Bno08xHandler

9-DOF IMU handler supporting accelerometer, gyroscope, magnetometer, and fused orientation via I2C or SPI. Uses type-erased IBno08xDriverOps interface to hide transport template complexity.

Construction 

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// I2C mode
explicit Bno08xHandler(BaseI2c& i2c_device,
                       const Bno08xConfig& config = Bno08xConfig{},
                       BaseGpio* reset_gpio = nullptr,
                       BaseGpio* int_gpio = nullptr) noexcept;

// SPI mode
explicit Bno08xHandler(BaseSpi& spi_device,
                       const Bno08xConfig& config = Bno08xConfig{},
                       BaseGpio* reset_gpio = nullptr,
                       BaseGpio* int_gpio = nullptr,
                       BaseGpio* wake_gpio = nullptr) noexcept;

Factories 

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auto handler = CreateBno08xHandlerI2c(i2c, config, rst, intr);
auto handler = CreateBno08xHandlerSpi(spi, config, rst, intr, wake);

Key Methods

Lifecycle

Method Description
Initialize() Reset → Begin → applyConfigLocked. Returns Bno08xError.
EnsureInitialized() Lazy init helper
Deinitialize() Release resources. Returns Bno08xError.
IsInitialized() Check initialization state

Service Loop

Method Description
Update() Pump SH-2 transport — call every 5–10 ms

Callback Management

Method Description
SetSensorCallback(cb) Register event callback (dispatched from Update())
ClearSensorCallback() Remove callback

Driver Access

Method Description
GetSensor() / GetDriver() Direct IBno08xDriverOps* (nullptr if not init)
visitDriver(fn) Execute callable under handler mutex

Utility

Method Description
GetInterfaceType() BNO085Interface::I2C or BNO085Interface::SPI
GetLastError() Last Bno08xError
GetLastDriverError() Last SH-2 error code (int)
GetDescription() Human-readable string (e.g. "BNO08x IMU (I2C @0x4A)")
GetDefaultConfig() Static — returns default Bno08xConfig
QuaternionToEuler(quat, euler) Static utility
DumpDiagnostics() Log comprehensive handler/driver status

Sensor Operations (via driver)

Sensor enable/disable/read operations are performed through the underlying driver object returned by GetSensor() / GetDriver():

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// Direct driver access
auto* drv = handler.GetSensor();
drv->EnableSensor(BNO085Sensor::RotationVector, 10);  // 100 Hz
drv->Update();
auto event = drv->GetLatest(BNO085Sensor::RotationVector);

// Or mutex-protected via visitDriver
handler.visitDriver([](IBno08xDriverOps& drv) {
    drv.EnableSensor(BNO085Sensor::Accelerometer, 20);
});

Thread Safety

All public methods are protected by an internal RtosMutex (recursive). visitDriver() additionally holds the mutex for the duration of the callable.

Test Coverage

See examples/esp32/main/handler_tests/bno08x_handler_comprehensive_test.cpp — 9 test sections including sensor enable/disable, config apply validation, and hardware reset.