ISM330 Class Reference

Interface class for ISM330DHCX IMU using SPI. More...

#include <ISM330.h>

Inheritance diagram for ISM330:

Classes
struct	ISM330_DATA_TypeDef
struct	ISM330_RAW_DATA_TypeDef
struct	ISM330_VECTOR_TypeDef

Public Member Functions
	ISM330 (I2C &i2c, uint8_t address) noexcept
bool	begin (float prop_gain=0.1f, float int_gain=0.0f) noexcept
	Initialize communication with the device.
uint8_t	whoAmI () noexcept
	Read the WHO_AM_I register value.
void	reset () noexcept
	Issue a software reset to the device.
void	calibrate () noexcept
IMU::EulerAngles	getImuAngles () override
IMU::EulerAngles	read () override
ISM330_RAW_DATA_TypeDef	readAGraw () noexcept
ISM330_DATA_TypeDef	readAG () noexcept
float	readTemperature () noexcept
float	accelTempScale (float temp)
float	accelTempOffset (float temp)
float	gyroTempScale (float temp)
float	gyroTempOffset (float temp)
void	getAGVectors (ISM330_VECTOR_TypeDef &accel, ISM330_VECTOR_TypeDef &gyro)
void	computeAnglesMah (IMU::EulerAngles &angles)
void	computeAnglesMadgwick (IMU::EulerAngles &angles)
void	mahonyStart (float prop_gain, float int_gain)
void	initQuaternionFromAccel ()
void	mahonyUpdate (float mx, float my, float mz, float dt)
void	mahonyUpdateIMU (float dt)
void	madgwickStart (float gain)
void	madgwickUpdate (float mx, float my, float mz, float dt)
void	madgwickUpdateIMU (float dt)
ISM330_VECTOR_TypeDef	readAccel () noexcept
ISM330_VECTOR_TypeDef	readGyro () noexcept
Public Member Functions inherited from IMU
void	init ()
void	reset ()

Detailed Description

Interface class for ISM330DHCX IMU using SPI.

Constructor & Destructor Documentation

ISM330()

ISM330::ISM330 ( I2C &  i2c, uint8_t  address  )

noexcept

Member Function Documentation

accelTempOffset()

float ISM330::accelTempOffset

(

float

temp

)

accelTempScale()

float ISM330::accelTempScale

(

float

temp

)

begin()

bool ISM330::begin ( float  prop_gain = 0.1f, float  int_gain = 0.0f  )

noexcept

Initialize communication with the device.

Performs basic SPI setup and verifies device presence using the WHO_AM_I register.

Returns

true if the device identifier matches the expected chip ID.

false if device detection fails.

calibrate()

void ISM330::calibrate ( )

noexcept

computeAnglesMadgwick()

void ISM330::computeAnglesMadgwick

(

IMU::EulerAngles &

angles

)

computeAnglesMah()

void ISM330::computeAnglesMah

(

IMU::EulerAngles &

angles

)

getAGVectors()

void ISM330::getAGVectors	(	ISM330_VECTOR_TypeDef &	accel,
		ISM330_VECTOR_TypeDef &	gyro
	)

getImuAngles()

IMU::EulerAngles ISM330::getImuAngles ( )

overridevirtual

Reimplemented from IMU.

gyroTempOffset()

float ISM330::gyroTempOffset

(

float

temp

)

gyroTempScale()

float ISM330::gyroTempScale

(

float

temp

)

initQuaternionFromAccel()

void ISM330::initQuaternionFromAccel

(

)

madgwickStart()

void ISM330::madgwickStart

(

float

gain

)

madgwickUpdate()

void ISM330::madgwickUpdate	(	float	mx,
		float	my,
		float	mz,
		float	dt
	)

madgwickUpdateIMU()

void ISM330::madgwickUpdateIMU

(

float

dt

)

mahonyStart()

void ISM330::mahonyStart	(	float	prop_gain,
		float	int_gain
	)

mahonyUpdate()

void ISM330::mahonyUpdate	(	float	mx,
		float	my,
		float	mz,
		float	dt
	)

mahonyUpdateIMU()

void ISM330::mahonyUpdateIMU

(

float

dt

)

read()

IMU::EulerAngles ISM330::read ( )

inlineoverridevirtual

Reimplemented from IMU.

readAccel()

ISM330::ISM330_VECTOR_TypeDef ISM330::readAccel ( )

noexcept

readAG()

ISM330::ISM330_DATA_TypeDef ISM330::readAG ( )

noexcept

readAGraw()

ISM330::ISM330_RAW_DATA_TypeDef ISM330::readAGraw ( )

noexcept

readGyro()

ISM330::ISM330_VECTOR_TypeDef ISM330::readGyro ( )

noexcept

readTemperature()

float ISM330::readTemperature ( )

noexcept

reset()

void ISM330::reset ( void  )

noexcept

Issue a software reset to the device.

Triggers a soft reset and blocks briefly to allow the device to restart.

whoAmI()

uint8_t ISM330::whoAmI ( )

noexcept

Read the WHO_AM_I register value.

This value should match the documented device ID. Mainly useful for diagnostics or verifying hardware connectivity.

Returns

8-bit device identifier.

---

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

• core/util/peripherals/imu/ISM330.h
• core/util/peripherals/imu/ISM330.cpp