rvc_mode_example.cpp File Reference

RVC (Rotation Vector Computation) mode example. More...

#include "esp_log.h"
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include <stdio.h>
#include "../../../inc/bno08x.hpp"
#include "esp32_uart_rvc_bus.hpp"

Include dependency graph for rvc_mode_example.cpp:

Functions
void	app_main (void)

Detailed Description

RVC (Rotation Vector Computation) mode example.

This example demonstrates:

• RVC mode initialization using a UART CommInterface
• Frame callback handling
• Yaw, pitch, roll reading

RVC mode uses a UART transport (Esp32UartRvcBus) instead of I2C. The driver reads raw UART bytes and parses 19-byte RVC frames internally. No separate RVC HAL is needed – just a CommInterface with GetInterfaceType() returning BNO085Interface::UARTRVC.

Note

The BNO08x must have PS0/PS1 configured for RVC mode (PS1=HIGH, PS0=LOW) at reset time. RVC mode operates at 115200 baud.

Author

Nebiyu Tadesse

Date

2025

Copyright

HardFOC

Function Documentation

app_main()

void app_main

(

void

)