m5::unit::UnitBMM350 Class Reference

3-axis magnetometer unit (U231, GROVE) More...

#include <unit_bmm350.hpp>

Inheritance diagram for m5::unit::UnitBMM350:

Classes
struct	config_t
	Settings for begin() More...

Public Member Functions
	UnitBMM350 (const uint8_t addr=DEFAULT_ADDRESS)
	Construct with the I2C address the chip will answer on.
virtual	~UnitBMM350 ()
	Destructor.
virtual bool	begin () override
	Begin the unit.
virtual void	update (const bool force=false) override
	Update the unit.
Settings
config_t	config () const
	Gets the configuration.
void	config (const config_t &cfg)
	Set the configuration.
Setting (applies immediately)
bool	writeDataRate (const bmm350::DataRate rate)
	Write the output data rate (averaging is re-clamped to the new rate)
bool	writeAveraging (const bmm350::Averaging avg)
	Write the averaging factor (clamped to what the current rate accepts)
bool	readDataRate (bmm350::DataRate &rate)
	Read the output data rate from the device (REG_PMU_CMD_AGGR_SET bits[3:0])
bool	readAveraging (bmm350::Averaging &avg)
	Read the averaging factor from the device (REG_PMU_CMD_AGGR_SET bits[5:4])
Reset
bool	softReset ()
	Soft reset (REG_CMD CMD_SOFTRESET), then re-run the mandatory post-reset initialization (OTP download and magnetic reset (BR/FGR)), leaving the chip initialized but unconfigured and stopped.
Periodic measurement
bool	startPeriodicMeasurement (const bmm350::DataRate rate, const bmm350::Averaging avg)
	Start periodic measurement.
bool	startPeriodicMeasurement ()
	Start periodic measurement in the current settings.
bool	stopPeriodicMeasurement ()
	Stop periodic measurement.
Power
bool	sleep () override
	Put the chip into suspend mode (REG_PMU_CMD suspend)
bool	wakeup () override
	Return the chip to normal mode.
IMUDataSource
virtual m5::imu::Capability	imuSpec () const override
	Capability of this unit.
virtual m5::imu::Capability	readImuRaw (m5::imu::imu_raw_data_t &out) override
	Read the latest raw IMU data.
virtual void	imuConvertParam (m5::imu::imu_convert_param_t &out) const override
	Gets the conversion parameters for raw IMU data.

Protected Member Functions
bool	start_periodic_measurement (const bmm350::DataRate rate, const bmm350::Averaging avg)
bool	start_periodic_measurement ()
bool	stop_periodic_measurement ()
bool	read_measurement (bmm350::Data &d)
bool	write_register8_verified (const uint8_t reg, const uint8_t val)
bool	read_registers (const uint8_t reg, uint8_t *out, const uint32_t len)
bool	read_register8 (const uint8_t reg, uint8_t &out)
bool	download_otp (bmm350::otp_compensation_t &comp)
bool	commit_odr_avg (const bmm350::DataRate rate, const bmm350::Averaging avg)
	M5_UNIT_COMPONENT_PERIODIC_MEASUREMENT_ADAPTER_HPP_BUILDER (UnitBMM350, bmm350::Data)

Detailed Description

3-axis magnetometer unit (U231, GROVE)

Constructor & Destructor Documentation

UnitBMM350()

m5::unit::UnitBMM350::UnitBMM350 ( const uint8_t addr = DEFAULT_ADDRESS )

explicit

Construct with the I2C address the chip will answer on.

Parameters

[in]

addr

I2C address (defaults to the chip's factory address)

Member Function Documentation

config() [1/2]

config_t m5::unit::UnitBMM350::config ( ) const

inline

Gets the configuration.

Returns

Current configuration

config() [2/2]

void m5::unit::UnitBMM350::config ( const config_t & cfg )

inline

Set the configuration.

Parameters

[in]

cfg

Configuration

imuConvertParam()

void m5::unit::UnitBMM350::imuConvertParam ( m5::imu::imu_convert_param_t & out ) const

overridevirtual

Gets the conversion parameters for raw IMU data.

Parameters

[out]

out

Conversion parameters

Implements m5::imu::IMUDataSource.

imuSpec()

virtual m5::imu::Capability m5::unit::UnitBMM350::imuSpec ( ) const

inlineoverridevirtual

Capability of this unit.

Returns

Mag | Temp

Implements m5::imu::IMUDataSource.

readAveraging()

bool m5::unit::UnitBMM350::readAveraging

(

bmm350::Averaging &

avg

)

Read the averaging factor from the device (REG_PMU_CMD_AGGR_SET bits[5:4])

Parameters

[out]

avg

Averaging factor

Returns

True if successful

readDataRate()

bool m5::unit::UnitBMM350::readDataRate

(

bmm350::DataRate &

rate

)

Read the output data rate from the device (REG_PMU_CMD_AGGR_SET bits[3:0])

Parameters

[out]

rate

Data rate

Returns

True if successful, false if the register holds a reserved (unmapped) value

readImuRaw()

Capability m5::unit::UnitBMM350::readImuRaw ( m5::imu::imu_raw_data_t & out )

overridevirtual

Read the latest raw IMU data.

Parameters

[out]

out

Raw IMU data

Returns

Capability of the data actually stored in out (None if no data available)

Implements m5::imu::IMUDataSource.

sleep()

bool m5::unit::UnitBMM350::sleep ( )

overridevirtual

Put the chip into suspend mode (REG_PMU_CMD suspend)

Returns

True if successful

Works while periodic measurement is running: it is stopped first, since a suspended chip must not be polled. Suspend is the BMM350's lowest power state and preserves the register map, so the OTP compensation data and the configured ODR/averaging survive it.

Reimplemented from m5::imu::IMUDataSource.

softReset()

bool m5::unit::UnitBMM350::softReset

(

)

Soft reset (REG_CMD CMD_SOFTRESET), then re-run the mandatory post-reset initialization (OTP download and magnetic reset (BR/FGR)), leaving the chip initialized but unconfigured and stopped.

Returns

True if successful

Warning

During periodic measurements, an error is returned; call stopPeriodicMeasurement() first

All settings revert to the chip defaults; call startPeriodicMeasurement(...) to reconfigure and resume measurement

startPeriodicMeasurement() [1/2]

bool m5::unit::UnitBMM350::startPeriodicMeasurement

(

)

Start periodic measurement in the current settings.

Returns

True if successful

startPeriodicMeasurement() [2/2]

bool m5::unit::UnitBMM350::startPeriodicMeasurement	(	const bmm350::DataRate	rate,
		const bmm350::Averaging	avg )

Start periodic measurement.

Parameters

rate	Output data rate
avg	Averaging factor (clamped to what the rate accepts, see clamp_averaging())

Returns

True if successful

stopPeriodicMeasurement()

bool m5::unit::UnitBMM350::stopPeriodicMeasurement

(

)

Stop periodic measurement.

Returns

True if successful

update()

void m5::unit::UnitBMM350::update ( const bool force = false )

overridevirtual

Update the unit.

Parameters

[in]

force

Forces an update if true, even if not time for periodic measurement

wakeup()

bool m5::unit::UnitBMM350::wakeup ( )

overridevirtual

Return the chip to normal mode.

Returns

True if successful

Issues the normal-mode PMU command and verifies that the power mode actually switched – measurement stays stopped. Call startPeriodicMeasurement() to resume sampling. Harmless without a preceding sleep().

Reimplemented from m5::imu::IMUDataSource.

writeAveraging()

bool m5::unit::UnitBMM350::writeAveraging

(

const bmm350::Averaging

avg

)

Write the averaging factor (clamped to what the current rate accepts)

Parameters

[in]

avg

Averaging factor

Returns

True if successful

writeDataRate()

bool m5::unit::UnitBMM350::writeDataRate

(

const bmm350::DataRate

rate

)

Write the output data rate (averaging is re-clamped to the new rate)

Parameters

[in]

rate

Data rate

Returns

True if successful