#include <jevois/Core/IMUdata.H>

DMP data (Digital Motion Processor)

The digital motion processor (DMP) inside the ICM-20948 IMU chip can compute a variety of things that range from simply the raw data buffered at a fixed rate to quaternions to activity detection (footsteps, driving, biking, etc). The chip must be operating in DMP mode for this data to be available. In addition, one can configure which data is computed and output by the DMP.

Definition at line 129 of file IMUdata.H.

Public Member Functions
void	parsePacket (unsigned char const *packet, size_t siz)
	Populate our fields from a packet received from the DMP. More...

float	fsync_us () const
	Delay between FSYNC and next IMU data, in microseconds. More...

std::vector< std::string >	activity ()
	Decode current ongoing activities into a string. More...

std::vector< std::string >	activity2 ()

Static Public Member Functions
static float	fix2float (long val)
	Convert a long fixed-point value to float. More...

Public Attributes
unsigned short	header1
	Header 1 fields that indicate what data is valid. More...

unsigned short	header2
	Header 2 fields that indicate what data is valid. More...

short	accel [3]
	Raw accelerometer data (when JEVOIS_DMP_ACCEL in header1) More...

short	gyro [3]
	Raw gyro data (when JEVOIS_DMP_GYRO in header1) More...

short	cpass [3]
	Raw compass data (when JEVOIS_DMP_CPASS in header1) More...

short	gbias [3]
	Raw gyro bias data (when JEVOIS_DMP_GYRO in header1) More...

long	quat6 [3]
	Quaternion6 data (when JEVOIS_DMP_QUAT6 in header1) More...

long	quat9 [3]
	Quaternion9 data (when JEVOIS_DMP_QUAT9 in header1) More...

long	quat9acc
	Quaternion9 accuracy (when JEVOIS_DMP_QUAT9 in header1) More...

unsigned long	stepts
	Step detection timestamp (when JEVOIS_DMP_PED_STEPDET) More...

unsigned short	steps
	Number of steps (0..7) detected this cycle (when JEVOIS_DMP_PED_STEPDET) More...

long	geomag [3]
	Geomag data (when JEVOIS_DMP_GEOMAG in header1) More...

long	geomagacc
	Geomag accuracy (when JEVOIS_DMP_GEOMAG in header1) More...

short	gyrobias [3]
	Gyro bias/calibration data (when JEVOIS_DMP_GYRO_CALIBR in header1) More...

long	cpasscal [3]
	Compass calibration data (when JEVOIS_DMP_CPASS_CALIBR in header1) More...

short	accelacc
	Accelerometer accuracy data (when JEVOIS_DMP_ACCEL_ACCURACY in header2) More...

short	gyroacc
	Gyro accuracy data (when JEVOIS_DMP_GYRO_ACCURACY in header2) More...

short	cpassacc
	Compass accuracy data (when JEVOIS_DMP_CPASS_ACCURACY in header2) More...

unsigned short	fsync
	Delay between FSYNC received from camera and first subsequent IMU data generated. More...

short	pickup
	Flip/pickup detection (when JEVOIS_DMP_FLIP_PICKUP in header2) More...

unsigned short	bacstate
	Activity recognition state (when JEVOIS_DMP_ACT_RECOG in header2) More...

long	bacts
	Activity recognition timestamp (when JEVOIS_DMP_ACT_RECOG in header2) More...

unsigned short	odrcnt
	Output data rate counter (always here but unclear what it is) More...

Member Function Documentation

◆ activity()

std::vector< std::string > jevois::DMPdata::activity ( )

Decode current ongoing activities into a string.

Requires that JEVOIS_DMP_ACT_RECOG be set in header2 and correct data rates are used. This function returns strings that contain start or stop as a prefix, then each activity. Activities are: drive, walk, run, bike, tilt, still.

Definition at line 233 of file IMUdata.C.

References DMP_BAC_BIKE, DMP_BAC_DRIVE, DMP_BAC_RUN, DMP_BAC_STILL, DMP_BAC_TILT, DMP_BAC_WALK, and jevois::sformat().

◆ activity2()

std::vector< std::string > jevois::DMPdata::activity2 ( )

Requires that JEVOIS_DMP_ACT_RECOG be set in header2 and correct data rates are used. This function returns strings that contain the name of each ongoing event. Warning, it has state, so you should only call this function for any activity-related parsing after you start using it, and you should call it for every reading from the DMP. Activities are: drive, walk, run, bike, tilt, still.

Definition at line 259 of file IMUdata.C.

References DMP_BAC_BIKE, DMP_BAC_DRIVE, DMP_BAC_RUN, DMP_BAC_STILL, DMP_BAC_TILT, and DMP_BAC_WALK.

◆ fix2float()

float jevois::DMPdata::fix2float ( long val )

static

Convert a long fixed-point value to float.

Definition at line 283 of file IMUdata.C.

◆ fsync_us()

float jevois::DMPdata::fsync_us ( ) const

Delay between FSYNC and next IMU data, in microseconds.

Definition at line 227 of file IMUdata.C.

◆ parsePacket()

void jevois::DMPdata::parsePacket	(	unsigned char const *	packet,
		size_t	siz
	)

Populate our fields from a packet received from the DMP.

Definition at line 84 of file IMUdata.C.

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

Member Data Documentation

◆ accel

short jevois::DMPdata::accel[3]

Raw accelerometer data (when JEVOIS_DMP_ACCEL in header1)

Definition at line 137 of file IMUdata.H.

Referenced by parsePacket().

◆ accelacc

short jevois::DMPdata::accelacc

Accelerometer accuracy data (when JEVOIS_DMP_ACCEL_ACCURACY in header2)

Definition at line 155 of file IMUdata.H.

Referenced by parsePacket().

◆ bacstate

unsigned short jevois::DMPdata::bacstate

Activity recognition state (when JEVOIS_DMP_ACT_RECOG in header2)

Definition at line 164 of file IMUdata.H.

Referenced by parsePacket().

◆ bacts

long jevois::DMPdata::bacts

Activity recognition timestamp (when JEVOIS_DMP_ACT_RECOG in header2)

Definition at line 165 of file IMUdata.H.

Referenced by parsePacket().

◆ cpass

short jevois::DMPdata::cpass[3]

Raw compass data (when JEVOIS_DMP_CPASS in header1)

Definition at line 139 of file IMUdata.H.

Referenced by parsePacket().

◆ cpassacc

short jevois::DMPdata::cpassacc

Compass accuracy data (when JEVOIS_DMP_CPASS_ACCURACY in header2)

Definition at line 157 of file IMUdata.H.

Referenced by parsePacket().

◆ cpasscal

long jevois::DMPdata::cpasscal[3]

Compass calibration data (when JEVOIS_DMP_CPASS_CALIBR in header1)

Definition at line 153 of file IMUdata.H.

Referenced by parsePacket().

◆ fsync

unsigned short jevois::DMPdata::fsync

Delay between FSYNC received from camera and first subsequent IMU data generated.

Definition at line 159 of file IMUdata.H.

Referenced by parsePacket().

◆ gbias

short jevois::DMPdata::gbias[3]

Raw gyro bias data (when JEVOIS_DMP_GYRO in header1)

Definition at line 140 of file IMUdata.H.

Referenced by parsePacket().

◆ geomag

long jevois::DMPdata::geomag[3]

Geomag data (when JEVOIS_DMP_GEOMAG in header1)

Definition at line 149 of file IMUdata.H.

Referenced by parsePacket().

◆ geomagacc

long jevois::DMPdata::geomagacc

Geomag accuracy (when JEVOIS_DMP_GEOMAG in header1)

Definition at line 150 of file IMUdata.H.

Referenced by parsePacket().

◆ gyro

short jevois::DMPdata::gyro[3]

Raw gyro data (when JEVOIS_DMP_GYRO in header1)

Definition at line 138 of file IMUdata.H.

Referenced by parsePacket().

◆ gyroacc

short jevois::DMPdata::gyroacc

Gyro accuracy data (when JEVOIS_DMP_GYRO_ACCURACY in header2)

Definition at line 156 of file IMUdata.H.

Referenced by parsePacket().

◆ gyrobias

short jevois::DMPdata::gyrobias[3]

Gyro bias/calibration data (when JEVOIS_DMP_GYRO_CALIBR in header1)

Definition at line 152 of file IMUdata.H.

Referenced by parsePacket().

◆ header1

unsigned short jevois::DMPdata::header1

Header 1 fields that indicate what data is valid.

Definition at line 134 of file IMUdata.H.

Referenced by parsePacket().

◆ header2

unsigned short jevois::DMPdata::header2

Header 2 fields that indicate what data is valid.

Definition at line 135 of file IMUdata.H.

Referenced by parsePacket().

◆ odrcnt

unsigned short jevois::DMPdata::odrcnt

Output data rate counter (always here but unclear what it is)

Decode start/stop of activities into a string

Definition at line 167 of file IMUdata.H.

Referenced by parsePacket().

◆ pickup

short jevois::DMPdata::pickup

Flip/pickup detection (when JEVOIS_DMP_FLIP_PICKUP in header2)

Definition at line 162 of file IMUdata.H.

Referenced by parsePacket().

◆ quat6

long jevois::DMPdata::quat6[3]

Quaternion6 data (when JEVOIS_DMP_QUAT6 in header1)

Definition at line 142 of file IMUdata.H.

Referenced by parsePacket().

◆ quat9

long jevois::DMPdata::quat9[3]

Quaternion9 data (when JEVOIS_DMP_QUAT9 in header1)

Definition at line 143 of file IMUdata.H.

Referenced by parsePacket().

◆ quat9acc

long jevois::DMPdata::quat9acc

Quaternion9 accuracy (when JEVOIS_DMP_QUAT9 in header1)

Definition at line 144 of file IMUdata.H.

Referenced by parsePacket().

◆ steps

unsigned short jevois::DMPdata::steps

Number of steps (0..7) detected this cycle (when JEVOIS_DMP_PED_STEPDET)

Definition at line 147 of file IMUdata.H.

Referenced by parsePacket().

◆ stepts

unsigned long jevois::DMPdata::stepts

Step detection timestamp (when JEVOIS_DMP_PED_STEPDET)

Definition at line 146 of file IMUdata.H.

Referenced by parsePacket().

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

include/jevois/Core/IMUdata.H
src/jevois/Core/IMUdata.C

Public Member Functions

Static Public Member Functions

Public Attributes

Member Function Documentation

◆ activity()

◆ activity2()

◆ fix2float()

◆ fsync_us()

◆ parsePacket()

Member Data Documentation

◆ accel

◆ accelacc

◆ bacstate

◆ bacts

◆ cpass

◆ cpassacc

◆ cpasscal

◆ fsync

◆ gbias

◆ geomag

◆ geomagacc

◆ gyro

◆ gyroacc

◆ gyrobias

◆ header1

◆ header2

◆ odrcnt

◆ pickup

◆ quat6

◆ quat9

◆ quat9acc

◆ steps

◆ stepts