bsp::ygg::prph::SixAxisSensor Class Reference

6 axis sensor driver ICM-42605 More...

#include <six_axis_sensor.hpp>

Classes
struct	Coordinate
	Coordinates. More...
struct	Orientation
	Absolute board orientation. More...

Public Types
enum	AccelFullScaleRange : u8 { AccelFullScaleRange::_2G = 0x03, AccelFullScaleRange::_4G = 0x02, AccelFullScaleRange::_8G = 0x01, AccelFullScaleRange::_16G = 0x00 }
	Accelerometer range. More...
enum	GyroFullScaleRange : u8 {   GyroFullScaleRange::_2000DPS = 0x00, GyroFullScaleRange::_1000DPS = 0x01, GyroFullScaleRange::_500DPS = 0x02, GyroFullScaleRange::_250DPS = 0x03,   GyroFullScaleRange::_125DPS = 0x04, GyroFullScaleRange::_62_5DPS = 0x05, GyroFullScaleRange::_31_25DPS = 0x06, GyroFullScaleRange::_15_125DPS = 0x07 }
	Gyroscope range. More...
enum	AccelOutputDataRange : u8 {   AccelOutputDataRange::_8000Hz = 0x03, AccelOutputDataRange::_4000Hz = 0x04, AccelOutputDataRange::_2000Hz = 0x05, AccelOutputDataRange::_1000Hz = 0x06,   AccelOutputDataRange::_500Hz = 0x0F, AccelOutputDataRange::_200Hz = 0x07, AccelOutputDataRange::_100Hz = 0x08, AccelOutputDataRange::_50Hz = 0x09,   AccelOutputDataRange::_25Hz = 0x0A, AccelOutputDataRange::_12_5Hz = 0x0B, AccelOutputDataRange::_6_25Hz = 0x0C, AccelOutputDataRange::_3_125Hz = 0x0D,   AccelOutputDataRange::_1_5625Hz = 0x0E }
	Accelerometer data rate. More...
enum	GyroOutputDataRange : u8 {   GyroOutputDataRange::_8000Hz = 0x03, GyroOutputDataRange::_4000Hz = 0x04, GyroOutputDataRange::_2000Hz = 0x05, GyroOutputDataRange::_1000Hz = 0x06,   GyroOutputDataRange::_500Hz = 0x0F, GyroOutputDataRange::_200Hz = 0x07, GyroOutputDataRange::_100Hz = 0x08, GyroOutputDataRange::_50Hz = 0x09,   GyroOutputDataRange::_25Hz = 0x0A, GyroOutputDataRange::_12_5Hz = 0x0B }
	Gyroscope data rate. More...

Public Member Functions
	SixAxisSensor ()=delete

Static Public Member Functions
static bool	init (AccelFullScaleRange accelScale=AccelFullScaleRange::_2G, GyroFullScaleRange gyroScale=GyroFullScaleRange::_250DPS, AccelOutputDataRange accelOdr=AccelOutputDataRange::_1000Hz, GyroOutputDataRange gyroOdr=GyroOutputDataRange::_1000Hz)
	Initializes the ICM-42605 Six Axis Sensor. More...
static Coordinate	getRotation ()
	Get yggdrasil's current orientation from the gyroscope. More...
static Coordinate	getAcceleration ()
	Get yggdrasil's current acceleration from the accelerometer. More...
static float	getTemperature ()
	Get the internal temperature of the ICM-42605 sensor. More...
static Orientation	getBoardOrientation ()
	Get yggdrasil's current orientation. More...

Detailed Description

6 axis sensor driver ICM-42605

Member Enumeration Documentation

AccelFullScaleRange

enum bsp::ygg::prph::SixAxisSensor::AccelFullScaleRange : u8

strong

Accelerometer range.

Enumerator
_2G	Range from -2G to 2G with highest precision.
_4G	Range from -4G to 4G.
_8G	Range from -8G to 8G.
_16G	Range from -16G to 16G with lowest precision.

AccelOutputDataRange

enum bsp::ygg::prph::SixAxisSensor::AccelOutputDataRange : u8

strong

Accelerometer data rate.

Enumerator
_8000Hz	8000 measurements per second
_4000Hz	4000 measurements per second
_2000Hz	2000 measurements per second
_1000Hz	1000 measurements per second
_500Hz	500 measurements per second
_200Hz	200 measurements per second
_100Hz	100 measurements per second
_50Hz	50 measurements per second
_25Hz	25 measurements per second
_12_5Hz	12.5 measurements per second
_6_25Hz	6.25 measurements per second
_3_125Hz	3.125 measurements per second
_1_5625Hz	1.5625 measurements per second

GyroFullScaleRange

enum bsp::ygg::prph::SixAxisSensor::GyroFullScaleRange : u8

strong

Gyroscope range.

Note

DPS = degree per second

Enumerator
_2000DPS	Range from -2000DPS to 2000DPS with lowest precision.
_1000DPS	Range from -1000DPS to 1000DPS.
_500DPS	Range from -500DPS to 500DPS.
_250DPS	Range from -250DPS to 250DPS.
_125DPS	Range from -125DPS to 125DPS.
_62_5DPS	Range from -62.5DPS to 65.5DPS.
_31_25DPS	Range from -31.25DPS to 31.25DPS.
_15_125DPS	Range from -15.125DPS to 15.125DPS with highest precision.

GyroOutputDataRange

enum bsp::ygg::prph::SixAxisSensor::GyroOutputDataRange : u8

strong

Gyroscope data rate.

Enumerator
_8000Hz	8000 measurements per second
_4000Hz	4000 measurements per second
_2000Hz	2000 measurements per second
_1000Hz	1000 measurements per second
_500Hz	500 measurements per second
_200Hz	200 measurements per second
_100Hz	100 measurements per second
_50Hz	50 measurements per second
_25Hz	25 measurements per second
_12_5Hz	12.5 measurements per second

Constructor & Destructor Documentation

SixAxisSensor()

bsp::ygg::prph::SixAxisSensor::SixAxisSensor ( )

delete

Member Function Documentation

getAcceleration()

static Coordinate bsp::ygg::prph::SixAxisSensor::getAcceleration ( )

inlinestatic

Get yggdrasil's current acceleration from the accelerometer.

Returns

X, Y and Z acceleration axis values

getBoardOrientation()

static Orientation bsp::ygg::prph::SixAxisSensor::getBoardOrientation ( )

inlinestatic

Get yggdrasil's current orientation.

Note

When the board is flat on a plain surface this function returns approximately 0 0

Returns

orientation (roll and pitch) in the range from -180 to 180

getRotation()

static Coordinate bsp::ygg::prph::SixAxisSensor::getRotation ( )

inlinestatic

Get yggdrasil's current orientation from the gyroscope.

Returns

X, Y and Z rotation axis values

getTemperature()

static float bsp::ygg::prph::SixAxisSensor::getTemperature ( )

inlinestatic

Get the internal temperature of the ICM-42605 sensor.

Returns

Temperature value

init()

static bool bsp::ygg::prph::SixAxisSensor::init ( AccelFullScaleRange  accelScale = AccelFullScaleRange::_2G, GyroFullScaleRange  gyroScale = GyroFullScaleRange::_250DPS, AccelOutputDataRange  accelOdr = AccelOutputDataRange::_1000Hz, GyroOutputDataRange  gyroOdr = GyroOutputDataRange::_1000Hz  )

inlinestatic

Initializes the ICM-42605 Six Axis Sensor.

Parameters

accelScale	Scaling factor of the Accelerometer
gyroScale	Scaling factor of the Gyroscope
accelOdr	Output data rate of the Accelerometer
gyroOdr	Output data rate of the Gyroscope

Returns

Success

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

• Inc/cpp/yggdrasil/peripherals/six_axis_sensor.hpp