bno08x::CommInterface< Derived > Class Template Reference

CRTP base class for BNO08x communication interfaces. More...

#include <bno08x_comm_interface.hpp>

Public Member Functions
Interface Identification
BNO085Interface	GetInterfaceType () noexcept
	Report the transport type this implementation provides.
Bus I/O – Required Methods
bool	Open () noexcept
	Open and initialise the communication bus.
void	Close () noexcept
	Close the communication bus and release resources.
int	Write (const uint8_t *data, uint32_t length) noexcept
	Write raw bytes to the sensor.
int	Read (uint8_t *data, uint32_t length) noexcept
	Read raw bytes from the sensor.
bool	DataAvailable () noexcept
	Check whether the sensor has data ready.
void	Delay (uint32_t ms) noexcept
	Block for a specified duration.
uint32_t	GetTimeUs () noexcept
	Return the current monotonic time in microseconds.
GPIO Pin Control
Unified interface for controlling BNO08x hardware control pins. The platform bus implementation maps GpioSignal::ACTIVE/INACTIVE to the correct physical level for each pin based on its polarity.
bool	GpioSet (CtrlPin pin, GpioSignal signal) noexcept
	Set a control pin to the specified signal state.
bool	GpioSetActive (CtrlPin pin) noexcept
	Assert a control pin (set to ACTIVE).
bool	GpioSetInactive (CtrlPin pin) noexcept
	Deassert a control pin (set to INACTIVE).

Protected Member Functions
	CommInterface ()=default
	Protected constructor – prevents direct instantiation.
	~CommInterface ()=default
	Protected destructor – prevent polymorphic deletion through base.
	CommInterface (const CommInterface &)=delete
	Non-copyable.
CommInterface &	operator= (const CommInterface &)=delete
	Non-copyable.
	CommInterface (CommInterface &&) noexcept=default
	Movable.
CommInterface &	operator= (CommInterface &&) noexcept=default
	Movable.

Detailed Description

template<typename Derived>
class bno08x::CommInterface< Derived >

CRTP base class for BNO08x communication interfaces.

Platform-specific implementations inherit from this template with themselves as the template parameter. All method calls are resolved at compile time via static_cast<Derived*>(this)->Method() – no vtable, no indirection.

Template Parameters

Derived

The concrete implementation class (CRTP pattern).

Note

Implementations must provide all listed methods. The GpioSet() method may be a no-op for pins that are not wired on the board.

Optional hooks, detected at compile time (the base class has no default for them, so a port without them keeps compiling):

• uint8_t GetI2cAddress() and bool SetI2cAddress(uint8_t addr7): I2C ports should provide both. During a firmware update the driver switches the port to the bootloader address (0x28 with SA0 low, 0x29 with SA0 high; datasheet section 1.4) and restores the application address (0x4A / 0x4B, figure 1-12) afterwards. Without them the port itself must talk to the bootloader address during DFU.

Constructor & Destructor Documentation

CommInterface() [1/3]

template<typename Derived >

bno08x::CommInterface< Derived >::CommInterface ( )

protecteddefault

Protected constructor – prevents direct instantiation.

~CommInterface()

template<typename Derived >

bno08x::CommInterface< Derived >::~CommInterface ( )

protecteddefault

Protected destructor – prevent polymorphic deletion through base.

CommInterface() [2/3]

template<typename Derived >

bno08x::CommInterface< Derived >::CommInterface ( const CommInterface< Derived > &  )

protecteddelete

Non-copyable.

CommInterface() [3/3]

template<typename Derived >

bno08x::CommInterface< Derived >::CommInterface ( CommInterface< Derived > &&  )

protecteddefaultnoexcept

Movable.

Member Function Documentation

Close()

template<typename Derived >

void bno08x::CommInterface< Derived >::Close ( )

inlinenoexcept

Close the communication bus and release resources.

Called during driver shutdown. Implementations should de-initialise the peripheral and release any allocated resources.

Returns void on purpose: the vendor sh2_Hal_t::close hook is void, and the driver has nothing to recover on teardown. Log failures in the port.

DataAvailable()

template<typename Derived >

bool bno08x::CommInterface< Derived >::DataAvailable ( )

inlinenoexcept

Check whether the sensor has data ready.

Typically checks the interrupt (INT) pin level. For transports without an interrupt pin, return true unconditionally to allow polling.

Returns

true if data is available (or if unknown), false otherwise.

Delay()

template<typename Derived >

void bno08x::CommInterface< Derived >::Delay ( uint32_t  ms )

inlinenoexcept

Block for a specified duration.

Used by the driver for reset timing and post-DFU delays. Returns void: a delay has no failure the driver could act on.

Parameters

[in]

ms

Delay duration in milliseconds.

GetInterfaceType()

template<typename Derived >

BNO085Interface bno08x::CommInterface< Derived >::GetInterfaceType ( )

inlinenoexcept

Report the transport type this implementation provides.

The BNO085 driver calls this once during Begin() or BeginRvc() to determine which operations to allow.

Returns

BNO085Interface enum identifying the bus protocol.

GetTimeUs()

template<typename Derived >

uint32_t bno08x::CommInterface< Derived >::GetTimeUs ( )

inlinenoexcept

Return the current monotonic time in microseconds.

The vendor SH-2 library requires a microsecond time source for timestamping sensor events. The value does not need to represent wall-clock time – only monotonicity matters.

Returns

Current time in microseconds.

GpioSet()

template<typename Derived >

bool bno08x::CommInterface< Derived >::GpioSet ( CtrlPin  pin, GpioSignal  signal  )

inlinenoexcept

Set a control pin to the specified signal state.

The bus implementation is responsible for mapping ACTIVE/INACTIVE to the correct physical level based on the pin's active-level design.

The port's GpioSet() returns bool: true when the pin was driven (or is not wired, so there is nothing to drive), false on a GPIO error. A port written for the earlier contract, with a void GpioSet(), still compiles and is treated as never failing (see detail::GpioSet()).

Parameters

[in]	pin	Which control pin to drive.
[in]	signal	ACTIVE to assert the pin function, INACTIVE to deassert.

Returns

true on success, false if the port reported a GPIO error.

GpioSetActive()

template<typename Derived >

bool bno08x::CommInterface< Derived >::GpioSetActive ( CtrlPin  pin )

inlinenoexcept

Assert a control pin (set to ACTIVE).

Convenience wrapper for GpioSet(pin, GpioSignal::ACTIVE).

Parameters

[in]

pin

Which control pin to assert.

Returns

true on success, false if the port reported a GPIO error.

GpioSetInactive()

template<typename Derived >

bool bno08x::CommInterface< Derived >::GpioSetInactive ( CtrlPin  pin )

inlinenoexcept

Deassert a control pin (set to INACTIVE).

Convenience wrapper for GpioSet(pin, GpioSignal::INACTIVE).

Parameters

[in]

pin

Which control pin to deassert.

Returns

true on success, false if the port reported a GPIO error.

Open()

template<typename Derived >

bool bno08x::CommInterface< Derived >::Open ( )

inlinenoexcept

Open and initialise the communication bus.

Called by BNO085::Begin() (SH-2 mode) or BNO085::BeginRvc() (RVC mode). Implementations should configure the peripheral, set up GPIO pins, and prepare for data transfer.

Returns

true on success, false on failure.

operator=() [1/2]

template<typename Derived >

CommInterface & bno08x::CommInterface< Derived >::operator= ( CommInterface< Derived > &&  )

protecteddefaultnoexcept

Movable.

operator=() [2/2]

template<typename Derived >

CommInterface & bno08x::CommInterface< Derived >::operator= ( const CommInterface< Derived > &  )

protecteddelete

Non-copyable.

Read()

template<typename Derived >

int bno08x::CommInterface< Derived >::Read ( uint8_t *  data, uint32_t  length  )

inlinenoexcept

Read raw bytes from the sensor.

For SH-2 mode, the vendor SHTP library calls this to receive packets. For RVC mode, the driver calls Read(&byte, 1) repeatedly to feed the internal 19-byte frame parser.

Parameters

[out]	data	Buffer to fill with received bytes.
[in]	length	Maximum number of bytes to read.

Returns

Number of bytes actually read, 0 if no data available, or negative on error.

Write()

template<typename Derived >

int bno08x::CommInterface< Derived >::Write ( const uint8_t *  data, uint32_t  length  )

inlinenoexcept

Write raw bytes to the sensor.

For I2C/SPI this sends data on the bus. For UART-RVC this is typically unused (RVC mode is read-only).

Parameters

[in]	data	Pointer to the buffer to transmit.
[in]	length	Number of bytes to write.

Returns

Number of bytes written, or negative on error.

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The documentation for this class was generated from the following file:

• inc/bno08x_comm_interface.hpp