Andrew SaLoutos
Modified Arduino library for ICM_20948 IMU for Nucleo boards
Diff: util/ICM_20948_C.h
- Revision:
- 0:894b603d32ee
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/util/ICM_20948_C.h Mon Jan 31 03:25:31 2022 +0000
@@ -0,0 +1,303 @@
+/*
+
+This is a C-compatible interface to the features presented by the ICM 20948 9-axis device
+The imementation of the interface is flexible
+
+*/
+
+#ifndef _ICM_20948_C_H_
+#define _ICM_20948_C_H_
+
+#include <stdint.h>
+#include <stdbool.h>
+#include <stddef.h>
+
+#include "ICM_20948_REGISTERS.h"
+#include "ICM_20948_ENUMERATIONS.h" // This is to give users access to usable value definiitons
+#include "AK09916_ENUMERATIONS.h"
+#include "ICM_20948_DMP.h"
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif /* __cplusplus */
+
+extern int memcmp(const void *, const void *, size_t); // Avoid compiler warnings
+
+// Define if the DMP will be supported
+// Note: you must have 14290/14301 Bytes of program memory available to store the DMP firmware!
+//#define ICM_20948_USE_DMP // Uncomment this line to enable DMP support. You can of course use ICM_20948_USE_DMP as a compiler flag too
+
+// There are two versions of the InvenSense DMP firmware for the ICM20948 - with slightly different sizes
+#define DMP_CODE_SIZE 14301 /* eMD-SmartMotion-ICM20948-1.1.0-MP */
+//#define DMP_CODE_SIZE 14290 /* ICM20948_eMD_nucleo_1.0 */
+
+
+#define ICM_20948_I2C_ADDR_AD0 0x68 // Or 0x69 when AD0 is high
+#define ICM_20948_I2C_ADDR_AD1 0x69 //
+#define ICM_20948_WHOAMI 0xEA
+
+#define MAG_AK09916_I2C_ADDR 0x0C
+#define MAG_AK09916_WHO_AM_I 0x4809
+#define MAG_REG_WHO_AM_I 0x00
+
+/** @brief Max size that can be read across I2C or SPI data lines */
+#define INV_MAX_SERIAL_READ 16
+/** @brief Max size that can be written across I2C or SPI data lines */
+#define INV_MAX_SERIAL_WRITE 16
+
+ typedef enum
+ {
+ ICM_20948_Stat_Ok = 0x00, // The only return code that means all is well
+ ICM_20948_Stat_Err, // A general error
+ ICM_20948_Stat_NotImpl, // Returned by virtual functions that are not implemented
+ ICM_20948_Stat_ParamErr,
+ ICM_20948_Stat_WrongID,
+ ICM_20948_Stat_InvalSensor, // Tried to apply a function to a sensor that does not support it (e.g. DLPF to the temperature sensor)
+ ICM_20948_Stat_NoData,
+ ICM_20948_Stat_SensorNotSupported,
+ ICM_20948_Stat_DMPNotSupported, // DMP not supported (no #define ICM_20948_USE_DMP)
+ ICM_20948_Stat_DMPVerifyFail, // DMP was written but did not verify correctly
+ ICM_20948_Stat_FIFONoDataAvail, // FIFO contains no data
+ ICM_20948_Stat_FIFOIncompleteData, // FIFO contained incomplete data
+ ICM_20948_Stat_FIFOMoreDataAvail, // FIFO contains more data
+ ICM_20948_Stat_UnrecognisedDMPHeader,
+ ICM_20948_Stat_UnrecognisedDMPHeader2,
+ ICM_20948_Stat_InvalDMPRegister, // Invalid DMP Register
+
+ ICM_20948_Stat_NUM,
+ ICM_20948_Stat_Unknown,
+ } ICM_20948_Status_e;
+
+ typedef enum
+ {
+ ICM_20948_Internal_Acc = (1 << 0),
+ ICM_20948_Internal_Gyr = (1 << 1),
+ ICM_20948_Internal_Mag = (1 << 2),
+ ICM_20948_Internal_Tmp = (1 << 3),
+ ICM_20948_Internal_Mst = (1 << 4), // I2C Master Ineternal
+ } ICM_20948_InternalSensorID_bm; // A bitmask of internal sensor IDs
+
+ typedef union
+ {
+ int16_t i16bit[3];
+ uint8_t u8bit[6];
+ } ICM_20948_axis3bit16_t;
+
+ typedef union
+ {
+ int16_t i16bit;
+ uint8_t u8bit[2];
+ } ICM_20948_axis1bit16_t;
+
+ typedef struct
+ {
+ uint8_t a : 2;
+ uint8_t g : 2;
+ uint8_t reserved_0 : 4;
+ } ICM_20948_fss_t; // Holds full-scale settings to be able to extract measurements with units
+
+ typedef struct
+ {
+ uint8_t a;
+ uint8_t g;
+ } ICM_20948_dlpcfg_t; // Holds digital low pass filter settings. Members are type ICM_20948_ACCEL_CONFIG_DLPCFG_e
+
+ typedef struct
+ {
+ uint16_t a;
+ uint8_t g;
+ } ICM_20948_smplrt_t;
+
+ typedef struct
+ {
+ uint8_t I2C_MST_INT_EN : 1;
+ uint8_t DMP_INT1_EN : 1;
+ uint8_t PLL_RDY_EN : 1;
+ uint8_t WOM_INT_EN : 1;
+ uint8_t REG_WOF_EN : 1;
+ uint8_t RAW_DATA_0_RDY_EN : 1;
+ uint8_t FIFO_OVERFLOW_EN_4 : 1;
+ uint8_t FIFO_OVERFLOW_EN_3 : 1;
+ uint8_t FIFO_OVERFLOW_EN_2 : 1;
+ uint8_t FIFO_OVERFLOW_EN_1 : 1;
+ uint8_t FIFO_OVERFLOW_EN_0 : 1;
+ uint8_t FIFO_WM_EN_4 : 1;
+ uint8_t FIFO_WM_EN_3 : 1;
+ uint8_t FIFO_WM_EN_2 : 1;
+ uint8_t FIFO_WM_EN_1 : 1;
+ uint8_t FIFO_WM_EN_0 : 1;
+ } ICM_20948_INT_enable_t;
+
+ typedef union
+ {
+ ICM_20948_axis3bit16_t raw;
+ struct
+ {
+ int16_t x;
+ int16_t y;
+ int16_t z;
+ } axes;
+ } ICM_20948_axis3named_t;
+
+ typedef struct
+ {
+ ICM_20948_axis3named_t acc;
+ ICM_20948_axis3named_t gyr;
+ ICM_20948_axis3named_t mag;
+ union
+ {
+ ICM_20948_axis1bit16_t raw;
+ int16_t val;
+ } tmp;
+ ICM_20948_fss_t fss; // Full-scale range settings for this measurement
+ uint8_t magStat1;
+ uint8_t magStat2;
+ } ICM_20948_AGMT_t;
+
+ typedef struct
+ {
+ ICM_20948_Status_e (*write)(uint8_t regaddr, uint8_t *pdata, uint32_t len, void *user);
+ ICM_20948_Status_e (*read)(uint8_t regaddr, uint8_t *pdata, uint32_t len, void *user);
+ // void (*delay)(uint32_t ms);
+ void *user;
+ } ICM_20948_Serif_t; // This is the vtable of serial interface functions
+ extern const ICM_20948_Serif_t NullSerif; // Here is a default for initialization (NULL)
+
+ typedef struct
+ {
+ const ICM_20948_Serif_t *_serif; // Pointer to the assigned Serif (Serial Interface) vtable
+ bool _dmp_firmware_available; // Indicates if the DMP firmware has been included. It
+ bool _firmware_loaded; // Indicates if DMP has been loaded
+ uint8_t _last_bank; // Keep track of which bank was selected last - to avoid unnecessary writes
+ uint8_t _last_mems_bank; // Keep track of which bank was selected last - to avoid unnecessary writes
+ int32_t _gyroSF; // Use this to record the GyroSF, calculated by inv_icm20948_set_gyro_sf
+ int8_t _gyroSFpll;
+ uint32_t _enabled_Android_0; // Keep track of which Android sensors are enabled: 0-31
+ uint32_t _enabled_Android_1; // Keep track of which Android sensors are enabled: 32-
+ uint32_t _enabled_Android_intr_0; // Keep track of which Android sensor interrupts are enabled: 0-31
+ uint32_t _enabled_Android_intr_1; // Keep track of which Android sensor interrupts are enabled: 32-
+ uint16_t _dataOutCtl1; // Diagnostics: record the setting of DATA_OUT_CTL1
+ uint16_t _dataOutCtl2; // Diagnostics: record the setting of DATA_OUT_CTL2
+ uint16_t _dataRdyStatus; // Diagnostics: record the setting of DATA_RDY_STATUS
+ uint16_t _motionEventCtl; // Diagnostics: record the setting of MOTION_EVENT_CTL
+ uint16_t _dataIntrCtl; // Diagnostics: record the setting of DATA_INTR_CTL
+ } ICM_20948_Device_t; // Definition of device struct type
+
+ ICM_20948_Status_e ICM_20948_init_struct(ICM_20948_Device_t *pdev); // Initialize ICM_20948_Device_t
+
+ // ICM_20948_Status_e ICM_20948_Startup( ICM_20948_Device_t* pdev ); // For the time being this performs a standardized startup routine
+
+ ICM_20948_Status_e ICM_20948_link_serif(ICM_20948_Device_t *pdev, const ICM_20948_Serif_t *s); // Links a SERIF structure to the device
+
+ // use the device's serif to perform a read or write
+ ICM_20948_Status_e ICM_20948_execute_r(ICM_20948_Device_t *pdev, uint8_t regaddr, uint8_t *pdata, uint32_t len); // Executes a R or W witht he serif vt as long as the pointers are not null
+ ICM_20948_Status_e ICM_20948_execute_w(ICM_20948_Device_t *pdev, uint8_t regaddr, uint8_t *pdata, uint32_t len);
+
+ // Single-shot I2C on Master IF
+ ICM_20948_Status_e ICM_20948_i2c_controller_periph4_txn(ICM_20948_Device_t *pdev, uint8_t addr, uint8_t reg, uint8_t *data, uint8_t len, bool Rw, bool send_reg_addr);
+ ICM_20948_Status_e ICM_20948_i2c_master_single_w(ICM_20948_Device_t *pdev, uint8_t addr, uint8_t reg, uint8_t *data);
+ ICM_20948_Status_e ICM_20948_i2c_master_single_r(ICM_20948_Device_t *pdev, uint8_t addr, uint8_t reg, uint8_t *data);
+
+ // Device Level
+ ICM_20948_Status_e ICM_20948_set_bank(ICM_20948_Device_t *pdev, uint8_t bank); // Sets the bank
+ ICM_20948_Status_e ICM_20948_sw_reset(ICM_20948_Device_t *pdev); // Performs a SW reset
+ ICM_20948_Status_e ICM_20948_sleep(ICM_20948_Device_t *pdev, bool on); // Set sleep mode for the chip
+ ICM_20948_Status_e ICM_20948_low_power(ICM_20948_Device_t *pdev, bool on); // Set low power mode for the chip
+ ICM_20948_Status_e ICM_20948_set_clock_source(ICM_20948_Device_t *pdev, ICM_20948_PWR_MGMT_1_CLKSEL_e source); // Choose clock source
+ ICM_20948_Status_e ICM_20948_get_who_am_i(ICM_20948_Device_t *pdev, uint8_t *whoami); // Return whoami in out prarmeter
+ ICM_20948_Status_e ICM_20948_check_id(ICM_20948_Device_t *pdev); // Return 'ICM_20948_Stat_Ok' if whoami matches ICM_20948_WHOAMI
+ ICM_20948_Status_e ICM_20948_data_ready(ICM_20948_Device_t *pdev); // Returns 'Ok' if data is ready
+
+ // Interrupt Configuration
+ ICM_20948_Status_e ICM_20948_int_pin_cfg(ICM_20948_Device_t *pdev, ICM_20948_INT_PIN_CFG_t *write, ICM_20948_INT_PIN_CFG_t *read); // Set the INT pin configuration
+ ICM_20948_Status_e ICM_20948_int_enable(ICM_20948_Device_t *pdev, ICM_20948_INT_enable_t *write, ICM_20948_INT_enable_t *read); // Write and or read the interrupt enable information. If non-null the write operation occurs before the read, so as to verify that the write was successful
+
+ // WoM Threshold Level Configuration
+ ICM_20948_Status_e ICM_20948_wom_threshold(ICM_20948_Device_t *pdev, ICM_20948_ACCEL_WOM_THR_t *write, ICM_20948_ACCEL_WOM_THR_t *read); // Write and or read the Wake on Motion threshold. If non-null the write operation occurs before the read, so as to verify that the write was successful
+
+ // Internal Sensor Options
+ ICM_20948_Status_e ICM_20948_set_sample_mode(ICM_20948_Device_t *pdev, ICM_20948_InternalSensorID_bm sensors, ICM_20948_LP_CONFIG_CYCLE_e mode); // Use to set accel, gyro, and I2C master into cycled or continuous modes
+ ICM_20948_Status_e ICM_20948_set_full_scale(ICM_20948_Device_t *pdev, ICM_20948_InternalSensorID_bm sensors, ICM_20948_fss_t fss);
+ ICM_20948_Status_e ICM_20948_set_dlpf_cfg(ICM_20948_Device_t *pdev, ICM_20948_InternalSensorID_bm sensors, ICM_20948_dlpcfg_t cfg);
+ ICM_20948_Status_e ICM_20948_enable_dlpf(ICM_20948_Device_t *pdev, ICM_20948_InternalSensorID_bm sensors, bool enable);
+ ICM_20948_Status_e ICM_20948_set_sample_rate(ICM_20948_Device_t *pdev, ICM_20948_InternalSensorID_bm sensors, ICM_20948_smplrt_t smplrt);
+
+ // Interface Things
+ ICM_20948_Status_e ICM_20948_i2c_master_passthrough(ICM_20948_Device_t *pdev, bool passthrough);
+ ICM_20948_Status_e ICM_20948_i2c_master_enable(ICM_20948_Device_t *pdev, bool enable);
+ ICM_20948_Status_e ICM_20948_i2c_master_reset(ICM_20948_Device_t *pdev);
+ ICM_20948_Status_e ICM_20948_i2c_controller_configure_peripheral(ICM_20948_Device_t *pdev, uint8_t peripheral, uint8_t addr, uint8_t reg, uint8_t len, bool Rw, bool enable, bool data_only, bool grp, bool swap, uint8_t dataOut);
+
+ // Higher Level
+ ICM_20948_Status_e ICM_20948_get_agmt(ICM_20948_Device_t *pdev, ICM_20948_AGMT_t *p);
+
+ // FIFO
+
+ ICM_20948_Status_e ICM_20948_enable_FIFO(ICM_20948_Device_t *pdev, bool enable);
+ ICM_20948_Status_e ICM_20948_reset_FIFO(ICM_20948_Device_t *pdev);
+ ICM_20948_Status_e ICM_20948_set_FIFO_mode(ICM_20948_Device_t *pdev, bool snapshot);
+ ICM_20948_Status_e ICM_20948_get_FIFO_count(ICM_20948_Device_t *pdev, uint16_t *count);
+ ICM_20948_Status_e ICM_20948_read_FIFO(ICM_20948_Device_t *pdev, uint8_t *data, uint8_t len);
+
+ // DMP
+
+ ICM_20948_Status_e ICM_20948_enable_DMP(ICM_20948_Device_t *pdev, bool enable);
+ ICM_20948_Status_e ICM_20948_reset_DMP(ICM_20948_Device_t *pdev);
+ ICM_20948_Status_e ICM_20948_firmware_load(ICM_20948_Device_t *pdev);
+ ICM_20948_Status_e ICM_20948_set_dmp_start_address(ICM_20948_Device_t *pdev, unsigned short address);
+
+ /** @brief Loads the DMP firmware from SRAM
+ * @param[in] data pointer where the image
+ * @param[in] size size if the image
+ * @param[in] load_addr address to loading the image
+ * @return 0 in case of success, -1 for any error
+ */
+ ICM_20948_Status_e inv_icm20948_firmware_load(ICM_20948_Device_t *pdev, const unsigned char *data, unsigned short size, unsigned short load_addr);
+ /**
+ * @brief Write data to a register in DMP memory
+ * @param[in] DMP memory address
+ * @param[in] number of byte to be written
+ * @param[out] output data from the register
+ * @return 0 if successful.
+ */
+ ICM_20948_Status_e inv_icm20948_write_mems(ICM_20948_Device_t *pdev, unsigned short reg, unsigned int length, const unsigned char *data);
+ /**
+ * @brief Read data from a register in DMP memory
+ * @param[in] DMP memory address
+ * @param[in] number of byte to be read
+ * @param[in] input data from the register
+ * @return 0 if successful.
+ */
+ ICM_20948_Status_e inv_icm20948_read_mems(ICM_20948_Device_t *pdev, unsigned short reg, unsigned int length, unsigned char *data);
+
+ ICM_20948_Status_e inv_icm20948_set_dmp_sensor_period(ICM_20948_Device_t *pdev, enum DMP_ODR_Registers odr_reg, uint16_t interval);
+ ICM_20948_Status_e inv_icm20948_enable_dmp_sensor(ICM_20948_Device_t *pdev, enum inv_icm20948_sensor sensor, int state); // State is actually boolean
+ ICM_20948_Status_e inv_icm20948_enable_dmp_sensor_int(ICM_20948_Device_t *pdev, enum inv_icm20948_sensor sensor, int state); // State is actually boolean
+ uint8_t sensor_type_2_android_sensor(enum inv_icm20948_sensor sensor);
+ enum inv_icm20948_sensor inv_icm20948_sensor_android_2_sensor_type(int sensor);
+
+ ICM_20948_Status_e inv_icm20948_read_dmp_data(ICM_20948_Device_t *pdev, icm_20948_DMP_data_t *data);
+ ICM_20948_Status_e inv_icm20948_set_gyro_sf(ICM_20948_Device_t *pdev, unsigned char div, int gyro_level);
+
+ // ToDo:
+
+ /*
+ Want to access magnetometer throught the I2C master interface...
+
+ // If using the I2C master to read from the magnetometer
+ // Enable the I2C master to talk to the magnetometer through the ICM 20948
+ myICM.i2cMasterEnable( true );
+ SERIAL_PORT.print(F("Enabling the I2C master returned ")); SERIAL_PORT.println(myICM.statusString());
+ myICM.i2cControllerConfigurePeripheral ( 0, MAG_AK09916_I2C_ADDR, REG_ST1, 9, true, true, false, false, false );
+ SERIAL_PORT.print(F("Configuring the magnetometer peripheral returned ")); SERIAL_PORT.println(myICM.statusString());
+
+ // Operate the I2C master in duty-cycled mode
+ myICM.setSampleMode( (ICM_20948_Internal_Mst | ICM_20948_Internal_Gyr), ICM_20948_Sample_Mode_Cycled ); // options: ICM_20948_Sample_Mode_Continuous or ICM_20948_Sample_Mode_Cycled
+*/
+
+#ifdef __cplusplus
+}
+#endif /* __cplusplus */
+
+#endif /* _ICM_20948_C_H_ */