38 lines
981 B
C++
38 lines
981 B
C++
/**
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* @file BNO08xRptCalMagnetometer.cpp
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* @author Myles Parfeniuk
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*/
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#include "BNO08xRptCalMagnetometer.hpp"
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#include "BNO08x.hpp"
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/**
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* @brief Updates calibrated magnetometer 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 BNO08xRptCalMagnetometer::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.magneticField;
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data.accuracy = static_cast<BNO08xAccuracy>(sensor_val->status);
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imu->unlock_user_data();
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if (rpt_bit & xEventGroupGetBits(imu->evt_grp_report_en))
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signal_data_available();
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}
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/**
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* @brief Grabs most recent calibrated magnetometer data, units are in uTesla.
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*
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* @return Struct containing requested data.
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*/
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bno08x_magf_t BNO08xRptCalMagnetometer::get()
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{
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imu->lock_user_data();
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bno08x_magf_t rqdata = data;
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imu->unlock_user_data();
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return rqdata;
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} |