ICM_20948 Class Reference

#include </lab/itti/jevois/software/jevois/SparkFun_9DoF_IMU_Breakout___ICM_20948___Arduino_Library-1.2.13/src/ICM_20948.h>

Definition at line 20 of file ICM_20948.h.

Inheritance diagram for ICM_20948:

Collaboration diagram for ICM_20948:

Public Member Functions
	ICM_20948 ()
void	enableDebugging (Stream &debugPort=Serial)
void	disableDebugging (void)
void	debugPrintStatus (ICM_20948_Status_e stat)
void	debugPrint (const char *)
void	debugPrint (const __FlashStringHelper *)
void	debugPrintln (const char *)
void	debugPrintln (const __FlashStringHelper *)
void	doDebugPrint (char(*)(const char *), const char *, bool newLine=false)
void	debugPrintf (int i)
void	debugPrintf (float f)
ICM_20948_AGMT_t	getAGMT (void)
float	magX (void)
float	magY (void)
float	magZ (void)
float	accX (void)
float	accY (void)
float	accZ (void)
float	gyrX (void)
float	gyrY (void)
float	gyrZ (void)
float	temp (void)
const char *	statusString (ICM_20948_Status_e stat=ICM_20948_Stat_NUM)
ICM_20948_Status_e	setBank (uint8_t bank)
ICM_20948_Status_e	swReset (void)
ICM_20948_Status_e	sleep (bool on=false)
ICM_20948_Status_e	lowPower (bool on=true)
ICM_20948_Status_e	setClockSource (ICM_20948_PWR_MGMT_1_CLKSEL_e source)
ICM_20948_Status_e	checkID (void)
bool	dataReady (void)
uint8_t	getWhoAmI (void)
bool	isConnected (void)
ICM_20948_Status_e	setSampleMode (uint8_t sensor_id_bm, uint8_t lp_config_cycle_mode)
ICM_20948_Status_e	setFullScale (uint8_t sensor_id_bm, ICM_20948_fss_t fss)
ICM_20948_Status_e	setDLPFcfg (uint8_t sensor_id_bm, ICM_20948_dlpcfg_t cfg)
ICM_20948_Status_e	enableDLPF (uint8_t sensor_id_bm, bool enable)
ICM_20948_Status_e	setSampleRate (uint8_t sensor_id_bm, ICM_20948_smplrt_t smplrt)
ICM_20948_Status_e	clearInterrupts (void)
ICM_20948_Status_e	cfgIntActiveLow (bool active_low)
ICM_20948_Status_e	cfgIntOpenDrain (bool open_drain)
ICM_20948_Status_e	cfgIntLatch (bool latching)
ICM_20948_Status_e	cfgIntAnyReadToClear (bool enabled)
ICM_20948_Status_e	cfgFsyncActiveLow (bool active_low)
ICM_20948_Status_e	cfgFsyncIntMode (bool interrupt_mode)
ICM_20948_Status_e	intEnableI2C (bool enable)
ICM_20948_Status_e	intEnableDMP (bool enable)
ICM_20948_Status_e	intEnablePLL (bool enable)
ICM_20948_Status_e	intEnableWOM (bool enable)
ICM_20948_Status_e	intEnableWOF (bool enable)
ICM_20948_Status_e	intEnableRawDataReady (bool enable)
ICM_20948_Status_e	intEnableOverflowFIFO (uint8_t bm_enable)
ICM_20948_Status_e	intEnableWatermarkFIFO (uint8_t bm_enable)
ICM_20948_Status_e	WOMLogic (uint8_t enable, uint8_t mode)
ICM_20948_Status_e	WOMThreshold (uint8_t threshold)
ICM_20948_Status_e	i2cMasterPassthrough (bool passthrough=true)
ICM_20948_Status_e	i2cMasterEnable (bool enable=true)
ICM_20948_Status_e	i2cMasterReset ()
ICM_20948_Status_e	i2cControllerConfigurePeripheral (uint8_t peripheral, uint8_t addr, uint8_t reg, uint8_t len, bool Rw=true, bool enable=true, bool data_only=false, bool grp=false, bool swap=false, uint8_t dataOut=0)
ICM_20948_Status_e	i2cControllerPeriph4Transaction (uint8_t addr, uint8_t reg, uint8_t *data, uint8_t len, bool Rw, bool send_reg_addr=true)
ICM_20948_Status_e	i2cMasterConfigureSlave (uint8_t peripheral, uint8_t addr, uint8_t reg, uint8_t len, bool Rw=true, bool enable=true, bool data_only=false, bool grp=false, bool swap=false)
ICM_20948_Status_e	i2cMasterSLV4Transaction (uint8_t addr, uint8_t reg, uint8_t *data, uint8_t len, bool Rw, bool send_reg_addr=true)
ICM_20948_Status_e	i2cMasterSingleW (uint8_t addr, uint8_t reg, uint8_t data)
uint8_t	i2cMasterSingleR (uint8_t addr, uint8_t reg)
ICM_20948_Status_e	startupDefault (bool minimal=false)
ICM_20948_Status_e	read (uint8_t reg, uint8_t *pdata, uint32_t len)
ICM_20948_Status_e	write (uint8_t reg, uint8_t *pdata, uint32_t len)
ICM_20948_Status_e	startupMagnetometer (bool minimal=false)
ICM_20948_Status_e	magWhoIAm (void)
uint8_t	readMag (AK09916_Reg_Addr_e reg)
ICM_20948_Status_e	writeMag (AK09916_Reg_Addr_e reg, uint8_t *pdata)
ICM_20948_Status_e	resetMag ()
ICM_20948_Status_e	enableFIFO (bool enable=true)
ICM_20948_Status_e	resetFIFO (void)
ICM_20948_Status_e	setFIFOmode (bool snapshot=false)
ICM_20948_Status_e	getFIFOcount (uint16_t *count)
ICM_20948_Status_e	readFIFO (uint8_t *data, uint8_t len=1)
ICM_20948_Status_e	setBiasGyroX (int32_t newValue)
ICM_20948_Status_e	setBiasGyroY (int32_t newValue)
ICM_20948_Status_e	setBiasGyroZ (int32_t newValue)
ICM_20948_Status_e	getBiasGyroX (int32_t *bias)
ICM_20948_Status_e	getBiasGyroY (int32_t *bias)
ICM_20948_Status_e	getBiasGyroZ (int32_t *bias)
ICM_20948_Status_e	setBiasAccelX (int32_t newValue)
ICM_20948_Status_e	setBiasAccelY (int32_t newValue)
ICM_20948_Status_e	setBiasAccelZ (int32_t newValue)
ICM_20948_Status_e	getBiasAccelX (int32_t *bias)
ICM_20948_Status_e	getBiasAccelY (int32_t *bias)
ICM_20948_Status_e	getBiasAccelZ (int32_t *bias)
ICM_20948_Status_e	setBiasCPassX (int32_t newValue)
ICM_20948_Status_e	setBiasCPassY (int32_t newValue)
ICM_20948_Status_e	setBiasCPassZ (int32_t newValue)
ICM_20948_Status_e	getBiasCPassX (int32_t *bias)
ICM_20948_Status_e	getBiasCPassY (int32_t *bias)
ICM_20948_Status_e	getBiasCPassZ (int32_t *bias)
ICM_20948_Status_e	enableDMP (bool enable=true)
ICM_20948_Status_e	resetDMP (void)
ICM_20948_Status_e	loadDMPFirmware (void)
ICM_20948_Status_e	setDMPstartAddress (unsigned short address=DMP_START_ADDRESS)
ICM_20948_Status_e	enableDMPSensor (enum inv_icm20948_sensor sensor, bool enable=true)
ICM_20948_Status_e	enableDMPSensorInt (enum inv_icm20948_sensor sensor, bool enable=true)
ICM_20948_Status_e	writeDMPmems (unsigned short reg, unsigned int length, const unsigned char *data)
ICM_20948_Status_e	readDMPmems (unsigned short reg, unsigned int length, unsigned char *data)
ICM_20948_Status_e	setDMPODRrate (enum DMP_ODR_Registers odr_reg, int interval)
ICM_20948_Status_e	readDMPdataFromFIFO (icm_20948_DMP_data_t *data)
ICM_20948_Status_e	setGyroSF (unsigned char div, int gyro_level)
ICM_20948_Status_e	initializeDMP (void) __attribute__((weak))

Public Attributes
ICM_20948_AGMT_t	agmt
ICM_20948_Status_e	status

Protected Member Functions
float	getTempC (int16_t val)
float	getGyrDPS (int16_t axis_val)
float	getAccMG (int16_t axis_val)
float	getMagUT (int16_t axis_val)

Protected Attributes
ICM_20948_Device_t	_device

Constructor & Destructor Documentation

ICM_20948()

ICM_20948::ICM_20948

(

)

Member Function Documentation

accX()

float ICM_20948::accX

(

void

)

accY()

float ICM_20948::accY

(

void

)

accZ()

float ICM_20948::accZ

(

void

)

cfgFsyncActiveLow()

ICM_20948_Status_e ICM_20948::cfgFsyncActiveLow

(

bool

active_low

)

cfgFsyncIntMode()

ICM_20948_Status_e ICM_20948::cfgFsyncIntMode

(

bool

interrupt_mode

)

cfgIntActiveLow()

ICM_20948_Status_e ICM_20948::cfgIntActiveLow

(

bool

active_low

)

cfgIntAnyReadToClear()

ICM_20948_Status_e ICM_20948::cfgIntAnyReadToClear

(

bool

enabled

)

cfgIntLatch()

ICM_20948_Status_e ICM_20948::cfgIntLatch

(

bool

latching

)

cfgIntOpenDrain()

ICM_20948_Status_e ICM_20948::cfgIntOpenDrain

(

bool

open_drain

)

checkID()

ICM_20948_Status_e ICM_20948::checkID

(

void

)

clearInterrupts()

ICM_20948_Status_e ICM_20948::clearInterrupts

(

void

)

dataReady()

bool ICM_20948::dataReady

(

void

)

debugPrint() [1/2]

void ICM_20948::debugPrint

(

const __FlashStringHelper *

)

debugPrint() [2/2]

void ICM_20948::debugPrint

(

const char *

)

debugPrintf() [1/2]

void ICM_20948::debugPrintf

(

float

f

)

debugPrintf() [2/2]

void ICM_20948::debugPrintf

(

int

i

)

debugPrintln() [1/2]

void ICM_20948::debugPrintln

(

const __FlashStringHelper *

)

debugPrintln() [2/2]

void ICM_20948::debugPrintln

(

const char *

)

debugPrintStatus()

void ICM_20948::debugPrintStatus

(

ICM_20948_Status_e

stat

)

disableDebugging()

void ICM_20948::disableDebugging

(

void

)

doDebugPrint()

void ICM_20948::doDebugPrint	(	char(*)(const char *)	,
		const char *	,
		bool	newLine = false
	)

enableDebugging()

void ICM_20948::enableDebugging

(

Stream &

debugPort = Serial

)

enableDLPF()

ICM_20948_Status_e ICM_20948::enableDLPF	(	uint8_t	sensor_id_bm,
		bool	enable
	)

enableDMP()

ICM_20948_Status_e ICM_20948::enableDMP

(

bool

enable = true

)

enableDMPSensor()

ICM_20948_Status_e ICM_20948::enableDMPSensor	(	enum inv_icm20948_sensor	sensor,
		bool	enable = true
	)

enableDMPSensorInt()

ICM_20948_Status_e ICM_20948::enableDMPSensorInt	(	enum inv_icm20948_sensor	sensor,
		bool	enable = true
	)

enableFIFO()

ICM_20948_Status_e ICM_20948::enableFIFO

(

bool

enable = true

)

getAccMG()

float ICM_20948::getAccMG ( int16_t  axis_val )

protected

getAGMT()

ICM_20948_AGMT_t ICM_20948::getAGMT

(

void

)

getBiasAccelX()

ICM_20948_Status_e ICM_20948::getBiasAccelX

(

int32_t *

bias

)

getBiasAccelY()

ICM_20948_Status_e ICM_20948::getBiasAccelY

(

int32_t *

bias

)

getBiasAccelZ()

ICM_20948_Status_e ICM_20948::getBiasAccelZ

(

int32_t *

bias

)

getBiasCPassX()

ICM_20948_Status_e ICM_20948::getBiasCPassX

(

int32_t *

bias

)

getBiasCPassY()

ICM_20948_Status_e ICM_20948::getBiasCPassY

(

int32_t *

bias

)

getBiasCPassZ()

ICM_20948_Status_e ICM_20948::getBiasCPassZ

(

int32_t *

bias

)

getBiasGyroX()

ICM_20948_Status_e ICM_20948::getBiasGyroX

(

int32_t *

bias

)

getBiasGyroY()

ICM_20948_Status_e ICM_20948::getBiasGyroY

(

int32_t *

bias

)

getBiasGyroZ()

ICM_20948_Status_e ICM_20948::getBiasGyroZ

(

int32_t *

bias

)

getFIFOcount()

ICM_20948_Status_e ICM_20948::getFIFOcount

(

uint16_t *

count

)

getGyrDPS()

float ICM_20948::getGyrDPS ( int16_t  axis_val )

protected

getMagUT()

float ICM_20948::getMagUT ( int16_t  axis_val )

protected

getTempC()

float ICM_20948::getTempC ( int16_t  val )

protected

getWhoAmI()

uint8_t ICM_20948::getWhoAmI

(

void

)

gyrX()

float ICM_20948::gyrX

(

void

)

gyrY()

float ICM_20948::gyrY

(

void

)

gyrZ()

float ICM_20948::gyrZ

(

void

)

i2cControllerConfigurePeripheral()

ICM_20948_Status_e ICM_20948::i2cControllerConfigurePeripheral	(	uint8_t	peripheral,
		uint8_t	addr,
		uint8_t	reg,
		uint8_t	len,
		bool	Rw = true,
		bool	enable = true,
		bool	data_only = false,
		bool	grp = false,
		bool	swap = false,
		uint8_t	dataOut = 0
	)

i2cControllerPeriph4Transaction()

ICM_20948_Status_e ICM_20948::i2cControllerPeriph4Transaction	(	uint8_t	addr,
		uint8_t	reg,
		uint8_t *	data,
		uint8_t	len,
		bool	Rw,
		bool	send_reg_addr = true
	)

i2cMasterConfigureSlave()

ICM_20948_Status_e ICM_20948::i2cMasterConfigureSlave	(	uint8_t	peripheral,
		uint8_t	addr,
		uint8_t	reg,
		uint8_t	len,
		bool	Rw = true,
		bool	enable = true,
		bool	data_only = false,
		bool	grp = false,
		bool	swap = false
	)

i2cMasterEnable()

ICM_20948_Status_e ICM_20948::i2cMasterEnable

(

bool

enable = true

)

i2cMasterPassthrough()

ICM_20948_Status_e ICM_20948::i2cMasterPassthrough

(

bool

passthrough = true

)

i2cMasterReset()

ICM_20948_Status_e ICM_20948::i2cMasterReset

(

)

i2cMasterSingleR()

uint8_t ICM_20948::i2cMasterSingleR	(	uint8_t	addr,
		uint8_t	reg
	)

i2cMasterSingleW()

ICM_20948_Status_e ICM_20948::i2cMasterSingleW	(	uint8_t	addr,
		uint8_t	reg,
		uint8_t	data
	)

i2cMasterSLV4Transaction()

ICM_20948_Status_e ICM_20948::i2cMasterSLV4Transaction	(	uint8_t	addr,
		uint8_t	reg,
		uint8_t *	data,
		uint8_t	len,
		bool	Rw,
		bool	send_reg_addr = true
	)

initializeDMP()

ICM_20948_Status_e ICM_20948::initializeDMP

(

void

)

intEnableDMP()

ICM_20948_Status_e ICM_20948::intEnableDMP

(

bool

enable

)

intEnableI2C()

ICM_20948_Status_e ICM_20948::intEnableI2C

(

bool

enable

)

intEnableOverflowFIFO()

ICM_20948_Status_e ICM_20948::intEnableOverflowFIFO

(

uint8_t

bm_enable

)

intEnablePLL()

ICM_20948_Status_e ICM_20948::intEnablePLL

(

bool

enable

)

intEnableRawDataReady()

ICM_20948_Status_e ICM_20948::intEnableRawDataReady

(

bool

enable

)

intEnableWatermarkFIFO()

ICM_20948_Status_e ICM_20948::intEnableWatermarkFIFO

(

uint8_t

bm_enable

)

intEnableWOF()

ICM_20948_Status_e ICM_20948::intEnableWOF

(

bool

enable

)

intEnableWOM()

ICM_20948_Status_e ICM_20948::intEnableWOM

(

bool

enable

)

isConnected()

bool ICM_20948::isConnected

(

void

)

loadDMPFirmware()

ICM_20948_Status_e ICM_20948::loadDMPFirmware

(

void

)

lowPower()

ICM_20948_Status_e ICM_20948::lowPower

(

bool

on = true

)

magWhoIAm()

ICM_20948_Status_e ICM_20948::magWhoIAm

(

void

)

magX()

float ICM_20948::magX

(

void

)

magY()

float ICM_20948::magY

(

void

)

magZ()

float ICM_20948::magZ

(

void

)

read()

ICM_20948_Status_e ICM_20948::read	(	uint8_t	reg,
		uint8_t *	pdata,
		uint32_t	len
	)

readDMPdataFromFIFO()

ICM_20948_Status_e ICM_20948::readDMPdataFromFIFO

(

icm_20948_DMP_data_t *

data

)

readDMPmems()

ICM_20948_Status_e ICM_20948::readDMPmems	(	unsigned short	reg,
		unsigned int	length,
		unsigned char *	data
	)

readFIFO()

ICM_20948_Status_e ICM_20948::readFIFO	(	uint8_t *	data,
		uint8_t	len = 1
	)

readMag()

uint8_t ICM_20948::readMag

(

AK09916_Reg_Addr_e

reg

)

resetDMP()

ICM_20948_Status_e ICM_20948::resetDMP

(

void

)

resetFIFO()

ICM_20948_Status_e ICM_20948::resetFIFO

(

void

)

resetMag()

ICM_20948_Status_e ICM_20948::resetMag

(

)

setBank()

ICM_20948_Status_e ICM_20948::setBank

(

uint8_t

bank

)

setBiasAccelX()

ICM_20948_Status_e ICM_20948::setBiasAccelX

(

int32_t

newValue

)

setBiasAccelY()

ICM_20948_Status_e ICM_20948::setBiasAccelY

(

int32_t

newValue

)

setBiasAccelZ()

ICM_20948_Status_e ICM_20948::setBiasAccelZ

(

int32_t

newValue

)

setBiasCPassX()

ICM_20948_Status_e ICM_20948::setBiasCPassX

(

int32_t

newValue

)

setBiasCPassY()

ICM_20948_Status_e ICM_20948::setBiasCPassY

(

int32_t

newValue

)

setBiasCPassZ()

ICM_20948_Status_e ICM_20948::setBiasCPassZ

(

int32_t

newValue

)

setBiasGyroX()

ICM_20948_Status_e ICM_20948::setBiasGyroX

(

int32_t

newValue

)

setBiasGyroY()

ICM_20948_Status_e ICM_20948::setBiasGyroY

(

int32_t

newValue

)

setBiasGyroZ()

ICM_20948_Status_e ICM_20948::setBiasGyroZ

(

int32_t

newValue

)

setClockSource()

ICM_20948_Status_e ICM_20948::setClockSource

(

ICM_20948_PWR_MGMT_1_CLKSEL_e

source

)

setDLPFcfg()

ICM_20948_Status_e ICM_20948::setDLPFcfg	(	uint8_t	sensor_id_bm,
		ICM_20948_dlpcfg_t	cfg
	)

setDMPODRrate()

ICM_20948_Status_e ICM_20948::setDMPODRrate	(	enum DMP_ODR_Registers	odr_reg,
		int	interval
	)

setDMPstartAddress()

ICM_20948_Status_e ICM_20948::setDMPstartAddress

(

unsigned short

address = DMP_START_ADDRESS

)

setFIFOmode()

ICM_20948_Status_e ICM_20948::setFIFOmode

(

bool

snapshot = false

)

setFullScale()

ICM_20948_Status_e ICM_20948::setFullScale	(	uint8_t	sensor_id_bm,
		ICM_20948_fss_t	fss
	)

setGyroSF()

ICM_20948_Status_e ICM_20948::setGyroSF	(	unsigned char	div,
		int	gyro_level
	)

setSampleMode()

ICM_20948_Status_e ICM_20948::setSampleMode	(	uint8_t	sensor_id_bm,
		uint8_t	lp_config_cycle_mode
	)

setSampleRate()

ICM_20948_Status_e ICM_20948::setSampleRate	(	uint8_t	sensor_id_bm,
		ICM_20948_smplrt_t	smplrt
	)

sleep()

ICM_20948_Status_e ICM_20948::sleep

(

bool

on = false

)

startupDefault()

ICM_20948_Status_e ICM_20948::startupDefault

(

bool

minimal = false

)

startupMagnetometer()

ICM_20948_Status_e ICM_20948::startupMagnetometer

(

bool

minimal = false

)

statusString()

const char * ICM_20948::statusString

(

ICM_20948_Status_e

stat = ICM_20948_Stat_NUM

)

swReset()

ICM_20948_Status_e ICM_20948::swReset

(

void

)

temp()

float ICM_20948::temp

(

void

)

WOMLogic()

ICM_20948_Status_e ICM_20948::WOMLogic	(	uint8_t	enable,
		uint8_t	mode
	)

WOMThreshold()

ICM_20948_Status_e ICM_20948::WOMThreshold

(

uint8_t

threshold

)

write()

ICM_20948_Status_e ICM_20948::write	(	uint8_t	reg,
		uint8_t *	pdata,
		uint32_t	len
	)

writeDMPmems()

ICM_20948_Status_e ICM_20948::writeDMPmems	(	unsigned short	reg,
		unsigned int	length,
		const unsigned char *	data
	)

writeMag()

ICM_20948_Status_e ICM_20948::writeMag	(	AK09916_Reg_Addr_e	reg,
		uint8_t *	pdata
	)

Member Data Documentation

_device

ICM_20948_Device_t ICM_20948::_device

protected

Definition at line 29 of file ICM_20948.h.

agmt

ICM_20948_AGMT_t ICM_20948::agmt

Definition at line 75 of file ICM_20948.h.

status

ICM_20948_Status_e ICM_20948::status

Definition at line 92 of file ICM_20948.h.

---

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

• SparkFun_9DoF_IMU_Breakout___ICM_20948___Arduino_Library-1.2.13/src/ICM_20948.h