Andrew SaLoutos / ICM_20948

Modified Arduino library for ICM_20948 IMU for Nucleo boards

Diff: util/ICM_20948_ENUMERATIONS.h

Revision:
0:894b603d32ee
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/util/ICM_20948_ENUMERATIONS.h	Mon Jan 31 03:25:31 2022 +0000
@@ -0,0 +1,263 @@
+/*
+
+This file contains a useful c translation of the datasheet register map values
+
+*/
+
+#ifndef _ICM_20948_ENUMERATIONS_H_
+#define _ICM_20948_ENUMERATIONS_H_
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif /* __cplusplus */
+
+  // // Generalized
+  // REG_BANK_SEL = 0x7F,
+
+  // // Gyroscope and Accelerometer
+  // // User Bank 0
+  // AGB0_REG_WHO_AM_I = 0x00,
+  // 	// Break
+  // AGB0_REG_USER_CTRL = 0x03,
+  // 	// Break
+  // AGB0_REG_LP_CONFIG = 0x05,
+
+  typedef enum
+  {
+    ICM_20948_Sample_Mode_Continuous = 0x00,
+    ICM_20948_Sample_Mode_Cycled,
+  } ICM_20948_LP_CONFIG_CYCLE_e;
+
+  // AGB0_REG_PWR_MGMT_1,
+
+  typedef enum
+  {
+    ICM_20948_Clock_Internal_20MHz = 0x00,
+    ICM_20948_Clock_Auto,
+    ICM_20948_Clock_TimingReset = 0x07
+  } ICM_20948_PWR_MGMT_1_CLKSEL_e;
+
+  // AGB0_REG_PWR_MGMT_2,
+  // 	// Break
+  // AGB0_REG_INT_PIN_CONFIG = 0x0F,
+  // AGB0_REG_INT_ENABLE,
+  // AGB0_REG_INT_ENABLE_1,
+  // AGB0_REG_INT_ENABLE_2,
+  // AGB0_REG_INT_ENABLE_3,
+  // 	// Break
+  // AGB0_REG_I2C_MST_STATUS = 0x17,
+  // 	// Break
+  // AGB0_REG_INT_STATUS = 0x19,
+  // AGB0_REG_INT_STATUS_1,
+  // AGB0_REG_INT_STATUS_2,
+  // AGB0_REG_INT_STATUS_3,
+  // 	// Break
+  // AGB0_REG_DELAY_TIMEH = 0x28,
+  // AGB0_REG_DELAY_TIMEL,
+  // 	// Break
+  // AGB0_REG_ACCEL_XOUT_H = 0x2D,
+  // AGB0_REG_ACCEL_XOUT_L,
+  // AGB0_REG_ACCEL_YOUT_H,
+  // AGB0_REG_ACCEL_YOUT_L,
+  // AGB0_REG_ACCEL_ZOUT_H,
+  // AGB0_REG_ACCEL_ZOUT_L,
+  // AGB0_REG_GYRO_XOUT_H,
+  // AGB0_REG_GYRO_XOUT_L,
+  // AGB0_REG_GYRO_YOUT_H,
+  // AGB0_REG_GYRO_YOUT_L,
+  // AGB0_REG_GYRO_ZOUT_H,
+  // AGB0_REG_GYRO_ZOUT_L,
+  // AGB0_REG_TEMP_OUT_H,
+  // AGB0_REG_TEMP_OUT_L,
+  // AGB0_REG_EXT_PERIPH_SENS_DATA_00,
+  // AGB0_REG_EXT_PERIPH_SENS_DATA_01,
+  // AGB0_REG_EXT_PERIPH_SENS_DATA_02,
+  // AGB0_REG_EXT_PERIPH_SENS_DATA_03,
+  // AGB0_REG_EXT_PERIPH_SENS_DATA_04,
+  // AGB0_REG_EXT_PERIPH_SENS_DATA_05,
+  // AGB0_REG_EXT_PERIPH_SENS_DATA_06,
+  // AGB0_REG_EXT_PERIPH_SENS_DATA_07,
+  // AGB0_REG_EXT_PERIPH_SENS_DATA_08,
+  // AGB0_REG_EXT_PERIPH_SENS_DATA_09,
+  // AGB0_REG_EXT_PERIPH_SENS_DATA_10,
+  // AGB0_REG_EXT_PERIPH_SENS_DATA_11,
+  // AGB0_REG_EXT_PERIPH_SENS_DATA_12,
+  // AGB0_REG_EXT_PERIPH_SENS_DATA_13,
+  // AGB0_REG_EXT_PERIPH_SENS_DATA_14,
+  // AGB0_REG_EXT_PERIPH_SENS_DATA_15,
+  // AGB0_REG_EXT_PERIPH_SENS_DATA_16,
+  // AGB0_REG_EXT_PERIPH_SENS_DATA_17,
+  // AGB0_REG_EXT_PERIPH_SENS_DATA_18,
+  // AGB0_REG_EXT_PERIPH_SENS_DATA_19,
+  // AGB0_REG_EXT_PERIPH_SENS_DATA_20,
+  // AGB0_REG_EXT_PERIPH_SENS_DATA_21,
+  // AGB0_REG_EXT_PERIPH_SENS_DATA_22,
+  // AGB0_REG_EXT_PERIPH_SENS_DATA_23,
+  // 	// Break
+  // AGB0_REG_FIFO_EN_1 = 0x66,
+  // AGB0_REG_FIFO_EN_2,
+  // AGB0_REG_FIFO_MODE,
+  // 	// Break
+  // AGB0_REG_FIFO_COUNT_H = 0x70,
+  // AGB0_REG_FIFO_COUNT_L,
+  // AGB0_REG_FIFO_R_W,
+  // 	// Break
+  // AGB0_REG_DATA_RDY_STATUS = 0x74,
+  // 	// Break
+  // AGB0_REG_FIFO_CFG = 0x76,
+  // 	// Break
+  // AGB0_REG_MEM_START_ADDR 	= 0x7C,		// Hmm, Invensense thought they were sneaky not listing these locations on the datasheet...
+  // AGB0_REG_MEM_R_W 			= 0x7D,		// These three locations seem to be able to access some memory within the device
+  // AGB0_REG_MEM_BANK_SEL 		= 0x7E,		// And that location is also where the DMP image gets loaded
+  // AGB0_REG_REG_BANK_SEL = 0x7F,
+
+  // // Bank 1
+  // AGB1_REG_SELF_TEST_X_GYRO = 0x02,
+  // AGB1_REG_SELF_TEST_Y_GYRO,
+  // AGB1_REG_SELF_TEST_Z_GYRO,
+  // 	// Break
+  // AGB1_REG_SELF_TEST_X_ACCEL = 0x0E,
+  // AGB1_REG_SELF_TEST_Y_ACCEL,
+  // AGB1_REG_SELF_TEST_Z_ACCEL,
+  // 	// Break
+  // AGB1_REG_XA_OFFS_H = 0x14,
+  // AGB1_REG_XA_OFFS_L,
+  // 	// Break
+  // AGB1_REG_YA_OFFS_H = 0x17,
+  // AGB1_REG_YA_OFFS_L,
+  // 	// Break
+  // AGB1_REG_ZA_OFFS_H = 0x1A,
+  // AGB1_REG_ZA_OFFS_L,
+  // 	// Break
+  // AGB1_REG_TIMEBASE_CORRECTION_PLL = 0x28,
+  // 	// Break
+  // AGB1_REG_REG_BANK_SEL = 0x7F,
+
+  // // Bank 2
+  // AGB2_REG_GYRO_SMPLRT_DIV = 0x00,
+
+  /*
+Gyro sample rate divider. Divides the internal sample rate to generate the sample
+rate that controls sensor data output rate, FIFO sample rate, and DMP sequence rate.
+NOTE: This register is only effective when FCHOICE = 1’b1 (FCHOICE_B register bit is 1’b0), and
+(0 < DLPF_CFG < 7).
+ODR is computed as follows:
+1.1 kHz/(1+GYRO_SMPLRT_DIV[7:0])
+*/
+
+  // AGB2_REG_GYRO_CONFIG_1,
+
+  typedef enum
+  { // Full scale range options in degrees per second
+    dps250 = 0x00,
+    dps500,
+    dps1000,
+    dps2000,
+  } ICM_20948_GYRO_CONFIG_1_FS_SEL_e;
+
+  typedef enum
+  { // Format is dAbwB_nXbwY - A is integer part of 3db BW, B is fraction. X is integer part of nyquist bandwidth, Y is fraction
+    gyr_d196bw6_n229bw8 = 0x00,
+    gyr_d151bw8_n187bw6,
+    gyr_d119bw5_n154bw3,
+    gyr_d51bw2_n73bw3,
+    gyr_d23bw9_n35bw9,
+    gyr_d11bw6_n17bw8,
+    gyr_d5bw7_n8bw9,
+    gyr_d361bw4_n376bw5,
+  } ICM_20948_GYRO_CONFIG_1_DLPCFG_e;
+
+  // AGB2_REG_GYRO_CONFIG_2,
+  // AGB2_REG_XG_OFFS_USRH,
+  // AGB2_REG_XG_OFFS_USRL,
+  // AGB2_REG_YG_OFFS_USRH,
+  // AGB2_REG_YG_OFFS_USRL,
+  // AGB2_REG_ZG_OFFS_USRH,
+  // AGB2_REG_ZG_OFFS_USRL,
+  // AGB2_REG_ODR_ALIGN_EN,
+  // 	// Break
+  // AGB2_REG_ACCEL_SMPLRT_DIV_1 = 0x10,
+  // AGB2_REG_ACCEL_SMPLRT_DIV_2,
+  // AGB2_REG_ACCEL_INTEL_CTRL,
+  // AGB2_REG_ACCEL_WOM_THR,
+  // AGB2_REG_ACCEL_CONFIG,
+
+  typedef enum
+  {
+    gpm2 = 0x00,
+    gpm4,
+    gpm8,
+    gpm16,
+  } ICM_20948_ACCEL_CONFIG_FS_SEL_e;
+
+  typedef enum
+  { // Format is dAbwB_nXbwZ - A is integer part of 3db BW, B is fraction. X is integer part of nyquist bandwidth, Y is fraction
+    acc_d246bw_n265bw = 0x00,
+    acc_d246bw_n265bw_1,
+    acc_d111bw4_n136bw,
+    acc_d50bw4_n68bw8,
+    acc_d23bw9_n34bw4,
+    acc_d11bw5_n17bw,
+    acc_d5bw7_n8bw3,
+    acc_d473bw_n499bw,
+  } ICM_20948_ACCEL_CONFIG_DLPCFG_e;
+
+  // AGB2_REG_ACCEL_CONFIG_2,
+  // 	// Break
+  // AGB2_REG_FSYNC_CONFIG = 0x52,
+  // AGB2_REG_TEMP_CONFIG,
+  // AGB2_REG_MOD_CTRL_USR,
+  // 	// Break
+  // AGB2_REG_REG_BANK_SEL = 0x7F,
+
+  // // Bank 3
+  // AGB3_REG_I2C_MST_ODR_CONFIG = 0x00,
+  // AGB3_REG_I2C_MST_CTRL,
+  // AGB3_REG_I2C_MST_DELAY_CTRL,
+  // AGB3_REG_I2C_PERIPH0_ADDR,
+  // AGB3_REG_I2C_PERIPH0_REG,
+  // AGB3_REG_I2C_PERIPH0_CTRL,
+  // AGB3_REG_I2C_PERIPH0_DO,
+  // AGB3_REG_I2C_PERIPH1_ADDR,
+  // AGB3_REG_I2C_PERIPH1_REG,
+  // AGB3_REG_I2C_PERIPH1_CTRL,
+  // AGB3_REG_I2C_PERIPH1_DO,
+  // AGB3_REG_I2C_PERIPH2_ADDR,
+  // AGB3_REG_I2C_PERIPH2_REG,
+  // AGB3_REG_I2C_PERIPH2_CTRL,
+  // AGB3_REG_I2C_PERIPH2_DO,
+  // AGB3_REG_I2C_PERIPH3_ADDR,
+  // AGB3_REG_I2C_PERIPH3_REG,
+  // AGB3_REG_I2C_PERIPH3_CTRL,
+  // AGB3_REG_I2C_PERIPH3_DO,
+  // AGB3_REG_I2C_PERIPH4_ADDR,
+  // AGB3_REG_I2C_PERIPH4_REG,
+  // AGB3_REG_I2C_PERIPH4_CTRL,
+  // AGB3_REG_I2C_PERIPH4_DO,
+  // AGB3_REG_I2C_PERIPH4_DI,
+  // 	// Break
+  // AGB3_REG_REG_BANK_SEL = 0x7F,
+
+  // // Magnetometer
+  // M_REG_WIA2 = 0x01,
+  // 	// Break
+  // M_REG_ST1 = 0x10,
+  // M_REG_HXL,
+  // M_REG_HXH,
+  // M_REG_HYL,
+  // M_REG_HYH,
+  // M_REG_HZL,
+  // M_REG_HZH,
+  // M_REG_ST2,
+  // 	// Break
+  // M_REG_CNTL2 = 0x31,
+  // M_REG_CNTL3,
+  // M_REG_TS1,
+  // M_REG_TS2,
+
+#ifdef __cplusplus
+}
+#endif /* __cplusplus */
+
+#endif /* _ICM_20948_ENUMERATIONS_H_ */