4392 lines
277 KiB
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4392 lines
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<div id="projectname">esp32_BNO08x<span id="projectnumber"> 1.00</span>
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<div id="projectbrief">C++ BNO08x IMU driver component for esp-idf.</div>
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<a href="#pub-methods">Public Member Functions</a> |
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<a href="#pri-methods">Private Member Functions</a> |
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<a href="#pri-static-methods">Static Private Member Functions</a> |
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<a href="#pri-attribs">Private Attributes</a> |
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<div class="headertitle"><div class="title">BNO08x Class Reference</div></div>
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
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Public Member Functions</h2></td></tr>
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<tr class="memitem:a40f7688e843d74b8bd526c6f5ff17845"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#a40f7688e843d74b8bd526c6f5ff17845">BNO08x</a> (<a class="el" href="structbno08x__config__t.html">bno08x_config_t</a> <a class="el" href="class_b_n_o08x.html#aeda443e9f608fccfec0e6770edc90c82">imu_config</a>=<a class="el" href="class_b_n_o08x.html#a6232920a05c0aba34e5560951a20ae87">default_imu_config</a>)</td></tr>
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<tr class="memdesc:a40f7688e843d74b8bd526c6f5ff17845"><td class="mdescLeft"> </td><td class="mdescRight"><a class="el" href="class_b_n_o08x.html">BNO08x</a> imu constructor. <br /></td></tr>
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<tr class="separator:a40f7688e843d74b8bd526c6f5ff17845"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:aea8e2c6dd7a2c9899479a7f39fe94798"><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#aea8e2c6dd7a2c9899479a7f39fe94798">initialize</a> ()</td></tr>
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<tr class="memdesc:aea8e2c6dd7a2c9899479a7f39fe94798"><td class="mdescLeft"> </td><td class="mdescRight">Initializes <a class="el" href="class_b_n_o08x.html">BNO08x</a> sensor. <br /></td></tr>
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<tr class="separator:aea8e2c6dd7a2c9899479a7f39fe94798"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a28cd1c0b3477571d87133234e6358503"><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#a28cd1c0b3477571d87133234e6358503">hard_reset</a> ()</td></tr>
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<tr class="memdesc:a28cd1c0b3477571d87133234e6358503"><td class="mdescLeft"> </td><td class="mdescRight">Hard resets <a class="el" href="class_b_n_o08x.html">BNO08x</a> sensor. <br /></td></tr>
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<tr class="separator:a28cd1c0b3477571d87133234e6358503"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a973a1b1785f3302ee1b2702c6a27646e"><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#a973a1b1785f3302ee1b2702c6a27646e">soft_reset</a> ()</td></tr>
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<tr class="memdesc:a973a1b1785f3302ee1b2702c6a27646e"><td class="mdescLeft"> </td><td class="mdescRight">Soft resets <a class="el" href="class_b_n_o08x.html">BNO08x</a> sensor using executable channel. <br /></td></tr>
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<tr class="separator:a973a1b1785f3302ee1b2702c6a27646e"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a11bb1b3fa44ad8f28c1492b5c07af886"><td class="memItemLeft" align="right" valign="top">uint8_t </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#a11bb1b3fa44ad8f28c1492b5c07af886">get_reset_reason</a> ()</td></tr>
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<tr class="memdesc:a11bb1b3fa44ad8f28c1492b5c07af886"><td class="mdescLeft"> </td><td class="mdescRight">Get the reason for the most recent reset. <br /></td></tr>
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<tr class="separator:a11bb1b3fa44ad8f28c1492b5c07af886"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a176ae0112325c05105eacb4566bbfa0b"><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#a176ae0112325c05105eacb4566bbfa0b">mode_sleep</a> ()</td></tr>
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<tr class="memdesc:a176ae0112325c05105eacb4566bbfa0b"><td class="mdescLeft"> </td><td class="mdescRight">Puts <a class="el" href="class_b_n_o08x.html">BNO08x</a> sensor into sleep/low power mode using executable channel. <br /></td></tr>
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<tr class="separator:a176ae0112325c05105eacb4566bbfa0b"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ac1b3de9b552c611ee9c455d7f19be698"><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#ac1b3de9b552c611ee9c455d7f19be698">mode_on</a> ()</td></tr>
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<tr class="memdesc:ac1b3de9b552c611ee9c455d7f19be698"><td class="mdescLeft"> </td><td class="mdescRight">Turns on/ brings <a class="el" href="class_b_n_o08x.html">BNO08x</a> sensor out of sleep mode using executable channel. <br /></td></tr>
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<tr class="separator:ac1b3de9b552c611ee9c455d7f19be698"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a27fb24e894f794ec6228ef142b6ff8d9"><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#a27fb24e894f794ec6228ef142b6ff8d9">q_to_float</a> (int16_t fixed_point_value, uint8_t q_point)</td></tr>
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<tr class="memdesc:a27fb24e894f794ec6228ef142b6ff8d9"><td class="mdescLeft"> </td><td class="mdescRight">Converts a register value to a float using its associated Q point. (See <a href="https://en.wikipedia.org/wiki/Q_(number_format)">https://en.wikipedia.org/wiki/Q_(number_format)</a>) <br /></td></tr>
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<tr class="separator:a27fb24e894f794ec6228ef142b6ff8d9"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ae6e875a27ae74ebed806ee1a4576845a"><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#ae6e875a27ae74ebed806ee1a4576845a">run_full_calibration_routine</a> ()</td></tr>
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<tr class="memdesc:ae6e875a27ae74ebed806ee1a4576845a"><td class="mdescLeft"> </td><td class="mdescRight">Runs full calibration routine. <br /></td></tr>
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<tr class="separator:ae6e875a27ae74ebed806ee1a4576845a"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:afd0ca5f9b9741935543d143a5a43d128"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#afd0ca5f9b9741935543d143a5a43d128">calibrate_all</a> ()</td></tr>
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<tr class="memdesc:afd0ca5f9b9741935543d143a5a43d128"><td class="mdescLeft"> </td><td class="mdescRight">Sends command to calibrate accelerometer, gyro, and magnetometer. <br /></td></tr>
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<tr class="separator:afd0ca5f9b9741935543d143a5a43d128"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:aeffce374f558a167d5b5f19ad627e7cc"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#aeffce374f558a167d5b5f19ad627e7cc">calibrate_accelerometer</a> ()</td></tr>
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<tr class="memdesc:aeffce374f558a167d5b5f19ad627e7cc"><td class="mdescLeft"> </td><td class="mdescRight">Sends command to calibrate accelerometer. <br /></td></tr>
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<tr class="separator:aeffce374f558a167d5b5f19ad627e7cc"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a9ada90f8ab6dd33fa2d7c168d9234af1"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#a9ada90f8ab6dd33fa2d7c168d9234af1">calibrate_gyro</a> ()</td></tr>
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<tr class="memdesc:a9ada90f8ab6dd33fa2d7c168d9234af1"><td class="mdescLeft"> </td><td class="mdescRight">Sends command to calibrate gyro. <br /></td></tr>
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<tr class="separator:a9ada90f8ab6dd33fa2d7c168d9234af1"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ac26350b55095a346d72598ab8aa74b4a"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#ac26350b55095a346d72598ab8aa74b4a">calibrate_magnetometer</a> ()</td></tr>
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<tr class="memdesc:ac26350b55095a346d72598ab8aa74b4a"><td class="mdescLeft"> </td><td class="mdescRight">Sends command to calibrate magnetometer. <br /></td></tr>
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<tr class="separator:ac26350b55095a346d72598ab8aa74b4a"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a1c6c49c97bc098db89db1aaa37e18f26"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#a1c6c49c97bc098db89db1aaa37e18f26">calibrate_planar_accelerometer</a> ()</td></tr>
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<tr class="memdesc:a1c6c49c97bc098db89db1aaa37e18f26"><td class="mdescLeft"> </td><td class="mdescRight">Sends command to calibrate planar accelerometer. <br /></td></tr>
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<tr class="separator:a1c6c49c97bc098db89db1aaa37e18f26"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:affaaa35abbb872da5299ebab6e2c9b11"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#affaaa35abbb872da5299ebab6e2c9b11">request_calibration_status</a> ()</td></tr>
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<tr class="memdesc:affaaa35abbb872da5299ebab6e2c9b11"><td class="mdescLeft"> </td><td class="mdescRight">Requests ME calibration status from <a class="el" href="class_b_n_o08x.html">BNO08x</a> (see Ref. Manual 6.4.7.2) <br /></td></tr>
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<tr class="separator:affaaa35abbb872da5299ebab6e2c9b11"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a71ca35f78b98d93d31eb0c187dc8543b"><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#a71ca35f78b98d93d31eb0c187dc8543b">calibration_complete</a> ()</td></tr>
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<tr class="memdesc:a71ca35f78b98d93d31eb0c187dc8543b"><td class="mdescLeft"> </td><td class="mdescRight">Returns true if calibration has completed. <br /></td></tr>
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<tr class="separator:a71ca35f78b98d93d31eb0c187dc8543b"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ac9d9b6636745e8180807284da67c92a2"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#ac9d9b6636745e8180807284da67c92a2">end_calibration</a> ()</td></tr>
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<tr class="memdesc:ac9d9b6636745e8180807284da67c92a2"><td class="mdescLeft"> </td><td class="mdescRight">Sends command to end calibration procedure. <br /></td></tr>
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<tr class="separator:ac9d9b6636745e8180807284da67c92a2"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:aa16609de88bfb7b389348859aa0cee54"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#aa16609de88bfb7b389348859aa0cee54">save_calibration</a> ()</td></tr>
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<tr class="memdesc:aa16609de88bfb7b389348859aa0cee54"><td class="mdescLeft"> </td><td class="mdescRight">Sends command to save internal calibration data (See Ref. Manual 6.4.7). <br /></td></tr>
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<tr class="separator:aa16609de88bfb7b389348859aa0cee54"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:abe9acd2eb1ce2f2e72b7a48c8d025cc4"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#abe9acd2eb1ce2f2e72b7a48c8d025cc4">enable_rotation_vector</a> (uint16_t time_between_reports)</td></tr>
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<tr class="memdesc:abe9acd2eb1ce2f2e72b7a48c8d025cc4"><td class="mdescLeft"> </td><td class="mdescRight">Sends command to enable rotation vector reports (See Ref. Manual 6.5.18) <br /></td></tr>
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<tr class="separator:abe9acd2eb1ce2f2e72b7a48c8d025cc4"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a639cb013ed17e0f33057742fac97f1a2"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#a639cb013ed17e0f33057742fac97f1a2">enable_game_rotation_vector</a> (uint16_t time_between_reports)</td></tr>
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<tr class="memdesc:a639cb013ed17e0f33057742fac97f1a2"><td class="mdescLeft"> </td><td class="mdescRight">Sends command to enable game rotation vector reports (See Ref. Manual 6.5.19) <br /></td></tr>
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<tr class="separator:a639cb013ed17e0f33057742fac97f1a2"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a04290cb6ba09b93d5a9ef337c13d1abb"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#a04290cb6ba09b93d5a9ef337c13d1abb">enable_ARVR_stabilized_rotation_vector</a> (uint16_t time_between_reports)</td></tr>
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<tr class="memdesc:a04290cb6ba09b93d5a9ef337c13d1abb"><td class="mdescLeft"> </td><td class="mdescRight">Sends command to enable ARVR stabilized rotation vector reports (See Ref. Manual 6.5.42) <br /></td></tr>
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<tr class="separator:a04290cb6ba09b93d5a9ef337c13d1abb"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ad9e26658c53c728d7d10381db680765e"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#ad9e26658c53c728d7d10381db680765e">enable_ARVR_stabilized_game_rotation_vector</a> (uint16_t time_between_reports)</td></tr>
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<tr class="memdesc:ad9e26658c53c728d7d10381db680765e"><td class="mdescLeft"> </td><td class="mdescRight">Sends command to enable ARVR stabilized game rotation vector reports (See Ref. Manual 6.5.43) <br /></td></tr>
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<tr class="separator:ad9e26658c53c728d7d10381db680765e"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a09a0306abec5895dd0450b2fe970347c"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#a09a0306abec5895dd0450b2fe970347c">enable_gyro_integrated_rotation_vector</a> (uint16_t timeBetweenReports)</td></tr>
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<tr class="memdesc:a09a0306abec5895dd0450b2fe970347c"><td class="mdescLeft"> </td><td class="mdescRight">Sends command to enable gyro integrated rotation vector reports (See Ref. Manual 6.5.44) <br /></td></tr>
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<tr class="memitem:a1d68494d911f7efbbb620d349fb9da0d"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#a1d68494d911f7efbbb620d349fb9da0d">enable_accelerometer</a> (uint16_t time_between_reports)</td></tr>
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<tr class="memdesc:a1d68494d911f7efbbb620d349fb9da0d"><td class="mdescLeft"> </td><td class="mdescRight">Sends command to enable accelerometer reports (See Ref. Manual 6.5.9) <br /></td></tr>
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<tr class="memitem:ad3724e7e602feb2b695d2d88a61d5328"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#ad3724e7e602feb2b695d2d88a61d5328">enable_linear_accelerometer</a> (uint16_t time_between_reports)</td></tr>
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<tr class="memdesc:ad3724e7e602feb2b695d2d88a61d5328"><td class="mdescLeft"> </td><td class="mdescRight">Sends command to enable linear accelerometer reports (See Ref. Manual 6.5.10) <br /></td></tr>
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<tr class="separator:ad3724e7e602feb2b695d2d88a61d5328"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a2dc0cd5bc04ca7eb3b4fffd2a3a6f27a"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#a2dc0cd5bc04ca7eb3b4fffd2a3a6f27a">enable_gravity</a> (uint16_t time_between_reports)</td></tr>
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<tr class="memdesc:a2dc0cd5bc04ca7eb3b4fffd2a3a6f27a"><td class="mdescLeft"> </td><td class="mdescRight">Sends command to enable gravity reading reports (See Ref. Manual 6.5.11) <br /></td></tr>
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<tr class="separator:a2dc0cd5bc04ca7eb3b4fffd2a3a6f27a"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a7619b598cc8e768c4df4805b2958a2c8"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#a7619b598cc8e768c4df4805b2958a2c8">enable_gyro</a> (uint16_t time_between_reports)</td></tr>
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<tr class="memdesc:a7619b598cc8e768c4df4805b2958a2c8"><td class="mdescLeft"> </td><td class="mdescRight">Sends command to enable gyro reports (See Ref. Manual 6.5.13) <br /></td></tr>
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<tr class="separator:a7619b598cc8e768c4df4805b2958a2c8"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ac7b5815c5ad8b83a34ad0855423601e8"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#ac7b5815c5ad8b83a34ad0855423601e8">enable_uncalibrated_gyro</a> (uint16_t time_between_reports)</td></tr>
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<tr class="memdesc:ac7b5815c5ad8b83a34ad0855423601e8"><td class="mdescLeft"> </td><td class="mdescRight">Sends command to enable uncalibrated gyro reports (See Ref. Manual 6.5.14) <br /></td></tr>
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<tr class="separator:ac7b5815c5ad8b83a34ad0855423601e8"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:acf4a83a44a221f6495263f00f1b8d849"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#acf4a83a44a221f6495263f00f1b8d849">enable_magnetometer</a> (uint16_t time_between_reports)</td></tr>
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<tr class="memdesc:acf4a83a44a221f6495263f00f1b8d849"><td class="mdescLeft"> </td><td class="mdescRight">Sends command to enable magnetometer reports (See Ref. Manual 6.5.16) <br /></td></tr>
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<tr class="separator:acf4a83a44a221f6495263f00f1b8d849"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a919c7d94226f4c6adbb8edf6fd1613a9"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#a919c7d94226f4c6adbb8edf6fd1613a9">enable_tap_detector</a> (uint16_t time_between_reports)</td></tr>
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<tr class="memdesc:a919c7d94226f4c6adbb8edf6fd1613a9"><td class="mdescLeft"> </td><td class="mdescRight">Sends command to enable tap detector reports (See Ref. Manual 6.5.27) <br /></td></tr>
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<tr class="separator:a919c7d94226f4c6adbb8edf6fd1613a9"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ad550085fa1b51495ce3d8894538f33d5"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#ad550085fa1b51495ce3d8894538f33d5">enable_step_counter</a> (uint16_t time_between_reports)</td></tr>
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<tr class="memdesc:ad550085fa1b51495ce3d8894538f33d5"><td class="mdescLeft"> </td><td class="mdescRight">Sends command to enable step counter reports (See Ref. Manual 6.5.29) <br /></td></tr>
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<tr class="separator:ad550085fa1b51495ce3d8894538f33d5"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a5378a235e3114ccdc63b26bc3fae5dad"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#a5378a235e3114ccdc63b26bc3fae5dad">enable_stability_classifier</a> (uint16_t time_between_reports)</td></tr>
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<tr class="memdesc:a5378a235e3114ccdc63b26bc3fae5dad"><td class="mdescLeft"> </td><td class="mdescRight">Sends command to enable activity stability classifier reports (See Ref. Manual 6.5.31) <br /></td></tr>
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<tr class="separator:a5378a235e3114ccdc63b26bc3fae5dad"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a0960ce957058af565dd4c43ad6c40225"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#a0960ce957058af565dd4c43ad6c40225">enable_activity_classifier</a> (uint16_t time_between_reports, uint32_t activities_to_enable, uint8_t(&activity_confidence_vals)[9])</td></tr>
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<tr class="memdesc:a0960ce957058af565dd4c43ad6c40225"><td class="mdescLeft"> </td><td class="mdescRight">Sends command to enable activity classifier reports (See Ref. Manual 6.5.36) <br /></td></tr>
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<tr class="separator:a0960ce957058af565dd4c43ad6c40225"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ad6adf3b24a8a559d3bb57e6abcef4ce8"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#ad6adf3b24a8a559d3bb57e6abcef4ce8">enable_raw_accelerometer</a> (uint16_t time_between_reports)</td></tr>
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<tr class="memdesc:ad6adf3b24a8a559d3bb57e6abcef4ce8"><td class="mdescLeft"> </td><td class="mdescRight">Sends command to enable raw accelerometer reports (See Ref. Manual 6.5.8) <br /></td></tr>
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<tr class="separator:ad6adf3b24a8a559d3bb57e6abcef4ce8"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:af984deb77c92746fe4d193457312be63"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#af984deb77c92746fe4d193457312be63">enable_raw_gyro</a> (uint16_t time_between_reports)</td></tr>
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<tr class="memdesc:af984deb77c92746fe4d193457312be63"><td class="mdescLeft"> </td><td class="mdescRight">Sends command to enable raw gyro reports (See Ref. Manual 6.5.12) <br /></td></tr>
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<tr class="separator:af984deb77c92746fe4d193457312be63"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ad1ca07ee06ef98d4e11a74dde18e9623"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#ad1ca07ee06ef98d4e11a74dde18e9623">enable_raw_magnetometer</a> (uint16_t time_between_reports)</td></tr>
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<tr class="memdesc:ad1ca07ee06ef98d4e11a74dde18e9623"><td class="mdescLeft"> </td><td class="mdescRight">Sends command to enable raw magnetometer reports (See Ref. Manual 6.5.15) <br /></td></tr>
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<tr class="separator:ad1ca07ee06ef98d4e11a74dde18e9623"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a4549bbef48208bd9c745fc755b93012f"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#a4549bbef48208bd9c745fc755b93012f">tare_now</a> (uint8_t axis_sel=<a class="el" href="class_b_n_o08x.html#a1ef13f6f330810934416ad5fe0ee55b2">TARE_AXIS_ALL</a>, uint8_t rotation_vector_basis=<a class="el" href="class_b_n_o08x.html#a8e2cfc25d0e34ae53a762b88cc3ac3c8">TARE_ROTATION_VECTOR</a>)</td></tr>
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<tr class="memdesc:a4549bbef48208bd9c745fc755b93012f"><td class="mdescLeft"> </td><td class="mdescRight">Sends command to tare an axis (See Ref. Manual 6.4.4.1) <br /></td></tr>
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<tr class="separator:a4549bbef48208bd9c745fc755b93012f"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:afb2ffc4e7ff0498917bc14a83af306e2"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#afb2ffc4e7ff0498917bc14a83af306e2">save_tare</a> ()</td></tr>
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<tr class="memdesc:afb2ffc4e7ff0498917bc14a83af306e2"><td class="mdescLeft"> </td><td class="mdescRight">Sends command to save tare into non-volatile memory of <a class="el" href="class_b_n_o08x.html">BNO08x</a> (See Ref. Manual 6.4.4.2) <br /></td></tr>
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<tr class="separator:afb2ffc4e7ff0498917bc14a83af306e2"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:afe39bfdede7b9a2b273983cb29a27d6e"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#afe39bfdede7b9a2b273983cb29a27d6e">clear_tare</a> ()</td></tr>
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<tr class="memdesc:afe39bfdede7b9a2b273983cb29a27d6e"><td class="mdescLeft"> </td><td class="mdescRight">Sends command to clear persistent tare settings in non-volatile memory of <a class="el" href="class_b_n_o08x.html">BNO08x</a> (See Ref. Manual 6.4.4.3) <br /></td></tr>
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<tr class="separator:afe39bfdede7b9a2b273983cb29a27d6e"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a367d525d1c0ba119b3dca3067bb5bccc"><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#a367d525d1c0ba119b3dca3067bb5bccc">data_available</a> ()</td></tr>
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<tr class="memdesc:a367d525d1c0ba119b3dca3067bb5bccc"><td class="mdescLeft"> </td><td class="mdescRight">Checks if <a class="el" href="class_b_n_o08x.html">BNO08x</a> has asserted interrupt and sent data. <br /></td></tr>
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<tr class="separator:a367d525d1c0ba119b3dca3067bb5bccc"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a7ba1d779ed68edf30090dd0f938a5709"><td class="memItemLeft" align="right" valign="top">uint16_t </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#a7ba1d779ed68edf30090dd0f938a5709">parse_input_report</a> ()</td></tr>
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<tr class="memdesc:a7ba1d779ed68edf30090dd0f938a5709"><td class="mdescLeft"> </td><td class="mdescRight">Parses received input report sent by <a class="el" href="class_b_n_o08x.html">BNO08x</a>. <br /></td></tr>
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<tr class="separator:a7ba1d779ed68edf30090dd0f938a5709"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a3762125be0025a335f0d918415f4ce18"><td class="memItemLeft" align="right" valign="top">uint16_t </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#a3762125be0025a335f0d918415f4ce18">parse_command_report</a> ()</td></tr>
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<tr class="memdesc:a3762125be0025a335f0d918415f4ce18"><td class="mdescLeft"> </td><td class="mdescRight">Parses received command report sent by <a class="el" href="class_b_n_o08x.html">BNO08x</a> (See Ref. Manual 6.3.9) <br /></td></tr>
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<tr class="separator:a3762125be0025a335f0d918415f4ce18"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a9cc47f0e5b7d679c80992c993a910ccf"><td class="memItemLeft" align="right" valign="top">uint16_t </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#a9cc47f0e5b7d679c80992c993a910ccf">get_readings</a> ()</td></tr>
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<tr class="memdesc:a9cc47f0e5b7d679c80992c993a910ccf"><td class="mdescLeft"> </td><td class="mdescRight">Waits for <a class="el" href="class_b_n_o08x.html">BNO08x</a> HINT pin to assert, and parses the received data. <br /></td></tr>
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<tr class="separator:a9cc47f0e5b7d679c80992c993a910ccf"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ad9137777271421a58159f3fe5e05ed20"><td class="memItemLeft" align="right" valign="top">uint32_t </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#ad9137777271421a58159f3fe5e05ed20">get_time_stamp</a> ()</td></tr>
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<tr class="memdesc:ad9137777271421a58159f3fe5e05ed20"><td class="mdescLeft"> </td><td class="mdescRight">Return timestamp of most recent report. <br /></td></tr>
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<tr class="separator:ad9137777271421a58159f3fe5e05ed20"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a35a224d519a2a243d0d526a34ecde5a8"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#a35a224d519a2a243d0d526a34ecde5a8">get_magf</a> (float &x, float &y, float &z, uint8_t &accuracy)</td></tr>
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<tr class="memdesc:a35a224d519a2a243d0d526a34ecde5a8"><td class="mdescLeft"> </td><td class="mdescRight">Get the full magnetic field vector. <br /></td></tr>
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<tr class="separator:a35a224d519a2a243d0d526a34ecde5a8"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a111601243b913751eb51c1f37cba4e7d"><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#a111601243b913751eb51c1f37cba4e7d">get_magf_X</a> ()</td></tr>
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<tr class="memdesc:a111601243b913751eb51c1f37cba4e7d"><td class="mdescLeft"> </td><td class="mdescRight">Get X component of magnetic field vector. <br /></td></tr>
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<tr class="separator:a111601243b913751eb51c1f37cba4e7d"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a82ed8d7b9a5c25374839df75a3d220ea"><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#a82ed8d7b9a5c25374839df75a3d220ea">get_magf_Y</a> ()</td></tr>
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<tr class="memdesc:a82ed8d7b9a5c25374839df75a3d220ea"><td class="mdescLeft"> </td><td class="mdescRight">Get Y component of magnetic field vector. <br /></td></tr>
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<tr class="separator:a82ed8d7b9a5c25374839df75a3d220ea"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ab4c48a91d2f8b29430abc17b7f015282"><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#ab4c48a91d2f8b29430abc17b7f015282">get_magf_Z</a> ()</td></tr>
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<tr class="memdesc:ab4c48a91d2f8b29430abc17b7f015282"><td class="mdescLeft"> </td><td class="mdescRight">Get Z component of magnetic field vector. <br /></td></tr>
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<tr class="separator:ab4c48a91d2f8b29430abc17b7f015282"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a487391e6b2dd7f05084804d1fb94976f"><td class="memItemLeft" align="right" valign="top">uint8_t </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#a487391e6b2dd7f05084804d1fb94976f">get_magf_accuracy</a> ()</td></tr>
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<tr class="memdesc:a487391e6b2dd7f05084804d1fb94976f"><td class="mdescLeft"> </td><td class="mdescRight">Get accuracy of reported magnetic field vector. <br /></td></tr>
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<tr class="separator:a487391e6b2dd7f05084804d1fb94976f"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a386c46ac8965220ab7b9423df838dd4d"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#a386c46ac8965220ab7b9423df838dd4d">get_gravity</a> (float &x, float &y, float &z, uint8_t &accuracy)</td></tr>
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<tr class="memdesc:a386c46ac8965220ab7b9423df838dd4d"><td class="mdescLeft"> </td><td class="mdescRight">Get full reported gravity vector, units in m/s^2. <br /></td></tr>
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<tr class="separator:a386c46ac8965220ab7b9423df838dd4d"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a88679bccd9339b87ec35fc4fc4e745ae"><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#a88679bccd9339b87ec35fc4fc4e745ae">get_gravity_X</a> ()</td></tr>
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<tr class="memdesc:a88679bccd9339b87ec35fc4fc4e745ae"><td class="mdescLeft"> </td><td class="mdescRight">Get the reported x axis gravity. <br /></td></tr>
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<tr class="separator:a88679bccd9339b87ec35fc4fc4e745ae"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a8a36db7f1c932f33e05e494632059801"><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#a8a36db7f1c932f33e05e494632059801">get_gravity_Y</a> ()</td></tr>
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<tr class="memdesc:a8a36db7f1c932f33e05e494632059801"><td class="mdescLeft"> </td><td class="mdescRight">Get the reported y axis gravity. <br /></td></tr>
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<tr class="separator:a8a36db7f1c932f33e05e494632059801"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a5622b4d1754648ea7eb400c1adf9e807"><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#a5622b4d1754648ea7eb400c1adf9e807">get_gravity_Z</a> ()</td></tr>
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<tr class="memdesc:a5622b4d1754648ea7eb400c1adf9e807"><td class="mdescLeft"> </td><td class="mdescRight">Get the reported z axis gravity. <br /></td></tr>
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<tr class="separator:a5622b4d1754648ea7eb400c1adf9e807"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:accd39f48e9f8ab8267df7184b5b7cd76"><td class="memItemLeft" align="right" valign="top">uint8_t </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#accd39f48e9f8ab8267df7184b5b7cd76">get_gravity_accuracy</a> ()</td></tr>
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<tr class="memdesc:accd39f48e9f8ab8267df7184b5b7cd76"><td class="mdescLeft"> </td><td class="mdescRight">Get the reported gravity accuracy. <br /></td></tr>
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<tr class="separator:accd39f48e9f8ab8267df7184b5b7cd76"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a89618eba08186ee8e679e7313907ddef"><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#a89618eba08186ee8e679e7313907ddef">get_roll</a> ()</td></tr>
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<tr class="memdesc:a89618eba08186ee8e679e7313907ddef"><td class="mdescLeft"> </td><td class="mdescRight">Get the reported rotation about x axis. <br /></td></tr>
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<tr class="separator:a89618eba08186ee8e679e7313907ddef"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a1b91f234d81c45f1f5ca2f27c9f0f6a3"><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#a1b91f234d81c45f1f5ca2f27c9f0f6a3">get_pitch</a> ()</td></tr>
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<tr class="memdesc:a1b91f234d81c45f1f5ca2f27c9f0f6a3"><td class="mdescLeft"> </td><td class="mdescRight">Get the reported rotation about y axis. <br /></td></tr>
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<tr class="separator:a1b91f234d81c45f1f5ca2f27c9f0f6a3"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a64d3e41750c6de9413d6982511f78f17"><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#a64d3e41750c6de9413d6982511f78f17">get_yaw</a> ()</td></tr>
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<tr class="memdesc:a64d3e41750c6de9413d6982511f78f17"><td class="mdescLeft"> </td><td class="mdescRight">Get the reported rotation about z axis. <br /></td></tr>
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<tr class="separator:a64d3e41750c6de9413d6982511f78f17"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a7077b9a130f1dcf0192454e387968dd6"><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#a7077b9a130f1dcf0192454e387968dd6">get_roll_deg</a> ()</td></tr>
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<tr class="memdesc:a7077b9a130f1dcf0192454e387968dd6"><td class="mdescLeft"> </td><td class="mdescRight">Get the reported rotation about x axis. <br /></td></tr>
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<tr class="separator:a7077b9a130f1dcf0192454e387968dd6"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:af50010400cbd1445e9ddfa259384b412"><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#af50010400cbd1445e9ddfa259384b412">get_pitch_deg</a> ()</td></tr>
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<tr class="memdesc:af50010400cbd1445e9ddfa259384b412"><td class="mdescLeft"> </td><td class="mdescRight">Get the reported rotation about y axis. <br /></td></tr>
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<tr class="separator:af50010400cbd1445e9ddfa259384b412"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:af80f7795656e695e036d3b1557aed94c"><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#af80f7795656e695e036d3b1557aed94c">get_yaw_deg</a> ()</td></tr>
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<tr class="memdesc:af80f7795656e695e036d3b1557aed94c"><td class="mdescLeft"> </td><td class="mdescRight">Get the reported rotation about z axis. <br /></td></tr>
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<tr class="separator:af80f7795656e695e036d3b1557aed94c"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a51a6d594824de2292e70f788454f8a2d"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#a51a6d594824de2292e70f788454f8a2d">get_quat</a> (float &i, float &j, float &k, float &real, float &rad_accuracy, uint8_t &accuracy)</td></tr>
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<tr class="memdesc:a51a6d594824de2292e70f788454f8a2d"><td class="mdescLeft"> </td><td class="mdescRight">Get the full quaternion reading. <br /></td></tr>
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<tr class="separator:a51a6d594824de2292e70f788454f8a2d"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a12c12a8e078b28480fb8828d306656f5"><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#a12c12a8e078b28480fb8828d306656f5">get_quat_I</a> ()</td></tr>
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<tr class="memdesc:a12c12a8e078b28480fb8828d306656f5"><td class="mdescLeft"> </td><td class="mdescRight">Get I component of reported quaternion. <br /></td></tr>
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<tr class="separator:a12c12a8e078b28480fb8828d306656f5"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a9f6bb642fa0297a7b9bcc94dd7374015"><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#a9f6bb642fa0297a7b9bcc94dd7374015">get_quat_J</a> ()</td></tr>
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<tr class="memdesc:a9f6bb642fa0297a7b9bcc94dd7374015"><td class="mdescLeft"> </td><td class="mdescRight">Get J component of reported quaternion. <br /></td></tr>
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<tr class="separator:a9f6bb642fa0297a7b9bcc94dd7374015"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a9f42c70c2337a0d831064a40ecfe2dd8"><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#a9f42c70c2337a0d831064a40ecfe2dd8">get_quat_K</a> ()</td></tr>
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<tr class="memdesc:a9f42c70c2337a0d831064a40ecfe2dd8"><td class="mdescLeft"> </td><td class="mdescRight">Get K component of reported quaternion. <br /></td></tr>
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<tr class="separator:a9f42c70c2337a0d831064a40ecfe2dd8"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a5a556c5ec1baaa7f1156779dbe47a7b7"><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#a5a556c5ec1baaa7f1156779dbe47a7b7">get_quat_real</a> ()</td></tr>
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<tr class="memdesc:a5a556c5ec1baaa7f1156779dbe47a7b7"><td class="mdescLeft"> </td><td class="mdescRight">Get real component of reported quaternion. <br /></td></tr>
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<tr class="separator:a5a556c5ec1baaa7f1156779dbe47a7b7"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a61b7d10a98afc6903fea6b2cede27630"><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#a61b7d10a98afc6903fea6b2cede27630">get_quat_radian_accuracy</a> ()</td></tr>
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<tr class="memdesc:a61b7d10a98afc6903fea6b2cede27630"><td class="mdescLeft"> </td><td class="mdescRight">Get radian accuracy of reported quaternion. <br /></td></tr>
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<tr class="separator:a61b7d10a98afc6903fea6b2cede27630"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a24ba760d064a1dc45f972c79b9c8d98d"><td class="memItemLeft" align="right" valign="top">uint8_t </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#a24ba760d064a1dc45f972c79b9c8d98d">get_quat_accuracy</a> ()</td></tr>
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<tr class="memdesc:a24ba760d064a1dc45f972c79b9c8d98d"><td class="mdescLeft"> </td><td class="mdescRight">Get accuracy of reported quaternion. <br /></td></tr>
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<tr class="separator:a24ba760d064a1dc45f972c79b9c8d98d"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a9329c6669282071622c3b3741b1b8142"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#a9329c6669282071622c3b3741b1b8142">get_accel</a> (float &x, float &y, float &z, uint8_t &accuracy)</td></tr>
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<tr class="memdesc:a9329c6669282071622c3b3741b1b8142"><td class="mdescLeft"> </td><td class="mdescRight">Get full acceleration (total acceleration of device, units in m/s^2). <br /></td></tr>
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<tr class="separator:a9329c6669282071622c3b3741b1b8142"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:abce574112a9079d2cbc58cfc352b8a69"><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#abce574112a9079d2cbc58cfc352b8a69">get_accel_X</a> ()</td></tr>
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<tr class="memdesc:abce574112a9079d2cbc58cfc352b8a69"><td class="mdescLeft"> </td><td class="mdescRight">Get x axis acceleration (total acceleration of device, units in m/s^2). <br /></td></tr>
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<tr class="separator:abce574112a9079d2cbc58cfc352b8a69"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:afdf24bb3d54518b23972f21f007817c1"><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#afdf24bb3d54518b23972f21f007817c1">get_accel_Y</a> ()</td></tr>
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<tr class="memdesc:afdf24bb3d54518b23972f21f007817c1"><td class="mdescLeft"> </td><td class="mdescRight">Get y axis acceleration (total acceleration of device, units in m/s^2). <br /></td></tr>
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<tr class="separator:afdf24bb3d54518b23972f21f007817c1"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a0a72477cb7a330fedbcb3e2126b882b1"><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#a0a72477cb7a330fedbcb3e2126b882b1">get_accel_Z</a> ()</td></tr>
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<tr class="memdesc:a0a72477cb7a330fedbcb3e2126b882b1"><td class="mdescLeft"> </td><td class="mdescRight">Get z axis acceleration (total acceleration of device, units in m/s^2). <br /></td></tr>
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<tr class="separator:a0a72477cb7a330fedbcb3e2126b882b1"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a3fce726d5de821f97ed207036dae2900"><td class="memItemLeft" align="right" valign="top">uint8_t </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#a3fce726d5de821f97ed207036dae2900">get_accel_accuracy</a> ()</td></tr>
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<tr class="memdesc:a3fce726d5de821f97ed207036dae2900"><td class="mdescLeft"> </td><td class="mdescRight">Get accuracy of linear acceleration. <br /></td></tr>
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<tr class="separator:a3fce726d5de821f97ed207036dae2900"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ad59b029d04341dbef72e059488951980"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#ad59b029d04341dbef72e059488951980">get_linear_accel</a> (float &x, float &y, float &z, uint8_t &accuracy)</td></tr>
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<tr class="memdesc:ad59b029d04341dbef72e059488951980"><td class="mdescLeft"> </td><td class="mdescRight">Get full linear acceleration (acceleration of the device minus gravity, units in m/s^2). <br /></td></tr>
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<tr class="separator:ad59b029d04341dbef72e059488951980"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a763c3a9699a1081d430fd9b9b7bc49a3"><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#a763c3a9699a1081d430fd9b9b7bc49a3">get_linear_accel_X</a> ()</td></tr>
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<tr class="memdesc:a763c3a9699a1081d430fd9b9b7bc49a3"><td class="mdescLeft"> </td><td class="mdescRight">Get x axis linear acceleration (acceleration of device minus gravity, units in m/s^2) <br /></td></tr>
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<tr class="separator:a763c3a9699a1081d430fd9b9b7bc49a3"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a1033bdd65b42b6706d1dfc67ece66191"><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#a1033bdd65b42b6706d1dfc67ece66191">get_linear_accel_Y</a> ()</td></tr>
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<tr class="memdesc:a1033bdd65b42b6706d1dfc67ece66191"><td class="mdescLeft"> </td><td class="mdescRight">Get y axis linear acceleration (acceleration of device minus gravity, units in m/s^2) <br /></td></tr>
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<tr class="separator:a1033bdd65b42b6706d1dfc67ece66191"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:afdfa7d50362702da689c5d18bf17fd84"><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#afdfa7d50362702da689c5d18bf17fd84">get_linear_accel_Z</a> ()</td></tr>
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<tr class="memdesc:afdfa7d50362702da689c5d18bf17fd84"><td class="mdescLeft"> </td><td class="mdescRight">Get z axis linear acceleration (acceleration of device minus gravity, units in m/s^2) <br /></td></tr>
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<tr class="separator:afdfa7d50362702da689c5d18bf17fd84"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a33fe3c2f47759cfae5f4b612ddd329ea"><td class="memItemLeft" align="right" valign="top">uint8_t </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#a33fe3c2f47759cfae5f4b612ddd329ea">get_linear_accel_accuracy</a> ()</td></tr>
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<tr class="memdesc:a33fe3c2f47759cfae5f4b612ddd329ea"><td class="mdescLeft"> </td><td class="mdescRight">Get accuracy of linear acceleration. <br /></td></tr>
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<tr class="separator:a33fe3c2f47759cfae5f4b612ddd329ea"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a1de356dd604c1dffcd1a32faeb4fafe2"><td class="memItemLeft" align="right" valign="top">int16_t </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#a1de356dd604c1dffcd1a32faeb4fafe2">get_raw_accel_X</a> ()</td></tr>
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<tr class="memdesc:a1de356dd604c1dffcd1a32faeb4fafe2"><td class="mdescLeft"> </td><td class="mdescRight">Get raw accelerometer x axis reading from physical accelerometer MEMs sensor (See Ref. Manual 6.5.8) <br /></td></tr>
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<tr class="separator:a1de356dd604c1dffcd1a32faeb4fafe2"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a96563de0eb597a52d595d19da827b1ac"><td class="memItemLeft" align="right" valign="top">int16_t </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#a96563de0eb597a52d595d19da827b1ac">get_raw_accel_Y</a> ()</td></tr>
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<tr class="memdesc:a96563de0eb597a52d595d19da827b1ac"><td class="mdescLeft"> </td><td class="mdescRight">Get raw accelerometer y axis reading from physical accelerometer MEMs sensor (See Ref. Manual 6.5.8) <br /></td></tr>
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<tr class="separator:a96563de0eb597a52d595d19da827b1ac"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a718cdd910e5e7e03fd0a1ad04ee6f0ce"><td class="memItemLeft" align="right" valign="top">int16_t </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#a718cdd910e5e7e03fd0a1ad04ee6f0ce">get_raw_accel_Z</a> ()</td></tr>
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<tr class="memdesc:a718cdd910e5e7e03fd0a1ad04ee6f0ce"><td class="mdescLeft"> </td><td class="mdescRight">Get raw accelerometer z axis reading from physical accelerometer MEMs sensor (See Ref. Manual 6.5.8) <br /></td></tr>
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<tr class="separator:a718cdd910e5e7e03fd0a1ad04ee6f0ce"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:af1b2c3a383a84fc6dfaddae1052b44d4"><td class="memItemLeft" align="right" valign="top">int16_t </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#af1b2c3a383a84fc6dfaddae1052b44d4">get_raw_gyro_X</a> ()</td></tr>
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<tr class="memdesc:af1b2c3a383a84fc6dfaddae1052b44d4"><td class="mdescLeft"> </td><td class="mdescRight">Get raw gyroscope x axis reading from physical gyroscope MEMs sensor (See Ref. Manual 6.5.12) <br /></td></tr>
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<tr class="separator:af1b2c3a383a84fc6dfaddae1052b44d4"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:aff7714441d242b3b9b0c03f94e0a9374"><td class="memItemLeft" align="right" valign="top">int16_t </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#aff7714441d242b3b9b0c03f94e0a9374">get_raw_gyro_Y</a> ()</td></tr>
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<tr class="memdesc:aff7714441d242b3b9b0c03f94e0a9374"><td class="mdescLeft"> </td><td class="mdescRight">Get raw gyroscope y axis reading from physical gyroscope MEMs sensor (See Ref. Manual 6.5.12) <br /></td></tr>
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<tr class="separator:aff7714441d242b3b9b0c03f94e0a9374"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a2e28b5a79c442a6baa2fa5165b9ce37d"><td class="memItemLeft" align="right" valign="top">int16_t </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#a2e28b5a79c442a6baa2fa5165b9ce37d">get_raw_gyro_Z</a> ()</td></tr>
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<tr class="memdesc:a2e28b5a79c442a6baa2fa5165b9ce37d"><td class="mdescLeft"> </td><td class="mdescRight">Get raw gyroscope z axis reading from physical gyroscope MEMs sensor (See Ref. Manual 6.5.12) <br /></td></tr>
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<tr class="separator:a2e28b5a79c442a6baa2fa5165b9ce37d"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:adf12600b39de41d258439a343fcc1ad8"><td class="memItemLeft" align="right" valign="top">int16_t </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#adf12600b39de41d258439a343fcc1ad8">get_raw_magf_X</a> ()</td></tr>
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<tr class="memdesc:adf12600b39de41d258439a343fcc1ad8"><td class="mdescLeft"> </td><td class="mdescRight">Get raw magnetometer x axis reading from physical magnetometer sensor (See Ref. Manual 6.5.15) <br /></td></tr>
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<tr class="separator:adf12600b39de41d258439a343fcc1ad8"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a2c842e43ceae19149f6525bcbc48f1cf"><td class="memItemLeft" align="right" valign="top">int16_t </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#a2c842e43ceae19149f6525bcbc48f1cf">get_raw_magf_Y</a> ()</td></tr>
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<tr class="memdesc:a2c842e43ceae19149f6525bcbc48f1cf"><td class="mdescLeft"> </td><td class="mdescRight">Get raw magnetometer y axis reading from physical magnetometer sensor (See Ref. Manual 6.5.15) <br /></td></tr>
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<tr class="separator:a2c842e43ceae19149f6525bcbc48f1cf"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a99c1bcc2ec3ca3d8feafd6dd61f9d269"><td class="memItemLeft" align="right" valign="top">int16_t </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#a99c1bcc2ec3ca3d8feafd6dd61f9d269">get_raw_magf_Z</a> ()</td></tr>
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<tr class="memdesc:a99c1bcc2ec3ca3d8feafd6dd61f9d269"><td class="mdescLeft"> </td><td class="mdescRight">Get raw magnetometer z axis reading from physical magnetometer sensor (See Ref. Manual 6.5.15) <br /></td></tr>
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<tr class="separator:a99c1bcc2ec3ca3d8feafd6dd61f9d269"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a4d3746a376a22acb7a2641bb750c4c89"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#a4d3746a376a22acb7a2641bb750c4c89">get_gyro_calibrated_velocity</a> (float &x, float &y, float &z, uint8_t &accuracy)</td></tr>
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<tr class="memdesc:a4d3746a376a22acb7a2641bb750c4c89"><td class="mdescLeft"> </td><td class="mdescRight">Get full rotational velocity with drift compensation (units in Rad/s). <br /></td></tr>
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<tr class="separator:a4d3746a376a22acb7a2641bb750c4c89"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ab7977391191067282e7f734b9ee45059"><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#ab7977391191067282e7f734b9ee45059">get_gyro_calibrated_velocity_X</a> ()</td></tr>
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<tr class="memdesc:ab7977391191067282e7f734b9ee45059"><td class="mdescLeft"> </td><td class="mdescRight">Get calibrated gyro x axis angular velocity measurement. <br /></td></tr>
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<tr class="separator:ab7977391191067282e7f734b9ee45059"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ad4fab6e636e239d4b9273f158983ed89"><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#ad4fab6e636e239d4b9273f158983ed89">get_gyro_calibrated_velocity_Y</a> ()</td></tr>
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<tr class="memdesc:ad4fab6e636e239d4b9273f158983ed89"><td class="mdescLeft"> </td><td class="mdescRight">Get calibrated gyro y axis angular velocity measurement. <br /></td></tr>
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<tr class="separator:ad4fab6e636e239d4b9273f158983ed89"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a15a29c3bb476048b7229abcfb2b1d52a"><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#a15a29c3bb476048b7229abcfb2b1d52a">get_gyro_calibrated_velocity_Z</a> ()</td></tr>
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<tr class="memdesc:a15a29c3bb476048b7229abcfb2b1d52a"><td class="mdescLeft"> </td><td class="mdescRight">Get calibrated gyro z axis angular velocity measurement. <br /></td></tr>
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<tr class="separator:a15a29c3bb476048b7229abcfb2b1d52a"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a811999653110858311c97a779c388e5d"><td class="memItemLeft" align="right" valign="top">uint8_t </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#a811999653110858311c97a779c388e5d">get_gyro_accuracy</a> ()</td></tr>
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<tr class="memdesc:a811999653110858311c97a779c388e5d"><td class="mdescLeft"> </td><td class="mdescRight">Get calibrated gyro accuracy. <br /></td></tr>
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<tr class="separator:a811999653110858311c97a779c388e5d"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a1bd3c33e70354bd35a78b83b6786b531"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#a1bd3c33e70354bd35a78b83b6786b531">get_uncalibrated_gyro</a> (float &x, float &y, float &z, float &bx, float &by, float &bz, uint8_t &accuracy)</td></tr>
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<tr class="memdesc:a1bd3c33e70354bd35a78b83b6786b531"><td class="mdescLeft"> </td><td class="mdescRight">Get full rotational velocity without drift compensation (units in Rad/s). An estimate of drift is given but not applied. <br /></td></tr>
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<tr class="separator:a1bd3c33e70354bd35a78b83b6786b531"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a289ff66f51c94be62c4a556f3a5997bf"><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#a289ff66f51c94be62c4a556f3a5997bf">get_uncalibrated_gyro_X</a> ()</td></tr>
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<tr class="memdesc:a289ff66f51c94be62c4a556f3a5997bf"><td class="mdescLeft"> </td><td class="mdescRight">Get uncalibrated gyro x axis angular velocity measurement. <br /></td></tr>
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<tr class="separator:a289ff66f51c94be62c4a556f3a5997bf"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a1874e4bd457bb5b6ecc2c64039b88ba4"><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#a1874e4bd457bb5b6ecc2c64039b88ba4">get_uncalibrated_gyro_Y</a> ()</td></tr>
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<tr class="memdesc:a1874e4bd457bb5b6ecc2c64039b88ba4"><td class="mdescLeft"> </td><td class="mdescRight">Get uncalibrated gyro Y axis angular velocity measurement. <br /></td></tr>
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<tr class="separator:a1874e4bd457bb5b6ecc2c64039b88ba4"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a0a73633d8929ce4058b14cefc8cad717"><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#a0a73633d8929ce4058b14cefc8cad717">get_uncalibrated_gyro_Z</a> ()</td></tr>
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<tr class="memdesc:a0a73633d8929ce4058b14cefc8cad717"><td class="mdescLeft"> </td><td class="mdescRight">Get uncalibrated gyro Z axis angular velocity measurement. <br /></td></tr>
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<tr class="separator:a0a73633d8929ce4058b14cefc8cad717"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ad228cdf352b7ea95e484da993045a47b"><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#ad228cdf352b7ea95e484da993045a47b">get_uncalibrated_gyro_bias_X</a> ()</td></tr>
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<tr class="memdesc:ad228cdf352b7ea95e484da993045a47b"><td class="mdescLeft"> </td><td class="mdescRight">Get uncalibrated gyro x axis drift estimate. <br /></td></tr>
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<tr class="separator:ad228cdf352b7ea95e484da993045a47b"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a74725517129dd548c7a3de705d5861bd"><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#a74725517129dd548c7a3de705d5861bd">get_uncalibrated_gyro_bias_Y</a> ()</td></tr>
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<tr class="memdesc:a74725517129dd548c7a3de705d5861bd"><td class="mdescLeft"> </td><td class="mdescRight">Get uncalibrated gyro Y axis drift estimate. <br /></td></tr>
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<tr class="separator:a74725517129dd548c7a3de705d5861bd"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a5050359272abd146ab3c7a6101effbd7"><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#a5050359272abd146ab3c7a6101effbd7">get_uncalibrated_gyro_bias_Z</a> ()</td></tr>
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<tr class="memdesc:a5050359272abd146ab3c7a6101effbd7"><td class="mdescLeft"> </td><td class="mdescRight">Get uncalibrated gyro Z axis drift estimate. <br /></td></tr>
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<tr class="separator:a5050359272abd146ab3c7a6101effbd7"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a3285613f18b2f2f4c3f9e6d5c971af10"><td class="memItemLeft" align="right" valign="top">uint8_t </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#a3285613f18b2f2f4c3f9e6d5c971af10">get_uncalibrated_gyro_accuracy</a> ()</td></tr>
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<tr class="memdesc:a3285613f18b2f2f4c3f9e6d5c971af10"><td class="mdescLeft"> </td><td class="mdescRight">Get uncalibrated gyro accuracy. <br /></td></tr>
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<tr class="separator:a3285613f18b2f2f4c3f9e6d5c971af10"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:afe6392012669e7ebd1a9e817e2bd313f"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#afe6392012669e7ebd1a9e817e2bd313f">get_gyro_velocity</a> (float &x, float &y, float &z)</td></tr>
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<tr class="memdesc:afe6392012669e7ebd1a9e817e2bd313f"><td class="mdescLeft"> </td><td class="mdescRight">Full rotational velocity from gyro-integrated rotation vector (See Ref. Manual 6.5.44) <br /></td></tr>
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<tr class="separator:afe6392012669e7ebd1a9e817e2bd313f"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:acd376cd3e454a87198ec86accbf2ee00"><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#acd376cd3e454a87198ec86accbf2ee00">get_gyro_velocity_X</a> ()</td></tr>
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<tr class="memdesc:acd376cd3e454a87198ec86accbf2ee00"><td class="mdescLeft"> </td><td class="mdescRight">Get x axis angular velocity from gyro-integrated rotation vector. (See Ref. Manual 6.5.44) <br /></td></tr>
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<tr class="separator:acd376cd3e454a87198ec86accbf2ee00"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:acd1819a81818f90dc105950b4a7d0b04"><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#acd1819a81818f90dc105950b4a7d0b04">get_gyro_velocity_Y</a> ()</td></tr>
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<tr class="memdesc:acd1819a81818f90dc105950b4a7d0b04"><td class="mdescLeft"> </td><td class="mdescRight">Get y axis angular velocity from gyro-integrated rotation vector. (See Ref. Manual 6.5.44) <br /></td></tr>
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<tr class="separator:acd1819a81818f90dc105950b4a7d0b04"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ae2add976af256ec981248371a2f58207"><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#ae2add976af256ec981248371a2f58207">get_gyro_velocity_Z</a> ()</td></tr>
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<tr class="memdesc:ae2add976af256ec981248371a2f58207"><td class="mdescLeft"> </td><td class="mdescRight">Get z axis angular velocity from gyro-integrated rotation vector. (See Ref. Manual 6.5.44) <br /></td></tr>
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<tr class="separator:ae2add976af256ec981248371a2f58207"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a4797ec731de4c158716da1a7af9d1602"><td class="memItemLeft" align="right" valign="top">uint8_t </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#a4797ec731de4c158716da1a7af9d1602">get_tap_detector</a> ()</td></tr>
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<tr class="memdesc:a4797ec731de4c158716da1a7af9d1602"><td class="mdescLeft"> </td><td class="mdescRight">Get if tap has occured. <br /></td></tr>
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<tr class="separator:a4797ec731de4c158716da1a7af9d1602"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:adaff49f3d80fdd19fd4210f0c56d41ef"><td class="memItemLeft" align="right" valign="top">uint16_t </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#adaff49f3d80fdd19fd4210f0c56d41ef">get_step_count</a> ()</td></tr>
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<tr class="memdesc:adaff49f3d80fdd19fd4210f0c56d41ef"><td class="mdescLeft"> </td><td class="mdescRight">Get the counted amount of steps. <br /></td></tr>
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<tr class="separator:adaff49f3d80fdd19fd4210f0c56d41ef"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a0d148e00abcfeec48c689e3084a7e786"><td class="memItemLeft" align="right" valign="top">int8_t </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#a0d148e00abcfeec48c689e3084a7e786">get_stability_classifier</a> ()</td></tr>
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<tr class="memdesc:a0d148e00abcfeec48c689e3084a7e786"><td class="mdescLeft"> </td><td class="mdescRight">Get the current stability classifier (Seee Ref. Manual 6.5.31) <br /></td></tr>
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<tr class="separator:a0d148e00abcfeec48c689e3084a7e786"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a4f7060b2d3c15b359b70b6346730446a"><td class="memItemLeft" align="right" valign="top">uint8_t </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#a4f7060b2d3c15b359b70b6346730446a">get_activity_classifier</a> ()</td></tr>
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<tr class="memdesc:a4f7060b2d3c15b359b70b6346730446a"><td class="mdescLeft"> </td><td class="mdescRight">Get the current activity classifier (Seee Ref. Manual 6.5.36) <br /></td></tr>
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<tr class="separator:a4f7060b2d3c15b359b70b6346730446a"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a08f037df7b3c7e2fc3f0e968f4a5f68c"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#a08f037df7b3c7e2fc3f0e968f4a5f68c">print_header</a> ()</td></tr>
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<tr class="memdesc:a08f037df7b3c7e2fc3f0e968f4a5f68c"><td class="mdescLeft"> </td><td class="mdescRight">Prints the most recently received SHTP header to serial console with ESP_LOG statement. <br /></td></tr>
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<tr class="separator:a08f037df7b3c7e2fc3f0e968f4a5f68c"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a0ef39163352bd7a54ac85952e8cb8516"><td class="memItemLeft" align="right" valign="top"><a id="a0ef39163352bd7a54ac85952e8cb8516" name="a0ef39163352bd7a54ac85952e8cb8516"></a>
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void </td><td class="memItemRight" valign="bottom"><b>print_packet</b> ()</td></tr>
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<tr class="separator:a0ef39163352bd7a54ac85952e8cb8516"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a4421c43323945946ad605f8422958dcf"><td class="memItemLeft" align="right" valign="top">int16_t </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#a4421c43323945946ad605f8422958dcf">get_Q1</a> (uint16_t record_ID)</td></tr>
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<tr class="memdesc:a4421c43323945946ad605f8422958dcf"><td class="mdescLeft"> </td><td class="mdescRight">Gets Q1 point from <a class="el" href="class_b_n_o08x.html">BNO08x</a> FRS (flash record system). <br /></td></tr>
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<tr class="separator:a4421c43323945946ad605f8422958dcf"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a954dccdcbe8a8c4f1787f13ebb8d932b"><td class="memItemLeft" align="right" valign="top">int16_t </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#a954dccdcbe8a8c4f1787f13ebb8d932b">get_Q2</a> (uint16_t record_ID)</td></tr>
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<tr class="memdesc:a954dccdcbe8a8c4f1787f13ebb8d932b"><td class="mdescLeft"> </td><td class="mdescRight">Gets Q2 point from <a class="el" href="class_b_n_o08x.html">BNO08x</a> FRS (flash record system). <br /></td></tr>
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<tr class="separator:a954dccdcbe8a8c4f1787f13ebb8d932b"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a1590ba793668f9cb1a32a1f4dd07cb9a"><td class="memItemLeft" align="right" valign="top">int16_t </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#a1590ba793668f9cb1a32a1f4dd07cb9a">get_Q3</a> (uint16_t record_ID)</td></tr>
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<tr class="memdesc:a1590ba793668f9cb1a32a1f4dd07cb9a"><td class="mdescLeft"> </td><td class="mdescRight">Gets Q3 point from <a class="el" href="class_b_n_o08x.html">BNO08x</a> FRS (flash record system). <br /></td></tr>
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<tr class="separator:a1590ba793668f9cb1a32a1f4dd07cb9a"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a1d6ea02d0d4b23ff6a15e9d5c6c92372"><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#a1d6ea02d0d4b23ff6a15e9d5c6c92372">get_resolution</a> (uint16_t record_ID)</td></tr>
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<tr class="memdesc:a1d6ea02d0d4b23ff6a15e9d5c6c92372"><td class="mdescLeft"> </td><td class="mdescRight">Gets resolution from <a class="el" href="class_b_n_o08x.html">BNO08x</a> FRS (flash record system). <br /></td></tr>
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<tr class="separator:a1d6ea02d0d4b23ff6a15e9d5c6c92372"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a0fff04c42c9502615ad73cd1457cb9b0"><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#a0fff04c42c9502615ad73cd1457cb9b0">get_range</a> (uint16_t record_ID)</td></tr>
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<tr class="memdesc:a0fff04c42c9502615ad73cd1457cb9b0"><td class="mdescLeft"> </td><td class="mdescRight">Gets range from <a class="el" href="class_b_n_o08x.html">BNO08x</a> FRS (flash record system). <br /></td></tr>
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<tr class="separator:a0fff04c42c9502615ad73cd1457cb9b0"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a27f5dce5c994be18a587fb622574ad41"><td class="memItemLeft" align="right" valign="top">uint32_t </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#a27f5dce5c994be18a587fb622574ad41">FRS_read_word</a> (uint16_t record_ID, uint8_t word_number)</td></tr>
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<tr class="memdesc:a27f5dce5c994be18a587fb622574ad41"><td class="mdescLeft"> </td><td class="mdescRight">Reads meta data word from <a class="el" href="class_b_n_o08x.html">BNO08x</a> FRS (flash record system) given the record ID and word number. (See Ref. Manual 5.1 & 6.3.7) <br /></td></tr>
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<tr class="separator:a27f5dce5c994be18a587fb622574ad41"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:adf789e709ac1667656db757c8d559af9"><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#adf789e709ac1667656db757c8d559af9">FRS_read_request</a> (uint16_t record_ID, uint16_t read_offset, uint16_t block_size)</td></tr>
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<tr class="memdesc:adf789e709ac1667656db757c8d559af9"><td class="mdescLeft"> </td><td class="mdescRight">Requests meta data from <a class="el" href="class_b_n_o08x.html">BNO08x</a> FRS (flash record system) given the record ID. Contains Q points and other info. (See Ref. Manual 5.1 & 6.3.6) <br /></td></tr>
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<tr class="separator:adf789e709ac1667656db757c8d559af9"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a40607e557eada666a5e1e416f42cd4a1"><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#a40607e557eada666a5e1e416f42cd4a1">FRS_read_data</a> (uint16_t record_ID, uint8_t start_location, uint8_t words_to_read)</td></tr>
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<tr class="memdesc:a40607e557eada666a5e1e416f42cd4a1"><td class="mdescLeft"> </td><td class="mdescRight">Read meta data from <a class="el" href="class_b_n_o08x.html">BNO08x</a> FRS (flash record system) given the record ID. Contains Q points and other info. (See Ref. Manual 5.1 & 6.3.7) <br /></td></tr>
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<tr class="separator:a40607e557eada666a5e1e416f42cd4a1"><td class="memSeparator" colspan="2"> </td></tr>
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</table><table class="memberdecls">
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-static-attribs" name="pub-static-attribs"></a>
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Static Public Attributes</h2></td></tr>
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<tr class="memitem:a72d8919cb432a53f57ff63aa29d5f984"><td class="memItemLeft" align="right" valign="top"><a id="a72d8919cb432a53f57ff63aa29d5f984" name="a72d8919cb432a53f57ff63aa29d5f984"></a>
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static const constexpr uint16_t </td><td class="memItemRight" valign="bottom"><b>FRS_RECORDID_ACCELEROMETER</b> = 0xE302</td></tr>
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<tr class="memitem:a6dbd6b8c9d1450c97db1e46861c55132"><td class="memItemLeft" align="right" valign="top"><a id="a6dbd6b8c9d1450c97db1e46861c55132" name="a6dbd6b8c9d1450c97db1e46861c55132"></a>
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static const constexpr uint16_t </td><td class="memItemRight" valign="bottom"><b>FRS_RECORDID_GYROSCOPE_CALIBRATED</b> = 0xE306</td></tr>
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<tr class="memitem:ab9519ab682fedb7224e4c0489c7d5619"><td class="memItemLeft" align="right" valign="top"><a id="ab9519ab682fedb7224e4c0489c7d5619" name="ab9519ab682fedb7224e4c0489c7d5619"></a>
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static const constexpr uint16_t </td><td class="memItemRight" valign="bottom"><b>FRS_RECORDID_MAGNETIC_FIELD_CALIBRATED</b> = 0xE309</td></tr>
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<tr class="memitem:a58e7e3a7bf08fbdb4b75b3a0034ed33e"><td class="memItemLeft" align="right" valign="top"><a id="a58e7e3a7bf08fbdb4b75b3a0034ed33e" name="a58e7e3a7bf08fbdb4b75b3a0034ed33e"></a>
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static const constexpr uint16_t </td><td class="memItemRight" valign="bottom"><b>FRS_RECORDID_ROTATION_VECTOR</b> = 0xE30B</td></tr>
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<tr class="separator:a58e7e3a7bf08fbdb4b75b3a0034ed33e"><td class="memSeparator" colspan="2"> </td></tr>
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</table><table class="memberdecls">
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pri-methods" name="pri-methods"></a>
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Private Member Functions</h2></td></tr>
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<tr class="memitem:a988c45b4afa4dcd6a24610ff308c1faa"><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#a988c45b4afa4dcd6a24610ff308c1faa">wait_for_device_int</a> ()</td></tr>
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<tr class="memdesc:a988c45b4afa4dcd6a24610ff308c1faa"><td class="mdescLeft"> </td><td class="mdescRight">Re-enables interrupts and waits for <a class="el" href="class_b_n_o08x.html">BNO08x</a> to assert HINT pin. <br /></td></tr>
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<tr class="separator:a988c45b4afa4dcd6a24610ff308c1faa"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ae540799865934fcff54caed0772df071"><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#ae540799865934fcff54caed0772df071">receive_packet</a> ()</td></tr>
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<tr class="memdesc:ae540799865934fcff54caed0772df071"><td class="mdescLeft"> </td><td class="mdescRight">Receives a SHTP packet via SPI. <br /></td></tr>
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<tr class="separator:ae540799865934fcff54caed0772df071"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a0ee58cedbc06d4a7db8821f40c0ee207"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#a0ee58cedbc06d4a7db8821f40c0ee207">send_packet</a> ()</td></tr>
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<tr class="memdesc:a0ee58cedbc06d4a7db8821f40c0ee207"><td class="mdescLeft"> </td><td class="mdescRight">Sends a queued SHTP packet via SPI. <br /></td></tr>
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<tr class="separator:a0ee58cedbc06d4a7db8821f40c0ee207"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a67d0b5302a60083cef1b31936e2b65d8"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#a67d0b5302a60083cef1b31936e2b65d8">queue_packet</a> (uint8_t channel_number, uint8_t data_length)</td></tr>
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<tr class="memdesc:a67d0b5302a60083cef1b31936e2b65d8"><td class="mdescLeft"> </td><td class="mdescRight">Queues an SHTP packet to be sent via SPI. <br /></td></tr>
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<tr class="separator:a67d0b5302a60083cef1b31936e2b65d8"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a1742d6445ffb6e9297b8bf84dec24f22"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#a1742d6445ffb6e9297b8bf84dec24f22">queue_command</a> (uint8_t command)</td></tr>
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<tr class="memdesc:a1742d6445ffb6e9297b8bf84dec24f22"><td class="mdescLeft"> </td><td class="mdescRight">Queues a packet containing a command. <br /></td></tr>
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<tr class="separator:a1742d6445ffb6e9297b8bf84dec24f22"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a6c004a16b146527aa9eeeb6ff37db281"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#a6c004a16b146527aa9eeeb6ff37db281">queue_feature_command</a> (uint8_t report_ID, uint16_t time_between_reports)</td></tr>
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<tr class="memdesc:a6c004a16b146527aa9eeeb6ff37db281"><td class="mdescLeft"> </td><td class="mdescRight">Queues a packet containing a command with a request for sensor reports, reported periodically. (See Ref. Manual 6.5.4) <br /></td></tr>
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<tr class="separator:a6c004a16b146527aa9eeeb6ff37db281"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:af0a0686a78c929aad43af2eaeba12878"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#af0a0686a78c929aad43af2eaeba12878">queue_feature_command</a> (uint8_t report_ID, uint16_t time_between_reports, uint32_t specific_config)</td></tr>
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<tr class="memdesc:af0a0686a78c929aad43af2eaeba12878"><td class="mdescLeft"> </td><td class="mdescRight">Queues a packet containing a command with a request for sensor reports, reported periodically. (See Ref. Manual 6.5.4) <br /></td></tr>
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<tr class="separator:af0a0686a78c929aad43af2eaeba12878"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ad097849616c5caab1fd3eb3632ee2b91"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#ad097849616c5caab1fd3eb3632ee2b91">queue_calibrate_command</a> (uint8_t _to_calibrate)</td></tr>
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<tr class="memdesc:ad097849616c5caab1fd3eb3632ee2b91"><td class="mdescLeft"> </td><td class="mdescRight">Queues a packet containing a command to calibrate the specified sensor. <br /></td></tr>
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<tr class="separator:ad097849616c5caab1fd3eb3632ee2b91"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a4c6353e795f734ed28613f9a3d161ea2"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#a4c6353e795f734ed28613f9a3d161ea2">queue_tare_command</a> (uint8_t command, uint8_t axis=<a class="el" href="class_b_n_o08x.html#a1ef13f6f330810934416ad5fe0ee55b2">TARE_AXIS_ALL</a>, uint8_t rotation_vector_basis=<a class="el" href="class_b_n_o08x.html#a8e2cfc25d0e34ae53a762b88cc3ac3c8">TARE_ROTATION_VECTOR</a>)</td></tr>
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<tr class="memdesc:a4c6353e795f734ed28613f9a3d161ea2"><td class="mdescLeft"> </td><td class="mdescRight">Queues a packet containing a command related to zeroing sensor's axes. (See Ref. Manual 6.4.4.1) <br /></td></tr>
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<tr class="separator:a4c6353e795f734ed28613f9a3d161ea2"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ab5f200069a2f8cb74cb79c6f162da5a1"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#ab5f200069a2f8cb74cb79c6f162da5a1">queue_request_product_id_command</a> ()</td></tr>
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<tr class="memdesc:ab5f200069a2f8cb74cb79c6f162da5a1"><td class="mdescLeft"> </td><td class="mdescRight">Queues a packet containing the request product ID command. <br /></td></tr>
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<tr class="separator:ab5f200069a2f8cb74cb79c6f162da5a1"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a2ecd4ed60f82730ae230c61687ec92bf"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#a2ecd4ed60f82730ae230c61687ec92bf">spi_task</a> ()</td></tr>
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<tr class="memdesc:a2ecd4ed60f82730ae230c61687ec92bf"><td class="mdescLeft"> </td><td class="mdescRight">Task responsible for SPI transactions. Executed when HINT in is asserted by <a class="el" href="class_b_n_o08x.html">BNO08x</a>. <br /></td></tr>
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<tr class="separator:a2ecd4ed60f82730ae230c61687ec92bf"><td class="memSeparator" colspan="2"> </td></tr>
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</table><table class="memberdecls">
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pri-static-methods" name="pri-static-methods"></a>
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Static Private Member Functions</h2></td></tr>
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<tr class="memitem:a0ce6d9db873555f1ebe7e095251eab74"><td class="memItemLeft" align="right" valign="top">static void </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#a0ce6d9db873555f1ebe7e095251eab74">spi_task_trampoline</a> (void *arg)</td></tr>
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<tr class="memdesc:a0ce6d9db873555f1ebe7e095251eab74"><td class="mdescLeft"> </td><td class="mdescRight">Static function used to launch spi task. <br /></td></tr>
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<tr class="separator:a0ce6d9db873555f1ebe7e095251eab74"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a804b95c58c30d36933fd251626b85bf7"><td class="memItemLeft" align="right" valign="top">static void IRAM_ATTR </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#a804b95c58c30d36933fd251626b85bf7">hint_handler</a> (void *arg)</td></tr>
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<tr class="memdesc:a804b95c58c30d36933fd251626b85bf7"><td class="mdescLeft"> </td><td class="mdescRight">HINT interrupt service routine, handles falling edge of <a class="el" href="class_b_n_o08x.html">BNO08x</a> HINT pin. <br /></td></tr>
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</table><table class="memberdecls">
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pri-attribs" name="pri-attribs"></a>
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Private Attributes</h2></td></tr>
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<tr class="memitem:a5b1f13a3170f1c8fdcc886353efa0c08"><td class="memItemLeft" align="right" valign="top"><a id="a5b1f13a3170f1c8fdcc886353efa0c08" name="a5b1f13a3170f1c8fdcc886353efa0c08"></a>
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volatile uint8_t </td><td class="memItemRight" valign="bottom"><b>tx_packet_queued</b></td></tr>
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<tr class="memdesc:a5b1f13a3170f1c8fdcc886353efa0c08"><td class="mdescLeft"> </td><td class="mdescRight">Whether or not a packet is currently waiting to be sent, a queued packet is sent on assertion of <a class="el" href="class_b_n_o08x.html">BNO08x</a> HINT pin) <br /></td></tr>
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<tr class="memitem:aee2d0bcb8e9d7bacacccacbb04ded661"><td class="memItemLeft" align="right" valign="top"><a id="aee2d0bcb8e9d7bacacccacbb04ded661" name="aee2d0bcb8e9d7bacacccacbb04ded661"></a>
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SemaphoreHandle_t </td><td class="memItemRight" valign="bottom"><b>tx_semaphore</b></td></tr>
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<tr class="memdesc:aee2d0bcb8e9d7bacacccacbb04ded661"><td class="mdescLeft"> </td><td class="mdescRight">Mutex semaphore used to prevent sending or receiving of packets if packet is currently being queued. <br /></td></tr>
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<tr class="memitem:a7a85ccea09eadf865e8bbbf00d800e64"><td class="memItemLeft" align="right" valign="top"><a id="a7a85ccea09eadf865e8bbbf00d800e64" name="a7a85ccea09eadf865e8bbbf00d800e64"></a>
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uint8_t </td><td class="memItemRight" valign="bottom"><b>rx_buffer</b> [300]</td></tr>
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<tr class="memdesc:a7a85ccea09eadf865e8bbbf00d800e64"><td class="mdescLeft"> </td><td class="mdescRight">buffer used to receive packet with <a class="el" href="class_b_n_o08x.html#ae540799865934fcff54caed0772df071" title="Receives a SHTP packet via SPI.">receive_packet()</a> <br /></td></tr>
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<tr class="memitem:a74d936708ba924b6ba21004ff9a0b30b"><td class="memItemLeft" align="right" valign="top"><a id="a74d936708ba924b6ba21004ff9a0b30b" name="a74d936708ba924b6ba21004ff9a0b30b"></a>
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uint8_t </td><td class="memItemRight" valign="bottom"><b>tx_buffer</b> [50]</td></tr>
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<tr class="memdesc:a74d936708ba924b6ba21004ff9a0b30b"><td class="mdescLeft"> </td><td class="mdescRight">buffer used for sending packet with <a class="el" href="class_b_n_o08x.html#a0ee58cedbc06d4a7db8821f40c0ee207" title="Sends a queued SHTP packet via SPI.">send_packet()</a> <br /></td></tr>
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<tr class="memitem:a908264b797fff9dc6679abde5e7584a5"><td class="memItemLeft" align="right" valign="top"><a id="a908264b797fff9dc6679abde5e7584a5" name="a908264b797fff9dc6679abde5e7584a5"></a>
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uint8_t </td><td class="memItemRight" valign="bottom"><b>packet_header_rx</b> [4]</td></tr>
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<tr class="memdesc:a908264b797fff9dc6679abde5e7584a5"><td class="mdescLeft"> </td><td class="mdescRight">SHTP header received with <a class="el" href="class_b_n_o08x.html#ae540799865934fcff54caed0772df071" title="Receives a SHTP packet via SPI.">receive_packet()</a> <br /></td></tr>
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<tr class="memitem:acbca88b37c8c5a590ca971b241dac64f"><td class="memItemLeft" align="right" valign="top"><a id="acbca88b37c8c5a590ca971b241dac64f" name="acbca88b37c8c5a590ca971b241dac64f"></a>
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uint8_t </td><td class="memItemRight" valign="bottom"><b>commands</b> [20]</td></tr>
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<tr class="memdesc:acbca88b37c8c5a590ca971b241dac64f"><td class="mdescLeft"> </td><td class="mdescRight">Command to be sent with <a class="el" href="class_b_n_o08x.html#a0ee58cedbc06d4a7db8821f40c0ee207" title="Sends a queued SHTP packet via SPI.">send_packet()</a> <br /></td></tr>
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<tr class="memitem:aa722dbc6f6f07c63e9ea2a9271614af3"><td class="memItemLeft" align="right" valign="top"><a id="aa722dbc6f6f07c63e9ea2a9271614af3" name="aa722dbc6f6f07c63e9ea2a9271614af3"></a>
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uint8_t </td><td class="memItemRight" valign="bottom"><b>sequence_number</b> [6]</td></tr>
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<tr class="memdesc:aa722dbc6f6f07c63e9ea2a9271614af3"><td class="mdescLeft"> </td><td class="mdescRight">Sequence num of each com channel, 6 in total. <br /></td></tr>
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<tr class="memitem:a7bd032712a975e73e66bd72a3502baba"><td class="memItemLeft" align="right" valign="top"><a id="a7bd032712a975e73e66bd72a3502baba" name="a7bd032712a975e73e66bd72a3502baba"></a>
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uint32_t </td><td class="memItemRight" valign="bottom"><b>meta_data</b> [9]</td></tr>
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<tr class="memdesc:a7bd032712a975e73e66bd72a3502baba"><td class="mdescLeft"> </td><td class="mdescRight">First 9 bytes of meta data returned from FRS read operation (we don't really need the rest) (See Ref. Manual 5.1) <br /></td></tr>
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<tr class="memitem:ac1daa730e75d17e6afd1edaa288260ae"><td class="memItemLeft" align="right" valign="top"><a id="ac1daa730e75d17e6afd1edaa288260ae" name="ac1daa730e75d17e6afd1edaa288260ae"></a>
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uint8_t </td><td class="memItemRight" valign="bottom"><b>command_sequence_number</b> = 0</td></tr>
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<tr class="memdesc:ac1daa730e75d17e6afd1edaa288260ae"><td class="mdescLeft"> </td><td class="mdescRight">Sequence num of command, sent within command packet. <br />
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<br /></td></tr>
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<tr class="memitem:a6fbc6d086654b022a3ea53dfacd4fdf5"><td class="memItemLeft" align="right" valign="top"><a id="a6fbc6d086654b022a3ea53dfacd4fdf5" name="a6fbc6d086654b022a3ea53dfacd4fdf5"></a>
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uint16_t </td><td class="memItemRight" valign="bottom"><b>packet_length_tx</b> = 0</td></tr>
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<tr class="memdesc:a6fbc6d086654b022a3ea53dfacd4fdf5"><td class="mdescLeft"> </td><td class="mdescRight">Packet length to be sent with <a class="el" href="class_b_n_o08x.html#a0ee58cedbc06d4a7db8821f40c0ee207" title="Sends a queued SHTP packet via SPI.">send_packet()</a> <br /></td></tr>
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<tr class="memitem:af65e3fd0bfdb5b82dcf775e2c061c65a"><td class="memItemLeft" align="right" valign="top"><a id="af65e3fd0bfdb5b82dcf775e2c061c65a" name="af65e3fd0bfdb5b82dcf775e2c061c65a"></a>
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uint16_t </td><td class="memItemRight" valign="bottom"><b>packet_length_rx</b> = 0</td></tr>
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<tr class="memdesc:af65e3fd0bfdb5b82dcf775e2c061c65a"><td class="mdescLeft"> </td><td class="mdescRight">Packet length received (calculated from packet_header_rx) <br /></td></tr>
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<tr class="memitem:aeda443e9f608fccfec0e6770edc90c82"><td class="memItemLeft" align="right" valign="top"><a id="aeda443e9f608fccfec0e6770edc90c82" name="aeda443e9f608fccfec0e6770edc90c82"></a>
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<a class="el" href="structbno08x__config__t.html">bno08x_config_t</a> </td><td class="memItemRight" valign="bottom"><b>imu_config</b> {}</td></tr>
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<tr class="memdesc:aeda443e9f608fccfec0e6770edc90c82"><td class="mdescLeft"> </td><td class="mdescRight">IMU configuration settings. <br /></td></tr>
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<tr class="separator:aeda443e9f608fccfec0e6770edc90c82"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a982f065df42f00e53fd87c840efdb0f1"><td class="memItemLeft" align="right" valign="top"><a id="a982f065df42f00e53fd87c840efdb0f1" name="a982f065df42f00e53fd87c840efdb0f1"></a>
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spi_bus_config_t </td><td class="memItemRight" valign="bottom"><b>bus_config</b> {}</td></tr>
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<tr class="memdesc:a982f065df42f00e53fd87c840efdb0f1"><td class="mdescLeft"> </td><td class="mdescRight">SPI bus GPIO configuration settings. <br /></td></tr>
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<tr class="separator:a982f065df42f00e53fd87c840efdb0f1"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a425a1f5a9f3232aadc685caaf4c2f82e"><td class="memItemLeft" align="right" valign="top"><a id="a425a1f5a9f3232aadc685caaf4c2f82e" name="a425a1f5a9f3232aadc685caaf4c2f82e"></a>
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spi_device_interface_config_t </td><td class="memItemRight" valign="bottom"><b>imu_spi_config</b> {}</td></tr>
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<tr class="memdesc:a425a1f5a9f3232aadc685caaf4c2f82e"><td class="mdescLeft"> </td><td class="mdescRight">SPI slave device settings. <br /></td></tr>
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<tr class="separator:a425a1f5a9f3232aadc685caaf4c2f82e"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:acc0ea091465fc9a5736f5e0c6a0ce8ef"><td class="memItemLeft" align="right" valign="top"><a id="acc0ea091465fc9a5736f5e0c6a0ce8ef" name="acc0ea091465fc9a5736f5e0c6a0ce8ef"></a>
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spi_device_handle_t </td><td class="memItemRight" valign="bottom"><b>spi_hdl</b> {}</td></tr>
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<tr class="memdesc:acc0ea091465fc9a5736f5e0c6a0ce8ef"><td class="mdescLeft"> </td><td class="mdescRight">SPI device handle. <br /></td></tr>
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<tr class="separator:acc0ea091465fc9a5736f5e0c6a0ce8ef"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ac16adc5f00b0039c98a4921f13895026"><td class="memItemLeft" align="right" valign="top"><a id="ac16adc5f00b0039c98a4921f13895026" name="ac16adc5f00b0039c98a4921f13895026"></a>
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spi_transaction_t </td><td class="memItemRight" valign="bottom"><b>spi_transaction</b> {}</td></tr>
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<tr class="memdesc:ac16adc5f00b0039c98a4921f13895026"><td class="mdescLeft"> </td><td class="mdescRight">SPI transaction handle. <br /></td></tr>
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<tr class="separator:ac16adc5f00b0039c98a4921f13895026"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:abc972db20affbd0040b4e6c4892dd57b"><td class="memItemLeft" align="right" valign="top"><a id="abc972db20affbd0040b4e6c4892dd57b" name="abc972db20affbd0040b4e6c4892dd57b"></a>
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uint32_t </td><td class="memItemRight" valign="bottom"><b>time_stamp</b></td></tr>
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<tr class="memdesc:abc972db20affbd0040b4e6c4892dd57b"><td class="mdescLeft"> </td><td class="mdescRight">Report timestamp (see datasheet 1.3.5.3) <br /></td></tr>
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<tr class="separator:abc972db20affbd0040b4e6c4892dd57b"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a75fb2f06c5bbe26e3f3c794934ef954c"><td class="memItemLeft" align="right" valign="top"><a id="a75fb2f06c5bbe26e3f3c794934ef954c" name="a75fb2f06c5bbe26e3f3c794934ef954c"></a>
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uint16_t </td><td class="memItemRight" valign="bottom"><b>raw_accel_X</b></td></tr>
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<tr class="separator:a75fb2f06c5bbe26e3f3c794934ef954c"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ab56e2ba505fa293d03e955137625c562"><td class="memItemLeft" align="right" valign="top"><a id="ab56e2ba505fa293d03e955137625c562" name="ab56e2ba505fa293d03e955137625c562"></a>
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uint16_t </td><td class="memItemRight" valign="bottom"><b>raw_accel_Y</b></td></tr>
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<tr class="separator:ab56e2ba505fa293d03e955137625c562"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:af254d245b368027df6952b7d7522bd35"><td class="memItemLeft" align="right" valign="top"><a id="af254d245b368027df6952b7d7522bd35" name="af254d245b368027df6952b7d7522bd35"></a>
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uint16_t </td><td class="memItemRight" valign="bottom"><b>raw_accel_Z</b></td></tr>
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<tr class="separator:af254d245b368027df6952b7d7522bd35"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a3365b7ebde01e284274e655c60343df9"><td class="memItemLeft" align="right" valign="top"><a id="a3365b7ebde01e284274e655c60343df9" name="a3365b7ebde01e284274e655c60343df9"></a>
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uint16_t </td><td class="memItemRight" valign="bottom"><b>accel_accuracy</b></td></tr>
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<tr class="memdesc:a3365b7ebde01e284274e655c60343df9"><td class="mdescLeft"> </td><td class="mdescRight">Raw acceleration readings (See SH-2 Ref. Manual 6.5.8) <br /></td></tr>
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<tr class="separator:a3365b7ebde01e284274e655c60343df9"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ae1f71a432cb15e75f522fa18f29f4d50"><td class="memItemLeft" align="right" valign="top"><a id="ae1f71a432cb15e75f522fa18f29f4d50" name="ae1f71a432cb15e75f522fa18f29f4d50"></a>
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uint16_t </td><td class="memItemRight" valign="bottom"><b>raw_lin_accel_X</b></td></tr>
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<tr class="separator:ae1f71a432cb15e75f522fa18f29f4d50"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:aff3a5590471d1c9fc485a5610433915f"><td class="memItemLeft" align="right" valign="top"><a id="aff3a5590471d1c9fc485a5610433915f" name="aff3a5590471d1c9fc485a5610433915f"></a>
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uint16_t </td><td class="memItemRight" valign="bottom"><b>raw_lin_accel_Y</b></td></tr>
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<tr class="separator:aff3a5590471d1c9fc485a5610433915f"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:abc8add47f1babc66c812a015614143d3"><td class="memItemLeft" align="right" valign="top"><a id="abc8add47f1babc66c812a015614143d3" name="abc8add47f1babc66c812a015614143d3"></a>
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uint16_t </td><td class="memItemRight" valign="bottom"><b>raw_lin_accel_Z</b></td></tr>
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<tr class="separator:abc8add47f1babc66c812a015614143d3"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a35e1635ef5edde8fc8640f978c6f2e3c"><td class="memItemLeft" align="right" valign="top"><a id="a35e1635ef5edde8fc8640f978c6f2e3c" name="a35e1635ef5edde8fc8640f978c6f2e3c"></a>
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uint16_t </td><td class="memItemRight" valign="bottom"><b>accel_lin_accuracy</b></td></tr>
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<tr class="memdesc:a35e1635ef5edde8fc8640f978c6f2e3c"><td class="mdescLeft"> </td><td class="mdescRight">Raw linear acceleration (See SH-2 Ref. Manual 6.5.10) <br /></td></tr>
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<tr class="separator:a35e1635ef5edde8fc8640f978c6f2e3c"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a19696327a056a448ed5ba706e747bbe5"><td class="memItemLeft" align="right" valign="top"><a id="a19696327a056a448ed5ba706e747bbe5" name="a19696327a056a448ed5ba706e747bbe5"></a>
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uint16_t </td><td class="memItemRight" valign="bottom"><b>raw_gyro_X</b></td></tr>
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<tr class="separator:a19696327a056a448ed5ba706e747bbe5"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a61df9f571555f5f682eb51f24a279489"><td class="memItemLeft" align="right" valign="top"><a id="a61df9f571555f5f682eb51f24a279489" name="a61df9f571555f5f682eb51f24a279489"></a>
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uint16_t </td><td class="memItemRight" valign="bottom"><b>raw_gyro_Y</b></td></tr>
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<tr class="separator:a61df9f571555f5f682eb51f24a279489"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a03f567cda2a3cc966301e96732fca9ad"><td class="memItemLeft" align="right" valign="top"><a id="a03f567cda2a3cc966301e96732fca9ad" name="a03f567cda2a3cc966301e96732fca9ad"></a>
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uint16_t </td><td class="memItemRight" valign="bottom"><b>raw_gyro_Z</b></td></tr>
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<tr class="separator:a03f567cda2a3cc966301e96732fca9ad"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a98ea35dd0fbd0c409d25fd8a6ed9f277"><td class="memItemLeft" align="right" valign="top"><a id="a98ea35dd0fbd0c409d25fd8a6ed9f277" name="a98ea35dd0fbd0c409d25fd8a6ed9f277"></a>
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uint16_t </td><td class="memItemRight" valign="bottom"><b>gyro_accuracy</b></td></tr>
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<tr class="memdesc:a98ea35dd0fbd0c409d25fd8a6ed9f277"><td class="mdescLeft"> </td><td class="mdescRight">Raw gyro reading (See SH-2 Ref. Manual 6.5.13) <br /></td></tr>
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<tr class="separator:a98ea35dd0fbd0c409d25fd8a6ed9f277"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a69dc7e97875060213085ba964b3bd987"><td class="memItemLeft" align="right" valign="top"><a id="a69dc7e97875060213085ba964b3bd987" name="a69dc7e97875060213085ba964b3bd987"></a>
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uint16_t </td><td class="memItemRight" valign="bottom"><b>raw_quat_I</b></td></tr>
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<tr class="separator:a69dc7e97875060213085ba964b3bd987"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a61ae05dc5572b326541bf8099f0c2a54"><td class="memItemLeft" align="right" valign="top"><a id="a61ae05dc5572b326541bf8099f0c2a54" name="a61ae05dc5572b326541bf8099f0c2a54"></a>
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uint16_t </td><td class="memItemRight" valign="bottom"><b>raw_quat_J</b></td></tr>
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<tr class="separator:a61ae05dc5572b326541bf8099f0c2a54"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a7720c44ed1c0f1a0663d2adc5e1a1ea1"><td class="memItemLeft" align="right" valign="top"><a id="a7720c44ed1c0f1a0663d2adc5e1a1ea1" name="a7720c44ed1c0f1a0663d2adc5e1a1ea1"></a>
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uint16_t </td><td class="memItemRight" valign="bottom"><b>raw_quat_K</b></td></tr>
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<tr class="separator:a7720c44ed1c0f1a0663d2adc5e1a1ea1"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a867354267253ae828be4fae15c062db3"><td class="memItemLeft" align="right" valign="top"><a id="a867354267253ae828be4fae15c062db3" name="a867354267253ae828be4fae15c062db3"></a>
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uint16_t </td><td class="memItemRight" valign="bottom"><b>raw_quat_real</b></td></tr>
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<tr class="separator:a867354267253ae828be4fae15c062db3"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a033d6cb1aa137743b69cc3e401df67b7"><td class="memItemLeft" align="right" valign="top"><a id="a033d6cb1aa137743b69cc3e401df67b7" name="a033d6cb1aa137743b69cc3e401df67b7"></a>
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uint16_t </td><td class="memItemRight" valign="bottom"><b>raw_quat_radian_accuracy</b></td></tr>
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<tr class="separator:a033d6cb1aa137743b69cc3e401df67b7"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a36223f7124751fa71e860b2ef55dd2ac"><td class="memItemLeft" align="right" valign="top"><a id="a36223f7124751fa71e860b2ef55dd2ac" name="a36223f7124751fa71e860b2ef55dd2ac"></a>
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uint16_t </td><td class="memItemRight" valign="bottom"><b>quat_accuracy</b></td></tr>
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<tr class="memdesc:a36223f7124751fa71e860b2ef55dd2ac"><td class="mdescLeft"> </td><td class="mdescRight">Raw quaternion reading (See SH-2 Ref. Manual 6.5.44) <br /></td></tr>
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<tr class="separator:a36223f7124751fa71e860b2ef55dd2ac"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:aa5bb03dbeabed729c012ec7164a3354f"><td class="memItemLeft" align="right" valign="top"><a id="aa5bb03dbeabed729c012ec7164a3354f" name="aa5bb03dbeabed729c012ec7164a3354f"></a>
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uint16_t </td><td class="memItemRight" valign="bottom"><b>raw_velocity_gyro_X</b></td></tr>
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<tr class="separator:aa5bb03dbeabed729c012ec7164a3354f"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a4f188bf76ba862f07606d1351d28548f"><td class="memItemLeft" align="right" valign="top"><a id="a4f188bf76ba862f07606d1351d28548f" name="a4f188bf76ba862f07606d1351d28548f"></a>
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uint16_t </td><td class="memItemRight" valign="bottom"><b>raw_velocity_gyro_Y</b></td></tr>
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<tr class="separator:a4f188bf76ba862f07606d1351d28548f"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ab49f9a6586d709bbd26280ef44a4bbf7"><td class="memItemLeft" align="right" valign="top"><a id="ab49f9a6586d709bbd26280ef44a4bbf7" name="ab49f9a6586d709bbd26280ef44a4bbf7"></a>
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uint16_t </td><td class="memItemRight" valign="bottom"><b>raw_velocity_gyro_Z</b></td></tr>
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<tr class="memdesc:ab49f9a6586d709bbd26280ef44a4bbf7"><td class="mdescLeft"> </td><td class="mdescRight">Raw gyro angular velocity reading (See SH-2 Ref. Manual 6.5.44) <br /></td></tr>
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<tr class="separator:ab49f9a6586d709bbd26280ef44a4bbf7"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:af45016be9ea523d80be8467b2907b499"><td class="memItemLeft" align="right" valign="top"><a id="af45016be9ea523d80be8467b2907b499" name="af45016be9ea523d80be8467b2907b499"></a>
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uint16_t </td><td class="memItemRight" valign="bottom"><b>gravity_X</b></td></tr>
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<tr class="separator:af45016be9ea523d80be8467b2907b499"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:af20dcd487a9fe8fa6243817d51e37be5"><td class="memItemLeft" align="right" valign="top"><a id="af20dcd487a9fe8fa6243817d51e37be5" name="af20dcd487a9fe8fa6243817d51e37be5"></a>
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uint16_t </td><td class="memItemRight" valign="bottom"><b>gravity_Y</b></td></tr>
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<tr class="separator:af20dcd487a9fe8fa6243817d51e37be5"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:afa1cf5c3afbb258d97c55c5fb187f2d6"><td class="memItemLeft" align="right" valign="top"><a id="afa1cf5c3afbb258d97c55c5fb187f2d6" name="afa1cf5c3afbb258d97c55c5fb187f2d6"></a>
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uint16_t </td><td class="memItemRight" valign="bottom"><b>gravity_Z</b></td></tr>
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<tr class="separator:afa1cf5c3afbb258d97c55c5fb187f2d6"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ae01698d287ea999179a11e2244902022"><td class="memItemLeft" align="right" valign="top"><a id="ae01698d287ea999179a11e2244902022" name="ae01698d287ea999179a11e2244902022"></a>
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uint16_t </td><td class="memItemRight" valign="bottom"><b>gravity_accuracy</b></td></tr>
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<tr class="memdesc:ae01698d287ea999179a11e2244902022"><td class="mdescLeft"> </td><td class="mdescRight">Gravity reading in m/s^2 (See SH-2 Ref. Manual 6.5.11) <br /></td></tr>
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<tr class="separator:ae01698d287ea999179a11e2244902022"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:afdc5cdb65bd0b36528b5b671b9d27053"><td class="memItemLeft" align="right" valign="top"><a id="afdc5cdb65bd0b36528b5b671b9d27053" name="afdc5cdb65bd0b36528b5b671b9d27053"></a>
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uint16_t </td><td class="memItemRight" valign="bottom"><b>raw_uncalib_gyro_X</b></td></tr>
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<tr class="separator:afdc5cdb65bd0b36528b5b671b9d27053"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:acc2c66e2985975266a286385ea855117"><td class="memItemLeft" align="right" valign="top"><a id="acc2c66e2985975266a286385ea855117" name="acc2c66e2985975266a286385ea855117"></a>
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uint16_t </td><td class="memItemRight" valign="bottom"><b>raw_uncalib_gyro_Y</b></td></tr>
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<tr class="separator:acc2c66e2985975266a286385ea855117"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:afac9dd4161f4c0051255293680c9082b"><td class="memItemLeft" align="right" valign="top"><a id="afac9dd4161f4c0051255293680c9082b" name="afac9dd4161f4c0051255293680c9082b"></a>
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uint16_t </td><td class="memItemRight" valign="bottom"><b>raw_uncalib_gyro_Z</b></td></tr>
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<tr class="separator:afac9dd4161f4c0051255293680c9082b"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a8a2667f668317cee0a9fc4ef0accc3f5"><td class="memItemLeft" align="right" valign="top"><a id="a8a2667f668317cee0a9fc4ef0accc3f5" name="a8a2667f668317cee0a9fc4ef0accc3f5"></a>
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uint16_t </td><td class="memItemRight" valign="bottom"><b>raw_bias_X</b></td></tr>
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<tr class="separator:a8a2667f668317cee0a9fc4ef0accc3f5"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ac38ff5eb93d3c3db0af2504ba02fd93c"><td class="memItemLeft" align="right" valign="top"><a id="ac38ff5eb93d3c3db0af2504ba02fd93c" name="ac38ff5eb93d3c3db0af2504ba02fd93c"></a>
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uint16_t </td><td class="memItemRight" valign="bottom"><b>raw_bias_Y</b></td></tr>
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<tr class="separator:ac38ff5eb93d3c3db0af2504ba02fd93c"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a0968eaed9b3d979a2caa1aba6e6b417a"><td class="memItemLeft" align="right" valign="top"><a id="a0968eaed9b3d979a2caa1aba6e6b417a" name="a0968eaed9b3d979a2caa1aba6e6b417a"></a>
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uint16_t </td><td class="memItemRight" valign="bottom"><b>raw_bias_Z</b></td></tr>
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<tr class="separator:a0968eaed9b3d979a2caa1aba6e6b417a"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a081c666a3f24016d0ec5c5edc49f2903"><td class="memItemLeft" align="right" valign="top"><a id="a081c666a3f24016d0ec5c5edc49f2903" name="a081c666a3f24016d0ec5c5edc49f2903"></a>
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uint16_t </td><td class="memItemRight" valign="bottom"><b>uncalib_gyro_accuracy</b></td></tr>
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<tr class="memdesc:a081c666a3f24016d0ec5c5edc49f2903"><td class="mdescLeft"> </td><td class="mdescRight">Uncalibrated gyro reading (See SH-2 Ref. Manual 6.5.14) <br /></td></tr>
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<tr class="separator:a081c666a3f24016d0ec5c5edc49f2903"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:aa5bdf740161b7c37adcac0154a410118"><td class="memItemLeft" align="right" valign="top"><a id="aa5bdf740161b7c37adcac0154a410118" name="aa5bdf740161b7c37adcac0154a410118"></a>
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uint16_t </td><td class="memItemRight" valign="bottom"><b>raw_magf_X</b></td></tr>
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<tr class="separator:aa5bdf740161b7c37adcac0154a410118"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:acd365418f24a6da61122c66d82086639"><td class="memItemLeft" align="right" valign="top"><a id="acd365418f24a6da61122c66d82086639" name="acd365418f24a6da61122c66d82086639"></a>
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uint16_t </td><td class="memItemRight" valign="bottom"><b>raw_magf_Y</b></td></tr>
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<tr class="separator:acd365418f24a6da61122c66d82086639"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ab4862de31d0874b44b6745678e1c905e"><td class="memItemLeft" align="right" valign="top"><a id="ab4862de31d0874b44b6745678e1c905e" name="ab4862de31d0874b44b6745678e1c905e"></a>
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uint16_t </td><td class="memItemRight" valign="bottom"><b>raw_magf_Z</b></td></tr>
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<tr class="separator:ab4862de31d0874b44b6745678e1c905e"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ac5d4e151690774687efa951ca41c16ae"><td class="memItemLeft" align="right" valign="top"><a id="ac5d4e151690774687efa951ca41c16ae" name="ac5d4e151690774687efa951ca41c16ae"></a>
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uint16_t </td><td class="memItemRight" valign="bottom"><b>magf_accuracy</b></td></tr>
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<tr class="memdesc:ac5d4e151690774687efa951ca41c16ae"><td class="mdescLeft"> </td><td class="mdescRight">Calibrated magnetic field reading in uTesla (See SH-2 Ref. Manual 6.5.16) <br /></td></tr>
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<tr class="separator:ac5d4e151690774687efa951ca41c16ae"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a1171a5738a4e6831ec7fa32a29f15554"><td class="memItemLeft" align="right" valign="top"><a id="a1171a5738a4e6831ec7fa32a29f15554" name="a1171a5738a4e6831ec7fa32a29f15554"></a>
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uint8_t </td><td class="memItemRight" valign="bottom"><b>tap_detector</b></td></tr>
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<tr class="memdesc:a1171a5738a4e6831ec7fa32a29f15554"><td class="mdescLeft"> </td><td class="mdescRight">Tap detector reading (See SH-2 Ref. Manual 6.5.27) <br /></td></tr>
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<tr class="separator:a1171a5738a4e6831ec7fa32a29f15554"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ad80a77973371b12d722ea39063c648be"><td class="memItemLeft" align="right" valign="top"><a id="ad80a77973371b12d722ea39063c648be" name="ad80a77973371b12d722ea39063c648be"></a>
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uint16_t </td><td class="memItemRight" valign="bottom"><b>step_count</b></td></tr>
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<tr class="memdesc:ad80a77973371b12d722ea39063c648be"><td class="mdescLeft"> </td><td class="mdescRight">Step counter reading (See SH-2 Ref. Manual 6.5.29) <br /></td></tr>
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<tr class="separator:ad80a77973371b12d722ea39063c648be"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a1b12471e92536a79d0c425d77676f2e1"><td class="memItemLeft" align="right" valign="top"><a id="a1b12471e92536a79d0c425d77676f2e1" name="a1b12471e92536a79d0c425d77676f2e1"></a>
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uint8_t </td><td class="memItemRight" valign="bottom"><b>stability_classifier</b></td></tr>
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<tr class="memdesc:a1b12471e92536a79d0c425d77676f2e1"><td class="mdescLeft"> </td><td class="mdescRight">Stability status reading (See SH-2 Ref. Manual 6.5.31) <br /></td></tr>
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<tr class="separator:a1b12471e92536a79d0c425d77676f2e1"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a75cea49c1c08ca28d9fa7e5ed61c6e7b"><td class="memItemLeft" align="right" valign="top"><a id="a75cea49c1c08ca28d9fa7e5ed61c6e7b" name="a75cea49c1c08ca28d9fa7e5ed61c6e7b"></a>
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uint8_t </td><td class="memItemRight" valign="bottom"><b>activity_classifier</b></td></tr>
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<tr class="memdesc:a75cea49c1c08ca28d9fa7e5ed61c6e7b"><td class="mdescLeft"> </td><td class="mdescRight">Activity status reading (See SH-2 Ref. Manual 6.5.36) <br /></td></tr>
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<tr class="separator:a75cea49c1c08ca28d9fa7e5ed61c6e7b"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:af96e8cd070459f945ffbf01b98106e13"><td class="memItemLeft" align="right" valign="top"><a id="af96e8cd070459f945ffbf01b98106e13" name="af96e8cd070459f945ffbf01b98106e13"></a>
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uint8_t * </td><td class="memItemRight" valign="bottom"><b>activity_confidences</b></td></tr>
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<tr class="memdesc:af96e8cd070459f945ffbf01b98106e13"><td class="mdescLeft"> </td><td class="mdescRight">Confidence of read activities (See SH-2 Ref. Manual 6.5.36) <br /></td></tr>
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<tr class="separator:af96e8cd070459f945ffbf01b98106e13"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ad212b5028a31e857e76d251ced2724e1"><td class="memItemLeft" align="right" valign="top"><a id="ad212b5028a31e857e76d251ced2724e1" name="ad212b5028a31e857e76d251ced2724e1"></a>
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uint8_t </td><td class="memItemRight" valign="bottom"><b>calibration_status</b></td></tr>
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<tr class="memdesc:ad212b5028a31e857e76d251ced2724e1"><td class="mdescLeft"> </td><td class="mdescRight">Calibration status of device (See SH-2 Ref. Manual 6.4.7.1 & 6.4.7.2) <br />
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<br /></td></tr>
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<tr class="separator:ad212b5028a31e857e76d251ced2724e1"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a937cbdc4edaac72c8cad041d79de5701"><td class="memItemLeft" align="right" valign="top"><a id="a937cbdc4edaac72c8cad041d79de5701" name="a937cbdc4edaac72c8cad041d79de5701"></a>
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uint16_t </td><td class="memItemRight" valign="bottom"><b>mems_raw_accel_X</b></td></tr>
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<tr class="separator:a937cbdc4edaac72c8cad041d79de5701"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ad83cecb8a5d2be01db6792755b6057e9"><td class="memItemLeft" align="right" valign="top"><a id="ad83cecb8a5d2be01db6792755b6057e9" name="ad83cecb8a5d2be01db6792755b6057e9"></a>
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uint16_t </td><td class="memItemRight" valign="bottom"><b>mems_raw_accel_Y</b></td></tr>
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<tr class="separator:ad83cecb8a5d2be01db6792755b6057e9"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a59a4d75f1302ab693b1b26e9ccaa5341"><td class="memItemLeft" align="right" valign="top"><a id="a59a4d75f1302ab693b1b26e9ccaa5341" name="a59a4d75f1302ab693b1b26e9ccaa5341"></a>
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uint16_t </td><td class="memItemRight" valign="bottom"><b>mems_raw_accel_Z</b></td></tr>
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<tr class="memdesc:a59a4d75f1302ab693b1b26e9ccaa5341"><td class="mdescLeft"> </td><td class="mdescRight">Raw accelerometer readings from MEMS sensor (See SH2 Ref. Manual 6.5.8) <br /></td></tr>
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<tr class="separator:a59a4d75f1302ab693b1b26e9ccaa5341"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a3d6b6257462951ea023af7076c80f6dd"><td class="memItemLeft" align="right" valign="top"><a id="a3d6b6257462951ea023af7076c80f6dd" name="a3d6b6257462951ea023af7076c80f6dd"></a>
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uint16_t </td><td class="memItemRight" valign="bottom"><b>mems_raw_gyro_X</b></td></tr>
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<tr class="separator:a3d6b6257462951ea023af7076c80f6dd"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ab6b142416912a096886dd63ad0beb865"><td class="memItemLeft" align="right" valign="top"><a id="ab6b142416912a096886dd63ad0beb865" name="ab6b142416912a096886dd63ad0beb865"></a>
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uint16_t </td><td class="memItemRight" valign="bottom"><b>mems_raw_gyro_Y</b></td></tr>
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<tr class="separator:ab6b142416912a096886dd63ad0beb865"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ac35d5b12721ab876eaeb1f714a9b3b1d"><td class="memItemLeft" align="right" valign="top"><a id="ac35d5b12721ab876eaeb1f714a9b3b1d" name="ac35d5b12721ab876eaeb1f714a9b3b1d"></a>
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uint16_t </td><td class="memItemRight" valign="bottom"><b>mems_raw_gyro_Z</b></td></tr>
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<tr class="memdesc:ac35d5b12721ab876eaeb1f714a9b3b1d"><td class="mdescLeft"> </td><td class="mdescRight">Raw gyro readings from MEMS sensor (See SH-2 Ref. Manual 6.5.12) <br /></td></tr>
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<tr class="separator:ac35d5b12721ab876eaeb1f714a9b3b1d"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ab587cdf991342b69b7fff3b33f537eb5"><td class="memItemLeft" align="right" valign="top"><a id="ab587cdf991342b69b7fff3b33f537eb5" name="ab587cdf991342b69b7fff3b33f537eb5"></a>
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uint16_t </td><td class="memItemRight" valign="bottom"><b>mems_raw_magf_X</b></td></tr>
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<tr class="separator:ab587cdf991342b69b7fff3b33f537eb5"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:aad926054c81818fff611e10ed913706a"><td class="memItemLeft" align="right" valign="top"><a id="aad926054c81818fff611e10ed913706a" name="aad926054c81818fff611e10ed913706a"></a>
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uint16_t </td><td class="memItemRight" valign="bottom"><b>mems_raw_magf_Y</b></td></tr>
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<tr class="separator:aad926054c81818fff611e10ed913706a"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a90f0cdf11decc276006f76a494d42ce3"><td class="memItemLeft" align="right" valign="top"><a id="a90f0cdf11decc276006f76a494d42ce3" name="a90f0cdf11decc276006f76a494d42ce3"></a>
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uint16_t </td><td class="memItemRight" valign="bottom"><b>mems_raw_magf_Z</b></td></tr>
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<tr class="memdesc:a90f0cdf11decc276006f76a494d42ce3"><td class="mdescLeft"> </td><td class="mdescRight">Raw magnetometer (compass) readings from MEMS sensor (See SH-2 Ref. Manual 6.5.15) <br /></td></tr>
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<tr class="separator:a90f0cdf11decc276006f76a494d42ce3"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a615090aae15f1b0410a7e5ecb94957b5"><td class="memItemLeft" align="right" valign="top"><a id="a615090aae15f1b0410a7e5ecb94957b5" name="a615090aae15f1b0410a7e5ecb94957b5"></a>
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TaskHandle_t </td><td class="memItemRight" valign="bottom"><b>spi_task_hdl</b></td></tr>
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<tr class="memdesc:a615090aae15f1b0410a7e5ecb94957b5"><td class="mdescLeft"> </td><td class="mdescRight">SPI task handle. <br /></td></tr>
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<tr class="separator:a615090aae15f1b0410a7e5ecb94957b5"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a496407fcd9c7c921bf5b3b062024b29d"><td class="memItemLeft" align="right" valign="top"><a id="a496407fcd9c7c921bf5b3b062024b29d" name="a496407fcd9c7c921bf5b3b062024b29d"></a>
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volatile bool </td><td class="memItemRight" valign="bottom"><b>int_asserted</b></td></tr>
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<tr class="memdesc:a496407fcd9c7c921bf5b3b062024b29d"><td class="mdescLeft"> </td><td class="mdescRight">Interrupt asserted flag, sets true after hint_handler ISR launches SPI task and it has run to completion. <br /></td></tr>
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<tr class="separator:a496407fcd9c7c921bf5b3b062024b29d"><td class="memSeparator" colspan="2"> </td></tr>
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</table><table class="memberdecls">
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pri-static-attribs" name="pri-static-attribs"></a>
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Static Private Attributes</h2></td></tr>
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<tr class="memitem:a6232920a05c0aba34e5560951a20ae87"><td class="memItemLeft" align="right" valign="top"><a id="a6232920a05c0aba34e5560951a20ae87" name="a6232920a05c0aba34e5560951a20ae87"></a>
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static <a class="el" href="structbno08x__config__t.html">bno08x_config_t</a> </td><td class="memItemRight" valign="bottom"><b>default_imu_config</b></td></tr>
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<tr class="memdesc:a6232920a05c0aba34e5560951a20ae87"><td class="mdescLeft"> </td><td class="mdescRight">default imu config settings <br /></td></tr>
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<tr class="separator:a6232920a05c0aba34e5560951a20ae87"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a4882dbc698d7b730f57e2401037766a9"><td class="memItemLeft" align="right" valign="top"><a id="a4882dbc698d7b730f57e2401037766a9" name="a4882dbc698d7b730f57e2401037766a9"></a>
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static bool </td><td class="memItemRight" valign="bottom"><b>isr_service_installed</b> = {false}</td></tr>
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<tr class="memdesc:a4882dbc698d7b730f57e2401037766a9"><td class="mdescLeft"> </td><td class="mdescRight">true of the isr service has been installed, only has to be done once regardless of how many devices are used <br /></td></tr>
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<tr class="separator:a4882dbc698d7b730f57e2401037766a9"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a0b19c8f2de2b2bfe033da7f93cdd2608"><td class="memItemLeft" align="right" valign="top"><a id="a0b19c8f2de2b2bfe033da7f93cdd2608" name="a0b19c8f2de2b2bfe033da7f93cdd2608"></a>
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static const constexpr int16_t </td><td class="memItemRight" valign="bottom"><b>ROTATION_VECTOR_Q1</b> = 14</td></tr>
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<tr class="memdesc:a0b19c8f2de2b2bfe033da7f93cdd2608"><td class="mdescLeft"> </td><td class="mdescRight">Rotation vector Q point (See SH-2 Ref. Manual 6.5.18) <br /></td></tr>
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<tr class="separator:a0b19c8f2de2b2bfe033da7f93cdd2608"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a923d65d8568cc31873ad56a3908e1939"><td class="memItemLeft" align="right" valign="top"><a id="a923d65d8568cc31873ad56a3908e1939" name="a923d65d8568cc31873ad56a3908e1939"></a>
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static const constexpr int16_t </td><td class="memItemRight" valign="bottom"><b>ROTATION_VECTOR_ACCURACY_Q1</b> = 12</td></tr>
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<tr class="memdesc:a923d65d8568cc31873ad56a3908e1939"><td class="mdescLeft"> </td><td class="mdescRight">Rotation vector accuracy estimate Q point (See SH-2 Ref. Manual 6.5.18) <br /></td></tr>
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<tr class="separator:a923d65d8568cc31873ad56a3908e1939"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a0564aaf5b20dc42b54db4fb3115ac1c7"><td class="memItemLeft" align="right" valign="top"><a id="a0564aaf5b20dc42b54db4fb3115ac1c7" name="a0564aaf5b20dc42b54db4fb3115ac1c7"></a>
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static const constexpr int16_t </td><td class="memItemRight" valign="bottom"><b>ACCELEROMETER_Q1</b> = 8</td></tr>
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<tr class="memdesc:a0564aaf5b20dc42b54db4fb3115ac1c7"><td class="mdescLeft"> </td><td class="mdescRight">Acceleration Q point (See SH-2 Ref. Manual 6.5.9) <br /></td></tr>
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<tr class="separator:a0564aaf5b20dc42b54db4fb3115ac1c7"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ad0d37fe07ced24f2c9afc21145a74e7b"><td class="memItemLeft" align="right" valign="top"><a id="ad0d37fe07ced24f2c9afc21145a74e7b" name="ad0d37fe07ced24f2c9afc21145a74e7b"></a>
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static const constexpr int16_t </td><td class="memItemRight" valign="bottom"><b>LINEAR_ACCELEROMETER_Q1</b> = 8</td></tr>
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<tr class="memdesc:ad0d37fe07ced24f2c9afc21145a74e7b"><td class="mdescLeft"> </td><td class="mdescRight">Linear acceleration Q point (See SH-2 Ref. Manual 6.5.10) <br /></td></tr>
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<tr class="separator:ad0d37fe07ced24f2c9afc21145a74e7b"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:aa3bec8effefa61cec6fa170e9d02c4dd"><td class="memItemLeft" align="right" valign="top"><a id="aa3bec8effefa61cec6fa170e9d02c4dd" name="aa3bec8effefa61cec6fa170e9d02c4dd"></a>
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static const constexpr int16_t </td><td class="memItemRight" valign="bottom"><b>GYRO_Q1</b> = 9</td></tr>
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<tr class="memdesc:aa3bec8effefa61cec6fa170e9d02c4dd"><td class="mdescLeft"> </td><td class="mdescRight">Gyro Q point (See SH-2 Ref. Manual 6.5.13) <br /></td></tr>
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<tr class="separator:aa3bec8effefa61cec6fa170e9d02c4dd"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a9fac9b811b7c2117675a784cb4df204c"><td class="memItemLeft" align="right" valign="top"><a id="a9fac9b811b7c2117675a784cb4df204c" name="a9fac9b811b7c2117675a784cb4df204c"></a>
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static const constexpr int16_t </td><td class="memItemRight" valign="bottom"><b>MAGNETOMETER_Q1</b> = 4</td></tr>
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<tr class="memdesc:a9fac9b811b7c2117675a784cb4df204c"><td class="mdescLeft"> </td><td class="mdescRight">Magnetometer Q point (See SH-2 Ref. Manual 6.5.16) <br /></td></tr>
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<tr class="separator:a9fac9b811b7c2117675a784cb4df204c"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:aafe117561fe9138800073a04a778b4ce"><td class="memItemLeft" align="right" valign="top"><a id="aafe117561fe9138800073a04a778b4ce" name="aafe117561fe9138800073a04a778b4ce"></a>
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static const constexpr int16_t </td><td class="memItemRight" valign="bottom"><b>ANGULAR_VELOCITY_Q1</b> = 10</td></tr>
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<tr class="memdesc:aafe117561fe9138800073a04a778b4ce"><td class="mdescLeft"> </td><td class="mdescRight">Angular velocity Q point (See SH-2 Ref. Manual 6.5.44) <br /></td></tr>
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<tr class="separator:aafe117561fe9138800073a04a778b4ce"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ae10722334dfce9635e76519598e165a2"><td class="memItemLeft" align="right" valign="top"><a id="ae10722334dfce9635e76519598e165a2" name="ae10722334dfce9635e76519598e165a2"></a>
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static const constexpr int16_t </td><td class="memItemRight" valign="bottom"><b>GRAVITY_Q1</b> = 8</td></tr>
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<tr class="memdesc:ae10722334dfce9635e76519598e165a2"><td class="mdescLeft"> </td><td class="mdescRight">Gravity Q point (See SH-2 Ref. Manual 6.5.11) <br /></td></tr>
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<tr class="separator:ae10722334dfce9635e76519598e165a2"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a53c4824accdff697948c10df30a15457"><td class="memItemLeft" align="right" valign="top"><a id="a53c4824accdff697948c10df30a15457" name="a53c4824accdff697948c10df30a15457"></a>
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static const constexpr uint64_t </td><td class="memItemRight" valign="bottom"><b>HOST_INT_TIMEOUT_US</b> = 150000ULL</td></tr>
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<tr class="memdesc:a53c4824accdff697948c10df30a15457"><td class="mdescLeft"> </td><td class="mdescRight">Max wait between HINT being asserted by <a class="el" href="class_b_n_o08x.html">BNO08x</a> before transaction is considered failed. <br /></td></tr>
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<tr class="separator:a53c4824accdff697948c10df30a15457"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:acd5b44d705af1f9aaa271a59a9d2d595"><td class="memItemLeft" align="right" valign="top"><a id="acd5b44d705af1f9aaa271a59a9d2d595" name="acd5b44d705af1f9aaa271a59a9d2d595"></a>
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static const constexpr uint8_t </td><td class="memItemRight" valign="bottom"><b>CALIBRATE_ACCEL</b> = 0</td></tr>
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<tr class="memdesc:acd5b44d705af1f9aaa271a59a9d2d595"><td class="mdescLeft"> </td><td class="mdescRight">Calibrate accelerometer command used by queue_calibrate_command. <br /></td></tr>
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<tr class="separator:acd5b44d705af1f9aaa271a59a9d2d595"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:aeac84719a1cc0f9c8d5a9a749391d4db"><td class="memItemLeft" align="right" valign="top"><a id="aeac84719a1cc0f9c8d5a9a749391d4db" name="aeac84719a1cc0f9c8d5a9a749391d4db"></a>
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static const constexpr uint8_t </td><td class="memItemRight" valign="bottom"><b>CALIBRATE_GYRO</b> = 1</td></tr>
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<tr class="memdesc:aeac84719a1cc0f9c8d5a9a749391d4db"><td class="mdescLeft"> </td><td class="mdescRight">Calibrate gyro command used by queue_calibrate_command. <br /></td></tr>
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<tr class="separator:aeac84719a1cc0f9c8d5a9a749391d4db"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ac00e8b59ae8d710cf79956eaafa97ddb"><td class="memItemLeft" align="right" valign="top"><a id="ac00e8b59ae8d710cf79956eaafa97ddb" name="ac00e8b59ae8d710cf79956eaafa97ddb"></a>
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static const constexpr uint8_t </td><td class="memItemRight" valign="bottom"><b>CALIBRATE_MAG</b> = 2</td></tr>
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<tr class="memdesc:ac00e8b59ae8d710cf79956eaafa97ddb"><td class="mdescLeft"> </td><td class="mdescRight">Calibrate magnetometer command used by queue_calibrate_command. <br /></td></tr>
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<tr class="separator:ac00e8b59ae8d710cf79956eaafa97ddb"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a955dcb60da150490e17367a871b3a3d2"><td class="memItemLeft" align="right" valign="top"><a id="a955dcb60da150490e17367a871b3a3d2" name="a955dcb60da150490e17367a871b3a3d2"></a>
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static const constexpr uint8_t </td><td class="memItemRight" valign="bottom"><b>CALIBRATE_PLANAR_ACCEL</b> = 3</td></tr>
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<tr class="memdesc:a955dcb60da150490e17367a871b3a3d2"><td class="mdescLeft"> </td><td class="mdescRight">Calibrate planar acceleration command used by queue_calibrate_command. <br /></td></tr>
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<tr class="separator:a955dcb60da150490e17367a871b3a3d2"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:af53d9e99f163d97ef92fe989b1dd25cc"><td class="memItemLeft" align="right" valign="top"><a id="af53d9e99f163d97ef92fe989b1dd25cc" name="af53d9e99f163d97ef92fe989b1dd25cc"></a>
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static const constexpr uint8_t </td><td class="memItemRight" valign="bottom"><b>CALIBRATE_ACCEL_GYRO_MAG</b> = 4</td></tr>
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<tr class="memdesc:af53d9e99f163d97ef92fe989b1dd25cc"><td class="mdescLeft"> </td><td class="mdescRight">Calibrate accelerometer, gyro, & magnetometer command used by queue_calibrate_command. <br /></td></tr>
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<tr class="separator:af53d9e99f163d97ef92fe989b1dd25cc"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a584bfa04a39feb93279ee673c340db54"><td class="memItemLeft" align="right" valign="top"><a id="a584bfa04a39feb93279ee673c340db54" name="a584bfa04a39feb93279ee673c340db54"></a>
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static const constexpr uint8_t </td><td class="memItemRight" valign="bottom"><b>CALIBRATE_STOP</b> = 5</td></tr>
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<tr class="memdesc:a584bfa04a39feb93279ee673c340db54"><td class="mdescLeft"> </td><td class="mdescRight">Stop calibration command used by queue_calibrate_command. <br /></td></tr>
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<tr class="separator:a584bfa04a39feb93279ee673c340db54"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a384a1efc9857ad938be3bb44f871539b"><td class="memItemLeft" align="right" valign="top"><a id="a384a1efc9857ad938be3bb44f871539b" name="a384a1efc9857ad938be3bb44f871539b"></a>
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static const constexpr uint8_t </td><td class="memItemRight" valign="bottom"><b>COMMAND_ERRORS</b> = 1</td></tr>
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<tr class="separator:a384a1efc9857ad938be3bb44f871539b"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a93dd073c0cc1f3ccfde552649f6ebccc"><td class="memItemLeft" align="right" valign="top"><a id="a93dd073c0cc1f3ccfde552649f6ebccc" name="a93dd073c0cc1f3ccfde552649f6ebccc"></a>
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static const constexpr uint8_t </td><td class="memItemRight" valign="bottom"><b>COMMAND_COUNTER</b> = 2</td></tr>
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<tr class="separator:a93dd073c0cc1f3ccfde552649f6ebccc"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a0a1756bc16ba3eac45f4229b1e350107"><td class="memItemLeft" align="right" valign="top"><a id="a0a1756bc16ba3eac45f4229b1e350107" name="a0a1756bc16ba3eac45f4229b1e350107"></a>
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static const constexpr uint8_t </td><td class="memItemRight" valign="bottom"><b>COMMAND_TARE</b> = 3</td></tr>
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<tr class="memdesc:a0a1756bc16ba3eac45f4229b1e350107"><td class="mdescLeft"> </td><td class="mdescRight">Command and response to tare command (See Sh2 Ref. Manual 6.4.4) <br /></td></tr>
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<tr class="separator:a0a1756bc16ba3eac45f4229b1e350107"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a30eb6d305a187d4d36546841e12176b9"><td class="memItemLeft" align="right" valign="top"><a id="a30eb6d305a187d4d36546841e12176b9" name="a30eb6d305a187d4d36546841e12176b9"></a>
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static const constexpr uint8_t </td><td class="memItemRight" valign="bottom"><b>COMMAND_INITIALIZE</b> = 4</td></tr>
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<tr class="memdesc:a30eb6d305a187d4d36546841e12176b9"><td class="mdescLeft"> </td><td class="mdescRight">Reinitialize sensor hub components See (SH2 Ref. Manual 6.4.5) <br /></td></tr>
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<tr class="separator:a30eb6d305a187d4d36546841e12176b9"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:af124a6c1d8b871f3181b6c85f1099cb2"><td class="memItemLeft" align="right" valign="top"><a id="af124a6c1d8b871f3181b6c85f1099cb2" name="af124a6c1d8b871f3181b6c85f1099cb2"></a>
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static const constexpr uint8_t </td><td class="memItemRight" valign="bottom"><b>COMMAND_DCD</b> = 6</td></tr>
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<tr class="memdesc:af124a6c1d8b871f3181b6c85f1099cb2"><td class="mdescLeft"> </td><td class="mdescRight">Save DCD command (See SH2 Ref. Manual 6.4.7) <br /></td></tr>
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<tr class="separator:af124a6c1d8b871f3181b6c85f1099cb2"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a8381dfe403ddff522f172cb16780731a"><td class="memItemLeft" align="right" valign="top"><a id="a8381dfe403ddff522f172cb16780731a" name="a8381dfe403ddff522f172cb16780731a"></a>
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static const constexpr uint8_t </td><td class="memItemRight" valign="bottom"><b>COMMAND_ME_CALIBRATE</b> = 7</td></tr>
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<tr class="memdesc:a8381dfe403ddff522f172cb16780731a"><td class="mdescLeft"> </td><td class="mdescRight">Command and response to configure ME calibration (See SH2 Ref. Manual 6.4.7) <br /></td></tr>
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<tr class="separator:a8381dfe403ddff522f172cb16780731a"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a7a246989c94cd87f68166b20b7ad4c8b"><td class="memItemLeft" align="right" valign="top"><a id="a7a246989c94cd87f68166b20b7ad4c8b" name="a7a246989c94cd87f68166b20b7ad4c8b"></a>
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static const constexpr uint8_t </td><td class="memItemRight" valign="bottom"><b>COMMAND_DCD_PERIOD_SAVE</b> = 9</td></tr>
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<tr class="memdesc:a7a246989c94cd87f68166b20b7ad4c8b"><td class="mdescLeft"> </td><td class="mdescRight">Configure DCD periodic saving (See SH2 Ref. Manual 6.4) <br /></td></tr>
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<tr class="separator:a7a246989c94cd87f68166b20b7ad4c8b"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a308c8b5307d93a67b5b9066d44494aa5"><td class="memItemLeft" align="right" valign="top"><a id="a308c8b5307d93a67b5b9066d44494aa5" name="a308c8b5307d93a67b5b9066d44494aa5"></a>
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static const constexpr uint8_t </td><td class="memItemRight" valign="bottom"><b>COMMAND_OSCILLATOR</b> = 10</td></tr>
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<tr class="memdesc:a308c8b5307d93a67b5b9066d44494aa5"><td class="mdescLeft"> </td><td class="mdescRight">Retrieve oscillator type command (See SH2 Ref. Manual 6.4) <br /></td></tr>
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<tr class="separator:a308c8b5307d93a67b5b9066d44494aa5"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a4f580b3cb232a762ea7019ee7b04d419"><td class="memItemLeft" align="right" valign="top"><a id="a4f580b3cb232a762ea7019ee7b04d419" name="a4f580b3cb232a762ea7019ee7b04d419"></a>
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static const constexpr uint8_t </td><td class="memItemRight" valign="bottom"><b>COMMAND_CLEAR_DCD</b> = 11</td></tr>
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<tr class="memdesc:a4f580b3cb232a762ea7019ee7b04d419"><td class="mdescLeft"> </td><td class="mdescRight">Clear DCD & Reset command (See SH2 Ref. Manual 6.4) <br /></td></tr>
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<tr class="separator:a4f580b3cb232a762ea7019ee7b04d419"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a1e5b64caa514b7e4fe64ab214758b875"><td class="memItemLeft" align="right" valign="top"><a id="a1e5b64caa514b7e4fe64ab214758b875" name="a1e5b64caa514b7e4fe64ab214758b875"></a>
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static const constexpr uint8_t </td><td class="memItemRight" valign="bottom"><b>SHTP_REPORT_COMMAND_RESPONSE</b> = 0xF1</td></tr>
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<tr class="memdesc:a1e5b64caa514b7e4fe64ab214758b875"><td class="mdescLeft"> </td><td class="mdescRight">See SH2 Ref. Manual 6.3.9. <br /></td></tr>
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<tr class="separator:a1e5b64caa514b7e4fe64ab214758b875"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ab04695dd189412092254e52bd6e5a75a"><td class="memItemLeft" align="right" valign="top"><a id="ab04695dd189412092254e52bd6e5a75a" name="ab04695dd189412092254e52bd6e5a75a"></a>
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static const constexpr uint8_t </td><td class="memItemRight" valign="bottom"><b>SHTP_REPORT_COMMAND_REQUEST</b> = 0xF2</td></tr>
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<tr class="memdesc:ab04695dd189412092254e52bd6e5a75a"><td class="mdescLeft"> </td><td class="mdescRight">See SH2 Ref. Manual 6.3.8. <br /></td></tr>
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<tr class="separator:ab04695dd189412092254e52bd6e5a75a"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:aeb760b095dcf808a413ef696f2608e43"><td class="memItemLeft" align="right" valign="top"><a id="aeb760b095dcf808a413ef696f2608e43" name="aeb760b095dcf808a413ef696f2608e43"></a>
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static const constexpr uint8_t </td><td class="memItemRight" valign="bottom"><b>SHTP_REPORT_FRS_READ_RESPONSE</b> = 0xF3</td></tr>
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<tr class="memdesc:aeb760b095dcf808a413ef696f2608e43"><td class="mdescLeft"> </td><td class="mdescRight">See SH2 Ref. Manual 6.3.7. <br /></td></tr>
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<tr class="separator:aeb760b095dcf808a413ef696f2608e43"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a74af7eacc35cc825940b647c2de0d368"><td class="memItemLeft" align="right" valign="top"><a id="a74af7eacc35cc825940b647c2de0d368" name="a74af7eacc35cc825940b647c2de0d368"></a>
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static const constexpr uint8_t </td><td class="memItemRight" valign="bottom"><b>SHTP_REPORT_FRS_READ_REQUEST</b> = 0xF4</td></tr>
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<tr class="memdesc:a74af7eacc35cc825940b647c2de0d368"><td class="mdescLeft"> </td><td class="mdescRight">See SH2 Ref. Manual 6.3.6. <br /></td></tr>
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<tr class="separator:a74af7eacc35cc825940b647c2de0d368"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a0177134162e116501bc9483c6e4b76c3"><td class="memItemLeft" align="right" valign="top"><a id="a0177134162e116501bc9483c6e4b76c3" name="a0177134162e116501bc9483c6e4b76c3"></a>
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static const constexpr uint8_t </td><td class="memItemRight" valign="bottom"><b>SHTP_REPORT_PRODUCT_ID_RESPONSE</b> = 0xF8</td></tr>
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<tr class="memdesc:a0177134162e116501bc9483c6e4b76c3"><td class="mdescLeft"> </td><td class="mdescRight">See SH2 Ref. Manual 6.3.2. <br /></td></tr>
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<tr class="separator:a0177134162e116501bc9483c6e4b76c3"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a542405639c28bd56bc4361b922763c95"><td class="memItemLeft" align="right" valign="top"><a id="a542405639c28bd56bc4361b922763c95" name="a542405639c28bd56bc4361b922763c95"></a>
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static const constexpr uint8_t </td><td class="memItemRight" valign="bottom"><b>SHTP_REPORT_PRODUCT_ID_REQUEST</b> = 0xF9</td></tr>
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<tr class="memdesc:a542405639c28bd56bc4361b922763c95"><td class="mdescLeft"> </td><td class="mdescRight">See SH2 Ref. Manual 6.3.1. <br /></td></tr>
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<tr class="separator:a542405639c28bd56bc4361b922763c95"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ae37d6f8431c8c465bfb0c662772b5cb9"><td class="memItemLeft" align="right" valign="top"><a id="ae37d6f8431c8c465bfb0c662772b5cb9" name="ae37d6f8431c8c465bfb0c662772b5cb9"></a>
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static const constexpr uint8_t </td><td class="memItemRight" valign="bottom"><b>SHTP_REPORT_BASE_TIMESTAMP</b> = 0xFB</td></tr>
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<tr class="memdesc:ae37d6f8431c8c465bfb0c662772b5cb9"><td class="mdescLeft"> </td><td class="mdescRight">See SH2 Ref. Manual 7.2.1. <br /></td></tr>
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<tr class="separator:ae37d6f8431c8c465bfb0c662772b5cb9"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a1d3bff4e20c2c3d47db322c9e34ef338"><td class="memItemLeft" align="right" valign="top"><a id="a1d3bff4e20c2c3d47db322c9e34ef338" name="a1d3bff4e20c2c3d47db322c9e34ef338"></a>
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static const constexpr uint8_t </td><td class="memItemRight" valign="bottom"><b>SHTP_REPORT_SET_FEATURE_COMMAND</b> = 0xFD</td></tr>
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<tr class="memdesc:a1d3bff4e20c2c3d47db322c9e34ef338"><td class="mdescLeft"> </td><td class="mdescRight">See SH2 Ref. Manual 6.5.4. <br /></td></tr>
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<tr class="separator:a1d3bff4e20c2c3d47db322c9e34ef338"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a476b35f11a2f096cdb70f7ee73cf2e90"><td class="memItemLeft" align="right" valign="top"><a id="a476b35f11a2f096cdb70f7ee73cf2e90" name="a476b35f11a2f096cdb70f7ee73cf2e90"></a>
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static const constexpr uint8_t </td><td class="memItemRight" valign="bottom"><b>SENSOR_REPORTID_ACCELEROMETER</b> = 0x01</td></tr>
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<tr class="memdesc:a476b35f11a2f096cdb70f7ee73cf2e90"><td class="mdescLeft"> </td><td class="mdescRight">See SH2 Ref. Manual 6.5.9. <br /></td></tr>
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<tr class="separator:a476b35f11a2f096cdb70f7ee73cf2e90"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a29ab9f86763cce89e833392553f7abb4"><td class="memItemLeft" align="right" valign="top"><a id="a29ab9f86763cce89e833392553f7abb4" name="a29ab9f86763cce89e833392553f7abb4"></a>
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static const constexpr uint8_t </td><td class="memItemRight" valign="bottom"><b>SENSOR_REPORTID_GYROSCOPE</b> = 0x02</td></tr>
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<tr class="memdesc:a29ab9f86763cce89e833392553f7abb4"><td class="mdescLeft"> </td><td class="mdescRight">See SH2 Ref. Manual 6.5.13. <br /></td></tr>
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<tr class="separator:a29ab9f86763cce89e833392553f7abb4"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a6f3bf6774ceb583c5c56f2ad80573834"><td class="memItemLeft" align="right" valign="top"><a id="a6f3bf6774ceb583c5c56f2ad80573834" name="a6f3bf6774ceb583c5c56f2ad80573834"></a>
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static const constexpr uint8_t </td><td class="memItemRight" valign="bottom"><b>SENSOR_REPORTID_MAGNETIC_FIELD</b> = 0x03</td></tr>
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<tr class="memdesc:a6f3bf6774ceb583c5c56f2ad80573834"><td class="mdescLeft"> </td><td class="mdescRight">See SH2 Ref. Manual 6.5.16. <br /></td></tr>
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<tr class="separator:a6f3bf6774ceb583c5c56f2ad80573834"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a53898b82dbac7ef27e1adb519dfcd686"><td class="memItemLeft" align="right" valign="top"><a id="a53898b82dbac7ef27e1adb519dfcd686" name="a53898b82dbac7ef27e1adb519dfcd686"></a>
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static const constexpr uint8_t </td><td class="memItemRight" valign="bottom"><b>SENSOR_REPORTID_LINEAR_ACCELERATION</b> = 0x04</td></tr>
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<tr class="memdesc:a53898b82dbac7ef27e1adb519dfcd686"><td class="mdescLeft"> </td><td class="mdescRight">See SH2 Ref. Manual 6.5.10. <br /></td></tr>
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<tr class="separator:a53898b82dbac7ef27e1adb519dfcd686"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ab0279e8622ed188ee48411e074fb7e9d"><td class="memItemLeft" align="right" valign="top"><a id="ab0279e8622ed188ee48411e074fb7e9d" name="ab0279e8622ed188ee48411e074fb7e9d"></a>
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static const constexpr uint8_t </td><td class="memItemRight" valign="bottom"><b>SENSOR_REPORTID_ROTATION_VECTOR</b> = 0x05</td></tr>
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<tr class="memdesc:ab0279e8622ed188ee48411e074fb7e9d"><td class="mdescLeft"> </td><td class="mdescRight">See SH2 Ref. Manual 6.5.18. <br /></td></tr>
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<tr class="separator:ab0279e8622ed188ee48411e074fb7e9d"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:aeeb54b0b516917f3ff58cb655ae707a8"><td class="memItemLeft" align="right" valign="top"><a id="aeeb54b0b516917f3ff58cb655ae707a8" name="aeeb54b0b516917f3ff58cb655ae707a8"></a>
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static const constexpr uint8_t </td><td class="memItemRight" valign="bottom"><b>SENSOR_REPORTID_GRAVITY</b> = 0x06</td></tr>
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<tr class="memdesc:aeeb54b0b516917f3ff58cb655ae707a8"><td class="mdescLeft"> </td><td class="mdescRight">See SH2 Ref. Manual 6.5.11. <br /></td></tr>
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<tr class="separator:aeeb54b0b516917f3ff58cb655ae707a8"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ab94bfdbbffc0a7a255e752244b22322a"><td class="memItemLeft" align="right" valign="top"><a id="ab94bfdbbffc0a7a255e752244b22322a" name="ab94bfdbbffc0a7a255e752244b22322a"></a>
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static const constexpr uint8_t </td><td class="memItemRight" valign="bottom"><b>SENSOR_REPORTID_UNCALIBRATED_GYRO</b> = 0x07</td></tr>
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<tr class="memdesc:ab94bfdbbffc0a7a255e752244b22322a"><td class="mdescLeft"> </td><td class="mdescRight">See SH2 Ref. Manual 6.5.14. <br /></td></tr>
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<tr class="separator:ab94bfdbbffc0a7a255e752244b22322a"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ab3dc8b362050d438d8a05b26e86af638"><td class="memItemLeft" align="right" valign="top"><a id="ab3dc8b362050d438d8a05b26e86af638" name="ab3dc8b362050d438d8a05b26e86af638"></a>
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static const constexpr uint8_t </td><td class="memItemRight" valign="bottom"><b>SENSOR_REPORTID_GAME_ROTATION_VECTOR</b> = 0x08</td></tr>
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<tr class="memdesc:ab3dc8b362050d438d8a05b26e86af638"><td class="mdescLeft"> </td><td class="mdescRight">See SH2 Ref. Manual 6.5.19. <br /></td></tr>
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<tr class="separator:ab3dc8b362050d438d8a05b26e86af638"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:aec618850b70a4e32a5148b05281aa8f0"><td class="memItemLeft" align="right" valign="top"><a id="aec618850b70a4e32a5148b05281aa8f0" name="aec618850b70a4e32a5148b05281aa8f0"></a>
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static const constexpr uint8_t </td><td class="memItemRight" valign="bottom"><b>SENSOR_REPORTID_GEOMAGNETIC_ROTATION_VECTOR</b> = 0x09</td></tr>
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<tr class="memdesc:aec618850b70a4e32a5148b05281aa8f0"><td class="mdescLeft"> </td><td class="mdescRight">See SH2 Ref. Manual 6.5.20. <br /></td></tr>
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<tr class="separator:aec618850b70a4e32a5148b05281aa8f0"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a8b55a8131c251bb234d5391b0cd6aa48"><td class="memItemLeft" align="right" valign="top"><a id="a8b55a8131c251bb234d5391b0cd6aa48" name="a8b55a8131c251bb234d5391b0cd6aa48"></a>
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static const constexpr uint8_t </td><td class="memItemRight" valign="bottom"><b>SENSOR_REPORTID_GYRO_INTEGRATED_ROTATION_VECTOR</b> = 0x2A</td></tr>
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<tr class="memdesc:a8b55a8131c251bb234d5391b0cd6aa48"><td class="mdescLeft"> </td><td class="mdescRight">See SH2 Ref. Manual 6.5.44. <br /></td></tr>
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<tr class="separator:a8b55a8131c251bb234d5391b0cd6aa48"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a437fed4cb82edd32f839d88679ff8ed9"><td class="memItemLeft" align="right" valign="top"><a id="a437fed4cb82edd32f839d88679ff8ed9" name="a437fed4cb82edd32f839d88679ff8ed9"></a>
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static const constexpr uint8_t </td><td class="memItemRight" valign="bottom"><b>SENSOR_REPORTID_TAP_DETECTOR</b> = 0x10</td></tr>
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<tr class="memdesc:a437fed4cb82edd32f839d88679ff8ed9"><td class="mdescLeft"> </td><td class="mdescRight">See SH2 Ref. Manual 6.5.27. <br /></td></tr>
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<tr class="separator:a437fed4cb82edd32f839d88679ff8ed9"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:aaff9af63d5f35c05f0a1e485f3d97bc5"><td class="memItemLeft" align="right" valign="top"><a id="aaff9af63d5f35c05f0a1e485f3d97bc5" name="aaff9af63d5f35c05f0a1e485f3d97bc5"></a>
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static const constexpr uint8_t </td><td class="memItemRight" valign="bottom"><b>SENSOR_REPORTID_STEP_COUNTER</b> = 0x11</td></tr>
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<tr class="memdesc:aaff9af63d5f35c05f0a1e485f3d97bc5"><td class="mdescLeft"> </td><td class="mdescRight">See SH2 Ref. Manual 6.5.29. <br /></td></tr>
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<tr class="separator:aaff9af63d5f35c05f0a1e485f3d97bc5"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:afad93ba52698512205df714109cadcfc"><td class="memItemLeft" align="right" valign="top"><a id="afad93ba52698512205df714109cadcfc" name="afad93ba52698512205df714109cadcfc"></a>
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static const constexpr uint8_t </td><td class="memItemRight" valign="bottom"><b>SENSOR_REPORTID_STABILITY_CLASSIFIER</b> = 0x13</td></tr>
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<tr class="memdesc:afad93ba52698512205df714109cadcfc"><td class="mdescLeft"> </td><td class="mdescRight">See SH2 Ref. Manual 6.5.31. <br /></td></tr>
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<tr class="separator:afad93ba52698512205df714109cadcfc"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:aa8d2d5c66b72af3966dca751e7343a97"><td class="memItemLeft" align="right" valign="top"><a id="aa8d2d5c66b72af3966dca751e7343a97" name="aa8d2d5c66b72af3966dca751e7343a97"></a>
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static const constexpr uint8_t </td><td class="memItemRight" valign="bottom"><b>SENSOR_REPORTID_RAW_ACCELEROMETER</b> = 0x14</td></tr>
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<tr class="memdesc:aa8d2d5c66b72af3966dca751e7343a97"><td class="mdescLeft"> </td><td class="mdescRight">See SH2 Ref. Manual 6.5.8. <br /></td></tr>
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<tr class="separator:aa8d2d5c66b72af3966dca751e7343a97"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:aaed7faffc8f2bba8a2ae56933236f9f7"><td class="memItemLeft" align="right" valign="top"><a id="aaed7faffc8f2bba8a2ae56933236f9f7" name="aaed7faffc8f2bba8a2ae56933236f9f7"></a>
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static const constexpr uint8_t </td><td class="memItemRight" valign="bottom"><b>SENSOR_REPORTID_RAW_GYROSCOPE</b> = 0x15</td></tr>
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<tr class="memdesc:aaed7faffc8f2bba8a2ae56933236f9f7"><td class="mdescLeft"> </td><td class="mdescRight">See SH2 Ref. Manual 6.5.12. <br /></td></tr>
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<tr class="separator:aaed7faffc8f2bba8a2ae56933236f9f7"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ac719a06278c239cc36f666b99a41b1c0"><td class="memItemLeft" align="right" valign="top"><a id="ac719a06278c239cc36f666b99a41b1c0" name="ac719a06278c239cc36f666b99a41b1c0"></a>
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static const constexpr uint8_t </td><td class="memItemRight" valign="bottom"><b>SENSOR_REPORTID_RAW_MAGNETOMETER</b> = 0x16</td></tr>
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<tr class="memdesc:ac719a06278c239cc36f666b99a41b1c0"><td class="mdescLeft"> </td><td class="mdescRight">See SH2 Ref. Manual 6.5.15. <br /></td></tr>
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<tr class="separator:ac719a06278c239cc36f666b99a41b1c0"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a001b45f56e347fb8e8149bcecbe2b40c"><td class="memItemLeft" align="right" valign="top"><a id="a001b45f56e347fb8e8149bcecbe2b40c" name="a001b45f56e347fb8e8149bcecbe2b40c"></a>
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static const constexpr uint8_t </td><td class="memItemRight" valign="bottom"><b>SENSOR_REPORTID_PERSONAL_ACTIVITY_CLASSIFIER</b> = 0x1E</td></tr>
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<tr class="memdesc:a001b45f56e347fb8e8149bcecbe2b40c"><td class="mdescLeft"> </td><td class="mdescRight">See SH2 Ref. Manual 6.5.36. <br /></td></tr>
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<tr class="separator:a001b45f56e347fb8e8149bcecbe2b40c"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a263b8c25089c38f9ffa85493aef79606"><td class="memItemLeft" align="right" valign="top"><a id="a263b8c25089c38f9ffa85493aef79606" name="a263b8c25089c38f9ffa85493aef79606"></a>
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static const constexpr uint8_t </td><td class="memItemRight" valign="bottom"><b>SENSOR_REPORTID_AR_VR_STABILIZED_ROTATION_VECTOR</b> = 0x28</td></tr>
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<tr class="memdesc:a263b8c25089c38f9ffa85493aef79606"><td class="mdescLeft"> </td><td class="mdescRight">See SH2 Ref. Manual 6.5.42. <br /></td></tr>
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<tr class="separator:a263b8c25089c38f9ffa85493aef79606"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a09dd6846e22801427b92b325385653e0"><td class="memItemLeft" align="right" valign="top"><a id="a09dd6846e22801427b92b325385653e0" name="a09dd6846e22801427b92b325385653e0"></a>
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static const constexpr uint8_t </td><td class="memItemRight" valign="bottom"><b>SENSOR_REPORTID_AR_VR_STABILIZED_GAME_ROTATION_VECTOR</b> = 0x29</td></tr>
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<tr class="memdesc:a09dd6846e22801427b92b325385653e0"><td class="mdescLeft"> </td><td class="mdescRight">See SH2 Ref. Manual 6.5.43. <br /></td></tr>
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<tr class="separator:a09dd6846e22801427b92b325385653e0"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a27df630f3e52b35552d2c1f2cf3496b0"><td class="memItemLeft" align="right" valign="top"><a id="a27df630f3e52b35552d2c1f2cf3496b0" name="a27df630f3e52b35552d2c1f2cf3496b0"></a>
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static const constexpr uint8_t </td><td class="memItemRight" valign="bottom"><b>TARE_NOW</b> = 0</td></tr>
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<tr class="memdesc:a27df630f3e52b35552d2c1f2cf3496b0"><td class="mdescLeft"> </td><td class="mdescRight">See SH2 Ref. Manual 6.4.4.1. <br /></td></tr>
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<tr class="separator:a27df630f3e52b35552d2c1f2cf3496b0"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a115aef7b38ec0dec2085f6917d832912"><td class="memItemLeft" align="right" valign="top"><a id="a115aef7b38ec0dec2085f6917d832912" name="a115aef7b38ec0dec2085f6917d832912"></a>
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static const constexpr uint8_t </td><td class="memItemRight" valign="bottom"><b>TARE_PERSIST</b> = 1</td></tr>
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<tr class="memdesc:a115aef7b38ec0dec2085f6917d832912"><td class="mdescLeft"> </td><td class="mdescRight">See SH2 Ref. Manual 6.4.4.2. <br /></td></tr>
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<tr class="separator:a115aef7b38ec0dec2085f6917d832912"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a59cde7dd301c94a20b84735c5d49008e"><td class="memItemLeft" align="right" valign="top"><a id="a59cde7dd301c94a20b84735c5d49008e" name="a59cde7dd301c94a20b84735c5d49008e"></a>
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static const constexpr uint8_t </td><td class="memItemRight" valign="bottom"><b>TARE_SET_REORIENTATION</b> = 2</td></tr>
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<tr class="memdesc:a59cde7dd301c94a20b84735c5d49008e"><td class="mdescLeft"> </td><td class="mdescRight">See SH2 Ref. Manual 6.4.4.3. <br /></td></tr>
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<tr class="separator:a59cde7dd301c94a20b84735c5d49008e"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a1ef13f6f330810934416ad5fe0ee55b2"><td class="memItemLeft" align="right" valign="top"><a id="a1ef13f6f330810934416ad5fe0ee55b2" name="a1ef13f6f330810934416ad5fe0ee55b2"></a>
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static const constexpr uint8_t </td><td class="memItemRight" valign="bottom"><b>TARE_AXIS_ALL</b> = 0x07</td></tr>
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<tr class="memdesc:a1ef13f6f330810934416ad5fe0ee55b2"><td class="mdescLeft"> </td><td class="mdescRight">Tare all axes (used with tare now command) <br /></td></tr>
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<tr class="separator:a1ef13f6f330810934416ad5fe0ee55b2"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:aecb3e11c1ca5769fd60f42c17a105731"><td class="memItemLeft" align="right" valign="top"><a id="aecb3e11c1ca5769fd60f42c17a105731" name="aecb3e11c1ca5769fd60f42c17a105731"></a>
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static const constexpr uint8_t </td><td class="memItemRight" valign="bottom"><b>TARE_AXIS_Z</b> = 0x04</td></tr>
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<tr class="memdesc:aecb3e11c1ca5769fd60f42c17a105731"><td class="mdescLeft"> </td><td class="mdescRight">Tar yaw axis only (used with tare now command) <br /></td></tr>
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<tr class="separator:aecb3e11c1ca5769fd60f42c17a105731"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a8e2cfc25d0e34ae53a762b88cc3ac3c8"><td class="memItemLeft" align="right" valign="top"><a id="a8e2cfc25d0e34ae53a762b88cc3ac3c8" name="a8e2cfc25d0e34ae53a762b88cc3ac3c8"></a>
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static const constexpr uint8_t </td><td class="memItemRight" valign="bottom"><b>TARE_ROTATION_VECTOR</b> = 0</td></tr>
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<tr class="memdesc:a8e2cfc25d0e34ae53a762b88cc3ac3c8"><td class="mdescLeft"> </td><td class="mdescRight">Tare rotation vector. <br /></td></tr>
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<tr class="separator:a8e2cfc25d0e34ae53a762b88cc3ac3c8"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:abaf1ec8bb197db1998a9ed3cec6180d5"><td class="memItemLeft" align="right" valign="top"><a id="abaf1ec8bb197db1998a9ed3cec6180d5" name="abaf1ec8bb197db1998a9ed3cec6180d5"></a>
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static const constexpr uint8_t </td><td class="memItemRight" valign="bottom"><b>TARE_GAME_ROTATION_VECTOR</b> = 1</td></tr>
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<tr class="memdesc:abaf1ec8bb197db1998a9ed3cec6180d5"><td class="mdescLeft"> </td><td class="mdescRight">Tare game rotation vector. <br /></td></tr>
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<tr class="separator:abaf1ec8bb197db1998a9ed3cec6180d5"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a225397a04d849e5647992ca80d68febb"><td class="memItemLeft" align="right" valign="top"><a id="a225397a04d849e5647992ca80d68febb" name="a225397a04d849e5647992ca80d68febb"></a>
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static const constexpr uint8_t </td><td class="memItemRight" valign="bottom"><b>TARE_GEOMAGNETIC_ROTATION_VECTOR</b> = 2</td></tr>
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<tr class="memdesc:a225397a04d849e5647992ca80d68febb"><td class="mdescLeft"> </td><td class="mdescRight">tare geomagnetic rotation vector <br /></td></tr>
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<tr class="separator:a225397a04d849e5647992ca80d68febb"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a9ec354d75249f06f13599abf7bedfde0"><td class="memItemLeft" align="right" valign="top"><a id="a9ec354d75249f06f13599abf7bedfde0" name="a9ec354d75249f06f13599abf7bedfde0"></a>
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static const constexpr uint8_t </td><td class="memItemRight" valign="bottom"><b>TARE_GYRO_INTEGRATED_ROTATION_VECTOR</b> = 3</td></tr>
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<tr class="memdesc:a9ec354d75249f06f13599abf7bedfde0"><td class="mdescLeft"> </td><td class="mdescRight">Tare gyro integrated rotation vector. <br /></td></tr>
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<tr class="separator:a9ec354d75249f06f13599abf7bedfde0"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a32204963cefc4ae64a80f43e71c8667a"><td class="memItemLeft" align="right" valign="top"><a id="a32204963cefc4ae64a80f43e71c8667a" name="a32204963cefc4ae64a80f43e71c8667a"></a>
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static const constexpr uint8_t </td><td class="memItemRight" valign="bottom"><b>TARE_AR_VR_STABILIZED_ROTATION_VECTOR</b> = 4</td></tr>
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<tr class="memdesc:a32204963cefc4ae64a80f43e71c8667a"><td class="mdescLeft"> </td><td class="mdescRight">Tare ARVR stabilized rotation vector. <br /></td></tr>
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<tr class="separator:a32204963cefc4ae64a80f43e71c8667a"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:aed8135fd5e7996ef06bf5968692ccd84"><td class="memItemLeft" align="right" valign="top"><a id="aed8135fd5e7996ef06bf5968692ccd84" name="aed8135fd5e7996ef06bf5968692ccd84"></a>
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static const constexpr uint8_t </td><td class="memItemRight" valign="bottom"><b>TARE_AR_VR_STABILIZED_GAME_ROTATION_VECTOR</b> = 5</td></tr>
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<tr class="memdesc:aed8135fd5e7996ef06bf5968692ccd84"><td class="mdescLeft"> </td><td class="mdescRight">Tare ARVR stabilized game rotation vector. <br /></td></tr>
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<tr class="separator:aed8135fd5e7996ef06bf5968692ccd84"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a2c98d5f2c406a3efd0b48c5666fa8c46"><td class="memItemLeft" align="right" valign="top"><a id="a2c98d5f2c406a3efd0b48c5666fa8c46" name="a2c98d5f2c406a3efd0b48c5666fa8c46"></a>
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static const constexpr char * </td><td class="memItemRight" valign="bottom"><b>TAG</b> = "BNO08x"</td></tr>
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<tr class="memdesc:a2c98d5f2c406a3efd0b48c5666fa8c46"><td class="mdescLeft"> </td><td class="mdescRight">Class tag used for serial print statements. <br /></td></tr>
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<tr class="separator:a2c98d5f2c406a3efd0b48c5666fa8c46"><td class="memSeparator" colspan="2"> </td></tr>
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</table>
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<h2 class="groupheader">Constructor & Destructor Documentation</h2>
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<a id="a40f7688e843d74b8bd526c6f5ff17845" name="a40f7688e843d74b8bd526c6f5ff17845"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#a40f7688e843d74b8bd526c6f5ff17845">◆ </a></span>BNO08x()</h2>
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<div class="memitem">
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<div class="memproto">
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<table class="memname">
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<tr>
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<td class="memname">BNO08x::BNO08x </td>
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<td>(</td>
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<td class="paramtype"><a class="el" href="structbno08x__config__t.html">bno08x_config_t</a> </td>
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<td class="paramname"><em>imu_config</em> = <code><a class="el" href="class_b_n_o08x.html#a6232920a05c0aba34e5560951a20ae87">default_imu_config</a></code></td><td>)</td>
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<td></td>
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</tr>
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</table>
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</div><div class="memdoc">
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<p><a class="el" href="class_b_n_o08x.html">BNO08x</a> imu constructor. </p>
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<p>Construct a <a class="el" href="class_b_n_o08x.html">BNO08x</a> object for managing a <a class="el" href="class_b_n_o08x.html">BNO08x</a> sensor. Initializes required GPIO pins, interrupts, SPI peripheral, and local task for SPI transactions.</p>
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<dl class="params"><dt>Parameters</dt><dd>
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<table class="params">
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<tr><td class="paramname">imu_config</td><td>Configuration settings (optional), default settings can be seen in <a class="el" href="structbno08x__config__t.html" title="IMU configuration settings passed into constructor.">bno08x_config_t</a> </td></tr>
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</table>
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</dd>
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</dl>
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<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
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</div>
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</div>
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<h2 class="groupheader">Member Function Documentation</h2>
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<a id="aeffce374f558a167d5b5f19ad627e7cc" name="aeffce374f558a167d5b5f19ad627e7cc"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#aeffce374f558a167d5b5f19ad627e7cc">◆ </a></span>calibrate_accelerometer()</h2>
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<div class="memitem">
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<div class="memproto">
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<table class="memname">
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<tr>
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<td class="memname">void BNO08x::calibrate_accelerometer </td>
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<td>(</td>
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<td class="paramname"></td><td>)</td>
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<td></td>
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</tr>
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</table>
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</div><div class="memdoc">
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<p>Sends command to calibrate accelerometer. </p>
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<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
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</div>
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</div>
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<a id="afd0ca5f9b9741935543d143a5a43d128" name="afd0ca5f9b9741935543d143a5a43d128"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#afd0ca5f9b9741935543d143a5a43d128">◆ </a></span>calibrate_all()</h2>
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<td class="memname">void BNO08x::calibrate_all </td>
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<td>(</td>
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<td class="paramname"></td><td>)</td>
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<p>Sends command to calibrate accelerometer, gyro, and magnetometer. </p>
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<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
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<h2 class="memtitle"><span class="permalink"><a href="#a9ada90f8ab6dd33fa2d7c168d9234af1">◆ </a></span>calibrate_gyro()</h2>
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<td class="memname">void BNO08x::calibrate_gyro </td>
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<td>(</td>
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<p>Sends command to calibrate gyro. </p>
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<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
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<a id="ac26350b55095a346d72598ab8aa74b4a" name="ac26350b55095a346d72598ab8aa74b4a"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#ac26350b55095a346d72598ab8aa74b4a">◆ </a></span>calibrate_magnetometer()</h2>
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<td class="memname">void BNO08x::calibrate_magnetometer </td>
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<td>(</td>
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<td class="paramname"></td><td>)</td>
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<p>Sends command to calibrate magnetometer. </p>
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<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
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<a id="a1c6c49c97bc098db89db1aaa37e18f26" name="a1c6c49c97bc098db89db1aaa37e18f26"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#a1c6c49c97bc098db89db1aaa37e18f26">◆ </a></span>calibrate_planar_accelerometer()</h2>
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<td class="memname">void BNO08x::calibrate_planar_accelerometer </td>
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<td>(</td>
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<p>Sends command to calibrate planar accelerometer. </p>
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<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
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<a id="a71ca35f78b98d93d31eb0c187dc8543b" name="a71ca35f78b98d93d31eb0c187dc8543b"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#a71ca35f78b98d93d31eb0c187dc8543b">◆ </a></span>calibration_complete()</h2>
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<td class="memname">bool BNO08x::calibration_complete </td>
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<td>(</td>
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<p>Returns true if calibration has completed. </p>
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<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
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<h2 class="memtitle"><span class="permalink"><a href="#afe39bfdede7b9a2b273983cb29a27d6e">◆ </a></span>clear_tare()</h2>
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<td class="memname">void BNO08x::clear_tare </td>
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<td>(</td>
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<p>Sends command to clear persistent tare settings in non-volatile memory of <a class="el" href="class_b_n_o08x.html">BNO08x</a> (See Ref. Manual 6.4.4.3) </p>
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<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
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<a id="a367d525d1c0ba119b3dca3067bb5bccc" name="a367d525d1c0ba119b3dca3067bb5bccc"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#a367d525d1c0ba119b3dca3067bb5bccc">◆ </a></span>data_available()</h2>
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<td class="memname">bool BNO08x::data_available </td>
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<td>(</td>
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<p>Checks if <a class="el" href="class_b_n_o08x.html">BNO08x</a> has asserted interrupt and sent data. </p>
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<dl class="section return"><dt>Returns</dt><dd>true if new data has been parsed and saved </dd></dl>
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<a id="a1d68494d911f7efbbb620d349fb9da0d" name="a1d68494d911f7efbbb620d349fb9da0d"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#a1d68494d911f7efbbb620d349fb9da0d">◆ </a></span>enable_accelerometer()</h2>
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<td class="memname">void BNO08x::enable_accelerometer </td>
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<td>(</td>
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<td class="paramtype">uint16_t </td>
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<td class="paramname"><em>time_between_reports</em></td><td>)</td>
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<p>Sends command to enable accelerometer reports (See Ref. Manual 6.5.9) </p>
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<dl class="params"><dt>Parameters</dt><dd>
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<table class="params">
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<tr><td class="paramname">time_between_reports</td><td>Desired time between reports in miliseconds. </td></tr>
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</table>
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</dd>
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</dl>
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<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
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<a id="a0960ce957058af565dd4c43ad6c40225" name="a0960ce957058af565dd4c43ad6c40225"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#a0960ce957058af565dd4c43ad6c40225">◆ </a></span>enable_activity_classifier()</h2>
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<td class="memname">void BNO08x::enable_activity_classifier </td>
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<td>(</td>
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<td class="paramtype">uint16_t </td>
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<td class="paramname"><em>time_between_reports</em>, </td>
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<td class="paramkey"></td>
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<td class="paramtype">uint32_t </td>
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<td class="paramname"><em>activities_to_enable</em>, </td>
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<td class="paramtype">uint8_t(&) </td>
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<td class="paramname"><em>activity_confidence_vals</em>[9] </td>
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<td>)</td>
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<p>Sends command to enable activity classifier reports (See Ref. Manual 6.5.36) </p>
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<dl class="params"><dt>Parameters</dt><dd>
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<table class="params">
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<tr><td class="paramname">time_between_reports</td><td>Desired time between reports in miliseconds. </td></tr>
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<tr><td class="paramname">activities_to_enable</td><td>Desired activities to enable (0x1F enables all). </td></tr>
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<tr><td class="paramname">activity_confidence_vals</td><td>Returned activity level confidences. </td></tr>
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</dd>
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<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
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<a id="ad9e26658c53c728d7d10381db680765e" name="ad9e26658c53c728d7d10381db680765e"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#ad9e26658c53c728d7d10381db680765e">◆ </a></span>enable_ARVR_stabilized_game_rotation_vector()</h2>
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<td class="memname">void BNO08x::enable_ARVR_stabilized_game_rotation_vector </td>
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<td>(</td>
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<td class="paramtype">uint16_t </td>
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<td class="paramname"><em>time_between_reports</em></td><td>)</td>
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<p>Sends command to enable ARVR stabilized game rotation vector reports (See Ref. Manual 6.5.43) </p>
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<dl class="params"><dt>Parameters</dt><dd>
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<table class="params">
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<tr><td class="paramname">time_between_reports</td><td>Desired time between reports in miliseconds. </td></tr>
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</table>
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</dd>
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</dl>
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<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
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<h2 class="memtitle"><span class="permalink"><a href="#a04290cb6ba09b93d5a9ef337c13d1abb">◆ </a></span>enable_ARVR_stabilized_rotation_vector()</h2>
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<td class="memname">void BNO08x::enable_ARVR_stabilized_rotation_vector </td>
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<td>(</td>
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<td class="paramtype">uint16_t </td>
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<td class="paramname"><em>time_between_reports</em></td><td>)</td>
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<p>Sends command to enable ARVR stabilized rotation vector reports (See Ref. Manual 6.5.42) </p>
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<dl class="params"><dt>Parameters</dt><dd>
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<table class="params">
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<tr><td class="paramname">time_between_reports</td><td>Desired time between reports in miliseconds. </td></tr>
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</table>
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</dd>
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<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
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<a id="a639cb013ed17e0f33057742fac97f1a2" name="a639cb013ed17e0f33057742fac97f1a2"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#a639cb013ed17e0f33057742fac97f1a2">◆ </a></span>enable_game_rotation_vector()</h2>
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<td class="memname">void BNO08x::enable_game_rotation_vector </td>
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<td>(</td>
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<td class="paramtype">uint16_t </td>
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<td class="paramname"><em>time_between_reports</em></td><td>)</td>
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<p>Sends command to enable game rotation vector reports (See Ref. Manual 6.5.19) </p>
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<dl class="params"><dt>Parameters</dt><dd>
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<table class="params">
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<tr><td class="paramname">time_between_reports</td><td>Desired time between reports in miliseconds. </td></tr>
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</table>
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</dd>
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</dl>
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<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
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<a id="a2dc0cd5bc04ca7eb3b4fffd2a3a6f27a" name="a2dc0cd5bc04ca7eb3b4fffd2a3a6f27a"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#a2dc0cd5bc04ca7eb3b4fffd2a3a6f27a">◆ </a></span>enable_gravity()</h2>
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<td class="memname">void BNO08x::enable_gravity </td>
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<td>(</td>
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<td class="paramname"><em>time_between_reports</em></td><td>)</td>
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<p>Sends command to enable gravity reading reports (See Ref. Manual 6.5.11) </p>
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<dl class="params"><dt>Parameters</dt><dd>
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<table class="params">
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<tr><td class="paramname">time_between_reports</td><td>Desired time between reports in miliseconds. </td></tr>
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</dd>
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</dl>
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<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
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<h2 class="memtitle"><span class="permalink"><a href="#a7619b598cc8e768c4df4805b2958a2c8">◆ </a></span>enable_gyro()</h2>
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<td class="memname">void BNO08x::enable_gyro </td>
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<td>(</td>
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<td class="paramtype">uint16_t </td>
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<td class="paramname"><em>time_between_reports</em></td><td>)</td>
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<p>Sends command to enable gyro reports (See Ref. Manual 6.5.13) </p>
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<dl class="params"><dt>Parameters</dt><dd>
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<table class="params">
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<tr><td class="paramname">time_between_reports</td><td>Desired time between reports in miliseconds. </td></tr>
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</table>
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</dd>
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</dl>
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<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
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<a id="a09a0306abec5895dd0450b2fe970347c" name="a09a0306abec5895dd0450b2fe970347c"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#a09a0306abec5895dd0450b2fe970347c">◆ </a></span>enable_gyro_integrated_rotation_vector()</h2>
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<td class="memname">void BNO08x::enable_gyro_integrated_rotation_vector </td>
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<td>(</td>
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<td class="paramtype">uint16_t </td>
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<td class="paramname"><em>time_between_reports</em></td><td>)</td>
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<p>Sends command to enable gyro integrated rotation vector reports (See Ref. Manual 6.5.44) </p>
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<dl class="params"><dt>Parameters</dt><dd>
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<table class="params">
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<tr><td class="paramname">time_between_reports</td><td>Desired time between reports in miliseconds. </td></tr>
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</table>
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</dd>
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</dl>
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<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
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<a id="ad3724e7e602feb2b695d2d88a61d5328" name="ad3724e7e602feb2b695d2d88a61d5328"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#ad3724e7e602feb2b695d2d88a61d5328">◆ </a></span>enable_linear_accelerometer()</h2>
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<td class="memname">void BNO08x::enable_linear_accelerometer </td>
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<td>(</td>
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<td class="paramtype">uint16_t </td>
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<td class="paramname"><em>time_between_reports</em></td><td>)</td>
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<p>Sends command to enable linear accelerometer reports (See Ref. Manual 6.5.10) </p>
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<dl class="params"><dt>Parameters</dt><dd>
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<table class="params">
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<tr><td class="paramname">time_between_reports</td><td>Desired time between reports in miliseconds. </td></tr>
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</table>
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</dd>
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</dl>
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<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
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<h2 class="memtitle"><span class="permalink"><a href="#acf4a83a44a221f6495263f00f1b8d849">◆ </a></span>enable_magnetometer()</h2>
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<td class="memname">void BNO08x::enable_magnetometer </td>
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<td>(</td>
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<td class="paramtype">uint16_t </td>
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<td class="paramname"><em>time_between_reports</em></td><td>)</td>
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<td></td>
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</tr>
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</table>
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</div><div class="memdoc">
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<p>Sends command to enable magnetometer reports (See Ref. Manual 6.5.16) </p>
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<dl class="params"><dt>Parameters</dt><dd>
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<table class="params">
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<tr><td class="paramname">time_between_reports</td><td>Desired time between reports in miliseconds. </td></tr>
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</table>
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</dd>
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</dl>
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<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
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</div>
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</div>
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<h2 class="memtitle"><span class="permalink"><a href="#ad6adf3b24a8a559d3bb57e6abcef4ce8">◆ </a></span>enable_raw_accelerometer()</h2>
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<td class="memname">void BNO08x::enable_raw_accelerometer </td>
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<td>(</td>
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<td class="paramtype">uint16_t </td>
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<td class="paramname"><em>time_between_reports</em></td><td>)</td>
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<td></td>
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</tr>
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</table>
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</div><div class="memdoc">
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<p>Sends command to enable raw accelerometer reports (See Ref. Manual 6.5.8) </p>
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<dl class="params"><dt>Parameters</dt><dd>
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<table class="params">
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<tr><td class="paramname">time_between_reports</td><td>Desired time between reports in miliseconds. </td></tr>
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</table>
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</dd>
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</dl>
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<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
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</div>
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</div>
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<a id="af984deb77c92746fe4d193457312be63" name="af984deb77c92746fe4d193457312be63"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#af984deb77c92746fe4d193457312be63">◆ </a></span>enable_raw_gyro()</h2>
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<td class="memname">void BNO08x::enable_raw_gyro </td>
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<td>(</td>
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<td class="paramtype">uint16_t </td>
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<td class="paramname"><em>time_between_reports</em></td><td>)</td>
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<td></td>
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</tr>
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</table>
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</div><div class="memdoc">
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<p>Sends command to enable raw gyro reports (See Ref. Manual 6.5.12) </p>
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<dl class="params"><dt>Parameters</dt><dd>
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<table class="params">
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<tr><td class="paramname">time_between_reports</td><td>Desired time between reports in miliseconds. </td></tr>
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</table>
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</dd>
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</dl>
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<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
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</div>
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</div>
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<a id="ad1ca07ee06ef98d4e11a74dde18e9623" name="ad1ca07ee06ef98d4e11a74dde18e9623"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#ad1ca07ee06ef98d4e11a74dde18e9623">◆ </a></span>enable_raw_magnetometer()</h2>
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<td class="memname">void BNO08x::enable_raw_magnetometer </td>
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<td>(</td>
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<td class="paramtype">uint16_t </td>
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<td class="paramname"><em>time_between_reports</em></td><td>)</td>
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<td></td>
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</tr>
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</table>
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</div><div class="memdoc">
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<p>Sends command to enable raw magnetometer reports (See Ref. Manual 6.5.15) </p>
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<dl class="params"><dt>Parameters</dt><dd>
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<table class="params">
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<tr><td class="paramname">time_between_reports</td><td>Desired time between reports in miliseconds. </td></tr>
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</table>
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</dd>
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</dl>
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<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
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<h2 class="memtitle"><span class="permalink"><a href="#abe9acd2eb1ce2f2e72b7a48c8d025cc4">◆ </a></span>enable_rotation_vector()</h2>
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<td class="memname">void BNO08x::enable_rotation_vector </td>
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<td>(</td>
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<td class="paramtype">uint16_t </td>
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<td class="paramname"><em>time_between_reports</em></td><td>)</td>
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<td></td>
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</tr>
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</table>
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</div><div class="memdoc">
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<p>Sends command to enable rotation vector reports (See Ref. Manual 6.5.18) </p>
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<dl class="params"><dt>Parameters</dt><dd>
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<table class="params">
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<tr><td class="paramname">time_between_reports</td><td>Desired time between reports in miliseconds. </td></tr>
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</table>
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</dd>
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</dl>
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<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
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</div>
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</div>
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<a id="a5378a235e3114ccdc63b26bc3fae5dad" name="a5378a235e3114ccdc63b26bc3fae5dad"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#a5378a235e3114ccdc63b26bc3fae5dad">◆ </a></span>enable_stability_classifier()</h2>
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<td class="memname">void BNO08x::enable_stability_classifier </td>
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<td>(</td>
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<td class="paramtype">uint16_t </td>
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<td class="paramname"><em>time_between_reports</em></td><td>)</td>
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<td></td>
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</tr>
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</table>
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</div><div class="memdoc">
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<p>Sends command to enable activity stability classifier reports (See Ref. Manual 6.5.31) </p>
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<dl class="params"><dt>Parameters</dt><dd>
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<table class="params">
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<tr><td class="paramname">time_between_reports</td><td>Desired time between reports in miliseconds. </td></tr>
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</table>
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</dd>
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</dl>
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<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
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</div>
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</div>
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<a id="ad550085fa1b51495ce3d8894538f33d5" name="ad550085fa1b51495ce3d8894538f33d5"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#ad550085fa1b51495ce3d8894538f33d5">◆ </a></span>enable_step_counter()</h2>
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<td class="memname">void BNO08x::enable_step_counter </td>
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<td>(</td>
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<td class="paramtype">uint16_t </td>
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<td class="paramname"><em>time_between_reports</em></td><td>)</td>
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<td></td>
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</tr>
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</table>
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</div><div class="memdoc">
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<p>Sends command to enable step counter reports (See Ref. Manual 6.5.29) </p>
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<dl class="params"><dt>Parameters</dt><dd>
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<table class="params">
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<tr><td class="paramname">time_between_reports</td><td>Desired time between reports in miliseconds. </td></tr>
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</table>
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</dd>
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</dl>
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<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
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</div>
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</div>
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<a id="a919c7d94226f4c6adbb8edf6fd1613a9" name="a919c7d94226f4c6adbb8edf6fd1613a9"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#a919c7d94226f4c6adbb8edf6fd1613a9">◆ </a></span>enable_tap_detector()</h2>
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<td class="memname">void BNO08x::enable_tap_detector </td>
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<td>(</td>
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<td class="paramtype">uint16_t </td>
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<td class="paramname"><em>time_between_reports</em></td><td>)</td>
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<td></td>
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</tr>
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</table>
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</div><div class="memdoc">
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<p>Sends command to enable tap detector reports (See Ref. Manual 6.5.27) </p>
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<dl class="params"><dt>Parameters</dt><dd>
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<table class="params">
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<tr><td class="paramname">time_between_reports</td><td>Desired time between reports in miliseconds. </td></tr>
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</table>
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</dd>
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</dl>
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<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
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</div>
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</div>
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<a id="ac7b5815c5ad8b83a34ad0855423601e8" name="ac7b5815c5ad8b83a34ad0855423601e8"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#ac7b5815c5ad8b83a34ad0855423601e8">◆ </a></span>enable_uncalibrated_gyro()</h2>
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<td class="memname">void BNO08x::enable_uncalibrated_gyro </td>
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<td>(</td>
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<td class="paramtype">uint16_t </td>
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<td class="paramname"><em>time_between_reports</em></td><td>)</td>
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<td></td>
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</tr>
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</table>
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</div><div class="memdoc">
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<p>Sends command to enable uncalibrated gyro reports (See Ref. Manual 6.5.14) </p>
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<dl class="params"><dt>Parameters</dt><dd>
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<table class="params">
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<tr><td class="paramname">time_between_reports</td><td>Desired time between reports in miliseconds. </td></tr>
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</table>
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</dd>
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</dl>
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<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
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</div>
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</div>
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<a id="ac9d9b6636745e8180807284da67c92a2" name="ac9d9b6636745e8180807284da67c92a2"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#ac9d9b6636745e8180807284da67c92a2">◆ </a></span>end_calibration()</h2>
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<td class="memname">void BNO08x::end_calibration </td>
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<td>(</td>
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<td class="paramname"></td><td>)</td>
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<td></td>
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</div><div class="memdoc">
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<p>Sends command to end calibration procedure. </p>
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<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
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</div>
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</div>
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<h2 class="memtitle"><span class="permalink"><a href="#a40607e557eada666a5e1e416f42cd4a1">◆ </a></span>FRS_read_data()</h2>
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<td class="memname">bool BNO08x::FRS_read_data </td>
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<td>(</td>
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<td class="paramtype">uint16_t </td>
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<td class="paramname"><em>record_ID</em>, </td>
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</tr>
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<td class="paramkey"></td>
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<td></td>
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<td class="paramtype">uint8_t </td>
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<td class="paramname"><em>start_location</em>, </td>
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<td class="paramkey"></td>
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<td></td>
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<td class="paramtype">uint8_t </td>
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<td class="paramname"><em>words_to_read</em> </td>
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</tr>
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<td></td>
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<td>)</td>
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<p>Read meta data from <a class="el" href="class_b_n_o08x.html">BNO08x</a> FRS (flash record system) given the record ID. Contains Q points and other info. (See Ref. Manual 5.1 & 6.3.7) </p>
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<p>Note that Q points from the data sheet can be used as well, using the ones stored in flash is optional.</p>
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<dl class="params"><dt>Parameters</dt><dd>
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<table class="params">
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<tr><td class="paramname">record_ID</td><td>Which record ID/ sensor to request meta data from. </td></tr>
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<tr><td class="paramname">start_location</td><td>Start byte location. </td></tr>
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<tr><td class="paramname">words_to_read</td><td>Length of words to read.</td></tr>
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</table>
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</dd>
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</dl>
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<dl class="section return"><dt>Returns</dt><dd>True if meta data read successfully. </dd></dl>
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</div>
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</div>
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<a id="adf789e709ac1667656db757c8d559af9" name="adf789e709ac1667656db757c8d559af9"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#adf789e709ac1667656db757c8d559af9">◆ </a></span>FRS_read_request()</h2>
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<td class="memname">bool BNO08x::FRS_read_request </td>
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<td>(</td>
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<td class="paramtype">uint16_t </td>
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<td class="paramname"><em>record_ID</em>, </td>
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</tr>
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<td class="paramkey"></td>
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<td></td>
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<td class="paramtype">uint16_t </td>
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<td class="paramname"><em>read_offset</em>, </td>
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</tr>
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<td class="paramkey"></td>
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<td></td>
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<td class="paramtype">uint16_t </td>
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<td class="paramname"><em>block_size</em> </td>
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</tr>
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<tr>
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<td></td>
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<td>)</td>
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<td></td><td></td>
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</div><div class="memdoc">
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<p>Requests meta data from <a class="el" href="class_b_n_o08x.html">BNO08x</a> FRS (flash record system) given the record ID. Contains Q points and other info. (See Ref. Manual 5.1 & 6.3.6) </p>
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<p>Note that Q points from the data sheet can be used as well, using the ones stored in flash is optional.</p>
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<dl class="params"><dt>Parameters</dt><dd>
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<table class="params">
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<tr><td class="paramname">record_ID</td><td>Which record ID/ sensor to request meta data from. </td></tr>
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<tr><td class="paramname">start_location</td><td>Start byte location. </td></tr>
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<tr><td class="paramname">words_to_read</td><td>Length of words to read.</td></tr>
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</table>
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</dd>
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</dl>
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<dl class="section return"><dt>Returns</dt><dd>True if read request acknowledged (HINT was asserted) </dd></dl>
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<h2 class="memtitle"><span class="permalink"><a href="#a27f5dce5c994be18a587fb622574ad41">◆ </a></span>FRS_read_word()</h2>
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<td class="memname">uint32_t BNO08x::FRS_read_word </td>
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<td>(</td>
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<td class="paramtype">uint16_t </td>
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<td class="paramname"><em>record_ID</em>, </td>
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<td class="paramkey"></td>
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<td></td>
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<td class="paramtype">uint8_t </td>
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<td class="paramname"><em>word_number</em> </td>
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<td></td>
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<td>)</td>
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<p>Reads meta data word from <a class="el" href="class_b_n_o08x.html">BNO08x</a> FRS (flash record system) given the record ID and word number. (See Ref. Manual 5.1 & 6.3.7) </p>
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<p>Note that Q points from the data sheet can be used as well, using the ones stored in flash is optional.</p>
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<dl class="params"><dt>Parameters</dt><dd>
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<table class="params">
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<tr><td class="paramname">record_ID</td><td>Which record ID/ sensor to request meta data from. </td></tr>
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<tr><td class="paramname">word_number</td><td>Desired word to read.</td></tr>
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</table>
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</dd>
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</dl>
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<dl class="section return"><dt>Returns</dt><dd>Requested meta data word, 0 if failed. </dd></dl>
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</div>
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<a id="a9329c6669282071622c3b3741b1b8142" name="a9329c6669282071622c3b3741b1b8142"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#a9329c6669282071622c3b3741b1b8142">◆ </a></span>get_accel()</h2>
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<td class="memname">void BNO08x::get_accel </td>
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<td>(</td>
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<td class="paramtype">float & </td>
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<td class="paramname"><em>x</em>, </td>
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</tr>
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<tr>
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<td class="paramkey"></td>
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<td></td>
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<td class="paramtype">float & </td>
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<td class="paramname"><em>y</em>, </td>
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</tr>
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<tr>
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<td class="paramkey"></td>
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<td></td>
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<td class="paramtype">float & </td>
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<td class="paramname"><em>z</em>, </td>
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</tr>
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<tr>
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<td class="paramkey"></td>
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<td></td>
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<td class="paramtype">uint8_t & </td>
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<td class="paramname"><em>accuracy</em> </td>
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</tr>
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<tr>
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<td></td>
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<td>)</td>
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<td></td><td></td>
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</tr>
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</table>
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</div><div class="memdoc">
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<p>Get full acceleration (total acceleration of device, units in m/s^2). </p>
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<dl class="params"><dt>Parameters</dt><dd>
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<table class="params">
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<tr><td class="paramname">x</td><td>Reference variable to save X axis acceleration. </td></tr>
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<tr><td class="paramname">y</td><td>Reference variable to save Y axis acceleration. </td></tr>
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<tr><td class="paramname">z</td><td>Reference variable to save Z axis acceleration. </td></tr>
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<tr><td class="paramname">accuracy</td><td>Reference variable to save reported acceleration accuracy.</td></tr>
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</table>
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</dd>
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</dl>
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<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
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</div>
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</div>
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<a id="a3fce726d5de821f97ed207036dae2900" name="a3fce726d5de821f97ed207036dae2900"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#a3fce726d5de821f97ed207036dae2900">◆ </a></span>get_accel_accuracy()</h2>
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<div class="memitem">
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<div class="memproto">
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<table class="memname">
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<tr>
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<td class="memname">uint8_t BNO08x::get_accel_accuracy </td>
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<td>(</td>
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<td class="paramname"></td><td>)</td>
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<td></td>
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</div><div class="memdoc">
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<p>Get accuracy of linear acceleration. </p>
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<dl class="section return"><dt>Returns</dt><dd>Accuracy of linear acceleration. </dd></dl>
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</div>
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</div>
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<a id="abce574112a9079d2cbc58cfc352b8a69" name="abce574112a9079d2cbc58cfc352b8a69"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#abce574112a9079d2cbc58cfc352b8a69">◆ </a></span>get_accel_X()</h2>
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<div class="memitem">
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<div class="memproto">
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<table class="memname">
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<td class="memname">float BNO08x::get_accel_X </td>
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<td>(</td>
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<td class="paramname"></td><td>)</td>
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<td></td>
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</tr>
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</div><div class="memdoc">
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<p>Get x axis acceleration (total acceleration of device, units in m/s^2). </p>
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<dl class="section return"><dt>Returns</dt><dd>The angular reported x axis acceleration. </dd></dl>
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</div>
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</div>
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<a id="afdf24bb3d54518b23972f21f007817c1" name="afdf24bb3d54518b23972f21f007817c1"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#afdf24bb3d54518b23972f21f007817c1">◆ </a></span>get_accel_Y()</h2>
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<div class="memitem">
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<div class="memproto">
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<table class="memname">
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<tr>
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<td class="memname">float BNO08x::get_accel_Y </td>
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<td>(</td>
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<td class="paramname"></td><td>)</td>
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<td></td>
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</tr>
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</div><div class="memdoc">
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<p>Get y axis acceleration (total acceleration of device, units in m/s^2). </p>
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<dl class="section return"><dt>Returns</dt><dd>The angular reported y axis acceleration. </dd></dl>
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</div>
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</div>
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<a id="a0a72477cb7a330fedbcb3e2126b882b1" name="a0a72477cb7a330fedbcb3e2126b882b1"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#a0a72477cb7a330fedbcb3e2126b882b1">◆ </a></span>get_accel_Z()</h2>
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<div class="memproto">
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<table class="memname">
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<td class="memname">float BNO08x::get_accel_Z </td>
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<td>(</td>
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<td class="paramname"></td><td>)</td>
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<td></td>
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</tr>
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</table>
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</div><div class="memdoc">
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<p>Get z axis acceleration (total acceleration of device, units in m/s^2). </p>
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<dl class="section return"><dt>Returns</dt><dd>The angular reported z axis acceleration. </dd></dl>
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</div>
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</div>
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<a id="a4f7060b2d3c15b359b70b6346730446a" name="a4f7060b2d3c15b359b70b6346730446a"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#a4f7060b2d3c15b359b70b6346730446a">◆ </a></span>get_activity_classifier()</h2>
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<div class="memitem">
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<div class="memproto">
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<table class="memname">
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<tr>
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<td class="memname">uint8_t BNO08x::get_activity_classifier </td>
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<td>(</td>
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<td class="paramname"></td><td>)</td>
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<td></td>
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</tr>
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</table>
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</div><div class="memdoc">
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<p>Get the current activity classifier (Seee Ref. Manual 6.5.36) </p>
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<dl class="section return"><dt>Returns</dt><dd>The current activity: 0 = unknown 1 = in vehicle 2 = on bicycle 3 = on foot 4 = still 5 = tilting 6 = walking 7 = runnning 8 = on stairs </dd></dl>
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</div>
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</div>
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<a id="a386c46ac8965220ab7b9423df838dd4d" name="a386c46ac8965220ab7b9423df838dd4d"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#a386c46ac8965220ab7b9423df838dd4d">◆ </a></span>get_gravity()</h2>
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<td class="memname">void BNO08x::get_gravity </td>
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<td>(</td>
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<td class="paramtype">float & </td>
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<td class="paramname"><em>x</em>, </td>
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</tr>
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<tr>
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<td class="paramkey"></td>
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<td></td>
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<td class="paramtype">float & </td>
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<td class="paramname"><em>y</em>, </td>
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</tr>
|
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<tr>
|
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<td class="paramkey"></td>
|
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<td></td>
|
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<td class="paramtype">float & </td>
|
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<td class="paramname"><em>z</em>, </td>
|
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</tr>
|
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<tr>
|
|
<td class="paramkey"></td>
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<td></td>
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<td class="paramtype">uint8_t & </td>
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<td class="paramname"><em>accuracy</em> </td>
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</tr>
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<tr>
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<td></td>
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<td>)</td>
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<td></td><td></td>
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</tr>
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</table>
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</div><div class="memdoc">
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<p>Get full reported gravity vector, units in m/s^2. </p>
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<dl class="params"><dt>Parameters</dt><dd>
|
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<table class="params">
|
|
<tr><td class="paramname">x</td><td>Reference variable to save X axis gravity. </td></tr>
|
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<tr><td class="paramname">y</td><td>Reference variable to save Y axis axis gravity. </td></tr>
|
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<tr><td class="paramname">z</td><td>Reference variable to save Z axis axis gravity. </td></tr>
|
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<tr><td class="paramname">accuracy</td><td>Reference variable to save reported gravity accuracy.</td></tr>
|
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</table>
|
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</dd>
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</dl>
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<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
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</div>
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</div>
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<a id="accd39f48e9f8ab8267df7184b5b7cd76" name="accd39f48e9f8ab8267df7184b5b7cd76"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#accd39f48e9f8ab8267df7184b5b7cd76">◆ </a></span>get_gravity_accuracy()</h2>
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<div class="memitem">
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<div class="memproto">
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<table class="memname">
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<td class="memname">uint8_t BNO08x::get_gravity_accuracy </td>
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<td>(</td>
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<td class="paramname"></td><td>)</td>
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<td></td>
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</tr>
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</table>
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</div><div class="memdoc">
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<p>Get the reported gravity accuracy. </p>
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<dl class="section return"><dt>Returns</dt><dd>Accuracy of reported gravity. <br />
|
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</dd></dl>
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</div>
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</div>
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<a id="a88679bccd9339b87ec35fc4fc4e745ae" name="a88679bccd9339b87ec35fc4fc4e745ae"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#a88679bccd9339b87ec35fc4fc4e745ae">◆ </a></span>get_gravity_X()</h2>
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<div class="memitem">
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<div class="memproto">
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<table class="memname">
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<tr>
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<td class="memname">float BNO08x::get_gravity_X </td>
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<td>(</td>
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<td class="paramname"></td><td>)</td>
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<td></td>
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</tr>
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</table>
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</div><div class="memdoc">
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<p>Get the reported x axis gravity. </p>
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<dl class="section return"><dt>Returns</dt><dd>x axis gravity in m/s^2 </dd></dl>
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</div>
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</div>
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<a id="a8a36db7f1c932f33e05e494632059801" name="a8a36db7f1c932f33e05e494632059801"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#a8a36db7f1c932f33e05e494632059801">◆ </a></span>get_gravity_Y()</h2>
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<div class="memitem">
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<div class="memproto">
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<table class="memname">
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<tr>
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<td class="memname">float BNO08x::get_gravity_Y </td>
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<td>(</td>
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<td class="paramname"></td><td>)</td>
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<td></td>
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</tr>
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</table>
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</div><div class="memdoc">
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<p>Get the reported y axis gravity. </p>
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<dl class="section return"><dt>Returns</dt><dd>y axis gravity in m/s^2 </dd></dl>
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</div>
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</div>
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<a id="a5622b4d1754648ea7eb400c1adf9e807" name="a5622b4d1754648ea7eb400c1adf9e807"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#a5622b4d1754648ea7eb400c1adf9e807">◆ </a></span>get_gravity_Z()</h2>
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<table class="memname">
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<tr>
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<td class="memname">float BNO08x::get_gravity_Z </td>
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<td>(</td>
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<td class="paramname"></td><td>)</td>
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<td></td>
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</tr>
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</table>
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</div><div class="memdoc">
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<p>Get the reported z axis gravity. </p>
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<dl class="section return"><dt>Returns</dt><dd>z axis gravity in m/s^2 </dd></dl>
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</div>
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</div>
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<a id="a811999653110858311c97a779c388e5d" name="a811999653110858311c97a779c388e5d"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#a811999653110858311c97a779c388e5d">◆ </a></span>get_gyro_accuracy()</h2>
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<div class="memitem">
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<table class="memname">
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<td class="memname">uint8_t BNO08x::get_gyro_accuracy </td>
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<td>(</td>
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<td class="paramname"></td><td>)</td>
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<td></td>
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</tr>
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</table>
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</div><div class="memdoc">
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<p>Get calibrated gyro accuracy. </p>
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<dl class="section return"><dt>Returns</dt><dd>Accuracy of calibrated gyro. </dd></dl>
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</div>
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</div>
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<a id="a4d3746a376a22acb7a2641bb750c4c89" name="a4d3746a376a22acb7a2641bb750c4c89"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#a4d3746a376a22acb7a2641bb750c4c89">◆ </a></span>get_gyro_calibrated_velocity()</h2>
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<div class="memitem">
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<td class="memname">void BNO08x::get_gyro_calibrated_velocity </td>
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<td>(</td>
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<td class="paramtype">float & </td>
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<td class="paramname"><em>x</em>, </td>
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</tr>
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<tr>
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<td class="paramkey"></td>
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<td></td>
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<td class="paramtype">float & </td>
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<td class="paramname"><em>y</em>, </td>
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</tr>
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<tr>
|
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<td class="paramkey"></td>
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<td></td>
|
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<td class="paramtype">float & </td>
|
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<td class="paramname"><em>z</em>, </td>
|
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</tr>
|
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<tr>
|
|
<td class="paramkey"></td>
|
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<td></td>
|
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<td class="paramtype">uint8_t & </td>
|
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<td class="paramname"><em>accuracy</em> </td>
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</tr>
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<tr>
|
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<td></td>
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<td>)</td>
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<td></td><td></td>
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</tr>
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</table>
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</div><div class="memdoc">
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<p>Get full rotational velocity with drift compensation (units in Rad/s). </p>
|
|
<dl class="params"><dt>Parameters</dt><dd>
|
|
<table class="params">
|
|
<tr><td class="paramname">x</td><td>Reference variable to save X axis angular velocity </td></tr>
|
|
<tr><td class="paramname">y</td><td>Reference variable to save Y axis angular velocity </td></tr>
|
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<tr><td class="paramname">z</td><td>Reference variable to save Z axis angular velocity </td></tr>
|
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<tr><td class="paramname">accuracy</td><td>Reference variable to save reported gyro accuracy.</td></tr>
|
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</table>
|
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</dd>
|
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</dl>
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<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
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</div>
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</div>
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<a id="ab7977391191067282e7f734b9ee45059" name="ab7977391191067282e7f734b9ee45059"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#ab7977391191067282e7f734b9ee45059">◆ </a></span>get_gyro_calibrated_velocity_X()</h2>
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<td class="memname">float BNO08x::get_gyro_calibrated_velocity_X </td>
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<td>(</td>
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<td class="paramname"></td><td>)</td>
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<td></td>
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</tr>
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</table>
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</div><div class="memdoc">
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<p>Get calibrated gyro x axis angular velocity measurement. </p>
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<dl class="section return"><dt>Returns</dt><dd>The angular reported x axis angular velocity from calibrated gyro (drift compensation applied). </dd></dl>
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</div>
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</div>
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<a id="ad4fab6e636e239d4b9273f158983ed89" name="ad4fab6e636e239d4b9273f158983ed89"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#ad4fab6e636e239d4b9273f158983ed89">◆ </a></span>get_gyro_calibrated_velocity_Y()</h2>
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<td class="memname">float BNO08x::get_gyro_calibrated_velocity_Y </td>
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<td>(</td>
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<td class="paramname"></td><td>)</td>
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<td></td>
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</tr>
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</table>
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</div><div class="memdoc">
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<p>Get calibrated gyro y axis angular velocity measurement. </p>
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<dl class="section return"><dt>Returns</dt><dd>The angular reported y axis angular velocity from calibrated gyro (drift compensation applied). </dd></dl>
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</div>
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</div>
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<a id="a15a29c3bb476048b7229abcfb2b1d52a" name="a15a29c3bb476048b7229abcfb2b1d52a"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#a15a29c3bb476048b7229abcfb2b1d52a">◆ </a></span>get_gyro_calibrated_velocity_Z()</h2>
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<td class="memname">float BNO08x::get_gyro_calibrated_velocity_Z </td>
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<td>(</td>
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<td class="paramname"></td><td>)</td>
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<td></td>
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</tr>
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</table>
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</div><div class="memdoc">
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<p>Get calibrated gyro z axis angular velocity measurement. </p>
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<dl class="section return"><dt>Returns</dt><dd>The angular reported z axis angular velocity from calibrated gyro (drift compensation applied). </dd></dl>
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</div>
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</div>
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<a id="afe6392012669e7ebd1a9e817e2bd313f" name="afe6392012669e7ebd1a9e817e2bd313f"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#afe6392012669e7ebd1a9e817e2bd313f">◆ </a></span>get_gyro_velocity()</h2>
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<div class="memproto">
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<table class="memname">
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<tr>
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<td class="memname">void BNO08x::get_gyro_velocity </td>
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<td>(</td>
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<td class="paramtype">float & </td>
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<td class="paramname"><em>x</em>, </td>
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</tr>
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<td class="paramkey"></td>
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<td></td>
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<td class="paramtype">float & </td>
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<td class="paramname"><em>y</em>, </td>
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</tr>
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<tr>
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<td class="paramkey"></td>
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<td></td>
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<td class="paramtype">float & </td>
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<td class="paramname"><em>z</em> </td>
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</tr>
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<tr>
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<td></td>
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<td>)</td>
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<td></td><td></td>
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</table>
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</div><div class="memdoc">
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<p>Full rotational velocity from gyro-integrated rotation vector (See Ref. Manual 6.5.44) </p>
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<dl class="params"><dt>Parameters</dt><dd>
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<table class="params">
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<tr><td class="paramname">x</td><td>Reference variable to save X axis angular velocity </td></tr>
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<tr><td class="paramname">y</td><td>Reference variable to save Y axis angular velocity </td></tr>
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<tr><td class="paramname">z</td><td>Reference variable to save Z axis angular velocity</td></tr>
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</table>
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</dd>
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</dl>
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<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
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</div>
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</div>
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<a id="acd376cd3e454a87198ec86accbf2ee00" name="acd376cd3e454a87198ec86accbf2ee00"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#acd376cd3e454a87198ec86accbf2ee00">◆ </a></span>get_gyro_velocity_X()</h2>
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<div class="memitem">
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<div class="memproto">
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<table class="memname">
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<td class="memname">float BNO08x::get_gyro_velocity_X </td>
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<td>(</td>
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<td class="paramname"></td><td>)</td>
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<td></td>
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</tr>
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</table>
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</div><div class="memdoc">
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<p>Get x axis angular velocity from gyro-integrated rotation vector. (See Ref. Manual 6.5.44) </p>
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<dl class="section return"><dt>Returns</dt><dd>The reported x axis angular velocity. </dd></dl>
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</div>
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</div>
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<a id="acd1819a81818f90dc105950b4a7d0b04" name="acd1819a81818f90dc105950b4a7d0b04"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#acd1819a81818f90dc105950b4a7d0b04">◆ </a></span>get_gyro_velocity_Y()</h2>
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<div class="memitem">
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<div class="memproto">
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<table class="memname">
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<tr>
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<td class="memname">float BNO08x::get_gyro_velocity_Y </td>
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<td>(</td>
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<td class="paramname"></td><td>)</td>
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<td></td>
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</tr>
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</table>
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</div><div class="memdoc">
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<p>Get y axis angular velocity from gyro-integrated rotation vector. (See Ref. Manual 6.5.44) </p>
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<dl class="section return"><dt>Returns</dt><dd>The reported y axis angular velocity. </dd></dl>
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</div>
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</div>
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<a id="ae2add976af256ec981248371a2f58207" name="ae2add976af256ec981248371a2f58207"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#ae2add976af256ec981248371a2f58207">◆ </a></span>get_gyro_velocity_Z()</h2>
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<div class="memitem">
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<div class="memproto">
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<table class="memname">
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<tr>
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<td class="memname">float BNO08x::get_gyro_velocity_Z </td>
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<td>(</td>
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<td class="paramname"></td><td>)</td>
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<td></td>
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</tr>
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</table>
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</div><div class="memdoc">
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<p>Get z axis angular velocity from gyro-integrated rotation vector. (See Ref. Manual 6.5.44) </p>
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<dl class="section return"><dt>Returns</dt><dd>The reported Z axis angular velocity. </dd></dl>
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</div>
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</div>
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<a id="ad59b029d04341dbef72e059488951980" name="ad59b029d04341dbef72e059488951980"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#ad59b029d04341dbef72e059488951980">◆ </a></span>get_linear_accel()</h2>
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<div class="memitem">
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<table class="memname">
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<td class="memname">void BNO08x::get_linear_accel </td>
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<td>(</td>
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<td class="paramtype">float & </td>
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<td class="paramname"><em>x</em>, </td>
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</tr>
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<tr>
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<td class="paramkey"></td>
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<td></td>
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<td class="paramtype">float & </td>
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<td class="paramname"><em>y</em>, </td>
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</tr>
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<tr>
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<td class="paramkey"></td>
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<td></td>
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<td class="paramtype">float & </td>
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<td class="paramname"><em>z</em>, </td>
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</tr>
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<tr>
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<td class="paramkey"></td>
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<td></td>
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<td class="paramtype">uint8_t & </td>
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<td class="paramname"><em>accuracy</em> </td>
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</tr>
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<tr>
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<td></td>
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<td>)</td>
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<td></td><td></td>
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</tr>
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</table>
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</div><div class="memdoc">
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<p>Get full linear acceleration (acceleration of the device minus gravity, units in m/s^2). </p>
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<dl class="params"><dt>Parameters</dt><dd>
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<table class="params">
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<tr><td class="paramname">x</td><td>Reference variable to save X axis acceleration. </td></tr>
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<tr><td class="paramname">y</td><td>Reference variable to save Y axis acceleration. </td></tr>
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<tr><td class="paramname">z</td><td>Reference variable to save Z axis acceleration. </td></tr>
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<tr><td class="paramname">accuracy</td><td>Reference variable to save reported linear acceleration accuracy.</td></tr>
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</table>
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</dd>
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</dl>
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<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
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</div>
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</div>
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<a id="a33fe3c2f47759cfae5f4b612ddd329ea" name="a33fe3c2f47759cfae5f4b612ddd329ea"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#a33fe3c2f47759cfae5f4b612ddd329ea">◆ </a></span>get_linear_accel_accuracy()</h2>
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<div class="memitem">
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<div class="memproto">
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<table class="memname">
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<tr>
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<td class="memname">uint8_t BNO08x::get_linear_accel_accuracy </td>
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<td>(</td>
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<td class="paramname"></td><td>)</td>
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<td></td>
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</tr>
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</table>
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</div><div class="memdoc">
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<p>Get accuracy of linear acceleration. </p>
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<dl class="section return"><dt>Returns</dt><dd>Accuracy of linear acceleration. </dd></dl>
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</div>
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</div>
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<a id="a763c3a9699a1081d430fd9b9b7bc49a3" name="a763c3a9699a1081d430fd9b9b7bc49a3"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#a763c3a9699a1081d430fd9b9b7bc49a3">◆ </a></span>get_linear_accel_X()</h2>
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<div class="memitem">
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<div class="memproto">
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<table class="memname">
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<tr>
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<td class="memname">float BNO08x::get_linear_accel_X </td>
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<td>(</td>
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<td class="paramname"></td><td>)</td>
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<td></td>
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</tr>
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</table>
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</div><div class="memdoc">
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<p>Get x axis linear acceleration (acceleration of device minus gravity, units in m/s^2) </p>
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<dl class="section return"><dt>Returns</dt><dd>The angular reported x axis linear acceleration. </dd></dl>
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</div>
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</div>
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<a id="a1033bdd65b42b6706d1dfc67ece66191" name="a1033bdd65b42b6706d1dfc67ece66191"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#a1033bdd65b42b6706d1dfc67ece66191">◆ </a></span>get_linear_accel_Y()</h2>
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<div class="memitem">
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<div class="memproto">
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<table class="memname">
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<tr>
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<td class="memname">float BNO08x::get_linear_accel_Y </td>
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<td>(</td>
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<td class="paramname"></td><td>)</td>
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<td></td>
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</tr>
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</table>
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</div><div class="memdoc">
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<p>Get y axis linear acceleration (acceleration of device minus gravity, units in m/s^2) </p>
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<dl class="section return"><dt>Returns</dt><dd>The angular reported y axis linear acceleration. </dd></dl>
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</div>
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</div>
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<a id="afdfa7d50362702da689c5d18bf17fd84" name="afdfa7d50362702da689c5d18bf17fd84"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#afdfa7d50362702da689c5d18bf17fd84">◆ </a></span>get_linear_accel_Z()</h2>
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<div class="memitem">
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<div class="memproto">
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<table class="memname">
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<tr>
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<td class="memname">float BNO08x::get_linear_accel_Z </td>
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<td>(</td>
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<td class="paramname"></td><td>)</td>
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<td></td>
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</tr>
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</table>
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</div><div class="memdoc">
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<p>Get z axis linear acceleration (acceleration of device minus gravity, units in m/s^2) </p>
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<dl class="section return"><dt>Returns</dt><dd>The angular reported z axis linear acceleration. </dd></dl>
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</div>
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</div>
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<a id="a35a224d519a2a243d0d526a34ecde5a8" name="a35a224d519a2a243d0d526a34ecde5a8"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#a35a224d519a2a243d0d526a34ecde5a8">◆ </a></span>get_magf()</h2>
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<div class="memitem">
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<td class="memname">void BNO08x::get_magf </td>
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<td>(</td>
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<td class="paramtype">float & </td>
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<td class="paramname"><em>x</em>, </td>
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</tr>
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<tr>
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<td class="paramkey"></td>
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<td></td>
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<td class="paramtype">float & </td>
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<td class="paramname"><em>y</em>, </td>
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</tr>
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<tr>
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<td class="paramkey"></td>
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<td></td>
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<td class="paramtype">float & </td>
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<td class="paramname"><em>z</em>, </td>
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</tr>
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<tr>
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<td class="paramkey"></td>
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<td></td>
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<td class="paramtype">uint8_t & </td>
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<td class="paramname"><em>accuracy</em> </td>
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</tr>
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<tr>
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<td></td>
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<td>)</td>
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<td></td><td></td>
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</tr>
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</table>
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</div><div class="memdoc">
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<p>Get the full magnetic field vector. </p>
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<dl class="params"><dt>Parameters</dt><dd>
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<table class="params">
|
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<tr><td class="paramname">x</td><td>Reference variable to save reported x magnitude. </td></tr>
|
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<tr><td class="paramname">y</td><td>Reference variable to save reported y magnitude. </td></tr>
|
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<tr><td class="paramname">x</td><td>Reference variable to save reported z magnitude. </td></tr>
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<tr><td class="paramname">accuracy</td><td>Reference variable save reported accuracy.</td></tr>
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</table>
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</dd>
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</dl>
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<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
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</div>
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</div>
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<a id="a487391e6b2dd7f05084804d1fb94976f" name="a487391e6b2dd7f05084804d1fb94976f"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#a487391e6b2dd7f05084804d1fb94976f">◆ </a></span>get_magf_accuracy()</h2>
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<div class="memitem">
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<div class="memproto">
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<table class="memname">
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<tr>
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<td class="memname">uint8_t BNO08x::get_magf_accuracy </td>
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<td>(</td>
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<td class="paramname"></td><td>)</td>
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<td></td>
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</tr>
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</table>
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</div><div class="memdoc">
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<p>Get accuracy of reported magnetic field vector. </p>
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<dl class="section return"><dt>Returns</dt><dd>The accuracy of reported magnetic field vector. </dd></dl>
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</div>
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</div>
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<a id="a111601243b913751eb51c1f37cba4e7d" name="a111601243b913751eb51c1f37cba4e7d"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#a111601243b913751eb51c1f37cba4e7d">◆ </a></span>get_magf_X()</h2>
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<div class="memitem">
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<tr>
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<td class="memname">float BNO08x::get_magf_X </td>
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<td>(</td>
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<td class="paramname"></td><td>)</td>
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<td></td>
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</tr>
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</table>
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</div><div class="memdoc">
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<p>Get X component of magnetic field vector. </p>
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<dl class="section return"><dt>Returns</dt><dd>The reported X component of magnetic field vector. </dd></dl>
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</div>
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</div>
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<a id="a82ed8d7b9a5c25374839df75a3d220ea" name="a82ed8d7b9a5c25374839df75a3d220ea"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#a82ed8d7b9a5c25374839df75a3d220ea">◆ </a></span>get_magf_Y()</h2>
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<div class="memitem">
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<div class="memproto">
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<table class="memname">
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<tr>
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<td class="memname">float BNO08x::get_magf_Y </td>
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<td>(</td>
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<td class="paramname"></td><td>)</td>
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<td></td>
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</tr>
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</table>
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</div><div class="memdoc">
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<p>Get Y component of magnetic field vector. </p>
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<dl class="section return"><dt>Returns</dt><dd>The reported Y component of magnetic field vector. </dd></dl>
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</div>
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</div>
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<a id="ab4c48a91d2f8b29430abc17b7f015282" name="ab4c48a91d2f8b29430abc17b7f015282"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#ab4c48a91d2f8b29430abc17b7f015282">◆ </a></span>get_magf_Z()</h2>
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<div class="memitem">
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<div class="memproto">
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<table class="memname">
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<tr>
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<td class="memname">float BNO08x::get_magf_Z </td>
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<td>(</td>
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<td class="paramname"></td><td>)</td>
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<td></td>
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</tr>
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</table>
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</div><div class="memdoc">
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<p>Get Z component of magnetic field vector. </p>
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<dl class="section return"><dt>Returns</dt><dd>The reported Z component of magnetic field vector. </dd></dl>
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</div>
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</div>
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<a id="a1b91f234d81c45f1f5ca2f27c9f0f6a3" name="a1b91f234d81c45f1f5ca2f27c9f0f6a3"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#a1b91f234d81c45f1f5ca2f27c9f0f6a3">◆ </a></span>get_pitch()</h2>
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<div class="memitem">
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<table class="memname">
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<tr>
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<td class="memname">float BNO08x::get_pitch </td>
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<td>(</td>
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<td class="paramname"></td><td>)</td>
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<td></td>
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</tr>
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</table>
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</div><div class="memdoc">
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<p>Get the reported rotation about y axis. </p>
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<dl class="section return"><dt>Returns</dt><dd>Rotation about the y axis in radians. </dd></dl>
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</div>
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</div>
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<a id="af50010400cbd1445e9ddfa259384b412" name="af50010400cbd1445e9ddfa259384b412"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#af50010400cbd1445e9ddfa259384b412">◆ </a></span>get_pitch_deg()</h2>
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<div class="memproto">
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<table class="memname">
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<tr>
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<td class="memname">float BNO08x::get_pitch_deg </td>
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<td>(</td>
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<td class="paramname"></td><td>)</td>
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<td></td>
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</tr>
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</table>
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</div><div class="memdoc">
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<p>Get the reported rotation about y axis. </p>
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<dl class="section return"><dt>Returns</dt><dd>Rotation about the y axis in degrees. </dd></dl>
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</div>
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</div>
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<a id="a4421c43323945946ad605f8422958dcf" name="a4421c43323945946ad605f8422958dcf"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#a4421c43323945946ad605f8422958dcf">◆ </a></span>get_Q1()</h2>
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<div class="memitem">
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<div class="memproto">
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<table class="memname">
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<tr>
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<td class="memname">int16_t BNO08x::get_Q1 </td>
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<td>(</td>
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<td class="paramtype">uint16_t </td>
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<td class="paramname"><em>record_ID</em></td><td>)</td>
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<td></td>
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</tr>
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</table>
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</div><div class="memdoc">
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<p>Gets Q1 point from <a class="el" href="class_b_n_o08x.html">BNO08x</a> FRS (flash record system). </p>
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<p>Note that Q points from the data sheet can be used as well, using the ones stored in flash is optional.</p>
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<dl class="params"><dt>Parameters</dt><dd>
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<table class="params">
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<tr><td class="paramname">record_ID</td><td>Which record ID/ sensor to get Q1 value for.</td></tr>
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</table>
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</dd>
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</dl>
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<dl class="section return"><dt>Returns</dt><dd>Q1 value for requested sensor. </dd></dl>
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</div>
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</div>
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<a id="a954dccdcbe8a8c4f1787f13ebb8d932b" name="a954dccdcbe8a8c4f1787f13ebb8d932b"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#a954dccdcbe8a8c4f1787f13ebb8d932b">◆ </a></span>get_Q2()</h2>
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<td class="memname">int16_t BNO08x::get_Q2 </td>
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<td>(</td>
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<td class="paramtype">uint16_t </td>
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<td class="paramname"><em>record_ID</em></td><td>)</td>
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<td></td>
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</tr>
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</table>
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</div><div class="memdoc">
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<p>Gets Q2 point from <a class="el" href="class_b_n_o08x.html">BNO08x</a> FRS (flash record system). </p>
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<p>Note that Q points from the data sheet can be used as well, using the ones stored in flash is optional.</p>
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<dl class="params"><dt>Parameters</dt><dd>
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<table class="params">
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<tr><td class="paramname">record_ID</td><td>Which record ID/ sensor to get Q2 value for.</td></tr>
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</table>
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</dd>
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</dl>
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<dl class="section return"><dt>Returns</dt><dd>Q2 value for requested sensor. </dd></dl>
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</div>
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</div>
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<a id="a1590ba793668f9cb1a32a1f4dd07cb9a" name="a1590ba793668f9cb1a32a1f4dd07cb9a"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#a1590ba793668f9cb1a32a1f4dd07cb9a">◆ </a></span>get_Q3()</h2>
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<div class="memitem">
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<table class="memname">
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<td class="memname">int16_t BNO08x::get_Q3 </td>
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<td>(</td>
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<td class="paramtype">uint16_t </td>
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<td class="paramname"><em>record_ID</em></td><td>)</td>
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<td></td>
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</tr>
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</table>
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</div><div class="memdoc">
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<p>Gets Q3 point from <a class="el" href="class_b_n_o08x.html">BNO08x</a> FRS (flash record system). </p>
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<p>Note that Q points from the data sheet can be used as well, using the ones stored in flash is optional.</p>
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<dl class="params"><dt>Parameters</dt><dd>
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<table class="params">
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<tr><td class="paramname">record_ID</td><td>Which record ID/ sensor to get Q3 value for.</td></tr>
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</table>
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</dd>
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</dl>
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<dl class="section return"><dt>Returns</dt><dd>Q3 value for requested sensor. </dd></dl>
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</div>
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</div>
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<a id="a51a6d594824de2292e70f788454f8a2d" name="a51a6d594824de2292e70f788454f8a2d"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#a51a6d594824de2292e70f788454f8a2d">◆ </a></span>get_quat()</h2>
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<td class="memname">void BNO08x::get_quat </td>
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<td>(</td>
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<td class="paramtype">float & </td>
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<td class="paramname"><em>i</em>, </td>
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</tr>
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<tr>
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<td class="paramkey"></td>
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<td></td>
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<td class="paramtype">float & </td>
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<td class="paramname"><em>j</em>, </td>
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<td class="paramkey"></td>
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<td></td>
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<td class="paramtype">float & </td>
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<td class="paramname"><em>k</em>, </td>
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</tr>
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<td class="paramkey"></td>
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<td></td>
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<td class="paramtype">float & </td>
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<td class="paramname"><em>real</em>, </td>
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<td class="paramkey"></td>
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<td></td>
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<td class="paramtype">float & </td>
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<td class="paramname"><em>rad_accuracy</em>, </td>
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</tr>
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<td class="paramkey"></td>
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<td></td>
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<td class="paramtype">uint8_t & </td>
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<td class="paramname"><em>accuracy</em> </td>
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</tr>
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<td></td>
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<td>)</td>
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<td></td><td></td>
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</div><div class="memdoc">
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<p>Get the full quaternion reading. </p>
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<dl class="params"><dt>Parameters</dt><dd>
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<table class="params">
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<tr><td class="paramname">i</td><td>Reference variable to save reported i component of quaternion. </td></tr>
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<tr><td class="paramname">j</td><td>Reference variable to save reported j component of quaternion. </td></tr>
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<tr><td class="paramname">k</td><td>Reference variable to save reported k component of quaternion. </td></tr>
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<tr><td class="paramname">real</td><td>Reference variable to save reported real component of quaternion. </td></tr>
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<tr><td class="paramname">rad_accuracy</td><td>Reference variable to save reported raw quaternion radian accuracy. </td></tr>
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<tr><td class="paramname">accuracy</td><td>Reference variable to save reported quaternion accuracy.</td></tr>
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</table>
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</dd>
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</dl>
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<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
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</div>
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</div>
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<a id="a24ba760d064a1dc45f972c79b9c8d98d" name="a24ba760d064a1dc45f972c79b9c8d98d"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#a24ba760d064a1dc45f972c79b9c8d98d">◆ </a></span>get_quat_accuracy()</h2>
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<td class="memname">uint8_t BNO08x::get_quat_accuracy </td>
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<td>(</td>
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<td class="paramname"></td><td>)</td>
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<td></td>
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</tr>
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</div><div class="memdoc">
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<p>Get accuracy of reported quaternion. </p>
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<dl class="section return"><dt>Returns</dt><dd>The accuracy of reported quaternion. </dd></dl>
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</div>
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</div>
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<a id="a12c12a8e078b28480fb8828d306656f5" name="a12c12a8e078b28480fb8828d306656f5"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#a12c12a8e078b28480fb8828d306656f5">◆ </a></span>get_quat_I()</h2>
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<td class="memname">float BNO08x::get_quat_I </td>
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<td>(</td>
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<td class="paramname"></td><td>)</td>
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<td></td>
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</table>
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</div><div class="memdoc">
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<p>Get I component of reported quaternion. </p>
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<dl class="section return"><dt>Returns</dt><dd>The I component of reported quaternion. </dd></dl>
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</div>
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</div>
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<a id="a9f6bb642fa0297a7b9bcc94dd7374015" name="a9f6bb642fa0297a7b9bcc94dd7374015"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#a9f6bb642fa0297a7b9bcc94dd7374015">◆ </a></span>get_quat_J()</h2>
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<div class="memitem">
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<div class="memproto">
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<table class="memname">
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<tr>
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<td class="memname">float BNO08x::get_quat_J </td>
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<td>(</td>
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<td class="paramname"></td><td>)</td>
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<td></td>
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</tr>
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</table>
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</div><div class="memdoc">
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<p>Get J component of reported quaternion. </p>
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<dl class="section return"><dt>Returns</dt><dd>The J component of reported quaternion. </dd></dl>
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</div>
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</div>
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<a id="a9f42c70c2337a0d831064a40ecfe2dd8" name="a9f42c70c2337a0d831064a40ecfe2dd8"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#a9f42c70c2337a0d831064a40ecfe2dd8">◆ </a></span>get_quat_K()</h2>
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<div class="memitem">
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<div class="memproto">
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<table class="memname">
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<tr>
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<td class="memname">float BNO08x::get_quat_K </td>
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<td>(</td>
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<td class="paramname"></td><td>)</td>
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<td></td>
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</tr>
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</table>
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</div><div class="memdoc">
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<p>Get K component of reported quaternion. </p>
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<dl class="section return"><dt>Returns</dt><dd>The K component of reported quaternion. </dd></dl>
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</div>
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</div>
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<a id="a61b7d10a98afc6903fea6b2cede27630" name="a61b7d10a98afc6903fea6b2cede27630"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#a61b7d10a98afc6903fea6b2cede27630">◆ </a></span>get_quat_radian_accuracy()</h2>
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<div class="memitem">
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<td class="memname">float BNO08x::get_quat_radian_accuracy </td>
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<td>(</td>
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<td class="paramname"></td><td>)</td>
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<td></td>
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</tr>
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</table>
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</div><div class="memdoc">
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<p>Get radian accuracy of reported quaternion. </p>
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<dl class="section return"><dt>Returns</dt><dd>The radian accuracy of reported quaternion. </dd></dl>
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</div>
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</div>
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<a id="a5a556c5ec1baaa7f1156779dbe47a7b7" name="a5a556c5ec1baaa7f1156779dbe47a7b7"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#a5a556c5ec1baaa7f1156779dbe47a7b7">◆ </a></span>get_quat_real()</h2>
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<div class="memitem">
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<div class="memproto">
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<table class="memname">
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<tr>
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<td class="memname">float BNO08x::get_quat_real </td>
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<td>(</td>
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<td class="paramname"></td><td>)</td>
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<td></td>
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</tr>
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</table>
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</div><div class="memdoc">
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<p>Get real component of reported quaternion. </p>
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<dl class="section return"><dt>Returns</dt><dd>The real component of reported quaternion. </dd></dl>
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</div>
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</div>
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<a id="a0fff04c42c9502615ad73cd1457cb9b0" name="a0fff04c42c9502615ad73cd1457cb9b0"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#a0fff04c42c9502615ad73cd1457cb9b0">◆ </a></span>get_range()</h2>
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<div class="memproto">
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<table class="memname">
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<tr>
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<td class="memname">float BNO08x::get_range </td>
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<td>(</td>
|
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<td class="paramtype">uint16_t </td>
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<td class="paramname"><em>record_ID</em></td><td>)</td>
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<td></td>
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</table>
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</div><div class="memdoc">
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<p>Gets range from <a class="el" href="class_b_n_o08x.html">BNO08x</a> FRS (flash record system). </p>
|
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<dl class="params"><dt>Parameters</dt><dd>
|
|
<table class="params">
|
|
<tr><td class="paramname">record_ID</td><td>Which record ID/ sensor to get range value for.</td></tr>
|
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</table>
|
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</dd>
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</dl>
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<dl class="section return"><dt>Returns</dt><dd>The range value for the requested sensor. </dd></dl>
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</div>
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</div>
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<a id="a1de356dd604c1dffcd1a32faeb4fafe2" name="a1de356dd604c1dffcd1a32faeb4fafe2"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#a1de356dd604c1dffcd1a32faeb4fafe2">◆ </a></span>get_raw_accel_X()</h2>
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<td class="memname">int16_t BNO08x::get_raw_accel_X </td>
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<td>(</td>
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<td class="paramname"></td><td>)</td>
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<td></td>
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</tr>
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</table>
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</div><div class="memdoc">
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<p>Get raw accelerometer x axis reading from physical accelerometer MEMs sensor (See Ref. Manual 6.5.8) </p>
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<dl class="section return"><dt>Returns</dt><dd>Reported raw accelerometer x axis reading from physical MEMs sensor. </dd></dl>
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</div>
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</div>
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<a id="a96563de0eb597a52d595d19da827b1ac" name="a96563de0eb597a52d595d19da827b1ac"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#a96563de0eb597a52d595d19da827b1ac">◆ </a></span>get_raw_accel_Y()</h2>
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<td class="memname">int16_t BNO08x::get_raw_accel_Y </td>
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<td>(</td>
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<td class="paramname"></td><td>)</td>
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<td></td>
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</tr>
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</div><div class="memdoc">
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<p>Get raw accelerometer y axis reading from physical accelerometer MEMs sensor (See Ref. Manual 6.5.8) </p>
|
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<dl class="section return"><dt>Returns</dt><dd>Reported raw accelerometer y axis reading from physical MEMs sensor. </dd></dl>
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</div>
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</div>
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<a id="a718cdd910e5e7e03fd0a1ad04ee6f0ce" name="a718cdd910e5e7e03fd0a1ad04ee6f0ce"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#a718cdd910e5e7e03fd0a1ad04ee6f0ce">◆ </a></span>get_raw_accel_Z()</h2>
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<tr>
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<td class="memname">int16_t BNO08x::get_raw_accel_Z </td>
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<td>(</td>
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<td class="paramname"></td><td>)</td>
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<td></td>
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</div><div class="memdoc">
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<p>Get raw accelerometer z axis reading from physical accelerometer MEMs sensor (See Ref. Manual 6.5.8) </p>
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<dl class="section return"><dt>Returns</dt><dd>Reported raw accelerometer z axis reading from physical MEMs sensor. </dd></dl>
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</div>
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</div>
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<a id="af1b2c3a383a84fc6dfaddae1052b44d4" name="af1b2c3a383a84fc6dfaddae1052b44d4"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#af1b2c3a383a84fc6dfaddae1052b44d4">◆ </a></span>get_raw_gyro_X()</h2>
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<td class="memname">int16_t BNO08x::get_raw_gyro_X </td>
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<td>(</td>
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<td class="paramname"></td><td>)</td>
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<td></td>
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</div><div class="memdoc">
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<p>Get raw gyroscope x axis reading from physical gyroscope MEMs sensor (See Ref. Manual 6.5.12) </p>
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<dl class="section return"><dt>Returns</dt><dd>Reported raw gyroscope x axis reading from physical MEMs sensor. </dd></dl>
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</div>
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</div>
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<a id="aff7714441d242b3b9b0c03f94e0a9374" name="aff7714441d242b3b9b0c03f94e0a9374"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#aff7714441d242b3b9b0c03f94e0a9374">◆ </a></span>get_raw_gyro_Y()</h2>
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<td class="memname">int16_t BNO08x::get_raw_gyro_Y </td>
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<td>(</td>
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<td class="paramname"></td><td>)</td>
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<td></td>
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</div><div class="memdoc">
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<p>Get raw gyroscope y axis reading from physical gyroscope MEMs sensor (See Ref. Manual 6.5.12) </p>
|
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<dl class="section return"><dt>Returns</dt><dd>Reported raw gyroscope y axis reading from physical MEMs sensor. </dd></dl>
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</div>
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</div>
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<a id="a2e28b5a79c442a6baa2fa5165b9ce37d" name="a2e28b5a79c442a6baa2fa5165b9ce37d"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#a2e28b5a79c442a6baa2fa5165b9ce37d">◆ </a></span>get_raw_gyro_Z()</h2>
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<td class="memname">int16_t BNO08x::get_raw_gyro_Z </td>
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<td>(</td>
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<td class="paramname"></td><td>)</td>
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<td></td>
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</tr>
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</table>
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</div><div class="memdoc">
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<p>Get raw gyroscope z axis reading from physical gyroscope MEMs sensor (See Ref. Manual 6.5.12) </p>
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<dl class="section return"><dt>Returns</dt><dd>Reported raw gyroscope z axis reading from physical MEMs sensor. </dd></dl>
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</div>
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</div>
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<a id="adf12600b39de41d258439a343fcc1ad8" name="adf12600b39de41d258439a343fcc1ad8"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#adf12600b39de41d258439a343fcc1ad8">◆ </a></span>get_raw_magf_X()</h2>
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<div class="memitem">
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<div class="memproto">
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<table class="memname">
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<tr>
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<td class="memname">int16_t BNO08x::get_raw_magf_X </td>
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<td>(</td>
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<td class="paramname"></td><td>)</td>
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<td></td>
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</table>
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</div><div class="memdoc">
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<p>Get raw magnetometer x axis reading from physical magnetometer sensor (See Ref. Manual 6.5.15) </p>
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<dl class="section return"><dt>Returns</dt><dd>Reported raw magnetometer x axis reading from physical magnetometer sensor. </dd></dl>
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</div>
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</div>
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<a id="a2c842e43ceae19149f6525bcbc48f1cf" name="a2c842e43ceae19149f6525bcbc48f1cf"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#a2c842e43ceae19149f6525bcbc48f1cf">◆ </a></span>get_raw_magf_Y()</h2>
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<div class="memitem">
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<div class="memproto">
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<table class="memname">
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<tr>
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<td class="memname">int16_t BNO08x::get_raw_magf_Y </td>
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<td>(</td>
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<td class="paramname"></td><td>)</td>
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<td></td>
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</tr>
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</table>
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</div><div class="memdoc">
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<p>Get raw magnetometer y axis reading from physical magnetometer sensor (See Ref. Manual 6.5.15) </p>
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<dl class="section return"><dt>Returns</dt><dd>Reported raw magnetometer y axis reading from physical magnetometer sensor. </dd></dl>
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</div>
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</div>
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<a id="a99c1bcc2ec3ca3d8feafd6dd61f9d269" name="a99c1bcc2ec3ca3d8feafd6dd61f9d269"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#a99c1bcc2ec3ca3d8feafd6dd61f9d269">◆ </a></span>get_raw_magf_Z()</h2>
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<div class="memitem">
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<div class="memproto">
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<table class="memname">
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<tr>
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<td class="memname">int16_t BNO08x::get_raw_magf_Z </td>
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<td>(</td>
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<td class="paramname"></td><td>)</td>
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<td></td>
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</tr>
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</table>
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</div><div class="memdoc">
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<p>Get raw magnetometer z axis reading from physical magnetometer sensor (See Ref. Manual 6.5.15) </p>
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<dl class="section return"><dt>Returns</dt><dd>Reported raw magnetometer z axis reading from physical magnetometer sensor. </dd></dl>
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</div>
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</div>
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<a id="a9cc47f0e5b7d679c80992c993a910ccf" name="a9cc47f0e5b7d679c80992c993a910ccf"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#a9cc47f0e5b7d679c80992c993a910ccf">◆ </a></span>get_readings()</h2>
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<div class="memitem">
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<div class="memproto">
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<table class="memname">
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<tr>
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<td class="memname">uint16_t BNO08x::get_readings </td>
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<td>(</td>
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<td class="paramname"></td><td>)</td>
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<td></td>
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</tr>
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</table>
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</div><div class="memdoc">
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<p>Waits for <a class="el" href="class_b_n_o08x.html">BNO08x</a> HINT pin to assert, and parses the received data. </p>
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<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
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</div>
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</div>
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<a id="a11bb1b3fa44ad8f28c1492b5c07af886" name="a11bb1b3fa44ad8f28c1492b5c07af886"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#a11bb1b3fa44ad8f28c1492b5c07af886">◆ </a></span>get_reset_reason()</h2>
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<div class="memitem">
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<div class="memproto">
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<table class="memname">
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<tr>
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<td class="memname">uint8_t BNO08x::get_reset_reason </td>
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<td>(</td>
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<td class="paramname"></td><td>)</td>
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<td></td>
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</tr>
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</div><div class="memdoc">
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<p>Get the reason for the most recent reset. </p>
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<dl class="section return"><dt>Returns</dt><dd>The reason for the most recent recent reset ( 1 = POR (power on reset), 2 = internal reset, 3 = watchdog timer, 4 = external reset 5 = other) </dd></dl>
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</div>
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</div>
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<a id="a1d6ea02d0d4b23ff6a15e9d5c6c92372" name="a1d6ea02d0d4b23ff6a15e9d5c6c92372"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#a1d6ea02d0d4b23ff6a15e9d5c6c92372">◆ </a></span>get_resolution()</h2>
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<td class="memname">float BNO08x::get_resolution </td>
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<td>(</td>
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<td class="paramtype">uint16_t </td>
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<td class="paramname"><em>record_ID</em></td><td>)</td>
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<td></td>
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</div><div class="memdoc">
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<p>Gets resolution from <a class="el" href="class_b_n_o08x.html">BNO08x</a> FRS (flash record system). </p>
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<dl class="params"><dt>Parameters</dt><dd>
|
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<table class="params">
|
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<tr><td class="paramname">record_ID</td><td>Which record ID/ sensor to get resolution value for.</td></tr>
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</table>
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</dd>
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</dl>
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<dl class="section return"><dt>Returns</dt><dd>The resolution value for the requested sensor. </dd></dl>
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</div>
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</div>
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<a id="a89618eba08186ee8e679e7313907ddef" name="a89618eba08186ee8e679e7313907ddef"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#a89618eba08186ee8e679e7313907ddef">◆ </a></span>get_roll()</h2>
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<div class="memitem">
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<div class="memproto">
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<table class="memname">
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<tr>
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<td class="memname">float BNO08x::get_roll </td>
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<td>(</td>
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<td class="paramname"></td><td>)</td>
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<td></td>
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</tr>
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</div><div class="memdoc">
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<p>Get the reported rotation about x axis. </p>
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<dl class="section return"><dt>Returns</dt><dd>Rotation about the x axis in radians. </dd></dl>
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</div>
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</div>
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<a id="a7077b9a130f1dcf0192454e387968dd6" name="a7077b9a130f1dcf0192454e387968dd6"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#a7077b9a130f1dcf0192454e387968dd6">◆ </a></span>get_roll_deg()</h2>
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<div class="memitem">
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<div class="memproto">
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<table class="memname">
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<tr>
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<td class="memname">float BNO08x::get_roll_deg </td>
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<td>(</td>
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<td class="paramname"></td><td>)</td>
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<td></td>
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</tr>
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</table>
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</div><div class="memdoc">
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<p>Get the reported rotation about x axis. </p>
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<dl class="section return"><dt>Returns</dt><dd>Rotation about the x axis in degrees. </dd></dl>
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</div>
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</div>
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<a id="a0d148e00abcfeec48c689e3084a7e786" name="a0d148e00abcfeec48c689e3084a7e786"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#a0d148e00abcfeec48c689e3084a7e786">◆ </a></span>get_stability_classifier()</h2>
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<div class="memitem">
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<div class="memproto">
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<table class="memname">
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<tr>
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<td class="memname">int8_t BNO08x::get_stability_classifier </td>
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<td>(</td>
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<td class="paramname"></td><td>)</td>
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<td></td>
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</tr>
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</table>
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</div><div class="memdoc">
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<p>Get the current stability classifier (Seee Ref. Manual 6.5.31) </p>
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<dl class="section return"><dt>Returns</dt><dd>The current stability (0 = unknown, 1 = on table, 2 = stationary) </dd></dl>
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</div>
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</div>
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<a id="adaff49f3d80fdd19fd4210f0c56d41ef" name="adaff49f3d80fdd19fd4210f0c56d41ef"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#adaff49f3d80fdd19fd4210f0c56d41ef">◆ </a></span>get_step_count()</h2>
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<div class="memitem">
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<div class="memproto">
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<table class="memname">
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<tr>
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<td class="memname">uint16_t BNO08x::get_step_count </td>
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<td>(</td>
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<td class="paramname"></td><td>)</td>
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<td></td>
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</table>
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</div><div class="memdoc">
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<p>Get the counted amount of steps. </p>
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<dl class="section return"><dt>Returns</dt><dd>The current amount of counted steps. </dd></dl>
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</div>
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</div>
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<a id="a4797ec731de4c158716da1a7af9d1602" name="a4797ec731de4c158716da1a7af9d1602"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#a4797ec731de4c158716da1a7af9d1602">◆ </a></span>get_tap_detector()</h2>
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<div class="memitem">
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<div class="memproto">
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<table class="memname">
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<tr>
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<td class="memname">uint8_t BNO08x::get_tap_detector </td>
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<td>(</td>
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<td class="paramname"></td><td>)</td>
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<td></td>
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</div><div class="memdoc">
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<p>Get if tap has occured. </p>
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<dl class="section return"><dt>Returns</dt><dd>7 bit tap code indicated which axis taps have occurred. (See Ref. Manual 6.5.27) </dd></dl>
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</div>
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</div>
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<a id="ad9137777271421a58159f3fe5e05ed20" name="ad9137777271421a58159f3fe5e05ed20"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#ad9137777271421a58159f3fe5e05ed20">◆ </a></span>get_time_stamp()</h2>
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<td class="memname">uint32_t BNO08x::get_time_stamp </td>
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<td>(</td>
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<td class="paramname"></td><td>)</td>
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<td></td>
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</div><div class="memdoc">
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<p>Return timestamp of most recent report. </p>
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<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
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</div>
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</div>
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<a id="a1bd3c33e70354bd35a78b83b6786b531" name="a1bd3c33e70354bd35a78b83b6786b531"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#a1bd3c33e70354bd35a78b83b6786b531">◆ </a></span>get_uncalibrated_gyro()</h2>
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<div class="memitem">
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<td class="memname">void BNO08x::get_uncalibrated_gyro </td>
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<td>(</td>
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<td class="paramtype">float & </td>
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<td class="paramname"><em>x</em>, </td>
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</tr>
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<tr>
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<td class="paramkey"></td>
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<td></td>
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<td class="paramtype">float & </td>
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<td class="paramname"><em>y</em>, </td>
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</tr>
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<tr>
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<td class="paramkey"></td>
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<td></td>
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<td class="paramtype">float & </td>
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<td class="paramname"><em>z</em>, </td>
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</tr>
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<tr>
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<td class="paramkey"></td>
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<td></td>
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<td class="paramtype">float & </td>
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<td class="paramname"><em>b_x</em>, </td>
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<tr>
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<td class="paramkey"></td>
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<td></td>
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<td class="paramtype">float & </td>
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<td class="paramname"><em>b_y</em>, </td>
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</tr>
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<tr>
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<td class="paramkey"></td>
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<td></td>
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<td class="paramtype">float & </td>
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<td class="paramname"><em>b_z</em>, </td>
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</tr>
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<tr>
|
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<td class="paramkey"></td>
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<td></td>
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<td class="paramtype">uint8_t & </td>
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<td class="paramname"><em>accuracy</em> </td>
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</tr>
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<tr>
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<td></td>
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<td>)</td>
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<td></td><td></td>
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</div><div class="memdoc">
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<p>Get full rotational velocity without drift compensation (units in Rad/s). An estimate of drift is given but not applied. </p>
|
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<dl class="params"><dt>Parameters</dt><dd>
|
|
<table class="params">
|
|
<tr><td class="paramname">x</td><td>Reference variable to save X axis angular velocity </td></tr>
|
|
<tr><td class="paramname">y</td><td>Reference variable to save Y axis angular velocity </td></tr>
|
|
<tr><td class="paramname">z</td><td>Reference variable to save Z axis angular velocity </td></tr>
|
|
<tr><td class="paramname">b_x</td><td>Reference variable to save X axis drift estimate </td></tr>
|
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<tr><td class="paramname">b_y</td><td>Reference variable to save Y axis drift estimate </td></tr>
|
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<tr><td class="paramname">b_z</td><td>Reference variable to save Z axis drift estimate </td></tr>
|
|
<tr><td class="paramname">accuracy</td><td>Reference variable to save reported gyro accuracy.</td></tr>
|
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</table>
|
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</dd>
|
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</dl>
|
|
<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
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</div>
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</div>
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<a id="a3285613f18b2f2f4c3f9e6d5c971af10" name="a3285613f18b2f2f4c3f9e6d5c971af10"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#a3285613f18b2f2f4c3f9e6d5c971af10">◆ </a></span>get_uncalibrated_gyro_accuracy()</h2>
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<div class="memitem">
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<table class="memname">
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<td class="memname">uint8_t BNO08x::get_uncalibrated_gyro_accuracy </td>
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<td>(</td>
|
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<td class="paramname"></td><td>)</td>
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<td></td>
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</tr>
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</table>
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</div><div class="memdoc">
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<p>Get uncalibrated gyro accuracy. </p>
|
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<dl class="section return"><dt>Returns</dt><dd>Accuracy of uncalibrated gyro. </dd></dl>
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</div>
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</div>
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<a id="ad228cdf352b7ea95e484da993045a47b" name="ad228cdf352b7ea95e484da993045a47b"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#ad228cdf352b7ea95e484da993045a47b">◆ </a></span>get_uncalibrated_gyro_bias_X()</h2>
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<td class="memname">float BNO08x::get_uncalibrated_gyro_bias_X </td>
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<td>(</td>
|
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<td class="paramname"></td><td>)</td>
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<td></td>
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</div><div class="memdoc">
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<p>Get uncalibrated gyro x axis drift estimate. </p>
|
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<dl class="section return"><dt>Returns</dt><dd>The angular reported x axis drift estimate. </dd></dl>
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|
</div>
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</div>
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<a id="a74725517129dd548c7a3de705d5861bd" name="a74725517129dd548c7a3de705d5861bd"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#a74725517129dd548c7a3de705d5861bd">◆ </a></span>get_uncalibrated_gyro_bias_Y()</h2>
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<div class="memitem">
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<td class="memname">float BNO08x::get_uncalibrated_gyro_bias_Y </td>
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<td>(</td>
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<td class="paramname"></td><td>)</td>
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<td></td>
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</div><div class="memdoc">
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<p>Get uncalibrated gyro Y axis drift estimate. </p>
|
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<dl class="section return"><dt>Returns</dt><dd>The angular reported Y axis drift estimate. </dd></dl>
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</div>
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</div>
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<a id="a5050359272abd146ab3c7a6101effbd7" name="a5050359272abd146ab3c7a6101effbd7"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#a5050359272abd146ab3c7a6101effbd7">◆ </a></span>get_uncalibrated_gyro_bias_Z()</h2>
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<div class="memitem">
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<td class="memname">float BNO08x::get_uncalibrated_gyro_bias_Z </td>
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<td>(</td>
|
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<td class="paramname"></td><td>)</td>
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<td></td>
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</tr>
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</div><div class="memdoc">
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<p>Get uncalibrated gyro Z axis drift estimate. </p>
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<dl class="section return"><dt>Returns</dt><dd>The angular reported Z axis drift estimate. </dd></dl>
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</div>
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</div>
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<a id="a289ff66f51c94be62c4a556f3a5997bf" name="a289ff66f51c94be62c4a556f3a5997bf"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#a289ff66f51c94be62c4a556f3a5997bf">◆ </a></span>get_uncalibrated_gyro_X()</h2>
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<td class="memname">float BNO08x::get_uncalibrated_gyro_X </td>
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<td>(</td>
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<td></td>
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<p>Get uncalibrated gyro x axis angular velocity measurement. </p>
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<dl class="section return"><dt>Returns</dt><dd>The angular reported x axis angular velocity from uncalibrated gyro. </dd></dl>
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</div>
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<a id="a1874e4bd457bb5b6ecc2c64039b88ba4" name="a1874e4bd457bb5b6ecc2c64039b88ba4"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#a1874e4bd457bb5b6ecc2c64039b88ba4">◆ </a></span>get_uncalibrated_gyro_Y()</h2>
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<div class="memitem">
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<td class="memname">float BNO08x::get_uncalibrated_gyro_Y </td>
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<td>(</td>
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<td class="paramname"></td><td>)</td>
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<td></td>
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<p>Get uncalibrated gyro Y axis angular velocity measurement. </p>
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<dl class="section return"><dt>Returns</dt><dd>The angular reported Y axis angular velocity from uncalibrated gyro. </dd></dl>
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</div>
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</div>
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<a id="a0a73633d8929ce4058b14cefc8cad717" name="a0a73633d8929ce4058b14cefc8cad717"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#a0a73633d8929ce4058b14cefc8cad717">◆ </a></span>get_uncalibrated_gyro_Z()</h2>
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<div class="memitem">
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<td class="memname">float BNO08x::get_uncalibrated_gyro_Z </td>
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<td>(</td>
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<td class="paramname"></td><td>)</td>
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<td></td>
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<p>Get uncalibrated gyro Z axis angular velocity measurement. </p>
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<dl class="section return"><dt>Returns</dt><dd>The angular reported Z axis angular velocity from uncalibrated gyro. </dd></dl>
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</div>
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</div>
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<a id="a64d3e41750c6de9413d6982511f78f17" name="a64d3e41750c6de9413d6982511f78f17"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#a64d3e41750c6de9413d6982511f78f17">◆ </a></span>get_yaw()</h2>
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<td class="memname">float BNO08x::get_yaw </td>
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<td>(</td>
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<td class="paramname"></td><td>)</td>
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<p>Get the reported rotation about z axis. </p>
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<dl class="section return"><dt>Returns</dt><dd>Rotation about the z axis in radians. </dd></dl>
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</div>
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</div>
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<a id="af80f7795656e695e036d3b1557aed94c" name="af80f7795656e695e036d3b1557aed94c"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#af80f7795656e695e036d3b1557aed94c">◆ </a></span>get_yaw_deg()</h2>
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<td class="memname">float BNO08x::get_yaw_deg </td>
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<td>(</td>
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<td class="paramname"></td><td>)</td>
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<p>Get the reported rotation about z axis. </p>
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<dl class="section return"><dt>Returns</dt><dd>Rotation about the z axis in degrees. </dd></dl>
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</div>
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<a id="a28cd1c0b3477571d87133234e6358503" name="a28cd1c0b3477571d87133234e6358503"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#a28cd1c0b3477571d87133234e6358503">◆ </a></span>hard_reset()</h2>
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<td class="memname">bool BNO08x::hard_reset </td>
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<td>(</td>
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<p>Hard resets <a class="el" href="class_b_n_o08x.html">BNO08x</a> sensor. </p>
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<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
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</div>
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</div>
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<a id="a804b95c58c30d36933fd251626b85bf7" name="a804b95c58c30d36933fd251626b85bf7"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#a804b95c58c30d36933fd251626b85bf7">◆ </a></span>hint_handler()</h2>
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<td class="memname">void IRAM_ATTR BNO08x::hint_handler </td>
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<td>(</td>
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<td class="paramtype">void * </td>
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<td class="paramname"><em>arg</em></td><td>)</td>
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</td>
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<td class="mlabels-right">
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<span class="mlabels"><span class="mlabel">static</span><span class="mlabel">private</span></span> </td>
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<p>HINT interrupt service routine, handles falling edge of <a class="el" href="class_b_n_o08x.html">BNO08x</a> HINT pin. </p>
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<p>ISR that launches SPI task to perform transaction upon assertion of <a class="el" href="class_b_n_o08x.html">BNO08x</a> interrupt pin.</p>
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<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
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<a id="aea8e2c6dd7a2c9899479a7f39fe94798" name="aea8e2c6dd7a2c9899479a7f39fe94798"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#aea8e2c6dd7a2c9899479a7f39fe94798">◆ </a></span>initialize()</h2>
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<td class="memname">bool BNO08x::initialize </td>
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<td>(</td>
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<td class="paramname"></td><td>)</td>
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<p>Initializes <a class="el" href="class_b_n_o08x.html">BNO08x</a> sensor. </p>
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<p>Resets sensor and goes through initializing process outlined in <a class="el" href="class_b_n_o08x.html">BNO08x</a> datasheet.</p>
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<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
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<a id="ac1b3de9b552c611ee9c455d7f19be698" name="ac1b3de9b552c611ee9c455d7f19be698"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#ac1b3de9b552c611ee9c455d7f19be698">◆ </a></span>mode_on()</h2>
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<td class="memname">bool BNO08x::mode_on </td>
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<td>(</td>
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<td class="paramname"></td><td>)</td>
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</div><div class="memdoc">
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<p>Turns on/ brings <a class="el" href="class_b_n_o08x.html">BNO08x</a> sensor out of sleep mode using executable channel. </p>
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<dl class="section return"><dt>Returns</dt><dd>True if exiting sleep mode was success. </dd></dl>
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</div>
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<a id="a176ae0112325c05105eacb4566bbfa0b" name="a176ae0112325c05105eacb4566bbfa0b"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#a176ae0112325c05105eacb4566bbfa0b">◆ </a></span>mode_sleep()</h2>
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<td class="memname">bool BNO08x::mode_sleep </td>
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<td>(</td>
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<td class="paramname"></td><td>)</td>
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<p>Puts <a class="el" href="class_b_n_o08x.html">BNO08x</a> sensor into sleep/low power mode using executable channel. </p>
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<dl class="section return"><dt>Returns</dt><dd>True if entering sleep mode was success. </dd></dl>
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</div>
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</div>
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<a id="a3762125be0025a335f0d918415f4ce18" name="a3762125be0025a335f0d918415f4ce18"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#a3762125be0025a335f0d918415f4ce18">◆ </a></span>parse_command_report()</h2>
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<td class="memname">uint16_t BNO08x::parse_command_report </td>
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<td>(</td>
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<p>Parses received command report sent by <a class="el" href="class_b_n_o08x.html">BNO08x</a> (See Ref. Manual 6.3.9) </p>
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<dl class="section return"><dt>Returns</dt><dd>The command report ID, 0 if invalid. </dd></dl>
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</div>
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<a id="a7ba1d779ed68edf30090dd0f938a5709" name="a7ba1d779ed68edf30090dd0f938a5709"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#a7ba1d779ed68edf30090dd0f938a5709">◆ </a></span>parse_input_report()</h2>
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<td class="memname">uint16_t BNO08x::parse_input_report </td>
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<td>(</td>
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<p>Parses received input report sent by <a class="el" href="class_b_n_o08x.html">BNO08x</a>. </p>
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<p>Unit responds with packet that contains the following:</p>
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<p>packet_header_rx[0:3]: First, a 4 byte header rx_buffer[0:4]: Then a 5 byte timestamp of microsecond ticks since reading was taken rx_buffer[5 + 0]: Then a feature report ID (0x01 for Accel, 0x05 for Rotation Vector, etc...) rx_buffer[5 + 1]: Sequence number (See Ref.Manual 6.5.8.2) rx_buffer[5 + 2]: Status rx_buffer[3]: Delay rx_buffer[4:5]: i/accel x/gyro x/etc rx_buffer[6:7]: j/accel y/gyro y/etc rx_buffer[8:9]: k/accel z/gyro z/etc rx_buffer[10:11]: real/gyro temp/etc rx_buffer[12:13]: Accuracy estimate</p>
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<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
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<a id="a08f037df7b3c7e2fc3f0e968f4a5f68c" name="a08f037df7b3c7e2fc3f0e968f4a5f68c"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#a08f037df7b3c7e2fc3f0e968f4a5f68c">◆ </a></span>print_header()</h2>
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<td class="memname">void BNO08x::print_header </td>
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<td>(</td>
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<p>Prints the most recently received SHTP header to serial console with ESP_LOG statement. </p>
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<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
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</div>
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<a id="a27fb24e894f794ec6228ef142b6ff8d9" name="a27fb24e894f794ec6228ef142b6ff8d9"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#a27fb24e894f794ec6228ef142b6ff8d9">◆ </a></span>q_to_float()</h2>
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<td class="memname">float BNO08x::q_to_float </td>
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<td>(</td>
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<td class="paramtype">int16_t </td>
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<td class="paramname"><em>fixed_point_value</em>, </td>
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<td class="paramtype">uint8_t </td>
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<td class="paramname"><em>q_point</em> </td>
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<p>Converts a register value to a float using its associated Q point. (See <a href="https://en.wikipedia.org/wiki/Q_(number_format)">https://en.wikipedia.org/wiki/Q_(number_format)</a>) </p>
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<dl class="params"><dt>Parameters</dt><dd>
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<table class="params">
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<tr><td class="paramname">q_point</td><td>Q point value associated with register. </td></tr>
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<tr><td class="paramname">fixed_point_value</td><td>The fixed point value to convert.</td></tr>
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</table>
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</dd>
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</dl>
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<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
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<a id="ad097849616c5caab1fd3eb3632ee2b91" name="ad097849616c5caab1fd3eb3632ee2b91"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#ad097849616c5caab1fd3eb3632ee2b91">◆ </a></span>queue_calibrate_command()</h2>
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<td class="memname">void BNO08x::queue_calibrate_command </td>
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<td>(</td>
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<td class="paramtype">uint8_t </td>
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<td class="paramname"><em>sensor_to_calibrate</em></td><td>)</td>
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<p>Queues a packet containing a command to calibrate the specified sensor. </p>
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<dl class="params"><dt>Parameters</dt><dd>
|
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<table class="params">
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<tr><td class="paramname">sensor_to_calibrate</td><td>The sensor to calibrate. </td></tr>
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</table>
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</dd>
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<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
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<h2 class="memtitle"><span class="permalink"><a href="#a1742d6445ffb6e9297b8bf84dec24f22">◆ </a></span>queue_command()</h2>
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<td class="memname">void BNO08x::queue_command </td>
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<td>(</td>
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<td class="paramtype">uint8_t </td>
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<td class="paramname"><em>command</em></td><td>)</td>
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<span class="mlabels"><span class="mlabel">private</span></span> </td>
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<p>Queues a packet containing a command. </p>
|
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<dl class="params"><dt>Parameters</dt><dd>
|
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<table class="params">
|
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<tr><td class="paramname">command</td><td>The command to be sent. </td></tr>
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</table>
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</dd>
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<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
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</div>
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<a id="a6c004a16b146527aa9eeeb6ff37db281" name="a6c004a16b146527aa9eeeb6ff37db281"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#a6c004a16b146527aa9eeeb6ff37db281">◆ </a></span>queue_feature_command() <span class="overload">[1/2]</span></h2>
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<td class="memname">void BNO08x::queue_feature_command </td>
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<td class="paramname"><em>time_between_reports</em> </td>
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<p>Queues a packet containing a command with a request for sensor reports, reported periodically. (See Ref. Manual 6.5.4) </p>
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<dl class="params"><dt>Parameters</dt><dd>
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<table class="params">
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<tr><td class="paramname">report_ID</td><td>ID of sensor report being requested. </td></tr>
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<tr><td class="paramname">time_between_reports</td><td>Desired time between reports.</td></tr>
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</dd>
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<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
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<a id="af0a0686a78c929aad43af2eaeba12878" name="af0a0686a78c929aad43af2eaeba12878"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#af0a0686a78c929aad43af2eaeba12878">◆ </a></span>queue_feature_command() <span class="overload">[2/2]</span></h2>
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<td class="memname">void BNO08x::queue_feature_command </td>
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<td>(</td>
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<td class="paramname"><em>report_ID</em>, </td>
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<p>Queues a packet containing a command with a request for sensor reports, reported periodically. (See Ref. Manual 6.5.4) </p>
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<dl class="params"><dt>Parameters</dt><dd>
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<table class="params">
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<tr><td class="paramname">report_ID</td><td>ID of sensor report to be enabled. </td></tr>
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<tr><td class="paramname">time_between_reports</td><td>Desired time between reports in miliseconds. </td></tr>
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<tr><td class="paramname">specific_config</td><td>Specific config word (used with personal activity classifier)</td></tr>
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<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
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<h2 class="memtitle"><span class="permalink"><a href="#a67d0b5302a60083cef1b31936e2b65d8">◆ </a></span>queue_packet()</h2>
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<td class="memname">void BNO08x::queue_packet </td>
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<td>(</td>
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<td class="paramname"><em>channel_number</em>, </td>
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<p>Queues an SHTP packet to be sent via SPI. </p>
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<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
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<h2 class="memtitle"><span class="permalink"><a href="#ab5f200069a2f8cb74cb79c6f162da5a1">◆ </a></span>queue_request_product_id_command()</h2>
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<td class="memname">void BNO08x::queue_request_product_id_command </td>
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<p>Queues a packet containing the request product ID command. </p>
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<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
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<h2 class="memtitle"><span class="permalink"><a href="#a4c6353e795f734ed28613f9a3d161ea2">◆ </a></span>queue_tare_command()</h2>
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<td class="memname">void BNO08x::queue_tare_command </td>
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<td class="paramtype">uint8_t </td>
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<td class="paramname"><em>axis</em> = <code><a class="el" href="class_b_n_o08x.html#a1ef13f6f330810934416ad5fe0ee55b2">TARE_AXIS_ALL</a></code>, </td>
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<td class="paramtype">uint8_t </td>
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<td class="paramname"><em>rotation_vector_basis</em> = <code><a class="el" href="class_b_n_o08x.html#a8e2cfc25d0e34ae53a762b88cc3ac3c8">TARE_ROTATION_VECTOR</a></code> </td>
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<p>Queues a packet containing a command related to zeroing sensor's axes. (See Ref. Manual 6.4.4.1) </p>
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<dl class="params"><dt>Parameters</dt><dd>
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<tr><td class="paramname">command</td><td>Tare command to be sent. <br />
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</td></tr>
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<tr><td class="paramname">axis</td><td>Specified axis (can be z or all at once) </td></tr>
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<tr><td class="paramname">rotation_vector_basis</td><td>Which rotation vector type to zero axes of, <a class="el" href="class_b_n_o08x.html">BNO08x</a> saves seperate data for Rotation Vector, Gaming Rotation Vector, etc..)</td></tr>
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<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
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<a id="ae540799865934fcff54caed0772df071" name="ae540799865934fcff54caed0772df071"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#ae540799865934fcff54caed0772df071">◆ </a></span>receive_packet()</h2>
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<p>Receives a SHTP packet via SPI. </p>
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<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
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<a id="affaaa35abbb872da5299ebab6e2c9b11" name="affaaa35abbb872da5299ebab6e2c9b11"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#affaaa35abbb872da5299ebab6e2c9b11">◆ </a></span>request_calibration_status()</h2>
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<td class="memname">void BNO08x::request_calibration_status </td>
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<p>Requests ME calibration status from <a class="el" href="class_b_n_o08x.html">BNO08x</a> (see Ref. Manual 6.4.7.2) </p>
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<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
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<a id="ae6e875a27ae74ebed806ee1a4576845a" name="ae6e875a27ae74ebed806ee1a4576845a"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#ae6e875a27ae74ebed806ee1a4576845a">◆ </a></span>run_full_calibration_routine()</h2>
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<p>Runs full calibration routine. </p>
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<p>Enables game rotation vector and magnetometer, starts ME calibration process. Waits for accuracy of returned quaternions and magnetic field vectors to be high, then saves calibration data and returns.</p>
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<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
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<a id="aa16609de88bfb7b389348859aa0cee54" name="aa16609de88bfb7b389348859aa0cee54"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#aa16609de88bfb7b389348859aa0cee54">◆ </a></span>save_calibration()</h2>
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<td class="memname">void BNO08x::save_calibration </td>
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<p>Sends command to save internal calibration data (See Ref. Manual 6.4.7). </p>
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<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
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<a id="afb2ffc4e7ff0498917bc14a83af306e2" name="afb2ffc4e7ff0498917bc14a83af306e2"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#afb2ffc4e7ff0498917bc14a83af306e2">◆ </a></span>save_tare()</h2>
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<td class="memname">void BNO08x::save_tare </td>
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<p>Sends command to save tare into non-volatile memory of <a class="el" href="class_b_n_o08x.html">BNO08x</a> (See Ref. Manual 6.4.4.2) </p>
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<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
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<h2 class="memtitle"><span class="permalink"><a href="#a0ee58cedbc06d4a7db8821f40c0ee207">◆ </a></span>send_packet()</h2>
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<p>Sends a queued SHTP packet via SPI. </p>
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<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
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<h2 class="memtitle"><span class="permalink"><a href="#a973a1b1785f3302ee1b2702c6a27646e">◆ </a></span>soft_reset()</h2>
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<p>Soft resets <a class="el" href="class_b_n_o08x.html">BNO08x</a> sensor using executable channel. </p>
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<dl class="section return"><dt>Returns</dt><dd>True if reset was success. </dd></dl>
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<h2 class="memtitle"><span class="permalink"><a href="#a2ecd4ed60f82730ae230c61687ec92bf">◆ </a></span>spi_task()</h2>
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<td class="memname">void BNO08x::spi_task </td>
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<p>Task responsible for SPI transactions. Executed when HINT in is asserted by <a class="el" href="class_b_n_o08x.html">BNO08x</a>. </p>
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<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
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<h2 class="memtitle"><span class="permalink"><a href="#a0ce6d9db873555f1ebe7e095251eab74">◆ </a></span>spi_task_trampoline()</h2>
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<td class="memname">void BNO08x::spi_task_trampoline </td>
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<td>(</td>
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<td class="paramname"><em>arg</em></td><td>)</td>
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<span class="mlabels"><span class="mlabel">static</span><span class="mlabel">private</span></span> </td>
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<p>Static function used to launch spi task. </p>
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<p>Used such that <a class="el" href="class_b_n_o08x.html#a2ecd4ed60f82730ae230c61687ec92bf" title="Task responsible for SPI transactions. Executed when HINT in is asserted by BNO08x.">spi_task()</a> can be non-static class member.</p>
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<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
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<a id="a4549bbef48208bd9c745fc755b93012f" name="a4549bbef48208bd9c745fc755b93012f"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#a4549bbef48208bd9c745fc755b93012f">◆ </a></span>tare_now()</h2>
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<td class="memname">void BNO08x::tare_now </td>
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<td>(</td>
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<td class="paramtype">uint8_t </td>
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<td class="paramname"><em>axis_sel</em> = <code><a class="el" href="class_b_n_o08x.html#a1ef13f6f330810934416ad5fe0ee55b2">TARE_AXIS_ALL</a></code>, </td>
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<td class="paramkey"></td>
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<td></td>
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<td class="paramtype">uint8_t </td>
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<td class="paramname"><em>rotation_vector_basis</em> = <code><a class="el" href="class_b_n_o08x.html#a8e2cfc25d0e34ae53a762b88cc3ac3c8">TARE_ROTATION_VECTOR</a></code> </td>
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<tr>
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<td></td>
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<td>)</td>
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<p>Sends command to tare an axis (See Ref. Manual 6.4.4.1) </p>
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<dl class="params"><dt>Parameters</dt><dd>
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<table class="params">
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<tr><td class="paramname">axis_sel</td><td>Which axes to zero, can be TARE_AXIS_ALL (all axes) or TARE_AXIS_Z (only yaw) </td></tr>
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<tr><td class="paramname">rotation_vector_basis</td><td>Which rotation vector type to zero axes can be TARE_ROTATION_VECTOR, TARE_GAME_ROTATION_VECTOR, TARE_GEOMAGNETIC_ROTATION_VECTOR, etc.. </td></tr>
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</table>
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</dd>
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</dl>
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<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
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</div>
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<a id="a988c45b4afa4dcd6a24610ff308c1faa" name="a988c45b4afa4dcd6a24610ff308c1faa"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#a988c45b4afa4dcd6a24610ff308c1faa">◆ </a></span>wait_for_device_int()</h2>
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<td class="memname">bool BNO08x::wait_for_device_int </td>
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<td>(</td>
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<td class="paramname"></td><td>)</td>
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<span class="mlabels"><span class="mlabel">private</span></span> </td>
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<p>Re-enables interrupts and waits for <a class="el" href="class_b_n_o08x.html">BNO08x</a> to assert HINT pin. </p>
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<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
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</div>
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</div>
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<hr/>The documentation for this class was generated from the following files:<ul>
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<li>D:/development/git/esp32_BNO08x/<a class="el" href="_b_n_o08x_8hpp_source.html">BNO08x.hpp</a></li>
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<li>D:/development/git/esp32_BNO08x/BNO08x.cpp</li>
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</ul>
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