Inertial Measurement Unit (IMU) classes and functions

These classes and functions provide support for optional IMU chips that may be present in some of the optional JeVois imaging sensors. For example, TDK InvenSense ICM20948: 3-axis accelerometer, 3-axis gyroscope, 3-axis magnetometer, integrated digital motion processor (DMP).

Collaboration diagram for Inertial Measurement Unit (IMU) classes and functions:

Classes
class	jevois::ICM20948
	TDK InvenSense ICM-20948 9DOF IMU high-level driver. More...
class	jevois::IMU
	Abstract interface to an ICM20948 inertial measurement unit (IMU) More...
struct	jevois::IMUrawData
	Raw IMU data. More...
struct	jevois::IMUdata
	IMU data. More...
struct	jevois::DMPdata
	DMP data (Digital Motion Processor) More...

Macros
#define	JEVOIS_DMP_ACCEL   0x8000

Functions
size_t	jevois::DMPpacketSize (unsigned short ctl1, unsigned short ctl2)
	Helper function to determine DMP packet size depending on options. More...

Macro Definition Documentation

JEVOIS_DMP_ACCEL

#define JEVOIS_DMP_ACCEL   0x8000

calibrated accel if accel calibrated, raw accel otherwise

Definition at line 100 of file IMUdata.H.

Function Documentation

DMPpacketSize()

size_t jevois::DMPpacketSize	(	unsigned short	ctl1,
		unsigned short	ctl2
	)

Helper function to determine DMP packet size depending on options.

Definition at line 52 of file IMUdata.C.

References JEVOIS_DMP_ACCEL, JEVOIS_DMP_ACCEL_ACCURACY, JEVOIS_DMP_ACCEL_ACCURACY_SZ, JEVOIS_DMP_ACCEL_DATA_SZ, JEVOIS_DMP_ACT_RECOG, JEVOIS_DMP_ACT_RECOG_SZ, JEVOIS_DMP_ALS, JEVOIS_DMP_ALS_DATA_SZ, JEVOIS_DMP_BATCH_MODE_EN, JEVOIS_DMP_CPASS, JEVOIS_DMP_CPASS_ACCURACY, JEVOIS_DMP_CPASS_ACCURACY_SZ, JEVOIS_DMP_CPASS_CALIBR, JEVOIS_DMP_CPASS_CALIBR_DATA_SZ, JEVOIS_DMP_CPASS_DATA_SZ, JEVOIS_DMP_FLIP_PICKUP, JEVOIS_DMP_FLIP_PICKUP_SZ, JEVOIS_DMP_FOOTER_SZ, JEVOIS_DMP_FSYNC, JEVOIS_DMP_FSYNC_SZ, JEVOIS_DMP_GEOMAG, JEVOIS_DMP_GEOMAG_DATA_SZ, JEVOIS_DMP_GYRO, JEVOIS_DMP_GYRO_ACCURACY, JEVOIS_DMP_GYRO_ACCURACY_SZ, JEVOIS_DMP_GYRO_BIAS_DATA_SZ, JEVOIS_DMP_GYRO_CALIBR, JEVOIS_DMP_GYRO_DATA_SZ, JEVOIS_DMP_HEADER2, JEVOIS_DMP_HEADER2_SZ, JEVOIS_DMP_HEADER_SZ, JEVOIS_DMP_ODR_CNT_GYRO_SZ, JEVOIS_DMP_PED_STEPDET, JEVOIS_DMP_PED_STEPDET_TIMESTAMP_SZ, JEVOIS_DMP_PQUAT6, JEVOIS_DMP_PQUAT6_DATA_SZ, JEVOIS_DMP_PRESSURE, JEVOIS_DMP_PRESSURE_DATA_SZ, JEVOIS_DMP_QUAT6, JEVOIS_DMP_QUAT6_DATA_SZ, JEVOIS_DMP_QUAT9, and JEVOIS_DMP_QUAT9_DATA_SZ.

Referenced by jevois::ICM20948::getDMP().