Struct IcmBuilder 

pub struct IcmBuilder<TRANSPORT, DELAY> { /* private fields */ }

Configure and initialize a new instance of Icm20948. Use either of the [Icm20948::new_i2c] or [Icm20948::new_spi] methods to begin.

Example

let mut imu = IcmBuilder::new_i2c(i2c, delay)
    .gyr_unit(GyrUnit::Rps)
    .gyr_dlp(GyrDlp::Hz196)
    .initialize_9dof().await?;

Implementations

impl<BUS, DELAY> IcmBuilder<I2cDevice<BUS>, DELAY>

where BUS: I2c, DELAY: DelayNs,

pub fn new_i2c(bus: BUS, delay: DELAY) -> IcmBuilder<I2cDevice<BUS>, DELAY>

Creates an uninitialized IMU struct with a default config.

pub fn set_address( self, address: impl Into<I2cAddress>, ) -> IcmBuilder<I2cDevice<BUS>, DELAY>

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

Note: This will not change the actual address, only the address used by this driver.

impl<SPI, DELAY> IcmBuilder<SpiDevice<SPI>, DELAY>

where SPI: SpiDevice, DELAY: DelayNs,

pub fn new_spi(spi: SPI, delay: DELAY) -> IcmBuilder<SpiDevice<SPI>, DELAY>

Creates an uninitialized IMU struct with a default config.

impl<TRANPORT, DELAY> IcmBuilder<TRANPORT, DELAY>

where TRANPORT: Icm20948Transport, DELAY: DelayNs,

pub fn with_config(self, config: Config) -> IcmBuilder<TRANPORT, DELAY>

Set the whole IMU config at once

pub fn acc_range(self, acc_range: AccRange) -> IcmBuilder<TRANPORT, DELAY>

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

pub fn acc_dlp(self, acc_dlp: AccDlp) -> IcmBuilder<TRANPORT, DELAY>

Set accelerometer digital lowpass filter frequency

pub fn acc_unit(self, acc_unit: AccUnit) -> IcmBuilder<TRANPORT, DELAY>

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

pub fn acc_odr(self, acc_odr: u16) -> IcmBuilder<TRANPORT, DELAY>

Set accelerometer output data rate

pub fn gyr_range(self, gyr_range: GyrRange) -> IcmBuilder<TRANPORT, DELAY>

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

pub fn gyr_dlp(self, gyr_dlp: GyrDlp) -> IcmBuilder<TRANPORT, DELAY>

Set gyroscope digital low pass filter frequency

pub fn gyr_unit(self, gyr_unit: GyrUnit) -> IcmBuilder<TRANPORT, DELAY>

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

pub fn gyr_odr(self, gyr_odr: u8) -> IcmBuilder<TRANPORT, DELAY>

Set gyroscope output data rate

pub async fn initialize_6dof( self, ) -> Result<Icm20948<TRANPORT, MagDisabled>, SetupError<TRANPORT::Error>>

Initializes the IMU with accelerometer and gyroscope

pub async fn initialize_9dof( self, ) -> Result<Icm20948<TRANPORT, MagEnabled>, SetupError<TRANPORT::Error>>

Initializes the IMU with accelerometer, gyroscope and magnetometer