Singleton for managing multiple IMU devices with indexed access and flexible device management. More...

#include <ImuManager.h>

Collaboration diagram for ImuManager:

Public Member Functions
bool	EnsureInitialized () noexcept
	Ensure the IMU manager system is initialized.

bool	IsInitialized () const noexcept
	Check if the IMU manager is initialized.

ImuError	GetLastError () const noexcept
	Get the most recent error code.

ImuError	GetSystemDiagnostics (ImuSystemDiagnostics &diagnostics) const noexcept
	Fill a diagnostics snapshot with current system state.

bool	Deinitialize () noexcept
	Deinitialize all IMUs and release resources.

Bno08xHandler *	GetBno08xHandler (uint8_t deviceIndex=ONBOARD_IMU_INDEX) noexcept
	Get access to BNO08x IMU handler by device index.

template<typename Fn >
bool	VisitSensor (uint8_t deviceIndex, Fn &&fn) noexcept
	Run `fn` on the BNO08x driver of one initialised device, under both locks.

ImuError	CreateExternalBno08xDevice (uint8_t deviceIndex, uint8_t i2c_address, uint32_t i2c_speed_hz=400000, const Bno08xConfig &config=Bno08xHandler::GetDefaultConfig()) noexcept
	Create an external BNO08x IMU device on I2C interface with specified address.

ImuError	CreateExternalBno08xDevice (uint8_t deviceIndex, SpiDeviceId spiDeviceId, const Bno08xConfig &config=Bno08xHandler::GetDefaultConfig()) noexcept
	Create an external BNO08x IMU device on SPI interface.

ImuError	CreateExternalBno08xDevice (uint8_t deviceIndex, BaseI2c &i2c_interface, const Bno08xConfig &config=Bno08xHandler::GetDefaultConfig()) noexcept
	Create an external BNO08x IMU device using direct BaseI2c interface.

ImuError	CreateExternalBno08xDevice (uint8_t deviceIndex, BaseSpi &spi_interface, const Bno08xConfig &config=Bno08xHandler::GetDefaultConfig()) noexcept
	Create an external BNO08x IMU device using direct BaseSpi interface.

ImuError	DeleteExternalDevice (uint8_t deviceIndex) noexcept
	Delete an external IMU device.

uint8_t	GetDeviceCount () const noexcept
	Get the number of active IMU devices.

bool	IsDeviceValid (uint8_t deviceIndex) const noexcept
	Check if a device index is valid and has an active device.

bool	IsExternalSlotAvailable (uint8_t deviceIndex) const noexcept
	Check if an external device slot is available for creation.

void	GetActiveDeviceIndices (std::array< uint8_t, MAX_IMU_DEVICES > &out, size_t &count) const noexcept
	Get indices of all active IMU devices.

size_t	InitializeAllDevices (std::array< bool, MAX_IMU_DEVICES > &results) noexcept
	Initialize all active IMU devices.

void	GetInitializationStatus (std::array< bool, MAX_IMU_DEVICES > &status) const noexcept
	Get initialization status of all device slots.

void	GetAvailableDevices (std::array< const char *, MAX_IMU_DEVICES > &out, size_t &count) const noexcept
	Get human-readable names of all available IMU devices.

const char *	GetDeviceType (uint8_t deviceIndex) const noexcept
	Get device type by index.

bool	ConfigureInterrupt (uint8_t deviceIndex, ImuInterruptCallback callback=nullptr, void *user_data=nullptr) noexcept
	Configure GPIO interrupt for BNO08x INT pin on specific device.

bool	EnableInterrupt (uint8_t deviceIndex) noexcept
	Enable BNO08x GPIO interrupt for specific device.

bool	DisableInterrupt (uint8_t deviceIndex) noexcept
	Disable BNO08x GPIO interrupt for specific device.

bool	IsInterruptEnabled (uint8_t deviceIndex) const noexcept
	Check if interrupt is configured and enabled for specific device.

bool	WaitForInterrupt (uint8_t deviceIndex, uint32_t timeout_ms=0) noexcept
	Wait for interrupt signal with timeout for specific device.

uint32_t	GetInterruptCount (uint8_t deviceIndex) const noexcept
	Get interrupt statistics for monitoring for specific device.

void	DumpStatistics () const noexcept
	Dump comprehensive system statistics to log as INFO level. Logs all device statistics, interrupt counts, and system health information.

	ImuManager (const ImuManager &)=delete

ImuManager &	operator= (const ImuManager &)=delete

	ImuManager (ImuManager &&)=delete

ImuManager &	operator= (ImuManager &&)=delete

Static Public Member Functions
static ImuManager &	GetInstance () noexcept
	Get the singleton instance of ImuManager.

Static Public Attributes
static constexpr uint8_t	MAX_IMU_DEVICES = 4
	Maximum supported IMU devices.

static constexpr uint8_t	ONBOARD_IMU_INDEX = 0
	Onboard IMU device index (BNO08x)

static constexpr uint8_t	EXTERNAL_IMU_1_INDEX = 1
	External IMU device 1 index.

static constexpr uint8_t	EXTERNAL_IMU_2_INDEX = 2
	External IMU device 2 index.

static constexpr uint8_t	EXTERNAL_IMU_3_INDEX = 3
	External IMU device 3 index.

Private Member Functions
	ImuManager () noexcept
	Private constructor for singleton pattern.

	~ImuManager () noexcept
	Private destructor.

bool	Initialize () noexcept
	Initialize the IMU manager system.

bool	InitializeOnboardBno08xDevice () noexcept
	Initialize the onboard BNO08x IMU device with I2C transport.

bool	InitializeInterruptGpio () noexcept
	Initialize GPIO interrupt for BNO08x INT pin.

bool	IsExternalDeviceIndex (uint8_t deviceIndex) const noexcept
	Validate if device index is for external device.

void	UpdateLastError (ImuError error, int deviceIndex=-1) noexcept
	Store a new error code and update per-device counter.

Static Private Member Functions
static void	GpioInterruptHandler (BaseGpio gpio, hf_gpio_interrupt_trigger_t trigger, void user_data) noexcept
	GPIO interrupt handler for BNO08x INT pin.

Private Attributes
std::atomic< bool >	initialized_ {false}
	System initialization state (atomic for thread safety).

std::atomic< ImuError >	last_error_ {ImuError::SUCCESS}
	Most recent error code for system-level tracking.

std::array< std::atomic< uint32_t >, MAX_IMU_DEVICES >	device_error_counts_ {}
	Per-device cumulative error counters.

RtosMutex	manager_mutex_
	Main system mutex for thread-safe operations. Uses RtosMutex for embedded RTOS compatibility.

std::array< std::optional< Bno08xHandler >, MAX_IMU_DEVICES >	bno08x_handlers_
	Array of BNO08x IMU handlers (one per device slot). Uses unique_ptr for exclusive ownership of each handler. Protected by RtosMutex for thread-safe access.

std::array< bool, MAX_IMU_DEVICES >	device_initialized_
	Device initialization status tracking. Tracks which devices have been successfully initialized.

std::array< bool, MAX_IMU_DEVICES >	device_active_
	Device active status tracking. Tracks which device slots have active devices.

bool	onboard_device_created_ = false
	Onboard device creation tracking. Tracks if onboard device has been created.

std::array< int, MAX_IMU_DEVICES >	i2c_device_indices_
	Track I2C device indices created by ImuManager for proper cleanup. This is needed because external I2C devices are managed by ImuManager, but their actual I2C handles are managed by CommChannelsManager. We need to keep track of which external I2C devices were created by ImuManager to ensure they are deleted when the ImuManager is deinitialized.

CommChannelsManager *	comm_manager_ = nullptr
	Reference to communication manager for I2C/SPI access. Used for creating IMU devices with proper transport interfaces.

GpioManager *	gpio_manager_ = nullptr
	Reference to GPIO manager for interrupt pin access. Used for configuring interrupt pins for IMU devices.

BaseGpio *	onboard_bno_reset_gpio_ {nullptr}
	PCAL95555 nets for onboard BNO08x (Vortex): RSTN, BOOTN, INT — kept alive for handler lifetime.

BaseGpio *	onboard_bno_boot_gpio_ {nullptr}

BaseGpio *	onboard_bno_int_gpio_ {nullptr}

BaseGpio *	interrupt_gpio_ = nullptr
	GPIO interrupt support for onboard device. External devices may have their own interrupt configurations.

ImuInterruptCallback	interrupt_callback_ {nullptr}
	Plain function pointer (no heap)

void *	interrupt_callback_user_ {nullptr}

bool	interrupt_configured_ = false

bool	interrupt_enabled_ = false

std::atomic< uint32_t >	interrupt_count_ {0}

SignalSemaphore	interrupt_semaphore_ {"VxImuInt"}
	Signalled per INT edge; WaitForInterrupt() takes it.

bool	interrupt_semaphore_ready_ = false

Detailed Description

Singleton for managing multiple IMU devices with indexed access and flexible device management.

This manager provides a global singleton for managing IMU devices, following the same pattern as MotorController:

Always creates and manages the onboard BNO08x IMU device (device index 0)
Allows dynamic creation/deletion of external IMU devices (indices 1-3)
Array-based access to IMU handler instances by device index
Thread-safe device registration and access
Board-aware device management with predefined I2C/SPI assignments
Currently supports BNO08x IMU family (extensible for other IMU types)

Key Features:

Multiple IMU device support with indexed access
Lazy initialization of onboard BNO08x device
Dynamic external device creation/deletion
Thread-safe singleton pattern with RtosMutex
Exception-free operation with pointer-based returns
Proper device initialization and lifecycle management
ESP-IDF v5.5+ I2C/SPI integration

Device Indexing:

Index 0: Onboard BNO08x IMU (always available, auto-created)
Index 1: External IMU device 1 (optional, user-created)
Index 2: External IMU device 2 (optional, user-created)
Index 3: External IMU device 3 (optional, user-created)

Usage Example:

auto& imu_mgr = ImuManager::GetInstance();
if (imu_mgr.EnsureInitialized()) {
    // Configure the onboard BNO08x (index 0); the driver call runs under the
    // manager and handler locks.
    imu_mgr.VisitSensor(0, [](IBno08xDriverOps& sensor) {
        sensor.EnableSensor(BNO085Sensor::RotationVector, 50, 0.0f);
    });
 
    // Create an external BNO08x (index 1) at 0x4B with runtime I2C device creation
    if (imu_mgr.CreateExternalBno08xDevice(1, 0x4B, 400000) == ImuError::SUCCESS) {
        imu_mgr.VisitSensor(1, [](IBno08xDriverOps& sensor) {
            sensor.EnableSensor(BNO085Sensor::Accelerometer, 100, 0.0f);
        });
    }
}

Note: This manager follows the same architectural excellence as MotorController for consistent device management across the HardFOC system.

Constructor & Destructor Documentation

◆ ImuManager() [1/3]

ImuManager::ImuManager ( const ImuManager & )

delete

◆ ImuManager() [2/3]

ImuManager::ImuManager ( ImuManager && )

delete

◆ ImuManager() [3/3]

ImuManager::ImuManager ( )

privatenoexcept

Private constructor for singleton pattern.

◆ ~ImuManager()

ImuManager::~ImuManager ( )

privatenoexcept

Private destructor.

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Member Function Documentation

◆ ConfigureInterrupt()

bool ImuManager::ConfigureInterrupt	(	uint8_t	deviceIndex,
		ImuInterruptCallback	callback = `nullptr`,
		void *	user_data = `nullptr`
	)

noexcept

Configure GPIO interrupt for BNO08x INT pin on specific device.

Parameters

deviceIndex	Device index (0=onboard, 1-3=external)
callback	Optional callback function executed in interrupt context (keep minimal)

Returns: true if interrupt configuration successful, false otherwise

Note: Uses PCAL_IMU_INT functional pin through GpioManager for onboard device; External devices may use different interrupt pins

◆ CreateExternalBno08xDevice() [1/4]

ImuError ImuManager::CreateExternalBno08xDevice	(	uint8_t	deviceIndex,
		BaseI2c &	i2c_interface,
		const Bno08xConfig &	config = `Bno08xHandler::GetDefaultConfig()`
	)

noexcept

Create an external BNO08x IMU device using direct BaseI2c interface.

Parameters

deviceIndex	External device index (1, 2, or 3 only)
i2c_interface	Direct reference to BaseI2c interface
config	Optional BNO08x configuration (defaults to default config)

Returns: ImuError::SUCCESS if device created, typed error otherwise

Note: This is the most flexible method - allows any external I2C interface

◆ CreateExternalBno08xDevice() [2/4]

ImuError ImuManager::CreateExternalBno08xDevice	(	uint8_t	deviceIndex,
		BaseSpi &	spi_interface,
		const Bno08xConfig &	config = `Bno08xHandler::GetDefaultConfig()`
	)

noexcept

Create an external BNO08x IMU device using direct BaseSpi interface.

Parameters

deviceIndex	External device index (1, 2, or 3 only)
spi_interface	Direct reference to BaseSpi interface
config	Optional BNO08x configuration (defaults to default config)

Returns: ImuError::SUCCESS if device created, typed error otherwise

Note: This is the most flexible method - allows any external SPI interface

◆ CreateExternalBno08xDevice() [3/4]

ImuError ImuManager::CreateExternalBno08xDevice	(	uint8_t	deviceIndex,
		SpiDeviceId	spiDeviceId,
		const Bno08xConfig &	config = `Bno08xHandler::GetDefaultConfig()`
	)

noexcept

Create an external BNO08x IMU device on SPI interface.

Parameters

deviceIndex	External device index (1, 2, or 3 only)
spiDeviceId	SPI device ID for communication
config	Optional BNO08x configuration (defaults to default config)

Returns: ImuError::SUCCESS if device created, typed error otherwise

◆ CreateExternalBno08xDevice() [4/4]

ImuError ImuManager::CreateExternalBno08xDevice	(	uint8_t	deviceIndex,
		uint8_t	i2c_address,
		uint32_t	i2c_speed_hz = `400000`,
		const Bno08xConfig &	config = `Bno08xHandler::GetDefaultConfig()`
	)

noexcept

Create an external BNO08x IMU device on I2C interface with specified address.

Parameters

deviceIndex	External device index (1, 2, or 3 only)
i2c_address	7-bit I2C device address (0x08-0x77)
i2c_speed_hz	I2C speed in Hz (default: 400000 for 400kHz)
config	Optional BNO08x configuration (defaults to default config)

Returns: ImuError::SUCCESS if device created, typed error otherwise

Note: This method handles both I2C device creation and BNO08x handler creation internally

◆ Deinitialize()

bool ImuManager::Deinitialize ( )

noexcept

Deinitialize all IMUs and release resources.

Returns: true if deinitialized successfully, false otherwise

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◆ DeleteExternalDevice()

ImuError ImuManager::DeleteExternalDevice ( uint8_t deviceIndex )

noexcept

Delete an external IMU device.

Parameters

deviceIndex External device index (1, 2, or 3 only)

Returns: ImuError::SUCCESS if device deleted, typed error otherwise

Note: Cannot delete onboard device (index 0). Only external devices can be deleted.

◆ DisableInterrupt()

bool ImuManager::DisableInterrupt ( uint8_t deviceIndex )

noexcept

Disable BNO08x GPIO interrupt for specific device.

Parameters

deviceIndex Device index (0=onboard, 1-3=external)

Returns: true if interrupt disabled successfully, false otherwise

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◆ DumpStatistics()

void ImuManager::DumpStatistics ( ) const

noexcept

Dump comprehensive system statistics to log as INFO level. Logs all device statistics, interrupt counts, and system health information.

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◆ EnableInterrupt()

bool ImuManager::EnableInterrupt ( uint8_t deviceIndex )

noexcept

Enable BNO08x GPIO interrupt for specific device.

Parameters

deviceIndex Device index (0=onboard, 1-3=external)

Returns: true if interrupt enabled successfully, false otherwise

Note: Must call ConfigureInterrupt() first

◆ EnsureInitialized()

bool ImuManager::EnsureInitialized ( )

noexcept

Ensure the IMU manager system is initialized.

Note: This automatically creates the onboard BNO08x IMU device using CommChannelsManager

Returns: true if initialization successful, false otherwise

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◆ GetActiveDeviceIndices()

void ImuManager::GetActiveDeviceIndices	(	std::array< uint8_t, MAX_IMU_DEVICES > &	out,
		size_t &	count
	)		const

noexcept

Get indices of all active IMU devices.

Parameters

out	Fixed-size output array
count	Output: number of entries written

◆ GetAvailableDevices()

void ImuManager::GetAvailableDevices	(	std::array< const char *, MAX_IMU_DEVICES > &	out,
		size_t &	count
	)		const

noexcept

Get human-readable names of all available IMU devices.

Parameters

out	Fixed-size output array of const char* string literals
count	Output: number of entries written

◆ GetBno08xHandler()

Bno08xHandler * ImuManager::GetBno08xHandler ( uint8_t deviceIndex = ONBOARD_IMU_INDEX )

noexcept

Get access to BNO08x IMU handler by device index.

Parameters

deviceIndex Device index (0=onboard, 1-3=external)

Returns: Pointer to Bno08xHandler if valid and active, nullptr otherwise

Note: Returns nullptr if deviceIndex is invalid, device not active, or not initialized

◆ GetDeviceCount()

uint8_t ImuManager::GetDeviceCount ( ) const

noexcept

Get the number of active IMU devices.

Returns: Number of active devices (1 to MAX_IMU_DEVICES)

Note: Always includes onboard device, plus any active external devices

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◆ GetDeviceType()

const char * ImuManager::GetDeviceType ( uint8_t deviceIndex ) const

noexcept

Get device type by index.

Parameters

deviceIndex Device index

Returns: Device type string literal or nullptr if invalid

◆ GetInitializationStatus()

void ImuManager::GetInitializationStatus ( std::array< bool, MAX_IMU_DEVICES > & status ) const

noexcept

Get initialization status of all device slots.

Parameters

status Output: per-slot status

◆ GetInstance()

ImuManager & ImuManager::GetInstance ( )

staticnoexcept

Get the singleton instance of ImuManager.

Returns: Reference to the singleton ImuManager.

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◆ GetInterruptCount()

uint32_t ImuManager::GetInterruptCount ( uint8_t deviceIndex ) const

noexcept

Get interrupt statistics for monitoring for specific device.

Parameters

deviceIndex Device index (0=onboard, 1-3=external)

Returns: Number of interrupts processed since initialization

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◆ GetLastError()

ImuError ImuManager::GetLastError ( ) const

inlinenoexcept

Get the most recent error code.

Returns: Last ImuError set by any API call

◆ GetSystemDiagnostics()

ImuError ImuManager::GetSystemDiagnostics ( ImuSystemDiagnostics & diagnostics ) const

noexcept

Fill a diagnostics snapshot with current system state.

Parameters

diagnostics Output structure to populate

Returns: ImuError::SUCCESS on success, ImuError::NOT_INITIALIZED if not init

◆ GpioInterruptHandler()

void ImuManager::GpioInterruptHandler	(	BaseGpio *	gpio,
		hf_gpio_interrupt_trigger_t	trigger,
		void *	user_data
	)

staticprivatenoexcept

GPIO interrupt handler for BNO08x INT pin.

Parameters

gpio	Pointer to the GPIO that triggered interrupt
trigger	Interrupt trigger type
user_data	Pointer to user data (ImuManager instance)

◆ Initialize()

bool ImuManager::Initialize ( )

privatenoexcept

Initialize the IMU manager system.

Note: This automatically creates the onboard BNO08x IMU device using CommChannelsManager

Returns: true if initialization successful, false otherwise

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◆ InitializeAllDevices()

size_t ImuManager::InitializeAllDevices ( std::array< bool, MAX_IMU_DEVICES > & results )

noexcept

Initialize all active IMU devices.

Parameters

results Output: per-slot initialization result

Returns: Number of devices successfully initialized

◆ InitializeInterruptGpio()

bool ImuManager::InitializeInterruptGpio ( )

privatenoexcept

Initialize GPIO interrupt for BNO08x INT pin.

Returns: true if GPIO setup successful, false otherwise

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◆ InitializeOnboardBno08xDevice()

bool ImuManager::InitializeOnboardBno08xDevice ( )

privatenoexcept

Initialize the onboard BNO08x IMU device with I2C transport.

Returns: true if initialization successful, false otherwise

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◆ IsDeviceValid()

bool ImuManager::IsDeviceValid ( uint8_t deviceIndex ) const

noexcept

Check if a device index is valid and has an active device.

Parameters

deviceIndex Device index to check

Returns: true if device exists and is active, false otherwise

◆ IsExternalDeviceIndex()

bool ImuManager::IsExternalDeviceIndex ( uint8_t deviceIndex ) const

privatenoexcept

Validate if device index is for external device.

Parameters

deviceIndex Device index to validate

Returns: true if index is for external device (1, 2, or 3), false otherwise

◆ IsExternalSlotAvailable()

bool ImuManager::IsExternalSlotAvailable ( uint8_t deviceIndex ) const

noexcept

Check if an external device slot is available for creation.

Parameters

deviceIndex External device index (1, 2, or 3 only)

Returns: true if slot is available, false if occupied or invalid index

◆ IsInitialized()

bool ImuManager::IsInitialized ( ) const

noexcept

Check if the IMU manager is initialized.

Returns: true if initialized, false otherwise

◆ IsInterruptEnabled()

bool ImuManager::IsInterruptEnabled ( uint8_t deviceIndex ) const

noexcept

Check if interrupt is configured and enabled for specific device.

Parameters

deviceIndex Device index (0=onboard, 1-3=external)

Returns: true if interrupt is active, false otherwise

◆ operator=() [1/2]

ImuManager & ImuManager::operator= ( const ImuManager & )

delete

◆ operator=() [2/2]

ImuManager & ImuManager::operator= ( ImuManager && )

delete

◆ UpdateLastError()

void ImuManager::UpdateLastError	(	ImuError	error,
		int	deviceIndex = `-1`
	)

privatenoexcept

Store a new error code and update per-device counter.

Parameters

error	The error to record
deviceIndex	Optional device index to bump its error counter

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◆ VisitSensor()

template<typename Fn >

bool ImuManager::VisitSensor	(	uint8_t	deviceIndex,
		Fn &&	fn
	)

inlinenoexcept

Run fn on the BNO08x driver of one initialised device, under both locks.

Holds the manager lock (the device cannot be deleted) and the handler lock (no other task talks to this BNO08x) for the whole call. Use it for driver calls the manager does not wrap: Update(), EnableSensor(), HasNewData(), GetLatest(), ... This replaces the raw GetSensor() pointer, which bypassed the handler mutex.

Parameters

deviceIndex	Device index (0=onboard, 1-3=external)
fn	Callable taking `IBno08xDriverOps&`.

Returns: true if fn ran; false if the device is absent or not initialised.

◆ WaitForInterrupt()

bool ImuManager::WaitForInterrupt	(	uint8_t	deviceIndex,
		uint32_t	timeout_ms = `0`
	)

noexcept

Wait for interrupt signal with timeout for specific device.

Parameters

deviceIndex	Device index (0=onboard, 1-3=external)
timeout_ms	Timeout in milliseconds (0 = wait indefinitely)

Returns: true if interrupt occurred, false on timeout

Note: Useful for interrupt-driven processing in tasks

Member Data Documentation

◆ bno08x_handlers_

std::array<std::optional<Bno08xHandler>, MAX_IMU_DEVICES> ImuManager::bno08x_handlers_

private

Array of BNO08x IMU handlers (one per device slot). Uses unique_ptr for exclusive ownership of each handler. Protected by RtosMutex for thread-safe access.

Handlers in place (no heap): emplaced on create, reset on delete/deinit.

◆ comm_manager_

CommChannelsManager* ImuManager::comm_manager_ = nullptr

private

Reference to communication manager for I2C/SPI access. Used for creating IMU devices with proper transport interfaces.

◆ device_active_

std::array<bool, MAX_IMU_DEVICES> ImuManager::device_active_

private

Device active status tracking. Tracks which device slots have active devices.

◆ device_error_counts_

std::array<std::atomic<uint32_t>, MAX_IMU_DEVICES> ImuManager::device_error_counts_ {}

private

Per-device cumulative error counters.

◆ device_initialized_

std::array<bool, MAX_IMU_DEVICES> ImuManager::device_initialized_

private

Device initialization status tracking. Tracks which devices have been successfully initialized.

◆ EXTERNAL_IMU_1_INDEX

constexpr uint8_t ImuManager::EXTERNAL_IMU_1_INDEX = 1

staticconstexpr

External IMU device 1 index.

◆ EXTERNAL_IMU_2_INDEX

constexpr uint8_t ImuManager::EXTERNAL_IMU_2_INDEX = 2

staticconstexpr

External IMU device 2 index.

◆ EXTERNAL_IMU_3_INDEX

constexpr uint8_t ImuManager::EXTERNAL_IMU_3_INDEX = 3

staticconstexpr

External IMU device 3 index.

◆ gpio_manager_

GpioManager* ImuManager::gpio_manager_ = nullptr

private

Reference to GPIO manager for interrupt pin access. Used for configuring interrupt pins for IMU devices.

◆ i2c_device_indices_

std::array<int, MAX_IMU_DEVICES> ImuManager::i2c_device_indices_

private

Track I2C device indices created by ImuManager for proper cleanup. This is needed because external I2C devices are managed by ImuManager, but their actual I2C handles are managed by CommChannelsManager. We need to keep track of which external I2C devices were created by ImuManager to ensure they are deleted when the ImuManager is deinitialized.

◆ initialized_

std::atomic<bool> ImuManager::initialized_ {false}

private

System initialization state (atomic for thread safety).

◆ interrupt_callback_

ImuInterruptCallback ImuManager::interrupt_callback_ {nullptr}

private

Plain function pointer (no heap)

◆ interrupt_callback_user_

void* ImuManager::interrupt_callback_user_ {nullptr}

private

◆ interrupt_configured_

bool ImuManager::interrupt_configured_ = false

private

◆ interrupt_count_

std::atomic<uint32_t> ImuManager::interrupt_count_ {0}

private

◆ interrupt_enabled_

bool ImuManager::interrupt_enabled_ = false

private

◆ interrupt_gpio_

BaseGpio* ImuManager::interrupt_gpio_ = nullptr

private

GPIO interrupt support for onboard device. External devices may have their own interrupt configurations.

Raw pointer for compatibility

◆ interrupt_semaphore_

SignalSemaphore ImuManager::interrupt_semaphore_ {"VxImuInt"}

private

Signalled per INT edge; WaitForInterrupt() takes it.

◆ interrupt_semaphore_ready_

bool ImuManager::interrupt_semaphore_ready_ = false

private

◆ last_error_

std::atomic<ImuError> ImuManager::last_error_ {ImuError::SUCCESS}

private

Most recent error code for system-level tracking.

◆ manager_mutex_

RtosMutex ImuManager::manager_mutex_

mutableprivate

Main system mutex for thread-safe operations. Uses RtosMutex for embedded RTOS compatibility.

◆ MAX_IMU_DEVICES

constexpr uint8_t ImuManager::MAX_IMU_DEVICES = 4

staticconstexpr

Maximum supported IMU devices.

◆ onboard_bno_boot_gpio_

BaseGpio* ImuManager::onboard_bno_boot_gpio_ {nullptr}

private

◆ onboard_bno_int_gpio_

BaseGpio* ImuManager::onboard_bno_int_gpio_ {nullptr}

private

◆ onboard_bno_reset_gpio_

BaseGpio* ImuManager::onboard_bno_reset_gpio_ {nullptr}

private

PCAL95555 nets for onboard BNO08x (Vortex): RSTN, BOOTN, INT — kept alive for handler lifetime.

◆ onboard_device_created_

bool ImuManager::onboard_device_created_ = false

private

Onboard device creation tracking. Tracks if onboard device has been created.

◆ ONBOARD_IMU_INDEX

constexpr uint8_t ImuManager::ONBOARD_IMU_INDEX = 0

staticconstexpr

Onboard IMU device index (BNO08x)

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

Public Member Functions

Static Public Member Functions

Static Public Attributes

Private Member Functions

Static Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ ImuManager() [1/3]

◆ ImuManager() [2/3]

◆ ImuManager() [3/3]

◆ ~ImuManager()

Member Function Documentation

◆ ConfigureInterrupt()

◆ CreateExternalBno08xDevice() [1/4]

◆ CreateExternalBno08xDevice() [2/4]

◆ CreateExternalBno08xDevice() [3/4]

◆ CreateExternalBno08xDevice() [4/4]

◆ Deinitialize()

◆ DeleteExternalDevice()

◆ DisableInterrupt()

◆ DumpStatistics()

◆ EnableInterrupt()

◆ EnsureInitialized()

◆ GetActiveDeviceIndices()

◆ GetAvailableDevices()

◆ GetBno08xHandler()

◆ GetDeviceCount()

◆ GetDeviceType()

◆ GetInitializationStatus()

◆ GetInstance()

◆ GetInterruptCount()

◆ GetLastError()

◆ GetSystemDiagnostics()

◆ GpioInterruptHandler()

◆ Initialize()

◆ InitializeAllDevices()

◆ InitializeInterruptGpio()

◆ InitializeOnboardBno08xDevice()

◆ IsDeviceValid()

◆ IsExternalDeviceIndex()

◆ IsExternalSlotAvailable()

◆ IsInitialized()

◆ IsInterruptEnabled()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ UpdateLastError()

◆ VisitSensor()

◆ WaitForInterrupt()

Member Data Documentation

◆ bno08x_handlers_

◆ comm_manager_

◆ device_active_

◆ device_error_counts_

◆ device_initialized_

◆ EXTERNAL_IMU_1_INDEX

◆ EXTERNAL_IMU_2_INDEX

◆ EXTERNAL_IMU_3_INDEX

◆ gpio_manager_

◆ i2c_device_indices_

◆ initialized_

◆ interrupt_callback_

◆ interrupt_callback_user_

◆ interrupt_configured_

◆ interrupt_count_

◆ interrupt_enabled_

◆ interrupt_gpio_

◆ interrupt_semaphore_

◆ interrupt_semaphore_ready_

◆ last_error_

◆ manager_mutex_

◆ MAX_IMU_DEVICES

◆ onboard_bno_boot_gpio_

◆ onboard_bno_int_gpio_

◆ onboard_bno_reset_gpio_

◆ onboard_device_created_

◆ ONBOARD_IMU_INDEX