#include <icm20948.h>

Inheritance diagram for ICM20948:

Collaboration diagram for ICM20948:

Public Member Functions
	ICM20948 (device::Device interface, device::Device mag_interface, enum Rotation rotation)

virtual	~ICM20948 ()

virtual int	init ()

uint8_t	get_whoami ()

void	print_info ()
	Diagnostics - print some basic information about the driver. More...

Protected Member Functions
virtual int	probe ()
	whoami result More...

void	Run () override

Protected Attributes
device::Device *	_interface

uint8_t	_whoami {0}

Private Member Functions
bool	check_null_data (uint16_t *data, uint8_t size)

bool	check_duplicate (uint8_t *accel_data)

void	start ()

void	stop ()

int	reset ()

int	reset_mpu ()
	Resets the main chip (excluding the magnetometer if any). More...

void	measure ()
	Fetch measurements from the sensor and update the report buffers. More...

int	select_register_bank (uint8_t bank)
	Select a register bank in ICM20948. More...

uint8_t	read_reg (unsigned reg, uint32_t speed=ICM20948_LOW_BUS_SPEED)
	Read a register from the mpu. More...

uint16_t	read_reg16 (unsigned reg)

uint8_t	read_reg_range (unsigned start_reg, uint32_t speed, uint8_t *buf, uint16_t count)
	Read a register range from the mpu. More...

void	write_reg (unsigned reg, uint8_t value)
	Write a register in the mpu. More...

void	modify_reg (unsigned reg, uint8_t clearbits, uint8_t setbits)
	Modify a register in the mpu. More...

void	write_checked_reg (unsigned reg, uint8_t value)
	Write a register in the mpu, updating _checked_values. More...

void	modify_checked_reg (unsigned reg, uint8_t clearbits, uint8_t setbits)
	Modify a checked register in the mpu. More...

int	set_accel_range (unsigned max_g)
	Set the mpu measurement range. More...

uint16_t	swap16 (uint16_t val)
	Swap a 16-bit value read from the mpu to native byte order. More...

bool	is_external ()
	Get the internal / external state. More...

void	_set_dlpf_filter (uint16_t frequency_hz)

void	_set_sample_rate (unsigned desired_sample_rate_hz)

void	check_registers ()

Private Attributes
PX4Accelerometer	_px4_accel

PX4Gyroscope	_px4_gyro

ICM20948_mag	_mag

uint8_t	_selected_bank {0}

unsigned	_call_interval {1000}

unsigned	_dlpf_freq {0}

unsigned	_dlpf_freq_icm_gyro {0}

unsigned	_dlpf_freq_icm_accel {0}

unsigned	_sample_rate {1000}

perf_counter_t	_sample_perf

perf_counter_t	_interval_perf

perf_counter_t	_bad_transfers

perf_counter_t	_bad_registers

perf_counter_t	_good_transfers

perf_counter_t	_duplicates

uint8_t	_register_wait {0}

uint64_t	_reset_wait {0}

const uint16_t *	_checked_registers {nullptr}

uint8_t	_checked_values [ICM20948_NUM_CHECKED_REGISTERS] {}

uint8_t	_checked_bad [ICM20948_NUM_CHECKED_REGISTERS] {}

unsigned	_checked_next {0}

unsigned	_num_checked_registers {0}

float	_last_temperature {0.0f}

uint8_t	_last_accel_data [6] {}

bool	_got_duplicate {false}

Static Private Attributes
static constexpr int	ICM20948_NUM_CHECKED_REGISTERS {15}

static const uint16_t	_icm20948_checked_registers [ICM20948_NUM_CHECKED_REGISTERS]

Friends
class	ICM20948_mag

Detailed Description

Definition at line 350 of file icm20948.h.

Constructor & Destructor Documentation

◆ ICM20948()

ICM20948::ICM20948	(	device::Device *	interface,
		device::Device *	mag_interface,
		enum Rotation	rotation
	)

Definition at line 87 of file icm20948.cpp.

References _px4_accel, _px4_gyro, DRV_DEVTYPE_ICM20948, PX4Accelerometer::set_device_type(), and PX4Gyroscope::set_device_type().

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◆ ~ICM20948()

ICM20948::~ICM20948 ( )

virtual

Definition at line 107 of file icm20948.cpp.

References _bad_registers, _bad_transfers, _duplicates, _good_transfers, _interval_perf, _sample_perf, perf_free(), and stop().

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Member Function Documentation

◆ _set_dlpf_filter()

void ICM20948::_set_dlpf_filter ( uint16_t frequency_hz )

private

Definition at line 352 of file icm20948.cpp.

References _whoami, ICM_BITS_ACCEL_DLPF_CFG_111HZ, ICM_BITS_ACCEL_DLPF_CFG_11HZ, ICM_BITS_ACCEL_DLPF_CFG_23HZ, ICM_BITS_ACCEL_DLPF_CFG_246HZ, ICM_BITS_ACCEL_DLPF_CFG_473HZ, ICM_BITS_ACCEL_DLPF_CFG_50HZ, ICM_BITS_ACCEL_DLPF_CFG_5HZ, ICM_BITS_GYRO_DLPF_CFG_119HZ, ICM_BITS_GYRO_DLPF_CFG_11HZ, ICM_BITS_GYRO_DLPF_CFG_151HZ, ICM_BITS_GYRO_DLPF_CFG_197HZ, ICM_BITS_GYRO_DLPF_CFG_23HZ, ICM_BITS_GYRO_DLPF_CFG_361HZ, ICM_BITS_GYRO_DLPF_CFG_51HZ, ICM_BITS_GYRO_DLPF_CFG_5HZ, ICM_WHOAMI_20948, ICMREG_20948_ACCEL_CONFIG, ICMREG_20948_GYRO_CONFIG_1, and write_checked_reg().

Referenced by reset_mpu().

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◆ _set_sample_rate()

void ICM20948::_set_sample_rate ( unsigned desired_sample_rate_hz )

private

Definition at line 318 of file icm20948.cpp.

References _sample_rate, _whoami, ICM20948_GYRO_DEFAULT_RATE, ICM_WHOAMI_20948, ICMREG_20948_ACCEL_SMPLRT_DIV_2, ICMREG_20948_GYRO_SMPLRT_DIV, and write_checked_reg().

Referenced by reset_mpu().

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◆ check_duplicate()

bool ICM20948::check_duplicate ( uint8_t * accel_data )

private

Definition at line 706 of file icm20948.cpp.

References _duplicates, _got_duplicate, _last_accel_data, _sample_perf, perf_count(), and perf_end().

Referenced by measure().

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◆ check_null_data()

bool ICM20948::check_null_data	(	uint16_t *	data,
		uint8_t	size
	)

private

Definition at line 686 of file icm20948.cpp.

References _bad_transfers, _good_transfers, _sample_perf, perf_count(), and perf_end().

Referenced by measure().

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◆ check_registers()

void ICM20948::check_registers ( void )

private

Definition at line 625 of file icm20948.cpp.

References _bad_registers, _checked_bad, _checked_next, _checked_registers, _checked_values, _num_checked_registers, _register_wait, _reset_wait, hrt_absolute_time(), ICM20948_HIGH_BUS_SPEED, perf_count(), read_reg(), reset_mpu(), and write_reg().

Referenced by measure().

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◆ get_whoami()

uint8_t ICM20948::get_whoami ( )

inline

Definition at line 357 of file icm20948.h.

◆ init()

int ICM20948::init ( )

virtual

Definition at line 122 of file icm20948.cpp.

References ICM20948_mag::_interface, _interface, _mag, _reset_wait, _sample_rate, ICM20948_mag::ak09916_reset(), device::Device::DeviceBusType_I2C, device::Device::get_device_bus_type(), hrt_absolute_time(), device::Device::init(), ICM20948_mag::is_passthrough(), OK, probe(), reset_mpu(), and start().

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◆ is_external()

bool ICM20948::is_external ( )

inlineprivate

Get the internal / external state.

Returns: true if the sensor is not on the main MCU board

Definition at line 528 of file icm20948.h.

References device::Device::external().

Referenced by ICM20948_mag::_measure().

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◆ measure()

void ICM20948::measure ( )

private

Fetch measurements from the sensor and update the report buffers.

Definition at line 731 of file icm20948.cpp.

References _bad_registers, _bad_transfers, _interval_perf, _last_temperature, _mag, ICM20948_mag::_measure(), _px4_accel, _px4_gyro, _register_wait, _reset_wait, _sample_perf, check_duplicate(), check_null_data(), check_registers(), f(), hrt_absolute_time(), hrt_abstime, ICM20948_HIGH_BUS_SPEED, ICMREG_20948_ACCEL_XOUT_H, int16_t_from_bytes(), ICM20948_mag::is_passthrough(), ICM20948_mag::measure(), MPU_OR_ICM, OK, perf_begin(), perf_count(), perf_end(), perf_event_count(), read_reg_range(), REG_BANK, select_register_bank(), PX4Accelerometer::set_error_count(), PX4Gyroscope::set_error_count(), PX4Accelerometer::set_temperature(), PX4Gyroscope::set_temperature(), PX4Accelerometer::update(), and PX4Gyroscope::update().

Referenced by Run().

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◆ modify_checked_reg()

void ICM20948::modify_checked_reg	(	unsigned	reg,
		uint8_t	clearbits,
		uint8_t	setbits
	)

private

Modify a checked register in the mpu.

Bits are cleared before bits are set.

Parameters

reg	The register to modify.
clearbits	Bits in the register to clear.
setbits	Bits in the register to set.

Definition at line 541 of file icm20948.cpp.

References read_reg(), and write_checked_reg().

Referenced by ICM20948_mag::ak09916_setup(), ICM20948_mag::ak09916_setup_master_i2c(), reset_mpu(), and set_accel_range().

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◆ modify_reg()

void ICM20948::modify_reg	(	unsigned	reg,
		uint8_t	clearbits,
		uint8_t	setbits
	)

private

Modify a register in the mpu.

Bits are cleared before bits are set.

Parameters

reg	The register to modify.
clearbits	Bits in the register to clear.
setbits	Bits in the register to set.

Definition at line 532 of file icm20948.cpp.

References read_reg(), and write_reg().

Referenced by ICM20948_mag::ak09916_setup().

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◆ print_info()

void ICM20948::print_info ( )

Diagnostics - print some basic information about the driver.

Definition at line 857 of file icm20948.cpp.

References _bad_registers, _bad_transfers, _duplicates, _good_transfers, _mag, _px4_accel, _px4_gyro, _sample_perf, perf_print_counter(), PX4Accelerometer::print_status(), PX4Gyroscope::print_status(), and ICM20948_mag::print_status().

Referenced by icm20948::info().

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◆ probe()

int ICM20948::probe ( )

protectedvirtual

whoami result

Definition at line 283 of file icm20948.cpp.

References _checked_bad, _checked_registers, _checked_values, _icm20948_checked_registers, _num_checked_registers, _whoami, ICM20948_NUM_CHECKED_REGISTERS, ICM_WHOAMI_20948, ICMREG_20948_WHOAMI, MPUREG_WHOAMI, read_reg(), REG_BANK, and select_register_bank().

Referenced by init().

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◆ read_reg()

uint8_t ICM20948::read_reg	(	unsigned	reg,
		uint32_t	speed = `ICM20948_LOW_BUS_SPEED`
	)

private

Read a register from the mpu.

Parameters

The	register to read.
The	bus speed to read with.

Returns: The value that was read.

Definition at line 490 of file icm20948.cpp.

References _interface, ICM20948_SET_SPEED, device::Device::read(), REG_ADDRESS, REG_BANK, and select_register_bank().

Referenced by check_registers(), modify_checked_reg(), modify_reg(), probe(), and reset_mpu().

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◆ read_reg16()

uint16_t ICM20948::read_reg16 ( unsigned reg )

private

Definition at line 512 of file icm20948.cpp.

References _interface, arraySize, ICM20948_LOW_SPEED_OP, device::Device::read(), REG_ADDRESS, REG_BANK, and select_register_bank().

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◆ read_reg_range()

uint8_t ICM20948::read_reg_range	(	unsigned	start_reg,
		uint32_t	speed,
		uint8_t *	buf,
		uint16_t	count
	)

private

Read a register range from the mpu.

Parameters

The	start address to read from.
The	bus speed to read with.
The	address of the target data buffer.
The	count of bytes to be read.

Returns: The value that was read.

Definition at line 501 of file icm20948.cpp.

References _interface, ICM20948_SET_SPEED, device::Device::read(), REG_ADDRESS, REG_BANK, and select_register_bank().

Referenced by measure().

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◆ reset()

int ICM20948::reset ( )

private

Definition at line 172 of file icm20948.cpp.

References _mag, _reset_wait, _whoami, ICM20948_mag::ak09916_reset(), hrt_absolute_time(), ICM_WHOAMI_20948, OK, and reset_mpu().

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◆ reset_mpu()

int ICM20948::reset_mpu ( )

private

Resets the main chip (excluding the magnetometer if any).

Definition at line 197 of file icm20948.cpp.

References _checked_registers, _checked_values, _interface, _mag, _num_checked_registers, _px4_gyro, _sample_rate, _set_dlpf_filter(), _set_sample_rate(), _whoami, ACCEL_RANGE_G, BIT_H_RESET, BIT_I2C_IF_DIS, BIT_INT_ANYRD_2CLEAR, BIT_INT_BYPASS_EN, BIT_RAW_RDY_EN, device::Device::DeviceBusType_I2C, device::Device::get_device_bus_type(), ICM20948_DEFAULT_ONCHIP_FILTER_FREQ, ICM20948_LOW_SPEED_OP, ICM_BITS_DEC3_CFG_32, ICM_BITS_GYRO_FS_SEL_2000DPS, ICM_BITS_GYRO_FS_SEL_MASK, ICM_WHOAMI_20948, ICMREG_20948_ACCEL_CONFIG_2, ICMREG_20948_BANK_SEL, ICMREG_20948_GYRO_CONFIG_1, ICMREG_20948_INT_ENABLE_1, ICMREG_20948_INT_PIN_CFG, ICMREG_20948_PWR_MGMT_1, ICMREG_20948_PWR_MGMT_2, ICMREG_20948_USER_CTRL, ICM20948_mag::is_passthrough(), modify_checked_reg(), MPU_CLK_SEL_AUTO, OK, device::Device::read(), read_reg(), REG_BANK, set_accel_range(), PX4Gyroscope::set_scale(), write_checked_reg(), and write_reg().

Referenced by check_registers(), init(), and reset().

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◆ Run()

void ICM20948::Run ( )

overrideprotected

Definition at line 618 of file icm20948.cpp.

References measure().

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◆ select_register_bank()

int ICM20948::select_register_bank ( uint8_t bank )

private

Select a register bank in ICM20948.

Only actually switches if the remembered bank is different from the requested one

Parameters

The	index of the register bank to switch to (0-3)

Returns: Error code

Definition at line 443 of file icm20948.cpp.

References _interface, _selected_bank, ICM20948_LOW_SPEED_OP, ICMREG_20948_BANK_SEL, OK, device::Device::read(), and device::Device::write().

Referenced by measure(), probe(), read_reg(), read_reg16(), read_reg_range(), and write_reg().

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◆ set_accel_range()

int ICM20948::set_accel_range ( unsigned max_g )

private

Set the mpu measurement range.

Parameters

max_g The maximum G value the range must support.

Returns: OK if the value can be supported, -ERANGE otherwise.

Definition at line 564 of file icm20948.cpp.

References _px4_accel, _whoami, CONSTANTS_ONE_G, ICM_BITS_ACCEL_FS_SEL_MASK, ICM_WHOAMI_20948, ICMREG_20948_ACCEL_CONFIG, modify_checked_reg(), OK, and PX4Accelerometer::set_scale().

Referenced by reset_mpu().

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◆ start()

void ICM20948::start ( )

private

Definition at line 603 of file icm20948.cpp.

References _call_interval, ICM20948_TIMER_REDUCTION, and stop().

Referenced by init().

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◆ stop()

void ICM20948::stop ( )

private

Definition at line 612 of file icm20948.cpp.

Referenced by start(), and ~ICM20948().

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◆ swap16()

uint16_t ICM20948::swap16 ( uint16_t val )

inlineprivate

Swap a 16-bit value read from the mpu to native byte order.

Definition at line 521 of file icm20948.h.

◆ write_checked_reg()

void ICM20948::write_checked_reg	(	unsigned	reg,
		uint8_t	value
	)

private

Write a register in the mpu, updating _checked_values.

Parameters

reg	The register to write.
value	The new value to write.

Definition at line 550 of file icm20948.cpp.

References _checked_bad, _checked_registers, _checked_values, _num_checked_registers, and write_reg().

Referenced by _set_dlpf_filter(), _set_sample_rate(), modify_checked_reg(), and reset_mpu().

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◆ write_reg()

void ICM20948::write_reg	(	unsigned	reg,
		uint8_t	value
	)

private

Write a register in the mpu.

Parameters

reg	The register to write.
value	The new value to write.

Definition at line 524 of file icm20948.cpp.

References _interface, ICM20948_LOW_SPEED_OP, REG_ADDRESS, REG_BANK, select_register_bank(), and device::Device::write().

Referenced by ICM20948_mag::ak09916_setup(), ICM20948_mag::ak09916_setup_master_i2c(), check_registers(), modify_reg(), ICM20948_mag::passthrough_read(), ICM20948_mag::passthrough_write(), reset_mpu(), ICM20948_mag::set_passthrough(), and write_checked_reg().

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Friends And Related Function Documentation

◆ ICM20948_mag

friend class ICM20948_mag

friend

Definition at line 370 of file icm20948.h.

Member Data Documentation

◆ _bad_registers

perf_counter_t ICM20948::_bad_registers

private

Definition at line 393 of file icm20948.h.

Referenced by check_registers(), measure(), print_info(), and ~ICM20948().

◆ _bad_transfers

perf_counter_t ICM20948::_bad_transfers

private

Definition at line 392 of file icm20948.h.

Referenced by check_null_data(), measure(), print_info(), and ~ICM20948().

◆ _call_interval

unsigned ICM20948::_call_interval {1000}

private

Definition at line 382 of file icm20948.h.

Referenced by start().

◆ _checked_bad

uint8_t ICM20948::_checked_bad[ICM20948_NUM_CHECKED_REGISTERS] {}

private

Definition at line 410 of file icm20948.h.

Referenced by check_registers(), probe(), and write_checked_reg().

◆ _checked_next

unsigned ICM20948::_checked_next {0}

private

Definition at line 411 of file icm20948.h.

Referenced by check_registers().

◆ _checked_registers

const uint16_t* ICM20948::_checked_registers {nullptr}

private

Definition at line 407 of file icm20948.h.

Referenced by check_registers(), probe(), reset_mpu(), and write_checked_reg().

◆ _checked_values

uint8_t ICM20948::_checked_values[ICM20948_NUM_CHECKED_REGISTERS] {}

private

Definition at line 409 of file icm20948.h.

Referenced by check_registers(), probe(), reset_mpu(), and write_checked_reg().

◆ _dlpf_freq

unsigned ICM20948::_dlpf_freq {0}

private

Definition at line 384 of file icm20948.h.

◆ _dlpf_freq_icm_accel

unsigned ICM20948::_dlpf_freq_icm_accel {0}

private

Definition at line 386 of file icm20948.h.

◆ _dlpf_freq_icm_gyro

unsigned ICM20948::_dlpf_freq_icm_gyro {0}

private

Definition at line 385 of file icm20948.h.

◆ _duplicates

perf_counter_t ICM20948::_duplicates

private

Definition at line 395 of file icm20948.h.

Referenced by check_duplicate(), print_info(), and ~ICM20948().

◆ _good_transfers

perf_counter_t ICM20948::_good_transfers

private

Definition at line 394 of file icm20948.h.

Referenced by check_null_data(), print_info(), and ~ICM20948().

◆ _got_duplicate

bool ICM20948::_got_duplicate {false}

private

Definition at line 423 of file icm20948.h.

Referenced by check_duplicate().

◆ _icm20948_checked_registers

const uint16_t ICM20948::_icm20948_checked_registers

staticprivate

Initial value:

= { ICMREG_20948_USER_CTRL,
                                             ICMREG_20948_PWR_MGMT_1,
                                             ICMREG_20948_PWR_MGMT_2,
                                             ICMREG_20948_INT_PIN_CFG,
                                             ICMREG_20948_INT_ENABLE,
                                             ICMREG_20948_INT_ENABLE_1,
                                             ICMREG_20948_INT_ENABLE_2,
                                             ICMREG_20948_INT_ENABLE_3,
                                             ICMREG_20948_GYRO_SMPLRT_DIV,
                                             ICMREG_20948_GYRO_CONFIG_1,
                                             ICMREG_20948_GYRO_CONFIG_2,
                                             ICMREG_20948_ACCEL_SMPLRT_DIV_1,
                                             ICMREG_20948_ACCEL_SMPLRT_DIV_2,
                                             ICMREG_20948_ACCEL_CONFIG,
                                             ICMREG_20948_ACCEL_CONFIG_2
                                               }

Definition at line 405 of file icm20948.h.

Referenced by probe().

◆ _interface

device::Device* ICM20948::_interface

protected

Definition at line 365 of file icm20948.h.

Referenced by init(), ICM20948_mag::read_block(), read_reg(), read_reg16(), read_reg_range(), reset_mpu(), select_register_bank(), and write_reg().

◆ _interval_perf

perf_counter_t ICM20948::_interval_perf

private

Definition at line 391 of file icm20948.h.

Referenced by measure(), and ~ICM20948().

◆ _last_accel_data

uint8_t ICM20948::_last_accel_data[6] {}

private

Definition at line 422 of file icm20948.h.

Referenced by check_duplicate().

◆ _last_temperature

float ICM20948::_last_temperature {0.0f}

private

Definition at line 416 of file icm20948.h.

Referenced by ICM20948_mag::_measure(), and measure().

◆ _mag

ICM20948_mag ICM20948::_mag

private

Definition at line 379 of file icm20948.h.

Referenced by init(), measure(), print_info(), reset(), and reset_mpu().

◆ _num_checked_registers

unsigned ICM20948::_num_checked_registers {0}

private

Definition at line 412 of file icm20948.h.

Referenced by check_registers(), probe(), reset_mpu(), and write_checked_reg().

◆ _px4_accel

PX4Accelerometer ICM20948::_px4_accel

private

Definition at line 376 of file icm20948.h.

Referenced by ICM20948(), measure(), print_info(), and set_accel_range().

◆ _px4_gyro

PX4Gyroscope ICM20948::_px4_gyro

private

Definition at line 377 of file icm20948.h.

Referenced by ICM20948(), measure(), print_info(), and reset_mpu().

◆ _register_wait

uint8_t ICM20948::_register_wait {0}

private

Definition at line 397 of file icm20948.h.

Referenced by check_registers(), and measure().

◆ _reset_wait

uint64_t ICM20948::_reset_wait {0}

private

Definition at line 398 of file icm20948.h.

Referenced by check_registers(), init(), measure(), and reset().

◆ _sample_perf

perf_counter_t ICM20948::_sample_perf

private

Definition at line 390 of file icm20948.h.

Referenced by check_duplicate(), check_null_data(), measure(), print_info(), and ~ICM20948().

◆ _sample_rate

unsigned ICM20948::_sample_rate {1000}

private

Definition at line 388 of file icm20948.h.

Referenced by _set_sample_rate(), init(), and reset_mpu().

◆ _selected_bank

uint8_t ICM20948::_selected_bank {0}

private

Definition at line 380 of file icm20948.h.

Referenced by select_register_bank().

◆ _whoami

uint8_t ICM20948::_whoami {0}

protected

Definition at line 366 of file icm20948.h.

Referenced by _set_dlpf_filter(), _set_sample_rate(), probe(), reset(), reset_mpu(), and set_accel_range().

◆ ICM20948_NUM_CHECKED_REGISTERS

constexpr int ICM20948::ICM20948_NUM_CHECKED_REGISTERS {15}

staticprivate

Definition at line 404 of file icm20948.h.

Referenced by probe().

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

src/drivers/imu/icm20948/icm20948.h
src/drivers/imu/icm20948/icm20948.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Private Member Functions

Private Attributes

Static Private Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

◆ ICM20948()

◆ ~ICM20948()

Member Function Documentation

◆ _set_dlpf_filter()

◆ _set_sample_rate()

◆ check_duplicate()

◆ check_null_data()

◆ check_registers()

◆ get_whoami()

◆ init()

◆ is_external()

◆ measure()

◆ modify_checked_reg()

◆ modify_reg()

◆ print_info()

◆ probe()

◆ read_reg()

◆ read_reg16()

◆ read_reg_range()

◆ reset()

◆ reset_mpu()

◆ Run()

◆ select_register_bank()

◆ set_accel_range()

◆ start()

◆ stop()

◆ swap16()

◆ write_checked_reg()

◆ write_reg()

Friends And Related Function Documentation

◆ ICM20948_mag

Member Data Documentation

◆ _bad_registers

◆ _bad_transfers

◆ _call_interval

◆ _checked_bad

◆ _checked_next

◆ _checked_registers

◆ _checked_values

◆ _dlpf_freq

◆ _dlpf_freq_icm_accel

◆ _dlpf_freq_icm_gyro

◆ _duplicates

◆ _good_transfers

◆ _got_duplicate

◆ _icm20948_checked_registers

◆ _interface

◆ _interval_perf

◆ _last_accel_data

◆ _last_temperature

◆ _mag

◆ _num_checked_registers

◆ _px4_accel

◆ _px4_gyro

◆ _register_wait

◆ _reset_wait

◆ _sample_perf

◆ _sample_rate

◆ _selected_bank

◆ _whoami

◆ ICM20948_NUM_CHECKED_REGISTERS