ImuManager.h File Reference

IMU device management for the HardFOC Vortex V1 platform. More...

#include <array>
#include <optional>
#include "RtosMutex.h"
#include "SignalSemaphore.h"
#include "handlers/bno08x/Bno08xHandler.h"

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Classes
struct	ImuSystemDiagnostics
	System-level diagnostics snapshot for IMU health monitoring. More...
struct	ImuSystemDiagnostics::DeviceSnapshot
	Per-device health snapshot. More...
class	ImuManager
	Singleton for managing multiple IMU devices with indexed access and flexible device management. More...

Typedefs
using	ImuInterruptCallback = void(*)(void *user_data)
	Callback for the onboard IMU interrupt (task context: the PCAL95555 handler dispatches it).

Enumerations
enum class	ImuError : uint8_t {   SUCCESS = 0 , NOT_INITIALIZED , INITIALIZATION_FAILED , DEVICE_ALREADY_EXISTS ,   DEVICE_NOT_FOUND , INVALID_DEVICE_INDEX , CANNOT_DELETE_ONBOARD , INVALID_I2C_ADDRESS ,   DEPENDENCY_NOT_READY , COMMUNICATION_FAILED , I2C_DEVICE_CREATION_FAILED , HANDLER_CREATION_FAILED ,   INTERRUPT_ERROR , ALREADY_DEINITIALIZED , MUTEX_LOCK_FAILED }
	IMU manager error codes for consistent error reporting. More...

Functions
constexpr const char *	ImuErrorToString (ImuError error) noexcept
	Convert ImuError to a human-readable string.
ImuManager &	GetImuManager () noexcept
	Convenience accessor — equivalent to ImuManager::GetInstance().

Detailed Description

IMU device management for the HardFOC Vortex V1 platform.

Manages multiple BNO08x IMU devices. The onboard IMU (index 0) is auto-created via CommChannelsManager I²C; up to three external IMU devices (indices 1–3) can be added at runtime over I²C or SPI. Includes GPIO interrupt support for data-ready signalling.

Version

2.0

Typedef Documentation

ImuInterruptCallback

using ImuInterruptCallback = void (*)(void* user_data)

Callback for the onboard IMU interrupt (task context: the PCAL95555 handler dispatches it).

Parameters

user_data

The pointer given to ImuManager::ConfigureInterrupt().

Enumeration Type Documentation

ImuError

enum class ImuError : uint8_t

strong

IMU manager error codes for consistent error reporting.

Manager-layer errors for BNO08x device lifecycle and data operations. Driver-level BNO08x errors are handled internally by the handler.

Enumerator
SUCCESS	Operation completed successfully.
NOT_INITIALIZED	Manager not yet initialised.
INITIALIZATION_FAILED	Device initialisation failed.
DEVICE_ALREADY_EXISTS	A device already occupies this slot.
DEVICE_NOT_FOUND	No active device at the given index.
INVALID_DEVICE_INDEX	Device index out of valid range.
CANNOT_DELETE_ONBOARD	Onboard device (index 0) cannot be deleted.
INVALID_I2C_ADDRESS	I²C address outside 0x08–0x77.
DEPENDENCY_NOT_READY	Required dependency not initialised.
COMMUNICATION_FAILED	A bus-level transfer failed.
I2C_DEVICE_CREATION_FAILED	CommChannelsManager I²C device creation failed.
HANDLER_CREATION_FAILED	Heap allocation or handler init failed.
INTERRUPT_ERROR	GPIO interrupt configuration failed.
ALREADY_DEINITIALIZED	Manager already in deinitialized state.
MUTEX_LOCK_FAILED	RTOS mutex acquire timed out.

Function Documentation

GetImuManager()

ImuManager & GetImuManager ( )

inlinenoexcept

Convenience accessor — equivalent to ImuManager::GetInstance().

Returns

Reference to the singleton ImuManager.

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ImuErrorToString()

constexpr const char * ImuErrorToString ( ImuError  error )

constexprnoexcept

Convert ImuError to a human-readable string.

Parameters

error

Error code to convert.

Returns

Null-terminated string representation.