29 lines
748 B
C++
29 lines
748 B
C++
#include "BNO08xRptRawMEMSGyro.hpp"
|
|
#include "BNO08x.hpp"
|
|
|
|
/**
|
|
* @brief Updates raw mems gyro data from decoded sensor event.
|
|
*
|
|
* @param sensor_val The sh2_SensorValue_t struct used in sh2_decodeSensorEvent() call.
|
|
*
|
|
* @return void, nothing to return
|
|
*/
|
|
void BNO08xRptRawMEMSGyro::update_data(sh2_SensorValue_t* sensor_val)
|
|
{
|
|
imu->lock_user_data();
|
|
data = sensor_val->un.rawGyroscope;
|
|
imu->unlock_user_data();
|
|
}
|
|
|
|
/**
|
|
* @brief Grabs most recent raw mems gyro report (units in ADC counts, time_stamp in microseconds)
|
|
*
|
|
* @return Struct containing requested data.
|
|
*/
|
|
bno08x_raw_gyro_t BNO08xRptRawMEMSGyro::get()
|
|
{
|
|
imu->lock_user_data();
|
|
bno08x_raw_gyro_t rqdata = data;
|
|
imu->unlock_user_data();
|
|
return rqdata;
|
|
} |