33 IMUi2c(std::shared_ptr<Camera> cam);
39 virtual bool isSPI()
const override;
46 void writeRegister(
unsigned short reg,
unsigned char val)
override;
54 void writeRegisterArray(
unsigned short reg,
unsigned char const * vals,
size_t num)
override;
58 void readRegisterArray(
unsigned short reg,
unsigned char * vals,
size_t num)
override;
63 std::shared_ptr<Camera> itsCam;
64 void selectBank(
int fd,
unsigned short reg);
Abstract interface to an ICM20948 inertial measurement unit (IMU)
IMU with I2C interface shared with camera sensor, such as ICM20948 on JeVois-A33 AR0135 camera sensor...
virtual ~IMUi2c()
Destructor.
virtual bool isSPI() const override
Returns true if we use SPI for transfers. Used when ICM20948_REG_USER_CTRL is written to.
void readRegisterArray(unsigned short reg, unsigned char *vals, size_t num) override
Read an array of values from the camera's IMU registers.
unsigned char readRegister(unsigned short reg) override
Read a value from one of the camera's IMU registers.
void writeRegisterArray(unsigned short reg, unsigned char const *vals, size_t num) override
Write an array of values to the camera's IMU registers.
void writeRegister(unsigned short reg, unsigned char val) override
Write a value to one of the IMU registers.
Main namespace for all JeVois classes and functions.