Diff: ICM20648/ICM20648.h

Revision:

10:525bcf8907fc

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+++ b/ICM20648/ICM20648.h	Wed Jan 09 07:39:41 2019 +0000
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+/***************************************************************************//**
+ * @file ICM20648.h
+ *******************************************************************************
+ * @section License
+ * <b>(C) Copyright 2017 Silicon Labs, http://www.silabs.com</b>
+ *******************************************************************************
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License"); you may
+ * not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ ******************************************************************************/
+
+#ifndef ICM20648_H
+#define ICM20648_H
+
+#include "mbed.h"
+
+/** ICM20648 class.
+ *  Used for taking accelerometer and gyroscope measurements.
+ *
+ * Example:
+ * @code
+ * #include "mbed.h"
+ * #include "ICM20648.h"
+ *
+ * //Create an ICM20648 object
+ * ICM20648 sensor(PC4, PC5);
+ *
+ * int main()
+ * {
+ *     //Try to open the ICM20648
+ *     if (sensor.open()) {
+ *         printf("Device detected!\n");
+ *
+ *         while (1) {
+ *             float acc_x, acc_y, acc_z;
+ *             float gyr_x, gyr_y, gyr_z;
+ *             
+ *             sensor.measure();
+ *
+ *             sensor.get_accelerometer(&acc_x, &acc_y, &acc_z);
+ *             sensor.get_gyroscope(&gyr_x, &gyr_y, &gyr_z);
+ *
+ *             //Print the current accelerometer measurement
+ *             printf("acc: %.3f  %.3f  %.3f\n", acc_x, acc_y, acc_z);
+ *             //Print the current gyroscope measurement
+ *             printf("gyr: %.3f  %.3f  %.3f\n", gyr_x, gyr_y, gyr_z);
+ *
+ *             //Sleep for 0.5 seconds
+ *             wait(0.5);
+ *         }
+ *     } else {
+ *         error("Device not detected!\n");
+ *     }
+ * }
+ * @endcode
+ */
+class ICM20648
+{
+public:
+
+    /** Create an ICM20648 object connected to the specified SPI pins
+     *
+     * @param mosi The SPI MOSI pin.
+     * @param miso The SPI MISO pin.
+     * @param sclk The SPI clock pin.
+     * @param cs The SPI Chip Select pin.
+     * @param irq The ICM20648 irq pin.
+     */
+    ICM20648(PinName mosi, PinName miso, PinName sclk, PinName cs, PinName irq = NC);
+
+    /**
+    * ICM20648 destructor
+    */
+    ~ICM20648(void);
+
+    /** Probe for the ICM20648 and try to initialize the sensor
+     *
+     * @returns
+     *   'true' if the device exists on the bus,
+     *   'false' if the device doesn't exist on the bus.
+     */
+    bool open();
+
+    /** Perform a measurement
+     *
+     * @returns true if measurement was successful
+     */
+    bool measure();
+
+    /** Do a measurement on the gyroscope
+     *
+     * @param[out] gyr_x Gyroscope measurement on X axis
+     * @param[out] gyr_y Gyroscope measurement on Y axis
+     * @param[out] gyr_z Gyroscope measurement on Z axis
+     *
+     * @returns true if measurement was successful
+     */
+    bool get_gyroscope(float *gyr_x, float *gyr_y, float *gyr_z);
+
+    /** Do a measurement on the accelerometer
+     *
+     * @param[out] acc_x Accelerometer measurement on X axis
+     * @param[out] acc_y Accelerometer measurement on Y axis
+     * @param[out] acc_z Accelerometer measurement on Z axis
+     *
+     * @returns true if measurement was successful
+     */
+    bool get_accelerometer(float *acc_x, float *acc_y, float *acc_z);
+
+    /** Do a measurement of the temperature sensor
+     *
+     * @param[out] temperature Measured temperature
+     *
+     * @returns true if measurement was successful
+     */
+    bool get_temperature(float *temperature);
+
+private:
+    /* Private functions */
+    void     read_register(uint16_t addr, int numBytes, uint8_t *data);
+    void     write_register(uint16_t addr, uint8_t data);
+    void     select_bank(uint8_t bank);
+    uint32_t reset(void);
+    uint32_t set_sample_rate(float sampleRate);
+    float    set_gyro_sample_rate(float sampleRate);
+    float    set_accel_sample_rate(float sampleRate);
+    uint32_t set_gyro_bandwidth(uint8_t gyroBw);
+    uint32_t set_accel_bandwidth(uint8_t accelBw);
+    uint32_t read_accel_data(float *accel);
+    uint32_t read_gyro_data(float *gyro);
+    uint32_t get_accel_resolution(float *accelRes);
+    uint32_t get_gyro_resolution(float *gyroRes);
+    uint32_t set_accel_fullscale(uint8_t accelFs);
+    uint32_t set_gyro_fullscale(uint8_t gyroFs);
+    uint32_t enable_sleepmode(bool enable);
+    uint32_t enable_cyclemode(bool enable);
+    uint32_t enable_sensor(bool accel, bool gyro, bool temp);
+    uint32_t enter_lowpowermode(bool enAccel, bool enGyro, bool enTemp);
+    uint32_t enable_irq(bool dataReadyEnable, bool womEnable);
+    uint32_t read_irqstatus(uint32_t *int_status);
+    bool     is_data_ready(void);
+    uint32_t enable_wake_on_motion(bool enable, uint8_t womThreshold, float sampleRate);
+    uint32_t calibrate(float *accelBiasScaled, float *gyroBiasScaled);
+    uint32_t calibrate_gyro(float *gyroBiasScaled);
+    uint32_t read_temperature(float *temperature);
+    uint32_t get_device_id(uint8_t *device_id);
+
+    void irq_handler(void);
+
+    /* Member variables */
+    SPI m_SPI;
+    DigitalOut m_CS;
+    InterruptIn m_IRQ;
+};
+
+#endif
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