Diff: ICM20948.hpp

Revision:

0:ce9707156696

diff -r 000000000000 -r ce9707156696 ICM20948.hpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ICM20948.hpp	Mon Oct 18 13:41:49 2021 +0000
@@ -0,0 +1,95 @@
+#ifndef ICM20948_HPP
+#define ICM20948_HPP
+
+
+// USER BANK 0
+#define ICM20948_WHO_AM_I         0x00 // Should return 0xEA
+#define ICM20948_PWR_MGMT_1       0x06  // Device defaults to the SLEEP mode
+#define ICM20948_PWR_MGMT_2       0x07
+#define ICM20948_ACCEL_XOUT_H     0x2D
+#define ICM20948_ACCEL_XOUT_L     0x2E
+#define ICM20948_ACCEL_YOUT_H     0x2F
+#define ICM20948_ACCEL_YOUT_L     0x30
+#define ICM20948_ACCEL_ZOUT_H     0x31
+#define ICM20948_ACCEL_ZOUT_L     0x32
+#define ICM20948_GYRO_XOUT_H      0x33
+#define ICM20948_GYRO_XOUT_L      0x34
+#define ICM20948_GYRO_YOUT_H      0x35
+#define ICM20948_GYRO_YOUT_L      0x36
+#define ICM20948_GYRO_ZOUT_H      0x37
+#define ICM20948_GYRO_ZOUT_L      0x38
+#define ICM20948_TEMP_OUT_H       0x39
+#define ICM20948_TEMP_OUT_L       0x3A
+
+// USER BANK 2
+#define ICM20948_GYRO_SMPLRT_DIV  0x00
+#define ICM20948_GYRO_CONFIG_1    0x01
+#define ICM20948_ACCEL_SMPLRT_DIV_2 0x11
+#define ICM20948_ACCEL_CONFIG     0x14
+
+// COMMON
+#define ICM20948_REG_BANK_SEL     0x7F
+
+// OTHER
+#define USER_BANK_0               0x00
+#define USER_BANK_1               0x10
+#define USER_BANK_2               0x20
+#define USER_BANK_3               0x30
+
+// ジャイロのレンジは2:1bitの値に相当
+// ジャイロのモジュール内ローパスフィルタは5:3,0bitに相当
+#define GYRO_RATE_250             0x00
+#define GYRO_RATE_500             0x02
+#define GYRO_RATE_1000            0x04
+#define GYRO_RATE_2000            0x06
+#define GYRO_LPF_OFF              0x00
+#define GYRO_LPF_230Hz            0x01
+#define GYRO_LPF_17Hz             0x29
+#define GYRO_SMPLRT_100Hz         0x0A
+
+// 加速度のレンジは2:1bitの値に相当
+// 加速度のモジュール内ローパスフィルタは5:3,0bitに相当
+#define ACC_RATE_2g               0x00
+#define ACC_RATE_4g               0x02
+#define ACC_RATE_8g               0x04
+#define ACC_RATE_16g              0x06
+#define ACC_LPF_OFF               0x00
+#define ACC_LPF_136HZ             0x11
+#define ACC_SMPLRT_100Hz          0x0A
+
+
+
+ 
+// Using the GY-521 breakout board, I set ADO to 0 by grounding through a 4k7 resistor
+// Seven-bit device address is 110100 for ADO = 0 and 110101 for ADO = 1
+#define ADO 0
+#if ADO
+#define ICM20948_slave_addr 0x69<<1  // Device address when ADO = 1
+#else
+#define ICM20948_slave_addr 0x68<<1  // Device address when ADO = 0
+#endif
+ 
+#define IMU_ONE_G 9.80665
+//#define ICM20948_slave_addr          0xD0
+extern float aRes, gRes; 
+extern Serial pc;
+ 
+class ICM20948 {
+    public:
+        ICM20948();
+        ~ICM20948();
+         
+        void ICM_WriteByte(uint8_t ICM20948_reg, uint8_t ICM20948_data);
+        uint8_t ICM_ReadByte(uint8_t ICM20948_reg);
+        void    whoAmI();
+        void    powerOn();
+        void    init();
+        void    gyroCalib();
+        void    getAccGyro(float acc[3], float gyro[3]);
+        int16_t getIMUTemp();
+    private:
+        float aRes, gRes;
+        float gyroBias[3];
+};
+
+#endif
\ No newline at end of file