Struct bno080::wrapper::BNO080

pub struct BNO080<SI> { /* fields omitted */ }

Methods

impl<SI> BNO080<SI>

pub fn new_with_interface(sensor_interface: SI) -> Self

impl<SI, SE> BNO080<SI> where
    SI: SensorInterface<SensorError = SE>,
    SE: Debug, 

pub fn eat_all_messages(&mut self, delay: &mut impl DelayMs<u8>)

Consume all available messages on the port without processing them

pub fn handle_all_messages(
    &mut self,
    delay: &mut impl DelayMs<u8>,
    timeout_ms: u8
) -> u32

Handle any messages with a timeout

pub fn handle_one_message(
    &mut self,
    delay: &mut impl DelayMs<u8>,
    max_ms: u8
) -> u32

return the number of messages handled

pub fn eat_one_message(&mut self, delay: &mut impl DelayMs<u8>) -> usize

Receive and ignore one message, returning the size of the packet received or zero if there was no packet to read.

pub fn handle_received_packet(&mut self, received_len: usize)

pub fn init(
    &mut self,
    delay_source: &mut impl DelayMs<u8>
) -> Result<(), WrapperError<SE>>

The BNO080 starts up with all sensors disabled, waiting for the application to configure it.

pub fn enable_rotation_vector(
    &mut self,
    millis_between_reports: u16
) -> Result<(), WrapperError<SE>>

Tell the sensor to start reporting the fused rotation vector on a regular cadence. Note that the maximum valid update rate is 1 kHz, based on the max update rate of the sensor's gyros.

pub fn rotation_quaternion(&self) -> Result<[f32; 4], WrapperError<SE>>

Read normalized quaternion: QX normalized quaternion – X, or Heading | range: 0.0 – 1.0 ( ±π ) QY normalized quaternion – Y, or Pitch | range: 0.0 – 1.0 ( ±π/2 ) QZ normalized quaternion – Z, or Roll | range: 0.0 – 1.0 ( ±π ) QW normalized quaternion – W, or 0.0 | range: 0.0 – 1.0

pub fn heading_accuracy(&self) -> f32

pub fn soft_reset(&mut self) -> Result<(), WrapperError<SE>>

Tell the sensor to reset. Normally applications should not need to call this directly, as it is called during init.