text: /*
      SlimeVR Code is placed under the MIT license
      Copyright (c) 2021 Eiren Rain & SlimeVR contributors
  
      Permission is hereby granted, free of charge, to any person obtaining a copy
      of this software and associated documentation files (the "Software"), to deal
      in the Software without restriction, including without limitation the rights
      to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
      copies of the Software, and to permit persons to whom the Software is
      furnished to do so, subject to the following conditions:
  
      The above copyright notice and this permission notice shall be included in
      all copies or substantial portions of the Software.
  
      THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
      IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
      FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
      AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
      LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
      OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
      THE SOFTWARE.
  */
  #include "sensor.h"
  #include <BNO080.h>
  
  class BNO080Sensor : public Sensor
  {
  public:
      BNO080Sensor(uint8_t id, uint8_t type, uint8_t address, float rotation, uint8_t intPin)
          : Sensor("BNO080Sensor", type, id, address, rotation), m_IntPin(intPin) {};
      ~BNO080Sensor(){};
      void motionSetup() override final;
      void motionLoop() override final;
      void sendData() override final;
      void startCalibration(int calibrationType) override final;
      uint8_t getSensorState() override final;
  
  private:
      BNO080 imu{};
  
      uint8_t m_IntPin;
  
      uint8_t tap;
      unsigned long lastData = 0;
      uint8_t lastReset = 0;
      BNO080Error lastError{};
  
      // Magnetometer specific members
      Quat magQuaternion{};
      uint8_t magCalibrationAccuracy = 0;
      float magneticAccuracyEstimate = 999;
      bool useMagnetometerAllTheTime = false;
      bool useMagnetometerCorrection = false;
      bool newMagData = false;
  };