daisy::Icm20948¶

Module: External

Device support for ICM20948 IMU sensor. More...

#include <icm20948.h>

Public Classes¶

	Name
struct	Config
struct	Icm20948Vect

Public Types¶

	Name
enum	icm20948_accel_range_t
enum	icm20948_gyro_range_t
enum	ak09916_data_rate_t
enum	Result

Public Functions¶

	Name
	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()

Detailed Description¶

template <typename Transport >
class daisy::Icm20948;

Device support for ICM20948 IMU sensor.

Author: beserge

Date: December 2021

Public Types Documentation¶

enum icm20948_accel_range_t¶

Enumerator	Value	Description
ICM20948_ACCEL_RANGE_2_G
ICM20948_ACCEL_RANGE_4_G
ICM20948_ACCEL_RANGE_8_G
ICM20948_ACCEL_RANGE_16_G

The accelerometer data range

enum icm20948_gyro_range_t¶

Enumerator	Value	Description
ICM20948_GYRO_RANGE_250_DPS
ICM20948_GYRO_RANGE_500_DPS
ICM20948_GYRO_RANGE_1000_DPS
ICM20948_GYRO_RANGE_2000_DPS

The gyro data range

enum ak09916_data_rate_t¶

Enumerator	Value	Description
AK09916_MAG_DATARATE_SHUTDOWN	0x0	Stops measurement updates.
AK09916_MAG_DATARATE_SINGLE	0x1	Takes a single measurement then switches to AK09916_MAG_DATARATE_SHUTDOWN
AK09916_MAG_DATARATE_10_HZ	0x2	updates at 10Hz
AK09916_MAG_DATARATE_20_HZ	0x4	updates at 20Hz
AK09916_MAG_DATARATE_50_HZ	0x6	updates at 50Hz
AK09916_MAG_DATARATE_100_HZ	0x8	updates at 100Hz

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

enum Result¶

Enumerator	Value	Description
OK	0
ERR

Public Functions Documentation¶

function Icm20948¶

inline Icm20948()

function ~Icm20948¶

inline ~Icm20948()

function Init¶

inline Result Init(
    Config config
)

Parameters:

config Configuration settings

Initialize the Icm20948 device

function Reset¶

inline void Reset()

Reset the internal registers and restores the default settings

function GetMagId¶

inline uint8_t GetMagId()

function SetupMag¶

inline Result SetupMag()

function ReadMagRegister¶

inline uint8_t ReadMagRegister(
    uint8_t mag_reg_addr
)

Parameters:

slv_addr
mag_reg_addr
num_finished_checks

Return: uint8_t

function WriteMagRegister¶

inline bool WriteMagRegister(
    uint8_t mag_reg_addr,
    uint8_t value
)

function ScaleValues¶

inline void ScaleValues()

function SetAccelRateDivisor¶

inline void SetAccelRateDivisor(
    uint16_t new_accel_divisor
)

Parameters:

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

Sets the accelerometer's data rate divisor.

function GetAccelRange¶

inline icm20948_accel_range_t GetAccelRange()

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

Get the accelerometer's measurement range.

function ReadAccelRange¶

inline uint8_t ReadAccelRange()

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

Get the accelerometer's measurement range.

function WriteAccelRange¶

inline void WriteAccelRange(
    uint8_t new_accel_range
)

Parameters:

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

Sets the accelerometer's measurement range.

function SetAccelRange¶

inline void SetAccelRange(
    icm20948_accel_range_t new_accel_range
)

Parameters:

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

Sets the accelerometer's measurement range.

function SetGyroRateDivisor¶

inline void SetGyroRateDivisor(
    uint8_t new_gyro_divisor
)

Parameters:

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

Sets the gyro's data rate divisor.

function GetGyroRange¶

inline icm20948_gyro_range_t GetGyroRange()

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

Get the gyro's measurement range.

function SetGyroRange¶

inline void SetGyroRange(
    icm20948_gyro_range_t new_gyro_range
)

Parameters:

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

Sets the gyro's measurement range.

function WriteGyroRange¶

inline void WriteGyroRange(
    uint8_t new_gyro_range
)

Parameters:

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

Sets the gyro's measurement range.

function ReadGyroRange¶

inline uint8_t ReadGyroRange()

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

Get the gyro's measurement range.

function GetMagDataRate¶

inline ak09916_data_rate_t GetMagDataRate()

Return: ak09916_data_rate_t the current rate

Get the current magnetometer measurement rate

function SetMagDataRate¶

inline bool SetMagDataRate(
    ak09916_data_rate_t rate
)

Parameters:

rate The rate to set.

Return: true: success false: failure

Set the magnetometer measurement rate

function SetBank¶

inline void SetBank(
    uint8_t bank_number
)

Parameters:

bank_number The bank to set to active

Sets register bank.

function ReadExternalRegister¶

inline uint8_t ReadExternalRegister(
    uint8_t slv_addr,
    uint8_t reg_addr
)

Parameters:

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

Return: the requested register value

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

function WriteExternalRegister¶

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

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

Return:

true
false

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

function AuxillaryRegisterTransaction¶

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

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

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

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

function Process¶

inline void Process()

Updates the measurement data for all sensors simultaneously

function GetAccelVect¶

inline Icm20948Vect GetAccelVect()

function GetGyroVect¶

inline Icm20948Vect GetGyroVect()

function GetMagVect¶

inline Icm20948Vect GetMagVect()

function GetTemp¶

inline float GetTemp()

function Read8¶

inline uint8_t Read8(
    uint8_t reg
)

Parameters:

reg the register address to read from

Return: the data uint8_t read from the device

Reads an 8 bit value

function Write8¶

inline void Write8(
    uint8_t reg,
    uint8_t value
)

Parameters:

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

Writes an 8 bit value

function Write16¶

inline void Write16(
    uint8_t reg,
    uint16_t value
)

Parameters:

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

Writes a 16 bit value MSB first

function ReadReg¶

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

Read from a reg address a defined number of bytes

function ReadBits¶

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

function WriteBits¶

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

function SetI2CBypass¶

inline void SetI2CBypass(
    bool bypass_i2c
)

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

Sets the bypass status of the I2C master bus support.

function EnableI2CMaster¶

inline Result EnableI2CMaster(
    bool enable_i2c_master
)

Parameters:

enable_i2c_master true: enable false: disable

Return: true: success false: error

Enable or disable the I2C mastercontroller

function ConfigureI2CMaster¶

inline Result ConfigureI2CMaster(
    void 
)

Return: true: success false: failure

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

function ResetI2CMaster¶

inline void ResetI2CMaster(
    void 
)

Reset the I2C master

function AuxI2CBusSetupFailed¶

inline Result AuxI2CBusSetupFailed(
    void 
)

function GetTransportError¶

inline Result GetTransportError()

Return: Whether the transport has errored since the last check

Get and reset the transport error flag

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Updated on 2024-01-03 at 19:41:01 +0000