HalI2cBno08xComm Class Reference

I2C CRTP communication adapter for BNO08x. More...

#include <Bno08xHandler.h>

Inheritance diagram for HalI2cBno08xComm:

Collaboration diagram for HalI2cBno08xComm:

Public Member Functions
	HalI2cBno08xComm (BaseI2c &i2c, BaseGpio *reset_gpio=nullptr, BaseGpio *int_gpio=nullptr) noexcept
	Construct I2C adapter.
BNO085Interface	GetInterfaceType () noexcept
bool	Open () noexcept
void	Close () noexcept
int	Write (const uint8_t *data, uint32_t length) noexcept
int	Read (uint8_t *data, uint32_t length) noexcept
bool	DataAvailable () noexcept
void	Delay (uint32_t ms) noexcept
uint32_t	GetTimeUs () noexcept
void	GpioSet (bno08x::CtrlPin pin, bno08x::GpioSignal signal) noexcept

Private Attributes
BaseI2c &	i2c_
BaseGpio *	reset_gpio_
BaseGpio *	int_gpio_

Detailed Description

I2C CRTP communication adapter for BNO08x.

Bridges the HardFOC BaseI2c interface with the bno08x::CommInterface CRTP base. The I2C device address is pre-configured on the BaseI2c instance.

Constructor & Destructor Documentation

HalI2cBno08xComm()

HalI2cBno08xComm::HalI2cBno08xComm ( BaseI2c & i2c, BaseGpio * reset_gpio = nullptr, BaseGpio * int_gpio = nullptr )

inlineexplicitnoexcept

Construct I2C adapter.

Parameters

i2c	Reference to BaseI2c implementation (address pre-configured)
reset_gpio	Optional GPIO for hardware reset (RSTN, active-low)
int_gpio	Optional GPIO for interrupt monitoring (INT, active-low)

Member Function Documentation

Close()

void HalI2cBno08xComm::Close ( )

noexcept

Release bus (no-op; bus may be shared).

DataAvailable()

bool HalI2cBno08xComm::DataAvailable ( )

noexcept

Check INT pin (active-low).

Returns

true if data ready or no INT pin

Delay()

void HalI2cBno08xComm::Delay ( uint32_t ms )

noexcept

Block for ms milliseconds.

Parameters

ms	Delay in ms

GetInterfaceType()

BNO085Interface HalI2cBno08xComm::GetInterfaceType ( )

inlinenoexcept

Returns

BNO085Interface::I2C

GetTimeUs()

uint32_t HalI2cBno08xComm::GetTimeUs ( )

noexcept

Returns

Monotonic time in microseconds

GpioSet()

void HalI2cBno08xComm::GpioSet ( bno08x::CtrlPin pin, bno08x::GpioSignal signal )

noexcept

Set control pin to specified signal state.

Parameters

pin	CtrlPin to drive
signal	ACTIVE or INACTIVE

Open()

bool HalI2cBno08xComm::Open ( )

noexcept

Initialize I2C bus and optional RSTN/INT GPIOs.

Returns

true on success

Read()

int HalI2cBno08xComm::Read ( uint8_t * data, uint32_t length )

noexcept

Parameters

data	Buffer to fill.
length	Max bytes.

Returns

Bytes read, 0 if no data, -1 on error

Write()

int HalI2cBno08xComm::Write ( const uint8_t * data, uint32_t length )

noexcept

Parameters

data	Buffer to send.
length	Byte count.

Returns

Bytes written or -1 on error

Member Data Documentation

i2c_

BaseI2c& HalI2cBno08xComm::i2c_

private

int_gpio_

BaseGpio* HalI2cBno08xComm::int_gpio_

private

reset_gpio_

BaseGpio* HalI2cBno08xComm::reset_gpio_

private

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

• Bno08xHandler.h
• Bno08xHandler.cpp