66 lines
2.0 KiB
C++
66 lines
2.0 KiB
C++
#include "BNO08xRpt.hpp"
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#include "BNO08x.hpp"
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/**
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* @brief Enables a sensor report such that the BNO08x begins sending it.
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*
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* @param report_period_us The period/interval of the report in microseconds.
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* @param sensor_cfg Sensor special configuration (optional, see BNO08xRpt::default_sensor_cfg for defaults).
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*
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* @return True if report was successfully enabled.
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*/
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bool BNO08xRpt::enable(uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg)
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{
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EventBits_t evt_grp_report_en_bits = xEventGroupGetBits(imu->evt_grp_report_en);
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// already enabled
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if (!(evt_grp_report_en_bits & rpt_bit))
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{
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if (imu->enable_report(ID, time_between_reports, sensor_cfg) != ESP_OK)
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{
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return false; // Return false if enable_report fails
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}
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else
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{
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period_us = time_between_reports; // Update the period
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xEventGroupSetBits(imu->evt_grp_report_en, rpt_bit); // Set the event group bit
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}
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}
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return true;
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}
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/**
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* @brief Disables a sensor report by setting its period to 0us such that the BNO08x stops sending it.
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*
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* @param sensor_ID The ID of the sensor for the respective report to be disabled.
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* @param sensor_cfg Sensor special configuration.
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*
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* @return ESP_OK if report was successfully disabled.
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*/
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bool BNO08xRpt::disable(sh2_SensorConfig_t sensor_cfg)
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{
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EventBits_t evt_grp_report_en_bits = xEventGroupGetBits(imu->evt_grp_report_en);
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if (evt_grp_report_en_bits & rpt_bit)
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{
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if (imu->enable_report(ID, 0UL, sensor_cfg) != ESP_OK)
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return false;
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else
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xEventGroupClearBits(imu->evt_grp_report_en, rpt_bit); // Set the event group bit
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}
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return true;
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}
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/**
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* @brief Registers a callback to execute when new data from a specific report is received.
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*
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* @param cb_fxn Pointer to the call-back function should be of void return type void input param.
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*
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* @return void, nothing to return
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*/
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void BNO08xRpt::register_cb(std::function<void(void)> cb_fxn)
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{
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imu->cb_list.push_back({ID, cb_fxn});
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} |