jevois::IMUspi Class Reference

#include <jevois/Core/IMUspi.H>

IMU with SPI interface, such as the ICM20948 IMU on the JeVois-Pro IMX290 camera sensor board.

Definition at line 29 of file IMUspi.H.

Inheritance diagram for jevois::IMUspi:

Collaboration diagram for jevois::IMUspi:

Public Member Functions
	IMUspi (std::string const &devname)
	Constructor.
virtual	~IMUspi ()
	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.

Protected Member Functions
void	selectBank (unsigned short reg)
void	spi_xfer (unsigned char addr, unsigned char dir, size_t siz, unsigned char *datain, unsigned char const *dataout)

Protected Attributes
std::string const	itsDevName
int	itsFd
uint8_t	itsIMUbank

Constructor & Destructor Documentation

IMUspi()

jevois::IMUspi::IMUspi

(

std::string const &

devname

)

Constructor.

Definition at line 33 of file IMUspi.C.

References itsFd, LERROR, LFATAL, LINFO, jevois::IMU::loadDMPfirmware(), readRegister(), writeRegister(), and XIOCTL.

~IMUspi()

jevois::IMUspi::~IMUspi ( )

virtual

Destructor.

Definition at line 97 of file IMUspi.C.

Member Function Documentation

isSPI()

bool jevois::IMUspi::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 103 of file IMUspi.C.

readRegister()

unsigned char jevois::IMUspi::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 211 of file IMUspi.C.

References ICM20948_SPI_READ, and LDEBUG.

Referenced by IMUspi().

readRegisterArray()

void jevois::IMUspi::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 230 of file IMUspi.C.

References ICM20948_SPI_READ, LDEBUG, and LFATAL.

selectBank()

void jevois::IMUspi::selectBank ( unsigned short  reg )

protected

Definition at line 147 of file IMUspi.C.

References ICM20948_SPI_WRITE, and LDEBUG.

spi_xfer()

void jevois::IMUspi::spi_xfer ( unsigned char  addr, unsigned char  dir, size_t  siz, unsigned char *  datain, unsigned char const *  dataout  )

protected

Definition at line 107 of file IMUspi.C.

References XIOCTL.

writeRegister()

void jevois::IMUspi::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 159 of file IMUspi.C.

References ICM20948_SPI_WRITE, LDEBUG, and LERROR.

Referenced by IMUspi().

writeRegisterArray()

void jevois::IMUspi::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 221 of file IMUspi.C.

References ICM20948_SPI_WRITE, LDEBUG, and LFATAL.

Member Data Documentation

itsDevName

std::string const jevois::IMUspi::itsDevName

protected

Definition at line 63 of file IMUspi.H.

itsFd

int jevois::IMUspi::itsFd

protected

Definition at line 64 of file IMUspi.H.

Referenced by IMUspi().

itsIMUbank

uint8_t jevois::IMUspi::itsIMUbank

protected

Definition at line 66 of file IMUspi.H.

---

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

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