Modified Arduino library for ICM_20948 IMU for Nucleo boards
ICM_20948.h
- Committer:
- saloutos
- Date:
- 2022-01-31
- Revision:
- 0:894b603d32ee
File content as of revision 0:894b603d32ee:
/* 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_ */