Abstract IMU device interface for polymorphic IMU sensor implementations. More...

#include <ImuBase.hpp>

Inheritance diagram for ImuBase:

Public Types
enum class	DataReadyMask : uint8_t { ACCEL = 0x01 , GYRO = 0x02 , BOTH = 0x03 }

Public Member Functions
virtual	~ImuBase ()=default

virtual bool	reset ()=0
	Reset the IMU sensor to its default state.

virtual bool	selfTest ()=0
	Perform self-test on the IMU sensor.

virtual bool	isPresent ()=0
	Check if the IMU sensor is responding.

virtual uint8_t	getChipID ()=0
	Get the chip ID / WHO_AM_I value.

virtual uint32_t	getFirmwareVersion ()=0
	Get the firmware version.

virtual bool	setOperationMode (OperationMode mode)=0
	Set IMU operation mode.

bool	powerOn ()
	Compatibility wrapper: switch IMU to NORMAL mode.

bool	powerDown ()
	Compatibility wrapper: switch IMU to SUSPEND mode.

virtual float	getTemperature ()=0
	Get the temperature reading from the sensor.

virtual uint32_t	getTimestamp ()=0
	Get the timestamp from the sensor.

virtual bool	isDataReady (uint8_t mask=static_cast< uint8_t >(DataReadyMask::BOTH))=0
	Check if requested IMU data is available.

virtual bool	readAccel (AccelerometerData &out)=0
	Read accelerometer data.

virtual bool	enableAccel ()=0
	Enable the accelerometer.

virtual bool	disableAccel ()=0
	Disable the accelerometer.

virtual bool	isAccelEnabled ()=0
	Check if accelerometer is enabled.

virtual bool	setAccelFullScaleRange (AccelFullScaleRange range)=0
	Set accelerometer full scale range.

virtual bool	setAccelOutputDataRate (float data_rate_hz)=0
	Set accelerometer output data rate.

virtual bool	readAccelRaw (int16_t &x, int16_t &y, int16_t &z)=0
	Read raw accelerometer data without scaling.

virtual bool	readGyro (GyroscopeData &out)=0
	Read gyroscope data.

virtual bool	enableGyro ()=0
	Enable the gyroscope.

virtual bool	disableGyro ()=0
	Disable the gyroscope.

virtual bool	isGyroEnabled ()=0
	Check if gyroscope is enabled.

virtual bool	setGyroFullScaleRange (GyroFullScaleRange range)=0
	Set gyroscope full scale range.

virtual bool	setGyroOutputDataRate (float data_rate_hz)=0
	Set gyroscope output data rate.

virtual bool	readGyroRaw (int16_t &x, int16_t &y, int16_t &z)=0
	Read raw gyroscope data without scaling.

virtual bool	enableSyncMode ()=0
	Enable synchronous sampling mode.

virtual bool	disableSyncMode ()=0
	Disable synchronous sampling mode.

virtual bool	configureFifo (bool enable, uint8_t watermark_samples=16)=0
	Configure the FIFO buffer.

virtual uint16_t	readFromFifo (AccelerometerData accel_data, uint16_t accel_count, GyroscopeData gyro_data, uint16_t gyro_count)=0
	Read data from FIFO buffer.

Detailed Description

Abstract IMU device interface for polymorphic IMU sensor implementations.

This interface defines the common contract that all IMU drivers must implement. It enables polymorphic usage of different IMU sensors through a unified interface.

A concrete IMU driver (e.g., QMI8658...) should implement this. Then adapters can expose AccelerometerBase / GyroscopeBase views without multiple inheritance.

Definition at line 42 of file ImuBase.hpp.

Member Enumeration Documentation

◆ DataReadyMask

enum class ImuBase::DataReadyMask : uint8_t

strong

Enumerator
ACCEL
GYRO
BOTH

Definition at line 45 of file ImuBase.hpp.

Constructor & Destructor Documentation

◆ ~ImuBase()

virtual ImuBase::~ImuBase ( )

virtualdefault

Member Function Documentation

◆ configureFifo()

virtual bool ImuBase::configureFifo	(	bool	enable,
		uint8_t	watermark_samples = `16`
	)

pure virtual

Configure the FIFO buffer.

Parameters

enable	true to enable FIFO, false to disable.
watermark_samples	Number of samples for watermark interrupt.

Returns: true if configured successfully, false otherwise.

Implemented in SensorQMI8658.

◆ disableAccel()

virtual bool ImuBase::disableAccel ( )

pure virtual

Disable the accelerometer.

Returns: true if disabled successfully, false otherwise.

Implemented in SensorQMI8658.

◆ disableGyro()

virtual bool ImuBase::disableGyro ( )

pure virtual

Disable the gyroscope.

Returns: true if disabled successfully, false otherwise.

Implemented in SensorQMI8658.

◆ disableSyncMode()

virtual bool ImuBase::disableSyncMode ( )

pure virtual

Disable synchronous sampling mode.

Returns: true if disabled successfully, false otherwise.

Implemented in SensorQMI8658.

◆ enableAccel()

virtual bool ImuBase::enableAccel ( )

pure virtual

Enable the accelerometer.

Returns: true if enabled successfully, false otherwise.

Implemented in SensorQMI8658.

◆ enableGyro()

virtual bool ImuBase::enableGyro ( )

pure virtual

Enable the gyroscope.

Returns: true if enabled successfully, false otherwise.

Implemented in SensorQMI8658.

◆ enableSyncMode()

virtual bool ImuBase::enableSyncMode ( )

pure virtual

Enable synchronous sampling mode.

Returns: true if enabled successfully, false otherwise.

Implemented in SensorQMI8658.

◆ getChipID()

virtual uint8_t ImuBase::getChipID ( )

pure virtual

Get the chip ID / WHO_AM_I value.

Returns: Chip ID value.

Implemented in SensorQMI8658, and SensorQMI8658.

◆ getFirmwareVersion()

virtual uint32_t ImuBase::getFirmwareVersion ( )

pure virtual

Get the firmware version.

Returns: Firmware version value.

Implemented in SensorQMI8658.

◆ getTemperature()

virtual float ImuBase::getTemperature ( )

pure virtual

Get the temperature reading from the sensor.

Returns: Temperature in degrees Celsius, or NaN on error.

Implemented in SensorQMI8658.

◆ getTimestamp()

virtual uint32_t ImuBase::getTimestamp ( )

pure virtual

Get the timestamp from the sensor.

Returns: Timestamp value.

Implemented in SensorQMI8658, and SensorQMI8658.

◆ isAccelEnabled()

virtual bool ImuBase::isAccelEnabled ( )

pure virtual

Check if accelerometer is enabled.

Returns: true if enabled, false otherwise.

Implemented in SensorQMI8658.

◆ isDataReady()

virtual bool ImuBase::isDataReady ( uint8_t mask = static_cast< uint8_t >(DataReadyMask::BOTH) )

pure virtual

Check if requested IMU data is available.

Parameters

mask	Data-ready target mask (ACCEL / GYRO / BOTH).

Returns: true if requested data is ready, false otherwise.

Implemented in SensorQMI8658.

Referenced by ImuAccelerometerAdapter::isDataReady(), and ImuGyroscopeAdapter::isDataReady().

◆ isGyroEnabled()

virtual bool ImuBase::isGyroEnabled ( )

pure virtual

Check if gyroscope is enabled.

Returns: true if enabled, false otherwise.

Implemented in SensorQMI8658.

◆ isPresent()

virtual bool ImuBase::isPresent ( )

pure virtual

Check if the IMU sensor is responding.

Returns: true if sensor is present, false otherwise.

Implemented in SensorQMI8658.

◆ powerDown()

bool ImuBase::powerDown ( )

inline

Compatibility wrapper: switch IMU to SUSPEND mode.

Definition at line 103 of file ImuBase.hpp.

References setOperationMode(), and SUSPEND.

◆ powerOn()

bool ImuBase::powerOn ( )

inline

Compatibility wrapper: switch IMU to NORMAL mode.

Definition at line 95 of file ImuBase.hpp.

References NORMAL, and setOperationMode().

◆ readAccel()

virtual bool ImuBase::readAccel ( AccelerometerData & out )

pure virtual

Read accelerometer data.

Parameters

[out] out Reference to store the read data.

Returns: true if read successful, false otherwise.

Implemented in SensorQMI8658.

Referenced by ImuAccelerometerAdapter::readData().

◆ readAccelRaw()

virtual bool ImuBase::readAccelRaw	(	int16_t &	x,
		int16_t &	y,
		int16_t &	z
	)

pure virtual

Read raw accelerometer data without scaling.

Parameters

[out]	x	X-axis raw value.
[out]	y	Y-axis raw value.
[out]	z	Z-axis raw value.

Returns: true if read successful, false otherwise.

Implemented in SensorQMI8658.

◆ readFromFifo()

virtual uint16_t ImuBase::readFromFifo	(	AccelerometerData *	accel_data,
		uint16_t	accel_count,
		GyroscopeData *	gyro_data,
		uint16_t	gyro_count
	)

pure virtual

Read data from FIFO buffer.

Parameters

[out]	accel_data	Array to store accelerometer samples.
	accel_count	Maximum number of accelerometer samples.
[out]	gyro_data	Array to store gyroscope samples.
	gyro_count	Maximum number of gyroscope samples.

Returns: Number of samples read, or 0 on error.

Implemented in SensorQMI8658.

◆ readGyro()

virtual bool ImuBase::readGyro ( GyroscopeData & out )

pure virtual

Read gyroscope data.

Parameters

[out] out Reference to store the read data.

Returns: true if read successful, false otherwise.

Implemented in SensorQMI8658.

Referenced by ImuGyroscopeAdapter::readData().

◆ readGyroRaw()

virtual bool ImuBase::readGyroRaw	(	int16_t &	x,
		int16_t &	y,
		int16_t &	z
	)

pure virtual

Read raw gyroscope data without scaling.

Parameters

[out]	x	X-axis raw value.
[out]	y	Y-axis raw value.
[out]	z	Z-axis raw value.

Returns: true if read successful, false otherwise.

Implemented in SensorQMI8658.

◆ reset()

virtual bool ImuBase::reset ( )

pure virtual

Reset the IMU sensor to its default state.

Returns: true if reset successful, false otherwise.

Implemented in SensorQMI8658.

Referenced by ImuAccelerometerAdapter::reset(), and ImuGyroscopeAdapter::reset().

◆ selfTest()

virtual bool ImuBase::selfTest ( )

pure virtual

Perform self-test on the IMU sensor.

Returns: true if self-test passed, false otherwise.

Implemented in SensorQMI8658.

Referenced by ImuAccelerometerAdapter::selfTest(), and ImuGyroscopeAdapter::selfTest().

◆ setAccelFullScaleRange()

virtual bool ImuBase::setAccelFullScaleRange ( AccelFullScaleRange range )

pure virtual

Set accelerometer full scale range.

Parameters

range Full scale range setting.

Returns: true if set successfully, false otherwise.

Implemented in SensorQMI8658.

Referenced by ImuAccelerometerAdapter::setFullScaleRange().

◆ setAccelOutputDataRate()

virtual bool ImuBase::setAccelOutputDataRate ( float data_rate_hz )

pure virtual

Set accelerometer output data rate.

Parameters

data_rate_hz Output data rate in Hz.

Returns: true if set successfully, false otherwise.

Implemented in SensorQMI8658.

Referenced by ImuAccelerometerAdapter::setOutputDataRate().

◆ setGyroFullScaleRange()

virtual bool ImuBase::setGyroFullScaleRange ( GyroFullScaleRange range )

pure virtual

Set gyroscope full scale range.

Parameters

range Full scale range setting.

Returns: true if set successfully, false otherwise.

Implemented in SensorQMI8658.

Referenced by ImuGyroscopeAdapter::setFullScaleRange().

◆ setGyroOutputDataRate()

virtual bool ImuBase::setGyroOutputDataRate ( float data_rate_hz )

pure virtual

Set gyroscope output data rate.

Parameters

data_rate_hz Output data rate in Hz.

Returns: true if set successfully, false otherwise.

Implemented in SensorQMI8658.

Referenced by ImuGyroscopeAdapter::setOutputDataRate().

◆ setOperationMode()

virtual bool ImuBase::setOperationMode ( OperationMode mode )

pure virtual

Set IMU operation mode.

Parameters

mode	Target operation mode.

Returns: true if mode switch successful, false otherwise.

Implemented in SensorQMI8658.

Referenced by powerDown(), powerOn(), ImuAccelerometerAdapter::setOperationMode(), and ImuGyroscopeAdapter::setOperationMode().

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

ImuBase.hpp

Public Types

Public Member Functions

Detailed Description

Member Enumeration Documentation

◆ DataReadyMask

Constructor & Destructor Documentation

◆ ~ImuBase()

Member Function Documentation

◆ configureFifo()

◆ disableAccel()

◆ disableGyro()

◆ disableSyncMode()

◆ enableAccel()

◆ enableGyro()

◆ enableSyncMode()

◆ getChipID()

◆ getFirmwareVersion()

◆ getTemperature()

◆ getTimestamp()

◆ isAccelEnabled()

◆ isDataReady()

◆ isGyroEnabled()

◆ isPresent()

◆ powerDown()

◆ powerOn()

◆ readAccel()

◆ readAccelRaw()

◆ readFromFifo()

◆ readGyro()

◆ readGyroRaw()

◆ reset()

◆ selfTest()

◆ setAccelFullScaleRange()

◆ setAccelOutputDataRate()

◆ setGyroFullScaleRange()

◆ setGyroOutputDataRate()

◆ setOperationMode()