Senodia SH200Q 6-axis IMU (accel + gyro + temp). No standalone GROVE unit exists; it is the built-in IMU of the earliest (2019.3) M5StickC and of the 2019.7 M5Stack Fire (there paired with a discrete BMM150 magnetometer), on the internal I2C bus at 0x6C. More...

#include <unit_sh200q.hpp>

Inheritance diagram for m5::unit::UnitSH200Q:

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

Public Member Functions
	UnitSH200Q (const uint8_t addr=DEFAULT_ADDRESS)
	Construct with the I2C address the chip will answer on.

virtual	~UnitSH200Q ()
	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.

Range setting (stop periodic measurement first)
bool	writeAccelRange (const sh200q::AccelRange range)
	Write the accelerometer range.

bool	writeGyroRange (const sh200q::GyroRange range)
	Write the gyroscope range.

bool	readAccelRange (sh200q::AccelRange &range)
	Read the accelerometer range from the device (REG_ACC_RANGE bits[1:0])

bool	readGyroRange (sh200q::GyroRange &range)
	Read the gyroscope range from the device (REG_GYRO_RANGE bits[2:0])

Output data rate (stop periodic measurement first)
bool	writeAccelOdr (const sh200q::AccelOdr odr)
	Write the accelerometer output data rate.

bool	writeGyroOdr (const sh200q::GyroOdr odr)
	Write the gyroscope output data rate.

bool	readAccelOdr (sh200q::AccelOdr &odr)
	Read the accelerometer output data rate from the device (REG_ACC_CONFIG bits[4:3])

bool	readGyroOdr (sh200q::GyroOdr &odr)
	Read the gyroscope output data rate from the device (REG_GYRO_CONFIG bits[3:1])

Reset
bool	softReset ()
	Soft reset (the undocumented ADC/init reset dance inherited from the original library), leaving the chip initialized but unconfigured and stopped.

Periodic measurement
bool	startPeriodicMeasurement (const sh200q::AccelRange accel_range, const sh200q::GyroRange gyro_range, const sh200q::AccelOdr accel_odr, const sh200q::GyroOdr gyro_odr, const sh200q::GyroDlpf gyro_dlpf)
	Start periodic measurement.

bool	startPeriodicMeasurement ()
	Start periodic measurement in the current settings.

bool	stopPeriodicMeasurement ()
	Mark periodic measurement as stopped (bookkeeping only; the chip stays running – call sleep() to power-down for actual quiescence)

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.

Public Member Functions inherited from m5::imu::IMUDataSource
virtual bool	sleep ()
	Put the device into its lowest reversible power state.

virtual bool	wakeup ()
	Bring the device back from sleep()

Protected Member Functions
bool	start_periodic_measurement (const sh200q::AccelRange accel_range, const sh200q::GyroRange gyro_range, const sh200q::AccelOdr accel_odr, const sh200q::GyroOdr gyro_odr, const sh200q::GyroDlpf gyro_dlpf)

bool	start_periodic_measurement ()

bool	stop_periodic_measurement ()

bool	read_measurement (sh200q::Data &d)

bool	write_register8_verified (const uint8_t reg, const uint8_t val)

bool	toggle_register_bits (const uint8_t reg, const uint8_t bits)

	M5_UNIT_COMPONENT_PERIODIC_MEASUREMENT_ADAPTER_HPP_BUILDER (UnitSH200Q, sh200q::Data)

Detailed Description

Senodia SH200Q 6-axis IMU (accel + gyro + temp). No standalone GROVE unit exists; it is the built-in IMU of the earliest (2019.3) M5StickC and of the 2019.7 M5Stack Fire (there paired with a discrete BMM150 magnetometer), on the internal I2C bus at 0x6C.

Warning: Field reports (and the chip's EOL status) suggest the gyroscope output is of poor quality (large per-axis zero offsets) and that the accel and gyro axis systems may not even agree with each other or with the datasheet – verify the orientation on hardware and expect to need gyro zero-offset calibration. The accelerometer is the dependable half of this chip.

Constructor & Destructor Documentation

◆ UnitSH200Q()

m5::unit::UnitSH200Q::UnitSH200Q ( 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

◆ imuConvertParam()

void m5::unit::UnitSH200Q::imuConvertParam ( m5::imu::imu_convert_param_t & out ) const

overridevirtual

Gets the conversion parameters for raw IMU data.

Parameters

[out] out Destination for the scale factors this driver applies

Implements m5::imu::IMUDataSource.

◆ imuSpec()

virtual m5::imu::Capability m5::unit::UnitSH200Q::imuSpec ( ) const

inlineoverridevirtual

Capability of this unit.

Returns: Accel | Gyro | Temp

Implements m5::imu::IMUDataSource.

◆ readAccelOdr()

bool m5::unit::UnitSH200Q::readAccelOdr ( sh200q::AccelOdr & odr )

Read the accelerometer output data rate from the device (REG_ACC_CONFIG bits[4:3])

Parameters

[out] odr Accelerometer output data rate

Returns: True if successful

◆ readAccelRange()

bool m5::unit::UnitSH200Q::readAccelRange ( sh200q::AccelRange & range )

Read the accelerometer range from the device (REG_ACC_RANGE bits[1:0])

Parameters

[out] range Accelerometer range

Returns: True if successful

◆ readGyroOdr()

bool m5::unit::UnitSH200Q::readGyroOdr ( sh200q::GyroOdr & odr )

Read the gyroscope output data rate from the device (REG_GYRO_CONFIG bits[3:1])

Parameters

[out] odr Gyroscope output data rate

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

◆ readGyroRange()

bool m5::unit::UnitSH200Q::readGyroRange ( sh200q::GyroRange & range )

Read the gyroscope range from the device (REG_GYRO_RANGE bits[2:0])

Parameters

[out] range Gyroscope range

Returns: True if successful

◆ readImuRaw()

Capability m5::unit::UnitSH200Q::readImuRaw ( m5::imu::imu_raw_data_t & out )

overridevirtual

Read the latest raw IMU data.

Parameters

[out] out Destination buffer filled with the most recent sample

Returns: Capability of the sample (which axes were populated)

Implements m5::imu::IMUDataSource.

◆ softReset()

bool m5::unit::UnitSH200Q::softReset ( )

Soft reset (the undocumented ADC/init reset dance inherited from the original library), 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()

bool m5::unit::UnitSH200Q::startPeriodicMeasurement	(	const sh200q::AccelRange	accel_range,
		const sh200q::GyroRange	gyro_range,
		const sh200q::AccelOdr	accel_odr,
		const sh200q::GyroOdr	gyro_odr,
		const sh200q::GyroDlpf	gyro_dlpf )

Start periodic measurement.

Parameters

accel_range	Accelerometer range
gyro_range	Gyroscope range
accel_odr	Accelerometer output data rate
gyro_odr	Gyroscope output data rate (also paces the periodic measurement)
gyro_dlpf	Gyro low pass filter

Returns: True if successful

◆ stopPeriodicMeasurement()

bool m5::unit::UnitSH200Q::stopPeriodicMeasurement ( )

Mark periodic measurement as stopped (bookkeeping only; the chip stays running – call sleep() to power-down for actual quiescence)

Returns: True on success

◆ update()

void m5::unit::UnitSH200Q::update ( const bool force = false )

overridevirtual

Update the unit.

Parameters

[in] force Forces an update if true, even if not time for periodic measurement

◆ writeAccelOdr()

bool m5::unit::UnitSH200Q::writeAccelOdr ( const sh200q::AccelOdr odr )

Write the accelerometer output data rate.

Parameters

[in] odr Accelerometer output data rate

Returns: True if successful

Note: The rate occupies REG_ACC_CONFIG bits[4:3]; the filter bits around it are rewritten with the driver's fixed base value

Warning: During periodic measurement runs, an error is returned

◆ writeAccelRange()

bool m5::unit::UnitSH200Q::writeAccelRange ( const sh200q::AccelRange range )

Write the accelerometer range.

Parameters

[in] range Accelerometer range

Returns: True if successful

Warning: During periodic measurement runs, an error is returned

◆ writeGyroOdr()

bool m5::unit::UnitSH200Q::writeGyroOdr ( const sh200q::GyroOdr odr )

Write the gyroscope output data rate.

Parameters

[in] odr Gyroscope output data rate

Returns: True if successful

Note: The periodic measurement interval is derived from this rate, so it is updated too

Warning: During periodic measurement runs, an error is returned

◆ writeGyroRange()

bool m5::unit::UnitSH200Q::writeGyroRange ( const sh200q::GyroRange range )

Write the gyroscope range.

Parameters

[in] range Gyroscope range

Returns: True if successful

Warning: During periodic measurement runs, an error is returned

Classes

Public Member Functions

Protected Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ UnitSH200Q()

Member Function Documentation

◆ imuConvertParam()

◆ imuSpec()

◆ readAccelOdr()

◆ readAccelRange()

◆ readGyroOdr()

◆ readGyroRange()

◆ readImuRaw()

◆ softReset()

◆ startPeriodicMeasurement()

◆ stopPeriodicMeasurement()

◆ update()

◆ writeAccelOdr()

◆ writeAccelRange()

◆ writeGyroOdr()

◆ writeGyroRange()