span class="lineno"><a class="line" href="struct_b_n_o08x_1_1bno08x__reports__t.html#a0cabee7da991a7399d607373f09548a7"> 95</a></span> <a class="code hl_class" href="class_b_n_o08x_rpt_tap_detector.html">BNO08xRptTapDetector</a> <a class="code hl_variable" href="struct_b_n_o08x_1_1bno08x__reports__t.html#a0cabee7da991a7399d607373f09548a7">tap_detector</a>;</div>
|
|
<div class="line"><a id="l00096" name="l00096"></a><span class="lineno"><a class="line" href="struct_b_n_o08x_1_1bno08x__reports__t.html#a2edee4386eaea86ef3d316f5840d7a2f"> 96</a></span> <a class="code hl_class" href="class_b_n_o08x_rpt_stability_classifier.html">BNO08xRptStabilityClassifier</a> <a class="code hl_variable" href="struct_b_n_o08x_1_1bno08x__reports__t.html#a2edee4386eaea86ef3d316f5840d7a2f">stability_classifier</a>;</div>
|
|
<div class="line"><a id="l00097" name="l00097"></a><span class="lineno"><a class="line" href="struct_b_n_o08x_1_1bno08x__reports__t.html#a9d7ff08c5a141c3d1ad3493423e7c49c"> 97</a></span> <a class="code hl_class" href="class_b_n_o08x_rpt_shake_detector.html">BNO08xRptShakeDetector</a> <a class="code hl_variable" href="struct_b_n_o08x_1_1bno08x__reports__t.html#a9d7ff08c5a141c3d1ad3493423e7c49c">shake_detector</a>;</div>
|
|
<div class="line"><a id="l00098" name="l00098"></a><span class="lineno"> 98</span> </div>
|
|
<div class="line"><a id="l00099" name="l00099"></a><span class="lineno"><a class="line" href="struct_b_n_o08x_1_1bno08x__reports__t.html#aad0b1641e9c31927c33d0f69c174f9cb"> 99</a></span> <a class="code hl_function" href="struct_b_n_o08x_1_1bno08x__reports__t.html#aad0b1641e9c31927c33d0f69c174f9cb">bno08x_reports_t</a>(<a class="code hl_struct" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html">BNO08xPrivateTypes::bno08x_sync_ctx_t</a>* sync_ctx)</div>
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|
<div class="line"><a id="l00100" name="l00100"></a><span class="lineno"> 100</span> : <a class="code hl_variable" href="struct_b_n_o08x_1_1bno08x__reports__t.html#a6937b5d9bf8af9344a5013e1c543ab42">rv_gyro_integrated</a>(SH2_GYRO_INTEGRATED_RV, <a class="code hl_namespace" href="namespace_b_n_o08x_private_types.html">BNO08xPrivateTypes</a>::<a class="code hl_enumvalue" href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fa6835a63fb08379608cda0a108098aac7">EVT_GRP_RPT_GYRO_INTEGRATED_RV_BIT</a>, sync_ctx)</div>
|
|
<div class="line"><a id="l00101" name="l00101"></a><span class="lineno"> 101</span> , <a class="code hl_variable" href="struct_b_n_o08x_1_1bno08x__reports__t.html#a5774fa69fc74264d40478a729aeb5ece">uncal_magnetometer</a>(</div>
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|
<div class="line"><a id="l00102" name="l00102"></a><span class="lineno"> 102</span> SH2_MAGNETIC_FIELD_UNCALIBRATED, <a class="code hl_namespace" href="namespace_b_n_o08x_private_types.html">BNO08xPrivateTypes</a>::<a class="code hl_enumvalue" href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2faa54d15cc17179a6840b9ec3f4e0038cb">EVT_GRP_RPT_UNCAL_MAGNETOMETER_BIT</a>, sync_ctx)</div>
|
|
<div class="line"><a id="l00103" name="l00103"></a><span class="lineno"> 103</span> , <a class="code hl_variable" href="struct_b_n_o08x_1_1bno08x__reports__t.html#a6f1929843393c09c21b1f107a47c8fe3">uncal_gyro</a>(SH2_GYROSCOPE_UNCALIBRATED, <a class="code hl_namespace" href="namespace_b_n_o08x_private_types.html">BNO08xPrivateTypes</a>::<a class="code hl_enumvalue" href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fa591c062247280798af0e40d6141614c6">EVT_GRP_RPT_UNCAL_GYRO_BIT</a>, sync_ctx)</div>
|
|
<div class="line"><a id="l00104" name="l00104"></a><span class="lineno"> 104</span> , <a class="code hl_variable" href="struct_b_n_o08x_1_1bno08x__reports__t.html#aeab138f8ddfed3f4d6b855a73b7e2db5">rv</a>(SH2_ROTATION_VECTOR, <a class="code hl_namespace" href="namespace_b_n_o08x_private_types.html">BNO08xPrivateTypes</a>::<a class="code hl_enumvalue" href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fac0ff3fde600aac814ad76a4769515ae8">EVT_GRP_RPT_RV_BIT</a>, sync_ctx)</div>
|
|
<div class="line"><a id="l00105" name="l00105"></a><span class="lineno"> 105</span> , <a class="code hl_variable" href="struct_b_n_o08x_1_1bno08x__reports__t.html#a7f33ac650137f5933ee1eab1ce936db6">rv_game</a>(SH2_GAME_ROTATION_VECTOR, <a class="code hl_namespace" href="namespace_b_n_o08x_private_types.html">BNO08xPrivateTypes</a>::<a class="code hl_enumvalue" href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fad39283f98adf7242b3b3ccf847c150cd">EVT_GRP_RPT_RV_GAME_BIT</a>, sync_ctx)</div>
|
|
<div class="line"><a id="l00106" name="l00106"></a><span class="lineno"> 106</span> , <a class="code hl_variable" href="struct_b_n_o08x_1_1bno08x__reports__t.html#a027c914e51da445148dc9b2735cc5fc9">rv_ARVR_stabilized</a>(SH2_ARVR_STABILIZED_RV, <a class="code hl_namespace" href="namespace_b_n_o08x_private_types.html">BNO08xPrivateTypes</a>::<a class="code hl_enumvalue" href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fab5d141bdda220e3fa0bd9eb0fe3f31b5">EVT_GRP_RPT_RV_ARVR_S_BIT</a>, sync_ctx)</div>
|
|
<div class="line"><a id="l00107" name="l00107"></a><span class="lineno"> 107</span> , <a class="code hl_variable" href="struct_b_n_o08x_1_1bno08x__reports__t.html#af550968d0e56f114b4afb20a5a442206">rv_ARVR_stabilized_game</a>(</div>
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|
<div class="line"><a id="l00108" name="l00108"></a><span class="lineno"> 108</span> SH2_ARVR_STABILIZED_GRV, <a class="code hl_namespace" href="namespace_b_n_o08x_private_types.html">BNO08xPrivateTypes</a>::<a class="code hl_enumvalue" href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fab77588c26929a2d8dd8eeea883b905ca">EVT_GRP_RPT_RV_ARVR_S_GAME_BIT</a>, sync_ctx)</div>
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|
<div class="line"><a id="l00109" name="l00109"></a><span class="lineno"> 109</span> , <a class="code hl_variable" href="struct_b_n_o08x_1_1bno08x__reports__t.html#a7e17ff7b9763ed040158813c69614a9f">rv_geomagnetic</a>(SH2_GEOMAGNETIC_ROTATION_VECTOR, <a class="code hl_namespace" href="namespace_b_n_o08x_private_types.html">BNO08xPrivateTypes</a>::<a class="code hl_enumvalue" href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fa728314f4744fc408c6b153e8fbb3feb4">EVT_GRP_RPT_GEOMAG_RV_BIT</a>, sync_ctx)</div>
|
|
<div class="line"><a id="l00110" name="l00110"></a><span class="lineno"> 110</span> , <a class="code hl_variable" href="struct_b_n_o08x_1_1bno08x__reports__t.html#a6475bdab7c49091f3086537efc00c12f">activity_classifier</a>(</div>
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|
<div class="line"><a id="l00111" name="l00111"></a><span class="lineno"> 111</span> SH2_PERSONAL_ACTIVITY_CLASSIFIER, <a class="code hl_namespace" href="namespace_b_n_o08x_private_types.html">BNO08xPrivateTypes</a>::<a class="code hl_enumvalue" href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fa94cddd1837a77bba5644543b1ad8b9e7">EVT_GRP_RPT_ACTIVITY_CLASSIFIER_BIT</a>, sync_ctx)</div>
|
|
<div class="line"><a id="l00112" name="l00112"></a><span class="lineno"> 112</span> , <a class="code hl_variable" href="struct_b_n_o08x_1_1bno08x__reports__t.html#ab7939486c9ba7e7c70f82d2284fb6119">accelerometer</a>(SH2_ACCELEROMETER, <a class="code hl_namespace" href="namespace_b_n_o08x_private_types.html">BNO08xPrivateTypes</a>::<a class="code hl_enumvalue" href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2faa5b9ffe097d1eb83a6a5a13871da0891">EVT_GRP_RPT_ACCELEROMETER_BIT</a>, sync_ctx)</div>
|
|
<div class="line"><a id="l00113" name="l00113"></a><span class="lineno"> 113</span> , <a class="code hl_variable" href="struct_b_n_o08x_1_1bno08x__reports__t.html#ac8114db28ee3f7be5578e52f48caa9c3">linear_accelerometer</a>(</div>
|
|
<div class="line"><a id="l00114" name="l00114"></a><span class="lineno"> 114</span> SH2_LINEAR_ACCELERATION, <a class="code hl_namespace" href="namespace_b_n_o08x_private_types.html">BNO08xPrivateTypes</a>::<a class="code hl_enumvalue" href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fa68851003c2b7df34c3acf882251c60e2">EVT_GRP_RPT_LINEAR_ACCELEROMETER_BIT</a>, sync_ctx)</div>
|
|
<div class="line"><a id="l00115" name="l00115"></a><span class="lineno"> 115</span> , <a class="code hl_variable" href="struct_b_n_o08x_1_1bno08x__reports__t.html#af5245d5e4a6f7548a0c3a30af53b7355">gravity</a>(SH2_GRAVITY, <a class="code hl_namespace" href="namespace_b_n_o08x_private_types.html">BNO08xPrivateTypes</a>::<a class="code hl_enumvalue" href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fabd9e62157a0bc3dc38c3473d7bc2799f">EVT_GRP_RPT_GRAVITY_BIT</a>, sync_ctx)</div>
|
|
<div class="line"><a id="l00116" name="l00116"></a><span class="lineno"> 116</span> , <a class="code hl_variable" href="struct_b_n_o08x_1_1bno08x__reports__t.html#a03d6194225331df5326a97ec6d45b094">cal_magnetometer</a>(</div>
|
|
<div class="line"><a id="l00117" name="l00117"></a><span class="lineno"> 117</span> SH2_MAGNETIC_FIELD_CALIBRATED, <a class="code hl_namespace" href="namespace_b_n_o08x_private_types.html">BNO08xPrivateTypes</a>::<a class="code hl_enumvalue" href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fac1d15dddeab169b213c719e6b0fef32d">EVT_GRP_RPT_CAL_MAGNETOMETER_BIT</a>, sync_ctx)</div>
|
|
<div class="line"><a id="l00118" name="l00118"></a><span class="lineno"> 118</span> , <a class="code hl_variable" href="struct_b_n_o08x_1_1bno08x__reports__t.html#adabe838126b5bbc83fc4f69bba78123e">cal_gyro</a>(SH2_GYROSCOPE_CALIBRATED, <a class="code hl_namespace" href="namespace_b_n_o08x_private_types.html">BNO08xPrivateTypes</a>::<a class="code hl_enumvalue" href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2faeb1961d7852ea305443610b2521aaea7">EVT_GRP_RPT_CAL_GYRO_BIT</a>, sync_ctx)</div>
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|
<div class="line"><a id="l00119" name="l00119"></a><span class="lineno"> 119</span> , <a class="code hl_variable" href="struct_b_n_o08x_1_1bno08x__reports__t.html#a13357e58bc926c2420ab41e4ffef4196">raw_gyro</a>(SH2_RAW_GYROSCOPE, <a class="code hl_namespace" href="namespace_b_n_o08x_private_types.html">BNO08xPrivateTypes</a>::<a class="code hl_enumvalue" href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fadcfcdea69099869ebf7f246ff5b7e8bb">EVT_GRP_RPT_RAW_GYRO_BIT</a>, sync_ctx)</div>
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|
<div class="line"><a id="l00120" name="l00120"></a><span class="lineno"> 120</span> , <a class="code hl_variable" href="struct_b_n_o08x_1_1bno08x__reports__t.html#aa3a65aaf2adf05aa014b72c2d4485590">raw_accelerometer</a>(SH2_RAW_ACCELEROMETER, <a class="code hl_namespace" href="namespace_b_n_o08x_private_types.html">BNO08xPrivateTypes</a>::<a class="code hl_enumvalue" href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fab7e6b36da354702880ff9118d45b6af2">EVT_GRP_RPT_RAW_ACCELEROMETER_BIT</a>, sync_ctx)</div>
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|
<div class="line"><a id="l00121" name="l00121"></a><span class="lineno"> 121</span> , <a class="code hl_variable" href="struct_b_n_o08x_1_1bno08x__reports__t.html#aad8698945b261c0a871f2f409897b071">raw_magnetometer</a>(SH2_RAW_MAGNETOMETER, <a class="code hl_namespace" href="namespace_b_n_o08x_private_types.html">BNO08xPrivateTypes</a>::<a class="code hl_enumvalue" href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fab57a2ea711bebb4d4e031a0b449160c7">EVT_GRP_RPT_RAW_MAGNETOMETER_BIT</a>, sync_ctx)</div>
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|
<div class="line"><a id="l00122" name="l00122"></a><span class="lineno"> 122</span> , <a class="code hl_variable" href="struct_b_n_o08x_1_1bno08x__reports__t.html#aee9528ea57ab86ef29e10de9ecfefcf7">step_counter</a>(SH2_STEP_COUNTER, <a class="code hl_namespace" href="namespace_b_n_o08x_private_types.html">BNO08xPrivateTypes</a>::<a class="code hl_enumvalue" href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fafb8f448edba339f37fdf794bd891f903">EVT_GRP_RPT_STEP_COUNTER_BIT</a>, sync_ctx)</div>
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<div class="line"><a id="l00123" name="l00123"></a><span class="lineno"> 123</span> , <a class="code hl_variable" href="struct_b_n_o08x_1_1bno08x__reports__t.html#a0cabee7da991a7399d607373f09548a7">tap_detector</a>(SH2_TAP_DETECTOR, <a class="code hl_namespace" href="namespace_b_n_o08x_private_types.html">BNO08xPrivateTypes</a>::<a class="code hl_enumvalue" href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fad4482fb4fb6693a492584508691f2c77">EVT_GRP_RPT_TAP_DETECTOR_BIT</a>, sync_ctx)</div>
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<div class="line"><a id="l00124" name="l00124"></a><span class="lineno"> 124</span> , <a class="code hl_variable" href="struct_b_n_o08x_1_1bno08x__reports__t.html#a2edee4386eaea86ef3d316f5840d7a2f">stability_classifier</a>(</div>
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<div class="line"><a id="l00125" name="l00125"></a><span class="lineno"> 125</span> SH2_STABILITY_CLASSIFIER, <a class="code hl_namespace" href="namespace_b_n_o08x_private_types.html">BNO08xPrivateTypes</a>::<a class="code hl_enumvalue" href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fae138ae8422830982a470025d81c4be4b">EVT_GRP_RPT_STABILITY_CLASSIFIER_BIT</a>, sync_ctx)</div>
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<div class="line"><a id="l00126" name="l00126"></a><span class="lineno"> 126</span> , <a class="code hl_variable" href="struct_b_n_o08x_1_1bno08x__reports__t.html#a9d7ff08c5a141c3d1ad3493423e7c49c">shake_detector</a>(SH2_SHAKE_DETECTOR, <a class="code hl_namespace" href="namespace_b_n_o08x_private_types.html">BNO08xPrivateTypes</a>::<a class="code hl_enumvalue" href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fad517d3ea5b1b259f20ed43e1fcf40e0c">EVT_GRP_RPT_SHAKE_DETECTOR_BIT</a>, sync_ctx)</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> }</div>
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<div class="line"><a id="l00129" name="l00129"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#ae08bdaff01ecacf0f399ab289fdf0b99"> 129</a></span> } <a class="code hl_typedef" href="class_b_n_o08x.html#ae08bdaff01ecacf0f399ab289fdf0b99">bno08x_reports_t</a>;</div>
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<div class="line"><a id="l00130" name="l00130"></a><span class="lineno"> 130</span> </div>
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<div class="line"><a id="l00131" name="l00131"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#ae1db7422ee9c2cac77382cc0a7aa430e"> 131</a></span> <a class="code hl_struct" href="struct_b_n_o08x_1_1bno08x__reports__t.html">bno08x_reports_t</a> <a class="code hl_variable" href="class_b_n_o08x.html#ae1db7422ee9c2cac77382cc0a7aa430e">rpt</a>;</div>
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<div class="line"><a id="l00132" name="l00132"></a><span class="lineno"> 132</span> </div>
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<div class="line"><a id="l00133" name="l00133"></a><span class="lineno"> 133</span> <span class="keyword">private</span>:</div>
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<div class="line"><a id="l00134" name="l00134"></a><span class="lineno"> 134</span> <span class="comment">// data processing task</span></div>
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<div class="line"><a id="l00135" name="l00135"></a><span class="lineno"> 135</span> <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> configSTACK_DEPTH_TYPE DATA_PROC_TASK_SZ =</div>
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<div class="line"><a id="l00136" name="l00136"></a><span class="lineno"> 136</span> CONFIG_ESP32_BNO08X_DATA_PROC_TASK_SZ; </div>
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<div class="line"><a id="l00137" name="l00137"></a><span class="lineno"> 137</span> TaskHandle_t data_proc_task_hdl; </div>
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<div class="line"><a id="l00138" name="l00138"></a><span class="lineno"> 138</span> <span class="keyword">static</span> <span class="keywordtype">void</span> data_proc_task_trampoline(<span class="keywordtype">void</span>* arg);</div>
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<div class="line"><a id="l00139" name="l00139"></a><span class="lineno"> 139</span> <span class="keywordtype">void</span> data_proc_task();</div>
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<div class="line"><a id="l00140" name="l00140"></a><span class="lineno"> 140</span> </div>
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<div class="line"><a id="l00141" name="l00141"></a><span class="lineno"> 141</span> <span class="comment">// sh2 service task</span></div>
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<div class="line"><a id="l00142" name="l00142"></a><span class="lineno"> 142</span> <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> configSTACK_DEPTH_TYPE SH2_HAL_SERVICE_TASK_SZ =</div>
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<div class="line"><a id="l00143" name="l00143"></a><span class="lineno"> 143</span> CONFIG_ESP32_BNO08X_SH2_HAL_SERVICE_TASK_SZ; </div>
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<div class="line"><a id="l00144" name="l00144"></a><span class="lineno"> 144</span> TaskHandle_t sh2_HAL_service_task_hdl; </div>
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<div class="line"><a id="l00145" name="l00145"></a><span class="lineno"> 145</span> <span class="keyword">static</span> <span class="keywordtype">void</span> sh2_HAL_service_task_trampoline(<span class="keywordtype">void</span>* arg);</div>
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<div class="line"><a id="l00146" name="l00146"></a><span class="lineno"> 146</span> <span class="keywordtype">void</span> sh2_HAL_service_task();</div>
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<div class="line"><a id="l00147" name="l00147"></a><span class="lineno"> 147</span> </div>
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<div class="line"><a id="l00148" name="l00148"></a><span class="lineno"> 148</span> <span class="comment">// callback task</span></div>
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<div class="line"><a id="l00149" name="l00149"></a><span class="lineno"> 149</span> <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> configSTACK_DEPTH_TYPE CB_TASK_SZ =</div>
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<div class="line"><a id="l00150" name="l00150"></a><span class="lineno"> 150</span> CONFIG_ESP32_BNO08X_CB_TASK_SZ; </div>
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<div class="line"><a id="l00151" name="l00151"></a><span class="lineno"> 151</span> TaskHandle_t cb_task_hdl; </div>
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<div class="line"><a id="l00152" name="l00152"></a><span class="lineno"> 152</span> <span class="keyword">static</span> <span class="keywordtype">void</span> cb_task_trampoline(<span class="keywordtype">void</span>* arg);</div>
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<div class="line"><a id="l00153" name="l00153"></a><span class="lineno"> 153</span> <span class="keywordtype">void</span> cb_task();</div>
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<div class="line"><a id="l00154" name="l00154"></a><span class="lineno"> 154</span> </div>
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<div class="line"><a id="l00155" name="l00155"></a><span class="lineno"> 155</span> <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> BaseType_t CB_TASK_AFFINITY = </div>
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<div class="line"><a id="l00156" name="l00156"></a><span class="lineno"> 156</span> CONFIG_ESP32_BNO08X_CB_TASK_AFFINITY < 0 ? tskNO_AFFINITY : CONFIG_ESP32_BNO08X_CB_TASK_AFFINITY ; </div>
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<div class="line"><a id="l00157" name="l00157"></a><span class="lineno"> 157</span> <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> UBaseType_t CB_TASK_PRIORITY = CONFIG_ESP32_BNO08X_CB_TASK_PRIORITY; </div>
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<div class="line"><a id="l00158" name="l00158"></a><span class="lineno"> 158</span> </div>
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<div class="line"><a id="l00159" name="l00159"></a><span class="lineno"> 159</span> <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> BaseType_t DATA_PROC_TASK_AFFINITY = </div>
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<div class="line"><a id="l00160" name="l00160"></a><span class="lineno"> 160</span> CONFIG_ESP32_BNO08X_DATA_PROC_TASK_AFFINITY < 0 ? tskNO_AFFINITY : CONFIG_ESP32_BNO08X_DATA_PROC_TASK_AFFINITY; </div>
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<div class="line"><a id="l00161" name="l00161"></a><span class="lineno"> 161</span> <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> UBaseType_t DATA_PROC_TASK_PRIORITY = CONFIG_ESP32_BNO08X_DATA_PROC_TASK_PRIORITY; </div>
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<div class="line"><a id="l00162" name="l00162"></a><span class="lineno"> 162</span> </div>
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<div class="line"><a id="l00163" name="l00163"></a><span class="lineno"> 163</span> <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> BaseType_t SH2_HAL_SERVICE_TASK_AFFINITY = </div>
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<div class="line"><a id="l00164" name="l00164"></a><span class="lineno"> 164</span> CONFIG_ESP32_BNO08X_SH2_HAL_SERVICE_TASK_AFFINITY < 0 ? tskNO_AFFINITY : CONFIG_ESP32_BNO08X_SH2_HAL_SERVICE_TASK_AFFINITY; </div>
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<div class="line"><a id="l00165" name="l00165"></a><span class="lineno"> 165</span> <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> UBaseType_t SH2_HAL_SERVICE_TASK_PRIORITY = CONFIG_ESP32_BNO08X_SH2_HAL_SERVICE_TASK_PRIORITY; </div>
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<div class="line"><a id="l00166" name="l00166"></a><span class="lineno"> 166</span> </div>
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<div class="line"><a id="l00167" name="l00167"></a><span class="lineno"> 167</span> </div>
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<div class="line"><a id="l00168" name="l00168"></a><span class="lineno"> 168</span> SemaphoreHandle_t sem_kill_tasks; </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">void</span> lock_sh2_HAL();</div>
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<div class="line"><a id="l00171" name="l00171"></a><span class="lineno"> 171</span> <span class="keywordtype">void</span> unlock_sh2_HAL();</div>
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<div class="line"><a id="l00172" name="l00172"></a><span class="lineno"> 172</span> <span class="keywordtype">void</span> lock_user_data();</div>
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<div class="line"><a id="l00173" name="l00173"></a><span class="lineno"> 173</span> <span class="keywordtype">void</span> unlock_user_data();</div>
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<div class="line"><a id="l00174" name="l00174"></a><span class="lineno"> 174</span> </div>
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<div class="line"><a id="l00175" name="l00175"></a><span class="lineno"> 175</span> <span class="keywordtype">void</span> handle_sensor_report(sh2_SensorValue_t* sensor_val);</div>
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<div class="line"><a id="l00176" name="l00176"></a><span class="lineno"> 176</span> <span class="keywordtype">void</span> handle_cb(uint8_t rpt_ID, <a class="code hl_class" href="class_b_n_o08x_cb_generic.html">BNO08xCbGeneric</a>* cb_entry);</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> esp_err_t init_config_args();</div>
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<div class="line"><a id="l00179" name="l00179"></a><span class="lineno"> 179</span> esp_err_t init_gpio();</div>
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<div class="line"><a id="l00180" name="l00180"></a><span class="lineno"> 180</span> esp_err_t init_gpio_inputs();</div>
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<div class="line"><a id="l00181" name="l00181"></a><span class="lineno"> 181</span> esp_err_t init_gpio_outputs();</div>
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<div class="line"><a id="l00182" name="l00182"></a><span class="lineno"> 182</span> esp_err_t init_hint_isr();</div>
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<div class="line"><a id="l00183" name="l00183"></a><span class="lineno"> 183</span> esp_err_t init_spi();</div>
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<div class="line"><a id="l00184" name="l00184"></a><span class="lineno"> 184</span> esp_err_t init_tasks();</div>
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<div class="line"><a id="l00185" name="l00185"></a><span class="lineno"> 185</span> esp_err_t init_sh2_HAL();</div>
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<div class="line"><a id="l00186" name="l00186"></a><span class="lineno"> 186</span> </div>
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<div class="line"><a id="l00187" name="l00187"></a><span class="lineno"> 187</span> esp_err_t deinit_gpio();</div>
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<div class="line"><a id="l00188" name="l00188"></a><span class="lineno"> 188</span> esp_err_t deinit_gpio_inputs();</div>
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<div class="line"><a id="l00189" name="l00189"></a><span class="lineno"> 189</span> esp_err_t deinit_gpio_outputs();</div>
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<div class="line"><a id="l00190" name="l00190"></a><span class="lineno"> 190</span> esp_err_t deinit_hint_isr();</div>
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<div class="line"><a id="l00191" name="l00191"></a><span class="lineno"> 191</span> esp_err_t deinit_spi();</div>
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<div class="line"><a id="l00192" name="l00192"></a><span class="lineno"> 192</span> esp_err_t deinit_tasks();</div>
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<div class="line"><a id="l00193" name="l00193"></a><span class="lineno"> 193</span> esp_err_t deinit_sh2_HAL();</div>
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<div class="line"><a id="l00194" name="l00194"></a><span class="lineno"> 194</span> </div>
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<div class="line"><a id="l00195" name="l00195"></a><span class="lineno"> 195</span> esp_err_t wait_for_hint();</div>
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<div class="line"><a id="l00196" name="l00196"></a><span class="lineno"> 196</span> esp_err_t wait_for_reset();</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> <span class="keywordtype">void</span> toggle_reset();</div>
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<div class="line"><a id="l00199" name="l00199"></a><span class="lineno"> 199</span> </div>
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<div class="line"><a id="l00200" name="l00200"></a><span class="lineno"> 200</span> esp_err_t re_enable_reports();</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> sh2_Hal_t sh2_HAL; </div>
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<div class="line"><a id="l00203" name="l00203"></a><span class="lineno"> 203</span> </div>
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<div class="line"><a id="l00204" name="l00204"></a><span class="lineno"> 204</span> QueueHandle_t</div>
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<div class="line"><a id="l00205" name="l00205"></a><span class="lineno"> 205</span> queue_rx_sensor_event; </div>
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<div class="line"><a id="l00206" name="l00206"></a><span class="lineno"> 206</span> </div>
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<div class="line"><a id="l00207" name="l00207"></a><span class="lineno"> 207</span> QueueHandle_t queue_cb_report_id; </div>
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<div class="line"><a id="l00208" name="l00208"></a><span class="lineno"> 208</span> </div>
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<div class="line"><a id="l00209" name="l00209"></a><span class="lineno"> 209</span> <a class="code hl_struct" href="structbno08x__config__t.html">bno08x_config_t</a> imu_config{}; </div>
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<div class="line"><a id="l00210" name="l00210"></a><span class="lineno"> 210</span> spi_bus_config_t bus_config{}; </div>
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<div class="line"><a id="l00211" name="l00211"></a><span class="lineno"> 211</span> spi_device_interface_config_t imu_spi_config{}; </div>
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<div class="line"><a id="l00212" name="l00212"></a><span class="lineno"> 212</span> spi_device_handle_t spi_hdl{}; </div>
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<div class="line"><a id="l00213" name="l00213"></a><span class="lineno"> 213</span> spi_transaction_t spi_transaction{}; </div>
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<div class="line"><a id="l00214" name="l00214"></a><span class="lineno"> 214</span> <a class="code hl_struct" href="struct_b_n_o08x_private_types_1_1bno08x__init__status__t.html">BNO08xPrivateTypes::bno08x_init_status_t</a></div>
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<div class="line"><a id="l00215" name="l00215"></a><span class="lineno"> 215</span> init_status; </div>
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<div class="line"><a id="l00216" name="l00216"></a><span class="lineno"> 216</span> <a class="code hl_struct" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html">BNO08xPrivateTypes::bno08x_sync_ctx_t</a> sync_ctx; </div>
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<div class="line"><a id="l00217" name="l00217"></a><span class="lineno"> 217</span> sh2_ProductIds_t product_IDs; </div>
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<div class="line"><a id="l00218" name="l00218"></a><span class="lineno"> 218</span> </div>
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<div class="line"><a id="l00219" name="l00219"></a><span class="lineno"> 219</span> <span class="comment">// clang-format off</span></div>
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<div class="line"><a id="l00220" name="l00220"></a><span class="lineno"> 220</span> etl::map<uint8_t, BNO08xRpt*, TOTAL_RPT_COUNT, etl::less<uint8_t>> usr_reports = </div>
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<div class="line"><a id="l00221" name="l00221"></a><span class="lineno"> 221</span> {</div>
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<div class="line"><a id="l00222" name="l00222"></a><span class="lineno"> 222</span> {SH2_ACCELEROMETER, &<a class="code hl_variable" href="class_b_n_o08x.html#ae1db7422ee9c2cac77382cc0a7aa430e">rpt</a>.<a class="code hl_variable" href="struct_b_n_o08x_1_1bno08x__reports__t.html#ab7939486c9ba7e7c70f82d2284fb6119">accelerometer</a>},</div>
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<div class="line"><a id="l00223" name="l00223"></a><span class="lineno"> 223</span> {SH2_LINEAR_ACCELERATION, &<a class="code hl_variable" href="class_b_n_o08x.html#ae1db7422ee9c2cac77382cc0a7aa430e">rpt</a>.<a class="code hl_variable" href="struct_b_n_o08x_1_1bno08x__reports__t.html#ac8114db28ee3f7be5578e52f48caa9c3">linear_accelerometer</a>}, </div>
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<div class="line"><a id="l00224" name="l00224"></a><span class="lineno"> 224</span> {SH2_GRAVITY, &<a class="code hl_variable" href="class_b_n_o08x.html#ae1db7422ee9c2cac77382cc0a7aa430e">rpt</a>.<a class="code hl_variable" href="struct_b_n_o08x_1_1bno08x__reports__t.html#af5245d5e4a6f7548a0c3a30af53b7355">gravity</a>}, </div>
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<div class="line"><a id="l00225" name="l00225"></a><span class="lineno"> 225</span> {SH2_MAGNETIC_FIELD_CALIBRATED, &<a class="code hl_variable" href="class_b_n_o08x.html#ae1db7422ee9c2cac77382cc0a7aa430e">rpt</a>.<a class="code hl_variable" href="struct_b_n_o08x_1_1bno08x__reports__t.html#a03d6194225331df5326a97ec6d45b094">cal_magnetometer</a>},</div>
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<div class="line"><a id="l00226" name="l00226"></a><span class="lineno"> 226</span> {SH2_MAGNETIC_FIELD_UNCALIBRATED, &<a class="code hl_variable" href="class_b_n_o08x.html#ae1db7422ee9c2cac77382cc0a7aa430e">rpt</a>.<a class="code hl_variable" href="struct_b_n_o08x_1_1bno08x__reports__t.html#a5774fa69fc74264d40478a729aeb5ece">uncal_magnetometer</a>}, </div>
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<div class="line"><a id="l00227" name="l00227"></a><span class="lineno"> 227</span> {SH2_GYROSCOPE_CALIBRATED, &<a class="code hl_variable" href="class_b_n_o08x.html#ae1db7422ee9c2cac77382cc0a7aa430e">rpt</a>.<a class="code hl_variable" href="struct_b_n_o08x_1_1bno08x__reports__t.html#adabe838126b5bbc83fc4f69bba78123e">cal_gyro</a>},</div>
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<div class="line"><a id="l00228" name="l00228"></a><span class="lineno"> 228</span> {SH2_GYROSCOPE_UNCALIBRATED, &<a class="code hl_variable" href="class_b_n_o08x.html#ae1db7422ee9c2cac77382cc0a7aa430e">rpt</a>.<a class="code hl_variable" href="struct_b_n_o08x_1_1bno08x__reports__t.html#a6f1929843393c09c21b1f107a47c8fe3">uncal_gyro</a>}, </div>
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<div class="line"><a id="l00229" name="l00229"></a><span class="lineno"> 229</span> {SH2_ROTATION_VECTOR, &<a class="code hl_variable" href="class_b_n_o08x.html#ae1db7422ee9c2cac77382cc0a7aa430e">rpt</a>.<a class="code hl_variable" href="struct_b_n_o08x_1_1bno08x__reports__t.html#aeab138f8ddfed3f4d6b855a73b7e2db5">rv</a>}, </div>
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<div class="line"><a id="l00230" name="l00230"></a><span class="lineno"> 230</span> {SH2_GAME_ROTATION_VECTOR, &<a class="code hl_variable" href="class_b_n_o08x.html#ae1db7422ee9c2cac77382cc0a7aa430e">rpt</a>.<a class="code hl_variable" href="struct_b_n_o08x_1_1bno08x__reports__t.html#a7f33ac650137f5933ee1eab1ce936db6">rv_game</a>},</div>
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<div class="line"><a id="l00231" name="l00231"></a><span class="lineno"> 231</span> {SH2_ARVR_STABILIZED_RV, &<a class="code hl_variable" href="class_b_n_o08x.html#ae1db7422ee9c2cac77382cc0a7aa430e">rpt</a>.<a class="code hl_variable" href="struct_b_n_o08x_1_1bno08x__reports__t.html#a027c914e51da445148dc9b2735cc5fc9">rv_ARVR_stabilized</a>}, </div>
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<div class="line"><a id="l00232" name="l00232"></a><span class="lineno"> 232</span> {SH2_ARVR_STABILIZED_GRV, &<a class="code hl_variable" href="class_b_n_o08x.html#ae1db7422ee9c2cac77382cc0a7aa430e">rpt</a>.<a class="code hl_variable" href="struct_b_n_o08x_1_1bno08x__reports__t.html#af550968d0e56f114b4afb20a5a442206">rv_ARVR_stabilized_game</a>},</div>
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<div class="line"><a id="l00233" name="l00233"></a><span class="lineno"> 233</span> {SH2_GYRO_INTEGRATED_RV, &<a class="code hl_variable" href="class_b_n_o08x.html#ae1db7422ee9c2cac77382cc0a7aa430e">rpt</a>.<a class="code hl_variable" href="struct_b_n_o08x_1_1bno08x__reports__t.html#a6937b5d9bf8af9344a5013e1c543ab42">rv_gyro_integrated</a>}, </div>
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<div class="line"><a id="l00234" name="l00234"></a><span class="lineno"> 234</span> {SH2_GEOMAGNETIC_ROTATION_VECTOR, &<a class="code hl_variable" href="class_b_n_o08x.html#ae1db7422ee9c2cac77382cc0a7aa430e">rpt</a>.<a class="code hl_variable" href="struct_b_n_o08x_1_1bno08x__reports__t.html#a7e17ff7b9763ed040158813c69614a9f">rv_geomagnetic</a>}, </div>
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<div class="line"><a id="l00235" name="l00235"></a><span class="lineno"> 235</span> {SH2_RAW_GYROSCOPE, &<a class="code hl_variable" href="class_b_n_o08x.html#ae1db7422ee9c2cac77382cc0a7aa430e">rpt</a>.<a class="code hl_variable" href="struct_b_n_o08x_1_1bno08x__reports__t.html#a13357e58bc926c2420ab41e4ffef4196">raw_gyro</a>},</div>
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<div class="line"><a id="l00236" name="l00236"></a><span class="lineno"> 236</span> {SH2_RAW_ACCELEROMETER, &<a class="code hl_variable" href="class_b_n_o08x.html#ae1db7422ee9c2cac77382cc0a7aa430e">rpt</a>.<a class="code hl_variable" href="struct_b_n_o08x_1_1bno08x__reports__t.html#aa3a65aaf2adf05aa014b72c2d4485590">raw_accelerometer</a>}, </div>
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<div class="line"><a id="l00237" name="l00237"></a><span class="lineno"> 237</span> {SH2_RAW_MAGNETOMETER, &<a class="code hl_variable" href="class_b_n_o08x.html#ae1db7422ee9c2cac77382cc0a7aa430e">rpt</a>.<a class="code hl_variable" href="struct_b_n_o08x_1_1bno08x__reports__t.html#aad8698945b261c0a871f2f409897b071">raw_magnetometer</a>}, </div>
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<div class="line"><a id="l00238" name="l00238"></a><span class="lineno"> 238</span> {SH2_STEP_COUNTER, &<a class="code hl_variable" href="class_b_n_o08x.html#ae1db7422ee9c2cac77382cc0a7aa430e">rpt</a>.<a class="code hl_variable" href="struct_b_n_o08x_1_1bno08x__reports__t.html#aee9528ea57ab86ef29e10de9ecfefcf7">step_counter</a>},</div>
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<div class="line"><a id="l00239" name="l00239"></a><span class="lineno"> 239</span> {SH2_PERSONAL_ACTIVITY_CLASSIFIER, &<a class="code hl_variable" href="class_b_n_o08x.html#ae1db7422ee9c2cac77382cc0a7aa430e">rpt</a>.<a class="code hl_variable" href="struct_b_n_o08x_1_1bno08x__reports__t.html#a6475bdab7c49091f3086537efc00c12f">activity_classifier</a>}, </div>
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<div class="line"><a id="l00240" name="l00240"></a><span class="lineno"> 240</span> {SH2_STABILITY_CLASSIFIER, &<a class="code hl_variable" href="class_b_n_o08x.html#ae1db7422ee9c2cac77382cc0a7aa430e">rpt</a>.<a class="code hl_variable" href="struct_b_n_o08x_1_1bno08x__reports__t.html#a2edee4386eaea86ef3d316f5840d7a2f">stability_classifier</a>},</div>
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<div class="line"><a id="l00241" name="l00241"></a><span class="lineno"> 241</span> {SH2_SHAKE_DETECTOR, &<a class="code hl_variable" href="class_b_n_o08x.html#ae1db7422ee9c2cac77382cc0a7aa430e">rpt</a>.<a class="code hl_variable" href="struct_b_n_o08x_1_1bno08x__reports__t.html#a9d7ff08c5a141c3d1ad3493423e7c49c">shake_detector</a>}, </div>
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<div class="line"><a id="l00242" name="l00242"></a><span class="lineno"> 242</span> {SH2_TAP_DETECTOR, &<a class="code hl_variable" href="class_b_n_o08x.html#ae1db7422ee9c2cac77382cc0a7aa430e">rpt</a>.<a class="code hl_variable" href="struct_b_n_o08x_1_1bno08x__reports__t.html#a0cabee7da991a7399d607373f09548a7">tap_detector</a>},</div>
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<div class="line"><a id="l00243" name="l00243"></a><span class="lineno"> 243</span> </div>
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<div class="line"><a id="l00244" name="l00244"></a><span class="lineno"> 244</span> <span class="comment">// not implemented, see include/report for existing implementations to add your own</span></div>
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<div class="line"><a id="l00245" name="l00245"></a><span class="lineno"> 245</span> {SH2_PRESSURE, <span class="keyword">nullptr</span>}, <span class="comment">// requires auxilary i2c sensor</span></div>
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<div class="line"><a id="l00246" name="l00246"></a><span class="lineno"> 246</span> {SH2_AMBIENT_LIGHT, <span class="keyword">nullptr</span>}, <span class="comment">// requires auxilary i2c sensor</span></div>
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<div class="line"><a id="l00247" name="l00247"></a><span class="lineno"> 247</span> {SH2_HUMIDITY, <span class="keyword">nullptr</span>}, <span class="comment">// requires auxilary i2c sensor</span></div>
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<div class="line"><a id="l00248" name="l00248"></a><span class="lineno"> 248</span> {SH2_PROXIMITY, <span class="keyword">nullptr</span>}, <span class="comment">// requires auxilary i2c sensor</span></div>
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<div class="line"><a id="l00249" name="l00249"></a><span class="lineno"> 249</span> {SH2_TEMPERATURE, <span class="keyword">nullptr</span>}, <span class="comment">// requires auxilary i2c sensor</span></div>
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<div class="line"><a id="l00250" name="l00250"></a><span class="lineno"> 250</span> {SH2_HEART_RATE_MONITOR, <span class="keyword">nullptr</span>}, <span class="comment">// requires auxilary i2c sensor</span></div>
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<div class="line"><a id="l00251" name="l00251"></a><span class="lineno"> 251</span> {SH2_STEP_DETECTOR, <span class="keyword">nullptr</span>},</div>
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<div class="line"><a id="l00252" name="l00252"></a><span class="lineno"> 252</span> {SH2_SIGNIFICANT_MOTION, <span class="keyword">nullptr</span>},</div>
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<div class="line"><a id="l00253" name="l00253"></a><span class="lineno"> 253</span> {SH2_FLIP_DETECTOR, <span class="keyword">nullptr</span>},</div>
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<div class="line"><a id="l00254" name="l00254"></a><span class="lineno"> 254</span> {SH2_PICKUP_DETECTOR, <span class="keyword">nullptr</span>},</div>
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<div class="line"><a id="l00255" name="l00255"></a><span class="lineno"> 255</span> {SH2_STABILITY_DETECTOR, <span class="keyword">nullptr</span>},</div>
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<div class="line"><a id="l00256" name="l00256"></a><span class="lineno"> 256</span> {SH2_SLEEP_DETECTOR, <span class="keyword">nullptr</span>},</div>
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<div class="line"><a id="l00257" name="l00257"></a><span class="lineno"> 257</span> {SH2_TILT_DETECTOR, <span class="keyword">nullptr</span>},</div>
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<div class="line"><a id="l00258" name="l00258"></a><span class="lineno"> 258</span> {SH2_POCKET_DETECTOR, <span class="keyword">nullptr</span>},</div>
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<div class="line"><a id="l00259" name="l00259"></a><span class="lineno"> 259</span> {SH2_CIRCLE_DETECTOR, <span class="keyword">nullptr</span>},</div>
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<div class="line"><a id="l00260" name="l00260"></a><span class="lineno"> 260</span> {SH2_IZRO_MOTION_REQUEST, <span class="keyword">nullptr</span>}</div>
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<div class="line"><a id="l00261" name="l00261"></a><span class="lineno"> 261</span> };</div>
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<div class="line"><a id="l00262" name="l00262"></a><span class="lineno"> 262</span> <span class="comment">// clang-format on</span></div>
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<div class="line"><a id="l00263" name="l00263"></a><span class="lineno"> 263</span> </div>
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<div class="line"><a id="l00264" name="l00264"></a><span class="lineno"> 264</span> <span class="keyword">static</span> <span class="keywordtype">void</span> IRAM_ATTR hint_handler(<span class="keywordtype">void</span>* arg);</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"> 266</span> <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> uint16_t RX_DATA_LENGTH = 300U; </div>
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<div class="line"><a id="l00267" name="l00267"></a><span class="lineno"> 267</span> </div>
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<div class="line"><a id="l00268" name="l00268"></a><span class="lineno"> 268</span> <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> TickType_t HOST_INT_TIMEOUT_DEFAULT_MS =</div>
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<div class="line"><a id="l00269" name="l00269"></a><span class="lineno"> 269</span> CONFIG_ESP32_BNO08X_HINT_TIMEOUT_MS /</div>
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<div class="line"><a id="l00270" name="l00270"></a><span class="lineno"> 270</span> portTICK_PERIOD_MS; </div>
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<div class="line"><a id="l00271" name="l00271"></a><span class="lineno"> 271</span> </div>
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<div class="line"><a id="l00272" name="l00272"></a><span class="lineno"> 272</span> <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> TickType_t DATA_AVAILABLE_TIMEOUT_MS =</div>
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<div class="line"><a id="l00273" name="l00273"></a><span class="lineno"> 273</span> CONFIG_ESP32_BNO08X_DATA_AVAILABLE_TIMEOUT_MS /</div>
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<div class="line"><a id="l00274" name="l00274"></a><span class="lineno"> 274</span> portTICK_PERIOD_MS; </div>
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<div class="line"><a id="l00275" name="l00275"></a><span class="lineno"> 275</span> </div>
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<div class="line"><a id="l00276" name="l00276"></a><span class="lineno"> 276</span> <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> TickType_t HARD_RESET_DELAY_MS =</div>
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<div class="line"><a id="l00277" name="l00277"></a><span class="lineno"> 277</span> CONFIG_ESP32_BNO08X_HARD_RESET_DELAY_MS /</div>
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<div class="line"><a id="l00278" name="l00278"></a><span class="lineno"> 278</span> portTICK_PERIOD_MS; </div>
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<div class="line"><a id="l00279" name="l00279"></a><span class="lineno"> 279</span> </div>
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<div class="line"><a id="l00280" name="l00280"></a><span class="lineno"> 280</span> <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> uint32_t SCLK_MAX_SPEED = 3000000UL; </div>
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<div class="line"><a id="l00281" name="l00281"></a><span class="lineno"> 281</span> </div>
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<div class="line"><a id="l00282" name="l00282"></a><span class="lineno"> 282</span> <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> <span class="keywordtype">char</span>* TAG = <span class="stringliteral">"BNO08x"</span>; </div>
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<div class="line"><a id="l00283" name="l00283"></a><span class="lineno"> 283</span> </div>
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<div class="line"><a id="l00284" name="l00284"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a6dd0081dc9eb0cfb019bfdca3aa31802"> 284</a></span> <span class="keyword">friend</span> <span class="keyword">class </span><a class="code hl_class" href="class_b_n_o08x_s_h2_h_a_l.html">BNO08xSH2HAL</a>;</div>
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<div class="line"><a id="l00285" name="l00285"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a190775b71c35d8007faae7dd6a9f1030"> 285</a></span> <span class="keyword">friend</span> <span class="keyword">class </span><a class="code hl_class" href="class_b_n_o08x_test_helper.html">BNO08xTestHelper</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="ttc" id="a_b_n_o08x_global_types_8hpp_html"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html">BNO08xGlobalTypes.hpp</a></div></div>
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<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_a25947bbe6bc4a7c9edd7067fdce0e9cc"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#a25947bbe6bc4a7c9edd7067fdce0e9cc">BNO08xCalSel</a></div><div class="ttdeci">BNO08xCalSel</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:84</div></div>
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<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_a648bbdbf22731476890dd8da977d7503"><div class="ttname"><a href="_b_n_o08x_global_types_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_global_types_8hpp_html_a8ac8ee2d5f81f6102ed94866f2bdcc8e"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8e">BNO08xFrsID</a></div><div class="ttdeci">BNO08xFrsID</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:240</div></div>
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<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_afed71c9ed8a8563767f26282408ccee2"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#afed71c9ed8a8563767f26282408ccee2">BNO08xResetReason</a></div><div class="ttdeci">BNO08xResetReason</div><div class="ttdoc">Reason for previous IMU reset (returned by get_reset_reason())</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:94</div></div>
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<div class="ttc" id="a_b_n_o08x_private_types_8hpp_html"><div class="ttname"><a href="_b_n_o08x_private_types_8hpp.html">BNO08xPrivateTypes.hpp</a></div></div>
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<div class="ttc" id="a_b_n_o08x_reports_8hpp_html"><div class="ttname"><a href="_b_n_o08x_reports_8hpp.html">BNO08xReports.hpp</a></div></div>
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<div class="ttc" id="a_b_n_o08x_s_h2_h_a_l_8hpp_html"><div class="ttname"><a href="_b_n_o08x_s_h2_h_a_l_8hpp.html">BNO08xSH2HAL.hpp</a></div></div>
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<div class="ttc" id="aclass_b_n_o08x_cb_generic_html"><div class="ttname"><a href="class_b_n_o08x_cb_generic.html">BNO08xCbGeneric</a></div><div class="ttdoc">Parent class to represent callback functions as generic type such that all flavors can be invoked by ...</div><div class="ttdef"><b>Definition:</b> BNO08xCbGeneric.hpp:19</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="ttdoc">BNO08x IMU driver class.</div><div class="ttdef"><b>Definition:</b> BNO08x.hpp:33</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a138577792350b8d5cc48cbf46b34c4f3"><div class="ttname"><a href="class_b_n_o08x.html#a138577792350b8d5cc48cbf46b34c4f3">BNO08x::get_frs</a></div><div class="ttdeci">bool get_frs(BNO08xFrsID frs_ID, uint32_t(&data)[16], uint16_t &rx_data_sz)</div><div class="ttdoc">Retrieves a record from flash record system (if your goal is to retrieve sensor specific meta data us...</div><div class="ttdef"><b>Definition:</b> BNO08x.cpp:1727</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 device.</div><div class="ttdef"><b>Definition:</b> BNO08x.cpp:1061</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">Polls for new data/report to become available.</div><div class="ttdef"><b>Definition:</b> BNO08x.cpp:1892</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a441681a5133b1a125b534925c9bc10f9"><div class="ttname"><a href="class_b_n_o08x.html#a441681a5133b1a125b534925c9bc10f9">BNO08x::dynamic_calibration_data_clear_ram</a></div><div class="ttdeci">bool dynamic_calibration_data_clear_ram()</div><div class="ttdoc">Clears dynamic/motion engine calibration data from ram and resets BNO08x device. See ref manual 6....</div><div class="ttdef"><b>Definition:</b> BNO08x.cpp:1416</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a4e8b49abd33e6e11f23b2ae345058b9b"><div class="ttname"><a href="class_b_n_o08x.html#a4e8b49abd33e6e11f23b2ae345058b9b">BNO08x::dynamic_calibration_autosave_enable</a></div><div class="ttdeci">bool dynamic_calibration_autosave_enable()</div><div class="ttdoc">Enables the automatic saving of dynamic/ME calibration data to BNO08x internal flash See ref manual 6...</div><div class="ttdef"><b>Definition:</b> BNO08x.cpp:1365</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a5c7498f6fa4bd43280dff1d322233b95"><div class="ttname"><a href="class_b_n_o08x.html#a5c7498f6fa4bd43280dff1d322233b95">BNO08x::dynamic_calibration_disable</a></div><div class="ttdeci">bool dynamic_calibration_disable(BNO08xCalSel sensor)</div><div class="ttdoc">Disables dynamic/motion engine calibration for specified sensor(s), see ref. manual 6....</div><div class="ttdef"><b>Definition:</b> BNO08x.cpp:1338</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a65a7175b6f6ad6ce687e4fd4cd4bc396"><div class="ttname"><a href="class_b_n_o08x.html#a65a7175b6f6ad6ce687e4fd4cd4bc396">BNO08x::dynamic_calibration_data_delete</a></div><div class="ttdeci">bool dynamic_calibration_data_delete()</div><div class="ttdoc">Deletes dynamic calibration data from BNO08x internal flash and resets the device....</div><div class="ttdef"><b>Definition:</b> BNO08x.cpp:1689</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a687eee44d68e1bcabce04780d7eb5fb9"><div class="ttname"><a href="class_b_n_o08x.html#a687eee44d68e1bcabce04780d7eb5fb9">BNO08x::~BNO08x</a></div><div class="ttdeci">~BNO08x()</div><div class="ttdoc">BNO08x imu deconstructor.</div><div class="ttdef"><b>Definition:</b> BNO08x.cpp:39</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a7441f7f2477c152deca17054041bf3e6"><div class="ttname"><a href="class_b_n_o08x.html#a7441f7f2477c152deca17054041bf3e6">BNO08x::print_product_ids</a></div><div class="ttdeci">void print_product_ids()</div><div class="ttdoc">Prints product IDs received at initialization.</div><div class="ttdef"><b>Definition:</b> BNO08x.cpp:1945</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a7c5774a48227e8e3346fa5df7dfa420c"><div class="ttname"><a href="class_b_n_o08x.html#a7c5774a48227e8e3346fa5df7dfa420c">BNO08x::sleep</a></div><div class="ttdeci">bool sleep()</div><div class="ttdoc">Places BNO08x device in sleep state by sending SLEEP (3) command on "device" channel.</div><div class="ttdef"><b>Definition:</b> BNO08x.cpp:1254</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a85f1eca475ea0e6fbaff75c8a297d671"><div class="ttname"><a href="class_b_n_o08x.html#a85f1eca475ea0e6fbaff75c8a297d671">BNO08x::dynamic_calibration_save</a></div><div class="ttdeci">bool dynamic_calibration_save()</div><div class="ttdoc">Saves dynamic/motion engine calibration data to BNO08x internal flash immediately....</div><div class="ttdef"><b>Definition:</b> BNO08x.cpp:1399</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a90ea8e811d4bea28a356290d6f5caac5"><div class="ttname"><a href="class_b_n_o08x.html#a90ea8e811d4bea28a356290d6f5caac5">BNO08x::dynamic_calibration_enable</a></div><div class="ttdeci">bool dynamic_calibration_enable(BNO08xCalSel sensor)</div><div class="ttdoc">Starts simple calibration, see ref. manual 6.4.10.1.</div><div class="ttdef"><b>Definition:</b> BNO08x.cpp:1319</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_a9387728c276734da27388dbea38b6b32"><div class="ttname"><a href="class_b_n_o08x.html#a9387728c276734da27388dbea38b6b32">BNO08x::dynamic_calibration_autosave_disable</a></div><div class="ttdeci">bool dynamic_calibration_autosave_disable()</div><div class="ttdoc">Disables the automatic saving of dynamic/ME calibration data to BNO08x internal flash See ref manual ...</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_a96d47dd0f9aedfbe3f731f8ae76b2e85"><div class="ttname"><a href="class_b_n_o08x.html#a96d47dd0f9aedfbe3f731f8ae76b2e85">BNO08x::get_reset_reason</a></div><div class="ttdeci">BNO08xResetReason get_reset_reason()</div><div class="ttdoc">Returns reason for previous reset via product ID report.</div><div class="ttdef"><b>Definition:</b> BNO08x.cpp:1207</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 device by sending RESET (1) command on "device" channel.</div><div class="ttdef"><b>Definition:</b> BNO08x.cpp:1105</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_aa616a645a4fc9054194fdbf76ec9c5b5"><div class="ttname"><a href="class_b_n_o08x.html#aa616a645a4fc9054194fdbf76ec9c5b5">BNO08x::write_frs</a></div><div class="ttdeci">bool write_frs(BNO08xFrsID frs_ID, uint32_t *data, const uint16_t tx_data_sz)</div><div class="ttdoc">Writes a record to flash record system.</div><div class="ttdef"><b>Definition:</b> BNO08x.cpp:1760</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_aa8fd64f60de86ff6b8562f90f3b09690"><div class="ttname"><a href="class_b_n_o08x.html#aa8fd64f60de86ff6b8562f90f3b09690">BNO08x::get_product_IDs</a></div><div class="ttdeci">sh2_ProductIds_t get_product_IDs()</div><div class="ttdoc">Returns product ID info sent by IMU at initialization.</div><div class="ttdef"><b>Definition:</b> BNO08x.cpp:1787</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_aaaa15b21ad98a3b161065c3d03ff62b5"><div class="ttname"><a href="class_b_n_o08x.html#aaaa15b21ad98a3b161065c3d03ff62b5">BNO08x::on</a></div><div class="ttdeci">bool on()</div><div class="ttdoc">Places BNO08x device in on state by sending ON (2) command on "device" channel.</div><div class="ttdef"><b>Definition:</b> BNO08x.cpp:1238</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_aadd44524e6d22c48916acd9518b63ec3"><div class="ttname"><a href="class_b_n_o08x.html#aadd44524e6d22c48916acd9518b63ec3">BNO08x::register_cb</a></div><div class="ttdeci">bool register_cb(std::function< void(void)> cb_fxn)</div><div class="ttdoc">Registers a callback to execute when new data from a report is received.</div><div class="ttdef"><b>Definition:</b> BNO08x.cpp:1910</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_aae4512fa4768becf0e3919a0e0ec34d8"><div class="ttname"><a href="class_b_n_o08x.html#aae4512fa4768becf0e3919a0e0ec34d8">BNO08x::print_system_orientation</a></div><div class="ttdeci">void print_system_orientation()</div><div class="ttdoc">Retrieves and prints system orientation.</div><div class="ttdef"><b>Definition:</b> BNO08x.cpp:1968</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_ab8d5ebfc080838870e320494da3fa64d"><div class="ttname"><a href="class_b_n_o08x.html#ab8d5ebfc080838870e320494da3fa64d">BNO08x::SQRT2OVER2</a></div><div class="ttdeci">static constexpr float SQRT2OVER2</div><div class="ttdef"><b>Definition:</b> BNO08x.hpp:59</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_abba85271f3333b7f395ec55915c1d5f9"><div class="ttname"><a href="class_b_n_o08x.html#abba85271f3333b7f395ec55915c1d5f9">BNO08x::set_system_orientation</a></div><div class="ttdeci">bool set_system_orientation(float w, float x, float y, float z)</div><div class="ttdoc">Sets the system orientation of the BNO08x device and persist it in flash (FRS).</div><div class="ttdef"><b>Definition:</b> BNO08x.cpp:2011</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_abcdba0d0e82db480d20ea4564511a276"><div class="ttname"><a href="class_b_n_o08x.html#abcdba0d0e82db480d20ea4564511a276">BNO08x::dynamic_calibration_run_routine</a></div><div class="ttdeci">bool dynamic_calibration_run_routine()</div><div class="ttdoc">Example calibration routine using dynamic/ME calibration commands.</div><div class="ttdef"><b>Definition:</b> BNO08x.cpp:1488</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_ad12fb6cf310ad7a04a4e53809833bd61"><div class="ttname"><a href="class_b_n_o08x.html#ad12fb6cf310ad7a04a4e53809833bd61">BNO08x::BNO08x</a></div><div class="ttdeci">BNO08x(bno08x_config_t imu_config=bno08x_config_t())</div><div class="ttdoc">BNO08x imu constructor.</div><div class="ttdef"><b>Definition:</b> BNO08x.cpp:20</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_ad42c335827c7b09cd2e4ff303a0d3520"><div class="ttname"><a href="class_b_n_o08x.html#ad42c335827c7b09cd2e4ff303a0d3520">BNO08x::get_system_orientation</a></div><div class="ttdeci">bool get_system_orientation(float &w, float &x, float &y, float &z)</div><div class="ttdoc">Retrieves the system orientation of the BNO08x device and converts to float.</div><div class="ttdef"><b>Definition:</b> BNO08x.cpp:2034</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_ae08bdaff01ecacf0f399ab289fdf0b99"><div class="ttname"><a href="class_b_n_o08x.html#ae08bdaff01ecacf0f399ab289fdf0b99">BNO08x::bno08x_reports_t</a></div><div class="ttdeci">struct BNO08x::bno08x_reports_t bno08x_reports_t</div><div class="ttdoc">Contains report implementations.</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_ae1db7422ee9c2cac77382cc0a7aa430e"><div class="ttname"><a href="class_b_n_o08x.html#ae1db7422ee9c2cac77382cc0a7aa430e">BNO08x::rpt</a></div><div class="ttdeci">bno08x_reports_t rpt</div><div class="ttdef"><b>Definition:</b> BNO08x.hpp:131</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:81</div></div>
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<div class="ttc" id="aclass_b_n_o08x_html_aebacbe092615cd083cf996b14402bba6"><div class="ttname"><a href="class_b_n_o08x.html#aebacbe092615cd083cf996b14402bba6">BNO08x::disable_all_reports</a></div><div class="ttdeci">bool disable_all_reports()</div><div class="ttdoc">Disables all currently enabled reports.</div><div class="ttdef"><b>Definition:</b> BNO08x.cpp:1163</div></div>
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<div class="ttc" id="aclass_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v_html"><div class="ttname"><a href="class_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v.html">BNO08xRptARVRStabilizedGameRV</a></div><div class="ttdoc">Class to represent ARVR stabilized rotation vector reports. (See Ref. Manual 6.5.43)</div><div class="ttdef"><b>Definition:</b> BNO08xRptARVRStabilizedGameRV.hpp:16</div></div>
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<div class="ttc" id="aclass_b_n_o08x_rpt_a_r_v_r_stabilized_r_v_html"><div class="ttname"><a href="class_b_n_o08x_rpt_a_r_v_r_stabilized_r_v.html">BNO08xRptARVRStabilizedRV</a></div><div class="ttdoc">Class to represent ARVR stabilized rotation vector reports. (See Ref. Manual 6.5.42)</div><div class="ttdef"><b>Definition:</b> BNO08xRptARVRStabilizedRV.hpp:16</div></div>
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<div class="ttc" id="aclass_b_n_o08x_rpt_acceleration_html"><div class="ttname"><a href="class_b_n_o08x_rpt_acceleration.html">BNO08xRptAcceleration</a></div><div class="ttdoc">Class to represent accelerometer reports. (See Ref. Manual 6.5.9)</div><div class="ttdef"><b>Definition:</b> BNO08xRptAcceleration.hpp:16</div></div>
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<div class="ttc" id="aclass_b_n_o08x_rpt_activity_classifier_html"><div class="ttname"><a href="class_b_n_o08x_rpt_activity_classifier.html">BNO08xRptActivityClassifier</a></div><div class="ttdoc">Class to represent activity classifier reports. (See Ref. Manual 6.5.36)</div><div class="ttdef"><b>Definition:</b> BNO08xRptActivityClassifier.hpp:16</div></div>
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<div class="ttc" id="aclass_b_n_o08x_rpt_cal_gyro_html"><div class="ttname"><a href="class_b_n_o08x_rpt_cal_gyro.html">BNO08xRptCalGyro</a></div><div class="ttdoc">Class to represent calibrated gyro reports. (See Ref. Manual 6.5.13)</div><div class="ttdef"><b>Definition:</b> BNO08xRptCalGyro.hpp:16</div></div>
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<div class="ttc" id="aclass_b_n_o08x_rpt_cal_magnetometer_html"><div class="ttname"><a href="class_b_n_o08x_rpt_cal_magnetometer.html">BNO08xRptCalMagnetometer</a></div><div class="ttdoc">Class to represent calibrated magnetometer reports. (See Ref. Manual 6.5.16)</div><div class="ttdef"><b>Definition:</b> BNO08xRptCalMagnetometer.hpp:16</div></div>
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<div class="ttc" id="aclass_b_n_o08x_rpt_game_r_v_html"><div class="ttname"><a href="class_b_n_o08x_rpt_game_r_v.html">BNO08xRptGameRV</a></div><div class="ttdoc">Class to represent game rotation vector reports. (See Ref. Manual 6.5.19)</div><div class="ttdef"><b>Definition:</b> BNO08xRptGameRV.hpp:16</div></div>
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<div class="ttc" id="aclass_b_n_o08x_rpt_gravity_html"><div class="ttname"><a href="class_b_n_o08x_rpt_gravity.html">BNO08xRptGravity</a></div><div class="ttdoc">Class to represent gravity reports. (See Ref. Manual 6.5.11)</div><div class="ttdef"><b>Definition:</b> BNO08xRptGravity.hpp:16</div></div>
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<div class="ttc" id="aclass_b_n_o08x_rpt_i_gyro_r_v_html"><div class="ttname"><a href="class_b_n_o08x_rpt_i_gyro_r_v.html">BNO08xRptIGyroRV</a></div><div class="ttdoc">Class to represent integrated gyro rotation vector reports. (See Ref. Manual 6.5.44)</div><div class="ttdef"><b>Definition:</b> BNO08xRptIGyroRV.hpp:16</div></div>
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<div class="ttc" id="aclass_b_n_o08x_rpt_linear_acceleration_html"><div class="ttname"><a href="class_b_n_o08x_rpt_linear_acceleration.html">BNO08xRptLinearAcceleration</a></div><div class="ttdoc">Class to represent linear accelerometer reports. (See Ref. Manual 6.5.10)</div><div class="ttdef"><b>Definition:</b> BNO08xRptLinearAcceleration.hpp:16</div></div>
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<div class="ttc" id="aclass_b_n_o08x_rpt_r_v_geomag_html"><div class="ttname"><a href="class_b_n_o08x_rpt_r_v_geomag.html">BNO08xRptRVGeomag</a></div><div class="ttdoc">Class to represent geomagnetic rotation vector reports. (See Ref. Manual 6.5.20)</div><div class="ttdef"><b>Definition:</b> BNO08xRptRVGeomag.hpp:16</div></div>
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<div class="ttc" id="aclass_b_n_o08x_rpt_r_v_html"><div class="ttname"><a href="class_b_n_o08x_rpt_r_v.html">BNO08xRptRV</a></div><div class="ttdoc">Class to represent rotation vector reports. (See Ref. Manual 6.5.18)</div><div class="ttdef"><b>Definition:</b> BNO08xRptRV.hpp:16</div></div>
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<div class="ttc" id="aclass_b_n_o08x_rpt_raw_m_e_m_s_accelerometer_html"><div class="ttname"><a href="class_b_n_o08x_rpt_raw_m_e_m_s_accelerometer.html">BNO08xRptRawMEMSAccelerometer</a></div><div class="ttdoc">Class to represent raw accelerometer reports. (See Ref. Manual 6.5.8)</div><div class="ttdef"><b>Definition:</b> BNO08xRptRawMEMSAccelerometer.hpp:16</div></div>
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<div class="ttc" id="aclass_b_n_o08x_rpt_raw_m_e_m_s_gyro_html"><div class="ttname"><a href="class_b_n_o08x_rpt_raw_m_e_m_s_gyro.html">BNO08xRptRawMEMSGyro</a></div><div class="ttdoc">Class to represent raw gyro reports. (See Ref. Manual 6.5.12)</div><div class="ttdef"><b>Definition:</b> BNO08xRptRawMEMSGyro.hpp:16</div></div>
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<div class="ttc" id="aclass_b_n_o08x_rpt_raw_m_e_m_s_magnetometer_html"><div class="ttname"><a href="class_b_n_o08x_rpt_raw_m_e_m_s_magnetometer.html">BNO08xRptRawMEMSMagnetometer</a></div><div class="ttdoc">Class to represent raw magnetometer reports. (See Ref. Manual 6.5.15)</div><div class="ttdef"><b>Definition:</b> BNO08xRptRawMEMSMagnetometer.hpp:16</div></div>
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<div class="ttc" id="aclass_b_n_o08x_rpt_shake_detector_html"><div class="ttname"><a href="class_b_n_o08x_rpt_shake_detector.html">BNO08xRptShakeDetector</a></div><div class="ttdoc">Class to represent shake detector reports. (See Ref. Manual 6.5.32)</div><div class="ttdef"><b>Definition:</b> BNO08xRptShakeDetector.hpp:16</div></div>
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<div class="ttc" id="aclass_b_n_o08x_rpt_stability_classifier_html"><div class="ttname"><a href="class_b_n_o08x_rpt_stability_classifier.html">BNO08xRptStabilityClassifier</a></div><div class="ttdoc">Class to represent stability classifier reports. (See Ref. Manual 6.5.31)</div><div class="ttdef"><b>Definition:</b> BNO08xRptStabilityClassifier.hpp:16</div></div>
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<div class="ttc" id="aclass_b_n_o08x_rpt_step_counter_html"><div class="ttname"><a href="class_b_n_o08x_rpt_step_counter.html">BNO08xRptStepCounter</a></div><div class="ttdoc">Class to represent step counter reports. (See Ref. Manual 6.5.29)</div><div class="ttdef"><b>Definition:</b> BNO08xRptStepCounter.hpp:16</div></div>
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<div class="ttc" id="aclass_b_n_o08x_rpt_tap_detector_html"><div class="ttname"><a href="class_b_n_o08x_rpt_tap_detector.html">BNO08xRptTapDetector</a></div><div class="ttdoc">Class to represent tap detector reports. (See Ref. Manual 6.5.27)</div><div class="ttdef"><b>Definition:</b> BNO08xRptTapDetector.hpp:16</div></div>
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<div class="ttc" id="aclass_b_n_o08x_rpt_uncal_gyro_html"><div class="ttname"><a href="class_b_n_o08x_rpt_uncal_gyro.html">BNO08xRptUncalGyro</a></div><div class="ttdoc">Class to represent uncalibrated gyro reports. (See Ref. Manual 6.5.14)</div><div class="ttdef"><b>Definition:</b> BNO08xRptUncalGyro.hpp:16</div></div>
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<div class="ttc" id="aclass_b_n_o08x_rpt_uncal_magnetometer_html"><div class="ttname"><a href="class_b_n_o08x_rpt_uncal_magnetometer.html">BNO08xRptUncalMagnetometer</a></div><div class="ttdoc">Class to represent uncalibrated magnetometer reports. (See Ref. Manual 6.5.17)</div><div class="ttdef"><b>Definition:</b> BNO08xRptUncalMagnetometer.hpp:17</div></div>
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<div class="ttc" id="aclass_b_n_o08x_s_h2_h_a_l_html"><div class="ttname"><a href="class_b_n_o08x_s_h2_h_a_l.html">BNO08xSH2HAL</a></div><div class="ttdoc">Fully static class containing callback implementations for sh2 HAL lib.</div><div class="ttdef"><b>Definition:</b> BNO08xSH2HAL.hpp:72</div></div>
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<div class="ttc" id="aclass_b_n_o08x_test_helper_html"><div class="ttname"><a href="class_b_n_o08x_test_helper.html">BNO08xTestHelper</a></div><div class="ttdoc">BNO08x unit test helper class.</div><div class="ttdef"><b>Definition:</b> BNO08xTestHelper.hpp:17</div></div>
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<div class="ttc" id="anamespace_b_n_o08x_private_types_html"><div class="ttname"><a href="namespace_b_n_o08x_private_types.html">BNO08xPrivateTypes</a></div><div class="ttdef"><b>Definition:</b> BNO08xPrivateTypes.hpp:21</div></div>
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<div class="ttc" id="anamespace_b_n_o08x_private_types_html_ac53fb578d93a18b7a83903fc7a71dc2fa591c062247280798af0e40d6141614c6"><div class="ttname"><a href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fa591c062247280798af0e40d6141614c6">BNO08xPrivateTypes::EVT_GRP_RPT_UNCAL_GYRO_BIT</a></div><div class="ttdeci">@ EVT_GRP_RPT_UNCAL_GYRO_BIT</div><div class="ttdoc">When set, uncalibrated gyro reports are active.</div><div class="ttdef"><b>Definition:</b> BNO08xPrivateTypes.hpp:91</div></div>
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<div class="ttc" id="anamespace_b_n_o08x_private_types_html_ac53fb578d93a18b7a83903fc7a71dc2fa6835a63fb08379608cda0a108098aac7"><div class="ttname"><a href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fa6835a63fb08379608cda0a108098aac7">BNO08xPrivateTypes::EVT_GRP_RPT_GYRO_INTEGRATED_RV_BIT</a></div><div class="ttdeci">@ EVT_GRP_RPT_GYRO_INTEGRATED_RV_BIT</div><div class="ttdoc">When set, gyro integrator rotation vector reports are active.</div><div class="ttdef"><b>Definition:</b> BNO08xPrivateTypes.hpp:85</div></div>
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<div class="ttc" id="anamespace_b_n_o08x_private_types_html_ac53fb578d93a18b7a83903fc7a71dc2fa68851003c2b7df34c3acf882251c60e2"><div class="ttname"><a href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fa68851003c2b7df34c3acf882251c60e2">BNO08xPrivateTypes::EVT_GRP_RPT_LINEAR_ACCELEROMETER_BIT</a></div><div class="ttdeci">@ EVT_GRP_RPT_LINEAR_ACCELEROMETER_BIT</div><div class="ttdoc">When set, linear accelerometer reports are active.</div><div class="ttdef"><b>Definition:</b> BNO08xPrivateTypes.hpp:88</div></div>
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<div class="ttc" id="anamespace_b_n_o08x_private_types_html_ac53fb578d93a18b7a83903fc7a71dc2fa728314f4744fc408c6b153e8fbb3feb4"><div class="ttname"><a href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fa728314f4744fc408c6b153e8fbb3feb4">BNO08xPrivateTypes::EVT_GRP_RPT_GEOMAG_RV_BIT</a></div><div class="ttdeci">@ EVT_GRP_RPT_GEOMAG_RV_BIT</div><div class="ttdoc">When set, geomagnetic rotation vector reports are active.</div><div class="ttdef"><b>Definition:</b> BNO08xPrivateTypes.hpp:86</div></div>
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<div class="ttc" id="anamespace_b_n_o08x_private_types_html_ac53fb578d93a18b7a83903fc7a71dc2fa94cddd1837a77bba5644543b1ad8b9e7"><div class="ttname"><a href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fa94cddd1837a77bba5644543b1ad8b9e7">BNO08xPrivateTypes::EVT_GRP_RPT_ACTIVITY_CLASSIFIER_BIT</a></div><div class="ttdeci">@ EVT_GRP_RPT_ACTIVITY_CLASSIFIER_BIT</div><div class="ttdoc">When set, activity classifier reports are active.</div><div class="ttdef"><b>Definition:</b> BNO08xPrivateTypes.hpp:97</div></div>
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<div class="ttc" id="anamespace_b_n_o08x_private_types_html_ac53fb578d93a18b7a83903fc7a71dc2faa54d15cc17179a6840b9ec3f4e0038cb"><div class="ttname"><a href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2faa54d15cc17179a6840b9ec3f4e0038cb">BNO08xPrivateTypes::EVT_GRP_RPT_UNCAL_MAGNETOMETER_BIT</a></div><div class="ttdeci">@ EVT_GRP_RPT_UNCAL_MAGNETOMETER_BIT</div><div class="ttdoc">When set, uncalibrated magnetometer reports are active.</div><div class="ttdef"><b>Definition:</b> BNO08xPrivateTypes.hpp:93</div></div>
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<div class="ttc" id="anamespace_b_n_o08x_private_types_html_ac53fb578d93a18b7a83903fc7a71dc2faa5b9ffe097d1eb83a6a5a13871da0891"><div class="ttname"><a href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2faa5b9ffe097d1eb83a6a5a13871da0891">BNO08xPrivateTypes::EVT_GRP_RPT_ACCELEROMETER_BIT</a></div><div class="ttdeci">@ EVT_GRP_RPT_ACCELEROMETER_BIT</div><div class="ttdoc">When set, accelerometer reports are active.</div><div class="ttdef"><b>Definition:</b> BNO08xPrivateTypes.hpp:87</div></div>
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<div class="ttc" id="anamespace_b_n_o08x_private_types_html_ac53fb578d93a18b7a83903fc7a71dc2fab57a2ea711bebb4d4e031a0b449160c7"><div class="ttname"><a href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fab57a2ea711bebb4d4e031a0b449160c7">BNO08xPrivateTypes::EVT_GRP_RPT_RAW_MAGNETOMETER_BIT</a></div><div class="ttdeci">@ EVT_GRP_RPT_RAW_MAGNETOMETER_BIT</div><div class="ttdoc">When set, raw magnetometer reports are active.</div><div class="ttdef"><b>Definition:</b> BNO08xPrivateTypes.hpp:101</div></div>
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<div class="ttc" id="anamespace_b_n_o08x_private_types_html_ac53fb578d93a18b7a83903fc7a71dc2fab5d141bdda220e3fa0bd9eb0fe3f31b5"><div class="ttname"><a href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fab5d141bdda220e3fa0bd9eb0fe3f31b5">BNO08xPrivateTypes::EVT_GRP_RPT_RV_ARVR_S_BIT</a></div><div class="ttdeci">@ EVT_GRP_RPT_RV_ARVR_S_BIT</div><div class="ttdoc">When set, ARVR stabilized rotation vector reports are active.</div><div class="ttdef"><b>Definition:</b> BNO08xPrivateTypes.hpp:83</div></div>
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<div class="ttc" id="anamespace_b_n_o08x_private_types_html_ac53fb578d93a18b7a83903fc7a71dc2fab77588c26929a2d8dd8eeea883b905ca"><div class="ttname"><a href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fab77588c26929a2d8dd8eeea883b905ca">BNO08xPrivateTypes::EVT_GRP_RPT_RV_ARVR_S_GAME_BIT</a></div><div class="ttdeci">@ EVT_GRP_RPT_RV_ARVR_S_GAME_BIT</div><div class="ttdoc">When set, ARVR stabilized game rotation vector reports are active.</div><div class="ttdef"><b>Definition:</b> BNO08xPrivateTypes.hpp:84</div></div>
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<div class="ttc" id="anamespace_b_n_o08x_private_types_html_ac53fb578d93a18b7a83903fc7a71dc2fab7e6b36da354702880ff9118d45b6af2"><div class="ttname"><a href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fab7e6b36da354702880ff9118d45b6af2">BNO08xPrivateTypes::EVT_GRP_RPT_RAW_ACCELEROMETER_BIT</a></div><div class="ttdeci">@ EVT_GRP_RPT_RAW_ACCELEROMETER_BIT</div><div class="ttdoc">When set, raw accelerometer reports are active.</div><div class="ttdef"><b>Definition:</b> BNO08xPrivateTypes.hpp:99</div></div>
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<div class="ttc" id="anamespace_b_n_o08x_private_types_html_ac53fb578d93a18b7a83903fc7a71dc2fabd9e62157a0bc3dc38c3473d7bc2799f"><div class="ttname"><a href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fabd9e62157a0bc3dc38c3473d7bc2799f">BNO08xPrivateTypes::EVT_GRP_RPT_GRAVITY_BIT</a></div><div class="ttdeci">@ EVT_GRP_RPT_GRAVITY_BIT</div><div class="ttdoc">When set, gravity reports are active.</div><div class="ttdef"><b>Definition:</b> BNO08xPrivateTypes.hpp:89</div></div>
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<div class="ttc" id="anamespace_b_n_o08x_private_types_html_ac53fb578d93a18b7a83903fc7a71dc2fac0ff3fde600aac814ad76a4769515ae8"><div class="ttname"><a href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fac0ff3fde600aac814ad76a4769515ae8">BNO08xPrivateTypes::EVT_GRP_RPT_RV_BIT</a></div><div class="ttdeci">@ EVT_GRP_RPT_RV_BIT</div><div class="ttdoc">When set, rotation vector reports are active.</div><div class="ttdef"><b>Definition:</b> BNO08xPrivateTypes.hpp:81</div></div>
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<div class="ttc" id="anamespace_b_n_o08x_private_types_html_ac53fb578d93a18b7a83903fc7a71dc2fac1d15dddeab169b213c719e6b0fef32d"><div class="ttname"><a href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fac1d15dddeab169b213c719e6b0fef32d">BNO08xPrivateTypes::EVT_GRP_RPT_CAL_MAGNETOMETER_BIT</a></div><div class="ttdeci">@ EVT_GRP_RPT_CAL_MAGNETOMETER_BIT</div><div class="ttdoc">When set, calibrated magnetometer reports are active.</div><div class="ttdef"><b>Definition:</b> BNO08xPrivateTypes.hpp:92</div></div>
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<div class="ttc" id="anamespace_b_n_o08x_private_types_html_ac53fb578d93a18b7a83903fc7a71dc2fad39283f98adf7242b3b3ccf847c150cd"><div class="ttname"><a href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fad39283f98adf7242b3b3ccf847c150cd">BNO08xPrivateTypes::EVT_GRP_RPT_RV_GAME_BIT</a></div><div class="ttdeci">@ EVT_GRP_RPT_RV_GAME_BIT</div><div class="ttdoc">When set, game rotation vector reports are active.</div><div class="ttdef"><b>Definition:</b> BNO08xPrivateTypes.hpp:82</div></div>
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<div class="ttc" id="anamespace_b_n_o08x_private_types_html_ac53fb578d93a18b7a83903fc7a71dc2fad4482fb4fb6693a492584508691f2c77"><div class="ttname"><a href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fad4482fb4fb6693a492584508691f2c77">BNO08xPrivateTypes::EVT_GRP_RPT_TAP_DETECTOR_BIT</a></div><div class="ttdeci">@ EVT_GRP_RPT_TAP_DETECTOR_BIT</div><div class="ttdoc">When set, tap detector reports are active.</div><div class="ttdef"><b>Definition:</b> BNO08xPrivateTypes.hpp:94</div></div>
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<div class="ttc" id="anamespace_b_n_o08x_private_types_html_ac53fb578d93a18b7a83903fc7a71dc2fad517d3ea5b1b259f20ed43e1fcf40e0c"><div class="ttname"><a href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fad517d3ea5b1b259f20ed43e1fcf40e0c">BNO08xPrivateTypes::EVT_GRP_RPT_SHAKE_DETECTOR_BIT</a></div><div class="ttdeci">@ EVT_GRP_RPT_SHAKE_DETECTOR_BIT</div><div class="ttdoc">When set, shake detector reports are active.</div><div class="ttdef"><b>Definition:</b> BNO08xPrivateTypes.hpp:98</div></div>
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<div class="ttc" id="anamespace_b_n_o08x_private_types_html_ac53fb578d93a18b7a83903fc7a71dc2fadcfcdea69099869ebf7f246ff5b7e8bb"><div class="ttname"><a href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fadcfcdea69099869ebf7f246ff5b7e8bb">BNO08xPrivateTypes::EVT_GRP_RPT_RAW_GYRO_BIT</a></div><div class="ttdeci">@ EVT_GRP_RPT_RAW_GYRO_BIT</div><div class="ttdoc">When set, raw gyro reports are active.</div><div class="ttdef"><b>Definition:</b> BNO08xPrivateTypes.hpp:100</div></div>
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<div class="ttc" id="anamespace_b_n_o08x_private_types_html_ac53fb578d93a18b7a83903fc7a71dc2fae138ae8422830982a470025d81c4be4b"><div class="ttname"><a href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fae138ae8422830982a470025d81c4be4b">BNO08xPrivateTypes::EVT_GRP_RPT_STABILITY_CLASSIFIER_BIT</a></div><div class="ttdeci">@ EVT_GRP_RPT_STABILITY_CLASSIFIER_BIT</div><div class="ttdoc">When set, stability classifier reports are active.</div><div class="ttdef"><b>Definition:</b> BNO08xPrivateTypes.hpp:96</div></div>
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<div class="ttc" id="anamespace_b_n_o08x_private_types_html_ac53fb578d93a18b7a83903fc7a71dc2faeb1961d7852ea305443610b2521aaea7"><div class="ttname"><a href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2faeb1961d7852ea305443610b2521aaea7">BNO08xPrivateTypes::EVT_GRP_RPT_CAL_GYRO_BIT</a></div><div class="ttdeci">@ EVT_GRP_RPT_CAL_GYRO_BIT</div><div class="ttdoc">When set, calibrated gyro reports are active.</div><div class="ttdef"><b>Definition:</b> BNO08xPrivateTypes.hpp:90</div></div>
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<div class="ttc" id="anamespace_b_n_o08x_private_types_html_ac53fb578d93a18b7a83903fc7a71dc2fafb8f448edba339f37fdf794bd891f903"><div class="ttname"><a href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fafb8f448edba339f37fdf794bd891f903">BNO08xPrivateTypes::EVT_GRP_RPT_STEP_COUNTER_BIT</a></div><div class="ttdeci">@ EVT_GRP_RPT_STEP_COUNTER_BIT</div><div class="ttdoc">When set, step counter reports are active.</div><div class="ttdef"><b>Definition:</b> BNO08xPrivateTypes.hpp:95</div></div>
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<div class="ttc" id="astruct_b_n_o08x_1_1bno08x__reports__t_html"><div class="ttname"><a href="struct_b_n_o08x_1_1bno08x__reports__t.html">BNO08x::bno08x_reports_t</a></div><div class="ttdoc">Contains report implementations.</div><div class="ttdef"><b>Definition:</b> BNO08x.hpp:76</div></div>
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<div class="ttc" id="astruct_b_n_o08x_1_1bno08x__reports__t_html_a027c914e51da445148dc9b2735cc5fc9"><div class="ttname"><a href="struct_b_n_o08x_1_1bno08x__reports__t.html#a027c914e51da445148dc9b2735cc5fc9">BNO08x::bno08x_reports_t::rv_ARVR_stabilized</a></div><div class="ttdeci">BNO08xRptARVRStabilizedRV rv_ARVR_stabilized</div><div class="ttdef"><b>Definition:</b> BNO08x.hpp:82</div></div>
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<div class="ttc" id="astruct_b_n_o08x_1_1bno08x__reports__t_html_a03d6194225331df5326a97ec6d45b094"><div class="ttname"><a href="struct_b_n_o08x_1_1bno08x__reports__t.html#a03d6194225331df5326a97ec6d45b094">BNO08x::bno08x_reports_t::cal_magnetometer</a></div><div class="ttdeci">BNO08xRptCalMagnetometer cal_magnetometer</div><div class="ttdef"><b>Definition:</b> BNO08x.hpp:89</div></div>
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<div class="ttc" id="astruct_b_n_o08x_1_1bno08x__reports__t_html_a0cabee7da991a7399d607373f09548a7"><div class="ttname"><a href="struct_b_n_o08x_1_1bno08x__reports__t.html#a0cabee7da991a7399d607373f09548a7">BNO08x::bno08x_reports_t::tap_detector</a></div><div class="ttdeci">BNO08xRptTapDetector tap_detector</div><div class="ttdef"><b>Definition:</b> BNO08x.hpp:95</div></div>
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<div class="ttc" id="astruct_b_n_o08x_1_1bno08x__reports__t_html_a13357e58bc926c2420ab41e4ffef4196"><div class="ttname"><a href="struct_b_n_o08x_1_1bno08x__reports__t.html#a13357e58bc926c2420ab41e4ffef4196">BNO08x::bno08x_reports_t::raw_gyro</a></div><div class="ttdeci">BNO08xRptRawMEMSGyro raw_gyro</div><div class="ttdef"><b>Definition:</b> BNO08x.hpp:91</div></div>
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<div class="ttc" id="astruct_b_n_o08x_1_1bno08x__reports__t_html_a2edee4386eaea86ef3d316f5840d7a2f"><div class="ttname"><a href="struct_b_n_o08x_1_1bno08x__reports__t.html#a2edee4386eaea86ef3d316f5840d7a2f">BNO08x::bno08x_reports_t::stability_classifier</a></div><div class="ttdeci">BNO08xRptStabilityClassifier stability_classifier</div><div class="ttdef"><b>Definition:</b> BNO08x.hpp:96</div></div>
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<div class="ttc" id="astruct_b_n_o08x_1_1bno08x__reports__t_html_a5774fa69fc74264d40478a729aeb5ece"><div class="ttname"><a href="struct_b_n_o08x_1_1bno08x__reports__t.html#a5774fa69fc74264d40478a729aeb5ece">BNO08x::bno08x_reports_t::uncal_magnetometer</a></div><div class="ttdeci">BNO08xRptUncalMagnetometer uncal_magnetometer</div><div class="ttdef"><b>Definition:</b> BNO08x.hpp:78</div></div>
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<div class="ttc" id="astruct_b_n_o08x_1_1bno08x__reports__t_html_a6475bdab7c49091f3086537efc00c12f"><div class="ttname"><a href="struct_b_n_o08x_1_1bno08x__reports__t.html#a6475bdab7c49091f3086537efc00c12f">BNO08x::bno08x_reports_t::activity_classifier</a></div><div class="ttdeci">BNO08xRptActivityClassifier activity_classifier</div><div class="ttdef"><b>Definition:</b> BNO08x.hpp:85</div></div>
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<div class="ttc" id="astruct_b_n_o08x_1_1bno08x__reports__t_html_a6937b5d9bf8af9344a5013e1c543ab42"><div class="ttname"><a href="struct_b_n_o08x_1_1bno08x__reports__t.html#a6937b5d9bf8af9344a5013e1c543ab42">BNO08x::bno08x_reports_t::rv_gyro_integrated</a></div><div class="ttdeci">BNO08xRptIGyroRV rv_gyro_integrated</div><div class="ttdef"><b>Definition:</b> BNO08x.hpp:77</div></div>
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<div class="ttc" id="astruct_b_n_o08x_1_1bno08x__reports__t_html_a6f1929843393c09c21b1f107a47c8fe3"><div class="ttname"><a href="struct_b_n_o08x_1_1bno08x__reports__t.html#a6f1929843393c09c21b1f107a47c8fe3">BNO08x::bno08x_reports_t::uncal_gyro</a></div><div class="ttdeci">BNO08xRptUncalGyro uncal_gyro</div><div class="ttdef"><b>Definition:</b> BNO08x.hpp:79</div></div>
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<div class="ttc" id="astruct_b_n_o08x_1_1bno08x__reports__t_html_a7e17ff7b9763ed040158813c69614a9f"><div class="ttname"><a href="struct_b_n_o08x_1_1bno08x__reports__t.html#a7e17ff7b9763ed040158813c69614a9f">BNO08x::bno08x_reports_t::rv_geomagnetic</a></div><div class="ttdeci">BNO08xRptRVGeomag rv_geomagnetic</div><div class="ttdef"><b>Definition:</b> BNO08x.hpp:84</div></div>
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<div class="ttc" id="astruct_b_n_o08x_1_1bno08x__reports__t_html_a7f33ac650137f5933ee1eab1ce936db6"><div class="ttname"><a href="struct_b_n_o08x_1_1bno08x__reports__t.html#a7f33ac650137f5933ee1eab1ce936db6">BNO08x::bno08x_reports_t::rv_game</a></div><div class="ttdeci">BNO08xRptGameRV rv_game</div><div class="ttdef"><b>Definition:</b> BNO08x.hpp:81</div></div>
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<div class="ttc" id="astruct_b_n_o08x_1_1bno08x__reports__t_html_a9d7ff08c5a141c3d1ad3493423e7c49c"><div class="ttname"><a href="struct_b_n_o08x_1_1bno08x__reports__t.html#a9d7ff08c5a141c3d1ad3493423e7c49c">BNO08x::bno08x_reports_t::shake_detector</a></div><div class="ttdeci">BNO08xRptShakeDetector shake_detector</div><div class="ttdef"><b>Definition:</b> BNO08x.hpp:97</div></div>
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<div class="ttc" id="astruct_b_n_o08x_1_1bno08x__reports__t_html_aa3a65aaf2adf05aa014b72c2d4485590"><div class="ttname"><a href="struct_b_n_o08x_1_1bno08x__reports__t.html#aa3a65aaf2adf05aa014b72c2d4485590">BNO08x::bno08x_reports_t::raw_accelerometer</a></div><div class="ttdeci">BNO08xRptRawMEMSAccelerometer raw_accelerometer</div><div class="ttdef"><b>Definition:</b> BNO08x.hpp:92</div></div>
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<div class="ttc" id="astruct_b_n_o08x_1_1bno08x__reports__t_html_aad0b1641e9c31927c33d0f69c174f9cb"><div class="ttname"><a href="struct_b_n_o08x_1_1bno08x__reports__t.html#aad0b1641e9c31927c33d0f69c174f9cb">BNO08x::bno08x_reports_t::bno08x_reports_t</a></div><div class="ttdeci">bno08x_reports_t(BNO08xPrivateTypes::bno08x_sync_ctx_t *sync_ctx)</div><div class="ttdef"><b>Definition:</b> BNO08x.hpp:99</div></div>
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<div class="ttc" id="astruct_b_n_o08x_1_1bno08x__reports__t_html_aad8698945b261c0a871f2f409897b071"><div class="ttname"><a href="struct_b_n_o08x_1_1bno08x__reports__t.html#aad8698945b261c0a871f2f409897b071">BNO08x::bno08x_reports_t::raw_magnetometer</a></div><div class="ttdeci">BNO08xRptRawMEMSMagnetometer raw_magnetometer</div><div class="ttdef"><b>Definition:</b> BNO08x.hpp:93</div></div>
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<div class="ttc" id="astruct_b_n_o08x_1_1bno08x__reports__t_html_ab7939486c9ba7e7c70f82d2284fb6119"><div class="ttname"><a href="struct_b_n_o08x_1_1bno08x__reports__t.html#ab7939486c9ba7e7c70f82d2284fb6119">BNO08x::bno08x_reports_t::accelerometer</a></div><div class="ttdeci">BNO08xRptAcceleration accelerometer</div><div class="ttdef"><b>Definition:</b> BNO08x.hpp:86</div></div>
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<div class="ttc" id="astruct_b_n_o08x_1_1bno08x__reports__t_html_ac8114db28ee3f7be5578e52f48caa9c3"><div class="ttname"><a href="struct_b_n_o08x_1_1bno08x__reports__t.html#ac8114db28ee3f7be5578e52f48caa9c3">BNO08x::bno08x_reports_t::linear_accelerometer</a></div><div class="ttdeci">BNO08xRptLinearAcceleration linear_accelerometer</div><div class="ttdef"><b>Definition:</b> BNO08x.hpp:87</div></div>
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<div class="ttc" id="astruct_b_n_o08x_1_1bno08x__reports__t_html_adabe838126b5bbc83fc4f69bba78123e"><div class="ttname"><a href="struct_b_n_o08x_1_1bno08x__reports__t.html#adabe838126b5bbc83fc4f69bba78123e">BNO08x::bno08x_reports_t::cal_gyro</a></div><div class="ttdeci">BNO08xRptCalGyro cal_gyro</div><div class="ttdef"><b>Definition:</b> BNO08x.hpp:90</div></div>
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<div class="ttc" id="astruct_b_n_o08x_1_1bno08x__reports__t_html_aeab138f8ddfed3f4d6b855a73b7e2db5"><div class="ttname"><a href="struct_b_n_o08x_1_1bno08x__reports__t.html#aeab138f8ddfed3f4d6b855a73b7e2db5">BNO08x::bno08x_reports_t::rv</a></div><div class="ttdeci">BNO08xRptRV rv</div><div class="ttdef"><b>Definition:</b> BNO08x.hpp:80</div></div>
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<div class="ttc" id="astruct_b_n_o08x_1_1bno08x__reports__t_html_aee9528ea57ab86ef29e10de9ecfefcf7"><div class="ttname"><a href="struct_b_n_o08x_1_1bno08x__reports__t.html#aee9528ea57ab86ef29e10de9ecfefcf7">BNO08x::bno08x_reports_t::step_counter</a></div><div class="ttdeci">BNO08xRptStepCounter step_counter</div><div class="ttdef"><b>Definition:</b> BNO08x.hpp:94</div></div>
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<div class="ttc" id="astruct_b_n_o08x_1_1bno08x__reports__t_html_af5245d5e4a6f7548a0c3a30af53b7355"><div class="ttname"><a href="struct_b_n_o08x_1_1bno08x__reports__t.html#af5245d5e4a6f7548a0c3a30af53b7355">BNO08x::bno08x_reports_t::gravity</a></div><div class="ttdeci">BNO08xRptGravity gravity</div><div class="ttdef"><b>Definition:</b> BNO08x.hpp:88</div></div>
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<div class="ttc" id="astruct_b_n_o08x_1_1bno08x__reports__t_html_af550968d0e56f114b4afb20a5a442206"><div class="ttname"><a href="struct_b_n_o08x_1_1bno08x__reports__t.html#af550968d0e56f114b4afb20a5a442206">BNO08x::bno08x_reports_t::rv_ARVR_stabilized_game</a></div><div class="ttdeci">BNO08xRptARVRStabilizedGameRV rv_ARVR_stabilized_game</div><div class="ttdef"><b>Definition:</b> BNO08x.hpp:83</div></div>
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<div class="ttc" id="astruct_b_n_o08x_private_types_1_1bno08x__init__status__t_html"><div class="ttname"><a href="struct_b_n_o08x_private_types_1_1bno08x__init__status__t.html">BNO08xPrivateTypes::bno08x_init_status_t</a></div><div class="ttdoc">Holds info about which functionality has been successfully initialized (used by deconstructor during ...</div><div class="ttdef"><b>Definition:</b> BNO08xPrivateTypes.hpp:28</div></div>
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<div class="ttc" id="astruct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t_html"><div class="ttname"><a href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html">BNO08xPrivateTypes::bno08x_sync_ctx_t</a></div><div class="ttdoc">Holds context used to synchronize tasks and callback execution.</div><div class="ttdef"><b>Definition:</b> BNO08xPrivateTypes.hpp:57</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> BNO08xGlobalTypes.hpp:38</div></div>
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