82 lines
2.2 KiB
C++
82 lines
2.2 KiB
C++
/**
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* @file BNO08xRptUncalMagnetometer.cpp
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* @author Myles Parfeniuk
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*/
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#include "BNO08xRptUncalMagnetometer.hpp"
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/**
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* @brief Updates uncalibrated magf data from decoded sensor event.
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*
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* @param sensor_val The sh2_SensorValue_t struct used in sh2_decodeSensorEvent() call.
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*
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* @return void, nothing to return
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*/
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void BNO08xRptUncalMagnetometer::update_data(sh2_SensorValue_t* sensor_val)
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{
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lock_user_data();
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data = sensor_val->un.magneticFieldUncal;
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data.accuracy = static_cast<BNO08xAccuracy>(sensor_val->status);
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bias_data = sensor_val->un.magneticFieldUncal;
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unlock_user_data();
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if (rpt_bit & xEventGroupGetBits(sync_ctx->evt_grp_rpt_en))
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signal_data_available();
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}
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/**
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* @brief Enables uncalibrated magnetometer reports such that the BNO08x begins sending them.
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*
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* @param report_period_us The period/interval of the report in microseconds.
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* @param sensor_cfg Sensor special configuration (optional, see
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* BNO08xPrivateTypes::default_sensor_cfg for defaults).
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*
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* @return True if report was successfully enabled.
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*/
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bool BNO08xRptUncalMagnetometer::enable(
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uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg)
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{
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return BNO08xRpt::rpt_enable(time_between_reports, sensor_cfg);
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}
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/**
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* @brief Grabs most recent uncalibrated magnetometer data, units are in uTesla.
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*
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* @param magf Struct to store requested magf data.
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* @param bias Struct to store requested bias data.
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*
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* @return void, nothing to return
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*/
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void BNO08xRptUncalMagnetometer::get(bno08x_magf_t& magf, bno08x_magf_bias_t& bias)
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{
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lock_user_data();
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magf = data;
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bias = bias_data;
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unlock_user_data();
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}
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/**
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* @brief Grabs most recent uncalibrated magnetometer magnetic field data, units are in uTesla.
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*
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* @return Struct containing requested data.
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*/
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bno08x_magf_t BNO08xRptUncalMagnetometer::get_magf()
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{
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lock_user_data();
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bno08x_magf_t rqdata = data;
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unlock_user_data();
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return rqdata;
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}
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/**
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* @brief Grabs most recent uncalibrated magnetometer bias data, units are in uTesla.
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*
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* @return Struct containing requested data.
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*/
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bno08x_magf_bias_t BNO08xRptUncalMagnetometer::get_bias()
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{
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lock_user_data();
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bno08x_magf_bias_t rqdata = bias_data;
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unlock_user_data();
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return rqdata;
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} |