Struct icm20948_async::Icm20948

pub struct Icm20948<BUS, MAG, INIT, DELAY, E> { /* private fields */ }

Implementations

impl<BUS, DELAY, E> Icm20948<IcmBusI2c<BUS, E>, MagDisabled, NotInit, DELAY, E>where BUS: I2c<Error = E>, E: Into<IcmError<E>>, DELAY: DelayUs,

pub fn new_i2c_from_cfg( bus: BUS, delay: DELAY, cfg: Icm20948Config ) -> Icm20948<IcmBusI2c<BUS, E>, MagDisabled, NotInit, DELAY, E>

Creates an uninitialized IMU struct with the given config.

pub fn new_i2c( bus: BUS, delay: DELAY ) -> Icm20948<IcmBusI2c<BUS, E>, MagDisabled, NotInit, DELAY, E>

Creates an uninitialized IMU struct with a default config.

impl<BUS, DELAY, E> Icm20948<IcmBusSpi<BUS, E>, MagDisabled, NotInit, DELAY, E>where BUS: SpiBus<Error = E>, E: Into<IcmError<E>>, DELAY: DelayUs,

pub fn new_spi_from_cfg( bus: BUS, delay: DELAY, cfg: Icm20948Config ) -> Icm20948<IcmBusSpi<BUS, E>, MagDisabled, NotInit, DELAY, E>

Creates an uninitialized IMU struct with the given config.

pub fn new_spi( bus: BUS, delay: DELAY ) -> Icm20948<IcmBusSpi<BUS, E>, MagDisabled, NotInit, DELAY, E>

Creates an uninitialized IMU struct with a default config.

impl<BUS, MAG, DELAY, E> Icm20948<IcmBusI2c<BUS, E>, MAG, Init, DELAY, E>where BUS: I2c<Error = E>, E: Into<IcmError<E>>, DELAY: DelayUs,

pub fn destroy(self) -> BUS

Consumes the Icm20948 object and releases the I2c bus back to the user

impl<BUS, MAG, DELAY, E> Icm20948<IcmBusSpi<BUS, E>, MAG, Init, DELAY, E>where BUS: SpiBus<Error = E>, E: Into<IcmError<E>>, DELAY: DelayUs,

pub fn destroy(self) -> BUS

Consumes the Icm20948 object and releases the Spi bus back to the user

impl<BUS, DELAY, E> Icm20948<IcmBusI2c<BUS, E>, MagDisabled, NotInit, DELAY, E>where BUS: I2c<Error = E>, E: Into<IcmError<E>>, DELAY: DelayUs,

pub fn set_address( self, address: impl Into<I2cAddress> ) -> Icm20948<IcmBusI2c<BUS, E>, MagDisabled, NotInit, DELAY, E>

Set I2C address of ICM module. See I2cAddress for defaults, otherwise u8 implements Into<I2cAddress>

impl<BUS, DELAY, E> Icm20948<BUS, MagDisabled, NotInit, DELAY, E>where BUS: BusTransfer<E>, DELAY: DelayUs,

pub fn acc_range( self, acc_range: AccRange ) -> Icm20948<BUS, MagDisabled, NotInit, DELAY, E>

Set accelerometer measuring range, choises are 2G, 4G, 8G or 16G

pub fn acc_dlp( self, acc_dlp: AccDlp ) -> Icm20948<BUS, MagDisabled, NotInit, DELAY, E>

Set accelerometer digital lowpass filter frequency

pub fn acc_unit( self, acc_unit: AccUnit ) -> Icm20948<BUS, MagDisabled, NotInit, DELAY, E>

Set returned unit of accelerometer measurement, choises are Gs or m/s^2

pub fn acc_odr( self, acc_odr: u16 ) -> Icm20948<BUS, MagDisabled, NotInit, DELAY, E>

Set accelerometer output data rate

pub fn gyr_range( self, gyr_range: GyrRange ) -> Icm20948<BUS, MagDisabled, NotInit, DELAY, E>

Set gyroscope measuring range, choises are 250Dps, 500Dps, 1000Dps and 2000Dps

pub fn gyr_dlp( self, gyr_dlp: GyrDlp ) -> Icm20948<BUS, MagDisabled, NotInit, DELAY, E>

Set gyroscope digital low pass filter frequency

pub fn gyr_unit( self, gyr_unit: GyrUnit ) -> Icm20948<BUS, MagDisabled, NotInit, DELAY, E>

Set returned unit of gyroscope measurement, choises are degrees/s or radians/s

pub fn gyr_odr( self, gyr_odr: u8 ) -> Icm20948<BUS, MagDisabled, NotInit, DELAY, E>

Set gyroscope output data rate

pub async fn initialize_6dof( self ) -> Result<Icm20948<BUS, MagDisabled, Init, DELAY, E>, IcmError<E>>

Initializes the IMU with accelerometer and gyroscope

pub async fn initialize_9dof( self ) -> Result<Icm20948<BUS, MagEnabled, Init, DELAY, E>, IcmError<E>>

Initializes the IMU with accelerometer, gyroscope and magnetometer

impl<BUS, E, MAG, INIT, DELAY> Icm20948<BUS, MAG, INIT, DELAY, E>where BUS: BusTransfer<E>, DELAY: DelayUs,

pub async fn device_reset(&mut self) -> Result<(), E>

Reset accelerometer / gyroscope module

pub async fn set_acc_range(&mut self, range: AccRange) -> Result<(), E>

Configure acceleromter to measure with given range

pub async fn set_gyr_range(&mut self, range: GyrRange) -> Result<(), E>

Configure gyroscope to measure with given range

pub fn set_acc_unit(&mut self, unit: AccUnit)

Set returned unit of accelerometer

pub fn set_gyr_unit(&mut self, unit: GyrUnit)

Set returned unit of gyroscope

pub async fn set_acc_dlp(&mut self, acc_dlp: AccDlp) -> Result<(), E>

Set (or disable) accelerometer digital low-pass filter

pub async fn set_gyr_dlp(&mut self, gyr_dlp: GyrDlp) -> Result<(), E>

Set (or disable) gyroscope digital low-pass filter

pub async fn set_acc_odr(&mut self, acc_odr: u16) -> Result<(), E>

Set accelerometer output data rate. Value will be clamped above 4095.

pub async fn set_gyr_odr(&mut self, gyr_odr: u8) -> Result<(), E>

Set gyroscope output data rate.

impl<BUS, DELAY, E> Icm20948<BUS, MagEnabled, Init, DELAY, E>where BUS: BusTransfer<E>, DELAY: DelayUs,

pub fn set_mag_calibration(&mut self, offset: [f32; 3], scale: [f32; 3])

Set magnetometer calibration data (offset,scale)

pub fn reset_mag_calibration(&mut self)

Resets (disables) magnetometer calibration data

pub async fn read_mag(&mut self) -> Result<Vector3<f32>, E>

Get vector of scaled magnetometer values

pub async fn read_mag_unscaled(&mut self) -> Result<[i16; 3], E>

Get array of unscaled accelerometer values

pub async fn read_9dof(&mut self) -> Result<Data9Dof, E>

Get scaled measurement for accelerometer, gyroscope and magnetometer, and temperature

impl<BUS, E, MAG, DELAY> Icm20948<BUS, MAG, Init, DELAY, E>where BUS: BusTransfer<E>, E: Into<IcmError<E>>, DELAY: DelayUs,

pub async fn read_acc_unscaled(&mut self) -> Result<Vector3<i16>, E>

Get array of unscaled accelerometer values

pub async fn read_acc(&mut self) -> Result<Vector3<f32>, E>

Get array of scaled accelerometer values

pub async fn read_gyr_unscaled(&mut self) -> Result<Vector3<i16>, E>

Get array of unscaled gyroscope values

pub async fn read_gyr(&mut self) -> Result<Vector3<f32>, E>

Get array of scaled gyroscope values

pub async fn read_6dof(&mut self) -> Result<Data6Dof, E>

Get scaled measurements for accelerometer and gyroscope, and temperature

pub async fn gyr_calibrate(&mut self, num: usize) -> Result<(), E>

Collects and averages num sampels for gyro calibration and saves them on-chip

pub async fn set_gyr_offsets(&mut self, offsets: Vector3<i16>) -> Result<(), E>

Set gyroscope calibration offsets by writing them to the IMU

pub async fn set_acc_offsets(&mut self, offsets: Vector3<i16>) -> Result<(), E>

Set accelerometer calibration offsets by writing them to the IMU

pub async fn new_data_ready(&mut self) -> u8

Returns the number of new readings in FIFO buffer