Device support for ICM20948 IMU sensor. More...

Detailed Description

template<typename Transport>
class daisy::Icm20948< Transport >

Device support for ICM20948 IMU sensor.

Author: beserge

Date: December 2021

#include <icm20948.h>

Classes
struct	Config

struct	Icm20948Vect

Public Types
enum	icm20948_accel_range_t { ICM20948_ACCEL_RANGE_2_G , ICM20948_ACCEL_RANGE_4_G , ICM20948_ACCEL_RANGE_8_G , ICM20948_ACCEL_RANGE_16_G }

enum	icm20948_gyro_range_t { ICM20948_GYRO_RANGE_250_DPS , ICM20948_GYRO_RANGE_500_DPS , ICM20948_GYRO_RANGE_1000_DPS , ICM20948_GYRO_RANGE_2000_DPS }

enum	ak09916_data_rate_t { AK09916_MAG_DATARATE_SHUTDOWN = 0x0 , AK09916_MAG_DATARATE_SINGLE = 0x1 , AK09916_MAG_DATARATE_10_HZ = 0x2 , AK09916_MAG_DATARATE_20_HZ = 0x4 , AK09916_MAG_DATARATE_50_HZ = 0x6 , AK09916_MAG_DATARATE_100_HZ = 0x8 }

enum	Result { OK = 0 , ERR }

Public Member Functions
	Icm20948 ()

	~Icm20948 ()

Result	Init (Config config)

void	Reset ()

uint8_t	GetMagId ()

Result	SetupMag ()

uint8_t	ReadMagRegister (uint8_t mag_reg_addr)

bool	WriteMagRegister (uint8_t mag_reg_addr, uint8_t value)

void	ScaleValues ()

void	SetAccelRateDivisor (uint16_t new_accel_divisor)

icm20948_accel_range_t	GetAccelRange ()

uint8_t	ReadAccelRange ()

void	WriteAccelRange (uint8_t new_accel_range)

void	SetAccelRange (icm20948_accel_range_t new_accel_range)

void	SetGyroRateDivisor (uint8_t new_gyro_divisor)

icm20948_gyro_range_t	GetGyroRange ()

void	SetGyroRange (icm20948_gyro_range_t new_gyro_range)

void	WriteGyroRange (uint8_t new_gyro_range)

uint8_t	ReadGyroRange ()

ak09916_data_rate_t	GetMagDataRate ()

bool	SetMagDataRate (ak09916_data_rate_t rate)

void	SetBank (uint8_t bank_number)

uint8_t	ReadExternalRegister (uint8_t slv_addr, uint8_t reg_addr)

bool	WriteExternalRegister (uint8_t slv_addr, uint8_t reg_addr, uint8_t value)

uint8_t	AuxillaryRegisterTransaction (bool read, uint8_t slv_addr, uint8_t reg_addr, uint8_t value)

void	Process ()

Icm20948Vect	GetAccelVect ()

Icm20948Vect	GetGyroVect ()

Icm20948Vect	GetMagVect ()

float	GetTemp ()

uint8_t	Read8 (uint8_t reg)

void	Write8 (uint8_t reg, uint8_t value)

void	Write16 (uint8_t reg, uint16_t value)

void	ReadReg (uint8_t reg, uint8_t *buff, uint8_t size)

uint8_t	ReadBits (uint8_t reg, uint8_t bits, uint8_t shift)

void	WriteBits (uint8_t reg, uint8_t data, uint8_t bits, uint8_t shift)

void	SetI2CBypass (bool bypass_i2c)

Result	EnableI2CMaster (bool enable_i2c_master)

Result	ConfigureI2CMaster (void)

void	ResetI2CMaster (void)

Result	AuxI2CBusSetupFailed (void)

Result	GetTransportError ()

Member Enumeration Documentation

◆ ak09916_data_rate_t

template<typename Transport >

enum daisy::Icm20948::ak09916_data_rate_t

Data rates/modes for the embedded AsahiKASEI AK09916 3-axis magnetometer

Enumerator
AK09916_MAG_DATARATE_SHUTDOWN	Stops measurement updates.
AK09916_MAG_DATARATE_SINGLE	Takes a single measurement then switches to AK09916_MAG_DATARATE_SHUTDOWN
AK09916_MAG_DATARATE_10_HZ	updates at 10Hz
AK09916_MAG_DATARATE_20_HZ	updates at 20Hz
AK09916_MAG_DATARATE_50_HZ	updates at 50Hz
AK09916_MAG_DATARATE_100_HZ	updates at 100Hz

◆ icm20948_accel_range_t

template<typename Transport >

enum daisy::Icm20948::icm20948_accel_range_t

The accelerometer data range

Enumerator
ICM20948_ACCEL_RANGE_2_G
ICM20948_ACCEL_RANGE_4_G
ICM20948_ACCEL_RANGE_8_G
ICM20948_ACCEL_RANGE_16_G

◆ icm20948_gyro_range_t

template<typename Transport >

enum daisy::Icm20948::icm20948_gyro_range_t

The gyro data range

Enumerator
ICM20948_GYRO_RANGE_250_DPS
ICM20948_GYRO_RANGE_500_DPS
ICM20948_GYRO_RANGE_1000_DPS
ICM20948_GYRO_RANGE_2000_DPS

◆ Result

template<typename Transport >

enum daisy::Icm20948::Result

Enumerator
OK
ERR

Constructor & Destructor Documentation

◆ Icm20948()

template<typename Transport >

daisy::Icm20948< Transport >::Icm20948 ( )

inline

◆ ~Icm20948()

template<typename Transport >

daisy::Icm20948< Transport >::~Icm20948 ( )

inline

Member Function Documentation

◆ AuxI2CBusSetupFailed()

template<typename Transport >

Result daisy::Icm20948< Transport >::AuxI2CBusSetupFailed ( void )

inline

◆ AuxillaryRegisterTransaction()

template<typename Transport >

uint8_t daisy::Icm20948< Transport >::AuxillaryRegisterTransaction	(	bool	read,
		uint8_t	slv_addr,
		uint8_t	reg_addr,
		uint8_t	value )

inline

Read / Write a single byte to a given register address for an I2C slave device on the auxiliary I2C bus

Parameters

slv_addr	the 7-bit I2C address of the slave device
reg_addr	the register address to write to
value	the value to write

Returns: Read value ( if it's a read operation ), else true or false

◆ ConfigureI2CMaster()

template<typename Transport >

Result daisy::Icm20948< Transport >::ConfigureI2CMaster ( void )

inline

Set the I2C clock rate for the auxillary I2C bus to 345.60kHz and disable repeated start

Returns: true: success false: failure

◆ EnableI2CMaster()

template<typename Transport >

Result daisy::Icm20948< Transport >::EnableI2CMaster ( bool enable_i2c_master )

inline

Enable or disable the I2C mastercontroller

Parameters

enable_i2c_master true: enable false: disable

Returns: true: success false: error

◆ GetAccelRange()

template<typename Transport >

icm20948_accel_range_t daisy::Icm20948< Transport >::GetAccelRange ( )

inline

Get the accelerometer's measurement range.

Returns: The accelerometer's measurement range (icm20948_accel_range_t).

◆ GetAccelVect()

template<typename Transport >

Icm20948Vect daisy::Icm20948< Transport >::GetAccelVect ( )

inline

◆ GetGyroRange()

template<typename Transport >

icm20948_gyro_range_t daisy::Icm20948< Transport >::GetGyroRange ( )

inline

Get the gyro's measurement range.

Returns: The gyro's measurement range (icm20948_gyro_range_t).

◆ GetGyroVect()

template<typename Transport >

Icm20948Vect daisy::Icm20948< Transport >::GetGyroVect ( )

inline

◆ GetMagDataRate()

template<typename Transport >

ak09916_data_rate_t daisy::Icm20948< Transport >::GetMagDataRate ( )

inline

Get the current magnetometer measurement rate

Returns: ak09916_data_rate_t the current rate

◆ GetMagId()

template<typename Transport >

uint8_t daisy::Icm20948< Transport >::GetMagId ( )

inline

◆ GetMagVect()

template<typename Transport >

Icm20948Vect daisy::Icm20948< Transport >::GetMagVect ( )

inline

◆ GetTemp()

template<typename Transport >

float daisy::Icm20948< Transport >::GetTemp ( )

inline

◆ GetTransportError()

template<typename Transport >

Result daisy::Icm20948< Transport >::GetTransportError ( )

inline

Get and reset the transport error flag

Returns: Whether the transport has errored since the last check

◆ Init()

template<typename Transport >

Result daisy::Icm20948< Transport >::Init ( Config config )

inline

Initialize the Icm20948 device

Parameters

config Configuration settings

◆ Process()

template<typename Transport >

void daisy::Icm20948< Transport >::Process ( )

inline

Updates the measurement data for all sensors simultaneously

◆ Read8()

template<typename Transport >

uint8_t daisy::Icm20948< Transport >::Read8 ( uint8_t reg )

inline

Reads an 8 bit value

Parameters

reg	the register address to read from

Returns: the data uint8_t read from the device

◆ ReadAccelRange()

template<typename Transport >

uint8_t daisy::Icm20948< Transport >::ReadAccelRange ( )

inline

Get the accelerometer's measurement range.

Returns: The accelerometer's measurement range (icm20x_accel_range_t).

◆ ReadBits()

template<typename Transport >

uint8_t daisy::Icm20948< Transport >::ReadBits	(	uint8_t	reg,
		uint8_t	bits,
		uint8_t	shift )

inline

◆ ReadExternalRegister()

template<typename Transport >

uint8_t daisy::Icm20948< Transport >::ReadExternalRegister	(	uint8_t	slv_addr,
		uint8_t	reg_addr )

inline

Read a single byte from a given register address for an I2C slave device on the auxiliary I2C bus

Parameters

slv_addr	the 7-bit I2C address of the slave device
reg_addr	the register address to read from

Returns: the requested register value

◆ ReadGyroRange()

template<typename Transport >

uint8_t daisy::Icm20948< Transport >::ReadGyroRange ( )

inline

Get the gyro's measurement range.

Returns: The gyro's measurement range (icm20x_gyro_range_t).

◆ ReadMagRegister()

template<typename Transport >

uint8_t daisy::Icm20948< Transport >::ReadMagRegister ( uint8_t mag_reg_addr )

inline

Parameters

slv_addr
mag_reg_addr
num_finished_checks

Returns: uint8_t

◆ ReadReg()

template<typename Transport >

void daisy::Icm20948< Transport >::ReadReg	(	uint8_t	reg,
		uint8_t *	buff,
		uint8_t	size )

inline

Read from a reg address a defined number of bytes

◆ Reset()

template<typename Transport >

void daisy::Icm20948< Transport >::Reset ( )

inline

Reset the internal registers and restores the default settings

◆ ResetI2CMaster()

template<typename Transport >

void daisy::Icm20948< Transport >::ResetI2CMaster ( void )

inline

Reset the I2C master

◆ ScaleValues()

template<typename Transport >

void daisy::Icm20948< Transport >::ScaleValues ( )

inline

◆ SetAccelRange()

template<typename Transport >

void daisy::Icm20948< Transport >::SetAccelRange ( icm20948_accel_range_t new_accel_range )

inline

Sets the accelerometer's measurement range.

Parameters

new_accel_range Measurement range to be set. Must be an icm20948_accel_range_t.

◆ SetAccelRateDivisor()

template<typename Transport >

void daisy::Icm20948< Transport >::SetAccelRateDivisor ( uint16_t new_accel_divisor )

inline

Sets the accelerometer's data rate divisor.

Parameters

new_accel_divisor The accelerometer's data rate divisor (uint16_t). This 12-bit value must be <= 4095

◆ SetBank()

template<typename Transport >

void daisy::Icm20948< Transport >::SetBank ( uint8_t bank_number )

inline

Sets register bank.

Parameters

bank_number The bank to set to active

◆ SetGyroRange()

template<typename Transport >

void daisy::Icm20948< Transport >::SetGyroRange ( icm20948_gyro_range_t new_gyro_range )

inline

Sets the gyro's measurement range.

Parameters

new_gyro_range Measurement range to be set. Must be an icm20948_gyro_range_t.

◆ SetGyroRateDivisor()

template<typename Transport >

void daisy::Icm20948< Transport >::SetGyroRateDivisor ( uint8_t new_gyro_divisor )

inline

Sets the gyro's data rate divisor.

Parameters

new_gyro_divisor The gyro's data rate divisor (uint8_t).

◆ SetI2CBypass()

template<typename Transport >

void daisy::Icm20948< Transport >::SetI2CBypass ( bool bypass_i2c )

inline

Sets the bypass status of the I2C master bus support.

Parameters

bypass_i2c Set to true to bypass the internal I2C master circuitry, connecting the external I2C bus to the main I2C bus. Set to false to re-connect

◆ SetMagDataRate()

template<typename Transport >

bool daisy::Icm20948< Transport >::SetMagDataRate ( ak09916_data_rate_t rate )

inline

Set the magnetometer measurement rate

Parameters

rate	The rate to set.

Returns: true: success false: failure

◆ SetupMag()

template<typename Transport >

Result daisy::Icm20948< Transport >::SetupMag ( )

inline

◆ Write16()

template<typename Transport >

void daisy::Icm20948< Transport >::Write16	(	uint8_t	reg,
		uint16_t	value )

inline

Writes a 16 bit value MSB first

Parameters

reg	the register address to write to
value	the value to write to the register

◆ Write8()

template<typename Transport >

void daisy::Icm20948< Transport >::Write8	(	uint8_t	reg,
		uint8_t	value )

inline

Writes an 8 bit value

Parameters

reg	the register address to write to
value	the value to write to the register

◆ WriteAccelRange()

template<typename Transport >

void daisy::Icm20948< Transport >::WriteAccelRange ( uint8_t new_accel_range )

inline

Sets the accelerometer's measurement range.

Parameters

new_accel_range Measurement range to be set. Must be an icm20x_accel_range_t.

◆ WriteBits()

template<typename Transport >

void daisy::Icm20948< Transport >::WriteBits	(	uint8_t	reg,
		uint8_t	data,
		uint8_t	bits,
		uint8_t	shift )

inline

◆ WriteExternalRegister()

template<typename Transport >

bool daisy::Icm20948< Transport >::WriteExternalRegister	(	uint8_t	slv_addr,
		uint8_t	reg_addr,
		uint8_t	value )

inline

Write a single byte to a given register address for an I2C slave device on the auxiliary I2C bus

Parameters

slv_addr	the 7-bit I2C address of the slave device
reg_addr	the register address to write to
value	the value to write

Returns: true; false

◆ WriteGyroRange()

template<typename Transport >

void daisy::Icm20948< Transport >::WriteGyroRange ( uint8_t new_gyro_range )

inline

Sets the gyro's measurement range.

Parameters

new_gyro_range Measurement range to be set. Must be an icm20x_gyro_range_t.

◆ WriteMagRegister()

template<typename Transport >

bool daisy::Icm20948< Transport >::WriteMagRegister	(	uint8_t	mag_reg_addr,
		uint8_t	value )

inline

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

src/dev/icm20948.h

Detailed Description

Classes

Public Types

Public Member Functions

Member Enumeration Documentation

◆ ak09916_data_rate_t

◆ icm20948_accel_range_t

◆ icm20948_gyro_range_t

◆ Result

Constructor & Destructor Documentation

◆ Icm20948()

◆ ~Icm20948()

Member Function Documentation

◆ AuxI2CBusSetupFailed()

◆ AuxillaryRegisterTransaction()

◆ ConfigureI2CMaster()

◆ EnableI2CMaster()

◆ GetAccelRange()

◆ GetAccelVect()

◆ GetGyroRange()

◆ GetGyroVect()

◆ GetMagDataRate()

◆ GetMagId()

◆ GetMagVect()

◆ GetTemp()

◆ GetTransportError()

◆ Init()

◆ Process()

◆ Read8()

◆ ReadAccelRange()

◆ ReadBits()

◆ ReadExternalRegister()

◆ ReadGyroRange()

◆ ReadMagRegister()

◆ ReadReg()

◆ Reset()

◆ ResetI2CMaster()

◆ ScaleValues()

◆ SetAccelRange()

◆ SetAccelRateDivisor()

◆ SetBank()

◆ SetGyroRange()

◆ SetGyroRateDivisor()

◆ SetI2CBypass()

◆ SetMagDataRate()

◆ SetupMag()

◆ Write16()

◆ Write8()

◆ WriteAccelRange()

◆ WriteBits()

◆ WriteExternalRegister()

◆ WriteGyroRange()

◆ WriteMagRegister()