Class that stores state and functions for interacting with the ST ICM2948 9-DoF Accelerometer, gyro, and magnetometer. More...

#include <Adafruit_ICM20948.h>

Inheritance diagram for Adafruit_ICM20948:

Public Member Functions
	Adafruit_ICM20948 ()
	Instantiates a new ICM20948 class!

bool	begin_I2C (uint8_t i2c_addr=ICM20948_I2CADDR_DEFAULT, TwoWire *wire=&Wire, int32_t sensor_id=0)
	Sets up the hardware and initializes I2C. More...

icm20948_accel_range_t	getAccelRange (void)
	Get the accelerometer's measurement range. More...

void	setAccelRange (icm20948_accel_range_t new_accel_range)
	Sets the accelerometer's measurement range. More...

icm20948_gyro_range_t	getGyroRange (void)
	Get the gyro's measurement range. More...

void	setGyroRange (icm20948_gyro_range_t new_gyro_range)
	Sets the gyro's measurement range. More...

ak09916_data_rate_t	getMagDataRate (void)
	Get the current magnetometer measurement rate. More...

bool	setMagDataRate (ak09916_data_rate_t rate)
	Set the magnetometer measurement rate. More...

Public Member Functions inherited from Adafruit_ICM20X
	Adafruit_ICM20X ()
	Instantiates a new ICM20X class!

	~Adafruit_ICM20X ()
	Cleans up the ICM20X.

bool	begin_SPI (uint8_t cs_pin, SPIClass *theSPI=&SPI, int32_t sensor_id=0)
	Sets up the hardware and initializes hardware SPI. More...

bool	begin_SPI (int8_t cs_pin, int8_t sck_pin, int8_t miso_pin, int8_t mosi_pin, int32_t sensor_id=0)
	Sets up the hardware and initializes software SPI. More...

uint8_t	getGyroRateDivisor (void)
	Get the gyro's data rate divisor. More...

void	setGyroRateDivisor (uint8_t new_gyro_divisor)
	Sets the gyro's data rate divisor. More...

uint16_t	getAccelRateDivisor (void)
	Get the accelerometer's data rate divisor. More...

void	setAccelRateDivisor (uint16_t new_accel_divisor)
	Sets the accelerometer's data rate divisor. More...

bool	enableAccelDLPF (bool enable, icm20x_accel_cutoff_t cutoff_freq)
	Enable or disable the accelerometer's Digital Low Pass Filter. More...

bool	enableGyrolDLPF (bool enable, icm20x_gyro_cutoff_t cutoff_freq)
	Enable or disable the gyro's Digital Low Pass Filter. More...

void	reset (void)
	Reset the internal registers and restores the default settings.

void	setInt1ActiveLow (bool active_low)
	Sets the polarity of the int1 pin. More...

void	setInt2ActiveLow (bool active_low)
	Sets the polarity of the INT2 pin. More...

Adafruit_Sensor *	getAccelerometerSensor (void)
	Gets an Adafruit Unified Sensor object for the accelerometer sensor component. More...

Adafruit_Sensor *	getGyroSensor (void)
	Gets an Adafruit Unified Sensor object for the gyro sensor component. More...

Adafruit_Sensor *	getMagnetometerSensor (void)
	Gets an Adafruit Unified Sensor object for the magnetometer sensor component. More...

Adafruit_Sensor *	getTemperatureSensor (void)
	Gets an Adafruit Unified Sensor object for the temp sensor component. More...

bool	getEvent (sensors_event_t accel, sensors_event_t gyro, sensors_event_t temp, sensors_event_t mag=NULL)
	Gets the most recent sensor event, Adafruit Unified Sensor format. More...

uint8_t	readExternalRegister (uint8_t slv_addr, uint8_t reg_addr)
	Read a single byte from a given register address for an I2C slave device on the auxiliary I2C bus. More...

bool	writeExternalRegister (uint8_t slv_addr, uint8_t reg_addr, uint8_t value)
	Write a single byte to a given register address for an I2C slave device on the auxiliary I2C bus. More...

bool	configureI2CMaster (void)
	Set the I2C clock rate for the auxillary I2C bus to 345.60kHz and disable repeated start. More...

bool	enableI2CMaster (bool enable_i2c_master)
	Enable or disable the I2C mastercontroller. More...

void	resetI2CMaster (void)
	Reset the I2C master.

void	setI2CBypass (bool bypass_i2c)
	Sets the bypass status of the I2C master bus support. More...

Additional Inherited Members
Protected Member Functions inherited from Adafruit_ICM20X
void	_read (void)
	Updates the measurement data for all sensors simultaneously.

bool	_init (int32_t sensor_id)
	Initilizes the sensor. More...

void	_setBank (uint8_t bank_number)
	Sets register bank. More...

uint8_t	readAccelRange (void)
	Get the accelerometer's measurement range. More...

void	writeAccelRange (uint8_t new_accel_range)
	Sets the accelerometer's measurement range. More...

uint8_t	readGyroRange (void)
	Get the gyro's measurement range. More...

void	writeGyroRange (uint8_t new_gyro_range)
	Sets the gyro's measurement range. More...

Protected Attributes inherited from Adafruit_ICM20X
float	temperature
	Last reading's temperature (C)

float	accX
	Last reading's accelerometer X axis m/s^2.

float	accY
	Last reading's accelerometer Y axis m/s^2.

float	accZ
	Last reading's accelerometer Z axis m/s^2.

float	gyroX
	Last reading's gyro X axis in rad/s.

float	gyroY
	Last reading's gyro Y axis in rad/s.

float	gyroZ
	Last reading's gyro Z axis in rad/s.

float	magX
	Last reading's mag X axis in rad/s.

float	magY
	Last reading's mag Y axis in rad/s.

float	magZ
	Last reading's mag Z axis in rad/s.

Adafruit_I2CDevice *	i2c_dev = NULL
	Pointer to I2C bus interface.

Adafruit_SPIDevice *	spi_dev = NULL
	Pointer to SPI bus interface.

Adafruit_ICM20X_Accelerometer *	accel_sensor
	Accelerometer data object. More...

Adafruit_ICM20X_Gyro *	gyro_sensor = NULL
	Gyro data object.

Adafruit_ICM20X_Magnetometer *	mag_sensor
	Magnetometer sensor data object. More...

Adafruit_ICM20X_Temp *	temp_sensor = NULL
	Temp sensor data object.

uint16_t	_sensorid_accel
	ID number for accelerometer.

uint16_t	_sensorid_gyro
	ID number for gyro.

uint16_t	_sensorid_mag
	ID number for mag.

uint16_t	_sensorid_temp
	ID number for temperature.

int16_t	rawAccX
	temp variables

int16_t	rawAccY
	temp variables

int16_t	rawAccZ
	temp variables

int16_t	rawTemp
	temp variables

int16_t	rawGyroX
	temp variables

int16_t	rawGyroY
	temp variables

int16_t	rawGyroZ
	temp variables

int16_t	rawMagX
	temp variables

int16_t	rawMagY
	temp variables

int16_t	rawMagZ
	temp variables

uint8_t	current_accel_range
	accelerometer range cache

uint8_t	current_gyro_range
	gyro range cache

Detailed Description

Class that stores state and functions for interacting with the ST ICM2948 9-DoF Accelerometer, gyro, and magnetometer.

Member Function Documentation

◆ begin_I2C()

bool Adafruit_ICM20948::begin_I2C	(	uint8_t	i2c_address = `ICM20948_I2CADDR_DEFAULT`,
		TwoWire *	wire = `&Wire`,
		int32_t	sensor_id = `0`
	)

virtual

Sets up the hardware and initializes I2C.

Parameters

i2c_address	The I2C address to be used.
wire	The Wire object to be used for I2C connections.
sensor_id	An optional parameter to set the sensor ids to differentiate similar sensors The passed value is assigned to the accelerometer and the gyro get +1 and the temperature sensor +2.

Returns: True if initialization was successful, otherwise false.

Reimplemented from Adafruit_ICM20X.

◆ getAccelRange()

icm20948_accel_range_t Adafruit_ICM20948::getAccelRange ( void )

Get the accelerometer's measurement range.

Returns: The accelerometer's measurement range (icm20948_accel_range_t).

◆ setAccelRange()

void Adafruit_ICM20948::setAccelRange ( icm20948_accel_range_t new_accel_range )

Sets the accelerometer's measurement range.

Parameters

new_accel_range Measurement range to be set. Must be an icm20948_accel_range_t.

◆ getGyroRange()

icm20948_gyro_range_t Adafruit_ICM20948::getGyroRange ( void )

Get the gyro's measurement range.

Returns: The gyro's measurement range (icm20948_gyro_range_t).

◆ setGyroRange()

void Adafruit_ICM20948::setGyroRange ( icm20948_gyro_range_t new_gyro_range )

Sets the gyro's measurement range.

Parameters

new_gyro_range Measurement range to be set. Must be an icm20948_gyro_range_t.

◆ getMagDataRate()

ak09916_data_rate_t Adafruit_ICM20948::getMagDataRate ( void )

Get the current magnetometer measurement rate.

Returns: ak09916_data_rate_t the current rate

◆ setMagDataRate()

bool Adafruit_ICM20948::setMagDataRate ( ak09916_data_rate_t rate )

Set the magnetometer measurement rate.

Parameters

rate	The rate to set.

Returns: true: success false: failure

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

Public Member Functions

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ begin_I2C()

◆ getAccelRange()

◆ setAccelRange()

◆ getGyroRange()

◆ setGyroRange()

◆ getMagDataRate()

◆ setMagDataRate()