Andrew SaLoutos
Modified Arduino library for ICM_20948 IMU for Nucleo boards
Diff: util/ICM_20948_DMP.h
- Revision:
- 0:894b603d32ee
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/util/ICM_20948_DMP.h Mon Jan 31 03:25:31 2022 +0000
@@ -0,0 +1,695 @@
+/*
+
+This file contains a useful c translation of the DMP register map
+
+*/
+
+#ifndef _ICM_20948_DMP_H_
+#define _ICM_20948_DMP_H_
+
+#include <stdint.h>
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif /* __cplusplus */
+
+#define DMP_START_ADDRESS ((unsigned short)0x1000)
+#define DMP_MEM_BANK_SIZE 256
+#define DMP_LOAD_START 0x90
+
+#define CFG_FIFO_SIZE (4222)
+
+// AGB0_REG_DMP_INT_STATUS bit definitions
+#define BIT_WAKE_ON_MOTION_INT 0x08
+#define BIT_MSG_DMP_INT 0x0002
+#define BIT_MSG_DMP_INT_0 0x0100 // CI Command
+
+#define BIT_MSG_DMP_INT_2 0x0200 // CIM Command - SMD
+#define BIT_MSG_DMP_INT_3 0x0400 // CIM Command - Pedometer
+
+#define BIT_MSG_DMP_INT_4 0x1000 // CIM Command - Pedometer binning
+#define BIT_MSG_DMP_INT_5 0x2000 // CIM Command - Bring To See Gesture
+#define BIT_MSG_DMP_INT_6 0x4000 // CIM Command - Look To See Gesture
+
+// Appendix I: DMP register addresses
+
+// data output control
+#define DATA_OUT_CTL1 (4 * 16) // 16-bit: Data output control 1 register : configure DMP to output required data
+#define DATA_OUT_CTL2 (4 * 16 + 2) // 16-bit: Data output control 2 register : configure the BM, accel/gyro/compass accuracy and gesture such as Pick-up
+#define DATA_INTR_CTL (4 * 16 + 12) // 16-bit: Determines which sensors can generate interrupt according to bit map defined for DATA_OUT_CTL1
+#define FIFO_WATERMARK (31 * 16 + 14) // 16-bit: DMP will send FIFO interrupt if FIFO count > FIFO watermark. FIFO watermark is set to 80% of actual FIFO size by default
+
+// motion event control
+#define MOTION_EVENT_CTL (4 * 16 + 14) // 16-bit: configure DMP for Android L and Invensense specific features
+
+// indicates to DMP which sensors are available
+/* 1: gyro samples available
+ 2: accel samples available
+ 8: secondary compass samples available */
+#define DATA_RDY_STATUS (8 * 16 + 10) // 16-bit: indicates to DMP which sensors are available
+
+// batch mode
+#define BM_BATCH_CNTR (27 * 16) // 32-bit: Batch counter
+#define BM_BATCH_THLD (19 * 16 + 12) // 32-bit: Batch mode threshold
+#define BM_BATCH_MASK (21 * 16 + 14) // 16-bit
+
+// sensor output data rate: all 16-bit
+#define ODR_ACCEL (11 * 16 + 14) // ODR_ACCEL Register for accel ODR
+#define ODR_GYRO (11 * 16 + 10) // ODR_GYRO Register for gyro ODR
+#define ODR_CPASS (11 * 16 + 6) // ODR_CPASS Register for compass ODR
+#define ODR_ALS (11 * 16 + 2) // ODR_ALS Register for ALS ODR
+#define ODR_QUAT6 (10 * 16 + 12) // ODR_QUAT6 Register for 6-axis quaternion ODR
+#define ODR_QUAT9 (10 * 16 + 8) // ODR_QUAT9 Register for 9-axis quaternion ODR
+#define ODR_PQUAT6 (10 * 16 + 4) // ODR_PQUAT6 Register for 6-axis pedometer quaternion ODR
+#define ODR_GEOMAG (10 * 16 + 0) // ODR_GEOMAG Register for Geomag rv ODR
+#define ODR_PRESSURE (11 * 16 + 12) // ODR_PRESSURE Register for pressure ODR
+#define ODR_GYRO_CALIBR (11 * 16 + 8) // ODR_GYRO_CALIBR Register for calibrated gyro ODR
+#define ODR_CPASS_CALIBR (11 * 16 + 4) // ODR_CPASS_CALIBR Register for calibrated compass ODR
+
+// sensor output data rate counter: all 16-bit
+#define ODR_CNTR_ACCEL (9 * 16 + 14) // ODR_CNTR_ACCEL Register for accel ODR counter
+#define ODR_CNTR_GYRO (9 * 16 + 10) // ODR_CNTR_GYRO Register for gyro ODR counter
+#define ODR_CNTR_CPASS (9 * 16 + 6) // ODR_CNTR_CPASS Register for compass ODR counter
+#define ODR_CNTR_ALS (9 * 16 + 2) // ODR_CNTR_ALS Register for ALS ODR counter
+#define ODR_CNTR_QUAT6 (8 * 16 + 12) // ODR_CNTR_QUAT6 Register for 6-axis quaternion ODR counter
+#define ODR_CNTR_QUAT9 (8 * 16 + 8) // ODR_CNTR_QUAT9 Register for 9-axis quaternion ODR counter
+#define ODR_CNTR_PQUAT6 (8 * 16 + 4) // ODR_CNTR_PQUAT6 Register for 6-axis pedometer quaternion ODR counter
+#define ODR_CNTR_GEOMAG (8 * 16 + 0) // ODR_CNTR_GEOMAG Register for Geomag rv ODR counter
+#define ODR_CNTR_PRESSURE (9 * 16 + 12) // ODR_CNTR_PRESSURE Register for pressure ODR counter
+#define ODR_CNTR_GYRO_CALIBR (9 * 16 + 8) // ODR_CNTR_GYRO_CALIBR Register for calibrated gyro ODR counter
+#define ODR_CNTR_CPASS_CALIBR (9 * 16 + 4) // ODR_CNTR_CPASS_CALIBR Register for calibrated compass ODR counter
+
+// mounting matrix: all 32-bit
+#define CPASS_MTX_00 (23 * 16) // Compass mount matrix and scale
+#define CPASS_MTX_01 (23 * 16 + 4) // Compass mount matrix and scale
+#define CPASS_MTX_02 (23 * 16 + 8) // Compass mount matrix and scale
+#define CPASS_MTX_10 (23 * 16 + 12) // Compass mount matrix and scale
+#define CPASS_MTX_11 (24 * 16) // Compass mount matrix and scale
+#define CPASS_MTX_12 (24 * 16 + 4) // Compass mount matrix and scale
+#define CPASS_MTX_20 (24 * 16 + 8) // Compass mount matrix and scale
+#define CPASS_MTX_21 (24 * 16 + 12) // Compass mount matrix and scale
+#define CPASS_MTX_22 (25 * 16) // Compass mount matrix and scale
+
+// bias calibration: all 32-bit
+// The biases are 32-bits in chip frame in hardware unit scaled by:
+// 2^12 (FSR 4g) for accel, 2^15 for gyro, in uT scaled by 2^16 for compass.
+#define GYRO_BIAS_X (139 * 16 + 4)
+#define GYRO_BIAS_Y (139 * 16 + 8)
+#define GYRO_BIAS_Z (139 * 16 + 12)
+#define ACCEL_BIAS_X (110 * 16 + 4)
+#define ACCEL_BIAS_Y (110 * 16 + 8)
+#define ACCEL_BIAS_Z (110 * 16 + 12)
+#define CPASS_BIAS_X (126 * 16 + 4)
+#define CPASS_BIAS_Y (126 * 16 + 8)
+#define CPASS_BIAS_Z (126 * 16 + 12)
+
+#define GYRO_ACCURACY (138 * 16 + 2)
+#define GYRO_BIAS_SET (138 * 16 + 6)
+#define GYRO_LAST_TEMPR (134 * 16)
+#define GYRO_SLOPE_X (78 * 16 + 4)
+#define GYRO_SLOPE_Y (78 * 16 + 8)
+#define GYRO_SLOPE_Z (78 * 16 + 12)
+
+// parameters for accel calibration
+#define ACCEL_ACCURACY (97 * 16)
+#define ACCEL_CAL_RESET (77 * 16)
+#define ACCEL_VARIANCE_THRESH (93 * 16)
+#define ACCEL_CAL_RATE (94 * 16 + 4) // 16-bit: 0 (225Hz, 112Hz, 56Hz)
+#define ACCEL_PRE_SENSOR_DATA (97 * 16 + 4)
+#define ACCEL_COVARIANCE (101 * 16 + 8)
+#define ACCEL_ALPHA_VAR (91 * 16) // 32-bit: 1026019965 (225Hz) 977872018 (112Hz) 882002213 (56Hz)
+#define ACCEL_A_VAR (92 * 16) // 32-bit: 47721859 (225Hz) 95869806 (112Hz) 191739611 (56Hz)
+#define ACCEL_CAL_INIT (94 * 16 + 2)
+#define ACCEL_CAL_SCALE_COVQ_IN_RANGE (194 * 16)
+#define ACCEL_CAL_SCALE_COVQ_OUT_RANGE (195 * 16)
+#define ACCEL_CAL_TEMPERATURE_SENSITIVITY (194 * 16 + 4)
+#define ACCEL_CAL_TEMPERATURE_OFFSET_TRIM (194 * 16 + 12)
+
+#define CPASS_ACCURACY (37 * 16)
+#define CPASS_BIAS_SET (34 * 16 + 14)
+#define MAR_MODE (37 * 16 + 2)
+#define CPASS_COVARIANCE (115 * 16)
+#define CPASS_COVARIANCE_CUR (118 * 16 + 8)
+#define CPASS_REF_MAG_3D (122 * 16)
+#define CPASS_CAL_INIT (114 * 16)
+#define CPASS_EST_FIRST_BIAS (113 * 16)
+#define MAG_DISTURB_STATE (113 * 16 + 2)
+#define CPASS_VAR_COUNT (112 * 16 + 6)
+#define CPASS_COUNT_7 (87 * 16 + 2)
+#define CPASS_MAX_INNO (124 * 16)
+#define CPASS_BIAS_OFFSET (113 * 16 + 4)
+#define CPASS_CUR_BIAS_OFFSET (114 * 16 + 4)
+#define CPASS_PRE_SENSOR_DATA (87 * 16 + 4)
+
+// Compass Cal params to be adjusted according to sampling rate
+#define CPASS_TIME_BUFFER (112 * 16 + 14)
+#define CPASS_RADIUS_3D_THRESH_ANOMALY (112 * 16 + 8)
+
+#define CPASS_STATUS_CHK (25 * 16 + 12)
+
+// gains
+#define ACCEL_FB_GAIN (34 * 16)
+#define ACCEL_ONLY_GAIN (16 * 16 + 12) // 32-bit: 15252014 (225Hz) 30504029 (112Hz) 61117001 (56Hz)
+#define GYRO_SF (19 * 16) // 32-bit: gyro scaling factor
+
+// 9-axis
+#define MAGN_THR_9X (80 * 16)
+#define MAGN_LPF_THR_9X (80 * 16 + 8)
+#define QFB_THR_9X (80 * 16 + 12)
+
+// DMP running counter
+#define DMPRATE_CNTR (18 * 16 + 4)
+
+// pedometer
+#define PEDSTD_BP_B (49 * 16 + 12)
+#define PEDSTD_BP_A4 (52 * 16)
+#define PEDSTD_BP_A3 (52 * 16 + 4)
+#define PEDSTD_BP_A2 (52 * 16 + 8)
+#define PEDSTD_BP_A1 (52 * 16 + 12)
+#define PEDSTD_SB (50 * 16 + 8)
+#define PEDSTD_SB_TIME (50 * 16 + 12)
+#define PEDSTD_PEAKTHRSH (57 * 16 + 8)
+#define PEDSTD_TIML (50 * 16 + 10)
+#define PEDSTD_TIMH (50 * 16 + 14)
+#define PEDSTD_PEAK (57 * 16 + 4)
+#define PEDSTD_STEPCTR (54 * 16)
+#define PEDSTD_STEPCTR2 (58 * 16 + 8)
+#define PEDSTD_TIMECTR (60 * 16 + 4)
+#define PEDSTD_DECI (58 * 16)
+#define PEDSTD_SB2 (60 * 16 + 14)
+#define STPDET_TIMESTAMP (18 * 16 + 8)
+#define PEDSTEP_IND (19 * 16 + 4)
+#define PED_Y_RATIO (17 * 16 + 0)
+
+// SMD
+#define SMD_VAR_TH (141 * 16 + 12)
+#define SMD_VAR_TH_DRIVE (143 * 16 + 12)
+#define SMD_DRIVE_TIMER_TH (143 * 16 + 8)
+#define SMD_TILT_ANGLE_TH (179 * 16 + 12)
+#define BAC_SMD_ST_TH (179 * 16 + 8)
+#define BAC_ST_ALPHA4 (180 * 16 + 12)
+#define BAC_ST_ALPHA4A (176 * 16 + 12)
+
+// Wake on Motion
+#define WOM_ENABLE (64 * 16 + 14)
+#define WOM_STATUS (64 * 16 + 6)
+#define WOM_THRESHOLD_DMP (64 * 16) // Renamed by PaulZC to avoid duplication with the Bank 2 Reg 0x13
+#define WOM_CNTR_TH (64 * 16 + 12)
+
+// Activity Recognition
+#define BAC_RATE (48 * 16 + 10)
+#define BAC_STATE (179 * 16 + 0)
+#define BAC_STATE_PREV (179 * 16 + 4)
+#define BAC_ACT_ON (182 * 16 + 0)
+#define BAC_ACT_OFF (183 * 16 + 0)
+#define BAC_STILL_S_F (177 * 16 + 0)
+#define BAC_RUN_S_F (177 * 16 + 4)
+#define BAC_DRIVE_S_F (178 * 16 + 0)
+#define BAC_WALK_S_F (178 * 16 + 4)
+#define BAC_SMD_S_F (178 * 16 + 8)
+#define BAC_BIKE_S_F (178 * 16 + 12)
+#define BAC_E1_SHORT (146 * 16 + 0)
+#define BAC_E2_SHORT (146 * 16 + 4)
+#define BAC_E3_SHORT (146 * 16 + 8)
+#define BAC_VAR_RUN (148 * 16 + 12)
+#define BAC_TILT_INIT (181 * 16 + 0)
+#define BAC_MAG_ON (225 * 16 + 0)
+#define BAC_PS_ON (74 * 16 + 0)
+#define BAC_BIKE_PREFERENCE (173 * 16 + 8)
+#define BAC_MAG_I2C_ADDR (229 * 16 + 8)
+#define BAC_PS_I2C_ADDR (75 * 16 + 4)
+#define BAC_DRIVE_CONFIDENCE (144 * 16 + 0)
+#define BAC_WALK_CONFIDENCE (144 * 16 + 4)
+#define BAC_SMD_CONFIDENCE (144 * 16 + 8)
+#define BAC_BIKE_CONFIDENCE (144 * 16 + 12)
+#define BAC_STILL_CONFIDENCE (145 * 16 + 0)
+#define BAC_RUN_CONFIDENCE (145 * 16 + 4)
+#define BAC_MODE_CNTR (150 * 16)
+#define BAC_STATE_T_PREV (185 * 16 + 4)
+#define BAC_ACT_T_ON (184 * 16 + 0)
+#define BAC_ACT_T_OFF (184 * 16 + 4)
+#define BAC_STATE_WRDBS_PREV (185 * 16 + 8)
+#define BAC_ACT_WRDBS_ON (184 * 16 + 8)
+#define BAC_ACT_WRDBS_OFF (184 * 16 + 12)
+#define BAC_ACT_ON_OFF (190 * 16 + 2)
+#define PREV_BAC_ACT_ON_OFF (188 * 16 + 2)
+#define BAC_CNTR (48 * 16 + 2)
+
+// Flip/Pick-up
+#define FP_VAR_ALPHA (245 * 16 + 8)
+#define FP_STILL_TH (246 * 16 + 4)
+#define FP_MID_STILL_TH (244 * 16 + 8)
+#define FP_NOT_STILL_TH (246 * 16 + 8)
+#define FP_VIB_REJ_TH (241 * 16 + 8)
+#define FP_MAX_PICKUP_T_TH (244 * 16 + 12)
+#define FP_PICKUP_TIMEOUT_TH (248 * 16 + 8)
+#define FP_STILL_CONST_TH (246 * 16 + 12)
+#define FP_MOTION_CONST_TH (240 * 16 + 8)
+#define FP_VIB_COUNT_TH (242 * 16 + 8)
+#define FP_STEADY_TILT_TH (247 * 16 + 8)
+#define FP_STEADY_TILT_UP_TH (242 * 16 + 12)
+#define FP_Z_FLAT_TH_MINUS (243 * 16 + 8)
+#define FP_Z_FLAT_TH_PLUS (243 * 16 + 12)
+#define FP_DEV_IN_POCKET_TH (76 * 16 + 12)
+#define FP_PICKUP_CNTR (247 * 16 + 4)
+#define FP_RATE (240 * 16 + 12)
+
+// Gyro FSR
+#define GYRO_FULLSCALE (72 * 16 + 12)
+
+// Accel FSR
+// The DMP scales accel raw data internally to align 1g as 2^25.
+// To do this and output hardware unit again as configured FSR, write 0x4000000 to ACC_SCALE DMP register, and write 0x40000 to ACC_SCALE2 DMP register.
+#define ACC_SCALE (30 * 16 + 0) // 32-bit: Write accel scaling value for internal use
+#define ACC_SCALE2 (79 * 16 + 4) // 32-bit: Write accel scaling down value
+
+// EIS authentication
+#define EIS_AUTH_INPUT (160 * 16 + 4)
+#define EIS_AUTH_OUTPUT (160 * 16 + 0)
+
+// B2S
+#define B2S_RATE (48 * 16 + 8)
+
+// B2S mounting matrix
+#define B2S_MTX_00 (208 * 16)
+#define B2S_MTX_01 (208 * 16 + 4)
+#define B2S_MTX_02 (208 * 16 + 8)
+#define B2S_MTX_10 (208 * 16 + 12)
+#define B2S_MTX_11 (209 * 16)
+#define B2S_MTX_12 (209 * 16 + 4)
+#define B2S_MTX_20 (209 * 16 + 8)
+#define B2S_MTX_21 (209 * 16 + 12)
+#define B2S_MTX_22 (210 * 16)
+
+// Dmp3 orientation parameters (Q30) initialization
+#define Q0_QUAT6 (33 * 16 + 0)
+#define Q1_QUAT6 (33 * 16 + 4)
+#define Q2_QUAT6 (33 * 16 + 8)
+#define Q3_QUAT6 (33 * 16 + 12)
+
+ enum DMP_ODR_Registers
+ {
+ DMP_ODR_Reg_Accel = ODR_ACCEL, // ODR_ACCEL Register for accel ODR
+ DMP_ODR_Reg_Gyro = ODR_GYRO, // ODR_GYRO Register for gyro ODR
+ DMP_ODR_Reg_Cpass = ODR_CPASS, // ODR_CPASS Register for compass ODR
+ DMP_ODR_Reg_ALS = ODR_ALS, // ODR_ALS Register for ALS ODR
+ DMP_ODR_Reg_Quat6 = ODR_QUAT6, // ODR_QUAT6 Register for 6-axis quaternion ODR
+ DMP_ODR_Reg_Quat9 = ODR_QUAT9, // ODR_QUAT9 Register for 9-axis quaternion ODR
+ DMP_ODR_Reg_PQuat6 = ODR_PQUAT6, // ODR_PQUAT6 Register for 6-axis pedometer quaternion ODR
+ DMP_ODR_Reg_Geomag = ODR_GEOMAG, // ODR_GEOMAG Register for Geomag RV ODR
+ DMP_ODR_Reg_Pressure = ODR_PRESSURE, // ODR_PRESSURE Register for pressure ODR
+ DMP_ODR_Reg_Gyro_Calibr = ODR_GYRO_CALIBR, // ODR_GYRO_CALIBR Register for calibrated gyro ODR
+ DMP_ODR_Reg_Cpass_Calibr = ODR_CPASS_CALIBR // ODR_CPASS_CALIBR Register for calibrated compass ODR
+ };
+
+ /** @brief Sensor identifier for control function
+ */
+ enum inv_icm20948_sensor
+ {
+ INV_ICM20948_SENSOR_ACCELEROMETER = 0,
+ INV_ICM20948_SENSOR_GYROSCOPE,
+ INV_ICM20948_SENSOR_RAW_ACCELEROMETER,
+ INV_ICM20948_SENSOR_RAW_GYROSCOPE,
+ INV_ICM20948_SENSOR_MAGNETIC_FIELD_UNCALIBRATED,
+ INV_ICM20948_SENSOR_GYROSCOPE_UNCALIBRATED,
+ INV_ICM20948_SENSOR_ACTIVITY_CLASSIFICATON,
+ INV_ICM20948_SENSOR_STEP_DETECTOR,
+ INV_ICM20948_SENSOR_STEP_COUNTER,
+ INV_ICM20948_SENSOR_GAME_ROTATION_VECTOR,
+ INV_ICM20948_SENSOR_ROTATION_VECTOR,
+ INV_ICM20948_SENSOR_GEOMAGNETIC_ROTATION_VECTOR,
+ INV_ICM20948_SENSOR_GEOMAGNETIC_FIELD,
+ INV_ICM20948_SENSOR_WAKEUP_SIGNIFICANT_MOTION,
+ INV_ICM20948_SENSOR_FLIP_PICKUP,
+ INV_ICM20948_SENSOR_WAKEUP_TILT_DETECTOR,
+ INV_ICM20948_SENSOR_GRAVITY,
+ INV_ICM20948_SENSOR_LINEAR_ACCELERATION,
+ INV_ICM20948_SENSOR_ORIENTATION,
+ INV_ICM20948_SENSOR_B2S,
+ INV_ICM20948_SENSOR_RAW_MAGNETOMETER,
+ INV_ICM20948_SENSOR_MAX,
+ };
+
+ /* enum for android sensor*/
+ enum ANDROID_SENSORS
+ {
+ ANDROID_SENSOR_META_DATA = 0, // 0
+ ANDROID_SENSOR_ACCELEROMETER, // 1
+ ANDROID_SENSOR_GEOMAGNETIC_FIELD, // 2
+ ANDROID_SENSOR_ORIENTATION, // 3
+ ANDROID_SENSOR_GYROSCOPE, // 4
+ ANDROID_SENSOR_LIGHT, // 5
+ ANDROID_SENSOR_PRESSURE, // 6
+ ANDROID_SENSOR_TEMPERATURE, // 7
+ ANDROID_SENSOR_WAKEUP_PROXIMITY, // 8
+ ANDROID_SENSOR_GRAVITY, // 9
+ ANDROID_SENSOR_LINEAR_ACCELERATION, // 10
+ ANDROID_SENSOR_ROTATION_VECTOR, // 11
+ ANDROID_SENSOR_HUMIDITY, // 12
+ ANDROID_SENSOR_AMBIENT_TEMPERATURE, // 13
+ ANDROID_SENSOR_MAGNETIC_FIELD_UNCALIBRATED, // 14
+ ANDROID_SENSOR_GAME_ROTATION_VECTOR, // 15
+ ANDROID_SENSOR_GYROSCOPE_UNCALIBRATED, // 16
+ ANDROID_SENSOR_WAKEUP_SIGNIFICANT_MOTION, // 17
+ ANDROID_SENSOR_STEP_DETECTOR, // 18
+ ANDROID_SENSOR_STEP_COUNTER, // 19
+ ANDROID_SENSOR_GEOMAGNETIC_ROTATION_VECTOR, // 20
+ ANDROID_SENSOR_HEART_RATE, // 21
+ ANDROID_SENSOR_PROXIMITY, // 22
+
+ ANDROID_SENSOR_WAKEUP_ACCELEROMETER, // 23
+ ANDROID_SENSOR_WAKEUP_MAGNETIC_FIELD, // 24
+ ANDROID_SENSOR_WAKEUP_ORIENTATION, // 25
+ ANDROID_SENSOR_WAKEUP_GYROSCOPE, // 26
+ ANDROID_SENSOR_WAKEUP_LIGHT, // 27
+ ANDROID_SENSOR_WAKEUP_PRESSURE, // 28
+ ANDROID_SENSOR_WAKEUP_GRAVITY, // 29
+ ANDROID_SENSOR_WAKEUP_LINEAR_ACCELERATION, // 30
+ ANDROID_SENSOR_WAKEUP_ROTATION_VECTOR, // 31
+ ANDROID_SENSOR_WAKEUP_RELATIVE_HUMIDITY, // 32
+ ANDROID_SENSOR_WAKEUP_AMBIENT_TEMPERATURE, // 33
+ ANDROID_SENSOR_WAKEUP_MAGNETIC_FIELD_UNCALIBRATED, // 34
+ ANDROID_SENSOR_WAKEUP_GAME_ROTATION_VECTOR, // 35
+ ANDROID_SENSOR_WAKEUP_GYROSCOPE_UNCALIBRATED, // 36
+ ANDROID_SENSOR_WAKEUP_STEP_DETECTOR, // 37
+ ANDROID_SENSOR_WAKEUP_STEP_COUNTER, // 38
+ ANDROID_SENSOR_WAKEUP_GEOMAGNETIC_ROTATION_VECTOR, // 39
+ ANDROID_SENSOR_WAKEUP_HEART_RATE, // 40
+ ANDROID_SENSOR_WAKEUP_TILT_DETECTOR, // 41
+ ANDROID_SENSOR_RAW_ACCELEROMETER, // 42
+ ANDROID_SENSOR_RAW_GYROSCOPE, // 43
+ ANDROID_SENSOR_NUM_MAX, // 44
+
+ ANDROID_SENSOR_B2S, // 45
+ ANDROID_SENSOR_FLIP_PICKUP, // 46
+ ANDROID_SENSOR_ACTIVITY_CLASSIFICATON, // 47
+ ANDROID_SENSOR_SCREEN_ROTATION, // 48
+ SELF_TEST, // 49
+ SETUP, // 50
+ GENERAL_SENSORS_MAX // 51
+ };
+
+// Determines which base sensor needs to be on based upon ANDROID_SENSORS 0-31
+#define INV_NEEDS_ACCEL_MASK ((1L << 1) | (1L << 3) | (1L << 9) | (1L << 10) | (1L << 11) | (1L << 15) | (1L << 17) | (1L << 18) | (1L << 19) | (1L << 20) | (1L << 23) | (1L << 25) | (1L << 29) | (1L << 30) | (1L << 31))
+#define INV_NEEDS_GYRO_MASK ((1L << 3) | (1L << 4) | (1L << 9) | (1L << 10) | (1L << 11) | (1L << 15) | (1L << 16) | (1L << 25) | (1L << 26) | (1L << 29) | (1L << 30) | (1L << 31))
+#define INV_NEEDS_COMPASS_MASK ((1L << 2) | (1L << 3) | (1L << 11) | (1L << 14) | (1L << 20) | (1L << 24) | (1L << 25) | (1L << 31))
+#define INV_NEEDS_PRESSURE ((1L << 6) | (1L << 28))
+
+// Determines which base sensor needs to be on based upon ANDROID_SENSORS 32-
+#define INV_NEEDS_ACCEL_MASK1 ((1L << 3) | (1L << 5) | (1L << 6) | (1L << 7) | (1L << 9) | (1L << 10)) // I.e. 35, 37, 38, 39, 41, 42
+#define INV_NEEDS_GYRO_MASK1 ((1L << 3) | (1L << 4) | (1L << 11)) // I.e. 35, 36, 43
+#define INV_NEEDS_COMPASS_MASK1 ((1L << 2) | (1L << 7)) // I.e. 34 and 39
+
+ enum DMP_Data_Ready_Status_Register_Bits
+ {
+ DMP_Data_ready_Gyro = 0x0001, // Gyro samples available
+ DMP_Data_ready_Accel = 0x0002, // Accel samples available
+ DMP_Data_ready_Secondary_Compass = 0x0008 // Secondary compass samples available
+ };
+
+ enum DMP_Data_Output_Control_1_Register_Bits
+ {
+ DMP_Data_Output_Control_1_Step_Ind_0 = 0x0001, // Pedometer Step Indicator Bit 0
+ DMP_Data_Output_Control_1_Step_Ind_1 = 0x0002, // Pedometer Step Indicator Bit 1
+ DMP_Data_Output_Control_1_Step_Ind_2 = 0x0004, // Pedometer Step Indicator Bit 2
+ DMP_Data_Output_Control_1_Header2 = 0x0008, // Header 2
+ DMP_Data_Output_Control_1_Step_Detector = 0x0010, // Pedometer Step Detector
+ DMP_Data_Output_Control_1_Compass_Calibr = 0x0020, // 32-bit calibrated compass
+ DMP_Data_Output_Control_1_Gyro_Calibr = 0x0040, // 32-bit calibrated gyro
+ DMP_Data_Output_Control_1_Pressure = 0x0080, // 16-bit Pressure
+ DMP_Data_Output_Control_1_Geomag = 0x0100, // 32-bit Geomag rv + heading accuracy
+ DMP_Data_Output_Control_1_PQuat6 = 0x0200, // 16-bit pedometer quaternion
+ DMP_Data_Output_Control_1_Quat9 = 0x0400, // 32-bit 9-axis quaternion + heading accuracy
+ DMP_Data_Output_Control_1_Quat6 = 0x0800, // 32-bit 6-axis quaternion
+ DMP_Data_Output_Control_1_ALS = 0x1000, // 16-bit ALS
+ DMP_Data_Output_Control_1_Compass = 0x2000, // 16-bit compass
+ DMP_Data_Output_Control_1_Gyro = 0x4000, // 16-bit gyro
+ DMP_Data_Output_Control_1_Accel = 0x8000 // 16-bit accel
+ };
+
+ enum DMP_Data_Output_Control_2_Register_Bits
+ {
+ DMP_Data_Output_Control_2_Secondary_On_Off = 0x0040,
+ DMP_Data_Output_Control_2_Activity_Recognition_BAC = 0x0080,
+ DMP_Data_Output_Control_2_Batch_Mode_Enable = 0x0100,
+ DMP_Data_Output_Control_2_Pickup = 0x0400,
+ DMP_Data_Output_Control_2_Fsync_Detection = 0x0800,
+ DMP_Data_Output_Control_2_Compass_Accuracy = 0x1000,
+ DMP_Data_Output_Control_2_Gyro_Accuracy = 0x2000,
+ DMP_Data_Output_Control_2_Accel_Accuracy = 0x4000
+ };
+
+ enum DMP_Motion_Event_Control_Register_Bits
+ {
+ DMP_Motion_Event_Control_Activity_Recog_Pedom_Accel = 0x0002, // Activity Recognition / Pedometer accel only
+ DMP_Motion_Event_Control_Bring_Look_To_See = 0x0004,
+ DMP_Motion_Event_Control_Geomag = 0x0008, // Geomag rv
+ DMP_Motion_Event_Control_Pickup = 0x0010,
+ DMP_Motion_Event_Control_BTS = 0x0020,
+ DMP_Motion_Event_Control_9axis = 0x0040,
+ DMP_Motion_Event_Control_Compass_Calibr = 0x0080,
+ DMP_Motion_Event_Control_Gyro_Calibr = 0x0100,
+ DMP_Motion_Event_Control_Accel_Calibr = 0x0200,
+ DMP_Motion_Event_Control_Significant_Motion_Det = 0x0800,
+ DMP_Motion_Event_Control_Tilt_Interrupt = 0x1000,
+ DMP_Motion_Event_Control_Pedometer_Interrupt = 0x2000,
+ DMP_Motion_Event_Control_Activity_Recog_Pedom = 0x4000,
+ DMP_Motion_Event_Control_BAC_Wearable = 0x8000
+ };
+
+ enum DMP_Header_Bitmap
+ {
+ DMP_header_bitmap_Header2 = 0x0008,
+ DMP_header_bitmap_Step_Detector = 0x0010,
+ DMP_header_bitmap_Compass_Calibr = 0x0020,
+ DMP_header_bitmap_Gyro_Calibr = 0x0040,
+ DMP_header_bitmap_Pressure = 0x0080,
+ DMP_header_bitmap_Geomag = 0x0100,
+ DMP_header_bitmap_PQuat6 = 0x0200,
+ DMP_header_bitmap_Quat9 = 0x0400,
+ DMP_header_bitmap_Quat6 = 0x0800,
+ DMP_header_bitmap_ALS = 0x1000,
+ DMP_header_bitmap_Compass = 0x2000,
+ DMP_header_bitmap_Gyro = 0x4000,
+ DMP_header_bitmap_Accel = 0x8000
+ };
+
+ enum DMP_Header2_Bitmap
+ {
+ DMP_header2_bitmap_Secondary_On_Off = 0x0040,
+ DMP_header2_bitmap_Activity_Recog = 0x0080,
+ DMP_header2_bitmap_Pickup = 0x0400,
+ DMP_header2_bitmap_Fsync = 0x0800,
+ DMP_header2_bitmap_Compass_Accuracy = 0x1000,
+ DMP_header2_bitmap_Gyro_Accuracy = 0x2000,
+ DMP_header2_bitmap_Accel_Accuracy = 0x4000
+ };
+
+ typedef struct // DMP Activity Recognition data
+ {
+ uint8_t Drive : 1;
+ uint8_t Walk : 1;
+ uint8_t Run : 1;
+ uint8_t Bike : 1;
+ uint8_t Tilt : 1;
+ uint8_t Still : 1;
+ uint8_t reserved : 2;
+ } icm_20948_DMP_Activity_t;
+
+ typedef struct // DMP Secondary On/Off data
+ {
+ uint16_t Gyro_Off : 1;
+ uint16_t Gyro_On : 1;
+ uint16_t Compass_Off : 1;
+ uint16_t Compass_On : 1;
+ uint16_t Proximity_Off : 1;
+ uint16_t Proximity_On : 1;
+ uint16_t reserved : 10;
+ } icm_20948_DMP_Secondary_On_Off_t;
+
+#define icm_20948_DMP_Header_Bytes 2
+#define icm_20948_DMP_Header2_Bytes 2
+#define icm_20948_DMP_Raw_Accel_Bytes 6
+#define icm_20948_DMP_Raw_Gyro_Bytes 6
+#define icm_20948_DMP_Gyro_Bias_Bytes 6
+#define icm_20948_DMP_Compass_Bytes 6
+#define icm_20948_DMP_ALS_Bytes 8
+#define icm_20948_DMP_Quat6_Bytes 12
+#define icm_20948_DMP_Quat9_Bytes 14
+// <-- lcm20948MPUFifoControl.c suggests icm_20948_DMP_Step_Detector_Bytes comes here <--
+#define icm_20948_DMP_PQuat6_Bytes 6
+#define icm_20948_DMP_Geomag_Bytes 14
+#define icm_20948_DMP_Pressure_Bytes 6
+#define icm_20948_DMP_Gyro_Calibr_Bytes 12 // lcm20948MPUFifoControl.c suggests icm_20948_DMP_Gyro_Calibr_Bytes is not supported?
+#define icm_20948_DMP_Compass_Calibr_Bytes 12
+#define icm_20948_DMP_Step_Detector_Bytes 4 // See note above
+#define icm_20948_DMP_Accel_Accuracy_Bytes 2
+#define icm_20948_DMP_Gyro_Accuracy_Bytes 2
+#define icm_20948_DMP_Compass_Accuracy_Bytes 2
+#define icm_20948_DMP_Fsync_Detection_Bytes 2 // lcm20948MPUFifoControl.c suggests icm_20948_DMP_Fsync_Detection_Bytes is not supported?
+#define icm_20948_DMP_Pickup_Bytes 2
+#define icm_20948_DMP_Activity_Recognition_Bytes 6
+#define icm_20948_DMP_Secondary_On_Off_Bytes 2
+#define icm_20948_DMP_Footer_Bytes 2
+#define icm_20948_DMP_Maximum_Bytes 14 // The most bytes we will attempt to read from the FIFO in one go
+
+ typedef struct
+ {
+ uint16_t header;
+ uint16_t header2;
+ union
+ {
+ uint8_t Bytes[icm_20948_DMP_Raw_Accel_Bytes];
+ struct
+ {
+ int16_t X;
+ int16_t Y;
+ int16_t Z;
+ } Data;
+ } Raw_Accel;
+ union
+ {
+ uint8_t Bytes[icm_20948_DMP_Raw_Gyro_Bytes + icm_20948_DMP_Gyro_Bias_Bytes];
+ struct
+ {
+ int16_t X;
+ int16_t Y;
+ int16_t Z;
+ int16_t BiasX;
+ int16_t BiasY;
+ int16_t BiasZ;
+ } Data;
+ } Raw_Gyro;
+ union
+ {
+ uint8_t Bytes[icm_20948_DMP_Compass_Bytes];
+ struct
+ {
+ int16_t X;
+ int16_t Y;
+ int16_t Z;
+ } Data;
+ } Compass;
+ uint8_t ALS[icm_20948_DMP_ALS_Bytes]; // Byte[0]: Dummy, Byte[2:1]: Ch0DATA, Byte[4:3]: Ch1DATA, Byte[6:5]: PDATA, Byte[7]: Dummy
+ // The 6-Axis and 9-axis Quaternion outputs each consist of 12 bytes of data.
+ // These 12 bytes in turn consists of three 4-byte elements.
+ // 9-axis quaternion data and Geomag rv is always followed by 2-bytes of heading accuracy, hence the size of Quat9 and Geomag data size in the FIFO is 14 bytes.
+ // Quaternion data for both cases is cumulative/integrated values.
+ // For a given quaternion Q, the ordering of its elements is {Q1, Q2, Q3}.
+ // Each element is represented using Big Endian byte order.
+ // Q0 value is computed from this equation: Q20 + Q21 + Q22 + Q23 = 1.
+ // In case of drift, the sum will not add to 1, therefore, quaternion data need to be corrected with right bias values.
+ // The quaternion data is scaled by 2^30.
+ union
+ {
+ uint8_t Bytes[icm_20948_DMP_Quat6_Bytes];
+ struct
+ {
+ int32_t Q1;
+ int32_t Q2;
+ int32_t Q3;
+ } Data;
+ } Quat6;
+ union
+ {
+ uint8_t Bytes[icm_20948_DMP_Quat9_Bytes];
+ struct
+ {
+ int32_t Q1;
+ int32_t Q2;
+ int32_t Q3;
+ int16_t Accuracy;
+ } Data;
+ } Quat9;
+ union
+ {
+ uint8_t Bytes[icm_20948_DMP_PQuat6_Bytes];
+ struct
+ {
+ int16_t Q1;
+ int16_t Q2;
+ int16_t Q3;
+ } Data;
+ } PQuat6;
+ union
+ {
+ uint8_t Bytes[icm_20948_DMP_Geomag_Bytes];
+ struct
+ {
+ int32_t Q1;
+ int32_t Q2;
+ int32_t Q3;
+ int16_t Accuracy;
+ } Data;
+ } Geomag;
+ uint8_t Pressure[6]; // Byte [2:0]: Pressure data, Byte [5:3]: Temperature data
+ union
+ {
+ uint8_t Bytes[icm_20948_DMP_Gyro_Calibr_Bytes];
+ struct
+ {
+ int32_t X;
+ int32_t Y;
+ int32_t Z;
+ } Data;
+ } Gyro_Calibr; // Hardware unit scaled by 2^15
+ union
+ {
+ uint8_t Bytes[icm_20948_DMP_Compass_Calibr_Bytes];
+ struct
+ {
+ int32_t X;
+ int32_t Y;
+ int32_t Z;
+ } Data;
+ } Compass_Calibr; // The unit is uT scaled by 2^16
+ uint32_t Pedometer_Timestamp; // Timestamp as DMP cycle
+ uint16_t Accel_Accuracy; // The accuracy is expressed as 0~3. The lowest is 0 and 3 is the highest.
+ uint16_t Gyro_Accuracy; // The accuracy is expressed as 0~3. The lowest is 0 and 3 is the highest.
+ uint16_t Compass_Accuracy; // The accuracy is expressed as 0~3. The lowest is 0 and 3 is the highest.
+ uint16_t Fsync_Delay_Time; // The data is delay time between Fsync event and the 1st ODR event after Fsync event.
+ uint16_t Pickup; // The value “2” indicates pick up is detected.
+ // Activity Recognition data
+ // The data include Start and End states, and timestamp as DMP cycle.
+ // Byte [0]: State-Start, Byte [1]: State-End, Byte [5:2]: timestamp.
+ // The states are expressed as below.
+ // Drive: 0x01
+ // Walk: 0x02
+ // Run: 0x04
+ // Bike: 0x08
+ // Tilt: 0x10
+ // Still: 0x20
+ union
+ {
+ uint8_t Bytes[icm_20948_DMP_Activity_Recognition_Bytes];
+ struct
+ {
+ icm_20948_DMP_Activity_t State_Start;
+ icm_20948_DMP_Activity_t State_End;
+ uint32_t Timestamp;
+ } Data;
+ } Activity_Recognition;
+ // Secondary On/Off data
+ // BAC algorithm requires sensors on/off through FIFO data to detect activities effectively and save power.
+ // The driver is expected to control sensors accordingly.
+ // The data indicates which sensor and on or off as below.
+ // Gyro Off: 0x01
+ // Gyro On: 0x02
+ // Compass Off: 0x04
+ // Compass On: 0x08
+ // Proximity Off: 0x10
+ // Proximity On: 0x20
+ union
+ {
+ uint8_t Bytes[icm_20948_DMP_Secondary_On_Off_Bytes];
+ icm_20948_DMP_Secondary_On_Off_t Sensors;
+ } Secondary_On_Off;
+ uint16_t Footer; // Gyro count?
+ } icm_20948_DMP_data_t;
+
+#ifdef __cplusplus
+}
+#endif /* __cplusplus */
+
+#endif /* _ICM_20948_REGISTERS_H_ */