Reference
API Description
/**
* @fn begin
* @brief Initialize sensor
* @return bool
* @retval true Initialization successful
* @retval false Initialization failed
*/
bool begin(void);
/**
* @fn setSensorMode
* @brief Set sensor operating mode
* @param mode Sensor operating mode (see eSensorMode_t)
* @n Available modes:
* @n - eSleepMode: Sleep mode (lowest power consumption, sensor stops working)
* @n - eLowPowerMode: Low power mode (reduced sampling rate, saves power)
* @n - eNormalMode: Normal mode (balances power consumption and performance)
* @n - eHighPerformanceMode: High performance mode (highest sampling rate and accuracy, highest power consumption)
* @return bool
* @retval true Setting successful
* @retval false Setting failed
*/
bool setSensorMode(eSensorMode_t mode);
/**
* @fn reset
* @brief Restore factory settings
* @return bool
* @retval true Factory reset successful
* @retval false Factory reset failed
*/
bool reset(void);
/**
* @fn setAccelRange
* @brief Set accelerometer range
* @param range Accelerometer range (see eAccelRange_t)
* @n Available ranges:
* @n - eAccelRange2G: ±2g range
* @n - eAccelRange4G: ±4g range
* @n - eAccelRange8G: ±8g range
* @n - eAccelRange16G: ±16g range
* @return bool
* @retval true Setting successful
* @retval false Setting failed
*/
bool setAccelRange(eAccelRange_t range);
/**
* @fn setGyroRange
* @brief Set gyroscope range
* @param range Gyroscope range (see eGyroRange_t)
* @n Available ranges:
* @n - eGyroRange125DPS: ±125dps range
* @n - eGyroRange250DPS: ±250dps range
* @n - eGyroRange500DPS: ±500dps range
* @n - eGyroRange1000DPS: ±1000dps range
* @n - eGyroRange2000DPS: ±2000dps range
* @return bool
* @retval true Setting successful
* @retval false Setting failed
*/
bool setGyroRange(eGyroRange_t range);
/**
* @fn get6dofData
* @brief Read 6DOF IMU data (physical units)
* @param accel Pointer to sSensorData_t structure for storing accelerometer data (unit: g)
* @param gyro Pointer to sSensorData_t structure for storing gyroscope data (unit: dps)
* @return bool
* @retval true Read successful
* @retval false Read failed
*/
bool get6dofData(sSensorData_t *accel, sSensorData_t *gyro);
/**
* @fn get9dofData
* @brief Read 9DOF IMU data (physical units)
* @param accel Pointer to sSensorData_t structure for storing accelerometer data (unit: g)
* @param gyro Pointer to sSensorData_t structure for storing gyroscope data (unit: dps)
* @param mag Pointer to sSensorData_t structure for storing magnetometer data (unit: uT)
* @return bool
* @retval true Read successful
* @retval false Read failed
*/
bool get9dofData(sSensorData_t *accel, sSensorData_t *gyro, sSensorData_t *mag);
/**
* @fn get10dofData
* @brief Read 10DOF IMU data (physical units)
* @param accel Pointer to sSensorData_t structure for storing accelerometer data (unit: g)
* @param gyro Pointer to sSensorData_t structure for storing gyroscope data (unit: dps)
* @param mag Pointer to sSensorData_t structure for storing magnetometer data (unit: uT)
* @param pressure Pointer to float for storing pressure or altitude data
* @param calcAltitude Whether to calculate altitude, default is false
* @n true: pressure stores altitude (unit: m)
* @n false: pressure stores pressure data (unit: Pa)
* @return bool
* @retval true Read successful
* @retval false Read failed
*/
bool get10dofData(sSensorData_t *accel, sSensorData_t *gyro, sSensorData_t *mag, float *pressure, bool calcAltitude = false);
/**
* @fn calibrateAltitude
* @brief Calibrate altitude data based on local altitude
* @param altitude Local altitude (unit: m)
* @n For example: 540.0 means altitude of 540 meters
* @n After calling this function, the altitude in get10dofData (when calcAltitude is true) will be calibrated to eliminate absolute errors
* @return bool
* @retval true Calibration successful (altitude > 0)
* @retval false Calibration failed (altitude <= 0)
*/
bool calibrateAltitude(float altitude);
/**
* @fn setPressOOR
* @brief Configure pressure out-of-range (OOR) parameters
* @param threshold Pressure threshold (unit: Pa)
* @param range Allowed range (unit: Pa)
* @n Actual allowed range: threshold - range ~ threshold + range
* @param countLimit Count limit (see ePressOORCountLimit_t)
* @n Interrupt is triggered only after N consecutive out-of-range occurrences, used for filtering to avoid false triggers
* @n Available values:
* @n - ePressOORCountLimit1: Trigger after 1 consecutive occurrence
* @n - ePressOORCountLimit3: Trigger after 3 consecutive occurrences
* @n - ePressOORCountLimit7: Trigger after 7 consecutive occurrences
* @n - ePressOORCountLimit15: Trigger after 15 consecutive occurrences
* @return bool
* @retval true Configuration successful
* @retval false Configuration failed
*/
bool setPressOOR(uint32_t threshold, uint8_t range, ePressOORCountLimit_t countLimit);
/**
* @fn setInt
* @brief Configure interrupt (unified API)
* @param pin Interrupt pin (see eImuIntPin_t)
* @n Available pins:
* @n - eImuIntPin1: INT1 pin (6DOF sensor, supports multiple interrupt types)
* @n - eImuIntPin2: INT2 pin (6DOF sensor, supports multiple interrupt types)
* @n - eImuIntPin3: INT3 pin (9DOF sensor-magnetometer, only supports data ready interrupt)
* @n - eImuIntPin4: INT4 pin (10DOF sensor-barometer, supports data ready and pressure OOR interrupt)
* @param intType Interrupt type (uint8_t)
* @n INT1/INT2 supported interrupt types (eInt1_2Type_t):
* @n - eInt1_2Disable (0x00): Disable interrupt
* @n - eInt1_2DataReady (0x01): Data ready interrupt
* @n - eInt1_2AnyMotion (0x02): Any motion interrupt
* @n - eInt1_2NoMotion (0x03): No motion interrupt
* @n - eInt1_2SigMotion (0x04): Significant motion interrupt
* @n - eInt1_2StepCounter (0x05): Step counter interrupt
* @n - eInt1_2Flat (0x06): Flat interrupt
* @n - eInt1_2Orientation (0x07): Orientation interrupt
* @n - eInt1_2Tap (0x08): Tap interrupt
* @n - eInt1_2Tilt (0x09): Tilt interrupt
* @n INT3 supported interrupt types (eInt3Type_t):
* @n - eInt3Disable (0x00): Disable interrupt
* @n - eInt3DataReady (0x01): Data ready interrupt
* @n INT4 supported interrupt types (eInt4Type_t):
* @n - eInt4Disable (0x00): Disable interrupt
* @n - eInt4DataReady (0x01): Data ready interrupt
* @n - eInt4PressureOOR (0x02): Pressure out-of-range interrupt
* @return bool
* @retval true Configuration successful
* @retval false Configuration failed
*/
bool setInt(eImuIntPin_t pin, uint8_t intType);
/**
* @fn getIntStatus
* @brief Read interrupt status (unified API)
* @param pin Interrupt pin (see eImuIntPin_t)
* @return uint16_t Interrupt status
* @n Can be bitwise ANDed with corresponding interrupt status macros to determine interrupt type
* @retval 0 No interrupt or read failed
*/
uint16_t getIntStatus(eImuIntPin_t pin);
/**
* @fn getStepCount
* @brief Read step counter data
* @details Read current cumulative step count
* @n After detecting step interrupt, call this function to read cumulative step count
* @return uint32_t Cumulative step count (32-bit)
* @retval 0 No step data or read failed
*/
uint32_t getStepCount(void);
/**
* @fn getTap
* @brief Read tap data
* @details When tap interrupt is detected, call this function to read the specific tap type
* @return uint16_t Tap data
* @n Return values:
* @n - TAP_TYPE_SINGLE (0x0001): Single tap
* @n - TAP_TYPE_DOUBLE (0x0002): Double tap
* @n - TAP_TYPE_TRIPLE (0x0003): Triple tap
* @retval 0 No tap data or read failed
*/
uint16_t getTap(void);
/**
* @fn getOrientation
* @brief Read orientation data
* @details When orientation interrupt is detected, call this function to read the specific orientation and face direction
* @return uint16_t Orientation data
* @n High byte: Orientation type
* @n - ORIENT_TYPE_PORTRAIT_UP (0x01): Portrait upright
* @n - ORIENT_TYPE_LANDSCAPE_LEFT (0x02): Landscape left
* @n - ORIENT_TYPE_LANDSCAPE_RIGHT (0x03): Landscape right
* @n - ORIENT_TYPE_PORTRAIT_DOWN (0x04): Portrait upside down
* @n Low byte: Face direction
* @n - ORIENT_FACE_UP (0x00): Face forward
* @n - ORIENT_FACE_DOWN (0x01): Face backward
* @retval 0 No orientation data or read failed
*/
uint16_t getOrientation(void);
Was this article helpful?