esp32_bno08x_bus.hpp File Reference

ESP32 I2C communication interface implementation for BNO08x driver. More...

#include <cstdint>
#include <memory>
#include "driver/gpio.h"
#include "driver/i2c_master.h"
#include "esp_err.h"
#include "esp_log.h"
#include "esp_timer.h"
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "../../../inc/bno08x_comm_interface.hpp"

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Classes
class	Esp32Bno08xI2cBus
	ESP32 implementation of bno08x::CommInterface using ESP-IDF I2C master driver. More...
struct	Esp32Bno08xI2cBus::I2CConfig
	I2C bus and device configuration structure. More...

Functions
std::unique_ptr< Esp32Bno08xI2cBus >	CreateEsp32Bno08xI2cBus (const Esp32Bno08xI2cBus::I2CConfig &config=Esp32Bno08xI2cBus::I2CConfig{})
	Factory function to create an ESP32 BNO08x I2C bus instance.

Detailed Description

ESP32 I2C communication interface implementation for BNO08x driver.

This file provides the ESP32-specific implementation of the bno08x::CommInterface interface using ESP-IDF's I2C master driver.

Note

This implementation mirrors the proven esp32_pca9685_bus.hpp / esp32_pcal95555_bus.hpp pattern for consistent, working I2C communication across HardFOC drivers. The BNO08x uses the SH-2 packet protocol which requires raw I2C transfers (no register addressing), so the CommInterface methods differ from the register-addressed I2cInterface used by the PCAL95555 and PCA9685 drivers, but the underlying ESP-IDF bus setup, device handle caching, and resource management are identical.

Author

Nebiyu Tadesse

Date

2025

Copyright

HardFOC

Function Documentation

CreateEsp32Bno08xI2cBus()

std::unique_ptr< Esp32Bno08xI2cBus > CreateEsp32Bno08xI2cBus ( const Esp32Bno08xI2cBus::I2CConfig & config = Esp32Bno08xI2cBus::I2CConfig{} )

inline

Factory function to create an ESP32 BNO08x I2C bus instance.

Creates and initializes the bus. Returns nullptr on failure.

Parameters

config

I2C configuration (optional, uses defaults if not provided)

Returns

Unique pointer to Esp32Bno08xI2cBus instance, or nullptr on failure