icm20948_async/
cfg.rs

1#[derive(Copy, Clone, Debug)]
2#[cfg_attr(feature = "serde", derive(serde::Serialize, serde::Deserialize))]
3pub struct Config {
4    pub acc_range: AccRange,
5    pub gyr_range: GyrRange,
6    pub acc_unit: AccUnit,
7    pub gyr_unit: GyrUnit,
8    pub acc_dlp: AccDlp,
9    pub gyr_dlp: GyrDlp,
10    pub acc_odr: u16,
11    pub gyr_odr: u8,
12}
13
14impl Default for Config {
15    fn default() -> Self {
16        Self {
17            acc_range: AccRange::Gs2,
18            gyr_range: GyrRange::Dps1000,
19            acc_unit: AccUnit::Gs,
20            gyr_unit: GyrUnit::Dps,
21            acc_dlp: AccDlp::Disabled,
22            gyr_dlp: GyrDlp::Disabled,
23            acc_odr: 0,
24            gyr_odr: 0,
25        }
26    }
27}
28
29#[derive(Copy, Clone, Debug, Default)]
30pub enum I2cAddress {
31    /// On some modules `0x68` is the default address if pin `AD0` is low
32    X68,
33    /// On some modules `0x69` is the default address if pin `AD0` is high
34    #[default]
35    X69,
36    /// In case the ICM modules has a different address
37    Any(u8),
38}
39
40impl From<u8> for I2cAddress {
41    fn from(address: u8) -> Self {
42        I2cAddress::Any(address)
43    }
44}
45
46impl I2cAddress {
47    pub const fn get(&self) -> u8 {
48        match self {
49            I2cAddress::X68 => 0x68,
50            I2cAddress::X69 => 0x69,
51            I2cAddress::Any(a) => *a,
52        }
53    }
54}
55
56/// Range / sensitivity of accelerometer in Gs
57#[derive(Copy, Clone, Debug)]
58#[cfg_attr(feature = "serde", derive(serde::Serialize, serde::Deserialize))]
59pub enum AccRange {
60    Gs2 = 0b00,
61    Gs4 = 0b01,
62    Gs8 = 0b10,
63    Gs16 = 0b11,
64}
65
66impl AccRange {
67    pub const fn divisor(self) -> f32 {
68        match self {
69            Self::Gs2 => i16::MAX as f32 / 2.0,
70            Self::Gs4 => i16::MAX as f32 / 4.0,
71            Self::Gs8 => i16::MAX as f32 / 8.0,
72            Self::Gs16 => i16::MAX as f32 / 16.0,
73        }
74    }
75}
76
77/// Range / sentivity of gyroscope in degrees/second
78#[derive(Copy, Clone, Debug)]
79#[cfg_attr(feature = "serde", derive(serde::Serialize, serde::Deserialize))]
80pub enum GyrRange {
81    Dps250 = 0b00,
82    Dps500 = 0b01,
83    Dps1000 = 0b10,
84    Dps2000 = 0b11,
85}
86
87impl GyrRange {
88    pub const fn divisor(self) -> f32 {
89        match self {
90            Self::Dps250 => i16::MAX as f32 / 250.,
91            Self::Dps500 => i16::MAX as f32 / 500.,
92            Self::Dps1000 => i16::MAX as f32 / 1000.,
93            Self::Dps2000 => i16::MAX as f32 / 2000.,
94        }
95    }
96}
97
98/// Unit of accelerometer readings
99#[derive(Copy, Clone, Debug)]
100#[cfg_attr(feature = "serde", derive(serde::Serialize, serde::Deserialize))]
101pub enum AccUnit {
102    /// Meters per second squared (m/s^2)
103    Mpss,
104    /// Number of times of normal gravity
105    Gs,
106}
107
108impl AccUnit {
109    pub const fn scalar(self) -> f32 {
110        match self {
111            Self::Mpss => 9.82,
112            Self::Gs => 1.0,
113        }
114    }
115}
116
117/// Unit of gyroscope readings
118#[derive(Copy, Clone, Debug)]
119#[cfg_attr(feature = "serde", derive(serde::Serialize, serde::Deserialize))]
120pub enum GyrUnit {
121    /// Radians per second
122    Rps,
123    /// Degrees per second
124    Dps,
125}
126
127impl GyrUnit {
128    pub const fn scalar(self) -> f32 {
129        match self {
130            Self::Rps => 1.0f32.to_radians(),
131            Self::Dps => 1.0f32,
132        }
133    }
134}
135
136/// Digital low-pass filter for of accelerometer readings
137#[derive(Copy, Clone, Debug, PartialEq)]
138#[cfg_attr(feature = "serde", derive(serde::Serialize, serde::Deserialize))]
139pub enum AccDlp {
140    Hz473 = 7,
141    Hz246 = 1,
142    Hz111 = 2,
143    Hz50 = 3,
144    Hz24 = 4,
145    Hz12 = 5,
146    Hz6 = 6,
147    Disabled = 8,
148}
149
150/// Digital low-pass filter for of gyroscope readings
151#[derive(Copy, Clone, Debug, PartialEq)]
152#[cfg_attr(feature = "serde", derive(serde::Serialize, serde::Deserialize))]
153pub enum GyrDlp {
154    Hz361 = 7,
155    Hz196 = 0,
156    Hz152 = 1,
157    Hz120 = 2,
158    Hz51 = 3,
159    Hz24 = 4,
160    Hz12 = 5,
161    Hz6 = 6,
162    Disabled = 8,
163}
icm20948_async/cfg.rs

icm20948_async/
cfg.rs
