DevLab_ICM20948 Class Reference

#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.

Here is the call graph for this function:

Here is the caller graph for this function:

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.

Here is the call graph for this function:

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.

Here is the call graph for this function:

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.

Here is the call graph for this function:

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.

Here is the call graph for this function:

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.

Here is the call graph for this function:

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.

Here is the call graph for this function:

Here is the caller graph for this function:

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.

Here is the call graph for this function:

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.

Here is the call graph for this function:

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.

Here is the call graph for this function:

beginSPI()

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

Definition at line 60 of file DevLab_ICM20948.cpp.

Here is the call graph for this function:

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.

Here is the call graph for this function:

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.

Here is the call graph for this function:

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.

Here is the call graph for this function:

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.

Here is the call graph for this function:

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.

Here is the call graph for this function:

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.

Here is the call graph for this function:

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.

Here is the call graph for this function:

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.

Here is the call graph for this function:

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.

Here is the call graph for this function:

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.

Here is the call graph for this function:

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.

Here is the call graph for this function:

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.

Here is the call graph for this function:

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.

Here is the call graph for this function:

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.

Here is the call graph for this function:

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.

Here is the call graph for this function:

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.

Here is the call graph for this function:

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.

Here is the call graph for this function:

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.

Here is the call graph for this function:

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.

Here is the call graph for this function:

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.

Here is the call graph for this function:

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.

Here is the call graph for this function:

Here is the caller graph for this function:

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.

Here is the call graph for this function:

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.

Here is the call graph for this function:

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.

Here is the call graph for this function:

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.

Here is the call graph for this function:

setAccelDivRate()

bool DevLab_ICM20948::setAccelDivRate

(

uint16_t

divisor

)

Definition at line 748 of file DevLab_ICM20948.cpp.

Here is the call graph for this function:

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.

Here is the call graph for this function:

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.

Here is the call graph for this function:

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.

Here is the call graph for this function:

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.

Here is the call graph for this function:

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.

Here is the call graph for this function:

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.

Here is the call graph for this function:

setGyroAveraging()

bool DevLab_ICM20948::setGyroAveraging

(

ICM20948_Gyro_Average

avg

)

Definition at line 970 of file DevLab_ICM20948.cpp.

Here is the call graph for this function:

setGyroDivRate()

bool DevLab_ICM20948::setGyroDivRate

(

uint8_t

divisor

)

Definition at line 780 of file DevLab_ICM20948.cpp.

Here is the call graph for this function:

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.

Here is the call graph for this function:

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.

Here is the call graph for this function:

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.

Here is the call graph for this function:

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.

Here is the call graph for this function:

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.

Here is the call graph for this function:

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.

Here is the call graph for this function:

Here is the caller graph for this function:

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.

Here is the call graph for this function:

Here is the caller graph for this function:

---

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

• src/DevLab_ICM20948.h
• src/DevLab_ICM20948.cpp