Andrew SaLoutos
Modified Arduino library for ICM_20948 IMU for Nucleo boards
Diff: ICM_20948.h
- Revision:
- 0:894b603d32ee
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/ICM_20948.h Mon Jan 31 03:25:31 2022 +0000
@@ -0,0 +1,206 @@
+/*
+
+A C++ interface to the ICM-20948
+
+*/
+
+
+// Modified from Arduino library at https://github.com/sparkfun/SparkFun_ICM-20948_ArduinoLibrary
+
+#ifndef _ICM_20948_H_
+#define _ICM_20948_H_
+
+#include "util/ICM_20948_C.h" // The C backbone. ICM_20948_USE_DMP is defined in here.
+#include "util/AK09916_REGISTERS.h"
+
+#include "mbed.h"
+
+#define ICM_20948_ARD_UNUSED_PIN 0xFF
+
+// Base
+class ICM_20948
+{
+private:
+
+
+ const uint8_t MAX_MAGNETOMETER_STARTS = 10; // This replaces maxTries
+
+protected:
+ ICM_20948_Device_t _device;
+
+ float getTempC(int16_t val);
+ float getGyrDPS(int16_t axis_val);
+ float getAccMG(int16_t axis_val);
+ float getMagUT(int16_t axis_val);
+
+public:
+ ICM_20948(); // Constructor
+
+ Serial *_debugSerial; // change to serial port
+ bool _printDebug = false; //Flag to print the serial commands we are sending to the Serial port for debug
+
+ void enableDebugging(Serial &debugPort); // TODO: check this syntax
+
+ void disableDebugging(void); //Turn off debug statements
+
+ void debugPrintStatus(ICM_20948_Status_e stat);
+
+ ICM_20948_AGMT_t agmt; // Acceleometer, Gyroscope, Magenetometer, and Temperature data
+ ICM_20948_AGMT_t getAGMT(void); // Updates the agmt field in the object and also returns a copy directly
+
+ float magX(void); // micro teslas
+ float magY(void); // micro teslas
+ float magZ(void); // micro teslas
+
+ float accX(void); // milli g's
+ float accY(void); // milli g's
+ float accZ(void); // milli g's
+
+ float gyrX(void); // degrees per second
+ float gyrY(void); // degrees per second
+ float gyrZ(void); // degrees per second
+
+ float temp(void); // degrees celsius
+
+ ICM_20948_Status_e status; // Status from latest operation
+
+ // Device Level
+ ICM_20948_Status_e setBank(uint8_t bank); // Sets the bank
+ ICM_20948_Status_e swReset(void); // Performs a SW reset
+ ICM_20948_Status_e sleep(bool on = false); // Set sleep mode for the chip
+ ICM_20948_Status_e lowPower(bool on = true); // Set low power mode for the chip
+ ICM_20948_Status_e setClockSource(ICM_20948_PWR_MGMT_1_CLKSEL_e source); // Choose clock source
+ ICM_20948_Status_e checkID(void); // Return 'ICM_20948_Stat_Ok' if whoami matches ICM_20948_WHOAMI
+
+ bool dataReady(void); // Returns 'true' if data is ready
+ uint8_t getWhoAmI(void); // Return whoami in out prarmeter
+ bool isConnected(void); // Returns true if communications with the device are sucessful
+
+ // Internal Sensor Options
+ ICM_20948_Status_e setSampleMode(uint8_t sensor_id_bm, uint8_t lp_config_cycle_mode); // Use to set accel, gyro, and I2C master into cycled or continuous modes
+ ICM_20948_Status_e setFullScale(uint8_t sensor_id_bm, ICM_20948_fss_t fss);
+ ICM_20948_Status_e setDLPFcfg(uint8_t sensor_id_bm, ICM_20948_dlpcfg_t cfg);
+ ICM_20948_Status_e enableDLPF(uint8_t sensor_id_bm, bool enable);
+ ICM_20948_Status_e setSampleRate(uint8_t sensor_id_bm, ICM_20948_smplrt_t smplrt);
+
+ // Interrupts on INT and FSYNC Pins
+ ICM_20948_Status_e clearInterrupts(void);
+
+ ICM_20948_Status_e cfgIntActiveLow(bool active_low);
+ ICM_20948_Status_e cfgIntOpenDrain(bool open_drain);
+ ICM_20948_Status_e cfgIntLatch(bool latching); // If not latching then the interrupt is a 50 us pulse
+ ICM_20948_Status_e cfgIntAnyReadToClear(bool enabled); // If enabled, *ANY* read will clear the INT_STATUS register. So if you have multiple interrupt sources enabled be sure to read INT_STATUS first
+ ICM_20948_Status_e cfgFsyncActiveLow(bool active_low);
+ ICM_20948_Status_e cfgFsyncIntMode(bool interrupt_mode); // Can use FSYNC as an interrupt input that sets the I2C Master Status register's PASS_THROUGH bit
+
+ ICM_20948_Status_e intEnableI2C(bool enable);
+ ICM_20948_Status_e intEnableDMP(bool enable);
+ ICM_20948_Status_e intEnablePLL(bool enable);
+ ICM_20948_Status_e intEnableWOM(bool enable);
+ ICM_20948_Status_e intEnableWOF(bool enable);
+ ICM_20948_Status_e intEnableRawDataReady(bool enable);
+ ICM_20948_Status_e intEnableOverflowFIFO(uint8_t bm_enable);
+ ICM_20948_Status_e intEnableWatermarkFIFO(uint8_t bm_enable);
+
+ ICM_20948_Status_e WOMThreshold(uint8_t threshold);
+
+ // Interface Options
+ ICM_20948_Status_e i2cMasterPassthrough(bool passthrough = true);
+ ICM_20948_Status_e i2cMasterEnable(bool enable = true);
+ ICM_20948_Status_e i2cMasterReset();
+
+ //Used for configuring peripherals 0-3
+ ICM_20948_Status_e i2cControllerConfigurePeripheral(uint8_t peripheral, uint8_t addr, uint8_t reg, uint8_t len, bool Rw = true, bool enable = true, bool data_only = false, bool grp = false, bool swap = false, uint8_t dataOut = 0);
+ ICM_20948_Status_e i2cControllerPeriph4Transaction(uint8_t addr, uint8_t reg, uint8_t *data, uint8_t len, bool Rw, bool send_reg_addr = true);
+
+ //Used for configuring the Magnetometer
+ ICM_20948_Status_e i2cMasterSingleW(uint8_t addr, uint8_t reg, uint8_t data);
+ uint8_t i2cMasterSingleR(uint8_t addr, uint8_t reg);
+
+ // Default Setup
+ ICM_20948_Status_e startupDefault(bool minimal = false); // If minimal is true, several startup steps are skipped. If ICM_20948_USE_DMP is defined, .begin will call startupDefault with minimal set to true.
+
+ // direct read/write
+ ICM_20948_Status_e read(uint8_t reg, uint8_t *pdata, uint32_t len);
+ ICM_20948_Status_e write(uint8_t reg, uint8_t *pdata, uint32_t len);
+
+ //Mag specific
+ ICM_20948_Status_e startupMagnetometer(bool minimal = false); // If minimal is true, several startup steps are skipped. The mag then needs to be set up manually for the DMP.
+ ICM_20948_Status_e magWhoIAm(void);
+ uint8_t readMag(AK09916_Reg_Addr_e reg);
+ ICM_20948_Status_e writeMag(AK09916_Reg_Addr_e reg, uint8_t *pdata);
+ ICM_20948_Status_e resetMag();
+
+ //FIFO
+ ICM_20948_Status_e enableFIFO(bool enable = true);
+ ICM_20948_Status_e resetFIFO(void);
+ ICM_20948_Status_e setFIFOmode(bool snapshot = false); // Default to Stream (non-Snapshot) mode
+ ICM_20948_Status_e getFIFOcount(uint16_t *count);
+ ICM_20948_Status_e readFIFO(uint8_t *data, uint8_t len = 1);
+
+ //DMP
+
+ // Done:
+ // Configure DMP start address through PRGM_STRT_ADDRH/PRGM_STRT_ADDRL
+ // Load Firmware
+ // Configure Accel scaling to DMP
+ // Configure Compass mount matrix and scale to DMP
+ // Reset FIFO
+ // Reset DMP
+ // Enable DMP interrupt
+ // Configuring DMP to output data to FIFO: set DATA_OUT_CTL1, DATA_OUT_CTL2, DATA_INTR_CTL and MOTION_EVENT_CTL
+ // Configuring DMP to output data at multiple ODRs
+ // Configure DATA_RDY_STATUS
+ // Configuring Accel calibration
+ // Configuring Compass calibration
+ // Configuring Gyro gain
+ // Configuring Accel gain
+ // Configure I2C_SLV0 and I2C_SLV1 to: request mag data from the hidden reserved AK09916 registers; trigger Single Measurements
+ // Configure I2C Master ODR (default to 68.75Hz)
+
+ // To Do:
+ // Additional FIFO output control: FIFO_WATERMARK, BM_BATCH_MASK, BM_BATCH_CNTR, BM_BATCH_THLD
+ // Configuring DMP features: PED_STD_STEPCTR, PED_STD_TIMECTR
+ // Enabling Activity Recognition (BAC) feature
+ // Enabling Significant Motion Detect (SMD) feature
+ // Enabling Tilt Detector feature
+ // Enabling Pick Up Gesture feature
+ // Enabling Fsync detection feature
+ // Biases: add save and load methods
+
+ ICM_20948_Status_e enableDMP(bool enable = true);
+ ICM_20948_Status_e resetDMP(void);
+ ICM_20948_Status_e loadDMPFirmware(void);
+ ICM_20948_Status_e setDMPstartAddress(unsigned short address = DMP_START_ADDRESS);
+ ICM_20948_Status_e enableDMPSensor(enum inv_icm20948_sensor sensor, bool enable = true);
+ ICM_20948_Status_e enableDMPSensorInt(enum inv_icm20948_sensor sensor, bool enable = true);
+ ICM_20948_Status_e writeDMPmems(unsigned short reg, unsigned int length, const unsigned char *data);
+ ICM_20948_Status_e readDMPmems(unsigned short reg, unsigned int length, unsigned char *data);
+ ICM_20948_Status_e setDMPODRrate(enum DMP_ODR_Registers odr_reg, int interval);
+ ICM_20948_Status_e readDMPdataFromFIFO(icm_20948_DMP_data_t *data);
+ ICM_20948_Status_e setGyroSF(unsigned char div, int gyro_level);
+ ICM_20948_Status_e initializeDMP(void) __attribute__((weak)); // Combine all of the DMP start-up code in one place. Can be overwritten if required
+};
+
+// SPI
+#define ICM_20948_SPI_DEFAULT_FREQ 4000000
+#define ICM_20948_SPI_DEFAULT_ORDER MSBFIRST
+#define ICM_20948_SPI_DEFAULT_MODE SPI_MODE0
+
+class ICM_20948_SPI : public ICM_20948
+{
+private:
+protected:
+public:
+
+ SPI *_spi;
+ DigitalOut *_cs;
+ ICM_20948_Serif_t _serif;
+
+ ICM_20948_SPI(); // Constructor
+
+// ICM_20948_Status_e begin(uint8_t csPin, SPIClass &spiPort = SPI, uint32_t SPIFreq = ICM_20948_SPI_DEFAULT_FREQ);
+ ICM_20948_Status_e begin(DigitalOut &cspin, SPI &spiPort, uint32_t SPIFreq = ICM_20948_SPI_DEFAULT_FREQ); // TODO: check this!
+};
+
+#endif /* _ICM_20948_H_ */