Class that stores state and functions for interacting with the ST ICM20X 6-DoF Accelerometer and Gyro. More...

#include <Adafruit_ICM20X.h>

Inheritance diagram for Adafruit_ICM20X:

Public Member Functions
	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...

Protected Member Functions
void	_read (void)
	Updates the measurement data for all sensors simultaneously.

virtual void	scaleValues (void)
	Scales the raw variables based on the current measurement range.

virtual bool	begin_I2C (uint8_t i2c_add, TwoWire *wire, int32_t sensor_id)
	Sets up the hardware and initializes I2C. More...

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
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

Friends
class	Adafruit_ICM20X_Accelerometer

class	Adafruit_ICM20X_Gyro

class	Adafruit_ICM20X_Magnetometer

class	Adafruit_ICM20X_Temp

Detailed Description

Class that stores state and functions for interacting with the ST ICM20X 6-DoF Accelerometer and Gyro.

Member Function Documentation

◆ begin_SPI() [1/2]

bool Adafruit_ICM20X::begin_SPI	(	uint8_t	cs_pin,
		SPIClass *	theSPI = `&SPI`,
		int32_t	sensor_id = `0`
	)

Sets up the hardware and initializes hardware SPI.

Parameters

cs_pin	The arduino pin # connected to chip select
theSPI	The SPI object to be used for SPI connections.
sensor_id	An optional parameter to set the sensor ids to differentiate similar sensors The passed value is assigned to the accelerometer, the gyro gets +1, the magnetometer +2, and the temperature sensor +3.

Returns: True if initialization was successful, otherwise false.

◆ begin_SPI() [2/2]

bool Adafruit_ICM20X::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.

Parameters

cs_pin	The arduino pin # connected to chip select
sck_pin	The arduino pin # connected to SPI clock
miso_pin	The arduino pin # connected to SPI MISO
mosi_pin	The arduino pin # connected to SPI MOSI
sensor_id	An optional parameter to set the sensor ids to differentiate similar sensors The passed value is assigned to the accelerometer, the gyro gets +1, the magnetometer +2, and the temperature sensor +3.

Returns: True if initialization was successful, otherwise false.

◆ getGyroRateDivisor()

uint8_t Adafruit_ICM20X::getGyroRateDivisor ( void )

Get the gyro's data rate divisor.

Returns: The gyro's data rate divisor (uint8_t).

◆ setGyroRateDivisor()

void Adafruit_ICM20X::setGyroRateDivisor ( uint8_t new_gyro_divisor )

Sets the gyro's data rate divisor.

Parameters

new_gyro_divisor The gyro's data rate divisor (uint8_t).

◆ getAccelRateDivisor()

uint16_t Adafruit_ICM20X::getAccelRateDivisor ( void )

Get the accelerometer's data rate divisor.

Returns: The accelerometer's data rate divisor (uint8_t).

◆ setAccelRateDivisor()

void Adafruit_ICM20X::setAccelRateDivisor ( uint16_t new_accel_divisor )

Sets the accelerometer's data rate divisor.

Parameters

new_accel_divisor The accelerometer's data rate divisor (uint16_t). This 12-bit value must be <= 4095

◆ enableAccelDLPF()

bool Adafruit_ICM20X::enableAccelDLPF	(	bool	enable,
		icm20x_accel_cutoff_t	cutoff_freq
	)

Enable or disable the accelerometer's Digital Low Pass Filter.

Parameters

enable	true: enable false: disable
cutoff_freq	Signals changing at a rate higher than the given cutoff frequency will be filtered out

Returns: true: success false: failure

◆ enableGyrolDLPF()

bool Adafruit_ICM20X::enableGyrolDLPF	(	bool	enable,
		icm20x_gyro_cutoff_t	cutoff_freq
	)

Enable or disable the gyro's Digital Low Pass Filter.

Parameters

enable	true: enable false: disable
cutoff_freq	Signals changing at a rate higher than the given cutoff frequency will be filtered out

Returns: true: success false: failure

◆ setInt1ActiveLow()

void Adafruit_ICM20X::setInt1ActiveLow ( bool active_low )

Sets the polarity of the int1 pin.

Parameters

active_low Set to true to make INT1 active low, false to make it active high

◆ setInt2ActiveLow()

void Adafruit_ICM20X::setInt2ActiveLow ( bool active_low )

Sets the polarity of the INT2 pin.

Parameters

active_low Set to true to make INT1 active low, false to make it active high

◆ getAccelerometerSensor()

Adafruit_Sensor * Adafruit_ICM20X::getAccelerometerSensor ( void )

Gets an Adafruit Unified Sensor object for the accelerometer sensor component.

Returns: Adafruit_Sensor pointer to accelerometer sensor

◆ getGyroSensor()

Adafruit_Sensor * Adafruit_ICM20X::getGyroSensor ( void )

Gets an Adafruit Unified Sensor object for the gyro sensor component.

Returns: Adafruit_Sensor pointer to gyro sensor

◆ getMagnetometerSensor()

Adafruit_Sensor * Adafruit_ICM20X::getMagnetometerSensor ( void )

Gets an Adafruit Unified Sensor object for the magnetometer sensor component.

Returns: Adafruit_Sensor pointer to magnetometer sensor

◆ getTemperatureSensor()

Adafruit_Sensor * Adafruit_ICM20X::getTemperatureSensor ( void )

Gets an Adafruit Unified Sensor object for the temp sensor component.

Returns: Adafruit_Sensor pointer to temperature sensor

◆ getEvent()

bool Adafruit_ICM20X::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.

Parameters

accel	Pointer to an Adafruit Unified sensor_event_t object to be filled with acceleration event data.
gyro	Pointer to an Adafruit Unified sensor_event_t object to be filled with gyro event data.
mag	Pointer to an Adafruit Unified sensor_event_t object to be filled with magnetometer event data.
temp	Pointer to an Adafruit Unified sensor_event_t object to be filled with temperature event data.

Returns: True on successful read

◆ readExternalRegister()

uint8_t Adafruit_ICM20X::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.

Parameters

slv_addr	the 7-bit I2C address of the slave device
reg_addr	the register address to read from

Returns: the requested register value

◆ writeExternalRegister()

bool Adafruit_ICM20X::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.

Parameters

slv_addr	the 7-bit I2C address of the slave device
reg_addr	the register address to write to
value	the value to write

Returns: true; false

◆ configureI2CMaster()

bool Adafruit_ICM20X::configureI2CMaster ( void )

Set the I2C clock rate for the auxillary I2C bus to 345.60kHz and disable repeated start.

Returns: true: success false: failure

◆ enableI2CMaster()

bool Adafruit_ICM20X::enableI2CMaster ( bool enable_i2c_master )

Enable or disable the I2C mastercontroller.

Parameters

enable_i2c_master true: enable false: disable

Returns: true: success false: error

◆ setI2CBypass()

void Adafruit_ICM20X::setI2CBypass ( bool bypass_i2c )

Sets the bypass status of the I2C master bus support.

Parameters

bypass_i2c Set to true to bypass the internal I2C master circuitry, connecting the external I2C bus to the main I2C bus. Set to false to re-connect

◆ begin_I2C()

bool Adafruit_ICM20X::begin_I2C	(	uint8_t	i2c_address,
		TwoWire *	wire,
		int32_t	sensor_id
	)

protectedvirtual

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, the gyro gets +1, the magnetometer +2, and the temperature sensor +3.

Returns: True if initialization was successful, otherwise false.

Reimplemented in Adafruit_ICM20948, and Adafruit_ICM20649.

◆ _init()

bool Adafruit_ICM20X::_init ( int32_t sensor_id )

protected

Initilizes the sensor.

Parameters

sensor_id Optional unique ID for the sensor set

Returns: True if chip identified and initialized

◆ _setBank()

void Adafruit_ICM20X::_setBank ( uint8_t bank_number )

protected

Sets register bank.

Parameters

bank_number The bank to set to active

◆ readAccelRange()

uint8_t Adafruit_ICM20X::readAccelRange ( void )

protected

Get the accelerometer's measurement range.

Returns: The accelerometer's measurement range (icm20x_accel_range_t).

◆ writeAccelRange()

void Adafruit_ICM20X::writeAccelRange ( uint8_t new_accel_range )

protected

Sets the accelerometer's measurement range.

Parameters

new_accel_range Measurement range to be set. Must be an icm20x_accel_range_t.

◆ readGyroRange()

uint8_t Adafruit_ICM20X::readGyroRange ( void )

protected

Get the gyro's measurement range.

Returns: The gyro's measurement range (icm20x_gyro_range_t).

◆ writeGyroRange()

void Adafruit_ICM20X::writeGyroRange ( uint8_t new_gyro_range )

protected

Sets the gyro's measurement range.

Parameters

new_gyro_range Measurement range to be set. Must be an icm20x_gyro_range_t.

Friends And Related Function Documentation

◆ Adafruit_ICM20X_Accelerometer

friend class Adafruit_ICM20X_Accelerometer

friend

Gives access to private members to Accelerometer data object

◆ Adafruit_ICM20X_Gyro

friend class Adafruit_ICM20X_Gyro

friend

Gives access to private members to Gyro data object

◆ Adafruit_ICM20X_Magnetometer

friend class Adafruit_ICM20X_Magnetometer

friend

Gives access to private members to Magnetometer data object

◆ Adafruit_ICM20X_Temp

friend class Adafruit_ICM20X_Temp

friend

Gives access to private members to Temp data object

Member Data Documentation

◆ accel_sensor

Adafruit_ICM20X_Accelerometer* Adafruit_ICM20X::accel_sensor

protected

Initial value:

=

NULL

Accelerometer data object.

◆ mag_sensor

Adafruit_ICM20X_Magnetometer* Adafruit_ICM20X::mag_sensor

protected

Initial value:

=

NULL

Magnetometer sensor data object.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Detailed Description

Member Function Documentation

◆ begin_SPI() [1/2]

◆ begin_SPI() [2/2]

◆ getGyroRateDivisor()

◆ setGyroRateDivisor()

◆ getAccelRateDivisor()

◆ setAccelRateDivisor()

◆ enableAccelDLPF()

◆ enableGyrolDLPF()

◆ setInt1ActiveLow()

◆ setInt2ActiveLow()

◆ getAccelerometerSensor()

◆ getGyroSensor()

◆ getMagnetometerSensor()

◆ getTemperatureSensor()

◆ getEvent()

◆ readExternalRegister()

◆ writeExternalRegister()

◆ configureI2CMaster()

◆ enableI2CMaster()

◆ setI2CBypass()

◆ begin_I2C()

◆ _init()

◆ _setBank()

◆ readAccelRange()

◆ writeAccelRange()

◆ readGyroRange()

◆ writeGyroRange()

Friends And Related Function Documentation

◆ Adafruit_ICM20X_Accelerometer

◆ Adafruit_ICM20X_Gyro

◆ Adafruit_ICM20X_Magnetometer

◆ Adafruit_ICM20X_Temp

Member Data Documentation

◆ accel_sensor

◆ mag_sensor