Bno08xHandler Class Reference

Unified handler for BNO08x IMU sensor family. More...

#include <Bno08xHandler.h>

Collaboration diagram for Bno08xHandler:

Public Member Functions
	Bno08xHandler (BaseI2c &i2c_device, const Bno08xConfig &config=Bno08xConfig{}, BaseGpio *reset_gpio=nullptr, BaseGpio *int_gpio=nullptr) noexcept
	Construct BNO08x handler with I2C interface.
	Bno08xHandler (BaseSpi &spi_device, const Bno08xConfig &config=Bno08xConfig{}, BaseGpio *reset_gpio=nullptr, BaseGpio *int_gpio=nullptr, BaseGpio *wake_gpio=nullptr) noexcept
	Construct BNO08x handler with SPI interface.
	~Bno08xHandler () noexcept=default
	Bno08xHandler (const Bno08xHandler &)=delete
Bno08xHandler &	operator= (const Bno08xHandler &)=delete
	Bno08xHandler (Bno08xHandler &&)=delete
Bno08xHandler &	operator= (Bno08xHandler &&)=delete
Bno08xError	Initialize () noexcept
	Initialize the BNO08x sensor.
bool	EnsureInitialized () noexcept
	Ensure the BNO08x is initialized (lazy init entrypoint).
Bno08xError	Deinitialize () noexcept
	Deinitialize the sensor.
bool	IsInitialized () const noexcept
	Check if sensor is initialized and ready.
Bno08xError	Update () noexcept
	Update sensor - must be called regularly to pump the SH-2 service loop.
void	SetSensorCallback (SensorCallback callback) noexcept
	Set callback for sensor events.
void	ClearSensorCallback () noexcept
	Clear sensor event callback.
BNO085Interface	GetInterfaceType () const noexcept
	Get the communication interface type.
IBno08xDriverOps *	GetSensor () noexcept
	Get direct access to the underlying sensor driver (type-erased).
const IBno08xDriverOps *	GetSensor () const noexcept
	Const overload of GetSensor().
IBno08xDriverOps *	GetDriver () noexcept
	Naming-consistent alias of GetSensor().
const IBno08xDriverOps *	GetDriver () const noexcept
template<typename Fn >
auto	visitDriver (Fn &&fn) noexcept -> decltype(fn(std::declval< IBno08xDriverOps & >()))
	Visit the underlying IMU driver under handler mutex protection.
Bno08xError	GetLastError () const noexcept
	Get the last handler error code.
int	GetLastDriverError () const noexcept
	Get the last driver-level SH-2 error code.
const char *	GetDescription () const noexcept
	Get a human-readable description of the handler.
void	DumpDiagnostics () const noexcept
	Dump comprehensive diagnostics to the logger.

Static Public Member Functions
static void	QuaternionToEuler (const Bno08xQuaternion &quaternion, Bno08xEulerAngles &euler_angles) noexcept
	Convert quaternion to Euler angles (roll, pitch, yaw in radians).
static Bno08xConfig	GetDefaultConfig () noexcept
	Get default sensor configuration.

Private Member Functions
bool	ensureInitializedLocked () noexcept
	Internal: ensure initialized (assumes mutex is held).
bool	applyConfigLocked () noexcept
	Internal: apply configured sensor enables (assumes mutex is held).

Static Private Member Functions
static Bno08xError	mapDriverError (int sh2_error) noexcept
	Internal: map SH-2 error code to Bno08xError.

Private Attributes
std::unique_ptr< IBno08xDriverOps >	driver_ops_
	Type-erased driver.
Bno08xConfig	config_
	Current configuration.
RtosMutex	handler_mutex_
	Thread safety mutex.
bool	initialized_ {false}
	Initialization state.
Bno08xError	last_error_ {Bno08xError::SUCCESS}
	Last error.
BNO085Interface	interface_type_
	I2C or SPI.
SensorCallback	user_callback_
	User's sensor callback.
char	description_ [64] {}
	Description string.

Detailed Description

Unified handler for BNO08x IMU sensor family.

Provides a comprehensive, non-templated interface for BNO08x sensors with:

• Lazy initialization pattern
• Exception-free design with noexcept methods
• Thread-safe operations with recursive mutex protection
• Bridge pattern integration with BaseI2c/BaseSpi via CRTP adapters
• Type erasure to hide template complexity from users
• Complete SH-2 mode sensor access (9-DOF, gestures, activity)
• Configurable sensor enable/disable and interval management
• Hardware control (reset, boot, wake, interface selection)

Constructor & Destructor Documentation

Bno08xHandler() [1/4]

Bno08xHandler::Bno08xHandler ( BaseI2c & i2c_device, const Bno08xConfig & config = Bno08xConfig{}, BaseGpio * reset_gpio = nullptr, BaseGpio * int_gpio = nullptr )

explicitnoexcept

Construct BNO08x handler with I2C interface.

Parameters

i2c_device	Reference to BaseI2c implementation (address pre-configured)
config	Initial sensor configuration
reset_gpio	Optional GPIO for hardware reset
int_gpio	Optional GPIO for interrupt monitoring

Bno08xHandler() [2/4]

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

explicitnoexcept

Construct BNO08x handler with SPI interface.

Parameters

spi_device	Reference to BaseSpi implementation
config	Initial sensor configuration
reset_gpio	Optional GPIO for hardware reset
int_gpio	Optional GPIO for interrupt monitoring
wake_gpio	Optional GPIO for wake control (SPI mode)

~Bno08xHandler()

Bno08xHandler::~Bno08xHandler ( )

defaultnoexcept

Bno08xHandler() [3/4]

Bno08xHandler::Bno08xHandler ( const Bno08xHandler & )

delete

Bno08xHandler() [4/4]

Bno08xHandler::Bno08xHandler ( Bno08xHandler && )

delete

Member Function Documentation

applyConfigLocked()

bool Bno08xHandler::applyConfigLocked ( )

privatenoexcept

Internal: apply configured sensor enables (assumes mutex is held).

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ClearSensorCallback()

void Bno08xHandler::ClearSensorCallback ( )

noexcept

Clear sensor event callback.

Deinitialize()

Bno08xError Bno08xHandler::Deinitialize ( )

noexcept

Deinitialize the sensor.

Returns

Bno08xError::SUCCESS if successful

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DumpDiagnostics()

void Bno08xHandler::DumpDiagnostics ( ) const

noexcept

Dump comprehensive diagnostics to the logger.

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EnsureInitialized()

bool Bno08xHandler::EnsureInitialized ( )

noexcept

Ensure the BNO08x is initialized (lazy init entrypoint).

Returns

true if initialized and ready.

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ensureInitializedLocked()

bool Bno08xHandler::ensureInitializedLocked ( )

privatenoexcept

Internal: ensure initialized (assumes mutex is held).

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GetDefaultConfig()

static Bno08xConfig Bno08xHandler::GetDefaultConfig ( )

inlinestaticnoexcept

Get default sensor configuration.

Returns

Default Bno08xConfig structure with sensible defaults

GetDescription()

const char * Bno08xHandler::GetDescription ( ) const

noexcept

Get a human-readable description of the handler.

Returns

String e.g. "BNO08x IMU (I2C @0x4A)" or "BNO08x IMU (SPI)"

GetDriver() [1/2]

const IBno08xDriverOps * Bno08xHandler::GetDriver ( ) const

inlinenoexcept

GetDriver() [2/2]

IBno08xDriverOps * Bno08xHandler::GetDriver ( )

inlinenoexcept

Naming-consistent alias of GetSensor().

Warning

Raw pointer — NOT mutex-protected. Prefer visitDriver().

GetInterfaceType()

BNO085Interface Bno08xHandler::GetInterfaceType ( ) const

noexcept

Get the communication interface type.

Returns

BNO085Interface::I2C or BNO085Interface::SPI

GetLastDriverError()

int Bno08xHandler::GetLastDriverError ( ) const

noexcept

Get the last driver-level SH-2 error code.

Returns

SH2_OK (0) or negative value from sh2_err.h; -1 if not initialized

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GetLastError()

Bno08xError Bno08xHandler::GetLastError ( ) const

noexcept

Get the last handler error code.

Returns

Last Bno08xError from a handler API call

GetSensor() [1/2]

const IBno08xDriverOps * Bno08xHandler::GetSensor ( ) const

noexcept

Const overload of GetSensor().

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GetSensor() [2/2]

IBno08xDriverOps * Bno08xHandler::GetSensor ( )

noexcept

Get direct access to the underlying sensor driver (type-erased).

The returned pointer exposes the same SH-2 API as the concrete BNO085 driver: Update(), EnableSensor(), DisableSensor(), SetCallback(), HasNewData(), GetLatest(), GetLastError(), HardwareReset(), etc. Use it when you need to call driver methods directly (e.g. custom callbacks, low-level control). Valid for the lifetime of this handler.

Returns

Non-owning pointer to the driver interface, or nullptr if not constructed

Warning

Raw pointer — NOT mutex-protected. Caller is responsible for external synchronization in multi-task environments. Prefer visitDriver() for thread-safe access.

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Initialize()

Bno08xError Bno08xHandler::Initialize ( )

noexcept

Initialize the BNO08x sensor.

Performs hardware reset (if GPIO available), calls Begin() on the driver, and applies the initial sensor configuration.

Returns

Bno08xError::SUCCESS if successful, error code otherwise

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IsInitialized()

bool Bno08xHandler::IsInitialized ( ) const

noexcept

Check if sensor is initialized and ready.

Returns

true if Initialize() succeeded and driver is ready

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mapDriverError()

Bno08xError Bno08xHandler::mapDriverError ( int sh2_error )

staticprivatenoexcept

Internal: map SH-2 error code to Bno08xError.

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operator=() [1/2]

Bno08xHandler & Bno08xHandler::operator= ( Bno08xHandler && )

delete

operator=() [2/2]

Bno08xHandler & Bno08xHandler::operator= ( const Bno08xHandler & )

delete

QuaternionToEuler()

void Bno08xHandler::QuaternionToEuler ( const Bno08xQuaternion & quaternion, Bno08xEulerAngles & euler_angles )

staticnoexcept

Convert quaternion to Euler angles (roll, pitch, yaw in radians).

Parameters

quaternion	Input quaternion (must have valid == true for output)
euler_angles	Output: roll, pitch, yaw, accuracy, timestamp, valid

SetSensorCallback()

void Bno08xHandler::SetSensorCallback ( SensorCallback callback )

noexcept

Set callback for sensor events.

The callback is invoked from within Update() whenever a sensor report arrives. Only one callback can be active at a time.

Parameters

callback

Callback function for sensor events

Update()

Bno08xError Bno08xHandler::Update ( )

noexcept

Update sensor - must be called regularly to pump the SH-2 service loop.

Call this every 5-10 ms (or faster) for optimal data throughput. Sensor callbacks are dispatched from within this method.

Returns

Bno08xError::SUCCESS if successful

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visitDriver()

template<typename Fn >

auto Bno08xHandler::visitDriver ( Fn && fn ) -> decltype(fn(std::declval<IBno08xDriverOps&>()))

inlinenoexcept

Visit the underlying IMU driver under handler mutex protection.

Returns

Callable result or default-constructed value when driver is unavailable.

Member Data Documentation

config_

Bno08xConfig Bno08xHandler::config_

private

Current configuration.

description_

char Bno08xHandler::description_[64] {}

private

Description string.

driver_ops_

std::unique_ptr<IBno08xDriverOps> Bno08xHandler::driver_ops_

private

Type-erased driver.

handler_mutex_

RtosMutex Bno08xHandler::handler_mutex_

mutableprivate

Thread safety mutex.

initialized_

bool Bno08xHandler::initialized_ {false}

private

Initialization state.

interface_type_

BNO085Interface Bno08xHandler::interface_type_

private

I2C or SPI.

last_error_

Bno08xError Bno08xHandler::last_error_ {Bno08xError::SUCCESS}

mutableprivate

Last error.

user_callback_

SensorCallback Bno08xHandler::user_callback_

private

User's sensor callback.

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

• Bno08xHandler.h
• Bno08xHandler.cpp