CRTP base class for BNO08x communication interfaces. More...

#include <bno08x_comm_interface.hpp>

Public Member Functions
Interface Identification
BNO085Interface	GetInterfaceType () noexcept
	Report the transport type this implementation provides.

Bus I/O – Required Methods
bool	Open () noexcept
	Open and initialise the communication bus.

void	Close () noexcept
	Close the communication bus and release resources.

int	Write (const uint8_t *data, uint32_t length) noexcept
	Write raw bytes to the sensor.

int	Read (uint8_t *data, uint32_t length) noexcept
	Read raw bytes from the sensor.

bool	DataAvailable () noexcept
	Check whether the sensor has data ready.

void	Delay (uint32_t ms) noexcept
	Block for a specified duration.

uint32_t	GetTimeUs () noexcept
	Return the current monotonic time in microseconds.

GPIO Pin Control
Unified interface for controlling BNO08x hardware control pins. The platform bus implementation maps GpioSignal::ACTIVE/INACTIVE to the correct physical level for each pin based on its polarity.
void	GpioSet (CtrlPin pin, GpioSignal signal) noexcept
	Set a control pin to the specified signal state.

void	GpioSetActive (CtrlPin pin) noexcept
	Assert a control pin (set to ACTIVE).

void	GpioSetInactive (CtrlPin pin) noexcept
	Deassert a control pin (set to INACTIVE).

Protected Member Functions
	CommInterface ()=default
	Protected constructor – prevents direct instantiation.

	~CommInterface ()=default
	Protected destructor – prevent polymorphic deletion through base.

	CommInterface (const CommInterface &)=delete
	Non-copyable.

CommInterface &	operator= (const CommInterface &)=delete
	Non-copyable.

	CommInterface (CommInterface &&) noexcept=default
	Movable.

CommInterface &	operator= (CommInterface &&) noexcept=default
	Movable.

Detailed Description

template<typename Derived>
class bno08x::CommInterface< Derived >

CRTP base class for BNO08x communication interfaces.

Platform-specific implementations inherit from this template with themselves as the template parameter. All method calls are resolved at compile time via static_cast<Derived*>(this)->Method() – no vtable, no indirection.

Template Parameters

Derived The concrete implementation class (CRTP pattern).

Note: Implementations must provide all listed methods. The GpioSet() method may be a no-op for pins that are not wired on the board.

Constructor & Destructor Documentation

◆ CommInterface() [1/3]

template<typename Derived >

bno08x::CommInterface< Derived >::CommInterface ( )

protecteddefault

Protected constructor – prevents direct instantiation.

◆ ~CommInterface()

template<typename Derived >

bno08x::CommInterface< Derived >::~CommInterface ( )

protecteddefault

Protected destructor – prevent polymorphic deletion through base.

◆ CommInterface() [2/3]

template<typename Derived >

bno08x::CommInterface< Derived >::CommInterface ( const CommInterface< Derived > & )

protecteddelete

Non-copyable.

◆ CommInterface() [3/3]

template<typename Derived >

bno08x::CommInterface< Derived >::CommInterface ( CommInterface< Derived > && )

protecteddefaultnoexcept

Movable.

Member Function Documentation

◆ Close()

template<typename Derived >

void bno08x::CommInterface< Derived >::Close ( )

inlinenoexcept

Close the communication bus and release resources.

Called during driver shutdown. Implementations should de-initialise the peripheral and release any allocated resources.

◆ DataAvailable()

template<typename Derived >

bool bno08x::CommInterface< Derived >::DataAvailable ( )

inlinenoexcept

Check whether the sensor has data ready.

Typically checks the interrupt (INT) pin level. For transports without an interrupt pin, return true unconditionally to allow polling.

Returns: true if data is available (or if unknown), false otherwise.

◆ Delay()

template<typename Derived >

void bno08x::CommInterface< Derived >::Delay ( uint32_t ms )

inlinenoexcept

Block for a specified duration.

Used by the driver for reset timing and post-DFU delays.

Parameters

[in] ms Delay duration in milliseconds.

◆ GetInterfaceType()

template<typename Derived >

BNO085Interface bno08x::CommInterface< Derived >::GetInterfaceType ( )

inlinenoexcept

Report the transport type this implementation provides.

The BNO085 driver calls this once during Begin() or BeginRvc() to determine which operations to allow.

Returns: BNO085Interface enum identifying the bus protocol.

◆ GetTimeUs()

template<typename Derived >

uint32_t bno08x::CommInterface< Derived >::GetTimeUs ( )

inlinenoexcept

Return the current monotonic time in microseconds.

The vendor SH-2 library requires a microsecond time source for timestamping sensor events. The value does not need to represent wall-clock time – only monotonicity matters.

Returns: Current time in microseconds.

◆ GpioSet()

template<typename Derived >

void bno08x::CommInterface< Derived >::GpioSet	(	CtrlPin	pin,
		GpioSignal	signal )

inlinenoexcept

Set a control pin to the specified signal state.

The bus implementation is responsible for mapping ACTIVE/INACTIVE to the correct physical level based on the pin's active-level design.

Parameters

[in]	pin	Which control pin to drive.
[in]	signal	ACTIVE to assert the pin function, INACTIVE to deassert.

◆ GpioSetActive()

template<typename Derived >

void bno08x::CommInterface< Derived >::GpioSetActive ( CtrlPin pin )

inlinenoexcept

Assert a control pin (set to ACTIVE).

Convenience wrapper for GpioSet(pin, GpioSignal::ACTIVE).

Parameters

[in] pin Which control pin to assert.

◆ GpioSetInactive()

template<typename Derived >

void bno08x::CommInterface< Derived >::GpioSetInactive ( CtrlPin pin )

inlinenoexcept

Deassert a control pin (set to INACTIVE).

Convenience wrapper for GpioSet(pin, GpioSignal::INACTIVE).

Parameters

[in] pin Which control pin to deassert.

◆ Open()

template<typename Derived >

bool bno08x::CommInterface< Derived >::Open ( )

inlinenoexcept

Open and initialise the communication bus.

Called by BNO085::Begin() (SH-2 mode) or BNO085::BeginRvc() (RVC mode). Implementations should configure the peripheral, set up GPIO pins, and prepare for data transfer.

Returns: true on success, false on failure.

◆ operator=() [1/2]

template<typename Derived >

CommInterface & bno08x::CommInterface< Derived >::operator= ( CommInterface< Derived > && )

protecteddefaultnoexcept

Movable.

◆ operator=() [2/2]

template<typename Derived >

CommInterface & bno08x::CommInterface< Derived >::operator= ( const CommInterface< Derived > & )

protecteddelete

Non-copyable.

◆ Read()

template<typename Derived >

int bno08x::CommInterface< Derived >::Read	(	uint8_t *	data,
		uint32_t	length )

inlinenoexcept

Read raw bytes from the sensor.

For SH-2 mode, the vendor SHTP library calls this to receive packets. For RVC mode, the driver calls Read(&byte, 1) repeatedly to feed the internal 19-byte frame parser.

Parameters

[out]	data	Buffer to fill with received bytes.
[in]	length	Maximum number of bytes to read.

Returns: Number of bytes actually read, 0 if no data available, or negative on error.

◆ Write()

template<typename Derived >

int bno08x::CommInterface< Derived >::Write	(	const uint8_t *	data,
		uint32_t	length )

inlinenoexcept

Write raw bytes to the sensor.

For I2C/SPI this sends data on the bus. For UART-RVC this is typically unused (RVC mode is read-only).

Parameters

[in]	data	Pointer to the buffer to transmit.
[in]	length	Number of bytes to write.

Returns: Number of bytes written, or negative on error.

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

inc/bno08x_comm_interface.hpp

Public Member Functions

Protected Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ CommInterface() [1/3]

◆ ~CommInterface()

◆ CommInterface() [2/3]

◆ CommInterface() [3/3]

Member Function Documentation

◆ Close()

◆ DataAvailable()

◆ Delay()

◆ GetInterfaceType()

◆ GetTimeUs()

◆ GpioSet()

◆ GpioSetActive()

◆ GpioSetInactive()

◆ Open()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ Read()

◆ Write()