| ICM40609D eMD Driver 2.0.0 Documentation of the eMD Driver API

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Icm406xx selftest

Low-level function to run selftest on a Icm406xx device. More...

## Files
file | Icm406xxSelfTest.h
| Low-level function to run selftest on a Icm406xx device.

## Functions
int | inv_icm406xx_run_selftest (struct inv_icm406xx *s)
| Perform hardware self-test for Accel and Gyro. More...
void INV_EXPORT | inv_icm406xx_get_st_bias (struct inv_icm406xx *s, int *st_bias)
| Retrieve bias collected by self-test. More...
void | inv_icm406xx_set_st_bias (struct inv_icm406xx *s, int *st_bias)
| Apply bias. More...

## Detailed Description

Low-level function to run selftest on a Icm406xx device.

## Function Documentation

## ◆ inv_icm406xx_get_st_bias()

void INV_EXPORT inv_icm406xx_get_st_bias | ( | struct inv_icm406xx * | s,
|  | int * | st_bias
| ) |  |

Retrieve bias collected by self-test.

Parameters

  [out] | st_bias | bias scaled by 2^16, accel is gee and gyro is dps. The buffer will be stuffed in order as below. Gyro normal mode X,Y,Z Gyro LP mode X,Y,Z Accel normal mode X,Y,Z Accel LP mode X,Y,Z

## ◆ inv_icm406xx_run_selftest()

int inv_icm406xx_run_selftest | ( | struct inv_icm406xx * | s | ) |

Perform hardware self-test for Accel and Gyro.

Parameters

  [in] | None |

Returns
  ACCEL_SUCCESS<<1 | GYRO_SUCCESS so 3

## ◆ inv_icm406xx_set_st_bias()

void inv_icm406xx_set_st_bias | ( | struct inv_icm406xx * | s,
|  | int * | st_bias
| ) |  |

Apply bias.

Parameters

  [in] | st_bias | bias scaled by 2^16, accel is gee and gyro is dps. The buffer should be be stuffed in order as below. Gyro normal mode X,Y,Z Gyro LP mode X,Y,Z Accel normal mode X,Y,Z Accel LP mode X,Y,Z