JeVois  1.18
JeVois Smart Embedded Machine Vision Toolkit
Share this page:
IMUi2c.H
Go to the documentation of this file.
1 // ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////
2 //
3 // JeVois Smart Embedded Machine Vision Toolkit - Copyright (C) 2020 by Laurent Itti, the University of Southern
4 // California (USC), and iLab at USC. See http://iLab.usc.edu and http://jevois.org for information about this project.
5 //
6 // This file is part of the JeVois Smart Embedded Machine Vision Toolkit. This program is free software; you can
7 // redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software
8 // Foundation, version 2. This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY;
9 // without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public
10 // License for more details. You should have received a copy of the GNU General Public License along with this program;
11 // if not, write to the Free Software Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
12 //
13 // Contact information: Laurent Itti - 3641 Watt Way, HNB-07A - Los Angeles, CA 90089-2520 - USA.
14 // Tel: +1 213 740 3527 - itti@pollux.usc.edu - http://iLab.usc.edu - http://jevois.org
15 // ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////
16 /*! \file */
17 
18 #pragma once
19 
20 #include <jevois/Core/IMU.H>
21 #include <memory>
22 
23 namespace jevois
24 {
25  class Camera;
26 
27  //! IMU with I2C interface shared with camera sensor, such as ICM20948 on JeVois-A33 AR0135 camera sensor board
28  class IMUi2c : public IMU
29  {
30  public:
31 
32  //! Constructor
33  IMUi2c(std::shared_ptr<Camera> cam);
34 
35  //! Destructor
36  virtual ~IMUi2c();
37 
38  //! Returns true if we use SPI for transfers. Used when ICM20948_REG_USER_CTRL is written to
39  virtual bool isSPI() const override;
40 
41  //! @name Access functions for IMU registers
42  //! @{
43 
44  //! Write a value to one of the IMU registers
45  /*! See base class jevois::IMU for full docs. */
46  void writeRegister(unsigned short reg, unsigned char val) override;
47 
48  //! Read a value from one of the camera's IMU registers
49  /*! See base class jevois::IMU for full docs. */
50  unsigned char readRegister(unsigned short reg) override;
51 
52  //! Write an array of values to the camera's IMU registers
53  /*! See base class jevois::IMU for full docs. */
54  void writeRegisterArray(unsigned short reg, unsigned char const * vals, size_t num) override;
55 
56  //! Read an array of values from the camera's IMU registers
57  /*! See base class jevois::IMU for full docs. */
58  void readRegisterArray(unsigned short reg, unsigned char * vals, size_t num) override;
59 
60  //! @}
61 
62  private:
63  std::shared_ptr<Camera> itsCam;
64  void selectBank(int fd, unsigned short reg);
65  uint8_t itsIMUbank;
66  };
67 
68 
69 } // namespace jevois
jevois::IMUi2c::isSPI
virtual bool isSPI() const override
Returns true if we use SPI for transfers. Used when ICM20948_REG_USER_CTRL is written to.
Definition: IMUi2c.C:44
jevois::IMUi2c::readRegisterArray
void readRegisterArray(unsigned short reg, unsigned char *vals, size_t num) override
Read an array of values from the camera's IMU registers.
Definition: IMUi2c.C:118
jevois::IMUi2c::writeRegisterArray
void writeRegisterArray(unsigned short reg, unsigned char const *vals, size_t num) override
Write an array of values to the camera's IMU registers.
Definition: IMUi2c.C:96
jevois::IMUi2c::~IMUi2c
virtual ~IMUi2c()
Destructor.
Definition: IMUi2c.C:40
jevois
Definition: Concepts.dox:1
jevois::IMUi2c::IMUi2c
IMUi2c(std::shared_ptr< Camera > cam)
Constructor.
Definition: IMUi2c.C:35
jevois::IMU
Abstract interface to an ICM20948 inertial measurement unit (IMU)
Definition: IMU.H:27
jevois::IMUi2c
IMU with I2C interface shared with camera sensor, such as ICM20948 on JeVois-A33 AR0135 camera sensor...
Definition: IMUi2c.H:28
jevois::IMUi2c::readRegister
unsigned char readRegister(unsigned short reg) override
Read a value from one of the camera's IMU registers.
Definition: IMUi2c.C:79
IMU.H
jevois::IMUi2c::writeRegister
void writeRegister(unsigned short reg, unsigned char val) override
Write a value to one of the IMU registers.
Definition: IMUi2c.C:62