CRTP-based communication interface for the BNO08x IMU family. More...

#include <cstdint>
#include <type_traits>
#include <utility>

Include dependency graph for bno08x_comm_interface.hpp:

This graph shows which files directly or indirectly include this file:

Classes
class	bno08x::CommInterface< Derived >
	CRTP base class for BNO08x communication interfaces. More...

Typedefs
template<typename Port >
using	bno08x::detail::GpioSetResult = decltype(std::declval< Port & >().GpioSet(std::declval< CtrlPin >(), std::declval< GpioSignal >()))
	Return type of `Port::GpioSet(CtrlPin, GpioSignal)`.

Enumerations
enum class	BNO085Interface : uint8_t { I2C = 0 , UARTRVC = 1 , UART = 2 , SPI = 3 }
	Identifies the host interface type that a CommInterface provides. More...

enum class	bno08x::CtrlPin : uint8_t { bno08x::RSTN = 0 , bno08x::BOOTN , bno08x::WAKE , bno08x::PS0 , bno08x::PS1 }
	Identifies the hardware control pins of the BNO08x. More...

enum class	bno08x::GpioSignal : uint8_t { bno08x::INACTIVE = 0 , bno08x::ACTIVE = 1 }
	Abstract signal level for control pins. More...

Functions
template<typename Port >
bool	bno08x::detail::GpioSet (Port &port, CtrlPin pin, GpioSignal signal) noexcept
	Call the port's GpioSet() and return its status.

Variables
template<typename Port >
constexpr bool	bno08x::detail::kGpioSetReportsStatus
	True when the port's GpioSet() reports a status (returns bool).

template<typename Port >
constexpr bool	bno08x::detail::kHasI2cAddressHooks = HasI2cAddressHooks<Port>::value
	True when the port provides the optional I2C address hooks.

Detailed Description

CRTP-based communication interface for the BNO08x IMU family.

Enumeration Type Documentation

enum class BNO085Interface : uint8_t

strong

Identifies the host interface type that a CommInterface provides.

Returned by CommInterface::GetInterfaceType(). The BNO085 driver uses this value to guard which operations are valid at runtime:

SH-2 mode (Begin, Update, EnableSensor, Dfu): requires I2C, SPI, or UART.
RVC mode (BeginRvc, ServiceRvc, CloseRvc): requires UARTRVC.

The enum value is the PS1:PS0 pin pair (PS1 = bit 1, PS0 = bit 0) that selects the interface at reset, per datasheet 1000-3927 figure 1-5.

Enumerator
I2C	I2C bus (PS1=0, PS0=0). Supports SH-2 and DFU.
UARTRVC	UART in RVC mode (PS1=0, PS0=1). RVC frames only.
UART	UART in SH-2 mode (PS1=1, PS0=0). Supports SH-2 and DFU.
SPI	SPI bus (PS1=1, PS0=1). Supports SH-2 and DFU.