jevois::IMUi2c Class Reference

#include <jevois/Core/IMUi2c.H>

IMU with I2C interface shared with camera sensor, such as ICM20948 on JeVois-A33 AR0135 camera sensor board.

Definition at line 28 of file IMUi2c.H.

Inheritance diagram for jevois::IMUi2c:

Collaboration diagram for jevois::IMUi2c:

Public Member Functions
	IMUi2c (std::shared_ptr< Camera > cam)
	Constructor.
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.
Access functions for IMU registers
void	writeRegister (unsigned short reg, unsigned char val) override
	Write a value to one of the 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	readRegisterArray (unsigned short reg, unsigned char *vals, size_t num) override
	Read an array of values from the camera's IMU registers.
Public Member Functions inherited from jevois::IMU
	IMU ()
	Constructor.
virtual	~IMU ()
	Destructor.
void	loadDMPfirmware (bool verify=false, bool errthrow=false)
	Load the DMP firmware.
void	writeDMPregister (unsigned short reg, unsigned short val)
	Write a value to a DMP register.
unsigned short	readDMPregister (unsigned short reg)
	Read a value from a DMP register.
void	writeDMPregisterArray (unsigned short reg, unsigned char const *vals, size_t num)
	Write an array of values to DMP registers.
void	readDMPregisterArray (unsigned short reg, unsigned char *vals, size_t num)
	Read an array of values from DMP registers.

Constructor & Destructor Documentation

IMUi2c()

jevois::IMUi2c::IMUi2c

(

std::shared_ptr< Camera >

cam

)

Constructor.

Definition at line 35 of file IMUi2c.C.

~IMUi2c()

jevois::IMUi2c::~IMUi2c ( )

virtual

Destructor.

Definition at line 40 of file IMUi2c.C.

Member Function Documentation

isSPI()

bool jevois::IMUi2c::isSPI ( ) const

overridevirtual

Returns true if we use SPI for transfers. Used when ICM20948_REG_USER_CTRL is written to.

Implements jevois::IMU.

Definition at line 44 of file IMUi2c.C.

readRegister()

unsigned char jevois::IMUi2c::readRegister ( unsigned short  reg )

overridevirtual

Read a value from one of the camera's IMU registers.

See base class jevois::IMU for full docs.

Implements jevois::IMU.

Definition at line 79 of file IMUi2c.C.

References LDEBUG, and XIOCTL.

readRegisterArray()

void jevois::IMUi2c::readRegisterArray ( unsigned short  reg, unsigned char *  vals, size_t  num  )

overridevirtual

Read an array of values from the camera's IMU registers.

See base class jevois::IMU for full docs.

Implements jevois::IMU.

Definition at line 118 of file IMUi2c.C.

References LDEBUG, LFATAL, and XIOCTL.

writeRegister()

void jevois::IMUi2c::writeRegister ( unsigned short  reg, unsigned char  val  )

overridevirtual

Write a value to one of the IMU registers.

See base class jevois::IMU for full docs.

Implements jevois::IMU.

Definition at line 62 of file IMUi2c.C.

References LDEBUG, and XIOCTL.

writeRegisterArray()

void jevois::IMUi2c::writeRegisterArray ( unsigned short  reg, unsigned char const *  vals, size_t  num  )

overridevirtual

Write an array of values to the camera's IMU registers.

See base class jevois::IMU for full docs.

Implements jevois::IMU.

Definition at line 96 of file IMUi2c.C.

References LDEBUG, LFATAL, and XIOCTL.

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

• include/jevois/Core/IMUi2c.H
• src/jevois/Core/IMUi2c.C