Bno08xHandler.h File Reference

Unified handler for BNO08x IMU sensor family with multi-interface support. More...

#include <cstdint>
#include <memory>
#include <array>
#include <functional>
#include <type_traits>
#include <utility>
#include "core/hf-core-drivers/external/hf-bno08x-driver/inc/bno08x.hpp"
#include "core/hf-core-drivers/external/hf-bno08x-driver/inc/bno08x_comm_interface.hpp"
#include "base/BaseI2c.h"
#include "base/BaseSpi.h"
#include "base/BaseGpio.h"
#include "RtosMutex.h"

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Classes
class	HalI2cBno08xComm
	I2C CRTP communication adapter for BNO08x. More...
class	HalSpiBno08xComm
	SPI CRTP communication adapter for BNO08x. More...
class	IBno08xDriverOps
	Internal abstract interface for type-erasing the BNO085<CommType> template. More...
class	Bno08xDriverImpl< CommType >
	Concrete type-erased driver wrapper. More...
struct	Bno08xVector3
	Enhanced vector with timestamp and accuracy. More...
struct	Bno08xQuaternion
	Enhanced quaternion with timestamp and accuracy. More...
struct	Bno08xEulerAngles
	Euler angles derived from quaternion. More...
struct	Bno08xImuData
	Complete IMU sensor data structure. More...
struct	Bno08xActivityData
	Activity and gesture detection data. More...
struct	Bno08xCalibrationStatus
	Sensor calibration status. More...
struct	Bno08xConfig
	BNO08x configuration structure. More...
class	Bno08xHandler
	Unified handler for BNO08x IMU sensor family. More...

Enumerations
enum class	Bno08xError : uint8_t {   SUCCESS = 0 , NOT_INITIALIZED , INITIALIZATION_FAILED , INVALID_PARAMETER ,   COMMUNICATION_FAILED , SENSOR_NOT_RESPONDING , CALIBRATION_FAILED , FIRMWARE_UPDATE_FAILED ,   TIMEOUT , MUTEX_LOCK_FAILED , INVALID_INTERFACE , SENSOR_NOT_ENABLED ,   DATA_NOT_AVAILABLE , HARDWARE_ERROR , UNSUPPORTED_OPERATION }
	BNO08x handler error codes for consistent error reporting. More...

Functions
constexpr const char *	Bno08xErrorToString (Bno08xError error) noexcept
	Convert Bno08xError to string for debugging.
std::unique_ptr< Bno08xHandler >	CreateBno08xHandlerI2c (BaseI2c &i2c_device, const Bno08xConfig &config=Bno08xConfig{}, BaseGpio *reset_gpio=nullptr, BaseGpio *int_gpio=nullptr) noexcept
	Create BNO08x handler with I2C interface.
std::unique_ptr< Bno08xHandler >	CreateBno08xHandlerSpi (BaseSpi &spi_device, const Bno08xConfig &config=Bno08xConfig{}, BaseGpio *reset_gpio=nullptr, BaseGpio *int_gpio=nullptr, BaseGpio *wake_gpio=nullptr) noexcept
	Create BNO08x handler with SPI interface.

Detailed Description

Unified handler for BNO08x IMU sensor family with multi-interface support.

This file provides the complete HAL-level integration for a BNO08x IMU sensor. It bridges the HardFOC base interfaces (BaseI2c, BaseSpi, BaseGpio) with the templated BNO085<CommType> driver from the hf-bno08x-driver library.

Architecture Overview

The file contains four layers:

1. CRTP Communication Adapters (HalI2cBno08xComm, HalSpiBno08xComm): Bridge HardFOC BaseI2c/BaseSpi device-centric interfaces with the BNO08x driver's CRTP-based bno08x::CommInterface. Includes all 12 required methods (bus I/O, timing, and 5 pin control signals).
2. Type-Erased Driver Interface (IBno08xDriverOps): Internal abstract class that hides the BNO085<CommType> template from the handler. Provides virtual methods for all driver operations. The one-vtable cost is negligible for an IMU updating at ~100 Hz.
3. Template Driver Wrapper (Bno08xDriverImpl<CommType>): Owns both the CRTP comm adapter and the BNO085 driver instance, implementing IBno08xDriverOps by delegating to the real driver.
4. Bno08xHandler (main class): Non-templated facade that owns a type-erased driver via unique_ptr. Provides:
   • Lazy initialization with hardware reset sequence
   • Complete SH-2 sensor data access (9-DOF fusion, gestures, activity)
   • GetSensor() for direct driver API (Update, EnableSensor, GetLatest, SetCallback, etc.)
   • Callback management for event-driven operation
   • Individual sensor enable/disable with configurable intervals
   • Hardware control (reset, boot, wake pins)
   • Thread-safe operations with RtosMutex protection
   • Comprehensive diagnostics

Ownership Model

The handler owns all its internal resources:

• One IBno08xDriverOps (type-erased driver + comm adapter)

Initialization Sequence

// 1. Obtain a BaseI2c device reference (address pre-configured, e.g. 0x4A)
// 2. Construct the handler (config enables accel+gyro+mag+rotation by default)
Bno08xHandler handler(i2c_device);
 
// 3. Initialize (runs Begin + applyConfigLocked to enable configured sensors)
if (handler.Initialize() != Bno08xError::SUCCESS) { return; }
 
// 4. Optionally enable extra sensors via driver access
handler.visitDriver([](IBno08xDriverOps& drv) {
    drv.EnableSensor(BNO085Sensor::GameRotationVector, 10);
});
 
// 5. Set callback for event-driven data
handler.SetSensorCallback([](const SensorEvent& e) { ... });
 
// 6. Service loop
while (true) { handler.Update(); }

Thread Safety

The handler uses RtosMutex (recursive) for thread-safe access to all handler-level operations.

See also

BNO085 Templated driver from hf-bno08x-driver

bno08x::CommInterface CRTP communication base class

Author

HardFOC Team

Date

2025

Copyright

HardFOC

Enumeration Type Documentation

Bno08xError

enum class Bno08xError : uint8_t

strong

BNO08x handler error codes for consistent error reporting.

Enumerator
SUCCESS	Operation completed successfully.
NOT_INITIALIZED	Handler or sensor not initialized.
INITIALIZATION_FAILED	Begin() or config apply failed.
INVALID_PARAMETER	Bad argument (e.g. invalid sensor)
COMMUNICATION_FAILED	I2C/SPI or SH-2 I/O error.
SENSOR_NOT_RESPONDING	Hub/sensor did not respond.
CALIBRATION_FAILED	Calibration request failed.
FIRMWARE_UPDATE_FAILED	DFU transfer failed.
TIMEOUT	Operation timed out.
MUTEX_LOCK_FAILED	Could not acquire handler mutex.
INVALID_INTERFACE	Wrong interface type for operation.
SENSOR_NOT_ENABLED	Sensor not enabled for read.
DATA_NOT_AVAILABLE	No new data for requested sensor.
HARDWARE_ERROR	GPIO or hardware fault.
UNSUPPORTED_OPERATION	Feature not supported.

Function Documentation

Bno08xErrorToString()

constexpr const char * Bno08xErrorToString ( Bno08xError error )

constexprnoexcept

Convert Bno08xError to string for debugging.

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CreateBno08xHandlerI2c()

std::unique_ptr< Bno08xHandler > CreateBno08xHandlerI2c ( BaseI2c & i2c_device, const Bno08xConfig & config = Bno08xConfig{}, BaseGpio * reset_gpio = nullptr, BaseGpio * int_gpio = nullptr )

inlinenoexcept

Create BNO08x handler with I2C interface.

Parameters

i2c_device	BaseI2c instance (address pre-configured)
config	Sensor configuration (default: Bno08xConfig{})
reset_gpio	Optional RSTN GPIO (active-low)
int_gpio	Optional INT GPIO (active-low, data ready)

Returns

Unique pointer to Bno08xHandler

CreateBno08xHandlerSpi()

std::unique_ptr< Bno08xHandler > CreateBno08xHandlerSpi ( BaseSpi & spi_device, const Bno08xConfig & config = Bno08xConfig{}, BaseGpio * reset_gpio = nullptr, BaseGpio * int_gpio = nullptr, BaseGpio * wake_gpio = nullptr )

inlinenoexcept

Create BNO08x handler with SPI interface.

Parameters

spi_device	BaseSpi instance
config	Sensor configuration (default: Bno08xConfig{})
reset_gpio	Optional RSTN GPIO (active-low)
int_gpio	Optional INT GPIO (active-low, data ready)
wake_gpio	Optional WAKE GPIO (active-low, SPI mode)

Returns

Unique pointer to Bno08xHandler