m5::unit::bmi270::Data Struct Reference

One measurement. Accel/gyro are always 12 bytes, little-endian (register 0x0C when the AUX/BMM150 bridge is not in use, or bytes [8..19] of the 20 byte burst from register 0x04 when it is; see UnitBMI270::read_measurement()) More...

#include <unit_bmi270_data.hpp>

Public Member Functions
Raw ADC values (little-endian)
int16_t	accel_x () const
	Raw accelerometer X.
int16_t	accel_y () const
	Raw accelerometer Y.
int16_t	accel_z () const
	Raw accelerometer Z.
int16_t	gyro_x () const
	Raw gyroscope X.
int16_t	gyro_y () const
	Raw gyroscope Y.
int16_t	gyro_z () const
	Raw gyroscope Z.

Public Attributes
std::array< uint8_t, 12 >	raw {}
	[0..5] accel XYZ, [6..11] gyro XYZ
bmm150::Data	mag {}
	AUX (on-chip BMM150) magnetometer sample, valid only when aux_mag is true. Reuses bmm150::Data's bit-packing and trim compensation (comp_x()/comp_y()/comp_z()) so the AUX path and the standalone UnitBMM150 path share identical math.
bool	aux_mag {false}
	True if mag holds a sample from the AUX (BMM150) bridge.

Detailed Description

One measurement. Accel/gyro are always 12 bytes, little-endian (register 0x0C when the AUX/BMM150 bridge is not in use, or bytes [8..19] of the 20 byte burst from register 0x04 when it is; see UnitBMI270::read_measurement())