#include <DevLab_ICM20948.h>

Public Member Functions
	DevLab_ICM20948 ()
bool	beginI2C (uint8_t address=0x69, TwoWire &i2cPort=Wire, uint32_t i2cSpeed=400000)
bool	beginSPI (uint8_t csPin, SPIClass &spiPort=SPI, uint32_t spiSpeed=1000000)
bool	readWhoAmI (uint8_t &whoAmI)
bool	selectBank (uint8_t bank)
bool	softReset ()
bool	sleep (bool en)
bool	applyBasicDefaults ()
bool	readAccel (float &x, float &y, float &z)
bool	readGyro (float &x, float &y, float &z)
bool	readTemperature (float &temperature)
bool	readMag (float &x, float &y, float &z)
bool	initMag ()
bool	setMagOpMode (ICM20948_Op_Mode opMode)
bool	setLowPower (bool enable)
bool	getLowPower (bool &enable)
bool	setClock (ICM20948_Clock_Source clock)
bool	getClock (uint8_t &clock)
bool	setGyroSampleRate (float sampleRate)
bool	getGyroSampleRate (float &sampleRate)
bool	setGyroDivRate (uint8_t divisor)
bool	setDLPF (ICM20948_Gyro_DLPF dlpf, bool bypass)
bool	getDLPF (uint8_t &dlpf, bool &bypass)
bool	setGyroScale (ICM20948_Gyro_FullScale fullScale)
bool	setGyroAveraging (ICM20948_Gyro_Average avg)
bool	getGyroScale (uint8_t &fullScale)
bool	selfTestGyro (bool x, bool y, bool z)
bool	setAccelDivRate (uint16_t divisor)
bool	setAccelSampleRate (uint16_t sampleRate)
bool	getAccelSampleRate (float &sampleRate)
bool	selfTestAccel (bool x, bool y, bool z)
bool	setAccelScale (ICM20948_Accel_FullScale fullScale)
bool	getAccelScale (uint8_t &fullScale)
bool	setAccelDLPF (uint8_t dlpf, bool bypass)
bool	getAccelDLPF (uint8_t &dlpf, bool &bypass)
bool	setAccelAveraging (ICM20948_Accel_Average avg)
bool	getAccelAveraging (uint8_t &avg)
bool	setSensors (bool accel_on, bool gyro_on, bool temp_on)
bool	getSensors (bool &accel_on, bool &gyro_on, bool &temp_on)
bool	setGyroOffset (uint16_t offsetX, uint16_t offsetY, uint16_t offsetZ)
bool	getGyroOffset (int16_t &offsetX, int16_t &offsetY, int16_t &offsetZ)
bool	setAccelOffset (int16_t offsetX, int16_t offsetY, int16_t offsetZ)
bool	getAccelOffset (int16_t &offsetX, int16_t &offsetY, int16_t &offsetZ)
bool	intInit (const ICM20948_IntPinConfig &cfg)
bool	intEnableConfig (const ICM20948_IntEnableConfig &cfg)
bool	checkIntStatus (ICM20948_IntStatus &status)
bool	auxMasterEnable (uint8_t clkFreq)
bool	auxWriteByte (uint8_t slaveAddr, uint8_t reg, uint8_t data)
bool	auxReadByte (uint8_t slaveAddr, uint8_t reg, uint8_t &data)
bool	auxWriteCommand (uint8_t slaveAddr, uint8_t cmd)
bool	auxConfigSlave (uint8_t slaveAddr, uint8_t reg, uint8_t numBytes)
bool	auxReadSensorData (uint8_t *buf, uint8_t len)
bool	auxReadResponse (uint8_t slaveAddr, uint8_t &data)
bool	auxRead12bit (uint16_t &raw)

Detailed Description

Class

Manages ICM-20948 over I2C (SPI path disabled in this cut)
Caches scale factors for LSB->physical conversions

Definition at line 172 of file DevLab_ICM20948.h.

Constructor & Destructor Documentation

◆ DevLab_ICM20948()

DevLab_ICM20948::DevLab_ICM20948 ( )

Construct with default I2C address; call begin() to attach bus

Definition at line 4 of file DevLab_ICM20948.cpp.

Member Function Documentation

◆ applyBasicDefaults()

bool DevLab_ICM20948::applyBasicDefaults ( )

applyBasicDefaults

Apply basic sensor configuration
Configure power, filters, ranges, and sampling rates

Returns:

true → Configuration successful
false → Any register write failed

Definition at line 181 of file DevLab_ICM20948.cpp.

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◆ auxConfigSlave()

bool DevLab_ICM20948::auxConfigSlave	(	uint8_t	slaveAddr,
		uint8_t	reg,
		uint8_t	numBytes )

auxConfigSlave

Configure SLV0 for automatic periodic reads from an auxiliary I2C slave
The ICM20948 master will read numBytes starting at reg on every ODR cycle
Data is deposited into EXT_SLV_SENS_DATA_00 and subsequent registers
Call once during initialization; read results with auxReadSensorData

Parameters:

slaveAddr: 7-bit I2C address of the auxiliary slave
reg: starting register address to read from on the slave
numBytes: number of bytes to read per cycle (1–15)

Returns:

true → SLV0 configured successfully
false → Operation failed

Definition at line 1374 of file DevLab_ICM20948.cpp.

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◆ auxMasterEnable()

bool DevLab_ICM20948::auxMasterEnable ( uint8_t clkFreq )

auxMasterEnable

Enable the ICM20948 internal I2C master for auxiliary bus
Clears BYPASS_EN so the aux bus is controlled by the ICM
Sets I2C_MST_EN in USER_CTRL
Configures auxiliary master clock frequency

Parameters:

clkFreq: clock divider value (e.g. 0x07 ≈ 345.6 kHz, 0x0D ≈ 400 kHz)

Returns:

true → Master enabled successfully
false → Operation failed

Definition at line 1260 of file DevLab_ICM20948.cpp.

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◆ auxRead12bit()

bool DevLab_ICM20948::auxRead12bit ( uint16_t & raw )

auxRead12bit

Read a 12-bit value previously configured via auxConfigSlave (SLV0, numBytes = 2)
Assumes little-endian packing: first byte = LSB, second byte = MSB
Result is masked to 12 bits (0-4095)

Returns:

true → Read successful
false → Read failed

Definition at line 1424 of file DevLab_ICM20948.cpp.

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◆ auxReadByte()

bool DevLab_ICM20948::auxReadByte	(	uint8_t	slaveAddr,
		uint8_t	reg,
		uint8_t &	data )

auxReadByte

Read a single byte from a register of an auxiliary I2C slave via SLV4
Generates a combined write-then-read transaction (reg byte + repeated START)
Suitable for slaves that follow standard I2C register-read protocol

Note: slaves that need separate write/read transactions (e.g. command-response firmware) should use auxWriteCommand + auxReadResponse instead.

Parameters:

slaveAddr: 7-bit I2C address of the auxiliary slave
reg: register address to read from
data: output byte received from slave

Returns:

true → Read successful
false → Timeout or NACK

Definition at line 1312 of file DevLab_ICM20948.cpp.

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◆ auxReadResponse()

bool DevLab_ICM20948::auxReadResponse	(	uint8_t	slaveAddr,
		uint8_t &	data )

auxReadResponse

Read a single response byte from an auxiliary I2C slave via SLV4
Generates a pure read transaction: [START, addr+R, 1 byte, STOP]
No register byte is sent (REG_DIS); slave must already be ready to transmit
Use after auxWriteCommand to complete a command-response exchange with slaves that require separate write and read transactions (e.g. PY32F0 firmware slaves)

Parameters:

slaveAddr: 7-bit I2C address of the auxiliary slave
data: output byte received from slave

Returns:

true → Response received successfully
false → Timeout or NACK

Definition at line 1397 of file DevLab_ICM20948.cpp.

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◆ auxReadSensorData()

bool DevLab_ICM20948::auxReadSensorData	(	uint8_t *	buf,
		uint8_t	len )

auxReadSensorData

Read bytes from EXT_SLV_SENS_DATA registers (BANK 0)
Returns data collected by the ICM20948 master from SLV0–SLV3 on the last cycle
Must call auxConfigSlave first to set up the automatic read

Parameters:

buf: output buffer to store the received bytes
len: number of bytes to read (must match numBytes configured in auxConfigSlave)

Returns:

true → Read successful
false → Bus error

Definition at line 1391 of file DevLab_ICM20948.cpp.

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◆ auxWriteByte()

bool DevLab_ICM20948::auxWriteByte	(	uint8_t	slaveAddr,
		uint8_t	reg,
		uint8_t	data )

auxWriteByte

Write a single byte to a register of an auxiliary I2C slave via SLV4
Uses one-shot SLV4 transaction: polls SLV4_DONE, checks for NACK
Suitable for configuration writes (not continuous streaming)

Parameters:

slaveAddr: 7-bit I2C address of the auxiliary slave
reg: target register address on the slave
data: byte to write

Returns:

true → Write acknowledged by slave
false → Timeout or NACK

Definition at line 1281 of file DevLab_ICM20948.cpp.

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◆ auxWriteCommand()

bool DevLab_ICM20948::auxWriteCommand	(	uint8_t	slaveAddr,
		uint8_t	cmd )

auxWriteCommand

Send a single command byte to an auxiliary I2C slave via SLV4
Uses REG_DIS: generates [START, addr+W, cmd_byte, STOP] with no register prefix
Designed for slaves that use a command-response protocol (no register addressing)

Parameters:

slaveAddr: 7-bit I2C address of the auxiliary slave
cmd: command byte to send

Returns:

true → Command acknowledged by slave
false → Timeout or NACK

Definition at line 1346 of file DevLab_ICM20948.cpp.

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◆ beginI2C()

bool DevLab_ICM20948::beginI2C	(	uint8_t	address = 0x69,
		TwoWire &	i2cPort = Wire,
		uint32_t	i2cSpeed = 400000 )

beginI2C

Initialize ICM20948 using I2C interface
Sets up communication layer (Interface + BusIO)
Verifies device identity (WHO_AM_I)
Configures basic power and clock settings

Returns:

true → Device initialized successfully
false → Communication or configuration failed

Definition at line 6 of file DevLab_ICM20948.cpp.

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◆ beginSPI()

bool DevLab_ICM20948::beginSPI	(	uint8_t	csPin,
		SPIClass &	spiPort = SPI,
		uint32_t	spiSpeed = 1000000 )

Definition at line 60 of file DevLab_ICM20948.cpp.

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◆ checkIntStatus()

bool DevLab_ICM20948::checkIntStatus ( ICM20948_IntStatus & status )

checkIntStatus

Read and parse all four interrupt status registers in a single burst read
Covers INT_STATUS (0x19), INT_STATUS_1 (0x1A), INT_STATUS_2 (0x1B), INT_STATUS_3 (0x1C) from BANK 0
Reading clears the interrupt flags when clearMode = 0 in ICM20948_IntPinConfig
Typically called inside the INT pin ISR or polled in the main loop

Parameters:

status: ICM20948_IntStatus struct populated with the current interrupt flags

Returns:

true → Status read successfully
false → Operation failed

Definition at line 1231 of file DevLab_ICM20948.cpp.

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◆ getAccelAveraging()

bool DevLab_ICM20948::getAccelAveraging ( uint8_t & avg )

getAccelAveraging

Read accelerometer averaging / decimation setting (DEC3)

Flow:

Validate bus pointer
Select USER BANK 2
Read DEC3 bits [1:0]

Returns:

true → Read successful
false → Operation failed

Definition at line 988 of file DevLab_ICM20948.cpp.

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◆ getAccelDLPF()

bool DevLab_ICM20948::getAccelDLPF	(	uint8_t &	dlpf,
		bool &	bypass )

getAccelDLPF

Read accelerometer DLPF configuration
Returns filter setting and bypass state

Flow:

Validate bus pointer
Select USER BANK 2
Read ACCEL_CONFIG register
Extract bypass and DLPF bits

Returns:

true → Read successful
false → Operation failed

Definition at line 926 of file DevLab_ICM20948.cpp.

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◆ getAccelOffset()

bool DevLab_ICM20948::getAccelOffset	(	int16_t &	offsetX,
		int16_t &	offsetY,
		int16_t &	offsetZ )

getAccelOffset

Read accelerometer offset values for X, Y, Z axes
Reads offset registers from USER BANK 1

Flow:

Validate bus pointer
Select USER BANK 1
Read offset registers
Convert to signed values

Returns:

true → Read successful
false → Operation failed

Definition at line 1151 of file DevLab_ICM20948.cpp.

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◆ getAccelSampleRate()

bool DevLab_ICM20948::getAccelSampleRate ( float & sampleRate )

getAccelSampleRate

Get accelerometer output data rate (ODR)
Computes value from divider registers

Returns:

true → Read successful
false → Operation failed

Definition at line 796 of file DevLab_ICM20948.cpp.

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◆ getAccelScale()

bool DevLab_ICM20948::getAccelScale ( uint8_t & fullScale )

getAccelScale

Get current accelerometer full-scale range (FS_SEL)

Returns:

true → Read successful
false → Operation failed

Definition at line 878 of file DevLab_ICM20948.cpp.

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◆ getClock()

bool DevLab_ICM20948::getClock ( uint8_t & clock )

getClock

Read current clock source (CLKSEL [2:0])

Returns:

true → Read successful
false → Operation failed

Definition at line 534 of file DevLab_ICM20948.cpp.

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◆ getDLPF()

bool DevLab_ICM20948::getDLPF	(	uint8_t &	dlpf,
		bool &	bypass )

getDLPF

Read gyroscope DLPF configuration
Returns filter setting and bypass state

Returns:

true → Read successful
false → Operation failed

Definition at line 619 of file DevLab_ICM20948.cpp.

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◆ getGyroOffset()

bool DevLab_ICM20948::getGyroOffset	(	int16_t &	offsetX,
		int16_t &	offsetY,
		int16_t &	offsetZ )

getGyroOffset

Read gyroscope offset values for X, Y, Z axes
Reads offset registers from USER BANK 2

Flow:

Validate bus pointer
Select USER BANK 2
Read offset registers
Convert to signed values

Returns:

true → Read successful
false → Operation failed

Definition at line 1099 of file DevLab_ICM20948.cpp.

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◆ getGyroSampleRate()

bool DevLab_ICM20948::getGyroSampleRate ( float & sampleRate )

getGyroSampleRate

Get current gyroscope sample rate
Computes value from divider register

Returns:

true → Read successful
false → Operation failed

Definition at line 571 of file DevLab_ICM20948.cpp.

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◆ getGyroScale()

bool DevLab_ICM20948::getGyroScale ( uint8_t & fullScale )

getGyroScale

Get current gyroscope full-scale range (FS_SEL

Returns:

true → Read successful
false → Operation failed

Definition at line 665 of file DevLab_ICM20948.cpp.

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◆ getLowPower()

bool DevLab_ICM20948::getLowPower ( bool & enable )

getLowPower

Read low power mode status
Returns state of LP_EN bit

Returns:

true → Read successful
false → Operation failed

Definition at line 502 of file DevLab_ICM20948.cpp.

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◆ getSensors()

bool DevLab_ICM20948::getSensors	(	bool &	accel_on,
		bool &	gyro_on,
		bool &	temp_on )

getSensors

Read accel, gyro, and temperature enable state

Flow:

Validate bus pointer
Select USER BANK 0
Read PWR_MGMT_2 register
Read TEMP_DIS bit
Decode enable states

Returns:

true → Read successful
false → Operation failed

Definition at line 1039 of file DevLab_ICM20948.cpp.

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◆ initMag()

bool DevLab_ICM20948::initMag ( )

initMag

Initialize AK09916 magnetometer using internal I2C master
Verifies WHO_AM_I and enables continuous mode
Configures SLV0 for automatic data read

Returns:

true → Initialization successful
false → Operation failed

Definition at line 334 of file DevLab_ICM20948.cpp.

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◆ intEnableConfig()

bool DevLab_ICM20948::intEnableConfig ( const ICM20948_IntEnableConfig & cfg )

intEnableConfig

Enable or disable individual interrupt sources routed to the INT pin
Writes INT_ENABLE (0x10), INT_ENABLE_1 (0x11), INT_ENABLE_2 (0x12), and INT_ENABLE_3 (0x13) in BANK 0
Must call intInit() first to configure the pin electrical behavior

Parameters:

cfg: ICM20948_IntEnableConfig struct with the desired interrupt sources enabled

Returns:

true → All four registers written successfully
false → Operation failed

Definition at line 1200 of file DevLab_ICM20948.cpp.

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◆ intInit()

bool DevLab_ICM20948::intInit ( const ICM20948_IntPinConfig & cfg )

intInit

Configure the physical behavior of the INT pin (INT_PIN_CFG register, BANK 0)
Sets active level, drive mode (push-pull / open-drain), latch vs pulse mode, clear condition, FSYNC level, FSYNC interrupt enable, and I2C bypass

Parameters:

cfg: ICM20948_IntPinConfig struct with the desired pin settings

Returns:

true → Configuration written successfully
false → Operation failed

Definition at line 1176 of file DevLab_ICM20948.cpp.

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◆ readAccel()

bool DevLab_ICM20948::readAccel	(	float &	x,
		float &	y,
		float &	z )

readAccel

Read accelerometer data (X, Y, Z)
Convert raw values to g using LSB scale

Returns:

true → Read successful
false → Read failed

Definition at line 238 of file DevLab_ICM20948.cpp.

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◆ readGyro()

bool DevLab_ICM20948::readGyro	(	float &	x,
		float &	y,
		float &	z )

readGyro

Read gyroscope data (X, Y, Z)
Convert raw values to dps using LSB scale

Returns:

true → Read successful
false → Read failed

Definition at line 258 of file DevLab_ICM20948.cpp.

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◆ readMag()

bool DevLab_ICM20948::readMag	(	float &	x,
		float &	y,
		float &	z )

readMag

Read magnetometer data via internal I2C master
Data comes from EXT_SLV_SENS_DATA registers
Convert raw values to µT

Returns:

true → Read successful
false → Read failed

Definition at line 310 of file DevLab_ICM20948.cpp.

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◆ readTemperature()

bool DevLab_ICM20948::readTemperature ( float & temperature )

readTemperature

Read temperature sensor
Convert raw values to °C

Returns:

true → Read successful
false → Read failed

Definition at line 278 of file DevLab_ICM20948.cpp.

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◆ readWhoAmI()

bool DevLab_ICM20948::readWhoAmI ( uint8_t & whoAmI )

readWhoAmI

Read WHO_AM_I register (device ID)
Used during initialization to verify ICM20948
Expected value: 0xEA

Returns:

true → Read successful
false → Operation failed

Definition at line 118 of file DevLab_ICM20948.cpp.

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◆ selectBank()

bool DevLab_ICM20948::selectBank ( uint8_t bank )

selectBank

Select USER BANK (0–3)
Used to access different register groups inside ICM20948

Returns:

true → Bank switch successful
false → Write failed

Definition at line 132 of file DevLab_ICM20948.cpp.

◆ selfTestAccel()

bool DevLab_ICM20948::selfTestAccel	(	bool	x,
		bool	y,
		bool	z )

selfTestAccel

Enable or disable accelerometer self-test per axis

Returns:

true → Operation successful
false → Operation failed

Definition at line 826 of file DevLab_ICM20948.cpp.

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◆ selfTestGyro()

bool DevLab_ICM20948::selfTestGyro	(	bool	x,
		bool	y,
		bool	z )

selfTestGyro

Enable or disable gyroscope self-test per axis

Returns:

true → Operation successful
false → Operation failed

Definition at line 683 of file DevLab_ICM20948.cpp.

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◆ setAccelAveraging()

bool DevLab_ICM20948::setAccelAveraging ( ICM20948_Accel_Average avg )

setAccelAveraging

Configure accelerometer averaging / decimation (DEC3)
Controls internal averaging of accel samples

Flow:

Validate bus pointer
Select USER BANK 2
Write DEC3 bits [1:0]

Returns:

true → Operation successful
false → Operation failed

Definition at line 952 of file DevLab_ICM20948.cpp.

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◆ setAccelDivRate()

bool DevLab_ICM20948::setAccelDivRate ( uint16_t divisor )

Definition at line 748 of file DevLab_ICM20948.cpp.

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◆ setAccelDLPF()

bool DevLab_ICM20948::setAccelDLPF	(	uint8_t	dlpf,
		bool	bypass )

setAccelDLPF

Configure accelerometer digital low-pass filter (DLPF)
Option to bypass filter (full bandwidth)

Flow:

Validate bus pointer
Select USER BANK 2
Set or clear bypass bit
Configure DLPF bits if not bypassed

Returns:

true → Operation successful
false → Operation failed

Definition at line 897 of file DevLab_ICM20948.cpp.

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◆ setAccelOffset()

bool DevLab_ICM20948::setAccelOffset	(	int16_t	offsetX,
		int16_t	offsetY,
		int16_t	offsetZ )

setAccelOffset

Set accelerometer offset values for X, Y, Z axes
Writes offset registers in USER BANK 1

Flow:

Validate bus pointer
Select USER BANK 1
Pack offsets into byte array
Write to offset registers

Returns:

true → Operation successful
false → Operation failed

Definition at line 1124 of file DevLab_ICM20948.cpp.

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◆ setAccelSampleRate()

bool DevLab_ICM20948::setAccelSampleRate ( uint16_t sampleRate )

setAccelSampleRate

Set accelerometer output data rate (ODR)
Uses 1125 Hz base rate with 12-bit divider

Returns:

true → Operation successful
false → Operation failed

Definition at line 709 of file DevLab_ICM20948.cpp.

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◆ setAccelScale()

bool DevLab_ICM20948::setAccelScale ( ICM20948_Accel_FullScale fullScale )

setAccelScale

Set accelerometer full-scale range (FS_SEL)
Controls measurement range (±2g, ±4g, ±8g, ±16g)

Returns:

true → Operation successful
false → Operation failed

Definition at line 857 of file DevLab_ICM20948.cpp.

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◆ setClock()

bool DevLab_ICM20948::setClock ( ICM20948_Clock_Source clock )

setClock

Set clock source (CLKSEL [2:0])
Selects internal clock for sensor operation

Returns:

true → Operation successful
false → Operation failed

Definition at line 520 of file DevLab_ICM20948.cpp.

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◆ setDLPF()

bool DevLab_ICM20948::setDLPF	(	ICM20948_Gyro_DLPF	dlpf,
		bool	bypass )

setDLPF

Configure gyroscope digital low-pass filter (DLPF)
Option to bypass filter (full bandwidth)

Returns:

true → Operation successful
false → Operation failed

Definition at line 593 of file DevLab_ICM20948.cpp.

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◆ setGyroAveraging()

bool DevLab_ICM20948::setGyroAveraging ( ICM20948_Gyro_Average avg )

Definition at line 970 of file DevLab_ICM20948.cpp.

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◆ setGyroDivRate()

bool DevLab_ICM20948::setGyroDivRate ( uint8_t divisor )

Definition at line 780 of file DevLab_ICM20948.cpp.

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◆ setGyroOffset()

bool DevLab_ICM20948::setGyroOffset	(	uint16_t	offsetX,
		uint16_t	offsetY,
		uint16_t	offsetZ )

setGyroOffset

Set gyroscope offset values for X, Y, Z axes
Writes offset registers in USER BANK 2

Flow:

Validate bus pointer
Select USER BANK 2
Pack offsets into byte array
Write to offset registers

Returns:

true → Operation successful
false → Operation failed

Definition at line 1072 of file DevLab_ICM20948.cpp.

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◆ setGyroSampleRate()

bool DevLab_ICM20948::setGyroSampleRate ( float sampleRate )

setGyroSampleRate

Set gyroscope sample rate
Uses internal divider (SRD) based on 1100 Hz base rate

Returns:

true → Operation successful
false → Invalid input or write failed

Definition at line 550 of file DevLab_ICM20948.cpp.

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◆ setGyroScale()

bool DevLab_ICM20948::setGyroScale ( ICM20948_Gyro_FullScale fullScale )

setGyroScale

Set gyroscope full-scale range (FS_SEL)
Controls sensitivity (dps range)

Flow:

Validate bus pointer
Select USER BANK 2
Write FS_SEL bits [2:1]

Returns:

true → Operation successful
false → Operation failed

Definition at line 644 of file DevLab_ICM20948.cpp.

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◆ setLowPower()

bool DevLab_ICM20948::setLowPower ( bool enable )

setLowPower

Enable or disable low power mode
Controls LP_EN bit in PWR_MGMT_1

Returns:

true → Operation successful
false → Operation failed

Definition at line 488 of file DevLab_ICM20948.cpp.

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◆ setMagOpMode()

bool DevLab_ICM20948::setMagOpMode ( ICM20948_Op_Mode opMode )

setMagOpMode

Set magnetometer operation mode

Returns:

true → Mode set successfully
false → Write failed

Definition at line 410 of file DevLab_ICM20948.cpp.

◆ setSensors()

bool DevLab_ICM20948::setSensors	(	bool	accel_on,
		bool	gyro_on,
		bool	temp_on )

setSensors

Enable or disable accel, gyro, and temperature sensor
Controls power gating via PWR_MGMT_2 and TEMP_DIS

Flow:

Validate bus pointer
Select USER BANK 0
Build PWR_MGMT_2 mask
Configure temperature enable/disable

Returns:

true → Operation successful
false → Operation failed

Definition at line 1006 of file DevLab_ICM20948.cpp.

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◆ sleep()

bool DevLab_ICM20948::sleep ( bool en )

sleep

Enable or disable sleep mode
Maintains clock source (CLKSEL = 1)

Flow:

Select USER BANK 0
Set or clear SLEEP bit

Returns:

true → Operation successful
false → Operation failed

Definition at line 164 of file DevLab_ICM20948.cpp.

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◆ softReset()

bool DevLab_ICM20948::softReset ( )

softReset

Perform software reset of ICM20948
Resets all internal registers to default state

Flow:

Select USER BANK 0
Set DEVICE_RESET bit
Wait for device to restart

Returns:

true → Reset successful
false → Operation failed

Definition at line 144 of file DevLab_ICM20948.cpp.

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

src/DevLab_ICM20948.h
src/DevLab_ICM20948.cpp

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ DevLab_ICM20948()

Member Function Documentation

◆ applyBasicDefaults()

◆ auxConfigSlave()

◆ auxMasterEnable()

◆ auxRead12bit()

◆ auxReadByte()

◆ auxReadResponse()

◆ auxReadSensorData()

◆ auxWriteByte()

◆ auxWriteCommand()

◆ beginI2C()

◆ beginSPI()

◆ checkIntStatus()

◆ getAccelAveraging()

◆ getAccelDLPF()

◆ getAccelOffset()

◆ getAccelSampleRate()

◆ getAccelScale()

◆ getClock()

◆ getDLPF()

◆ getGyroOffset()

◆ getGyroSampleRate()

◆ getGyroScale()

◆ getLowPower()

◆ getSensors()

◆ initMag()

◆ intEnableConfig()

◆ intInit()

◆ readAccel()

◆ readGyro()

◆ readMag()

◆ readTemperature()

◆ readWhoAmI()

◆ selectBank()

◆ selfTestAccel()

◆ selfTestGyro()

◆ setAccelAveraging()

◆ setAccelDivRate()

◆ setAccelDLPF()

◆ setAccelOffset()

◆ setAccelSampleRate()

◆ setAccelScale()

◆ setClock()

◆ setDLPF()

◆ setGyroAveraging()

◆ setGyroDivRate()

◆ setGyroOffset()

◆ setGyroSampleRate()

◆ setGyroScale()

◆ setLowPower()

◆ setMagOpMode()

◆ setSensors()

◆ sleep()

◆ softReset()