29 lines
682 B
C++
29 lines
682 B
C++
#include "BNO08xRptGravity.hpp"
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#include "BNO08x.hpp"
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/**
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* @brief Updates gravity data from decoded sensor event.
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*
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* @param sensor_val The sh2_SensorValue_t struct used in sh2_decodeSensorEvent() call.
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*
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* @return void, nothing to return
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*/
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void BNO08xRptGravity::update_data(sh2_SensorValue_t* sensor_val)
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{
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imu->lock_user_data();
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data = sensor_val->un.gravity;
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imu->unlock_user_data();
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}
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/**
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* @brief Grabs most recent gravity data, units are in m/s^2.
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*
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* @return Struct containing requested data.
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*/
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bno08x_accel_t BNO08xRptGravity::get()
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{
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imu->lock_user_data();
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bno08x_accel_t rqdata = data;
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imu->unlock_user_data();
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return rqdata;
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} |