46 lines
1.2 KiB
C++
46 lines
1.2 KiB
C++
#include "BNO08xRptIGyroRV.hpp"
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#include "BNO08x.hpp"
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/**
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* @brief Updates gyro integrated rotation vector 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 BNO08xRptIGyroRV::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.gyroIntegratedRV;
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data_vel = sensor_val->un.gyroIntegratedRV;
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imu->unlock_user_data();
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}
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/**
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* @brief Grabs most recent gyro integrated rotation vector data.
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*
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* @param quat Struct to store requested unit quaternion data.
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* @param vel Struct to store requested velocity data (units in rad/s).
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*
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* @return void, nothing to return
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*/
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void BNO08xRptIGyroRV::get(bno08x_quat_t& quat, bno08x_ang_vel_t& vel)
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{
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imu->lock_user_data();
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quat = data;
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vel = data_vel;
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imu->unlock_user_data();
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}
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/**
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* @brief Grabs most recent gyro integrated rotation vector angular velocity data, units are in rad/s.
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*
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* @return Struct containing requested data.
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*/
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bno08x_ang_vel_t BNO08xRptIGyroRV::get_vel()
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{
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imu->lock_user_data();
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bno08x_ang_vel_t rqdata = data_vel;
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imu->unlock_user_data();
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return rqdata;
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} |