#include <modm/driver/inertial/ixm42xxx.hpp>

Public Typedefs
typedef modm::Configuration< RegBankSel_t, BankSel, Bit2\|Bit1\|Bit0 >	BankSel_t

typedef modm::Configuration< DeviceConfig_t, DataMode, Bit4 >	DataMode_t

typedef modm::Configuration< DeviceConfig_t, SoftResetConfig, Bit0 >	SoftResetConfig_t

typedef modm::Configuration< DriveConfig_t, SlewRate, Bit2\|Bit1\|Bit0, 3 >	I2cSlewRate_t

typedef modm::Configuration< DriveConfig_t, SlewRate, Bit2\|Bit1\|Bit0, 0 >	SpiSlewRate_t

typedef modm::Configuration< FifoConfig_t, FifoMode, Bit7\|Bit6 >	FifoMode_t

typedef modm::Configuration< IntfConfig0_t, UiSifsCfg, Bit1\|Bit0 >	UiSifsCfg_t

typedef modm::Configuration< IntfConfig1_t, ClkSel, Bit1\|Bit0 >	ClkSel_t

typedef modm::Configuration< PwrMgmt0_t, GyroMode, Bit3\|Bit2 >	GyroMode_t

typedef modm::Configuration< PwrMgmt0_t, AccelMode, Bit1\|Bit0 >	AccelMode_t

typedef modm::Configuration< GyroConfig0_t, GyroFs, Bit2\|Bit1\|Bit0, 5 >	GyroFs_t

typedef modm::Configuration< GyroConfig0_t, GyroOdr, Bit3\|Bit2\|Bit1\|Bit0 >	GyroOdr_t

typedef modm::Configuration< AccelConfig0_t, AccelFs, Bit2\|Bit1\|Bit0, 5 >	AccelFs_t

typedef modm::Configuration< AccelConfig0_t, AccelOdr, Bit3\|Bit2\|Bit1\|Bit0 >	AccelOdr_t

typedef modm::Configuration< GyroConfig1_t, TempFiltBw, Bit2\|Bit1\|Bit0, 5 >	TempFiltBw_t

typedef modm::Configuration< GyroConfig1_t, GyroUiFiltOrd, Bit3\|Bit2 >	GyroUiFiltOrd_t

typedef modm::Configuration< GyroConfig1_t, GyroDec2M2Ord, Bit1\|Bit0 >	GyroDec2M2Ord_t

typedef modm::Configuration< GyroAccelCongfig0_t, UiFiltBw, Bit3\|Bit2\|Bit1\|Bit0, 4 >	AccelUiFiltBw_t

typedef modm::Configuration< GyroAccelCongfig0_t, UiFiltBw, Bit3\|Bit2\|Bit1\|Bit0, 0 >	GyroUiFiltBw_t

typedef modm::Configuration< AccelConfig1_t, AccelUiFiltOrd, Bit3\|Bit2 >	AccelUiFiltOrd_t

typedef modm::Configuration< AccelConfig1_t, AccelDec2M2Ord, Bit1\|Bit0 >	AccelDec2M2Ord_t

typedef modm::Configuration< ApexConfig0_t, DmpOdr, Bit1\|Bit0 >	DmpOdr_t

typedef modm::Configuration< SmdConfig_t, SmdMode, Bit1\|Bit0 >	SmdMode_t

typedef modm::Configuration< FsyncConfig_t, FsyncUiSel, Bit2\|Bit1\|Bit0, 4 >	FsyncUiSel_t

typedef modm::Configuration< IntConfig0_t, UiDrdyIntClear, Bit5\|Bit4 >	UiDrdyIntClear_t

typedef modm::Configuration< IntConfig0_t, FifoThsIntClear, Bit3\|Bit2 >	FifoThsIntClear_t

typedef modm::Configuration< IntConfig0_t, FifoFullIntClear, Bit3\|Bit2 >	FifoFullIntClear_t

using	Register_t = FlagsGroup< RegBankSel_t, DeviceConfig_t, DriveConfig_t, IntConfig_t, FifoConfig_t, SignalPathReset_t, IntfConfig0_t, IntfConfig1_t, PwrMgmt0_t, GyroConfig0_t, AccelConfig0_t, GyroConfig1_t, GyroAccelCongfig0_t, AccelConfig1_t, TmstConfig_t, ApexConfig0_t, SmdConfig_t, FifoConfig1_t, FsyncConfig_t, IntConfig0_t, IntConfig1_t, IntSource0_t, IntSource1_t, IntSource3_t, IntSource4_t, SelfTestConfig_t >

Public Types
enum	Register : uint16_t

enum	RegBankSel : uint8_t
	REG_BANK_SEL reset value is 0x00.

enum	BankSel : uint8_t

enum	DeviceConfig : uint8_t
	DEVICE_CONFIG reset value is 0x00.

enum	DataMode : uint8_t

enum	SoftResetConfig : uint8_t

enum	DriveConfig : uint8_t
	DRIVE_CONFIG reset value is 0x05.

enum	SlewRate : uint8_t

enum	IntConfig : uint8_t
	INT_CONFIG reset value is 0x00.

enum	FifoConfig : uint8_t
	FIFO_CONFIG reset value is 0x00.

enum	FifoMode : uint8_t

enum	IntStatus : uint8_t
	INT_STATUS reset value is 0x10.

enum	IntStatus2 : uint8_t
	INT_STATUS2 reset value is 0x00.

enum	IntStatus3 : uint8_t
	INT_STATUS3 reset value is 0x00.

enum	SignalPathReset : uint8_t
	SIGNAL_PATH_RESET reset value is 0x00.

enum	IntfConfig0 : uint8_t
	INTF_CONFIG0 reset value is 0x30.

enum	UiSifsCfg : uint8_t

enum	IntfConfig1 : uint8_t
	INTF_CONFIG1 reset value is 0x91.

enum	ClkSel : uint8_t

enum	PwrMgmt0 : uint8_t
	PWR_MGMT0 reset value is 0x00.

enum	GyroMode : uint8_t

enum	AccelMode : uint8_t

enum	GyroConfig0 : uint8_t
	GYRO_CONFIG0 reset value is 0x06.

enum	GyroFs : uint8_t

enum	GyroOdr : uint8_t

enum	AccelConfig0 : uint8_t
	ACCEL_CONFIG0 reset value is 0x06.

enum	AccelFs : uint8_t

enum	AccelOdr : uint8_t

enum	GyroConfig1 : uint8_t
	GYRO_CONFIG1 reset value is 0x16.

enum	TempFiltBw : uint8_t

enum	GyroUiFiltOrd : uint8_t

enum	GyroDec2M2Ord : uint8_t

enum	GyroAccelCongfig0 : uint8_t
	GYRO_ACCEL_CONFIG0 reset value is 0x11.

enum	UiFiltBw : uint8_t

enum	AccelConfig1 : uint8_t
	ACCEL_CONFIG1 reset value is 0x0D.

enum	AccelUiFiltOrd : uint8_t

enum	AccelDec2M2Ord : uint8_t

enum	TmstConfig : uint8_t
	TMST_CONFIG reset value is 0x23.

enum	ApexConfig0 : uint8_t
	APEX_CONFIG0 reset value is 0x82.

enum	DmpOdr : uint8_t

enum	SmdConfig : uint8_t
	SMD_CONFIG reset value is 0x00.

enum	SmdMode : uint8_t

enum	FifoConfig1 : uint8_t
	FIFO_CONFIG1 reset value is 0x00.

enum	FsyncConfig : uint8_t
	FSYNC_CONFIG reset value is 0x10.

enum	FsyncUiSel : uint8_t

enum	IntConfig0 : uint8_t
	INT_CONFIG0 reset value is 0x00.

enum	UiDrdyIntClear : uint8_t

enum	FifoThsIntClear : uint8_t

enum	FifoFullIntClear : uint8_t

enum	IntConfig1 : uint8_t
	INT_CONFIG1 reset value is 0x10.

enum	IntSource0 : uint8_t
	INT_SOURCE0 reset value is 0x10.

enum	IntSource1 : uint8_t
	INT_SOURCE1 reset value is 0x00.

enum	IntSource3 : uint8_t
	INT_SOURCE3 reset value is 0x00.

enum	IntSource4 : uint8_t
	INT_SOURCE4 reset value is 0x00.

enum	SelfTestConfig : uint8_t
	SELF_TEST_CONFIG reset value is 0x00.

Public Member Functions
	Ixm42xxx (Data &data, uint8_t address=0b11010000)
	Constructor. More...

void	initialize ()
	Initialize the device to use default settings and the endianess of the microcontroller. More...

bool	readTempData ()
	Read the temperature data from the device. More...

bool	readAccelData ()
	Read the accel data from the device. More...

bool	readGyroData ()
	Read the gyro data from the device. More...

bool	readSensorData ()
	Read the sensor data from the device. More...

bool	readFsyncTimestamp (uint16_t *timestamp)
	Read the FSYNC timestamp from the device. More...

bool	readFifoCount (uint16_t *count)
	Read the FIFO count from the device. More...

bool	readFifoData ()
	Read the FIFO data from the device. More...

bool	writeFifoWatermark (uint16_t watermark)
	Set the FIFO watermark used to generate FIFO_WM_GT interrupt. More...

bool	updateRegister (Register reg, Register_t setMask, Register_t clearMask=Register_t (0xff))
	update a single register. More...

bool	writeRegister (Register reg, uint8_t value)
	Write a single register. More...

bool	readRegister (Register reg, uint8_t *value)
	Read a single register. More...

bool	readRegister (Register reg, uint8_t *buffer, std::size_t length)
	Read consecutive registers. More...

Data &	getData ()
	Get the data object for this sensor.

	MODM_FLAGS8 (RegBankSel)

	MODM_FLAGS8 (DeviceConfig)

	MODM_FLAGS8 (DriveConfig)

	MODM_FLAGS8 (IntConfig)

	MODM_FLAGS8 (FifoConfig)

	MODM_FLAGS8 (IntStatus)

	MODM_FLAGS8 (IntStatus2)

	MODM_FLAGS8 (IntStatus3)

	MODM_FLAGS8 (SignalPathReset)

	MODM_FLAGS8 (IntfConfig0)

	MODM_FLAGS8 (IntfConfig1)

	MODM_FLAGS8 (PwrMgmt0)

	MODM_FLAGS8 (GyroConfig0)

	MODM_FLAGS8 (AccelConfig0)

	MODM_FLAGS8 (GyroConfig1)

	MODM_FLAGS8 (GyroAccelCongfig0)

	MODM_FLAGS8 (AccelConfig1)

	MODM_FLAGS8 (TmstConfig)

	MODM_FLAGS8 (ApexConfig0)

	MODM_FLAGS8 (SmdConfig)

	MODM_FLAGS8 (FifoConfig1)

	MODM_FLAGS8 (FsyncConfig)

	MODM_FLAGS8 (IntConfig0)

	MODM_FLAGS8 (IntConfig1)

	MODM_FLAGS8 (IntSource0)

	MODM_FLAGS8 (IntSource1)

	MODM_FLAGS8 (IntSource3)

	MODM_FLAGS8 (IntSource4)

	MODM_FLAGS8 (SelfTestConfig)

Protected Member Functions
bool	setRegisterBank (Register regi)

Detailed Description

template<class Transport>
struct modm::Ixm42xxx< Transport >

Template Parameters

Transport Either the I2C or SPI Transport Layer.

See also: Ixm42xxxTransportI2c; Ixm42xxxTransportSpi

Author: Rasmus Kleist Hørlyck Sørensen

Constructor & Destructor Documentation

template<class Transport >

modm::Ixm42xxx< Transport >::Ixm42xxx	(	Data &	data,
		uint8_t	address = `0b11010000`
	)

Constructor.

Parameters

data	A ixm42xxx::data object
address	the I2C address of the device

Member Function Documentation

template<class Transport >

void modm::Ixm42xxx< Transport >::initialize ( )

Initialize the device to use default settings and the endianess of the microcontroller.

Warning: Calling this functions resets the device and blocks for 1 ms

template<class Transport >

bool modm::Ixm42xxx< Transport >::readAccelData ( )

Read the accel data from the device.

Returns: False in case of any error, e.g. if some register access is not permitted.

template<class Transport >

bool modm::Ixm42xxx< Transport >::readFifoCount ( uint16_t * count )

Read the FIFO count from the device.

Returns: False in case of any error, e.g. if some register access is not permitted.

template<class Transport >

bool modm::Ixm42xxx< Transport >::readFifoData ( )

Read the FIFO data from the device.

Returns: False in case of any error, e.g. if some register access is not permitted.

template<class Transport >

bool modm::Ixm42xxx< Transport >::readFsyncTimestamp ( uint16_t * timestamp )

Read the FSYNC timestamp from the device.

Returns: False in case of any error, e.g. if some register access is not permitted.

template<class Transport >

bool modm::Ixm42xxx< Transport >::readGyroData ( )

Read the gyro data from the device.

Returns: False in case of any error, e.g. if some register access is not permitted.

template<class Transport >

bool modm::Ixm42xxx< Transport >::readRegister	(	Register	reg,
		uint8_t *	buffer,
		std::size_t	length
	)

Read consecutive registers.

Parameters

reg	The register to start reading from
data	The placeholder for the read values to be stored

Returns: False in case of any error, e.g. if some register access is not permitted.

template<class Transport >

bool modm::Ixm42xxx< Transport >::readRegister	(	Register	reg,
		uint8_t *	value
	)

Read a single register.

Parameters

reg	The register to be read
value	The placeholder for the read value to be stored

Returns: False in case of any error, e.g. if some register access is not permitted.

template<class Transport >

bool modm::Ixm42xxx< Transport >::readSensorData ( )

Read the sensor data from the device.

Returns: False in case of any error, e.g. if some register access is not permitted.

template<class Transport >

bool modm::Ixm42xxx< Transport >::readTempData ( )

Read the temperature data from the device.

Returns: False in case of any error, e.g. if some register access is not permitted.

template<class Transport >

bool modm::Ixm42xxx< Transport >::updateRegister	(	Register	reg,
		Register_t	setMask,
		Register_t	clearMask = `Register_t (0xff)`
	)

update a single register.

Parameters

reg	The register to be updated
setMask	The bits to be setted in the register
clearMask	The bits to be cleared in the register.

Returns: False in case of any error, e.g. if some register access is not permitted.

Warning: Only the registers GYRO_CONFIG0, ACCEL_CONFIG0 and PWR_MGMT0 can be modified during sensor operation

template<class Transport >

bool modm::Ixm42xxx< Transport >::writeFifoWatermark ( uint16_t watermark )

Set the FIFO watermark used to generate FIFO_WM_GT interrupt.

Warning: The FIFO watermarkl should be set, before choosing this interrupt source.

Returns: False in case of any error, e.g. if some register access is not permitted.

template<class Transport >

bool modm::Ixm42xxx< Transport >::writeRegister	(	Register	reg,
		uint8_t	value
	)

Write a single register.

Parameters

reg	The register to be read
value	The value to write to the register

Returns: False in case of any error, e.g. if some register access is not permitted.

Warning: Only the registers GYRO_CONFIG0, ACCEL_CONFIG0 and PWR_MGMT0 can be modified during sensor operation

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

ixm42xxx.hpp
ixm42xxx_definitions.hpp

Public Typedefs

Public Types

Public Member Functions

Protected Member Functions

Detailed Description

template<class Transport> struct modm::Ixm42xxx< Transport >

Constructor & Destructor Documentation

Member Function Documentation

template<class Transport>
struct modm::Ixm42xxx< Transport >