Bno08xHandler.cpp File Reference

Implementation of unified BNO08x IMU sensor handler. More...

#include "Bno08xHandler.h"
#include <cmath>
#include <cstdio>
#include <cstring>
#include "handlers/logger/Logger.h"
#include "OsUtility.h"
#include "core/hf-core-drivers/external/hf-bno08x-driver/src/sh2/sh2_err.h"

Namespaces
namespace	anonymous_namespace{Bno08xHandler.cpp}

Functions
void	anonymous_namespace{Bno08xHandler.cpp}::PrepareResetPin (BaseGpio *reset_gpio) noexcept
	Configure RSTN as an active-low output (idempotent).
bool	anonymous_namespace{Bno08xHandler.cpp}::DriveResetPin (BaseGpio *reset_gpio, bno08x::GpioSignal signal) noexcept

Detailed Description

Implementation of unified BNO08x IMU sensor handler.

This implementation provides:

• CRTP communication adapters bridging BaseI2c/BaseSpi to bno08x::CommInterface
• Complete handler lifecycle (Initialize/Deinitialize)
• SH-2 sensor data reading for all IMU axes, quaternions, Euler angles
• Activity/gesture detection (tap, step, shake, pickup, stability)
• Calibration status monitoring
• Sensor enable/disable with configurable intervals
• Hardware control (reset, boot, wake pins)
• Thread-safe operations with recursive mutex
• Comprehensive diagnostics

Author

HardFOC Team

Date

2025

Copyright

HardFOC