m5::unit::ak8963::Data Struct Reference

One AK8963 sample: an 8-byte burst from ST1 (0x02) plus the device ASA trim. More...

#include <unit_ak8963_data.hpp>

Public Member Functions
bool	drdy () const
	Data ready (ST1 bit0)
bool	dor () const
	Data overrun (ST1 bit1 DOR): a sample was read too late and one was skipped.
bool	overflow () const
	Magnetic overflow (ST2 bit3 HOFL); sample invalid if set.
bool	bit16 () const
	16bit output? (ST2 bit4 BITM)
int16_t	x_raw () const
	Raw X (little-endian, signed 16bit)
int16_t	y_raw () const
	Raw Y.
int16_t	z_raw () const
	Raw Z.
int32_t	adj_x () const
	ASA-adjusted X in library-wide 16 LSB/µT.
int32_t	adj_y () const
	ASA-adjusted Y.
int32_t	adj_z () const
	ASA-adjusted Z.

Public Attributes
std::array< uint8_t, 8 >	raw {}
	ST1 + X/Y/Z (LE) + ST2.
std::array< uint8_t, 3 >	asa {}
	Per-axis sensitivity adjustment (device constant)

Detailed Description

One AK8963 sample: an 8-byte burst from ST1 (0x02) plus the device ASA trim.

raw = {ST1, HXL, HXH, HYL, HYH, HZL, HZH, ST2}. Axes are little-endian. adj_*() apply the per-axis sensitivity adjustment and rescale to the library-wide 16 LSB/µT convention (so imu_convert_param_t::mag_res stays a uniform 1/16).

Member Function Documentation

bit16()

bool m5::unit::ak8963::Data::bit16 ( ) const

inline

16bit output? (ST2 bit4 BITM)

Note

BITM mirrors CNTL1's BIT, so every sample carries the width it was taken at and adj_*() cannot disagree with the chip