#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...

modm::ResumableResult< void >	initialize ()
	Initialize the device to use default settings and the endianess of the microcontroller. More...

modm::ResumableResult< bool >	readTempData ()
	Read the temperature data from the device. More...

modm::ResumableResult< bool >	readAccelData ()
	Read the accel data from the device. More...

modm::ResumableResult< bool >	readGyroData ()
	Read the gyro data from the device. More...

modm::ResumableResult< bool >	readSensorData ()
	Read the sensor data from the device. More...

modm::ResumableResult< bool >	readFsyncTimestamp (uint16_t *timestamp)
	Read the FSYNC timestamp from the device. More...

modm::ResumableResult< bool >	readFifoCount (uint16_t *count)
	Read the FIFO count from the device. More...

modm::ResumableResult< bool >	readFifoData ()
	Read the FIFO data from the device. More...

modm::ResumableResult< bool >	writeFifoWatermark (uint16_t watermark)
	Set the FIFO watermark used to generate FIFO_WM_GT interrupt. More...

modm::ResumableResult< bool >	updateRegister (Register reg, Register_t setMask, Register_t clearMask=Register_t (0xff))
	update a single register. More...

modm::ResumableResult< bool >	writeRegister (Register reg, uint8_t value)
	Write a single register. More...

modm::ResumableResult< bool >	readRegister (Register reg, uint8_t *value)
	Read a single register. More...

modm::ResumableResult< 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
modm::ResumableResult< 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 >

modm::ResumableResult<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 >

modm::ResumableResult<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 >

modm::ResumableResult<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 >

modm::ResumableResult<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 >

modm::ResumableResult<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 >

modm::ResumableResult<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 >

modm::ResumableResult<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 >

modm::ResumableResult<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 >

modm::ResumableResult<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 >

modm::ResumableResult<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 >

modm::ResumableResult<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 >

modm::ResumableResult<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 >

modm::ResumableResult<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 >