m5::unit::UnitDoF10 Class Reference

Unit DoF10: BMI270 + BMM350 + SPA06, all directly on the GROVE main bus (no AUX bypass). The BMI270 address is SW1-selectable (0x68 default / 0x69); pass it to the constructor (e.g. from bmi270::detectAddress). BMM350 is fixed at 0x14, SPA06 is fixed at 0x76. Add imu() and mag() to an AhrsController; read baro() directly (not AHRS-fused). More...

#include <unit_dof10.hpp>

Inheritance diagram for m5::unit::UnitDoF10:

Public Member Functions
	UnitDoF10 (const uint8_t bmi_addr=0x68)
	Construct with the BMI270's I2C address (the composite children derive from this)
virtual	~UnitDoF10 ()
	Destructor.
UnitBMI270 &	imu ()
	Accel/gyro sub-unit (add to an AhrsController)
UnitBMM350 &	mag ()
	Magnetometer sub-unit (add to an AhrsController)
UnitSPA06 &	baro ()
	Barometer sub-unit (read directly; not AHRS-fused)
virtual bool	begin () override
	Begin: children are begun by the framework (all on the shared bus, any order)

Protected Member Functions
virtual std::shared_ptr< Adapter >	ensure_adapter (const uint8_t ch) override

Detailed Description

Unit DoF10: BMI270 + BMM350 + SPA06, all directly on the GROVE main bus (no AUX bypass). The BMI270 address is SW1-selectable (0x68 default / 0x69); pass it to the constructor (e.g. from bmi270::detectAddress). BMM350 is fixed at 0x14, SPA06 is fixed at 0x76. Add imu() and mag() to an AhrsController; read baro() directly (not AHRS-fused).

Constructor & Destructor Documentation

UnitDoF10()

m5::unit::UnitDoF10::UnitDoF10 ( const uint8_t bmi_addr = 0x68 )

explicit

Construct with the BMI270's I2C address (the composite children derive from this)

Parameters

[in]

bmi_addr

BMI270 I2C address (defaults to 0x68)