Driver to use the ICM-42605 Six Axis Sensor. More...

#include <c/yggdrasil/types.h>

Include dependency graph for six_axis_sensor.h:

Classes
struct	Coordinate
	Coordinates. More...

struct	Orientation
	Absolute board orientation. More...

Enumerations
enum	SixAxisSensorAccelFullScaleRange { SixAxisSensorAccelFullScaleRange_2G = 0x03, SixAxisSensorAccelFullScaleRange_4G = 0x02, SixAxisSensorAccelFullScaleRange_8G = 0x01, SixAxisSensorAccelFullScaleRange_16G = 0x00 }
	Accelerometer range. More...

enum	SixAxisSensorGyroFullScaleRange { SixAxisSensorGyroFullScaleRange_2000DPS = 0x00, SixAxisSensorGyroFullScaleRange_1000DPS = 0x01, SixAxisSensorGyroFullScaleRange_500DPS = 0x02, SixAxisSensorGyroFullScaleRange_250DPS = 0x03, SixAxisSensorGyroFullScaleRange_125DPS = 0x04, SixAxisSensorGyroFullScaleRange_62_5DPS = 0x05, SixAxisSensorGyroFullScaleRange_31_25DPS = 0x06, SixAxisSensorGyroFullScaleRange_15_125DPS = 0x07 }
	Gyroscope range. More...

enum	SixAxisSensorAccelOutputDataRange { SixAxisSensorAccelOutputDataRange_8000Hz = 0x03, SixAxisSensorAccelOutputDataRange_4000Hz = 0x04, SixAxisSensorAccelOutputDataRange_2000Hz = 0x05, SixAxisSensorAccelOutputDataRange_1000Hz = 0x06, SixAxisSensorAccelOutputDataRange_500Hz = 0x0F, SixAxisSensorAccelOutputDataRange_200Hz = 0x07, SixAxisSensorAccelOutputDataRange_100Hz = 0x08, SixAxisSensorAccelOutputDataRange_50Hz = 0x09, SixAxisSensorAccelOutputDataRange_25Hz = 0x0A, SixAxisSensorAccelOutputDataRange_12_5Hz = 0x0B, SixAxisSensorAccelOutputDataRange_6_25Hz = 0x0C, SixAxisSensorAccelOutputDataRange_3_125Hz = 0x0D, SixAxisSensorAccelOutputDataRange_1_5625Hz = 0x0E }
	Accelerometer data rate. More...

enum	SixAxisSensorGyroOutputDataRange { SixAxisSensorGyroOutputDataRange_8000Hz = 0x03, SixAxisSensorGyroOutputDataRange_4000Hz = 0x04, SixAxisSensorGyroOutputDataRange_2000Hz = 0x05, SixAxisSensorGyroOutputDataRange_1000Hz = 0x06, SixAxisSensorGyroOutputDataRange_500Hz = 0x0F, SixAxisSensorGyroOutputDataRange_200Hz = 0x07, SixAxisSensorGyroOutputDataRange_100Hz = 0x08, SixAxisSensorGyroOutputDataRange_50Hz = 0x09, SixAxisSensorGyroOutputDataRange_25Hz = 0x0A, SixAxisSensorGyroOutputDataRange_12_5Hz = 0x0B }
	Gyroscope data rate. More...

Functions
C_LINKAGE bool	yggdrasil_SixAxisSensor_Init (enum SixAxisSensorAccelFullScaleRange accelScale, enum SixAxisSensorGyroFullScaleRange gyroScale, enum SixAxisSensorAccelOutputDataRange accelOdr, enum SixAxisSensorGyroOutputDataRange gyroOdr)
	Initializes the ICM-42605 Six Axis Sensor. More...

C_LINKAGE struct Coordinate	yggdrasil_SixAxisSensor_GetRotation (void)
	Get yggdrasil's current orientation from the gyroscope. More...

C_LINKAGE struct Coordinate	yggdrasil_SixAxisSensor_GetAcceleration (void)
	Get yggdrasil's current acceleration from the accelerometer. More...

C_LINKAGE float	yggdrasil_SixAxisSensor_GetTemperature (void)
	Get the internal temperature of the ICM-42605 sensor. More...

C_LINKAGE struct Orientation	yggdrasil_SixAxisSensor_GetBoardOrientation (void)
	Get yggdrasil's current orientation. More...

Detailed Description

Driver to use the ICM-42605 Six Axis Sensor.

Author: Fabian Weber, Nikolaij Saegesser

Enumeration Type Documentation

◆ SixAxisSensorAccelFullScaleRange

enum SixAxisSensorAccelFullScaleRange

Accelerometer range.

Enumerator
SixAxisSensorAccelFullScaleRange_2G	Range from -2G to 2G with highest precision.
SixAxisSensorAccelFullScaleRange_4G	Range from -4G to 4G.
SixAxisSensorAccelFullScaleRange_8G	Range from -8G to 8G.
SixAxisSensorAccelFullScaleRange_16G	Range from -16G to 16G with lowest precision.

◆ SixAxisSensorAccelOutputDataRange

enum SixAxisSensorAccelOutputDataRange

Accelerometer data rate.

Enumerator
SixAxisSensorAccelOutputDataRange_8000Hz	8000 measurements per second
SixAxisSensorAccelOutputDataRange_4000Hz	4000 measurements per second
SixAxisSensorAccelOutputDataRange_2000Hz	2000 measurements per second
SixAxisSensorAccelOutputDataRange_1000Hz	1000 measurements per second
SixAxisSensorAccelOutputDataRange_500Hz	500 measurements per second
SixAxisSensorAccelOutputDataRange_200Hz	200 measurements per second
SixAxisSensorAccelOutputDataRange_100Hz	100 measurements per second
SixAxisSensorAccelOutputDataRange_50Hz	50 measurements per second
SixAxisSensorAccelOutputDataRange_25Hz	25 measurements per second
SixAxisSensorAccelOutputDataRange_12_5Hz	12.5 measurements per second
SixAxisSensorAccelOutputDataRange_6_25Hz	6.25 measurements per second
SixAxisSensorAccelOutputDataRange_3_125Hz	3.125 measurements per second
SixAxisSensorAccelOutputDataRange_1_5625Hz	1.5625 measurements per second

◆ SixAxisSensorGyroFullScaleRange

enum SixAxisSensorGyroFullScaleRange

Gyroscope range.

Note: DPS = degree per second

Enumerator
SixAxisSensorGyroFullScaleRange_2000DPS	Range from -2000DPS to 2000DPS with lowest precision.
SixAxisSensorGyroFullScaleRange_1000DPS	Range from -1000DPS to 1000DPS.
SixAxisSensorGyroFullScaleRange_500DPS	Range from -500DPS to 500DPS.
SixAxisSensorGyroFullScaleRange_250DPS	Range from -250DPS to 250DPS.
SixAxisSensorGyroFullScaleRange_125DPS	Range from -125DPS to 125DPS.
SixAxisSensorGyroFullScaleRange_62_5DPS	Range from -62.5DPS to 65.5DPS.
SixAxisSensorGyroFullScaleRange_31_25DPS	Range from -31.25DPS to 31.25DPS.
SixAxisSensorGyroFullScaleRange_15_125DPS	Range from -15.125DPS to 15.125DPS with highest precision.

◆ SixAxisSensorGyroOutputDataRange

enum SixAxisSensorGyroOutputDataRange

Gyroscope data rate.

Enumerator
SixAxisSensorGyroOutputDataRange_8000Hz	8000 measurements per second
SixAxisSensorGyroOutputDataRange_4000Hz	4000 measurements per second
SixAxisSensorGyroOutputDataRange_2000Hz	2000 measurements per second
SixAxisSensorGyroOutputDataRange_1000Hz	1000 measurements per second
SixAxisSensorGyroOutputDataRange_500Hz	500 measurements per second
SixAxisSensorGyroOutputDataRange_200Hz	200 measurements per second
SixAxisSensorGyroOutputDataRange_100Hz	100 measurements per second
SixAxisSensorGyroOutputDataRange_50Hz	50 measurements per second
SixAxisSensorGyroOutputDataRange_25Hz	25 measurements per second
SixAxisSensorGyroOutputDataRange_12_5Hz	12.5 measurements per second

Function Documentation

◆ yggdrasil_SixAxisSensor_GetAcceleration()

C_LINKAGE struct Coordinate yggdrasil_SixAxisSensor_GetAcceleration ( void )

Get yggdrasil's current acceleration from the accelerometer.

Returns: X, Y and Z acceleration axis values

◆ yggdrasil_SixAxisSensor_GetBoardOrientation()

C_LINKAGE struct Orientation yggdrasil_SixAxisSensor_GetBoardOrientation ( void )

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

◆ yggdrasil_SixAxisSensor_GetRotation()

C_LINKAGE struct Coordinate yggdrasil_SixAxisSensor_GetRotation ( void )

Get yggdrasil's current orientation from the gyroscope.

Returns: X, Y and Z rotation axis values

◆ yggdrasil_SixAxisSensor_GetTemperature()

C_LINKAGE float yggdrasil_SixAxisSensor_GetTemperature ( void )

Get the internal temperature of the ICM-42605 sensor.

Returns: Temperature value

◆ yggdrasil_SixAxisSensor_Init()

C_LINKAGE bool yggdrasil_SixAxisSensor_Init	(	enum SixAxisSensorAccelFullScaleRange	accelScale,
		enum SixAxisSensorGyroFullScaleRange	gyroScale,
		enum SixAxisSensorAccelOutputDataRange	accelOdr,
		enum SixAxisSensorGyroOutputDataRange	gyroOdr
	)

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

Classes

Enumerations

Functions