Struct Icm20948 

pub struct Icm20948<TRANSPORT, MAG> { /* private fields */ }

An initialized IMU. Use the IcmBuilder to construct a new instance.

Implementations

impl<TRANSPORT, MAG> Icm20948<TRANSPORT, MAG>

where TRANSPORT: Icm20948Transport,

pub async fn device_reset( &mut self, delay: &mut impl DelayNs, ) -> Result<(), TRANSPORT::Error>

Reset accelerometer / gyroscope module

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

Configure acceleromter to measure with given range

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

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<(), TRANSPORT::Error>

Set (or disable) accelerometer digital low-pass filter

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

Set (or disable) gyroscope digital low-pass filter

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

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

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

Set gyroscope output data rate.

impl<TRANSPORT> Icm20948<TRANSPORT, MagEnabled>

where TRANSPORT: Icm20948Transport,

pub async fn read_mag(&mut self) -> Result<[f32; 3], TRANSPORT::Error>

Get vector of scaled magnetometer values

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

Get array of unscaled accelerometer values

pub async fn read_9dof(&mut self) -> Result<Data9Dof<f32>, TRANSPORT::Error>

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

pub async fn read_9dof_unscaled( &mut self, ) -> Result<Data9Dof<i16>, TRANSPORT::Error>

Get unscaled measurements for accelerometer and gyroscope, and temperature

impl<TRANSPORT, MAG> Icm20948<TRANSPORT, MAG>

where TRANSPORT: Icm20948Transport,

pub async fn read_acc_unscaled(&mut self) -> Result<[i16; 3], TRANSPORT::Error>

Get array of unscaled accelerometer values

pub async fn read_acc(&mut self) -> Result<[f32; 3], TRANSPORT::Error>

Get array of scaled accelerometer values

pub async fn read_gyr_unscaled(&mut self) -> Result<[i16; 3], TRANSPORT::Error>

Get array of unscaled gyroscope values

pub async fn read_gyr(&mut self) -> Result<[f32; 3], TRANSPORT::Error>

Get array of scaled gyroscope values

pub async fn read_6dof(&mut self) -> Result<Data6Dof<f32>, TRANSPORT::Error>

Get scaled measurements for accelerometer and gyroscope, and temperature

pub async fn read_6dof_unscaled( &mut self, ) -> Result<Data6Dof<i16>, TRANSPORT::Error>

Get unscaled measurements for accelerometer and gyroscope, and temperature

pub async fn set_gyr_offsets( &mut self, offsets: [i16; 3], ) -> Result<(), TRANSPORT::Error>

Set gyroscope calibration offsets by writing them to the IMU

pub async fn set_acc_offsets( &mut self, offsets: [i16; 3], ) -> Result<(), TRANSPORT::Error>

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

pub const fn acc_scalar(&self) -> f32

Returns the scalar corresponding to the unit and range configured

pub const fn gyr_scalar(&self) -> f32

Returns the scalar corresponding to the unit and range configured