HalSpiBno08xComm Class Reference

SPI CRTP communication adapter for BNO08x. More...

#include <Bno08xHandler.h>

Inheritance diagram for HalSpiBno08xComm:

Collaboration diagram for HalSpiBno08xComm:

Public Member Functions
	HalSpiBno08xComm (BaseSpi &spi, BaseGpio *reset_gpio=nullptr, BaseGpio *int_gpio=nullptr, BaseGpio *wake_gpio=nullptr) noexcept
	Construct SPI 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
BaseSpi &	spi_
BaseGpio *	reset_gpio_
BaseGpio *	int_gpio_
BaseGpio *	wake_gpio_

Detailed Description

SPI CRTP communication adapter for BNO08x.

Bridges the HardFOC BaseSpi interface with the bno08x::CommInterface CRTP base.

Constructor & Destructor Documentation

HalSpiBno08xComm()

HalSpiBno08xComm::HalSpiBno08xComm ( BaseSpi & spi, BaseGpio * reset_gpio = nullptr, BaseGpio * int_gpio = nullptr, BaseGpio * wake_gpio = nullptr )

inlineexplicitnoexcept

Construct SPI adapter.

Parameters

spi	Reference to BaseSpi implementation
reset_gpio	Optional GPIO for hardware reset (RSTN, active-low)
int_gpio	Optional GPIO for interrupt monitoring (INT, active-low)
wake_gpio	Optional GPIO for wake control (SPI mode)

Member Function Documentation

Close()

void HalSpiBno08xComm::Close ( )

noexcept

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

DataAvailable()

bool HalSpiBno08xComm::DataAvailable ( )

noexcept

Check INT pin (active-low).

Returns

true if data ready or no INT pin

Delay()

void HalSpiBno08xComm::Delay ( uint32_t ms )

noexcept

Block for ms milliseconds.

Parameters

ms	Delay in ms

GetInterfaceType()

BNO085Interface HalSpiBno08xComm::GetInterfaceType ( )

inlinenoexcept

Returns

BNO085Interface::SPI

GetTimeUs()

uint32_t HalSpiBno08xComm::GetTimeUs ( )

noexcept

Returns

Monotonic time in microseconds

GpioSet()

void HalSpiBno08xComm::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 HalSpiBno08xComm::Open ( )

noexcept

Initialize SPI bus and optional RSTN/INT/WAKE GPIOs.

Returns

true on success

Read()

int HalSpiBno08xComm::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 HalSpiBno08xComm::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

int_gpio_

BaseGpio* HalSpiBno08xComm::int_gpio_

private

reset_gpio_

BaseGpio* HalSpiBno08xComm::reset_gpio_

private

spi_

BaseSpi& HalSpiBno08xComm::spi_

private

wake_gpio_

BaseGpio* HalSpiBno08xComm::wake_gpio_

private

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

• Bno08xHandler.h
• Bno08xHandler.cpp