ICM20948Sensor Class Reference

Implementation of the Sensor class for the Adafruit ICM20948 (9-axis IMU) More...

#include <ICM20948Sensor.h>

Inheritance diagram for ICM20948Sensor:

Collaboration diagram for ICM20948Sensor:

Public Member Functions
	ICM20948Sensor ()
	Construct a new ICM20948Sensor object with default minimum_period of 0.
	ICM20948Sensor (unsigned long minimum_period)
	Construct a new ICM20948Sensor object, given mininum_period between sensor reads.
bool	verify () override
	Verifies that the ICM is connected and working.
String	readData () override
	Retrieves data from ICM 9-axis IMU.
void	readDataPacket (uint8_t *&packet) override
	Append the ICM sensor data to the packet buffer as raw bytes. The data appended is: accel.x, accel.y, accel.z, gyro.x, gyro.y, gyro.z, mag.x, mag.y, mag.z, and temperature.
String	decodeToCSV (uint8_t *&packet) override
	Decodes the ICM sensor data from the packet buffer into a CSV string. Reads the data in the same order as it was appended and increments the packet pointer.
Public Member Functions inherited from Sensor
	Sensor (String sensor_name, String csv_header, unsigned long minimum_period)
	Sensor (String sensor_name, String csv_header)
	Sensor (String sensor_name, String csv_header, int fields)
	Construct a new Sensor object with default minimum_period of 0 (depreciated)
	Sensor (String sensor_name, String csv_header, int fields, unsigned long minimum_period)
	Construct a new Sensor object (Depreciated)
unsigned long	getPeriod () const
	Get the minimum minimum_period between sensor reads in ms.
void	setPeriod (int minimum_period)
	Set the minimum minimum_period between sensor reads in ms.
unsigned long	getLastExecution () const
	Get the system time of the last execution in ms.
void	setLastExecution (int last_execution)
	Set the system time of the last execution in ms.
const String &	getSensorCSVHeader () const
	Get the csv header string associated with this sensor.
void	getDataPacket (uint32_t &sensor_id, uint8_t *&packet)
	Append the data from a sensor to the packet if the minium period is satisfied.
String	readEmpty () const
	Returns CSV line in the same format as readData() but with "-" instead of data.
String	getDataCSV ()
	Uses readData and readEmpty to get the data-filled or empty-celled CSV line for the sensor.
Public Member Functions inherited from Device
	Device (String device_name)
	Default constructor, sets a max_attempt of 1 (device recovery won't be attempted)
	Device (String device_name, int max_attempts, int wait_factor)
const String &	getDeviceName ()
bool	getVerified ()
	Get if the Device is Verified.
void	recoveryConfig (int max_attempts, int wait_factor)
	Set recovery config (used keep default constructor)
void	setWaitFactor (int wait_factor)
	Set wait_factor.
void	setMaxAttempts (int max_attempts)
	Set max_attempts.
bool	attemptConnection ()
	If the sensor is verified, return true, if not and it has been long enough since the last attempt (decided by wait_factor and attempt_number), attempt to reverify (reinitialize) it.

Private Attributes
Adafruit_ICM20948	icm
Adafruit_Sensor *	icm_accel
Adafruit_Sensor *	icm_gyro
Adafruit_Sensor *	icm_mag
Adafruit_Sensor *	icm_temp

Additional Inherited Members
Protected Attributes inherited from Sensor
int	num_fields
Protected Attributes inherited from Device
bool	verified
String	device_name

Detailed Description

Implementation of the Sensor class for the Adafruit ICM20948 (9-axis IMU)

Constructor & Destructor Documentation

ICM20948Sensor() [1/2]

ICM20948Sensor::ICM20948Sensor

(

)

Construct a new ICM20948Sensor object with default minimum_period of 0.

ICM20948Sensor() [2/2]

ICM20948Sensor::ICM20948Sensor

(

unsigned long

minimum_period

)

Construct a new ICM20948Sensor object, given mininum_period between sensor reads.

Parameters

minimum_period

Minimum time to wait between readings in ms

Member Function Documentation

decodeToCSV()

String ICM20948Sensor::decodeToCSV ( uint8_t *&  packet )

overridevirtual

Decodes the ICM sensor data from the packet buffer into a CSV string. Reads the data in the same order as it was appended and increments the packet pointer.

Parameters

packet

Pointer to the packet byte array which is incremented after extracting each value.

Returns

String A CSV string of the sensor data.

Reimplemented from Sensor.

readData()

String ICM20948Sensor::readData ( )

overridevirtual

Retrieves data from ICM 9-axis IMU.

Returns

String A CSV section in format AccX, AccY, AccZ, GyroX, GyroY, GyroZ, MagX, MagY, MagZ, TempC

Implements Sensor.

readDataPacket()

void ICM20948Sensor::readDataPacket ( uint8_t *&  packet )

overridevirtual

Append the ICM sensor data to the packet buffer as raw bytes. The data appended is: accel.x, accel.y, accel.z, gyro.x, gyro.y, gyro.z, mag.x, mag.y, mag.z, and temperature.

Parameters

packet

Pointer to the packet byte array which is incremented after copying each value.

The following is copying the values of the accelerometer(x,y,z), gyroscope(x,y,z), magnetometer(x,y,z), and temperature

Reimplemented from Sensor.

verify()

bool ICM20948Sensor::verify ( )

overridevirtual

Verifies that the ICM is connected and working.

Returns

true if connected and working

false if not connected and working

Implements Sensor.

Member Data Documentation

icm

Adafruit_ICM20948 ICM20948Sensor::icm

private

icm_accel

Adafruit_Sensor* ICM20948Sensor::icm_accel

private

icm_gyro

Adafruit_Sensor * ICM20948Sensor::icm_gyro

private

icm_mag

Adafruit_Sensor * ICM20948Sensor::icm_mag

private

icm_temp

Adafruit_Sensor * ICM20948Sensor::icm_temp

private

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

• ICM20948Sensor.h
• ICM20948Sensor.cpp