Modified Arduino library for ICM_20948 IMU for Nucleo boards
util/ICM_20948_C.c@0:894b603d32ee, 2022-01-31 (annotated)
- Committer:
- saloutos
- Date:
- Mon Jan 31 03:25:31 2022 +0000
- Revision:
- 0:894b603d32ee
modified ICM_20948 Arduino library for Nucleo boards
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
saloutos | 0:894b603d32ee | 1 | #include "ICM_20948_C.h" |
saloutos | 0:894b603d32ee | 2 | #include "ICM_20948_REGISTERS.h" |
saloutos | 0:894b603d32ee | 3 | #include "AK09916_REGISTERS.h" |
saloutos | 0:894b603d32ee | 4 | |
saloutos | 0:894b603d32ee | 5 | /* |
saloutos | 0:894b603d32ee | 6 | * Icm20948 device require a DMP image to be loaded on init |
saloutos | 0:894b603d32ee | 7 | * Provide such images by mean of a byte array |
saloutos | 0:894b603d32ee | 8 | */ |
saloutos | 0:894b603d32ee | 9 | #if defined(ICM_20948_USE_DMP) // Only include the 14301 Bytes of DMP if ICM_20948_USE_DMP is defined |
saloutos | 0:894b603d32ee | 10 | |
saloutos | 0:894b603d32ee | 11 | #if defined(ARDUINO_ARCH_MBED) // ARDUINO_ARCH_MBED (APOLLO3 v2) does not support or require pgmspace.h / PROGMEM |
saloutos | 0:894b603d32ee | 12 | const uint8_t dmp3_image[] = { |
saloutos | 0:894b603d32ee | 13 | #elif (defined(__AVR__) || defined(__arm__) || defined(__ARDUINO_ARC__)) && !defined(__linux__) // Store the DMP firmware in PROGMEM on older AVR (ATmega) platforms |
saloutos | 0:894b603d32ee | 14 | #define ICM_20948_USE_PROGMEM_FOR_DMP |
saloutos | 0:894b603d32ee | 15 | #include <avr/pgmspace.h> |
saloutos | 0:894b603d32ee | 16 | const uint8_t dmp3_image[] PROGMEM = { |
saloutos | 0:894b603d32ee | 17 | #else |
saloutos | 0:894b603d32ee | 18 | const uint8_t dmp3_image[] = { |
saloutos | 0:894b603d32ee | 19 | #endif |
saloutos | 0:894b603d32ee | 20 | |
saloutos | 0:894b603d32ee | 21 | #include "icm20948_img.dmp3a.h" |
saloutos | 0:894b603d32ee | 22 | }; |
saloutos | 0:894b603d32ee | 23 | #endif |
saloutos | 0:894b603d32ee | 24 | |
saloutos | 0:894b603d32ee | 25 | // ICM-20948 data is big-endian. We need to make it little-endian when writing into icm_20948_DMP_data_t |
saloutos | 0:894b603d32ee | 26 | const int DMP_Quat9_Byte_Ordering[icm_20948_DMP_Quat9_Bytes] = |
saloutos | 0:894b603d32ee | 27 | { |
saloutos | 0:894b603d32ee | 28 | 3, 2, 1, 0, 7, 6, 5, 4, 11, 10, 9, 8, 13, 12 // Also used for Geomag |
saloutos | 0:894b603d32ee | 29 | }; |
saloutos | 0:894b603d32ee | 30 | const int DMP_Quat6_Byte_Ordering[icm_20948_DMP_Quat6_Bytes] = |
saloutos | 0:894b603d32ee | 31 | { |
saloutos | 0:894b603d32ee | 32 | 3, 2, 1, 0, 7, 6, 5, 4, 11, 10, 9, 8 // Also used for Gyro_Calibr, Compass_Calibr |
saloutos | 0:894b603d32ee | 33 | }; |
saloutos | 0:894b603d32ee | 34 | const int DMP_PQuat6_Byte_Ordering[icm_20948_DMP_PQuat6_Bytes] = |
saloutos | 0:894b603d32ee | 35 | { |
saloutos | 0:894b603d32ee | 36 | 1, 0, 3, 2, 5, 4 // Also used for Raw_Accel, Compass |
saloutos | 0:894b603d32ee | 37 | }; |
saloutos | 0:894b603d32ee | 38 | const int DMP_Raw_Gyro_Byte_Ordering[icm_20948_DMP_Raw_Gyro_Bytes + icm_20948_DMP_Gyro_Bias_Bytes] = |
saloutos | 0:894b603d32ee | 39 | { |
saloutos | 0:894b603d32ee | 40 | 1, 0, 3, 2, 5, 4, 7, 6, 9, 8, 11, 10}; |
saloutos | 0:894b603d32ee | 41 | const int DMP_Activity_Recognition_Byte_Ordering[icm_20948_DMP_Activity_Recognition_Bytes] = |
saloutos | 0:894b603d32ee | 42 | { |
saloutos | 0:894b603d32ee | 43 | 0, 1, 5, 4, 3, 2}; |
saloutos | 0:894b603d32ee | 44 | const int DMP_Secondary_On_Off_Byte_Ordering[icm_20948_DMP_Secondary_On_Off_Bytes] = |
saloutos | 0:894b603d32ee | 45 | { |
saloutos | 0:894b603d32ee | 46 | 1, 0}; |
saloutos | 0:894b603d32ee | 47 | |
saloutos | 0:894b603d32ee | 48 | const uint16_t inv_androidSensor_to_control_bits[ANDROID_SENSOR_NUM_MAX] = |
saloutos | 0:894b603d32ee | 49 | { |
saloutos | 0:894b603d32ee | 50 | // Data output control 1 register bit definition |
saloutos | 0:894b603d32ee | 51 | // 16-bit accel 0x8000 |
saloutos | 0:894b603d32ee | 52 | // 16-bit gyro 0x4000 |
saloutos | 0:894b603d32ee | 53 | // 16-bit compass 0x2000 |
saloutos | 0:894b603d32ee | 54 | // 16-bit ALS 0x1000 |
saloutos | 0:894b603d32ee | 55 | // 32-bit 6-axis quaternion 0x0800 |
saloutos | 0:894b603d32ee | 56 | // 32-bit 9-axis quaternion + heading accuracy 0x0400 |
saloutos | 0:894b603d32ee | 57 | // 16-bit pedometer quaternion 0x0200 |
saloutos | 0:894b603d32ee | 58 | // 32-bit Geomag rv + heading accuracy 0x0100 |
saloutos | 0:894b603d32ee | 59 | // 16-bit Pressure 0x0080 |
saloutos | 0:894b603d32ee | 60 | // 32-bit calibrated gyro 0x0040 |
saloutos | 0:894b603d32ee | 61 | // 32-bit calibrated compass 0x0020 |
saloutos | 0:894b603d32ee | 62 | // Pedometer Step Detector 0x0010 |
saloutos | 0:894b603d32ee | 63 | // Header 2 0x0008 |
saloutos | 0:894b603d32ee | 64 | // Pedometer Step Indicator Bit 2 0x0004 |
saloutos | 0:894b603d32ee | 65 | // Pedometer Step Indicator Bit 1 0x0002 |
saloutos | 0:894b603d32ee | 66 | // Pedometer Step Indicator Bit 0 0x0001 |
saloutos | 0:894b603d32ee | 67 | // Unsupported Sensors are 0xFFFF |
saloutos | 0:894b603d32ee | 68 | |
saloutos | 0:894b603d32ee | 69 | 0xFFFF, // 0 Meta Data |
saloutos | 0:894b603d32ee | 70 | 0x8008, // 1 Accelerometer |
saloutos | 0:894b603d32ee | 71 | 0x0028, // 2 Magnetic Field |
saloutos | 0:894b603d32ee | 72 | 0x0408, // 3 Orientation |
saloutos | 0:894b603d32ee | 73 | 0x4048, // 4 Gyroscope |
saloutos | 0:894b603d32ee | 74 | 0x1008, // 5 Light |
saloutos | 0:894b603d32ee | 75 | 0x0088, // 6 Pressure |
saloutos | 0:894b603d32ee | 76 | 0xFFFF, // 7 Temperature |
saloutos | 0:894b603d32ee | 77 | 0xFFFF, // 8 Proximity <----------- fixme |
saloutos | 0:894b603d32ee | 78 | 0x0808, // 9 Gravity |
saloutos | 0:894b603d32ee | 79 | 0x8808, // 10 Linear Acceleration |
saloutos | 0:894b603d32ee | 80 | 0x0408, // 11 Rotation Vector |
saloutos | 0:894b603d32ee | 81 | 0xFFFF, // 12 Humidity |
saloutos | 0:894b603d32ee | 82 | 0xFFFF, // 13 Ambient Temperature |
saloutos | 0:894b603d32ee | 83 | 0x2008, // 14 Magnetic Field Uncalibrated |
saloutos | 0:894b603d32ee | 84 | 0x0808, // 15 Game Rotation Vector |
saloutos | 0:894b603d32ee | 85 | 0x4008, // 16 Gyroscope Uncalibrated |
saloutos | 0:894b603d32ee | 86 | 0x0000, // 17 Significant Motion |
saloutos | 0:894b603d32ee | 87 | 0x0018, // 18 Step Detector |
saloutos | 0:894b603d32ee | 88 | 0x0010, // 19 Step Counter <----------- fixme |
saloutos | 0:894b603d32ee | 89 | 0x0108, // 20 Geomagnetic Rotation Vector |
saloutos | 0:894b603d32ee | 90 | 0xFFFF, // 21 ANDROID_SENSOR_HEART_RATE, |
saloutos | 0:894b603d32ee | 91 | 0xFFFF, // 22 ANDROID_SENSOR_PROXIMITY, |
saloutos | 0:894b603d32ee | 92 | |
saloutos | 0:894b603d32ee | 93 | 0x8008, // 23 ANDROID_SENSOR_WAKEUP_ACCELEROMETER, |
saloutos | 0:894b603d32ee | 94 | 0x0028, // 24 ANDROID_SENSOR_WAKEUP_MAGNETIC_FIELD, |
saloutos | 0:894b603d32ee | 95 | 0x0408, // 25 ANDROID_SENSOR_WAKEUP_ORIENTATION, |
saloutos | 0:894b603d32ee | 96 | 0x4048, // 26 ANDROID_SENSOR_WAKEUP_GYROSCOPE, |
saloutos | 0:894b603d32ee | 97 | 0x1008, // 27 ANDROID_SENSOR_WAKEUP_LIGHT, |
saloutos | 0:894b603d32ee | 98 | 0x0088, // 28 ANDROID_SENSOR_WAKEUP_PRESSURE, |
saloutos | 0:894b603d32ee | 99 | 0x0808, // 29 ANDROID_SENSOR_WAKEUP_GRAVITY, |
saloutos | 0:894b603d32ee | 100 | 0x8808, // 30 ANDROID_SENSOR_WAKEUP_LINEAR_ACCELERATION, |
saloutos | 0:894b603d32ee | 101 | 0x0408, // 31 ANDROID_SENSOR_WAKEUP_ROTATION_VECTOR, |
saloutos | 0:894b603d32ee | 102 | 0xFFFF, // 32 ANDROID_SENSOR_WAKEUP_RELATIVE_HUMIDITY, |
saloutos | 0:894b603d32ee | 103 | 0xFFFF, // 33 ANDROID_SENSOR_WAKEUP_AMBIENT_TEMPERATURE, |
saloutos | 0:894b603d32ee | 104 | 0x2008, // 34 ANDROID_SENSOR_WAKEUP_MAGNETIC_FIELD_UNCALIBRATED, |
saloutos | 0:894b603d32ee | 105 | 0x0808, // 35 ANDROID_SENSOR_WAKEUP_GAME_ROTATION_VECTOR, |
saloutos | 0:894b603d32ee | 106 | 0x4008, // 36 ANDROID_SENSOR_WAKEUP_GYROSCOPE_UNCALIBRATED, |
saloutos | 0:894b603d32ee | 107 | 0x0018, // 37 ANDROID_SENSOR_WAKEUP_STEP_DETECTOR, |
saloutos | 0:894b603d32ee | 108 | 0x0010, // 38 ANDROID_SENSOR_WAKEUP_STEP_COUNTER, |
saloutos | 0:894b603d32ee | 109 | 0x0108, // 39 ANDROID_SENSOR_WAKEUP_GEOMAGNETIC_ROTATION_VECTOR |
saloutos | 0:894b603d32ee | 110 | 0xFFFF, // 40 ANDROID_SENSOR_WAKEUP_HEART_RATE, |
saloutos | 0:894b603d32ee | 111 | 0x0000, // 41 ANDROID_SENSOR_WAKEUP_TILT_DETECTOR, |
saloutos | 0:894b603d32ee | 112 | 0x8008, // 42 Raw Acc |
saloutos | 0:894b603d32ee | 113 | 0x4048, // 43 Raw Gyr |
saloutos | 0:894b603d32ee | 114 | }; |
saloutos | 0:894b603d32ee | 115 | |
saloutos | 0:894b603d32ee | 116 | const ICM_20948_Serif_t NullSerif = { |
saloutos | 0:894b603d32ee | 117 | NULL, // write |
saloutos | 0:894b603d32ee | 118 | NULL, // read |
saloutos | 0:894b603d32ee | 119 | NULL, // user |
saloutos | 0:894b603d32ee | 120 | }; |
saloutos | 0:894b603d32ee | 121 | |
saloutos | 0:894b603d32ee | 122 | // Private function prototypes |
saloutos | 0:894b603d32ee | 123 | |
saloutos | 0:894b603d32ee | 124 | // Function definitions |
saloutos | 0:894b603d32ee | 125 | ICM_20948_Status_e ICM_20948_init_struct(ICM_20948_Device_t *pdev) |
saloutos | 0:894b603d32ee | 126 | { |
saloutos | 0:894b603d32ee | 127 | // Initialize all elements by 0 except for _last_bank |
saloutos | 0:894b603d32ee | 128 | // Initialize _last_bank to 4 (invalid bank number) |
saloutos | 0:894b603d32ee | 129 | // so ICM_20948_set_bank function does not skip issuing bank change operation |
saloutos | 0:894b603d32ee | 130 | static const ICM_20948_Device_t init_device = { ._last_bank = 4 }; |
saloutos | 0:894b603d32ee | 131 | *pdev = init_device; |
saloutos | 0:894b603d32ee | 132 | return ICM_20948_Stat_Ok; |
saloutos | 0:894b603d32ee | 133 | } |
saloutos | 0:894b603d32ee | 134 | |
saloutos | 0:894b603d32ee | 135 | ICM_20948_Status_e ICM_20948_link_serif(ICM_20948_Device_t *pdev, const ICM_20948_Serif_t *s) |
saloutos | 0:894b603d32ee | 136 | { |
saloutos | 0:894b603d32ee | 137 | if (s == NULL) |
saloutos | 0:894b603d32ee | 138 | { |
saloutos | 0:894b603d32ee | 139 | return ICM_20948_Stat_ParamErr; |
saloutos | 0:894b603d32ee | 140 | } |
saloutos | 0:894b603d32ee | 141 | if (pdev == NULL) |
saloutos | 0:894b603d32ee | 142 | { |
saloutos | 0:894b603d32ee | 143 | return ICM_20948_Stat_ParamErr; |
saloutos | 0:894b603d32ee | 144 | } |
saloutos | 0:894b603d32ee | 145 | pdev->_serif = s; |
saloutos | 0:894b603d32ee | 146 | return ICM_20948_Stat_Ok; |
saloutos | 0:894b603d32ee | 147 | } |
saloutos | 0:894b603d32ee | 148 | |
saloutos | 0:894b603d32ee | 149 | ICM_20948_Status_e ICM_20948_execute_w(ICM_20948_Device_t *pdev, uint8_t regaddr, uint8_t *pdata, uint32_t len) |
saloutos | 0:894b603d32ee | 150 | { |
saloutos | 0:894b603d32ee | 151 | if (pdev->_serif->write == NULL) |
saloutos | 0:894b603d32ee | 152 | { |
saloutos | 0:894b603d32ee | 153 | return ICM_20948_Stat_NotImpl; |
saloutos | 0:894b603d32ee | 154 | } |
saloutos | 0:894b603d32ee | 155 | return (*pdev->_serif->write)(regaddr, pdata, len, pdev->_serif->user); |
saloutos | 0:894b603d32ee | 156 | } |
saloutos | 0:894b603d32ee | 157 | |
saloutos | 0:894b603d32ee | 158 | ICM_20948_Status_e ICM_20948_execute_r(ICM_20948_Device_t *pdev, uint8_t regaddr, uint8_t *pdata, uint32_t len) |
saloutos | 0:894b603d32ee | 159 | { |
saloutos | 0:894b603d32ee | 160 | if (pdev->_serif->read == NULL) |
saloutos | 0:894b603d32ee | 161 | { |
saloutos | 0:894b603d32ee | 162 | return ICM_20948_Stat_NotImpl; |
saloutos | 0:894b603d32ee | 163 | } |
saloutos | 0:894b603d32ee | 164 | return (*pdev->_serif->read)(regaddr, pdata, len, pdev->_serif->user); |
saloutos | 0:894b603d32ee | 165 | } |
saloutos | 0:894b603d32ee | 166 | |
saloutos | 0:894b603d32ee | 167 | //Transact directly with an I2C device, one byte at a time |
saloutos | 0:894b603d32ee | 168 | //Used to configure a device before it is setup into a normal 0-3 peripheral slot |
saloutos | 0:894b603d32ee | 169 | 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) |
saloutos | 0:894b603d32ee | 170 | { |
saloutos | 0:894b603d32ee | 171 | // Thanks MikeFair! // https://github.com/kriswiner/MPU9250/issues/86 |
saloutos | 0:894b603d32ee | 172 | ICM_20948_Status_e retval = ICM_20948_Stat_Ok; |
saloutos | 0:894b603d32ee | 173 | |
saloutos | 0:894b603d32ee | 174 | addr = (((Rw) ? 0x80 : 0x00) | addr); |
saloutos | 0:894b603d32ee | 175 | |
saloutos | 0:894b603d32ee | 176 | retval = ICM_20948_set_bank(pdev, 3); |
saloutos | 0:894b603d32ee | 177 | retval = ICM_20948_execute_w(pdev, AGB3_REG_I2C_PERIPH4_ADDR, (uint8_t *)&addr, 1); |
saloutos | 0:894b603d32ee | 178 | if (retval != ICM_20948_Stat_Ok) |
saloutos | 0:894b603d32ee | 179 | { |
saloutos | 0:894b603d32ee | 180 | return retval; |
saloutos | 0:894b603d32ee | 181 | } |
saloutos | 0:894b603d32ee | 182 | |
saloutos | 0:894b603d32ee | 183 | retval = ICM_20948_set_bank(pdev, 3); |
saloutos | 0:894b603d32ee | 184 | retval = ICM_20948_execute_w(pdev, AGB3_REG_I2C_PERIPH4_REG, (uint8_t *)®, 1); |
saloutos | 0:894b603d32ee | 185 | if (retval != ICM_20948_Stat_Ok) |
saloutos | 0:894b603d32ee | 186 | { |
saloutos | 0:894b603d32ee | 187 | return retval; |
saloutos | 0:894b603d32ee | 188 | } |
saloutos | 0:894b603d32ee | 189 | |
saloutos | 0:894b603d32ee | 190 | ICM_20948_I2C_PERIPH4_CTRL_t ctrl; |
saloutos | 0:894b603d32ee | 191 | ctrl.EN = 1; |
saloutos | 0:894b603d32ee | 192 | ctrl.INT_EN = false; |
saloutos | 0:894b603d32ee | 193 | ctrl.DLY = 0; |
saloutos | 0:894b603d32ee | 194 | ctrl.REG_DIS = !send_reg_addr; |
saloutos | 0:894b603d32ee | 195 | |
saloutos | 0:894b603d32ee | 196 | ICM_20948_I2C_MST_STATUS_t i2c_mst_status; |
saloutos | 0:894b603d32ee | 197 | bool txn_failed = false; |
saloutos | 0:894b603d32ee | 198 | uint16_t nByte = 0; |
saloutos | 0:894b603d32ee | 199 | |
saloutos | 0:894b603d32ee | 200 | while (nByte < len) |
saloutos | 0:894b603d32ee | 201 | { |
saloutos | 0:894b603d32ee | 202 | if (!Rw) |
saloutos | 0:894b603d32ee | 203 | { |
saloutos | 0:894b603d32ee | 204 | retval = ICM_20948_set_bank(pdev, 3); |
saloutos | 0:894b603d32ee | 205 | retval = ICM_20948_execute_w(pdev, AGB3_REG_I2C_PERIPH4_DO, (uint8_t *)&(data[nByte]), 1); |
saloutos | 0:894b603d32ee | 206 | if (retval != ICM_20948_Stat_Ok) |
saloutos | 0:894b603d32ee | 207 | { |
saloutos | 0:894b603d32ee | 208 | return retval; |
saloutos | 0:894b603d32ee | 209 | } |
saloutos | 0:894b603d32ee | 210 | } |
saloutos | 0:894b603d32ee | 211 | |
saloutos | 0:894b603d32ee | 212 | // Kick off txn |
saloutos | 0:894b603d32ee | 213 | retval = ICM_20948_set_bank(pdev, 3); |
saloutos | 0:894b603d32ee | 214 | retval = ICM_20948_execute_w(pdev, AGB3_REG_I2C_PERIPH4_CTRL, (uint8_t *)&ctrl, sizeof(ICM_20948_I2C_PERIPH4_CTRL_t)); |
saloutos | 0:894b603d32ee | 215 | if (retval != ICM_20948_Stat_Ok) |
saloutos | 0:894b603d32ee | 216 | { |
saloutos | 0:894b603d32ee | 217 | return retval; |
saloutos | 0:894b603d32ee | 218 | } |
saloutos | 0:894b603d32ee | 219 | |
saloutos | 0:894b603d32ee | 220 | // long tsTimeout = millis() + 3000; // Emergency timeout for txn (hard coded to 3 secs) |
saloutos | 0:894b603d32ee | 221 | uint32_t max_cycles = 1000; |
saloutos | 0:894b603d32ee | 222 | uint32_t count = 0; |
saloutos | 0:894b603d32ee | 223 | bool peripheral4Done = false; |
saloutos | 0:894b603d32ee | 224 | while (!peripheral4Done) |
saloutos | 0:894b603d32ee | 225 | { |
saloutos | 0:894b603d32ee | 226 | retval = ICM_20948_set_bank(pdev, 0); |
saloutos | 0:894b603d32ee | 227 | retval = ICM_20948_execute_r(pdev, AGB0_REG_I2C_MST_STATUS, (uint8_t *)&i2c_mst_status, 1); |
saloutos | 0:894b603d32ee | 228 | |
saloutos | 0:894b603d32ee | 229 | peripheral4Done = (i2c_mst_status.I2C_PERIPH4_DONE /*| (millis() > tsTimeout) */); //Avoid forever-loops |
saloutos | 0:894b603d32ee | 230 | peripheral4Done |= (count >= max_cycles); |
saloutos | 0:894b603d32ee | 231 | count++; |
saloutos | 0:894b603d32ee | 232 | } |
saloutos | 0:894b603d32ee | 233 | txn_failed = (i2c_mst_status.I2C_PERIPH4_NACK /*| (millis() > tsTimeout) */); |
saloutos | 0:894b603d32ee | 234 | txn_failed |= (count >= max_cycles); |
saloutos | 0:894b603d32ee | 235 | if (txn_failed) |
saloutos | 0:894b603d32ee | 236 | break; |
saloutos | 0:894b603d32ee | 237 | |
saloutos | 0:894b603d32ee | 238 | if (Rw) |
saloutos | 0:894b603d32ee | 239 | { |
saloutos | 0:894b603d32ee | 240 | retval = ICM_20948_set_bank(pdev, 3); |
saloutos | 0:894b603d32ee | 241 | retval = ICM_20948_execute_r(pdev, AGB3_REG_I2C_PERIPH4_DI, &data[nByte], 1); |
saloutos | 0:894b603d32ee | 242 | } |
saloutos | 0:894b603d32ee | 243 | |
saloutos | 0:894b603d32ee | 244 | nByte++; |
saloutos | 0:894b603d32ee | 245 | } |
saloutos | 0:894b603d32ee | 246 | |
saloutos | 0:894b603d32ee | 247 | if (txn_failed) |
saloutos | 0:894b603d32ee | 248 | { |
saloutos | 0:894b603d32ee | 249 | //We often fail here if mag is stuck |
saloutos | 0:894b603d32ee | 250 | return ICM_20948_Stat_Err; |
saloutos | 0:894b603d32ee | 251 | } |
saloutos | 0:894b603d32ee | 252 | |
saloutos | 0:894b603d32ee | 253 | return retval; |
saloutos | 0:894b603d32ee | 254 | } |
saloutos | 0:894b603d32ee | 255 | |
saloutos | 0:894b603d32ee | 256 | ICM_20948_Status_e ICM_20948_i2c_master_single_w(ICM_20948_Device_t *pdev, uint8_t addr, uint8_t reg, uint8_t *data) |
saloutos | 0:894b603d32ee | 257 | { |
saloutos | 0:894b603d32ee | 258 | return ICM_20948_i2c_controller_periph4_txn(pdev, addr, reg, data, 1, false, true); |
saloutos | 0:894b603d32ee | 259 | } |
saloutos | 0:894b603d32ee | 260 | |
saloutos | 0:894b603d32ee | 261 | ICM_20948_Status_e ICM_20948_i2c_master_single_r(ICM_20948_Device_t *pdev, uint8_t addr, uint8_t reg, uint8_t *data) |
saloutos | 0:894b603d32ee | 262 | { |
saloutos | 0:894b603d32ee | 263 | return ICM_20948_i2c_controller_periph4_txn(pdev, addr, reg, data, 1, true, true); |
saloutos | 0:894b603d32ee | 264 | } |
saloutos | 0:894b603d32ee | 265 | |
saloutos | 0:894b603d32ee | 266 | ICM_20948_Status_e ICM_20948_set_bank(ICM_20948_Device_t *pdev, uint8_t bank) |
saloutos | 0:894b603d32ee | 267 | { |
saloutos | 0:894b603d32ee | 268 | if (bank > 3) |
saloutos | 0:894b603d32ee | 269 | { |
saloutos | 0:894b603d32ee | 270 | return ICM_20948_Stat_ParamErr; |
saloutos | 0:894b603d32ee | 271 | } // Only 4 possible banks |
saloutos | 0:894b603d32ee | 272 | |
saloutos | 0:894b603d32ee | 273 | if (bank == pdev->_last_bank) // Do we need to change bank? |
saloutos | 0:894b603d32ee | 274 | return ICM_20948_Stat_Ok; // Bail if we don't need to change bank to avoid unnecessary bus traffic |
saloutos | 0:894b603d32ee | 275 | |
saloutos | 0:894b603d32ee | 276 | pdev->_last_bank = bank; // Store the requested bank (before we bit-shift) |
saloutos | 0:894b603d32ee | 277 | bank = (bank << 4) & 0x30; // bits 5:4 of REG_BANK_SEL |
saloutos | 0:894b603d32ee | 278 | return ICM_20948_execute_w(pdev, REG_BANK_SEL, &bank, 1); |
saloutos | 0:894b603d32ee | 279 | } |
saloutos | 0:894b603d32ee | 280 | |
saloutos | 0:894b603d32ee | 281 | ICM_20948_Status_e ICM_20948_sw_reset(ICM_20948_Device_t *pdev) |
saloutos | 0:894b603d32ee | 282 | { |
saloutos | 0:894b603d32ee | 283 | ICM_20948_Status_e retval = ICM_20948_Stat_Ok; |
saloutos | 0:894b603d32ee | 284 | ICM_20948_PWR_MGMT_1_t reg; |
saloutos | 0:894b603d32ee | 285 | |
saloutos | 0:894b603d32ee | 286 | ICM_20948_set_bank(pdev, 0); // Must be in the right bank |
saloutos | 0:894b603d32ee | 287 | |
saloutos | 0:894b603d32ee | 288 | retval = ICM_20948_execute_r(pdev, AGB0_REG_PWR_MGMT_1, (uint8_t *)®, sizeof(ICM_20948_PWR_MGMT_1_t)); |
saloutos | 0:894b603d32ee | 289 | if (retval != ICM_20948_Stat_Ok) |
saloutos | 0:894b603d32ee | 290 | { |
saloutos | 0:894b603d32ee | 291 | return retval; |
saloutos | 0:894b603d32ee | 292 | } |
saloutos | 0:894b603d32ee | 293 | |
saloutos | 0:894b603d32ee | 294 | reg.DEVICE_RESET = 1; |
saloutos | 0:894b603d32ee | 295 | |
saloutos | 0:894b603d32ee | 296 | retval = ICM_20948_execute_w(pdev, AGB0_REG_PWR_MGMT_1, (uint8_t *)®, sizeof(ICM_20948_PWR_MGMT_1_t)); |
saloutos | 0:894b603d32ee | 297 | if (retval != ICM_20948_Stat_Ok) |
saloutos | 0:894b603d32ee | 298 | { |
saloutos | 0:894b603d32ee | 299 | return retval; |
saloutos | 0:894b603d32ee | 300 | } |
saloutos | 0:894b603d32ee | 301 | return retval; |
saloutos | 0:894b603d32ee | 302 | } |
saloutos | 0:894b603d32ee | 303 | |
saloutos | 0:894b603d32ee | 304 | ICM_20948_Status_e ICM_20948_sleep(ICM_20948_Device_t *pdev, bool on) |
saloutos | 0:894b603d32ee | 305 | { |
saloutos | 0:894b603d32ee | 306 | ICM_20948_Status_e retval = ICM_20948_Stat_Ok; |
saloutos | 0:894b603d32ee | 307 | ICM_20948_PWR_MGMT_1_t reg; |
saloutos | 0:894b603d32ee | 308 | |
saloutos | 0:894b603d32ee | 309 | ICM_20948_set_bank(pdev, 0); // Must be in the right bank |
saloutos | 0:894b603d32ee | 310 | |
saloutos | 0:894b603d32ee | 311 | retval = ICM_20948_execute_r(pdev, AGB0_REG_PWR_MGMT_1, (uint8_t *)®, sizeof(ICM_20948_PWR_MGMT_1_t)); |
saloutos | 0:894b603d32ee | 312 | if (retval != ICM_20948_Stat_Ok) |
saloutos | 0:894b603d32ee | 313 | { |
saloutos | 0:894b603d32ee | 314 | return retval; |
saloutos | 0:894b603d32ee | 315 | } |
saloutos | 0:894b603d32ee | 316 | |
saloutos | 0:894b603d32ee | 317 | if (on) |
saloutos | 0:894b603d32ee | 318 | { |
saloutos | 0:894b603d32ee | 319 | reg.SLEEP = 1; |
saloutos | 0:894b603d32ee | 320 | } |
saloutos | 0:894b603d32ee | 321 | else |
saloutos | 0:894b603d32ee | 322 | { |
saloutos | 0:894b603d32ee | 323 | reg.SLEEP = 0; |
saloutos | 0:894b603d32ee | 324 | } |
saloutos | 0:894b603d32ee | 325 | |
saloutos | 0:894b603d32ee | 326 | retval = ICM_20948_execute_w(pdev, AGB0_REG_PWR_MGMT_1, (uint8_t *)®, sizeof(ICM_20948_PWR_MGMT_1_t)); |
saloutos | 0:894b603d32ee | 327 | if (retval != ICM_20948_Stat_Ok) |
saloutos | 0:894b603d32ee | 328 | { |
saloutos | 0:894b603d32ee | 329 | return retval; |
saloutos | 0:894b603d32ee | 330 | } |
saloutos | 0:894b603d32ee | 331 | return retval; |
saloutos | 0:894b603d32ee | 332 | } |
saloutos | 0:894b603d32ee | 333 | |
saloutos | 0:894b603d32ee | 334 | ICM_20948_Status_e ICM_20948_low_power(ICM_20948_Device_t *pdev, bool on) |
saloutos | 0:894b603d32ee | 335 | { |
saloutos | 0:894b603d32ee | 336 | ICM_20948_Status_e retval = ICM_20948_Stat_Ok; |
saloutos | 0:894b603d32ee | 337 | ICM_20948_PWR_MGMT_1_t reg; |
saloutos | 0:894b603d32ee | 338 | |
saloutos | 0:894b603d32ee | 339 | ICM_20948_set_bank(pdev, 0); // Must be in the right bank |
saloutos | 0:894b603d32ee | 340 | |
saloutos | 0:894b603d32ee | 341 | retval = ICM_20948_execute_r(pdev, AGB0_REG_PWR_MGMT_1, (uint8_t *)®, sizeof(ICM_20948_PWR_MGMT_1_t)); |
saloutos | 0:894b603d32ee | 342 | if (retval != ICM_20948_Stat_Ok) |
saloutos | 0:894b603d32ee | 343 | { |
saloutos | 0:894b603d32ee | 344 | return retval; |
saloutos | 0:894b603d32ee | 345 | } |
saloutos | 0:894b603d32ee | 346 | |
saloutos | 0:894b603d32ee | 347 | if (on) |
saloutos | 0:894b603d32ee | 348 | { |
saloutos | 0:894b603d32ee | 349 | reg.LP_EN = 1; |
saloutos | 0:894b603d32ee | 350 | } |
saloutos | 0:894b603d32ee | 351 | else |
saloutos | 0:894b603d32ee | 352 | { |
saloutos | 0:894b603d32ee | 353 | reg.LP_EN = 0; |
saloutos | 0:894b603d32ee | 354 | } |
saloutos | 0:894b603d32ee | 355 | |
saloutos | 0:894b603d32ee | 356 | retval = ICM_20948_execute_w(pdev, AGB0_REG_PWR_MGMT_1, (uint8_t *)®, sizeof(ICM_20948_PWR_MGMT_1_t)); |
saloutos | 0:894b603d32ee | 357 | if (retval != ICM_20948_Stat_Ok) |
saloutos | 0:894b603d32ee | 358 | { |
saloutos | 0:894b603d32ee | 359 | return retval; |
saloutos | 0:894b603d32ee | 360 | } |
saloutos | 0:894b603d32ee | 361 | return retval; |
saloutos | 0:894b603d32ee | 362 | } |
saloutos | 0:894b603d32ee | 363 | |
saloutos | 0:894b603d32ee | 364 | ICM_20948_Status_e ICM_20948_set_clock_source(ICM_20948_Device_t *pdev, ICM_20948_PWR_MGMT_1_CLKSEL_e source) |
saloutos | 0:894b603d32ee | 365 | { |
saloutos | 0:894b603d32ee | 366 | ICM_20948_Status_e retval = ICM_20948_Stat_Ok; |
saloutos | 0:894b603d32ee | 367 | ICM_20948_PWR_MGMT_1_t reg; |
saloutos | 0:894b603d32ee | 368 | |
saloutos | 0:894b603d32ee | 369 | ICM_20948_set_bank(pdev, 0); // Must be in the right bank |
saloutos | 0:894b603d32ee | 370 | |
saloutos | 0:894b603d32ee | 371 | retval = ICM_20948_execute_r(pdev, AGB0_REG_PWR_MGMT_1, (uint8_t *)®, sizeof(ICM_20948_PWR_MGMT_1_t)); |
saloutos | 0:894b603d32ee | 372 | if (retval != ICM_20948_Stat_Ok) |
saloutos | 0:894b603d32ee | 373 | { |
saloutos | 0:894b603d32ee | 374 | return retval; |
saloutos | 0:894b603d32ee | 375 | } |
saloutos | 0:894b603d32ee | 376 | |
saloutos | 0:894b603d32ee | 377 | reg.CLKSEL = source; |
saloutos | 0:894b603d32ee | 378 | |
saloutos | 0:894b603d32ee | 379 | retval = ICM_20948_execute_w(pdev, AGB0_REG_PWR_MGMT_1, (uint8_t *)®, sizeof(ICM_20948_PWR_MGMT_1_t)); |
saloutos | 0:894b603d32ee | 380 | if (retval != ICM_20948_Stat_Ok) |
saloutos | 0:894b603d32ee | 381 | { |
saloutos | 0:894b603d32ee | 382 | return retval; |
saloutos | 0:894b603d32ee | 383 | } |
saloutos | 0:894b603d32ee | 384 | return retval; |
saloutos | 0:894b603d32ee | 385 | } |
saloutos | 0:894b603d32ee | 386 | |
saloutos | 0:894b603d32ee | 387 | ICM_20948_Status_e ICM_20948_get_who_am_i(ICM_20948_Device_t *pdev, uint8_t *whoami) |
saloutos | 0:894b603d32ee | 388 | { |
saloutos | 0:894b603d32ee | 389 | if (whoami == NULL) |
saloutos | 0:894b603d32ee | 390 | { |
saloutos | 0:894b603d32ee | 391 | return ICM_20948_Stat_ParamErr; |
saloutos | 0:894b603d32ee | 392 | } |
saloutos | 0:894b603d32ee | 393 | ICM_20948_set_bank(pdev, 0); // Must be in the right bank |
saloutos | 0:894b603d32ee | 394 | return ICM_20948_execute_r(pdev, AGB0_REG_WHO_AM_I, whoami, 1); |
saloutos | 0:894b603d32ee | 395 | } |
saloutos | 0:894b603d32ee | 396 | |
saloutos | 0:894b603d32ee | 397 | ICM_20948_Status_e ICM_20948_check_id(ICM_20948_Device_t *pdev) |
saloutos | 0:894b603d32ee | 398 | { |
saloutos | 0:894b603d32ee | 399 | ICM_20948_Status_e retval = ICM_20948_Stat_Ok; |
saloutos | 0:894b603d32ee | 400 | uint8_t whoami = 0x00; |
saloutos | 0:894b603d32ee | 401 | retval = ICM_20948_get_who_am_i(pdev, &whoami); |
saloutos | 0:894b603d32ee | 402 | if (retval != ICM_20948_Stat_Ok) |
saloutos | 0:894b603d32ee | 403 | { |
saloutos | 0:894b603d32ee | 404 | return retval; |
saloutos | 0:894b603d32ee | 405 | } |
saloutos | 0:894b603d32ee | 406 | if (whoami != ICM_20948_WHOAMI) |
saloutos | 0:894b603d32ee | 407 | { |
saloutos | 0:894b603d32ee | 408 | return ICM_20948_Stat_WrongID; |
saloutos | 0:894b603d32ee | 409 | } |
saloutos | 0:894b603d32ee | 410 | return retval; |
saloutos | 0:894b603d32ee | 411 | } |
saloutos | 0:894b603d32ee | 412 | |
saloutos | 0:894b603d32ee | 413 | ICM_20948_Status_e ICM_20948_data_ready(ICM_20948_Device_t *pdev) |
saloutos | 0:894b603d32ee | 414 | { |
saloutos | 0:894b603d32ee | 415 | ICM_20948_Status_e retval = ICM_20948_Stat_Ok; |
saloutos | 0:894b603d32ee | 416 | ICM_20948_INT_STATUS_1_t reg; |
saloutos | 0:894b603d32ee | 417 | retval = ICM_20948_set_bank(pdev, 0); // Must be in the right bank |
saloutos | 0:894b603d32ee | 418 | if (retval != ICM_20948_Stat_Ok) |
saloutos | 0:894b603d32ee | 419 | { |
saloutos | 0:894b603d32ee | 420 | return retval; |
saloutos | 0:894b603d32ee | 421 | } |
saloutos | 0:894b603d32ee | 422 | retval = ICM_20948_execute_r(pdev, AGB0_REG_INT_STATUS_1, (uint8_t *)®, sizeof(ICM_20948_INT_STATUS_1_t)); |
saloutos | 0:894b603d32ee | 423 | if (retval != ICM_20948_Stat_Ok) |
saloutos | 0:894b603d32ee | 424 | { |
saloutos | 0:894b603d32ee | 425 | return retval; |
saloutos | 0:894b603d32ee | 426 | } |
saloutos | 0:894b603d32ee | 427 | if (!reg.RAW_DATA_0_RDY_INT) |
saloutos | 0:894b603d32ee | 428 | { |
saloutos | 0:894b603d32ee | 429 | retval = ICM_20948_Stat_NoData; |
saloutos | 0:894b603d32ee | 430 | } |
saloutos | 0:894b603d32ee | 431 | return retval; |
saloutos | 0:894b603d32ee | 432 | } |
saloutos | 0:894b603d32ee | 433 | |
saloutos | 0:894b603d32ee | 434 | // Interrupt Configuration |
saloutos | 0:894b603d32ee | 435 | 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) |
saloutos | 0:894b603d32ee | 436 | { |
saloutos | 0:894b603d32ee | 437 | ICM_20948_Status_e retval = ICM_20948_Stat_Ok; |
saloutos | 0:894b603d32ee | 438 | retval = ICM_20948_set_bank(pdev, 0); // Must be in the right bank |
saloutos | 0:894b603d32ee | 439 | if (write != NULL) |
saloutos | 0:894b603d32ee | 440 | { // write first, if available |
saloutos | 0:894b603d32ee | 441 | retval = ICM_20948_execute_w(pdev, AGB0_REG_INT_PIN_CONFIG, (uint8_t *)write, sizeof(ICM_20948_INT_PIN_CFG_t)); |
saloutos | 0:894b603d32ee | 442 | if (retval != ICM_20948_Stat_Ok) |
saloutos | 0:894b603d32ee | 443 | { |
saloutos | 0:894b603d32ee | 444 | return retval; |
saloutos | 0:894b603d32ee | 445 | } |
saloutos | 0:894b603d32ee | 446 | } |
saloutos | 0:894b603d32ee | 447 | if (read != NULL) |
saloutos | 0:894b603d32ee | 448 | { // then read, to allow for verification |
saloutos | 0:894b603d32ee | 449 | retval = ICM_20948_execute_r(pdev, AGB0_REG_INT_PIN_CONFIG, (uint8_t *)read, sizeof(ICM_20948_INT_PIN_CFG_t)); |
saloutos | 0:894b603d32ee | 450 | if (retval != ICM_20948_Stat_Ok) |
saloutos | 0:894b603d32ee | 451 | { |
saloutos | 0:894b603d32ee | 452 | return retval; |
saloutos | 0:894b603d32ee | 453 | } |
saloutos | 0:894b603d32ee | 454 | } |
saloutos | 0:894b603d32ee | 455 | return retval; |
saloutos | 0:894b603d32ee | 456 | } |
saloutos | 0:894b603d32ee | 457 | |
saloutos | 0:894b603d32ee | 458 | 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) |
saloutos | 0:894b603d32ee | 459 | { |
saloutos | 0:894b603d32ee | 460 | ICM_20948_Status_e retval = ICM_20948_Stat_Ok; |
saloutos | 0:894b603d32ee | 461 | |
saloutos | 0:894b603d32ee | 462 | ICM_20948_INT_ENABLE_t en_0; |
saloutos | 0:894b603d32ee | 463 | ICM_20948_INT_ENABLE_1_t en_1; |
saloutos | 0:894b603d32ee | 464 | ICM_20948_INT_ENABLE_2_t en_2; |
saloutos | 0:894b603d32ee | 465 | ICM_20948_INT_ENABLE_3_t en_3; |
saloutos | 0:894b603d32ee | 466 | |
saloutos | 0:894b603d32ee | 467 | retval = ICM_20948_set_bank(pdev, 0); // Must be in the right bank |
saloutos | 0:894b603d32ee | 468 | |
saloutos | 0:894b603d32ee | 469 | if (write != NULL) |
saloutos | 0:894b603d32ee | 470 | { // If the write pointer is not NULL then write to the registers BEFORE reading |
saloutos | 0:894b603d32ee | 471 | en_0.I2C_MST_INT_EN = write->I2C_MST_INT_EN; |
saloutos | 0:894b603d32ee | 472 | en_0.DMP_INT1_EN = write->DMP_INT1_EN; |
saloutos | 0:894b603d32ee | 473 | en_0.PLL_READY_EN = write->PLL_RDY_EN; |
saloutos | 0:894b603d32ee | 474 | en_0.WOM_INT_EN = write->WOM_INT_EN; |
saloutos | 0:894b603d32ee | 475 | en_0.reserved_0 = 0; // Clear RAM garbage |
saloutos | 0:894b603d32ee | 476 | en_0.REG_WOF_EN = write->REG_WOF_EN; |
saloutos | 0:894b603d32ee | 477 | en_1.RAW_DATA_0_RDY_EN = write->RAW_DATA_0_RDY_EN; |
saloutos | 0:894b603d32ee | 478 | en_1.reserved_0 = 0; // Clear RAM garbage |
saloutos | 0:894b603d32ee | 479 | en_2.individual.FIFO_OVERFLOW_EN_4 = write->FIFO_OVERFLOW_EN_4; |
saloutos | 0:894b603d32ee | 480 | en_2.individual.FIFO_OVERFLOW_EN_3 = write->FIFO_OVERFLOW_EN_3; |
saloutos | 0:894b603d32ee | 481 | en_2.individual.FIFO_OVERFLOW_EN_2 = write->FIFO_OVERFLOW_EN_2; |
saloutos | 0:894b603d32ee | 482 | en_2.individual.FIFO_OVERFLOW_EN_1 = write->FIFO_OVERFLOW_EN_1; |
saloutos | 0:894b603d32ee | 483 | en_2.individual.FIFO_OVERFLOW_EN_0 = write->FIFO_OVERFLOW_EN_0; |
saloutos | 0:894b603d32ee | 484 | en_2.individual.reserved_0 = 0; // Clear RAM garbage |
saloutos | 0:894b603d32ee | 485 | en_3.individual.FIFO_WM_EN_4 = write->FIFO_WM_EN_4; |
saloutos | 0:894b603d32ee | 486 | en_3.individual.FIFO_WM_EN_3 = write->FIFO_WM_EN_3; |
saloutos | 0:894b603d32ee | 487 | en_3.individual.FIFO_WM_EN_2 = write->FIFO_WM_EN_2; |
saloutos | 0:894b603d32ee | 488 | en_3.individual.FIFO_WM_EN_1 = write->FIFO_WM_EN_1; |
saloutos | 0:894b603d32ee | 489 | en_3.individual.FIFO_WM_EN_0 = write->FIFO_WM_EN_0; |
saloutos | 0:894b603d32ee | 490 | en_3.individual.reserved_0 = 0; // Clear RAM garbage |
saloutos | 0:894b603d32ee | 491 | |
saloutos | 0:894b603d32ee | 492 | retval = ICM_20948_execute_w(pdev, AGB0_REG_INT_ENABLE, (uint8_t *)&en_0, sizeof(ICM_20948_INT_ENABLE_t)); |
saloutos | 0:894b603d32ee | 493 | if (retval != ICM_20948_Stat_Ok) |
saloutos | 0:894b603d32ee | 494 | { |
saloutos | 0:894b603d32ee | 495 | return retval; |
saloutos | 0:894b603d32ee | 496 | } |
saloutos | 0:894b603d32ee | 497 | retval = ICM_20948_execute_w(pdev, AGB0_REG_INT_ENABLE_1, (uint8_t *)&en_1, sizeof(ICM_20948_INT_ENABLE_1_t)); |
saloutos | 0:894b603d32ee | 498 | if (retval != ICM_20948_Stat_Ok) |
saloutos | 0:894b603d32ee | 499 | { |
saloutos | 0:894b603d32ee | 500 | return retval; |
saloutos | 0:894b603d32ee | 501 | } |
saloutos | 0:894b603d32ee | 502 | retval = ICM_20948_execute_w(pdev, AGB0_REG_INT_ENABLE_2, (uint8_t *)&en_2, sizeof(ICM_20948_INT_ENABLE_2_t)); |
saloutos | 0:894b603d32ee | 503 | if (retval != ICM_20948_Stat_Ok) |
saloutos | 0:894b603d32ee | 504 | { |
saloutos | 0:894b603d32ee | 505 | return retval; |
saloutos | 0:894b603d32ee | 506 | } |
saloutos | 0:894b603d32ee | 507 | retval = ICM_20948_execute_w(pdev, AGB0_REG_INT_ENABLE_3, (uint8_t *)&en_3, sizeof(ICM_20948_INT_ENABLE_3_t)); |
saloutos | 0:894b603d32ee | 508 | if (retval != ICM_20948_Stat_Ok) |
saloutos | 0:894b603d32ee | 509 | { |
saloutos | 0:894b603d32ee | 510 | return retval; |
saloutos | 0:894b603d32ee | 511 | } |
saloutos | 0:894b603d32ee | 512 | } |
saloutos | 0:894b603d32ee | 513 | |
saloutos | 0:894b603d32ee | 514 | if (read != NULL) |
saloutos | 0:894b603d32ee | 515 | { // If read pointer is not NULL then read the registers (if write is not NULL then this should read back the results of write into read) |
saloutos | 0:894b603d32ee | 516 | retval = ICM_20948_execute_r(pdev, AGB0_REG_INT_ENABLE, (uint8_t *)&en_0, sizeof(ICM_20948_INT_ENABLE_t)); |
saloutos | 0:894b603d32ee | 517 | if (retval != ICM_20948_Stat_Ok) |
saloutos | 0:894b603d32ee | 518 | { |
saloutos | 0:894b603d32ee | 519 | return retval; |
saloutos | 0:894b603d32ee | 520 | } |
saloutos | 0:894b603d32ee | 521 | retval = ICM_20948_execute_r(pdev, AGB0_REG_INT_ENABLE_1, (uint8_t *)&en_1, sizeof(ICM_20948_INT_ENABLE_1_t)); |
saloutos | 0:894b603d32ee | 522 | if (retval != ICM_20948_Stat_Ok) |
saloutos | 0:894b603d32ee | 523 | { |
saloutos | 0:894b603d32ee | 524 | return retval; |
saloutos | 0:894b603d32ee | 525 | } |
saloutos | 0:894b603d32ee | 526 | retval = ICM_20948_execute_r(pdev, AGB0_REG_INT_ENABLE_2, (uint8_t *)&en_2, sizeof(ICM_20948_INT_ENABLE_2_t)); |
saloutos | 0:894b603d32ee | 527 | if (retval != ICM_20948_Stat_Ok) |
saloutos | 0:894b603d32ee | 528 | { |
saloutos | 0:894b603d32ee | 529 | return retval; |
saloutos | 0:894b603d32ee | 530 | } |
saloutos | 0:894b603d32ee | 531 | retval = ICM_20948_execute_r(pdev, AGB0_REG_INT_ENABLE_3, (uint8_t *)&en_3, sizeof(ICM_20948_INT_ENABLE_3_t)); |
saloutos | 0:894b603d32ee | 532 | if (retval != ICM_20948_Stat_Ok) |
saloutos | 0:894b603d32ee | 533 | { |
saloutos | 0:894b603d32ee | 534 | return retval; |
saloutos | 0:894b603d32ee | 535 | } |
saloutos | 0:894b603d32ee | 536 | |
saloutos | 0:894b603d32ee | 537 | read->I2C_MST_INT_EN = en_0.I2C_MST_INT_EN; |
saloutos | 0:894b603d32ee | 538 | read->DMP_INT1_EN = en_0.DMP_INT1_EN; |
saloutos | 0:894b603d32ee | 539 | read->PLL_RDY_EN = en_0.PLL_READY_EN; |
saloutos | 0:894b603d32ee | 540 | read->WOM_INT_EN = en_0.WOM_INT_EN; |
saloutos | 0:894b603d32ee | 541 | read->REG_WOF_EN = en_0.REG_WOF_EN; |
saloutos | 0:894b603d32ee | 542 | read->RAW_DATA_0_RDY_EN = en_1.RAW_DATA_0_RDY_EN; |
saloutos | 0:894b603d32ee | 543 | read->FIFO_OVERFLOW_EN_4 = en_2.individual.FIFO_OVERFLOW_EN_4; |
saloutos | 0:894b603d32ee | 544 | read->FIFO_OVERFLOW_EN_3 = en_2.individual.FIFO_OVERFLOW_EN_3; |
saloutos | 0:894b603d32ee | 545 | read->FIFO_OVERFLOW_EN_2 = en_2.individual.FIFO_OVERFLOW_EN_2; |
saloutos | 0:894b603d32ee | 546 | read->FIFO_OVERFLOW_EN_1 = en_2.individual.FIFO_OVERFLOW_EN_1; |
saloutos | 0:894b603d32ee | 547 | read->FIFO_OVERFLOW_EN_0 = en_2.individual.FIFO_OVERFLOW_EN_0; |
saloutos | 0:894b603d32ee | 548 | read->FIFO_WM_EN_4 = en_3.individual.FIFO_WM_EN_4; |
saloutos | 0:894b603d32ee | 549 | read->FIFO_WM_EN_3 = en_3.individual.FIFO_WM_EN_3; |
saloutos | 0:894b603d32ee | 550 | read->FIFO_WM_EN_2 = en_3.individual.FIFO_WM_EN_2; |
saloutos | 0:894b603d32ee | 551 | read->FIFO_WM_EN_1 = en_3.individual.FIFO_WM_EN_1; |
saloutos | 0:894b603d32ee | 552 | read->FIFO_WM_EN_0 = en_3.individual.FIFO_WM_EN_0; |
saloutos | 0:894b603d32ee | 553 | } |
saloutos | 0:894b603d32ee | 554 | |
saloutos | 0:894b603d32ee | 555 | return retval; |
saloutos | 0:894b603d32ee | 556 | } |
saloutos | 0:894b603d32ee | 557 | |
saloutos | 0:894b603d32ee | 558 | 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) |
saloutos | 0:894b603d32ee | 559 | { |
saloutos | 0:894b603d32ee | 560 | ICM_20948_Status_e retval = ICM_20948_Stat_Ok; |
saloutos | 0:894b603d32ee | 561 | |
saloutos | 0:894b603d32ee | 562 | ICM_20948_ACCEL_WOM_THR_t thr; |
saloutos | 0:894b603d32ee | 563 | |
saloutos | 0:894b603d32ee | 564 | retval = ICM_20948_set_bank(pdev, 2); // Must be in the right bank |
saloutos | 0:894b603d32ee | 565 | |
saloutos | 0:894b603d32ee | 566 | if (write != NULL) |
saloutos | 0:894b603d32ee | 567 | { // If the write pointer is not NULL then write to the registers BEFORE reading |
saloutos | 0:894b603d32ee | 568 | thr.WOM_THRESHOLD = write->WOM_THRESHOLD; |
saloutos | 0:894b603d32ee | 569 | |
saloutos | 0:894b603d32ee | 570 | retval = ICM_20948_execute_w(pdev, AGB2_REG_ACCEL_WOM_THR, (uint8_t *)&thr, sizeof(ICM_20948_ACCEL_WOM_THR_t)); |
saloutos | 0:894b603d32ee | 571 | if (retval != ICM_20948_Stat_Ok) |
saloutos | 0:894b603d32ee | 572 | { |
saloutos | 0:894b603d32ee | 573 | return retval; |
saloutos | 0:894b603d32ee | 574 | } |
saloutos | 0:894b603d32ee | 575 | } |
saloutos | 0:894b603d32ee | 576 | |
saloutos | 0:894b603d32ee | 577 | if (read != NULL) |
saloutos | 0:894b603d32ee | 578 | { // If read pointer is not NULL then read the registers (if write is not NULL then this should read back the results of write into read) |
saloutos | 0:894b603d32ee | 579 | retval = ICM_20948_execute_r(pdev, AGB2_REG_ACCEL_WOM_THR, (uint8_t *)&thr, sizeof(ICM_20948_ACCEL_WOM_THR_t)); |
saloutos | 0:894b603d32ee | 580 | if (retval != ICM_20948_Stat_Ok) |
saloutos | 0:894b603d32ee | 581 | { |
saloutos | 0:894b603d32ee | 582 | return retval; |
saloutos | 0:894b603d32ee | 583 | } |
saloutos | 0:894b603d32ee | 584 | |
saloutos | 0:894b603d32ee | 585 | read->WOM_THRESHOLD = thr.WOM_THRESHOLD; |
saloutos | 0:894b603d32ee | 586 | } |
saloutos | 0:894b603d32ee | 587 | |
saloutos | 0:894b603d32ee | 588 | return retval; |
saloutos | 0:894b603d32ee | 589 | } |
saloutos | 0:894b603d32ee | 590 | |
saloutos | 0:894b603d32ee | 591 | 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) |
saloutos | 0:894b603d32ee | 592 | { |
saloutos | 0:894b603d32ee | 593 | ICM_20948_Status_e retval = ICM_20948_Stat_Ok; |
saloutos | 0:894b603d32ee | 594 | ICM_20948_LP_CONFIG_t reg; |
saloutos | 0:894b603d32ee | 595 | |
saloutos | 0:894b603d32ee | 596 | if (!(sensors & (ICM_20948_Internal_Acc | ICM_20948_Internal_Gyr | ICM_20948_Internal_Mst))) |
saloutos | 0:894b603d32ee | 597 | { |
saloutos | 0:894b603d32ee | 598 | return ICM_20948_Stat_SensorNotSupported; |
saloutos | 0:894b603d32ee | 599 | } |
saloutos | 0:894b603d32ee | 600 | |
saloutos | 0:894b603d32ee | 601 | retval = ICM_20948_set_bank(pdev, 0); // Must be in the right bank |
saloutos | 0:894b603d32ee | 602 | if (retval != ICM_20948_Stat_Ok) |
saloutos | 0:894b603d32ee | 603 | { |
saloutos | 0:894b603d32ee | 604 | return retval; |
saloutos | 0:894b603d32ee | 605 | } |
saloutos | 0:894b603d32ee | 606 | retval = ICM_20948_execute_r(pdev, AGB0_REG_LP_CONFIG, (uint8_t *)®, sizeof(ICM_20948_LP_CONFIG_t)); |
saloutos | 0:894b603d32ee | 607 | if (retval != ICM_20948_Stat_Ok) |
saloutos | 0:894b603d32ee | 608 | { |
saloutos | 0:894b603d32ee | 609 | return retval; |
saloutos | 0:894b603d32ee | 610 | } |
saloutos | 0:894b603d32ee | 611 | |
saloutos | 0:894b603d32ee | 612 | if (sensors & ICM_20948_Internal_Acc) |
saloutos | 0:894b603d32ee | 613 | { |
saloutos | 0:894b603d32ee | 614 | reg.ACCEL_CYCLE = mode; |
saloutos | 0:894b603d32ee | 615 | } // Set all desired sensors to this setting |
saloutos | 0:894b603d32ee | 616 | if (sensors & ICM_20948_Internal_Gyr) |
saloutos | 0:894b603d32ee | 617 | { |
saloutos | 0:894b603d32ee | 618 | reg.GYRO_CYCLE = mode; |
saloutos | 0:894b603d32ee | 619 | } |
saloutos | 0:894b603d32ee | 620 | if (sensors & ICM_20948_Internal_Mst) |
saloutos | 0:894b603d32ee | 621 | { |
saloutos | 0:894b603d32ee | 622 | reg.I2C_MST_CYCLE = mode; |
saloutos | 0:894b603d32ee | 623 | } |
saloutos | 0:894b603d32ee | 624 | |
saloutos | 0:894b603d32ee | 625 | retval = ICM_20948_execute_w(pdev, AGB0_REG_LP_CONFIG, (uint8_t *)®, sizeof(ICM_20948_LP_CONFIG_t)); |
saloutos | 0:894b603d32ee | 626 | if (retval != ICM_20948_Stat_Ok) |
saloutos | 0:894b603d32ee | 627 | { |
saloutos | 0:894b603d32ee | 628 | return retval; |
saloutos | 0:894b603d32ee | 629 | } |
saloutos | 0:894b603d32ee | 630 | |
saloutos | 0:894b603d32ee | 631 | // Check the data was written correctly |
saloutos | 0:894b603d32ee | 632 | retval = ICM_20948_execute_r(pdev, AGB0_REG_LP_CONFIG, (uint8_t *)®, sizeof(ICM_20948_LP_CONFIG_t)); |
saloutos | 0:894b603d32ee | 633 | if (retval != ICM_20948_Stat_Ok) |
saloutos | 0:894b603d32ee | 634 | { |
saloutos | 0:894b603d32ee | 635 | return retval; |
saloutos | 0:894b603d32ee | 636 | } |
saloutos | 0:894b603d32ee | 637 | if (sensors & ICM_20948_Internal_Acc) |
saloutos | 0:894b603d32ee | 638 | { |
saloutos | 0:894b603d32ee | 639 | if (reg.ACCEL_CYCLE != mode) retval = ICM_20948_Stat_Err; |
saloutos | 0:894b603d32ee | 640 | } |
saloutos | 0:894b603d32ee | 641 | if (sensors & ICM_20948_Internal_Gyr) |
saloutos | 0:894b603d32ee | 642 | { |
saloutos | 0:894b603d32ee | 643 | if (reg.GYRO_CYCLE != mode) retval = ICM_20948_Stat_Err; |
saloutos | 0:894b603d32ee | 644 | } |
saloutos | 0:894b603d32ee | 645 | if (sensors & ICM_20948_Internal_Mst) |
saloutos | 0:894b603d32ee | 646 | { |
saloutos | 0:894b603d32ee | 647 | if (reg.I2C_MST_CYCLE != mode) retval = ICM_20948_Stat_Err; |
saloutos | 0:894b603d32ee | 648 | } |
saloutos | 0:894b603d32ee | 649 | |
saloutos | 0:894b603d32ee | 650 | return retval; |
saloutos | 0:894b603d32ee | 651 | } |
saloutos | 0:894b603d32ee | 652 | |
saloutos | 0:894b603d32ee | 653 | ICM_20948_Status_e ICM_20948_set_full_scale(ICM_20948_Device_t *pdev, ICM_20948_InternalSensorID_bm sensors, ICM_20948_fss_t fss) |
saloutos | 0:894b603d32ee | 654 | { |
saloutos | 0:894b603d32ee | 655 | ICM_20948_Status_e retval = ICM_20948_Stat_Ok; |
saloutos | 0:894b603d32ee | 656 | |
saloutos | 0:894b603d32ee | 657 | if (!(sensors & (ICM_20948_Internal_Acc | ICM_20948_Internal_Gyr))) |
saloutos | 0:894b603d32ee | 658 | { |
saloutos | 0:894b603d32ee | 659 | return ICM_20948_Stat_SensorNotSupported; |
saloutos | 0:894b603d32ee | 660 | } |
saloutos | 0:894b603d32ee | 661 | |
saloutos | 0:894b603d32ee | 662 | if (sensors & ICM_20948_Internal_Acc) |
saloutos | 0:894b603d32ee | 663 | { |
saloutos | 0:894b603d32ee | 664 | ICM_20948_ACCEL_CONFIG_t reg; |
saloutos | 0:894b603d32ee | 665 | retval |= ICM_20948_set_bank(pdev, 2); // Must be in the right bank |
saloutos | 0:894b603d32ee | 666 | retval |= ICM_20948_execute_r(pdev, AGB2_REG_ACCEL_CONFIG, (uint8_t *)®, sizeof(ICM_20948_ACCEL_CONFIG_t)); |
saloutos | 0:894b603d32ee | 667 | reg.ACCEL_FS_SEL = fss.a; |
saloutos | 0:894b603d32ee | 668 | retval |= ICM_20948_execute_w(pdev, AGB2_REG_ACCEL_CONFIG, (uint8_t *)®, sizeof(ICM_20948_ACCEL_CONFIG_t)); |
saloutos | 0:894b603d32ee | 669 | // Check the data was written correctly |
saloutos | 0:894b603d32ee | 670 | retval |= ICM_20948_execute_r(pdev, AGB2_REG_ACCEL_CONFIG, (uint8_t *)®, sizeof(ICM_20948_ACCEL_CONFIG_t)); |
saloutos | 0:894b603d32ee | 671 | if (reg.ACCEL_FS_SEL != fss.a) retval |= ICM_20948_Stat_Err; |
saloutos | 0:894b603d32ee | 672 | } |
saloutos | 0:894b603d32ee | 673 | if (sensors & ICM_20948_Internal_Gyr) |
saloutos | 0:894b603d32ee | 674 | { |
saloutos | 0:894b603d32ee | 675 | ICM_20948_GYRO_CONFIG_1_t reg; |
saloutos | 0:894b603d32ee | 676 | retval |= ICM_20948_set_bank(pdev, 2); // Must be in the right bank |
saloutos | 0:894b603d32ee | 677 | retval |= ICM_20948_execute_r(pdev, AGB2_REG_GYRO_CONFIG_1, (uint8_t *)®, sizeof(ICM_20948_GYRO_CONFIG_1_t)); |
saloutos | 0:894b603d32ee | 678 | reg.GYRO_FS_SEL = fss.g; |
saloutos | 0:894b603d32ee | 679 | retval |= ICM_20948_execute_w(pdev, AGB2_REG_GYRO_CONFIG_1, (uint8_t *)®, sizeof(ICM_20948_GYRO_CONFIG_1_t)); |
saloutos | 0:894b603d32ee | 680 | // Check the data was written correctly |
saloutos | 0:894b603d32ee | 681 | retval |= ICM_20948_execute_r(pdev, AGB2_REG_GYRO_CONFIG_1, (uint8_t *)®, sizeof(ICM_20948_GYRO_CONFIG_1_t)); |
saloutos | 0:894b603d32ee | 682 | if (reg.GYRO_FS_SEL != fss.g) retval |= ICM_20948_Stat_Err; |
saloutos | 0:894b603d32ee | 683 | } |
saloutos | 0:894b603d32ee | 684 | return retval; |
saloutos | 0:894b603d32ee | 685 | } |
saloutos | 0:894b603d32ee | 686 | |
saloutos | 0:894b603d32ee | 687 | ICM_20948_Status_e ICM_20948_set_dlpf_cfg(ICM_20948_Device_t *pdev, ICM_20948_InternalSensorID_bm sensors, ICM_20948_dlpcfg_t cfg) |
saloutos | 0:894b603d32ee | 688 | { |
saloutos | 0:894b603d32ee | 689 | ICM_20948_Status_e retval = ICM_20948_Stat_Ok; |
saloutos | 0:894b603d32ee | 690 | |
saloutos | 0:894b603d32ee | 691 | if (!(sensors & (ICM_20948_Internal_Acc | ICM_20948_Internal_Gyr))) |
saloutos | 0:894b603d32ee | 692 | { |
saloutos | 0:894b603d32ee | 693 | return ICM_20948_Stat_SensorNotSupported; |
saloutos | 0:894b603d32ee | 694 | } |
saloutos | 0:894b603d32ee | 695 | |
saloutos | 0:894b603d32ee | 696 | if (sensors & ICM_20948_Internal_Acc) |
saloutos | 0:894b603d32ee | 697 | { |
saloutos | 0:894b603d32ee | 698 | ICM_20948_ACCEL_CONFIG_t reg; |
saloutos | 0:894b603d32ee | 699 | retval |= ICM_20948_set_bank(pdev, 2); // Must be in the right bank |
saloutos | 0:894b603d32ee | 700 | retval |= ICM_20948_execute_r(pdev, AGB2_REG_ACCEL_CONFIG, (uint8_t *)®, sizeof(ICM_20948_ACCEL_CONFIG_t)); |
saloutos | 0:894b603d32ee | 701 | reg.ACCEL_DLPFCFG = cfg.a; |
saloutos | 0:894b603d32ee | 702 | retval |= ICM_20948_execute_w(pdev, AGB2_REG_ACCEL_CONFIG, (uint8_t *)®, sizeof(ICM_20948_ACCEL_CONFIG_t)); |
saloutos | 0:894b603d32ee | 703 | // Check the data was written correctly |
saloutos | 0:894b603d32ee | 704 | retval |= ICM_20948_execute_r(pdev, AGB2_REG_ACCEL_CONFIG, (uint8_t *)®, sizeof(ICM_20948_ACCEL_CONFIG_t)); |
saloutos | 0:894b603d32ee | 705 | if (reg.ACCEL_DLPFCFG != cfg.a) retval |= ICM_20948_Stat_Err; |
saloutos | 0:894b603d32ee | 706 | } |
saloutos | 0:894b603d32ee | 707 | if (sensors & ICM_20948_Internal_Gyr) |
saloutos | 0:894b603d32ee | 708 | { |
saloutos | 0:894b603d32ee | 709 | ICM_20948_GYRO_CONFIG_1_t reg; |
saloutos | 0:894b603d32ee | 710 | retval |= ICM_20948_set_bank(pdev, 2); // Must be in the right bank |
saloutos | 0:894b603d32ee | 711 | retval |= ICM_20948_execute_r(pdev, AGB2_REG_GYRO_CONFIG_1, (uint8_t *)®, sizeof(ICM_20948_GYRO_CONFIG_1_t)); |
saloutos | 0:894b603d32ee | 712 | reg.GYRO_DLPFCFG = cfg.g; |
saloutos | 0:894b603d32ee | 713 | retval |= ICM_20948_execute_w(pdev, AGB2_REG_GYRO_CONFIG_1, (uint8_t *)®, sizeof(ICM_20948_GYRO_CONFIG_1_t)); |
saloutos | 0:894b603d32ee | 714 | // Check the data was written correctly |
saloutos | 0:894b603d32ee | 715 | retval |= ICM_20948_execute_r(pdev, AGB2_REG_GYRO_CONFIG_1, (uint8_t *)®, sizeof(ICM_20948_GYRO_CONFIG_1_t)); |
saloutos | 0:894b603d32ee | 716 | if (reg.GYRO_DLPFCFG != cfg.g) retval |= ICM_20948_Stat_Err; |
saloutos | 0:894b603d32ee | 717 | } |
saloutos | 0:894b603d32ee | 718 | return retval; |
saloutos | 0:894b603d32ee | 719 | } |
saloutos | 0:894b603d32ee | 720 | |
saloutos | 0:894b603d32ee | 721 | ICM_20948_Status_e ICM_20948_enable_dlpf(ICM_20948_Device_t *pdev, ICM_20948_InternalSensorID_bm sensors, bool enable) |
saloutos | 0:894b603d32ee | 722 | { |
saloutos | 0:894b603d32ee | 723 | ICM_20948_Status_e retval = ICM_20948_Stat_Ok; |
saloutos | 0:894b603d32ee | 724 | |
saloutos | 0:894b603d32ee | 725 | if (!(sensors & (ICM_20948_Internal_Acc | ICM_20948_Internal_Gyr))) |
saloutos | 0:894b603d32ee | 726 | { |
saloutos | 0:894b603d32ee | 727 | return ICM_20948_Stat_SensorNotSupported; |
saloutos | 0:894b603d32ee | 728 | } |
saloutos | 0:894b603d32ee | 729 | |
saloutos | 0:894b603d32ee | 730 | if (sensors & ICM_20948_Internal_Acc) |
saloutos | 0:894b603d32ee | 731 | { |
saloutos | 0:894b603d32ee | 732 | ICM_20948_ACCEL_CONFIG_t reg; |
saloutos | 0:894b603d32ee | 733 | retval |= ICM_20948_set_bank(pdev, 2); // Must be in the right bank |
saloutos | 0:894b603d32ee | 734 | retval |= ICM_20948_execute_r(pdev, AGB2_REG_ACCEL_CONFIG, (uint8_t *)®, sizeof(ICM_20948_ACCEL_CONFIG_t)); |
saloutos | 0:894b603d32ee | 735 | if (enable) |
saloutos | 0:894b603d32ee | 736 | { |
saloutos | 0:894b603d32ee | 737 | reg.ACCEL_FCHOICE = 1; |
saloutos | 0:894b603d32ee | 738 | } |
saloutos | 0:894b603d32ee | 739 | else |
saloutos | 0:894b603d32ee | 740 | { |
saloutos | 0:894b603d32ee | 741 | reg.ACCEL_FCHOICE = 0; |
saloutos | 0:894b603d32ee | 742 | } |
saloutos | 0:894b603d32ee | 743 | retval |= ICM_20948_execute_w(pdev, AGB2_REG_ACCEL_CONFIG, (uint8_t *)®, sizeof(ICM_20948_ACCEL_CONFIG_t)); |
saloutos | 0:894b603d32ee | 744 | // Check the data was written correctly |
saloutos | 0:894b603d32ee | 745 | retval |= ICM_20948_execute_r(pdev, AGB2_REG_ACCEL_CONFIG, (uint8_t *)®, sizeof(ICM_20948_ACCEL_CONFIG_t)); |
saloutos | 0:894b603d32ee | 746 | if (enable) |
saloutos | 0:894b603d32ee | 747 | { |
saloutos | 0:894b603d32ee | 748 | if (reg.ACCEL_FCHOICE != 1) retval |= ICM_20948_Stat_Err; |
saloutos | 0:894b603d32ee | 749 | } |
saloutos | 0:894b603d32ee | 750 | else |
saloutos | 0:894b603d32ee | 751 | { |
saloutos | 0:894b603d32ee | 752 | if (reg.ACCEL_FCHOICE != 0) retval |= ICM_20948_Stat_Err; |
saloutos | 0:894b603d32ee | 753 | } |
saloutos | 0:894b603d32ee | 754 | } |
saloutos | 0:894b603d32ee | 755 | if (sensors & ICM_20948_Internal_Gyr) |
saloutos | 0:894b603d32ee | 756 | { |
saloutos | 0:894b603d32ee | 757 | ICM_20948_GYRO_CONFIG_1_t reg; |
saloutos | 0:894b603d32ee | 758 | retval |= ICM_20948_set_bank(pdev, 2); // Must be in the right bank |
saloutos | 0:894b603d32ee | 759 | retval |= ICM_20948_execute_r(pdev, AGB2_REG_GYRO_CONFIG_1, (uint8_t *)®, sizeof(ICM_20948_GYRO_CONFIG_1_t)); |
saloutos | 0:894b603d32ee | 760 | if (enable) |
saloutos | 0:894b603d32ee | 761 | { |
saloutos | 0:894b603d32ee | 762 | reg.GYRO_FCHOICE = 1; |
saloutos | 0:894b603d32ee | 763 | } |
saloutos | 0:894b603d32ee | 764 | else |
saloutos | 0:894b603d32ee | 765 | { |
saloutos | 0:894b603d32ee | 766 | reg.GYRO_FCHOICE = 0; |
saloutos | 0:894b603d32ee | 767 | } |
saloutos | 0:894b603d32ee | 768 | retval |= ICM_20948_execute_w(pdev, AGB2_REG_GYRO_CONFIG_1, (uint8_t *)®, sizeof(ICM_20948_GYRO_CONFIG_1_t)); |
saloutos | 0:894b603d32ee | 769 | // Check the data was written correctly |
saloutos | 0:894b603d32ee | 770 | retval |= ICM_20948_execute_r(pdev, AGB2_REG_GYRO_CONFIG_1, (uint8_t *)®, sizeof(ICM_20948_GYRO_CONFIG_1_t)); |
saloutos | 0:894b603d32ee | 771 | if (enable) |
saloutos | 0:894b603d32ee | 772 | { |
saloutos | 0:894b603d32ee | 773 | if (reg.GYRO_FCHOICE != 1) retval |= ICM_20948_Stat_Err; |
saloutos | 0:894b603d32ee | 774 | } |
saloutos | 0:894b603d32ee | 775 | else |
saloutos | 0:894b603d32ee | 776 | { |
saloutos | 0:894b603d32ee | 777 | if (reg.GYRO_FCHOICE != 0) retval |= ICM_20948_Stat_Err; |
saloutos | 0:894b603d32ee | 778 | } |
saloutos | 0:894b603d32ee | 779 | } |
saloutos | 0:894b603d32ee | 780 | return retval; |
saloutos | 0:894b603d32ee | 781 | } |
saloutos | 0:894b603d32ee | 782 | |
saloutos | 0:894b603d32ee | 783 | ICM_20948_Status_e ICM_20948_set_sample_rate(ICM_20948_Device_t *pdev, ICM_20948_InternalSensorID_bm sensors, ICM_20948_smplrt_t smplrt) |
saloutos | 0:894b603d32ee | 784 | { |
saloutos | 0:894b603d32ee | 785 | ICM_20948_Status_e retval = ICM_20948_Stat_Ok; |
saloutos | 0:894b603d32ee | 786 | |
saloutos | 0:894b603d32ee | 787 | if (!(sensors & (ICM_20948_Internal_Acc | ICM_20948_Internal_Gyr))) |
saloutos | 0:894b603d32ee | 788 | { |
saloutos | 0:894b603d32ee | 789 | return ICM_20948_Stat_SensorNotSupported; |
saloutos | 0:894b603d32ee | 790 | } |
saloutos | 0:894b603d32ee | 791 | |
saloutos | 0:894b603d32ee | 792 | if (sensors & ICM_20948_Internal_Acc) |
saloutos | 0:894b603d32ee | 793 | { |
saloutos | 0:894b603d32ee | 794 | retval |= ICM_20948_set_bank(pdev, 2); // Must be in the right bank |
saloutos | 0:894b603d32ee | 795 | uint8_t div1 = (smplrt.a << 8); |
saloutos | 0:894b603d32ee | 796 | uint8_t div2 = (smplrt.a & 0xFF); |
saloutos | 0:894b603d32ee | 797 | retval |= ICM_20948_execute_w(pdev, AGB2_REG_ACCEL_SMPLRT_DIV_1, &div1, 1); |
saloutos | 0:894b603d32ee | 798 | retval |= ICM_20948_execute_w(pdev, AGB2_REG_ACCEL_SMPLRT_DIV_2, &div2, 1); |
saloutos | 0:894b603d32ee | 799 | } |
saloutos | 0:894b603d32ee | 800 | if (sensors & ICM_20948_Internal_Gyr) |
saloutos | 0:894b603d32ee | 801 | { |
saloutos | 0:894b603d32ee | 802 | retval |= ICM_20948_set_bank(pdev, 2); // Must be in the right bank |
saloutos | 0:894b603d32ee | 803 | uint8_t div = (smplrt.g); |
saloutos | 0:894b603d32ee | 804 | retval |= ICM_20948_execute_w(pdev, AGB2_REG_GYRO_SMPLRT_DIV, &div, 1); |
saloutos | 0:894b603d32ee | 805 | } |
saloutos | 0:894b603d32ee | 806 | return retval; |
saloutos | 0:894b603d32ee | 807 | } |
saloutos | 0:894b603d32ee | 808 | |
saloutos | 0:894b603d32ee | 809 | // Interface Things |
saloutos | 0:894b603d32ee | 810 | ICM_20948_Status_e ICM_20948_i2c_master_passthrough(ICM_20948_Device_t *pdev, bool passthrough) |
saloutos | 0:894b603d32ee | 811 | { |
saloutos | 0:894b603d32ee | 812 | ICM_20948_Status_e retval = ICM_20948_Stat_Ok; |
saloutos | 0:894b603d32ee | 813 | |
saloutos | 0:894b603d32ee | 814 | ICM_20948_INT_PIN_CFG_t reg; |
saloutos | 0:894b603d32ee | 815 | retval = ICM_20948_set_bank(pdev, 0); |
saloutos | 0:894b603d32ee | 816 | if (retval != ICM_20948_Stat_Ok) |
saloutos | 0:894b603d32ee | 817 | { |
saloutos | 0:894b603d32ee | 818 | return retval; |
saloutos | 0:894b603d32ee | 819 | } |
saloutos | 0:894b603d32ee | 820 | retval = ICM_20948_execute_r(pdev, AGB0_REG_INT_PIN_CONFIG, (uint8_t *)®, sizeof(ICM_20948_INT_PIN_CFG_t)); |
saloutos | 0:894b603d32ee | 821 | if (retval != ICM_20948_Stat_Ok) |
saloutos | 0:894b603d32ee | 822 | { |
saloutos | 0:894b603d32ee | 823 | return retval; |
saloutos | 0:894b603d32ee | 824 | } |
saloutos | 0:894b603d32ee | 825 | reg.BYPASS_EN = passthrough; |
saloutos | 0:894b603d32ee | 826 | retval = ICM_20948_execute_w(pdev, AGB0_REG_INT_PIN_CONFIG, (uint8_t *)®, sizeof(ICM_20948_INT_PIN_CFG_t)); |
saloutos | 0:894b603d32ee | 827 | if (retval != ICM_20948_Stat_Ok) |
saloutos | 0:894b603d32ee | 828 | { |
saloutos | 0:894b603d32ee | 829 | return retval; |
saloutos | 0:894b603d32ee | 830 | } |
saloutos | 0:894b603d32ee | 831 | |
saloutos | 0:894b603d32ee | 832 | return retval; |
saloutos | 0:894b603d32ee | 833 | } |
saloutos | 0:894b603d32ee | 834 | |
saloutos | 0:894b603d32ee | 835 | ICM_20948_Status_e ICM_20948_i2c_master_enable(ICM_20948_Device_t *pdev, bool enable) |
saloutos | 0:894b603d32ee | 836 | { |
saloutos | 0:894b603d32ee | 837 | ICM_20948_Status_e retval = ICM_20948_Stat_Ok; |
saloutos | 0:894b603d32ee | 838 | |
saloutos | 0:894b603d32ee | 839 | // Disable BYPASS_EN |
saloutos | 0:894b603d32ee | 840 | retval = ICM_20948_i2c_master_passthrough(pdev, false); |
saloutos | 0:894b603d32ee | 841 | if (retval != ICM_20948_Stat_Ok) |
saloutos | 0:894b603d32ee | 842 | { |
saloutos | 0:894b603d32ee | 843 | return retval; |
saloutos | 0:894b603d32ee | 844 | } |
saloutos | 0:894b603d32ee | 845 | |
saloutos | 0:894b603d32ee | 846 | ICM_20948_I2C_MST_CTRL_t ctrl; |
saloutos | 0:894b603d32ee | 847 | retval = ICM_20948_set_bank(pdev, 3); |
saloutos | 0:894b603d32ee | 848 | if (retval != ICM_20948_Stat_Ok) |
saloutos | 0:894b603d32ee | 849 | { |
saloutos | 0:894b603d32ee | 850 | return retval; |
saloutos | 0:894b603d32ee | 851 | } |
saloutos | 0:894b603d32ee | 852 | retval = ICM_20948_execute_r(pdev, AGB3_REG_I2C_MST_CTRL, (uint8_t *)&ctrl, sizeof(ICM_20948_I2C_MST_CTRL_t)); |
saloutos | 0:894b603d32ee | 853 | if (retval != ICM_20948_Stat_Ok) |
saloutos | 0:894b603d32ee | 854 | { |
saloutos | 0:894b603d32ee | 855 | return retval; |
saloutos | 0:894b603d32ee | 856 | } |
saloutos | 0:894b603d32ee | 857 | ctrl.I2C_MST_CLK = 0x07; // corresponds to 345.6 kHz, good for up to 400 kHz |
saloutos | 0:894b603d32ee | 858 | ctrl.I2C_MST_P_NSR = 1; |
saloutos | 0:894b603d32ee | 859 | retval = ICM_20948_execute_w(pdev, AGB3_REG_I2C_MST_CTRL, (uint8_t *)&ctrl, sizeof(ICM_20948_I2C_MST_CTRL_t)); |
saloutos | 0:894b603d32ee | 860 | if (retval != ICM_20948_Stat_Ok) |
saloutos | 0:894b603d32ee | 861 | { |
saloutos | 0:894b603d32ee | 862 | return retval; |
saloutos | 0:894b603d32ee | 863 | } |
saloutos | 0:894b603d32ee | 864 | |
saloutos | 0:894b603d32ee | 865 | ICM_20948_USER_CTRL_t reg; |
saloutos | 0:894b603d32ee | 866 | retval = ICM_20948_set_bank(pdev, 0); |
saloutos | 0:894b603d32ee | 867 | if (retval != ICM_20948_Stat_Ok) |
saloutos | 0:894b603d32ee | 868 | { |
saloutos | 0:894b603d32ee | 869 | return retval; |
saloutos | 0:894b603d32ee | 870 | } |
saloutos | 0:894b603d32ee | 871 | retval = ICM_20948_execute_r(pdev, AGB0_REG_USER_CTRL, (uint8_t *)®, sizeof(ICM_20948_USER_CTRL_t)); |
saloutos | 0:894b603d32ee | 872 | if (retval != ICM_20948_Stat_Ok) |
saloutos | 0:894b603d32ee | 873 | { |
saloutos | 0:894b603d32ee | 874 | return retval; |
saloutos | 0:894b603d32ee | 875 | } |
saloutos | 0:894b603d32ee | 876 | if (enable) |
saloutos | 0:894b603d32ee | 877 | { |
saloutos | 0:894b603d32ee | 878 | reg.I2C_MST_EN = 1; |
saloutos | 0:894b603d32ee | 879 | } |
saloutos | 0:894b603d32ee | 880 | else |
saloutos | 0:894b603d32ee | 881 | { |
saloutos | 0:894b603d32ee | 882 | reg.I2C_MST_EN = 0; |
saloutos | 0:894b603d32ee | 883 | } |
saloutos | 0:894b603d32ee | 884 | retval = ICM_20948_execute_w(pdev, AGB0_REG_USER_CTRL, (uint8_t *)®, sizeof(ICM_20948_USER_CTRL_t)); |
saloutos | 0:894b603d32ee | 885 | if (retval != ICM_20948_Stat_Ok) |
saloutos | 0:894b603d32ee | 886 | { |
saloutos | 0:894b603d32ee | 887 | return retval; |
saloutos | 0:894b603d32ee | 888 | } |
saloutos | 0:894b603d32ee | 889 | |
saloutos | 0:894b603d32ee | 890 | return retval; |
saloutos | 0:894b603d32ee | 891 | } |
saloutos | 0:894b603d32ee | 892 | |
saloutos | 0:894b603d32ee | 893 | ICM_20948_Status_e ICM_20948_i2c_master_reset(ICM_20948_Device_t *pdev) |
saloutos | 0:894b603d32ee | 894 | { |
saloutos | 0:894b603d32ee | 895 | ICM_20948_Status_e retval = ICM_20948_Stat_Ok; |
saloutos | 0:894b603d32ee | 896 | |
saloutos | 0:894b603d32ee | 897 | ICM_20948_USER_CTRL_t ctrl; |
saloutos | 0:894b603d32ee | 898 | retval = ICM_20948_set_bank(pdev, 0); |
saloutos | 0:894b603d32ee | 899 | if (retval != ICM_20948_Stat_Ok) |
saloutos | 0:894b603d32ee | 900 | { |
saloutos | 0:894b603d32ee | 901 | return retval; |
saloutos | 0:894b603d32ee | 902 | } |
saloutos | 0:894b603d32ee | 903 | |
saloutos | 0:894b603d32ee | 904 | retval = ICM_20948_execute_r(pdev, AGB0_REG_USER_CTRL, (uint8_t *)&ctrl, sizeof(ICM_20948_USER_CTRL_t)); |
saloutos | 0:894b603d32ee | 905 | if (retval != ICM_20948_Stat_Ok) |
saloutos | 0:894b603d32ee | 906 | { |
saloutos | 0:894b603d32ee | 907 | return retval; |
saloutos | 0:894b603d32ee | 908 | } |
saloutos | 0:894b603d32ee | 909 | |
saloutos | 0:894b603d32ee | 910 | ctrl.I2C_MST_RST = 1; //Reset! |
saloutos | 0:894b603d32ee | 911 | |
saloutos | 0:894b603d32ee | 912 | retval = ICM_20948_execute_w(pdev, AGB0_REG_USER_CTRL, (uint8_t *)&ctrl, sizeof(ICM_20948_USER_CTRL_t)); |
saloutos | 0:894b603d32ee | 913 | if (retval != ICM_20948_Stat_Ok) |
saloutos | 0:894b603d32ee | 914 | { |
saloutos | 0:894b603d32ee | 915 | return retval; |
saloutos | 0:894b603d32ee | 916 | } |
saloutos | 0:894b603d32ee | 917 | return retval; |
saloutos | 0:894b603d32ee | 918 | } |
saloutos | 0:894b603d32ee | 919 | |
saloutos | 0:894b603d32ee | 920 | 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) |
saloutos | 0:894b603d32ee | 921 | { |
saloutos | 0:894b603d32ee | 922 | ICM_20948_Status_e retval = ICM_20948_Stat_Ok; |
saloutos | 0:894b603d32ee | 923 | |
saloutos | 0:894b603d32ee | 924 | uint8_t periph_addr_reg; |
saloutos | 0:894b603d32ee | 925 | uint8_t periph_reg_reg; |
saloutos | 0:894b603d32ee | 926 | uint8_t periph_ctrl_reg; |
saloutos | 0:894b603d32ee | 927 | uint8_t periph_do_reg; |
saloutos | 0:894b603d32ee | 928 | |
saloutos | 0:894b603d32ee | 929 | switch (peripheral) |
saloutos | 0:894b603d32ee | 930 | { |
saloutos | 0:894b603d32ee | 931 | case 0: |
saloutos | 0:894b603d32ee | 932 | periph_addr_reg = AGB3_REG_I2C_PERIPH0_ADDR; |
saloutos | 0:894b603d32ee | 933 | periph_reg_reg = AGB3_REG_I2C_PERIPH0_REG; |
saloutos | 0:894b603d32ee | 934 | periph_ctrl_reg = AGB3_REG_I2C_PERIPH0_CTRL; |
saloutos | 0:894b603d32ee | 935 | periph_do_reg = AGB3_REG_I2C_PERIPH0_DO; |
saloutos | 0:894b603d32ee | 936 | break; |
saloutos | 0:894b603d32ee | 937 | case 1: |
saloutos | 0:894b603d32ee | 938 | periph_addr_reg = AGB3_REG_I2C_PERIPH1_ADDR; |
saloutos | 0:894b603d32ee | 939 | periph_reg_reg = AGB3_REG_I2C_PERIPH1_REG; |
saloutos | 0:894b603d32ee | 940 | periph_ctrl_reg = AGB3_REG_I2C_PERIPH1_CTRL; |
saloutos | 0:894b603d32ee | 941 | periph_do_reg = AGB3_REG_I2C_PERIPH1_DO; |
saloutos | 0:894b603d32ee | 942 | break; |
saloutos | 0:894b603d32ee | 943 | case 2: |
saloutos | 0:894b603d32ee | 944 | periph_addr_reg = AGB3_REG_I2C_PERIPH2_ADDR; |
saloutos | 0:894b603d32ee | 945 | periph_reg_reg = AGB3_REG_I2C_PERIPH2_REG; |
saloutos | 0:894b603d32ee | 946 | periph_ctrl_reg = AGB3_REG_I2C_PERIPH2_CTRL; |
saloutos | 0:894b603d32ee | 947 | periph_do_reg = AGB3_REG_I2C_PERIPH2_DO; |
saloutos | 0:894b603d32ee | 948 | break; |
saloutos | 0:894b603d32ee | 949 | case 3: |
saloutos | 0:894b603d32ee | 950 | periph_addr_reg = AGB3_REG_I2C_PERIPH3_ADDR; |
saloutos | 0:894b603d32ee | 951 | periph_reg_reg = AGB3_REG_I2C_PERIPH3_REG; |
saloutos | 0:894b603d32ee | 952 | periph_ctrl_reg = AGB3_REG_I2C_PERIPH3_CTRL; |
saloutos | 0:894b603d32ee | 953 | periph_do_reg = AGB3_REG_I2C_PERIPH3_DO; |
saloutos | 0:894b603d32ee | 954 | break; |
saloutos | 0:894b603d32ee | 955 | default: |
saloutos | 0:894b603d32ee | 956 | return ICM_20948_Stat_ParamErr; |
saloutos | 0:894b603d32ee | 957 | } |
saloutos | 0:894b603d32ee | 958 | |
saloutos | 0:894b603d32ee | 959 | retval = ICM_20948_set_bank(pdev, 3); |
saloutos | 0:894b603d32ee | 960 | if (retval != ICM_20948_Stat_Ok) |
saloutos | 0:894b603d32ee | 961 | { |
saloutos | 0:894b603d32ee | 962 | return retval; |
saloutos | 0:894b603d32ee | 963 | } |
saloutos | 0:894b603d32ee | 964 | |
saloutos | 0:894b603d32ee | 965 | // Set the peripheral address and the Rw flag |
saloutos | 0:894b603d32ee | 966 | ICM_20948_I2C_PERIPHX_ADDR_t address; |
saloutos | 0:894b603d32ee | 967 | address.ID = addr; |
saloutos | 0:894b603d32ee | 968 | if (Rw) |
saloutos | 0:894b603d32ee | 969 | { |
saloutos | 0:894b603d32ee | 970 | address.RNW = 1; |
saloutos | 0:894b603d32ee | 971 | } |
saloutos | 0:894b603d32ee | 972 | else |
saloutos | 0:894b603d32ee | 973 | { |
saloutos | 0:894b603d32ee | 974 | address.RNW = 0; // Make sure bit is clear (just in case there is any garbage in that RAM location) |
saloutos | 0:894b603d32ee | 975 | } |
saloutos | 0:894b603d32ee | 976 | retval = ICM_20948_execute_w(pdev, periph_addr_reg, (uint8_t *)&address, sizeof(ICM_20948_I2C_PERIPHX_ADDR_t)); |
saloutos | 0:894b603d32ee | 977 | if (retval != ICM_20948_Stat_Ok) |
saloutos | 0:894b603d32ee | 978 | { |
saloutos | 0:894b603d32ee | 979 | return retval; |
saloutos | 0:894b603d32ee | 980 | } |
saloutos | 0:894b603d32ee | 981 | |
saloutos | 0:894b603d32ee | 982 | // If we are setting up a write, configure the Data Out register too |
saloutos | 0:894b603d32ee | 983 | if (!Rw) |
saloutos | 0:894b603d32ee | 984 | { |
saloutos | 0:894b603d32ee | 985 | ICM_20948_I2C_PERIPHX_DO_t dataOutByte; |
saloutos | 0:894b603d32ee | 986 | dataOutByte.DO = dataOut; |
saloutos | 0:894b603d32ee | 987 | retval = ICM_20948_execute_w(pdev, periph_do_reg, (uint8_t *)&dataOutByte, sizeof(ICM_20948_I2C_PERIPHX_DO_t)); |
saloutos | 0:894b603d32ee | 988 | if (retval != ICM_20948_Stat_Ok) |
saloutos | 0:894b603d32ee | 989 | { |
saloutos | 0:894b603d32ee | 990 | return retval; |
saloutos | 0:894b603d32ee | 991 | } |
saloutos | 0:894b603d32ee | 992 | } |
saloutos | 0:894b603d32ee | 993 | |
saloutos | 0:894b603d32ee | 994 | // Set the peripheral sub-address (register address) |
saloutos | 0:894b603d32ee | 995 | ICM_20948_I2C_PERIPHX_REG_t subaddress; |
saloutos | 0:894b603d32ee | 996 | subaddress.REG = reg; |
saloutos | 0:894b603d32ee | 997 | retval = ICM_20948_execute_w(pdev, periph_reg_reg, (uint8_t *)&subaddress, sizeof(ICM_20948_I2C_PERIPHX_REG_t)); |
saloutos | 0:894b603d32ee | 998 | if (retval != ICM_20948_Stat_Ok) |
saloutos | 0:894b603d32ee | 999 | { |
saloutos | 0:894b603d32ee | 1000 | return retval; |
saloutos | 0:894b603d32ee | 1001 | } |
saloutos | 0:894b603d32ee | 1002 | |
saloutos | 0:894b603d32ee | 1003 | // Set up the control info |
saloutos | 0:894b603d32ee | 1004 | ICM_20948_I2C_PERIPHX_CTRL_t ctrl; |
saloutos | 0:894b603d32ee | 1005 | ctrl.LENG = len; |
saloutos | 0:894b603d32ee | 1006 | ctrl.EN = enable; |
saloutos | 0:894b603d32ee | 1007 | ctrl.REG_DIS = data_only; |
saloutos | 0:894b603d32ee | 1008 | ctrl.GRP = grp; |
saloutos | 0:894b603d32ee | 1009 | ctrl.BYTE_SW = swap; |
saloutos | 0:894b603d32ee | 1010 | retval = ICM_20948_execute_w(pdev, periph_ctrl_reg, (uint8_t *)&ctrl, sizeof(ICM_20948_I2C_PERIPHX_CTRL_t)); |
saloutos | 0:894b603d32ee | 1011 | if (retval != ICM_20948_Stat_Ok) |
saloutos | 0:894b603d32ee | 1012 | { |
saloutos | 0:894b603d32ee | 1013 | return retval; |
saloutos | 0:894b603d32ee | 1014 | } |
saloutos | 0:894b603d32ee | 1015 | |
saloutos | 0:894b603d32ee | 1016 | return retval; |
saloutos | 0:894b603d32ee | 1017 | } |
saloutos | 0:894b603d32ee | 1018 | |
saloutos | 0:894b603d32ee | 1019 | // Higher Level |
saloutos | 0:894b603d32ee | 1020 | ICM_20948_Status_e ICM_20948_get_agmt(ICM_20948_Device_t *pdev, ICM_20948_AGMT_t *pagmt) |
saloutos | 0:894b603d32ee | 1021 | { |
saloutos | 0:894b603d32ee | 1022 | if (pagmt == NULL) |
saloutos | 0:894b603d32ee | 1023 | { |
saloutos | 0:894b603d32ee | 1024 | return ICM_20948_Stat_ParamErr; |
saloutos | 0:894b603d32ee | 1025 | } |
saloutos | 0:894b603d32ee | 1026 | |
saloutos | 0:894b603d32ee | 1027 | ICM_20948_Status_e retval = ICM_20948_Stat_Ok; |
saloutos | 0:894b603d32ee | 1028 | const uint8_t numbytes = 14 + 9; //Read Accel, gyro, temp, and 9 bytes of mag |
saloutos | 0:894b603d32ee | 1029 | uint8_t buff[numbytes]; |
saloutos | 0:894b603d32ee | 1030 | |
saloutos | 0:894b603d32ee | 1031 | // Get readings |
saloutos | 0:894b603d32ee | 1032 | retval |= ICM_20948_set_bank(pdev, 0); |
saloutos | 0:894b603d32ee | 1033 | retval |= ICM_20948_execute_r(pdev, (uint8_t)AGB0_REG_ACCEL_XOUT_H, buff, numbytes); |
saloutos | 0:894b603d32ee | 1034 | |
saloutos | 0:894b603d32ee | 1035 | pagmt->acc.axes.x = ((buff[0] << 8) | (buff[1] & 0xFF)); |
saloutos | 0:894b603d32ee | 1036 | pagmt->acc.axes.y = ((buff[2] << 8) | (buff[3] & 0xFF)); |
saloutos | 0:894b603d32ee | 1037 | pagmt->acc.axes.z = ((buff[4] << 8) | (buff[5] & 0xFF)); |
saloutos | 0:894b603d32ee | 1038 | |
saloutos | 0:894b603d32ee | 1039 | pagmt->gyr.axes.x = ((buff[6] << 8) | (buff[7] & 0xFF)); |
saloutos | 0:894b603d32ee | 1040 | pagmt->gyr.axes.y = ((buff[8] << 8) | (buff[9] & 0xFF)); |
saloutos | 0:894b603d32ee | 1041 | pagmt->gyr.axes.z = ((buff[10] << 8) | (buff[11] & 0xFF)); |
saloutos | 0:894b603d32ee | 1042 | |
saloutos | 0:894b603d32ee | 1043 | pagmt->tmp.val = ((buff[12] << 8) | (buff[13] & 0xFF)); |
saloutos | 0:894b603d32ee | 1044 | |
saloutos | 0:894b603d32ee | 1045 | pagmt->magStat1 = buff[14]; |
saloutos | 0:894b603d32ee | 1046 | pagmt->mag.axes.x = ((buff[16] << 8) | (buff[15] & 0xFF)); //Mag data is read little endian |
saloutos | 0:894b603d32ee | 1047 | pagmt->mag.axes.y = ((buff[18] << 8) | (buff[17] & 0xFF)); |
saloutos | 0:894b603d32ee | 1048 | pagmt->mag.axes.z = ((buff[20] << 8) | (buff[19] & 0xFF)); |
saloutos | 0:894b603d32ee | 1049 | pagmt->magStat2 = buff[22]; |
saloutos | 0:894b603d32ee | 1050 | |
saloutos | 0:894b603d32ee | 1051 | // Get settings to be able to compute scaled values |
saloutos | 0:894b603d32ee | 1052 | retval |= ICM_20948_set_bank(pdev, 2); |
saloutos | 0:894b603d32ee | 1053 | ICM_20948_ACCEL_CONFIG_t acfg; |
saloutos | 0:894b603d32ee | 1054 | retval |= ICM_20948_execute_r(pdev, (uint8_t)AGB2_REG_ACCEL_CONFIG, (uint8_t *)&acfg, 1 * sizeof(acfg)); |
saloutos | 0:894b603d32ee | 1055 | pagmt->fss.a = acfg.ACCEL_FS_SEL; // Worth noting that without explicitly setting the FS range of the accelerometer it was showing the register value for +/- 2g but the reported values were actually scaled to the +/- 16g range |
saloutos | 0:894b603d32ee | 1056 | // Wait a minute... now it seems like this problem actually comes from the digital low-pass filter. When enabled the value is 1/8 what it should be... |
saloutos | 0:894b603d32ee | 1057 | retval |= ICM_20948_set_bank(pdev, 2); |
saloutos | 0:894b603d32ee | 1058 | ICM_20948_GYRO_CONFIG_1_t gcfg1; |
saloutos | 0:894b603d32ee | 1059 | retval |= ICM_20948_execute_r(pdev, (uint8_t)AGB2_REG_GYRO_CONFIG_1, (uint8_t *)&gcfg1, 1 * sizeof(gcfg1)); |
saloutos | 0:894b603d32ee | 1060 | pagmt->fss.g = gcfg1.GYRO_FS_SEL; |
saloutos | 0:894b603d32ee | 1061 | ICM_20948_ACCEL_CONFIG_2_t acfg2; |
saloutos | 0:894b603d32ee | 1062 | retval |= ICM_20948_execute_r(pdev, (uint8_t)AGB2_REG_ACCEL_CONFIG_2, (uint8_t *)&acfg2, 1 * sizeof(acfg2)); |
saloutos | 0:894b603d32ee | 1063 | |
saloutos | 0:894b603d32ee | 1064 | return retval; |
saloutos | 0:894b603d32ee | 1065 | } |
saloutos | 0:894b603d32ee | 1066 | |
saloutos | 0:894b603d32ee | 1067 | // FIFO |
saloutos | 0:894b603d32ee | 1068 | |
saloutos | 0:894b603d32ee | 1069 | ICM_20948_Status_e ICM_20948_enable_FIFO(ICM_20948_Device_t *pdev, bool enable) |
saloutos | 0:894b603d32ee | 1070 | { |
saloutos | 0:894b603d32ee | 1071 | ICM_20948_Status_e retval = ICM_20948_Stat_Ok; |
saloutos | 0:894b603d32ee | 1072 | |
saloutos | 0:894b603d32ee | 1073 | ICM_20948_USER_CTRL_t ctrl; |
saloutos | 0:894b603d32ee | 1074 | retval = ICM_20948_set_bank(pdev, 0); |
saloutos | 0:894b603d32ee | 1075 | if (retval != ICM_20948_Stat_Ok) |
saloutos | 0:894b603d32ee | 1076 | { |
saloutos | 0:894b603d32ee | 1077 | return retval; |
saloutos | 0:894b603d32ee | 1078 | } |
saloutos | 0:894b603d32ee | 1079 | |
saloutos | 0:894b603d32ee | 1080 | retval = ICM_20948_execute_r(pdev, AGB0_REG_USER_CTRL, (uint8_t *)&ctrl, sizeof(ICM_20948_USER_CTRL_t)); |
saloutos | 0:894b603d32ee | 1081 | if (retval != ICM_20948_Stat_Ok) |
saloutos | 0:894b603d32ee | 1082 | { |
saloutos | 0:894b603d32ee | 1083 | return retval; |
saloutos | 0:894b603d32ee | 1084 | } |
saloutos | 0:894b603d32ee | 1085 | |
saloutos | 0:894b603d32ee | 1086 | if (enable) |
saloutos | 0:894b603d32ee | 1087 | ctrl.FIFO_EN = 1; |
saloutos | 0:894b603d32ee | 1088 | else |
saloutos | 0:894b603d32ee | 1089 | ctrl.FIFO_EN = 0; |
saloutos | 0:894b603d32ee | 1090 | |
saloutos | 0:894b603d32ee | 1091 | retval = ICM_20948_execute_w(pdev, AGB0_REG_USER_CTRL, (uint8_t *)&ctrl, sizeof(ICM_20948_USER_CTRL_t)); |
saloutos | 0:894b603d32ee | 1092 | if (retval != ICM_20948_Stat_Ok) |
saloutos | 0:894b603d32ee | 1093 | { |
saloutos | 0:894b603d32ee | 1094 | return retval; |
saloutos | 0:894b603d32ee | 1095 | } |
saloutos | 0:894b603d32ee | 1096 | return retval; |
saloutos | 0:894b603d32ee | 1097 | } |
saloutos | 0:894b603d32ee | 1098 | |
saloutos | 0:894b603d32ee | 1099 | ICM_20948_Status_e ICM_20948_reset_FIFO(ICM_20948_Device_t *pdev) |
saloutos | 0:894b603d32ee | 1100 | { |
saloutos | 0:894b603d32ee | 1101 | ICM_20948_Status_e retval = ICM_20948_Stat_Ok; |
saloutos | 0:894b603d32ee | 1102 | |
saloutos | 0:894b603d32ee | 1103 | ICM_20948_FIFO_RST_t ctrl; |
saloutos | 0:894b603d32ee | 1104 | retval = ICM_20948_set_bank(pdev, 0); |
saloutos | 0:894b603d32ee | 1105 | if (retval != ICM_20948_Stat_Ok) |
saloutos | 0:894b603d32ee | 1106 | { |
saloutos | 0:894b603d32ee | 1107 | return retval; |
saloutos | 0:894b603d32ee | 1108 | } |
saloutos | 0:894b603d32ee | 1109 | |
saloutos | 0:894b603d32ee | 1110 | retval = ICM_20948_execute_r(pdev, AGB0_REG_FIFO_RST, (uint8_t *)&ctrl, sizeof(ICM_20948_FIFO_RST_t)); |
saloutos | 0:894b603d32ee | 1111 | if (retval != ICM_20948_Stat_Ok) |
saloutos | 0:894b603d32ee | 1112 | { |
saloutos | 0:894b603d32ee | 1113 | return retval; |
saloutos | 0:894b603d32ee | 1114 | } |
saloutos | 0:894b603d32ee | 1115 | |
saloutos | 0:894b603d32ee | 1116 | ctrl.FIFO_RESET = 0x1F; // Datasheet says "FIFO_RESET[4:0]" |
saloutos | 0:894b603d32ee | 1117 | |
saloutos | 0:894b603d32ee | 1118 | retval = ICM_20948_execute_w(pdev, AGB0_REG_FIFO_RST, (uint8_t *)&ctrl, sizeof(ICM_20948_FIFO_RST_t)); |
saloutos | 0:894b603d32ee | 1119 | if (retval != ICM_20948_Stat_Ok) |
saloutos | 0:894b603d32ee | 1120 | { |
saloutos | 0:894b603d32ee | 1121 | return retval; |
saloutos | 0:894b603d32ee | 1122 | } |
saloutos | 0:894b603d32ee | 1123 | |
saloutos | 0:894b603d32ee | 1124 | //delay ??? |
saloutos | 0:894b603d32ee | 1125 | |
saloutos | 0:894b603d32ee | 1126 | ctrl.FIFO_RESET = 0x1E; // The InvenSense Nucleo examples write 0x1F followed by 0x1E |
saloutos | 0:894b603d32ee | 1127 | |
saloutos | 0:894b603d32ee | 1128 | retval = ICM_20948_execute_w(pdev, AGB0_REG_FIFO_RST, (uint8_t *)&ctrl, sizeof(ICM_20948_FIFO_RST_t)); |
saloutos | 0:894b603d32ee | 1129 | if (retval != ICM_20948_Stat_Ok) |
saloutos | 0:894b603d32ee | 1130 | { |
saloutos | 0:894b603d32ee | 1131 | return retval; |
saloutos | 0:894b603d32ee | 1132 | } |
saloutos | 0:894b603d32ee | 1133 | |
saloutos | 0:894b603d32ee | 1134 | return retval; |
saloutos | 0:894b603d32ee | 1135 | } |
saloutos | 0:894b603d32ee | 1136 | |
saloutos | 0:894b603d32ee | 1137 | ICM_20948_Status_e ICM_20948_set_FIFO_mode(ICM_20948_Device_t *pdev, bool snapshot) |
saloutos | 0:894b603d32ee | 1138 | { |
saloutos | 0:894b603d32ee | 1139 | ICM_20948_Status_e retval = ICM_20948_Stat_Ok; |
saloutos | 0:894b603d32ee | 1140 | |
saloutos | 0:894b603d32ee | 1141 | ICM_20948_FIFO_MODE_t ctrl; |
saloutos | 0:894b603d32ee | 1142 | retval = ICM_20948_set_bank(pdev, 0); |
saloutos | 0:894b603d32ee | 1143 | if (retval != ICM_20948_Stat_Ok) |
saloutos | 0:894b603d32ee | 1144 | { |
saloutos | 0:894b603d32ee | 1145 | return retval; |
saloutos | 0:894b603d32ee | 1146 | } |
saloutos | 0:894b603d32ee | 1147 | |
saloutos | 0:894b603d32ee | 1148 | retval = ICM_20948_execute_r(pdev, AGB0_REG_FIFO_MODE, (uint8_t *)&ctrl, sizeof(ICM_20948_FIFO_MODE_t)); |
saloutos | 0:894b603d32ee | 1149 | if (retval != ICM_20948_Stat_Ok) |
saloutos | 0:894b603d32ee | 1150 | { |
saloutos | 0:894b603d32ee | 1151 | return retval; |
saloutos | 0:894b603d32ee | 1152 | } |
saloutos | 0:894b603d32ee | 1153 | |
saloutos | 0:894b603d32ee | 1154 | if (snapshot) |
saloutos | 0:894b603d32ee | 1155 | ctrl.FIFO_MODE = 0x1F; // Datasheet says "FIFO_MODE[4:0]" |
saloutos | 0:894b603d32ee | 1156 | else |
saloutos | 0:894b603d32ee | 1157 | ctrl.FIFO_MODE = 0; |
saloutos | 0:894b603d32ee | 1158 | |
saloutos | 0:894b603d32ee | 1159 | retval = ICM_20948_execute_w(pdev, AGB0_REG_FIFO_MODE, (uint8_t *)&ctrl, sizeof(ICM_20948_FIFO_MODE_t)); |
saloutos | 0:894b603d32ee | 1160 | if (retval != ICM_20948_Stat_Ok) |
saloutos | 0:894b603d32ee | 1161 | { |
saloutos | 0:894b603d32ee | 1162 | return retval; |
saloutos | 0:894b603d32ee | 1163 | } |
saloutos | 0:894b603d32ee | 1164 | return retval; |
saloutos | 0:894b603d32ee | 1165 | } |
saloutos | 0:894b603d32ee | 1166 | |
saloutos | 0:894b603d32ee | 1167 | ICM_20948_Status_e ICM_20948_get_FIFO_count(ICM_20948_Device_t *pdev, uint16_t *count) |
saloutos | 0:894b603d32ee | 1168 | { |
saloutos | 0:894b603d32ee | 1169 | ICM_20948_Status_e retval = ICM_20948_Stat_Ok; |
saloutos | 0:894b603d32ee | 1170 | |
saloutos | 0:894b603d32ee | 1171 | ICM_20948_FIFO_COUNTH_t ctrlh; |
saloutos | 0:894b603d32ee | 1172 | ICM_20948_FIFO_COUNTL_t ctrll; |
saloutos | 0:894b603d32ee | 1173 | retval = ICM_20948_set_bank(pdev, 0); |
saloutos | 0:894b603d32ee | 1174 | if (retval != ICM_20948_Stat_Ok) |
saloutos | 0:894b603d32ee | 1175 | { |
saloutos | 0:894b603d32ee | 1176 | return retval; |
saloutos | 0:894b603d32ee | 1177 | } |
saloutos | 0:894b603d32ee | 1178 | |
saloutos | 0:894b603d32ee | 1179 | retval = ICM_20948_execute_r(pdev, AGB0_REG_FIFO_COUNT_H, (uint8_t *)&ctrlh, sizeof(ICM_20948_FIFO_COUNTH_t)); |
saloutos | 0:894b603d32ee | 1180 | if (retval != ICM_20948_Stat_Ok) |
saloutos | 0:894b603d32ee | 1181 | { |
saloutos | 0:894b603d32ee | 1182 | return retval; |
saloutos | 0:894b603d32ee | 1183 | } |
saloutos | 0:894b603d32ee | 1184 | |
saloutos | 0:894b603d32ee | 1185 | ctrlh.FIFO_COUNTH &= 0x1F; // Datasheet says "FIFO_CNT[12:8]" |
saloutos | 0:894b603d32ee | 1186 | |
saloutos | 0:894b603d32ee | 1187 | retval = ICM_20948_execute_r(pdev, AGB0_REG_FIFO_COUNT_L, (uint8_t *)&ctrll, sizeof(ICM_20948_FIFO_COUNTL_t)); |
saloutos | 0:894b603d32ee | 1188 | if (retval != ICM_20948_Stat_Ok) |
saloutos | 0:894b603d32ee | 1189 | { |
saloutos | 0:894b603d32ee | 1190 | return retval; |
saloutos | 0:894b603d32ee | 1191 | } |
saloutos | 0:894b603d32ee | 1192 | |
saloutos | 0:894b603d32ee | 1193 | *count = (((uint16_t)ctrlh.FIFO_COUNTH) << 8) | (uint16_t)ctrll.FIFO_COUNTL; |
saloutos | 0:894b603d32ee | 1194 | |
saloutos | 0:894b603d32ee | 1195 | return retval; |
saloutos | 0:894b603d32ee | 1196 | } |
saloutos | 0:894b603d32ee | 1197 | |
saloutos | 0:894b603d32ee | 1198 | ICM_20948_Status_e ICM_20948_read_FIFO(ICM_20948_Device_t *pdev, uint8_t *data, uint8_t len) |
saloutos | 0:894b603d32ee | 1199 | { |
saloutos | 0:894b603d32ee | 1200 | ICM_20948_Status_e retval = ICM_20948_Stat_Ok; |
saloutos | 0:894b603d32ee | 1201 | |
saloutos | 0:894b603d32ee | 1202 | retval = ICM_20948_set_bank(pdev, 0); |
saloutos | 0:894b603d32ee | 1203 | if (retval != ICM_20948_Stat_Ok) |
saloutos | 0:894b603d32ee | 1204 | { |
saloutos | 0:894b603d32ee | 1205 | return retval; |
saloutos | 0:894b603d32ee | 1206 | } |
saloutos | 0:894b603d32ee | 1207 | |
saloutos | 0:894b603d32ee | 1208 | retval = ICM_20948_execute_r(pdev, AGB0_REG_FIFO_R_W, data, len); |
saloutos | 0:894b603d32ee | 1209 | if (retval != ICM_20948_Stat_Ok) |
saloutos | 0:894b603d32ee | 1210 | { |
saloutos | 0:894b603d32ee | 1211 | return retval; |
saloutos | 0:894b603d32ee | 1212 | } |
saloutos | 0:894b603d32ee | 1213 | |
saloutos | 0:894b603d32ee | 1214 | return retval; |
saloutos | 0:894b603d32ee | 1215 | } |
saloutos | 0:894b603d32ee | 1216 | |
saloutos | 0:894b603d32ee | 1217 | // DMP |
saloutos | 0:894b603d32ee | 1218 | |
saloutos | 0:894b603d32ee | 1219 | ICM_20948_Status_e ICM_20948_enable_DMP(ICM_20948_Device_t *pdev, bool enable) |
saloutos | 0:894b603d32ee | 1220 | { |
saloutos | 0:894b603d32ee | 1221 | ICM_20948_Status_e retval = ICM_20948_Stat_Ok; |
saloutos | 0:894b603d32ee | 1222 | |
saloutos | 0:894b603d32ee | 1223 | ICM_20948_USER_CTRL_t ctrl; |
saloutos | 0:894b603d32ee | 1224 | retval = ICM_20948_set_bank(pdev, 0); |
saloutos | 0:894b603d32ee | 1225 | if (retval != ICM_20948_Stat_Ok) |
saloutos | 0:894b603d32ee | 1226 | { |
saloutos | 0:894b603d32ee | 1227 | return retval; |
saloutos | 0:894b603d32ee | 1228 | } |
saloutos | 0:894b603d32ee | 1229 | |
saloutos | 0:894b603d32ee | 1230 | retval = ICM_20948_execute_r(pdev, AGB0_REG_USER_CTRL, (uint8_t *)&ctrl, sizeof(ICM_20948_USER_CTRL_t)); |
saloutos | 0:894b603d32ee | 1231 | if (retval != ICM_20948_Stat_Ok) |
saloutos | 0:894b603d32ee | 1232 | { |
saloutos | 0:894b603d32ee | 1233 | return retval; |
saloutos | 0:894b603d32ee | 1234 | } |
saloutos | 0:894b603d32ee | 1235 | |
saloutos | 0:894b603d32ee | 1236 | if (enable) |
saloutos | 0:894b603d32ee | 1237 | ctrl.DMP_EN = 1; |
saloutos | 0:894b603d32ee | 1238 | else |
saloutos | 0:894b603d32ee | 1239 | ctrl.DMP_EN = 0; |
saloutos | 0:894b603d32ee | 1240 | |
saloutos | 0:894b603d32ee | 1241 | retval = ICM_20948_execute_w(pdev, AGB0_REG_USER_CTRL, (uint8_t *)&ctrl, sizeof(ICM_20948_USER_CTRL_t)); |
saloutos | 0:894b603d32ee | 1242 | if (retval != ICM_20948_Stat_Ok) |
saloutos | 0:894b603d32ee | 1243 | { |
saloutos | 0:894b603d32ee | 1244 | return retval; |
saloutos | 0:894b603d32ee | 1245 | } |
saloutos | 0:894b603d32ee | 1246 | return retval; |
saloutos | 0:894b603d32ee | 1247 | } |
saloutos | 0:894b603d32ee | 1248 | |
saloutos | 0:894b603d32ee | 1249 | ICM_20948_Status_e ICM_20948_reset_DMP(ICM_20948_Device_t *pdev) |
saloutos | 0:894b603d32ee | 1250 | { |
saloutos | 0:894b603d32ee | 1251 | ICM_20948_Status_e retval = ICM_20948_Stat_Ok; |
saloutos | 0:894b603d32ee | 1252 | |
saloutos | 0:894b603d32ee | 1253 | ICM_20948_USER_CTRL_t ctrl; |
saloutos | 0:894b603d32ee | 1254 | retval = ICM_20948_set_bank(pdev, 0); |
saloutos | 0:894b603d32ee | 1255 | if (retval != ICM_20948_Stat_Ok) |
saloutos | 0:894b603d32ee | 1256 | { |
saloutos | 0:894b603d32ee | 1257 | return retval; |
saloutos | 0:894b603d32ee | 1258 | } |
saloutos | 0:894b603d32ee | 1259 | |
saloutos | 0:894b603d32ee | 1260 | retval = ICM_20948_execute_r(pdev, AGB0_REG_USER_CTRL, (uint8_t *)&ctrl, sizeof(ICM_20948_USER_CTRL_t)); |
saloutos | 0:894b603d32ee | 1261 | if (retval != ICM_20948_Stat_Ok) |
saloutos | 0:894b603d32ee | 1262 | { |
saloutos | 0:894b603d32ee | 1263 | return retval; |
saloutos | 0:894b603d32ee | 1264 | } |
saloutos | 0:894b603d32ee | 1265 | |
saloutos | 0:894b603d32ee | 1266 | ctrl.DMP_RST = 1; |
saloutos | 0:894b603d32ee | 1267 | |
saloutos | 0:894b603d32ee | 1268 | retval = ICM_20948_execute_w(pdev, AGB0_REG_USER_CTRL, (uint8_t *)&ctrl, sizeof(ICM_20948_USER_CTRL_t)); |
saloutos | 0:894b603d32ee | 1269 | if (retval != ICM_20948_Stat_Ok) |
saloutos | 0:894b603d32ee | 1270 | { |
saloutos | 0:894b603d32ee | 1271 | return retval; |
saloutos | 0:894b603d32ee | 1272 | } |
saloutos | 0:894b603d32ee | 1273 | return retval; |
saloutos | 0:894b603d32ee | 1274 | } |
saloutos | 0:894b603d32ee | 1275 | |
saloutos | 0:894b603d32ee | 1276 | ICM_20948_Status_e ICM_20948_firmware_load(ICM_20948_Device_t *pdev) |
saloutos | 0:894b603d32ee | 1277 | { |
saloutos | 0:894b603d32ee | 1278 | #if defined(ICM_20948_USE_DMP) |
saloutos | 0:894b603d32ee | 1279 | return (inv_icm20948_firmware_load(pdev, dmp3_image, sizeof(dmp3_image), DMP_LOAD_START)); |
saloutos | 0:894b603d32ee | 1280 | #else |
saloutos | 0:894b603d32ee | 1281 | return ICM_20948_Stat_DMPNotSupported; |
saloutos | 0:894b603d32ee | 1282 | #endif |
saloutos | 0:894b603d32ee | 1283 | } |
saloutos | 0:894b603d32ee | 1284 | |
saloutos | 0:894b603d32ee | 1285 | /** @brief Loads the DMP firmware from SRAM |
saloutos | 0:894b603d32ee | 1286 | * @param[in] data pointer where the image |
saloutos | 0:894b603d32ee | 1287 | * @param[in] size size if the image |
saloutos | 0:894b603d32ee | 1288 | * @param[in] load_addr address to loading the image |
saloutos | 0:894b603d32ee | 1289 | * @return 0 in case of success, -1 for any error |
saloutos | 0:894b603d32ee | 1290 | */ |
saloutos | 0:894b603d32ee | 1291 | ICM_20948_Status_e inv_icm20948_firmware_load(ICM_20948_Device_t *pdev, const unsigned char *data_start, unsigned short size_start, unsigned short load_addr) |
saloutos | 0:894b603d32ee | 1292 | { |
saloutos | 0:894b603d32ee | 1293 | int write_size; |
saloutos | 0:894b603d32ee | 1294 | ICM_20948_Status_e result = ICM_20948_Stat_Ok; |
saloutos | 0:894b603d32ee | 1295 | unsigned short memaddr; |
saloutos | 0:894b603d32ee | 1296 | const unsigned char *data; |
saloutos | 0:894b603d32ee | 1297 | unsigned short size; |
saloutos | 0:894b603d32ee | 1298 | unsigned char data_cmp[INV_MAX_SERIAL_READ]; |
saloutos | 0:894b603d32ee | 1299 | int flag = 0; |
saloutos | 0:894b603d32ee | 1300 | |
saloutos | 0:894b603d32ee | 1301 | if (pdev->_dmp_firmware_available == false) |
saloutos | 0:894b603d32ee | 1302 | return ICM_20948_Stat_DMPNotSupported; |
saloutos | 0:894b603d32ee | 1303 | |
saloutos | 0:894b603d32ee | 1304 | if (pdev->_firmware_loaded) |
saloutos | 0:894b603d32ee | 1305 | return ICM_20948_Stat_Ok; // Bail with no error if firmware is already loaded |
saloutos | 0:894b603d32ee | 1306 | |
saloutos | 0:894b603d32ee | 1307 | result = ICM_20948_sleep(pdev, false); // Make sure chip is awake |
saloutos | 0:894b603d32ee | 1308 | if (result != ICM_20948_Stat_Ok) |
saloutos | 0:894b603d32ee | 1309 | { |
saloutos | 0:894b603d32ee | 1310 | return result; |
saloutos | 0:894b603d32ee | 1311 | } |
saloutos | 0:894b603d32ee | 1312 | |
saloutos | 0:894b603d32ee | 1313 | result = ICM_20948_low_power(pdev, false); // Make sure chip is not in low power state |
saloutos | 0:894b603d32ee | 1314 | if (result != ICM_20948_Stat_Ok) |
saloutos | 0:894b603d32ee | 1315 | { |
saloutos | 0:894b603d32ee | 1316 | return result; |
saloutos | 0:894b603d32ee | 1317 | } |
saloutos | 0:894b603d32ee | 1318 | |
saloutos | 0:894b603d32ee | 1319 | // Write DMP memory |
saloutos | 0:894b603d32ee | 1320 | |
saloutos | 0:894b603d32ee | 1321 | data = data_start; |
saloutos | 0:894b603d32ee | 1322 | size = size_start; |
saloutos | 0:894b603d32ee | 1323 | memaddr = load_addr; |
saloutos | 0:894b603d32ee | 1324 | #ifdef ICM_20948_USE_PROGMEM_FOR_DMP |
saloutos | 0:894b603d32ee | 1325 | unsigned char data_not_pg[INV_MAX_SERIAL_READ]; // Suggested by @HyperKokichi in Issue #63 |
saloutos | 0:894b603d32ee | 1326 | #endif |
saloutos | 0:894b603d32ee | 1327 | while (size > 0) |
saloutos | 0:894b603d32ee | 1328 | { |
saloutos | 0:894b603d32ee | 1329 | //write_size = min(size, INV_MAX_SERIAL_WRITE); // Write in chunks of INV_MAX_SERIAL_WRITE |
saloutos | 0:894b603d32ee | 1330 | if (size <= INV_MAX_SERIAL_WRITE) // Write in chunks of INV_MAX_SERIAL_WRITE |
saloutos | 0:894b603d32ee | 1331 | write_size = size; |
saloutos | 0:894b603d32ee | 1332 | else |
saloutos | 0:894b603d32ee | 1333 | write_size = INV_MAX_SERIAL_WRITE; |
saloutos | 0:894b603d32ee | 1334 | if ((memaddr & 0xff) + write_size > 0x100) |
saloutos | 0:894b603d32ee | 1335 | { |
saloutos | 0:894b603d32ee | 1336 | // Moved across a bank |
saloutos | 0:894b603d32ee | 1337 | write_size = (memaddr & 0xff) + write_size - 0x100; |
saloutos | 0:894b603d32ee | 1338 | } |
saloutos | 0:894b603d32ee | 1339 | #ifdef ICM_20948_USE_PROGMEM_FOR_DMP |
saloutos | 0:894b603d32ee | 1340 | memcpy_P(data_not_pg, data, write_size); // Suggested by @HyperKokichi in Issue #63 |
saloutos | 0:894b603d32ee | 1341 | result = inv_icm20948_write_mems(pdev, memaddr, write_size, (unsigned char *)data_not_pg); |
saloutos | 0:894b603d32ee | 1342 | #else |
saloutos | 0:894b603d32ee | 1343 | result = inv_icm20948_write_mems(pdev, memaddr, write_size, (unsigned char *)data); |
saloutos | 0:894b603d32ee | 1344 | #endif |
saloutos | 0:894b603d32ee | 1345 | if (result != ICM_20948_Stat_Ok) |
saloutos | 0:894b603d32ee | 1346 | return result; |
saloutos | 0:894b603d32ee | 1347 | data += write_size; |
saloutos | 0:894b603d32ee | 1348 | size -= write_size; |
saloutos | 0:894b603d32ee | 1349 | memaddr += write_size; |
saloutos | 0:894b603d32ee | 1350 | } |
saloutos | 0:894b603d32ee | 1351 | |
saloutos | 0:894b603d32ee | 1352 | // Verify DMP memory |
saloutos | 0:894b603d32ee | 1353 | |
saloutos | 0:894b603d32ee | 1354 | data = data_start; |
saloutos | 0:894b603d32ee | 1355 | size = size_start; |
saloutos | 0:894b603d32ee | 1356 | memaddr = load_addr; |
saloutos | 0:894b603d32ee | 1357 | while (size > 0) |
saloutos | 0:894b603d32ee | 1358 | { |
saloutos | 0:894b603d32ee | 1359 | //write_size = min(size, INV_MAX_SERIAL_READ); // Read in chunks of INV_MAX_SERIAL_READ |
saloutos | 0:894b603d32ee | 1360 | if (size <= INV_MAX_SERIAL_READ) // Read in chunks of INV_MAX_SERIAL_READ |
saloutos | 0:894b603d32ee | 1361 | write_size = size; |
saloutos | 0:894b603d32ee | 1362 | else |
saloutos | 0:894b603d32ee | 1363 | write_size = INV_MAX_SERIAL_READ; |
saloutos | 0:894b603d32ee | 1364 | if ((memaddr & 0xff) + write_size > 0x100) |
saloutos | 0:894b603d32ee | 1365 | { |
saloutos | 0:894b603d32ee | 1366 | // Moved across a bank |
saloutos | 0:894b603d32ee | 1367 | write_size = (memaddr & 0xff) + write_size - 0x100; |
saloutos | 0:894b603d32ee | 1368 | } |
saloutos | 0:894b603d32ee | 1369 | result = inv_icm20948_read_mems(pdev, memaddr, write_size, data_cmp); |
saloutos | 0:894b603d32ee | 1370 | if (result != ICM_20948_Stat_Ok) |
saloutos | 0:894b603d32ee | 1371 | flag++; // Error, DMP not written correctly |
saloutos | 0:894b603d32ee | 1372 | #ifdef ICM_20948_USE_PROGMEM_FOR_DMP |
saloutos | 0:894b603d32ee | 1373 | memcpy_P(data_not_pg, data, write_size); // Suggested by @HyperKokichi in Issue #63 |
saloutos | 0:894b603d32ee | 1374 | if (memcmp(data_cmp, data_not_pg, write_size)) |
saloutos | 0:894b603d32ee | 1375 | #else |
saloutos | 0:894b603d32ee | 1376 | if (memcmp(data_cmp, data, write_size)) // Compare the data |
saloutos | 0:894b603d32ee | 1377 | #endif |
saloutos | 0:894b603d32ee | 1378 | return ICM_20948_Stat_DMPVerifyFail; |
saloutos | 0:894b603d32ee | 1379 | data += write_size; |
saloutos | 0:894b603d32ee | 1380 | size -= write_size; |
saloutos | 0:894b603d32ee | 1381 | memaddr += write_size; |
saloutos | 0:894b603d32ee | 1382 | } |
saloutos | 0:894b603d32ee | 1383 | |
saloutos | 0:894b603d32ee | 1384 | //Enable LP_EN since we disabled it at begining of this function. |
saloutos | 0:894b603d32ee | 1385 | result = ICM_20948_low_power(pdev, true); // Put chip into low power state |
saloutos | 0:894b603d32ee | 1386 | if (result != ICM_20948_Stat_Ok) |
saloutos | 0:894b603d32ee | 1387 | return result; |
saloutos | 0:894b603d32ee | 1388 | |
saloutos | 0:894b603d32ee | 1389 | if (!flag) |
saloutos | 0:894b603d32ee | 1390 | { |
saloutos | 0:894b603d32ee | 1391 | //Serial.println("DMP Firmware was updated successfully.."); |
saloutos | 0:894b603d32ee | 1392 | pdev->_firmware_loaded = true; |
saloutos | 0:894b603d32ee | 1393 | } |
saloutos | 0:894b603d32ee | 1394 | |
saloutos | 0:894b603d32ee | 1395 | return result; |
saloutos | 0:894b603d32ee | 1396 | } |
saloutos | 0:894b603d32ee | 1397 | |
saloutos | 0:894b603d32ee | 1398 | ICM_20948_Status_e ICM_20948_set_dmp_start_address(ICM_20948_Device_t *pdev, unsigned short address) |
saloutos | 0:894b603d32ee | 1399 | { |
saloutos | 0:894b603d32ee | 1400 | ICM_20948_Status_e result = ICM_20948_Stat_Ok; |
saloutos | 0:894b603d32ee | 1401 | |
saloutos | 0:894b603d32ee | 1402 | if (pdev->_dmp_firmware_available == false) |
saloutos | 0:894b603d32ee | 1403 | return ICM_20948_Stat_DMPNotSupported; |
saloutos | 0:894b603d32ee | 1404 | |
saloutos | 0:894b603d32ee | 1405 | unsigned char start_address[2]; |
saloutos | 0:894b603d32ee | 1406 | |
saloutos | 0:894b603d32ee | 1407 | start_address[0] = (unsigned char)(address >> 8); |
saloutos | 0:894b603d32ee | 1408 | start_address[1] = (unsigned char)(address & 0xff); |
saloutos | 0:894b603d32ee | 1409 | |
saloutos | 0:894b603d32ee | 1410 | // result = ICM_20948_sleep(pdev, false); // Make sure chip is awake |
saloutos | 0:894b603d32ee | 1411 | // if (result != ICM_20948_Stat_Ok) |
saloutos | 0:894b603d32ee | 1412 | // { |
saloutos | 0:894b603d32ee | 1413 | // return result; |
saloutos | 0:894b603d32ee | 1414 | // } |
saloutos | 0:894b603d32ee | 1415 | // |
saloutos | 0:894b603d32ee | 1416 | // result = ICM_20948_low_power(pdev, false); // Make sure chip is not in low power state |
saloutos | 0:894b603d32ee | 1417 | // if (result != ICM_20948_Stat_Ok) |
saloutos | 0:894b603d32ee | 1418 | // { |
saloutos | 0:894b603d32ee | 1419 | // return result; |
saloutos | 0:894b603d32ee | 1420 | // } |
saloutos | 0:894b603d32ee | 1421 | |
saloutos | 0:894b603d32ee | 1422 | result = ICM_20948_set_bank(pdev, 2); // Set bank 2 |
saloutos | 0:894b603d32ee | 1423 | if (result != ICM_20948_Stat_Ok) |
saloutos | 0:894b603d32ee | 1424 | { |
saloutos | 0:894b603d32ee | 1425 | return result; |
saloutos | 0:894b603d32ee | 1426 | } |
saloutos | 0:894b603d32ee | 1427 | |
saloutos | 0:894b603d32ee | 1428 | // Write the sensor control bits into memory address AGB2_REG_PRGM_START_ADDRH |
saloutos | 0:894b603d32ee | 1429 | result = ICM_20948_execute_w(pdev, AGB2_REG_PRGM_START_ADDRH, (uint8_t *)start_address, 2); |
saloutos | 0:894b603d32ee | 1430 | |
saloutos | 0:894b603d32ee | 1431 | return result; |
saloutos | 0:894b603d32ee | 1432 | } |
saloutos | 0:894b603d32ee | 1433 | |
saloutos | 0:894b603d32ee | 1434 | /** |
saloutos | 0:894b603d32ee | 1435 | * @brief Write data to a register in DMP memory |
saloutos | 0:894b603d32ee | 1436 | * @param[in] DMP memory address |
saloutos | 0:894b603d32ee | 1437 | * @param[in] number of byte to be written |
saloutos | 0:894b603d32ee | 1438 | * @param[out] output data from the register |
saloutos | 0:894b603d32ee | 1439 | * @return 0 if successful. |
saloutos | 0:894b603d32ee | 1440 | */ |
saloutos | 0:894b603d32ee | 1441 | ICM_20948_Status_e inv_icm20948_write_mems(ICM_20948_Device_t *pdev, unsigned short reg, unsigned int length, const unsigned char *data) |
saloutos | 0:894b603d32ee | 1442 | { |
saloutos | 0:894b603d32ee | 1443 | ICM_20948_Status_e result = ICM_20948_Stat_Ok; |
saloutos | 0:894b603d32ee | 1444 | unsigned int bytesWritten = 0; |
saloutos | 0:894b603d32ee | 1445 | unsigned int thisLen; |
saloutos | 0:894b603d32ee | 1446 | unsigned char lBankSelected; |
saloutos | 0:894b603d32ee | 1447 | unsigned char lStartAddrSelected; |
saloutos | 0:894b603d32ee | 1448 | |
saloutos | 0:894b603d32ee | 1449 | if (!data) |
saloutos | 0:894b603d32ee | 1450 | { |
saloutos | 0:894b603d32ee | 1451 | return ICM_20948_Stat_NoData; |
saloutos | 0:894b603d32ee | 1452 | } |
saloutos | 0:894b603d32ee | 1453 | |
saloutos | 0:894b603d32ee | 1454 | result = ICM_20948_set_bank(pdev, 0); // Set bank 0 |
saloutos | 0:894b603d32ee | 1455 | if (result != ICM_20948_Stat_Ok) |
saloutos | 0:894b603d32ee | 1456 | { |
saloutos | 0:894b603d32ee | 1457 | return result; |
saloutos | 0:894b603d32ee | 1458 | } |
saloutos | 0:894b603d32ee | 1459 | |
saloutos | 0:894b603d32ee | 1460 | lBankSelected = (reg >> 8); |
saloutos | 0:894b603d32ee | 1461 | |
saloutos | 0:894b603d32ee | 1462 | if (lBankSelected != pdev->_last_mems_bank) |
saloutos | 0:894b603d32ee | 1463 | { |
saloutos | 0:894b603d32ee | 1464 | pdev->_last_mems_bank = lBankSelected; |
saloutos | 0:894b603d32ee | 1465 | result = ICM_20948_execute_w(pdev, AGB0_REG_MEM_BANK_SEL, &lBankSelected, 1); |
saloutos | 0:894b603d32ee | 1466 | if (result != ICM_20948_Stat_Ok) |
saloutos | 0:894b603d32ee | 1467 | { |
saloutos | 0:894b603d32ee | 1468 | return result; |
saloutos | 0:894b603d32ee | 1469 | } |
saloutos | 0:894b603d32ee | 1470 | } |
saloutos | 0:894b603d32ee | 1471 | |
saloutos | 0:894b603d32ee | 1472 | while (bytesWritten < length) |
saloutos | 0:894b603d32ee | 1473 | { |
saloutos | 0:894b603d32ee | 1474 | lStartAddrSelected = (reg & 0xff); |
saloutos | 0:894b603d32ee | 1475 | |
saloutos | 0:894b603d32ee | 1476 | /* Sets the starting read or write address for the selected memory, inside of the selected page (see MEM_SEL Register). |
saloutos | 0:894b603d32ee | 1477 | Contents are changed after read or write of the selected memory. |
saloutos | 0:894b603d32ee | 1478 | This register must be written prior to each access to initialize the register to the proper starting address. |
saloutos | 0:894b603d32ee | 1479 | The address will auto increment during burst transactions. Two consecutive bursts without re-initializing the start address would skip one address. */ |
saloutos | 0:894b603d32ee | 1480 | |
saloutos | 0:894b603d32ee | 1481 | result = ICM_20948_execute_w(pdev, AGB0_REG_MEM_START_ADDR, &lStartAddrSelected, 1); |
saloutos | 0:894b603d32ee | 1482 | if (result != ICM_20948_Stat_Ok) |
saloutos | 0:894b603d32ee | 1483 | { |
saloutos | 0:894b603d32ee | 1484 | return result; |
saloutos | 0:894b603d32ee | 1485 | } |
saloutos | 0:894b603d32ee | 1486 | |
saloutos | 0:894b603d32ee | 1487 | if (length - bytesWritten <= INV_MAX_SERIAL_WRITE) |
saloutos | 0:894b603d32ee | 1488 | thisLen = length - bytesWritten; |
saloutos | 0:894b603d32ee | 1489 | else |
saloutos | 0:894b603d32ee | 1490 | thisLen = INV_MAX_SERIAL_WRITE; |
saloutos | 0:894b603d32ee | 1491 | |
saloutos | 0:894b603d32ee | 1492 | /* Write data */ |
saloutos | 0:894b603d32ee | 1493 | |
saloutos | 0:894b603d32ee | 1494 | result = ICM_20948_execute_w(pdev, AGB0_REG_MEM_R_W, (uint8_t *)&data[bytesWritten], thisLen); |
saloutos | 0:894b603d32ee | 1495 | if (result != ICM_20948_Stat_Ok) |
saloutos | 0:894b603d32ee | 1496 | { |
saloutos | 0:894b603d32ee | 1497 | return result; |
saloutos | 0:894b603d32ee | 1498 | } |
saloutos | 0:894b603d32ee | 1499 | |
saloutos | 0:894b603d32ee | 1500 | bytesWritten += thisLen; |
saloutos | 0:894b603d32ee | 1501 | reg += thisLen; |
saloutos | 0:894b603d32ee | 1502 | } |
saloutos | 0:894b603d32ee | 1503 | |
saloutos | 0:894b603d32ee | 1504 | return result; |
saloutos | 0:894b603d32ee | 1505 | } |
saloutos | 0:894b603d32ee | 1506 | |
saloutos | 0:894b603d32ee | 1507 | /** |
saloutos | 0:894b603d32ee | 1508 | * @brief Read data from a register in DMP memory |
saloutos | 0:894b603d32ee | 1509 | * @param[in] DMP memory address |
saloutos | 0:894b603d32ee | 1510 | * @param[in] number of byte to be read |
saloutos | 0:894b603d32ee | 1511 | * @param[in] input data from the register |
saloutos | 0:894b603d32ee | 1512 | * @return 0 if successful. |
saloutos | 0:894b603d32ee | 1513 | */ |
saloutos | 0:894b603d32ee | 1514 | ICM_20948_Status_e inv_icm20948_read_mems(ICM_20948_Device_t *pdev, unsigned short reg, unsigned int length, unsigned char *data) |
saloutos | 0:894b603d32ee | 1515 | { |
saloutos | 0:894b603d32ee | 1516 | ICM_20948_Status_e result = ICM_20948_Stat_Ok; |
saloutos | 0:894b603d32ee | 1517 | unsigned int bytesRead = 0; |
saloutos | 0:894b603d32ee | 1518 | unsigned int thisLen; |
saloutos | 0:894b603d32ee | 1519 | unsigned char lBankSelected; |
saloutos | 0:894b603d32ee | 1520 | unsigned char lStartAddrSelected; |
saloutos | 0:894b603d32ee | 1521 | |
saloutos | 0:894b603d32ee | 1522 | if (!data) |
saloutos | 0:894b603d32ee | 1523 | { |
saloutos | 0:894b603d32ee | 1524 | return ICM_20948_Stat_NoData; |
saloutos | 0:894b603d32ee | 1525 | } |
saloutos | 0:894b603d32ee | 1526 | |
saloutos | 0:894b603d32ee | 1527 | result = ICM_20948_set_bank(pdev, 0); // Set bank 0 |
saloutos | 0:894b603d32ee | 1528 | if (result != ICM_20948_Stat_Ok) |
saloutos | 0:894b603d32ee | 1529 | { |
saloutos | 0:894b603d32ee | 1530 | return result; |
saloutos | 0:894b603d32ee | 1531 | } |
saloutos | 0:894b603d32ee | 1532 | |
saloutos | 0:894b603d32ee | 1533 | lBankSelected = (reg >> 8); |
saloutos | 0:894b603d32ee | 1534 | |
saloutos | 0:894b603d32ee | 1535 | if (lBankSelected != pdev->_last_mems_bank) |
saloutos | 0:894b603d32ee | 1536 | { |
saloutos | 0:894b603d32ee | 1537 | pdev->_last_mems_bank = lBankSelected; |
saloutos | 0:894b603d32ee | 1538 | result = ICM_20948_execute_w(pdev, AGB0_REG_MEM_BANK_SEL, &lBankSelected, 1); |
saloutos | 0:894b603d32ee | 1539 | if (result != ICM_20948_Stat_Ok) |
saloutos | 0:894b603d32ee | 1540 | { |
saloutos | 0:894b603d32ee | 1541 | return result; |
saloutos | 0:894b603d32ee | 1542 | } |
saloutos | 0:894b603d32ee | 1543 | } |
saloutos | 0:894b603d32ee | 1544 | |
saloutos | 0:894b603d32ee | 1545 | while (bytesRead < length) |
saloutos | 0:894b603d32ee | 1546 | { |
saloutos | 0:894b603d32ee | 1547 | lStartAddrSelected = (reg & 0xff); |
saloutos | 0:894b603d32ee | 1548 | |
saloutos | 0:894b603d32ee | 1549 | /* Sets the starting read or write address for the selected memory, inside of the selected page (see MEM_SEL Register). |
saloutos | 0:894b603d32ee | 1550 | Contents are changed after read or write of the selected memory. |
saloutos | 0:894b603d32ee | 1551 | This register must be written prior to each access to initialize the register to the proper starting address. |
saloutos | 0:894b603d32ee | 1552 | The address will auto increment during burst transactions. Two consecutive bursts without re-initializing the start address would skip one address. */ |
saloutos | 0:894b603d32ee | 1553 | |
saloutos | 0:894b603d32ee | 1554 | result = ICM_20948_execute_w(pdev, AGB0_REG_MEM_START_ADDR, &lStartAddrSelected, 1); |
saloutos | 0:894b603d32ee | 1555 | if (result != ICM_20948_Stat_Ok) |
saloutos | 0:894b603d32ee | 1556 | { |
saloutos | 0:894b603d32ee | 1557 | return result; |
saloutos | 0:894b603d32ee | 1558 | } |
saloutos | 0:894b603d32ee | 1559 | |
saloutos | 0:894b603d32ee | 1560 | if (length - bytesRead <= INV_MAX_SERIAL_READ) |
saloutos | 0:894b603d32ee | 1561 | thisLen = length - bytesRead; |
saloutos | 0:894b603d32ee | 1562 | else |
saloutos | 0:894b603d32ee | 1563 | thisLen = INV_MAX_SERIAL_READ; |
saloutos | 0:894b603d32ee | 1564 | |
saloutos | 0:894b603d32ee | 1565 | /* Read data */ |
saloutos | 0:894b603d32ee | 1566 | |
saloutos | 0:894b603d32ee | 1567 | result = ICM_20948_execute_r(pdev, AGB0_REG_MEM_R_W, &data[bytesRead], thisLen); |
saloutos | 0:894b603d32ee | 1568 | if (result != ICM_20948_Stat_Ok) |
saloutos | 0:894b603d32ee | 1569 | { |
saloutos | 0:894b603d32ee | 1570 | return result; |
saloutos | 0:894b603d32ee | 1571 | } |
saloutos | 0:894b603d32ee | 1572 | |
saloutos | 0:894b603d32ee | 1573 | bytesRead += thisLen; |
saloutos | 0:894b603d32ee | 1574 | reg += thisLen; |
saloutos | 0:894b603d32ee | 1575 | } |
saloutos | 0:894b603d32ee | 1576 | |
saloutos | 0:894b603d32ee | 1577 | return result; |
saloutos | 0:894b603d32ee | 1578 | } |
saloutos | 0:894b603d32ee | 1579 | |
saloutos | 0:894b603d32ee | 1580 | ICM_20948_Status_e inv_icm20948_set_dmp_sensor_period(ICM_20948_Device_t *pdev, enum DMP_ODR_Registers odr_reg, uint16_t interval) |
saloutos | 0:894b603d32ee | 1581 | { |
saloutos | 0:894b603d32ee | 1582 | // Set the ODR registers and clear the ODR counter |
saloutos | 0:894b603d32ee | 1583 | |
saloutos | 0:894b603d32ee | 1584 | // In order to set an ODR for a given sensor data, write 2-byte value to DMP using key defined above for a particular sensor. |
saloutos | 0:894b603d32ee | 1585 | // Setting value can be calculated as follows: |
saloutos | 0:894b603d32ee | 1586 | // Value = (DMP running rate (225Hz) / ODR ) - 1 |
saloutos | 0:894b603d32ee | 1587 | // E.g. For a 25Hz ODR rate, value= (225/25) -1 = 8. |
saloutos | 0:894b603d32ee | 1588 | |
saloutos | 0:894b603d32ee | 1589 | // During run-time, if an ODR is changed, the corresponding rate counter must be reset. |
saloutos | 0:894b603d32ee | 1590 | // To reset, write 2-byte {0,0} to DMP using keys below for a particular sensor: |
saloutos | 0:894b603d32ee | 1591 | |
saloutos | 0:894b603d32ee | 1592 | ICM_20948_Status_e result = ICM_20948_Stat_Ok; |
saloutos | 0:894b603d32ee | 1593 | ICM_20948_Status_e result2 = ICM_20948_Stat_Ok; |
saloutos | 0:894b603d32ee | 1594 | |
saloutos | 0:894b603d32ee | 1595 | if (pdev->_dmp_firmware_available == false) |
saloutos | 0:894b603d32ee | 1596 | return ICM_20948_Stat_DMPNotSupported; |
saloutos | 0:894b603d32ee | 1597 | |
saloutos | 0:894b603d32ee | 1598 | unsigned char odr_reg_val[2]; |
saloutos | 0:894b603d32ee | 1599 | odr_reg_val[0] = (unsigned char)(interval >> 8); |
saloutos | 0:894b603d32ee | 1600 | odr_reg_val[1] = (unsigned char)(interval & 0xff); |
saloutos | 0:894b603d32ee | 1601 | |
saloutos | 0:894b603d32ee | 1602 | unsigned char odr_count_zero[2] = {0x00, 0x00}; |
saloutos | 0:894b603d32ee | 1603 | |
saloutos | 0:894b603d32ee | 1604 | result = ICM_20948_sleep(pdev, false); // Make sure chip is awake |
saloutos | 0:894b603d32ee | 1605 | if (result != ICM_20948_Stat_Ok) |
saloutos | 0:894b603d32ee | 1606 | { |
saloutos | 0:894b603d32ee | 1607 | return result; |
saloutos | 0:894b603d32ee | 1608 | } |
saloutos | 0:894b603d32ee | 1609 | |
saloutos | 0:894b603d32ee | 1610 | result = ICM_20948_low_power(pdev, false); // Make sure chip is not in low power state |
saloutos | 0:894b603d32ee | 1611 | if (result != ICM_20948_Stat_Ok) |
saloutos | 0:894b603d32ee | 1612 | { |
saloutos | 0:894b603d32ee | 1613 | return result; |
saloutos | 0:894b603d32ee | 1614 | } |
saloutos | 0:894b603d32ee | 1615 | |
saloutos | 0:894b603d32ee | 1616 | switch (odr_reg) |
saloutos | 0:894b603d32ee | 1617 | { |
saloutos | 0:894b603d32ee | 1618 | case DMP_ODR_Reg_Cpass_Calibr: |
saloutos | 0:894b603d32ee | 1619 | { |
saloutos | 0:894b603d32ee | 1620 | result = inv_icm20948_write_mems(pdev, ODR_CPASS_CALIBR, 2, (const unsigned char *)&odr_reg_val); |
saloutos | 0:894b603d32ee | 1621 | result2 = inv_icm20948_write_mems(pdev, ODR_CNTR_CPASS_CALIBR, 2, (const unsigned char *)&odr_count_zero); |
saloutos | 0:894b603d32ee | 1622 | } |
saloutos | 0:894b603d32ee | 1623 | break; |
saloutos | 0:894b603d32ee | 1624 | case DMP_ODR_Reg_Gyro_Calibr: |
saloutos | 0:894b603d32ee | 1625 | { |
saloutos | 0:894b603d32ee | 1626 | result = inv_icm20948_write_mems(pdev, ODR_GYRO_CALIBR, 2, (const unsigned char *)&odr_reg_val); |
saloutos | 0:894b603d32ee | 1627 | result2 = inv_icm20948_write_mems(pdev, ODR_CNTR_GYRO_CALIBR, 2, (const unsigned char *)&odr_count_zero); |
saloutos | 0:894b603d32ee | 1628 | } |
saloutos | 0:894b603d32ee | 1629 | break; |
saloutos | 0:894b603d32ee | 1630 | case DMP_ODR_Reg_Pressure: |
saloutos | 0:894b603d32ee | 1631 | { |
saloutos | 0:894b603d32ee | 1632 | result = inv_icm20948_write_mems(pdev, ODR_PRESSURE, 2, (const unsigned char *)&odr_reg_val); |
saloutos | 0:894b603d32ee | 1633 | result2 = inv_icm20948_write_mems(pdev, ODR_CNTR_PRESSURE, 2, (const unsigned char *)&odr_count_zero); |
saloutos | 0:894b603d32ee | 1634 | } |
saloutos | 0:894b603d32ee | 1635 | break; |
saloutos | 0:894b603d32ee | 1636 | case DMP_ODR_Reg_Geomag: |
saloutos | 0:894b603d32ee | 1637 | { |
saloutos | 0:894b603d32ee | 1638 | result = inv_icm20948_write_mems(pdev, ODR_GEOMAG, 2, (const unsigned char *)&odr_reg_val); |
saloutos | 0:894b603d32ee | 1639 | result2 = inv_icm20948_write_mems(pdev, ODR_CNTR_GEOMAG, 2, (const unsigned char *)&odr_count_zero); |
saloutos | 0:894b603d32ee | 1640 | } |
saloutos | 0:894b603d32ee | 1641 | break; |
saloutos | 0:894b603d32ee | 1642 | case DMP_ODR_Reg_PQuat6: |
saloutos | 0:894b603d32ee | 1643 | { |
saloutos | 0:894b603d32ee | 1644 | result = inv_icm20948_write_mems(pdev, ODR_PQUAT6, 2, (const unsigned char *)&odr_reg_val); |
saloutos | 0:894b603d32ee | 1645 | result2 = inv_icm20948_write_mems(pdev, ODR_CNTR_PQUAT6, 2, (const unsigned char *)&odr_count_zero); |
saloutos | 0:894b603d32ee | 1646 | } |
saloutos | 0:894b603d32ee | 1647 | break; |
saloutos | 0:894b603d32ee | 1648 | case DMP_ODR_Reg_Quat9: |
saloutos | 0:894b603d32ee | 1649 | { |
saloutos | 0:894b603d32ee | 1650 | result = inv_icm20948_write_mems(pdev, ODR_QUAT9, 2, (const unsigned char *)&odr_reg_val); |
saloutos | 0:894b603d32ee | 1651 | result2 = inv_icm20948_write_mems(pdev, ODR_CNTR_QUAT9, 2, (const unsigned char *)&odr_count_zero); |
saloutos | 0:894b603d32ee | 1652 | } |
saloutos | 0:894b603d32ee | 1653 | break; |
saloutos | 0:894b603d32ee | 1654 | case DMP_ODR_Reg_Quat6: |
saloutos | 0:894b603d32ee | 1655 | { |
saloutos | 0:894b603d32ee | 1656 | result = inv_icm20948_write_mems(pdev, ODR_QUAT6, 2, (const unsigned char *)&odr_reg_val); |
saloutos | 0:894b603d32ee | 1657 | result2 = inv_icm20948_write_mems(pdev, ODR_CNTR_QUAT6, 2, (const unsigned char *)&odr_count_zero); |
saloutos | 0:894b603d32ee | 1658 | } |
saloutos | 0:894b603d32ee | 1659 | break; |
saloutos | 0:894b603d32ee | 1660 | case DMP_ODR_Reg_ALS: |
saloutos | 0:894b603d32ee | 1661 | { |
saloutos | 0:894b603d32ee | 1662 | result = inv_icm20948_write_mems(pdev, ODR_ALS, 2, (const unsigned char *)&odr_reg_val); |
saloutos | 0:894b603d32ee | 1663 | result2 = inv_icm20948_write_mems(pdev, ODR_CNTR_ALS, 2, (const unsigned char *)&odr_count_zero); |
saloutos | 0:894b603d32ee | 1664 | } |
saloutos | 0:894b603d32ee | 1665 | break; |
saloutos | 0:894b603d32ee | 1666 | case DMP_ODR_Reg_Cpass: |
saloutos | 0:894b603d32ee | 1667 | { |
saloutos | 0:894b603d32ee | 1668 | result = inv_icm20948_write_mems(pdev, ODR_CPASS, 2, (const unsigned char *)&odr_reg_val); |
saloutos | 0:894b603d32ee | 1669 | result2 = inv_icm20948_write_mems(pdev, ODR_CNTR_CPASS, 2, (const unsigned char *)&odr_count_zero); |
saloutos | 0:894b603d32ee | 1670 | } |
saloutos | 0:894b603d32ee | 1671 | break; |
saloutos | 0:894b603d32ee | 1672 | case DMP_ODR_Reg_Gyro: |
saloutos | 0:894b603d32ee | 1673 | { |
saloutos | 0:894b603d32ee | 1674 | result = inv_icm20948_write_mems(pdev, ODR_GYRO, 2, (const unsigned char *)&odr_reg_val); |
saloutos | 0:894b603d32ee | 1675 | result2 = inv_icm20948_write_mems(pdev, ODR_CNTR_GYRO, 2, (const unsigned char *)&odr_count_zero); |
saloutos | 0:894b603d32ee | 1676 | } |
saloutos | 0:894b603d32ee | 1677 | break; |
saloutos | 0:894b603d32ee | 1678 | case DMP_ODR_Reg_Accel: |
saloutos | 0:894b603d32ee | 1679 | { |
saloutos | 0:894b603d32ee | 1680 | result = inv_icm20948_write_mems(pdev, ODR_ACCEL, 2, (const unsigned char *)&odr_reg_val); |
saloutos | 0:894b603d32ee | 1681 | result2 = inv_icm20948_write_mems(pdev, ODR_CNTR_ACCEL, 2, (const unsigned char *)&odr_count_zero); |
saloutos | 0:894b603d32ee | 1682 | } |
saloutos | 0:894b603d32ee | 1683 | break; |
saloutos | 0:894b603d32ee | 1684 | default: |
saloutos | 0:894b603d32ee | 1685 | result = ICM_20948_Stat_InvalDMPRegister; |
saloutos | 0:894b603d32ee | 1686 | break; |
saloutos | 0:894b603d32ee | 1687 | } |
saloutos | 0:894b603d32ee | 1688 | |
saloutos | 0:894b603d32ee | 1689 | result = ICM_20948_low_power(pdev, true); // Put chip into low power state |
saloutos | 0:894b603d32ee | 1690 | if (result != ICM_20948_Stat_Ok) |
saloutos | 0:894b603d32ee | 1691 | return result; |
saloutos | 0:894b603d32ee | 1692 | |
saloutos | 0:894b603d32ee | 1693 | if (result2 > result) |
saloutos | 0:894b603d32ee | 1694 | result = result2; // Return the highest error |
saloutos | 0:894b603d32ee | 1695 | |
saloutos | 0:894b603d32ee | 1696 | return result; |
saloutos | 0:894b603d32ee | 1697 | } |
saloutos | 0:894b603d32ee | 1698 | |
saloutos | 0:894b603d32ee | 1699 | ICM_20948_Status_e inv_icm20948_enable_dmp_sensor(ICM_20948_Device_t *pdev, enum inv_icm20948_sensor sensor, int state) |
saloutos | 0:894b603d32ee | 1700 | { |
saloutos | 0:894b603d32ee | 1701 | ICM_20948_Status_e result = ICM_20948_Stat_Ok; |
saloutos | 0:894b603d32ee | 1702 | |
saloutos | 0:894b603d32ee | 1703 | uint16_t inv_event_control = 0; // Use this to store the value for MOTION_EVENT_CTL |
saloutos | 0:894b603d32ee | 1704 | uint16_t data_rdy_status = 0; // Use this to store the value for DATA_RDY_STATUS |
saloutos | 0:894b603d32ee | 1705 | |
saloutos | 0:894b603d32ee | 1706 | if (pdev->_dmp_firmware_available == false) |
saloutos | 0:894b603d32ee | 1707 | return ICM_20948_Stat_DMPNotSupported; // Bail if DMP is not supported |
saloutos | 0:894b603d32ee | 1708 | |
saloutos | 0:894b603d32ee | 1709 | uint8_t androidSensor = sensor_type_2_android_sensor(sensor); // Convert sensor from enum inv_icm20948_sensor to Android numbering |
saloutos | 0:894b603d32ee | 1710 | |
saloutos | 0:894b603d32ee | 1711 | if (androidSensor >= ANDROID_SENSOR_NUM_MAX) |
saloutos | 0:894b603d32ee | 1712 | return ICM_20948_Stat_SensorNotSupported; // Bail if the sensor is not supported (TO DO: Support B2S etc) |
saloutos | 0:894b603d32ee | 1713 | |
saloutos | 0:894b603d32ee | 1714 | // Convert the Android sensor into a bit mask for DATA_OUT_CTL1 |
saloutos | 0:894b603d32ee | 1715 | uint16_t delta = inv_androidSensor_to_control_bits[androidSensor]; |
saloutos | 0:894b603d32ee | 1716 | if (delta == 0xFFFF) |
saloutos | 0:894b603d32ee | 1717 | return ICM_20948_Stat_SensorNotSupported; // Bail if the sensor is not supported |
saloutos | 0:894b603d32ee | 1718 | |
saloutos | 0:894b603d32ee | 1719 | // Convert the Android sensor number into a bitmask and set or clear that bit in _enabled_Android_0 / _enabled_Android_1 |
saloutos | 0:894b603d32ee | 1720 | unsigned long androidSensorAsBitMask; |
saloutos | 0:894b603d32ee | 1721 | if (androidSensor < 32) // Sensors 0-31 |
saloutos | 0:894b603d32ee | 1722 | { |
saloutos | 0:894b603d32ee | 1723 | androidSensorAsBitMask = 1L << androidSensor; |
saloutos | 0:894b603d32ee | 1724 | if (state == 0) // Should we disable the sensor? |
saloutos | 0:894b603d32ee | 1725 | { |
saloutos | 0:894b603d32ee | 1726 | pdev->_enabled_Android_0 &= ~androidSensorAsBitMask; // Clear the bit to disable the sensor |
saloutos | 0:894b603d32ee | 1727 | } |
saloutos | 0:894b603d32ee | 1728 | else |
saloutos | 0:894b603d32ee | 1729 | { |
saloutos | 0:894b603d32ee | 1730 | pdev->_enabled_Android_0 |= androidSensorAsBitMask; // Set the bit to enable the sensor |
saloutos | 0:894b603d32ee | 1731 | } |
saloutos | 0:894b603d32ee | 1732 | } |
saloutos | 0:894b603d32ee | 1733 | else // Sensors 32- |
saloutos | 0:894b603d32ee | 1734 | { |
saloutos | 0:894b603d32ee | 1735 | androidSensorAsBitMask = 1L << (androidSensor - 32); |
saloutos | 0:894b603d32ee | 1736 | if (state == 0) // Should we disable the sensor? |
saloutos | 0:894b603d32ee | 1737 | { |
saloutos | 0:894b603d32ee | 1738 | pdev->_enabled_Android_1 &= ~androidSensorAsBitMask; // Clear the bit to disable the sensor |
saloutos | 0:894b603d32ee | 1739 | } |
saloutos | 0:894b603d32ee | 1740 | else |
saloutos | 0:894b603d32ee | 1741 | { |
saloutos | 0:894b603d32ee | 1742 | pdev->_enabled_Android_1 |= androidSensorAsBitMask; // Set the bit to enable the sensor |
saloutos | 0:894b603d32ee | 1743 | } |
saloutos | 0:894b603d32ee | 1744 | } |
saloutos | 0:894b603d32ee | 1745 | |
saloutos | 0:894b603d32ee | 1746 | // Now we know androidSensor is valid, reconstruct the value for DATA_OUT_CTL1 from _enabled_Android_0 and _enabled_Android_0 |
saloutos | 0:894b603d32ee | 1747 | delta = 0; // Clear delta |
saloutos | 0:894b603d32ee | 1748 | for (int i = 0; i < 32; i++) |
saloutos | 0:894b603d32ee | 1749 | { |
saloutos | 0:894b603d32ee | 1750 | androidSensorAsBitMask = 1L << i; |
saloutos | 0:894b603d32ee | 1751 | if ((pdev->_enabled_Android_0 & androidSensorAsBitMask) > 0) // Check if the Android sensor (0-31) is enabled |
saloutos | 0:894b603d32ee | 1752 | { |
saloutos | 0:894b603d32ee | 1753 | delta |= inv_androidSensor_to_control_bits[i]; // If it is, or the required bits into delta |
saloutos | 0:894b603d32ee | 1754 | } |
saloutos | 0:894b603d32ee | 1755 | if ((pdev->_enabled_Android_1 & androidSensorAsBitMask) > 0) // Check if the Android sensor (32-) is enabled |
saloutos | 0:894b603d32ee | 1756 | { |
saloutos | 0:894b603d32ee | 1757 | delta |= inv_androidSensor_to_control_bits[i + 32]; // If it is, or the required bits into delta |
saloutos | 0:894b603d32ee | 1758 | } |
saloutos | 0:894b603d32ee | 1759 | // Also check which bits need to be set in the Data Ready Status and Motion Event Control registers |
saloutos | 0:894b603d32ee | 1760 | // Compare to INV_NEEDS_ACCEL_MASK, INV_NEEDS_GYRO_MASK and INV_NEEDS_COMPASS_MASK |
saloutos | 0:894b603d32ee | 1761 | if (((androidSensorAsBitMask & INV_NEEDS_ACCEL_MASK) > 0) || ((androidSensorAsBitMask & INV_NEEDS_ACCEL_MASK1) > 0)) |
saloutos | 0:894b603d32ee | 1762 | { |
saloutos | 0:894b603d32ee | 1763 | data_rdy_status |= DMP_Data_ready_Accel; |
saloutos | 0:894b603d32ee | 1764 | inv_event_control |= DMP_Motion_Event_Control_Accel_Calibr; |
saloutos | 0:894b603d32ee | 1765 | } |
saloutos | 0:894b603d32ee | 1766 | if (((androidSensorAsBitMask & INV_NEEDS_GYRO_MASK) > 0) || ((androidSensorAsBitMask & INV_NEEDS_GYRO_MASK1) > 0)) |
saloutos | 0:894b603d32ee | 1767 | { |
saloutos | 0:894b603d32ee | 1768 | data_rdy_status |= DMP_Data_ready_Gyro; |
saloutos | 0:894b603d32ee | 1769 | inv_event_control |= DMP_Motion_Event_Control_Gyro_Calibr; |
saloutos | 0:894b603d32ee | 1770 | } |
saloutos | 0:894b603d32ee | 1771 | if (((androidSensorAsBitMask & INV_NEEDS_COMPASS_MASK) > 0) || ((androidSensorAsBitMask & INV_NEEDS_COMPASS_MASK1) > 0)) |
saloutos | 0:894b603d32ee | 1772 | { |
saloutos | 0:894b603d32ee | 1773 | data_rdy_status |= DMP_Data_ready_Secondary_Compass; |
saloutos | 0:894b603d32ee | 1774 | inv_event_control |= DMP_Motion_Event_Control_Compass_Calibr; |
saloutos | 0:894b603d32ee | 1775 | } |
saloutos | 0:894b603d32ee | 1776 | } |
saloutos | 0:894b603d32ee | 1777 | |
saloutos | 0:894b603d32ee | 1778 | result = ICM_20948_sleep(pdev, false); // Make sure chip is awake |
saloutos | 0:894b603d32ee | 1779 | if (result != ICM_20948_Stat_Ok) |
saloutos | 0:894b603d32ee | 1780 | { |
saloutos | 0:894b603d32ee | 1781 | return result; |
saloutos | 0:894b603d32ee | 1782 | } |
saloutos | 0:894b603d32ee | 1783 | |
saloutos | 0:894b603d32ee | 1784 | result = ICM_20948_low_power(pdev, false); // Make sure chip is not in low power state |
saloutos | 0:894b603d32ee | 1785 | if (result != ICM_20948_Stat_Ok) |
saloutos | 0:894b603d32ee | 1786 | { |
saloutos | 0:894b603d32ee | 1787 | return result; |
saloutos | 0:894b603d32ee | 1788 | } |
saloutos | 0:894b603d32ee | 1789 | |
saloutos | 0:894b603d32ee | 1790 | // Check if Accel, Gyro/Gyro_Calibr or Compass_Calibr/Quat9/GeoMag/Compass are to be enabled. If they are then we need to request the accuracy data via header2. |
saloutos | 0:894b603d32ee | 1791 | uint16_t delta2 = 0; |
saloutos | 0:894b603d32ee | 1792 | if ((delta & DMP_Data_Output_Control_1_Accel) > 0) |
saloutos | 0:894b603d32ee | 1793 | { |
saloutos | 0:894b603d32ee | 1794 | delta2 |= DMP_Data_Output_Control_2_Accel_Accuracy; |
saloutos | 0:894b603d32ee | 1795 | } |
saloutos | 0:894b603d32ee | 1796 | if (((delta & DMP_Data_Output_Control_1_Gyro_Calibr) > 0) || ((delta & DMP_Data_Output_Control_1_Gyro) > 0)) |
saloutos | 0:894b603d32ee | 1797 | { |
saloutos | 0:894b603d32ee | 1798 | delta2 |= DMP_Data_Output_Control_2_Gyro_Accuracy; |
saloutos | 0:894b603d32ee | 1799 | } |
saloutos | 0:894b603d32ee | 1800 | if (((delta & DMP_Data_Output_Control_1_Compass_Calibr) > 0) || ((delta & DMP_Data_Output_Control_1_Compass) > 0) || ((delta & DMP_Data_Output_Control_1_Quat9) > 0) || ((delta & DMP_Data_Output_Control_1_Geomag) > 0)) |
saloutos | 0:894b603d32ee | 1801 | { |
saloutos | 0:894b603d32ee | 1802 | delta2 |= DMP_Data_Output_Control_2_Compass_Accuracy; |
saloutos | 0:894b603d32ee | 1803 | } |
saloutos | 0:894b603d32ee | 1804 | // TO DO: Add DMP_Data_Output_Control_2_Pickup etc. if required |
saloutos | 0:894b603d32ee | 1805 | |
saloutos | 0:894b603d32ee | 1806 | // Write the sensor control bits into memory address DATA_OUT_CTL1 |
saloutos | 0:894b603d32ee | 1807 | unsigned char data_output_control_reg[2]; |
saloutos | 0:894b603d32ee | 1808 | data_output_control_reg[0] = (unsigned char)(delta >> 8); |
saloutos | 0:894b603d32ee | 1809 | data_output_control_reg[1] = (unsigned char)(delta & 0xff); |
saloutos | 0:894b603d32ee | 1810 | pdev->_dataOutCtl1 = delta; // Diagnostics |
saloutos | 0:894b603d32ee | 1811 | result = inv_icm20948_write_mems(pdev, DATA_OUT_CTL1, 2, (const unsigned char *)&data_output_control_reg); |
saloutos | 0:894b603d32ee | 1812 | if (result != ICM_20948_Stat_Ok) |
saloutos | 0:894b603d32ee | 1813 | { |
saloutos | 0:894b603d32ee | 1814 | return result; |
saloutos | 0:894b603d32ee | 1815 | } |
saloutos | 0:894b603d32ee | 1816 | |
saloutos | 0:894b603d32ee | 1817 | // Write the 'header2' sensor control bits into memory address DATA_OUT_CTL2 |
saloutos | 0:894b603d32ee | 1818 | data_output_control_reg[0] = (unsigned char)(delta2 >> 8); |
saloutos | 0:894b603d32ee | 1819 | data_output_control_reg[1] = (unsigned char)(delta2 & 0xff); |
saloutos | 0:894b603d32ee | 1820 | pdev->_dataOutCtl2 = delta2; // Diagnostics |
saloutos | 0:894b603d32ee | 1821 | result = inv_icm20948_write_mems(pdev, DATA_OUT_CTL2, 2, (const unsigned char *)&data_output_control_reg); |
saloutos | 0:894b603d32ee | 1822 | if (result != ICM_20948_Stat_Ok) |
saloutos | 0:894b603d32ee | 1823 | { |
saloutos | 0:894b603d32ee | 1824 | return result; |
saloutos | 0:894b603d32ee | 1825 | } |
saloutos | 0:894b603d32ee | 1826 | |
saloutos | 0:894b603d32ee | 1827 | // Set the DATA_RDY_STATUS register |
saloutos | 0:894b603d32ee | 1828 | data_output_control_reg[0] = (unsigned char)(data_rdy_status >> 8); |
saloutos | 0:894b603d32ee | 1829 | data_output_control_reg[1] = (unsigned char)(data_rdy_status & 0xff); |
saloutos | 0:894b603d32ee | 1830 | pdev->_dataRdyStatus = data_rdy_status; // Diagnostics |
saloutos | 0:894b603d32ee | 1831 | result = inv_icm20948_write_mems(pdev, DATA_RDY_STATUS, 2, (const unsigned char *)&data_output_control_reg); |
saloutos | 0:894b603d32ee | 1832 | if (result != ICM_20948_Stat_Ok) |
saloutos | 0:894b603d32ee | 1833 | { |
saloutos | 0:894b603d32ee | 1834 | return result; |
saloutos | 0:894b603d32ee | 1835 | } |
saloutos | 0:894b603d32ee | 1836 | |
saloutos | 0:894b603d32ee | 1837 | // Check which extra bits need to be set in the Motion Event Control register |
saloutos | 0:894b603d32ee | 1838 | if ((delta & DMP_Data_Output_Control_1_Quat9) > 0) |
saloutos | 0:894b603d32ee | 1839 | { |
saloutos | 0:894b603d32ee | 1840 | inv_event_control |= DMP_Motion_Event_Control_9axis; |
saloutos | 0:894b603d32ee | 1841 | } |
saloutos | 0:894b603d32ee | 1842 | if (((delta & DMP_Data_Output_Control_1_Step_Detector) > 0) || ((delta & DMP_Data_Output_Control_1_Step_Ind_0) > 0) || ((delta & DMP_Data_Output_Control_1_Step_Ind_1) > 0) || ((delta & DMP_Data_Output_Control_1_Step_Ind_2) > 0)) |
saloutos | 0:894b603d32ee | 1843 | { |
saloutos | 0:894b603d32ee | 1844 | inv_event_control |= DMP_Motion_Event_Control_Pedometer_Interrupt; |
saloutos | 0:894b603d32ee | 1845 | } |
saloutos | 0:894b603d32ee | 1846 | if ((delta & DMP_Data_Output_Control_1_Geomag) > 0) |
saloutos | 0:894b603d32ee | 1847 | { |
saloutos | 0:894b603d32ee | 1848 | inv_event_control |= DMP_Motion_Event_Control_Geomag; |
saloutos | 0:894b603d32ee | 1849 | } |
saloutos | 0:894b603d32ee | 1850 | |
saloutos | 0:894b603d32ee | 1851 | // Set the MOTION_EVENT_CTL register |
saloutos | 0:894b603d32ee | 1852 | data_output_control_reg[0] = (unsigned char)(inv_event_control >> 8); |
saloutos | 0:894b603d32ee | 1853 | data_output_control_reg[1] = (unsigned char)(inv_event_control & 0xff); |
saloutos | 0:894b603d32ee | 1854 | pdev->_motionEventCtl = inv_event_control; // Diagnostics |
saloutos | 0:894b603d32ee | 1855 | result = inv_icm20948_write_mems(pdev, MOTION_EVENT_CTL, 2, (const unsigned char *)&data_output_control_reg); |
saloutos | 0:894b603d32ee | 1856 | if (result != ICM_20948_Stat_Ok) |
saloutos | 0:894b603d32ee | 1857 | { |
saloutos | 0:894b603d32ee | 1858 | return result; |
saloutos | 0:894b603d32ee | 1859 | } |
saloutos | 0:894b603d32ee | 1860 | |
saloutos | 0:894b603d32ee | 1861 | result = ICM_20948_low_power(pdev, true); // Put chip into low power state |
saloutos | 0:894b603d32ee | 1862 | if (result != ICM_20948_Stat_Ok) |
saloutos | 0:894b603d32ee | 1863 | return result; |
saloutos | 0:894b603d32ee | 1864 | |
saloutos | 0:894b603d32ee | 1865 | return result; |
saloutos | 0:894b603d32ee | 1866 | } |
saloutos | 0:894b603d32ee | 1867 | |
saloutos | 0:894b603d32ee | 1868 | ICM_20948_Status_e inv_icm20948_enable_dmp_sensor_int(ICM_20948_Device_t *pdev, enum inv_icm20948_sensor sensor, int state) |
saloutos | 0:894b603d32ee | 1869 | { |
saloutos | 0:894b603d32ee | 1870 | ICM_20948_Status_e result = ICM_20948_Stat_Ok; |
saloutos | 0:894b603d32ee | 1871 | |
saloutos | 0:894b603d32ee | 1872 | if (pdev->_dmp_firmware_available == false) |
saloutos | 0:894b603d32ee | 1873 | return ICM_20948_Stat_DMPNotSupported; // Bail if DMP is not supported |
saloutos | 0:894b603d32ee | 1874 | |
saloutos | 0:894b603d32ee | 1875 | uint8_t androidSensor = sensor_type_2_android_sensor(sensor); // Convert sensor from enum inv_icm20948_sensor to Android numbering |
saloutos | 0:894b603d32ee | 1876 | |
saloutos | 0:894b603d32ee | 1877 | if (androidSensor > ANDROID_SENSOR_NUM_MAX) |
saloutos | 0:894b603d32ee | 1878 | return ICM_20948_Stat_SensorNotSupported; // Bail if the sensor is not supported |
saloutos | 0:894b603d32ee | 1879 | |
saloutos | 0:894b603d32ee | 1880 | // Convert the Android sensor into a bit mask for DATA_OUT_CTL1 |
saloutos | 0:894b603d32ee | 1881 | uint16_t delta = inv_androidSensor_to_control_bits[androidSensor]; |
saloutos | 0:894b603d32ee | 1882 | if (delta == 0xFFFF) |
saloutos | 0:894b603d32ee | 1883 | return ICM_20948_Stat_SensorNotSupported; // Bail if the sensor is not supported |
saloutos | 0:894b603d32ee | 1884 | |
saloutos | 0:894b603d32ee | 1885 | // Convert the Android sensor number into a bitmask and set or clear that bit in _enabled_Android_intr_0 / _enabled_Android_intr_1 |
saloutos | 0:894b603d32ee | 1886 | unsigned long androidSensorAsBitMask; |
saloutos | 0:894b603d32ee | 1887 | if (androidSensor < 32) // Sensors 0-31 |
saloutos | 0:894b603d32ee | 1888 | { |
saloutos | 0:894b603d32ee | 1889 | androidSensorAsBitMask = 1L << androidSensor; |
saloutos | 0:894b603d32ee | 1890 | if (state == 0) // Should we disable the sensor interrupt? |
saloutos | 0:894b603d32ee | 1891 | { |
saloutos | 0:894b603d32ee | 1892 | pdev->_enabled_Android_intr_0 &= ~androidSensorAsBitMask; // Clear the bit to disable the sensor interrupt |
saloutos | 0:894b603d32ee | 1893 | } |
saloutos | 0:894b603d32ee | 1894 | else |
saloutos | 0:894b603d32ee | 1895 | { |
saloutos | 0:894b603d32ee | 1896 | pdev->_enabled_Android_intr_0 |= androidSensorAsBitMask; // Set the bit to enable the sensor interrupt |
saloutos | 0:894b603d32ee | 1897 | } |
saloutos | 0:894b603d32ee | 1898 | } |
saloutos | 0:894b603d32ee | 1899 | else // Sensors 32- |
saloutos | 0:894b603d32ee | 1900 | { |
saloutos | 0:894b603d32ee | 1901 | androidSensorAsBitMask = 1L << (androidSensor - 32); |
saloutos | 0:894b603d32ee | 1902 | if (state == 0) // Should we disable the sensor? |
saloutos | 0:894b603d32ee | 1903 | { |
saloutos | 0:894b603d32ee | 1904 | pdev->_enabled_Android_intr_1 &= ~androidSensorAsBitMask; // Clear the bit to disable the sensor interrupt |
saloutos | 0:894b603d32ee | 1905 | } |
saloutos | 0:894b603d32ee | 1906 | else |
saloutos | 0:894b603d32ee | 1907 | { |
saloutos | 0:894b603d32ee | 1908 | pdev->_enabled_Android_intr_1 |= androidSensorAsBitMask; // Set the bit to enable the sensor interrupt |
saloutos | 0:894b603d32ee | 1909 | } |
saloutos | 0:894b603d32ee | 1910 | } |
saloutos | 0:894b603d32ee | 1911 | |
saloutos | 0:894b603d32ee | 1912 | // Now we know androidSensor is valid, reconstruct the value for DATA_INTR_CTL from _enabled_Android_intr_0 and _enabled_Android_intr_0 |
saloutos | 0:894b603d32ee | 1913 | delta = 0; // Clear delta |
saloutos | 0:894b603d32ee | 1914 | for (int i = 0; i < 32; i++) |
saloutos | 0:894b603d32ee | 1915 | { |
saloutos | 0:894b603d32ee | 1916 | androidSensorAsBitMask = 1L << i; |
saloutos | 0:894b603d32ee | 1917 | if ((pdev->_enabled_Android_intr_0 & androidSensorAsBitMask) > 0) // Check if the Android sensor (0-31) interrupt is enabled |
saloutos | 0:894b603d32ee | 1918 | { |
saloutos | 0:894b603d32ee | 1919 | delta |= inv_androidSensor_to_control_bits[i]; // If it is, or the required bits into delta |
saloutos | 0:894b603d32ee | 1920 | } |
saloutos | 0:894b603d32ee | 1921 | if ((pdev->_enabled_Android_intr_1 & androidSensorAsBitMask) > 0) // Check if the Android sensor (32-) interrupt is enabled |
saloutos | 0:894b603d32ee | 1922 | { |
saloutos | 0:894b603d32ee | 1923 | delta |= inv_androidSensor_to_control_bits[i + 32]; // If it is, or the required bits into delta |
saloutos | 0:894b603d32ee | 1924 | } |
saloutos | 0:894b603d32ee | 1925 | } |
saloutos | 0:894b603d32ee | 1926 | |
saloutos | 0:894b603d32ee | 1927 | result = ICM_20948_sleep(pdev, false); // Make sure chip is awake |
saloutos | 0:894b603d32ee | 1928 | if (result != ICM_20948_Stat_Ok) |
saloutos | 0:894b603d32ee | 1929 | { |
saloutos | 0:894b603d32ee | 1930 | return result; |
saloutos | 0:894b603d32ee | 1931 | } |
saloutos | 0:894b603d32ee | 1932 | |
saloutos | 0:894b603d32ee | 1933 | result = ICM_20948_low_power(pdev, false); // Make sure chip is not in low power state |
saloutos | 0:894b603d32ee | 1934 | if (result != ICM_20948_Stat_Ok) |
saloutos | 0:894b603d32ee | 1935 | { |
saloutos | 0:894b603d32ee | 1936 | return result; |
saloutos | 0:894b603d32ee | 1937 | } |
saloutos | 0:894b603d32ee | 1938 | |
saloutos | 0:894b603d32ee | 1939 | unsigned char data_intr_ctl[2]; |
saloutos | 0:894b603d32ee | 1940 | |
saloutos | 0:894b603d32ee | 1941 | data_intr_ctl[0] = (unsigned char)(delta >> 8); |
saloutos | 0:894b603d32ee | 1942 | data_intr_ctl[1] = (unsigned char)(delta & 0xff); |
saloutos | 0:894b603d32ee | 1943 | pdev->_dataIntrCtl = delta; // Diagnostics |
saloutos | 0:894b603d32ee | 1944 | |
saloutos | 0:894b603d32ee | 1945 | // Write the interrupt control bits into memory address DATA_INTR_CTL |
saloutos | 0:894b603d32ee | 1946 | result = inv_icm20948_write_mems(pdev, DATA_INTR_CTL, 2, (const unsigned char *)&data_intr_ctl); |
saloutos | 0:894b603d32ee | 1947 | |
saloutos | 0:894b603d32ee | 1948 | result = ICM_20948_low_power(pdev, true); // Put chip into low power state |
saloutos | 0:894b603d32ee | 1949 | if (result != ICM_20948_Stat_Ok) |
saloutos | 0:894b603d32ee | 1950 | return result; |
saloutos | 0:894b603d32ee | 1951 | |
saloutos | 0:894b603d32ee | 1952 | return result; |
saloutos | 0:894b603d32ee | 1953 | } |
saloutos | 0:894b603d32ee | 1954 | |
saloutos | 0:894b603d32ee | 1955 | ICM_20948_Status_e inv_icm20948_read_dmp_data(ICM_20948_Device_t *pdev, icm_20948_DMP_data_t *data) |
saloutos | 0:894b603d32ee | 1956 | { |
saloutos | 0:894b603d32ee | 1957 | ICM_20948_Status_e result = ICM_20948_Stat_Ok; |
saloutos | 0:894b603d32ee | 1958 | uint8_t fifoBytes[icm_20948_DMP_Maximum_Bytes]; // Interim storage for the FIFO data |
saloutos | 0:894b603d32ee | 1959 | |
saloutos | 0:894b603d32ee | 1960 | if (pdev->_dmp_firmware_available == false) |
saloutos | 0:894b603d32ee | 1961 | return ICM_20948_Stat_DMPNotSupported; |
saloutos | 0:894b603d32ee | 1962 | |
saloutos | 0:894b603d32ee | 1963 | // Check how much data is in the FIFO |
saloutos | 0:894b603d32ee | 1964 | uint16_t fifo_count; |
saloutos | 0:894b603d32ee | 1965 | result = ICM_20948_get_FIFO_count(pdev, &fifo_count); |
saloutos | 0:894b603d32ee | 1966 | if (result != ICM_20948_Stat_Ok) |
saloutos | 0:894b603d32ee | 1967 | return result; |
saloutos | 0:894b603d32ee | 1968 | |
saloutos | 0:894b603d32ee | 1969 | if (fifo_count < icm_20948_DMP_Header_Bytes) // Has a 2-byte header arrived? |
saloutos | 0:894b603d32ee | 1970 | return ICM_20948_Stat_FIFONoDataAvail; // Bail if no header is available |
saloutos | 0:894b603d32ee | 1971 | |
saloutos | 0:894b603d32ee | 1972 | // Read the header (2 bytes) |
saloutos | 0:894b603d32ee | 1973 | data->header = 0; // Clear the existing header |
saloutos | 0:894b603d32ee | 1974 | uint16_t aShort = 0; |
saloutos | 0:894b603d32ee | 1975 | result = ICM_20948_read_FIFO(pdev, &fifoBytes[0], icm_20948_DMP_Header_Bytes); |
saloutos | 0:894b603d32ee | 1976 | if (result != ICM_20948_Stat_Ok) |
saloutos | 0:894b603d32ee | 1977 | return result; |
saloutos | 0:894b603d32ee | 1978 | for (int i = 0; i < icm_20948_DMP_Header_Bytes; i++) |
saloutos | 0:894b603d32ee | 1979 | { |
saloutos | 0:894b603d32ee | 1980 | aShort |= ((uint16_t)fifoBytes[i]) << (8 - (i * 8)); |
saloutos | 0:894b603d32ee | 1981 | } |
saloutos | 0:894b603d32ee | 1982 | data->header = aShort; // Store the header in data->header |
saloutos | 0:894b603d32ee | 1983 | fifo_count -= icm_20948_DMP_Header_Bytes; // Decrement the count |
saloutos | 0:894b603d32ee | 1984 | |
saloutos | 0:894b603d32ee | 1985 | // If the header indicates a header2 is present then read that now |
saloutos | 0:894b603d32ee | 1986 | data->header2 = 0; // Clear the existing header2 |
saloutos | 0:894b603d32ee | 1987 | if ((data->header & DMP_header_bitmap_Header2) > 0) // If the header2 bit is set |
saloutos | 0:894b603d32ee | 1988 | { |
saloutos | 0:894b603d32ee | 1989 | if (fifo_count < icm_20948_DMP_Header2_Bytes) // Check if we need to read the FIFO count again |
saloutos | 0:894b603d32ee | 1990 | { |
saloutos | 0:894b603d32ee | 1991 | result = ICM_20948_get_FIFO_count(pdev, &fifo_count); |
saloutos | 0:894b603d32ee | 1992 | if (result != ICM_20948_Stat_Ok) |
saloutos | 0:894b603d32ee | 1993 | return result; |
saloutos | 0:894b603d32ee | 1994 | } |
saloutos | 0:894b603d32ee | 1995 | if (fifo_count < icm_20948_DMP_Header2_Bytes) |
saloutos | 0:894b603d32ee | 1996 | return ICM_20948_Stat_FIFOIncompleteData; // Bail if no header2 is available |
saloutos | 0:894b603d32ee | 1997 | // Read the header (2 bytes) |
saloutos | 0:894b603d32ee | 1998 | aShort = 0; |
saloutos | 0:894b603d32ee | 1999 | result = ICM_20948_read_FIFO(pdev, &fifoBytes[0], icm_20948_DMP_Header2_Bytes); |
saloutos | 0:894b603d32ee | 2000 | if (result != ICM_20948_Stat_Ok) |
saloutos | 0:894b603d32ee | 2001 | return result; |
saloutos | 0:894b603d32ee | 2002 | for (int i = 0; i < icm_20948_DMP_Header2_Bytes; i++) |
saloutos | 0:894b603d32ee | 2003 | { |
saloutos | 0:894b603d32ee | 2004 | aShort |= ((uint16_t)fifoBytes[i]) << (8 - (i * 8)); |
saloutos | 0:894b603d32ee | 2005 | } |
saloutos | 0:894b603d32ee | 2006 | data->header2 = aShort; // Store the header2 in data->header2 |
saloutos | 0:894b603d32ee | 2007 | fifo_count -= icm_20948_DMP_Header2_Bytes; // Decrement the count |
saloutos | 0:894b603d32ee | 2008 | } |
saloutos | 0:894b603d32ee | 2009 | |
saloutos | 0:894b603d32ee | 2010 | if ((data->header & DMP_header_bitmap_Accel) > 0) // case DMP_header_bitmap_Accel: |
saloutos | 0:894b603d32ee | 2011 | { |
saloutos | 0:894b603d32ee | 2012 | if (fifo_count < icm_20948_DMP_Raw_Accel_Bytes) // Check if we need to read the FIFO count again |
saloutos | 0:894b603d32ee | 2013 | { |
saloutos | 0:894b603d32ee | 2014 | result = ICM_20948_get_FIFO_count(pdev, &fifo_count); |
saloutos | 0:894b603d32ee | 2015 | if (result != ICM_20948_Stat_Ok) |
saloutos | 0:894b603d32ee | 2016 | return result; |
saloutos | 0:894b603d32ee | 2017 | } |
saloutos | 0:894b603d32ee | 2018 | if (fifo_count < icm_20948_DMP_Raw_Accel_Bytes) |
saloutos | 0:894b603d32ee | 2019 | return ICM_20948_Stat_FIFOIncompleteData; // Bail if not enough data is available |
saloutos | 0:894b603d32ee | 2020 | result = ICM_20948_read_FIFO(pdev, &fifoBytes[0], icm_20948_DMP_Raw_Accel_Bytes); |
saloutos | 0:894b603d32ee | 2021 | if (result != ICM_20948_Stat_Ok) |
saloutos | 0:894b603d32ee | 2022 | return result; |
saloutos | 0:894b603d32ee | 2023 | for (int i = 0; i < icm_20948_DMP_Raw_Accel_Bytes; i++) |
saloutos | 0:894b603d32ee | 2024 | { |
saloutos | 0:894b603d32ee | 2025 | data->Raw_Accel.Bytes[DMP_PQuat6_Byte_Ordering[i]] = fifoBytes[i]; // Correct the byte order (map big endian to little endian) |
saloutos | 0:894b603d32ee | 2026 | } |
saloutos | 0:894b603d32ee | 2027 | fifo_count -= icm_20948_DMP_Raw_Accel_Bytes; // Decrement the count |
saloutos | 0:894b603d32ee | 2028 | } |
saloutos | 0:894b603d32ee | 2029 | |
saloutos | 0:894b603d32ee | 2030 | if ((data->header & DMP_header_bitmap_Gyro) > 0) // case DMP_header_bitmap_Gyro: |
saloutos | 0:894b603d32ee | 2031 | { |
saloutos | 0:894b603d32ee | 2032 | if (fifo_count < (icm_20948_DMP_Raw_Gyro_Bytes + icm_20948_DMP_Gyro_Bias_Bytes)) // Check if we need to read the FIFO count again |
saloutos | 0:894b603d32ee | 2033 | { |
saloutos | 0:894b603d32ee | 2034 | result = ICM_20948_get_FIFO_count(pdev, &fifo_count); |
saloutos | 0:894b603d32ee | 2035 | if (result != ICM_20948_Stat_Ok) |
saloutos | 0:894b603d32ee | 2036 | return result; |
saloutos | 0:894b603d32ee | 2037 | } |
saloutos | 0:894b603d32ee | 2038 | if (fifo_count < (icm_20948_DMP_Raw_Gyro_Bytes + icm_20948_DMP_Gyro_Bias_Bytes)) |
saloutos | 0:894b603d32ee | 2039 | return ICM_20948_Stat_FIFOIncompleteData; // Bail if not enough data is available |
saloutos | 0:894b603d32ee | 2040 | result = ICM_20948_read_FIFO(pdev, &fifoBytes[0], (icm_20948_DMP_Raw_Gyro_Bytes + icm_20948_DMP_Gyro_Bias_Bytes)); |
saloutos | 0:894b603d32ee | 2041 | if (result != ICM_20948_Stat_Ok) |
saloutos | 0:894b603d32ee | 2042 | return result; |
saloutos | 0:894b603d32ee | 2043 | for (int i = 0; i < (icm_20948_DMP_Raw_Gyro_Bytes + icm_20948_DMP_Gyro_Bias_Bytes); i++) |
saloutos | 0:894b603d32ee | 2044 | { |
saloutos | 0:894b603d32ee | 2045 | data->Raw_Gyro.Bytes[DMP_Raw_Gyro_Byte_Ordering[i]] = fifoBytes[i]; // Correct the byte order (map big endian to little endian) |
saloutos | 0:894b603d32ee | 2046 | } |
saloutos | 0:894b603d32ee | 2047 | fifo_count -= (icm_20948_DMP_Raw_Gyro_Bytes + icm_20948_DMP_Gyro_Bias_Bytes); // Decrement the count |
saloutos | 0:894b603d32ee | 2048 | } |
saloutos | 0:894b603d32ee | 2049 | |
saloutos | 0:894b603d32ee | 2050 | if ((data->header & DMP_header_bitmap_Compass) > 0) // case DMP_header_bitmap_Compass: |
saloutos | 0:894b603d32ee | 2051 | { |
saloutos | 0:894b603d32ee | 2052 | if (fifo_count < icm_20948_DMP_Compass_Bytes) // Check if we need to read the FIFO count again |
saloutos | 0:894b603d32ee | 2053 | { |
saloutos | 0:894b603d32ee | 2054 | result = ICM_20948_get_FIFO_count(pdev, &fifo_count); |
saloutos | 0:894b603d32ee | 2055 | if (result != ICM_20948_Stat_Ok) |
saloutos | 0:894b603d32ee | 2056 | return result; |
saloutos | 0:894b603d32ee | 2057 | } |
saloutos | 0:894b603d32ee | 2058 | if (fifo_count < icm_20948_DMP_Compass_Bytes) |
saloutos | 0:894b603d32ee | 2059 | return ICM_20948_Stat_FIFOIncompleteData; // Bail if not enough data is available |
saloutos | 0:894b603d32ee | 2060 | result = ICM_20948_read_FIFO(pdev, &fifoBytes[0], icm_20948_DMP_Compass_Bytes); |
saloutos | 0:894b603d32ee | 2061 | if (result != ICM_20948_Stat_Ok) |
saloutos | 0:894b603d32ee | 2062 | return result; |
saloutos | 0:894b603d32ee | 2063 | for (int i = 0; i < icm_20948_DMP_Compass_Bytes; i++) |
saloutos | 0:894b603d32ee | 2064 | { |
saloutos | 0:894b603d32ee | 2065 | data->Compass.Bytes[DMP_PQuat6_Byte_Ordering[i]] = fifoBytes[i]; // Correct the byte order (map big endian to little endian) |
saloutos | 0:894b603d32ee | 2066 | } |
saloutos | 0:894b603d32ee | 2067 | fifo_count -= icm_20948_DMP_Compass_Bytes; // Decrement the count |
saloutos | 0:894b603d32ee | 2068 | } |
saloutos | 0:894b603d32ee | 2069 | |
saloutos | 0:894b603d32ee | 2070 | if ((data->header & DMP_header_bitmap_ALS) > 0) // case DMP_header_bitmap_ALS: |
saloutos | 0:894b603d32ee | 2071 | { |
saloutos | 0:894b603d32ee | 2072 | if (fifo_count < icm_20948_DMP_ALS_Bytes) // Check if we need to read the FIFO count again |
saloutos | 0:894b603d32ee | 2073 | { |
saloutos | 0:894b603d32ee | 2074 | result = ICM_20948_get_FIFO_count(pdev, &fifo_count); |
saloutos | 0:894b603d32ee | 2075 | if (result != ICM_20948_Stat_Ok) |
saloutos | 0:894b603d32ee | 2076 | return result; |
saloutos | 0:894b603d32ee | 2077 | } |
saloutos | 0:894b603d32ee | 2078 | if (fifo_count < icm_20948_DMP_ALS_Bytes) |
saloutos | 0:894b603d32ee | 2079 | return ICM_20948_Stat_FIFOIncompleteData; // Bail if not enough data is available |
saloutos | 0:894b603d32ee | 2080 | result = ICM_20948_read_FIFO(pdev, &fifoBytes[0], icm_20948_DMP_ALS_Bytes); |
saloutos | 0:894b603d32ee | 2081 | if (result != ICM_20948_Stat_Ok) |
saloutos | 0:894b603d32ee | 2082 | return result; |
saloutos | 0:894b603d32ee | 2083 | for (int i = 0; i < icm_20948_DMP_ALS_Bytes; i++) |
saloutos | 0:894b603d32ee | 2084 | { |
saloutos | 0:894b603d32ee | 2085 | data->ALS[i] = fifoBytes[i]; |
saloutos | 0:894b603d32ee | 2086 | } |
saloutos | 0:894b603d32ee | 2087 | fifo_count -= icm_20948_DMP_ALS_Bytes; // Decrement the count |
saloutos | 0:894b603d32ee | 2088 | } |
saloutos | 0:894b603d32ee | 2089 | |
saloutos | 0:894b603d32ee | 2090 | if ((data->header & DMP_header_bitmap_Quat6) > 0) // case DMP_header_bitmap_Quat6: |
saloutos | 0:894b603d32ee | 2091 | { |
saloutos | 0:894b603d32ee | 2092 | if (fifo_count < icm_20948_DMP_Quat6_Bytes) // Check if we need to read the FIFO count again |
saloutos | 0:894b603d32ee | 2093 | { |
saloutos | 0:894b603d32ee | 2094 | result = ICM_20948_get_FIFO_count(pdev, &fifo_count); |
saloutos | 0:894b603d32ee | 2095 | if (result != ICM_20948_Stat_Ok) |
saloutos | 0:894b603d32ee | 2096 | return result; |
saloutos | 0:894b603d32ee | 2097 | } |
saloutos | 0:894b603d32ee | 2098 | if (fifo_count < icm_20948_DMP_Quat6_Bytes) |
saloutos | 0:894b603d32ee | 2099 | return ICM_20948_Stat_FIFOIncompleteData; // Bail if not enough data is available |
saloutos | 0:894b603d32ee | 2100 | result = ICM_20948_read_FIFO(pdev, &fifoBytes[0], icm_20948_DMP_Quat6_Bytes); |
saloutos | 0:894b603d32ee | 2101 | if (result != ICM_20948_Stat_Ok) |
saloutos | 0:894b603d32ee | 2102 | return result; |
saloutos | 0:894b603d32ee | 2103 | for (int i = 0; i < icm_20948_DMP_Quat6_Bytes; i++) |
saloutos | 0:894b603d32ee | 2104 | { |
saloutos | 0:894b603d32ee | 2105 | data->Quat6.Bytes[DMP_Quat6_Byte_Ordering[i]] = fifoBytes[i]; // Correct the byte order (map big endian to little endian) |
saloutos | 0:894b603d32ee | 2106 | } |
saloutos | 0:894b603d32ee | 2107 | fifo_count -= icm_20948_DMP_Quat6_Bytes; // Decrement the count |
saloutos | 0:894b603d32ee | 2108 | } |
saloutos | 0:894b603d32ee | 2109 | |
saloutos | 0:894b603d32ee | 2110 | if ((data->header & DMP_header_bitmap_Quat9) > 0) // case DMP_header_bitmap_Quat9: |
saloutos | 0:894b603d32ee | 2111 | { |
saloutos | 0:894b603d32ee | 2112 | if (fifo_count < icm_20948_DMP_Quat9_Bytes) // Check if we need to read the FIFO count again |
saloutos | 0:894b603d32ee | 2113 | { |
saloutos | 0:894b603d32ee | 2114 | result = ICM_20948_get_FIFO_count(pdev, &fifo_count); |
saloutos | 0:894b603d32ee | 2115 | if (result != ICM_20948_Stat_Ok) |
saloutos | 0:894b603d32ee | 2116 | return result; |
saloutos | 0:894b603d32ee | 2117 | } |
saloutos | 0:894b603d32ee | 2118 | if (fifo_count < icm_20948_DMP_Quat9_Bytes) |
saloutos | 0:894b603d32ee | 2119 | return ICM_20948_Stat_FIFOIncompleteData; // Bail if not enough data is available |
saloutos | 0:894b603d32ee | 2120 | result = ICM_20948_read_FIFO(pdev, &fifoBytes[0], icm_20948_DMP_Quat9_Bytes); |
saloutos | 0:894b603d32ee | 2121 | if (result != ICM_20948_Stat_Ok) |
saloutos | 0:894b603d32ee | 2122 | return result; |
saloutos | 0:894b603d32ee | 2123 | for (int i = 0; i < icm_20948_DMP_Quat9_Bytes; i++) |
saloutos | 0:894b603d32ee | 2124 | { |
saloutos | 0:894b603d32ee | 2125 | data->Quat9.Bytes[DMP_Quat9_Byte_Ordering[i]] = fifoBytes[i]; // Correct the byte order (map big endian to little endian) |
saloutos | 0:894b603d32ee | 2126 | } |
saloutos | 0:894b603d32ee | 2127 | fifo_count -= icm_20948_DMP_Quat9_Bytes; // Decrement the count |
saloutos | 0:894b603d32ee | 2128 | } |
saloutos | 0:894b603d32ee | 2129 | |
saloutos | 0:894b603d32ee | 2130 | if ((data->header & DMP_header_bitmap_PQuat6) > 0) // case DMP_header_bitmap_PQuat6: |
saloutos | 0:894b603d32ee | 2131 | { |
saloutos | 0:894b603d32ee | 2132 | if (fifo_count < icm_20948_DMP_PQuat6_Bytes) // Check if we need to read the FIFO count again |
saloutos | 0:894b603d32ee | 2133 | { |
saloutos | 0:894b603d32ee | 2134 | result = ICM_20948_get_FIFO_count(pdev, &fifo_count); |
saloutos | 0:894b603d32ee | 2135 | if (result != ICM_20948_Stat_Ok) |
saloutos | 0:894b603d32ee | 2136 | return result; |
saloutos | 0:894b603d32ee | 2137 | } |
saloutos | 0:894b603d32ee | 2138 | if (fifo_count < icm_20948_DMP_PQuat6_Bytes) |
saloutos | 0:894b603d32ee | 2139 | return ICM_20948_Stat_FIFOIncompleteData; // Bail if not enough data is available |
saloutos | 0:894b603d32ee | 2140 | result = ICM_20948_read_FIFO(pdev, &fifoBytes[0], icm_20948_DMP_PQuat6_Bytes); |
saloutos | 0:894b603d32ee | 2141 | if (result != ICM_20948_Stat_Ok) |
saloutos | 0:894b603d32ee | 2142 | return result; |
saloutos | 0:894b603d32ee | 2143 | for (int i = 0; i < icm_20948_DMP_PQuat6_Bytes; i++) |
saloutos | 0:894b603d32ee | 2144 | { |
saloutos | 0:894b603d32ee | 2145 | data->PQuat6.Bytes[DMP_PQuat6_Byte_Ordering[i]] = fifoBytes[i]; // Correct the byte order (map big endian to little endian) |
saloutos | 0:894b603d32ee | 2146 | } |
saloutos | 0:894b603d32ee | 2147 | fifo_count -= icm_20948_DMP_PQuat6_Bytes; // Decrement the count |
saloutos | 0:894b603d32ee | 2148 | } |
saloutos | 0:894b603d32ee | 2149 | |
saloutos | 0:894b603d32ee | 2150 | if ((data->header & DMP_header_bitmap_Geomag) > 0) // case DMP_header_bitmap_Geomag: |
saloutos | 0:894b603d32ee | 2151 | { |
saloutos | 0:894b603d32ee | 2152 | if (fifo_count < icm_20948_DMP_Geomag_Bytes) // Check if we need to read the FIFO count again |
saloutos | 0:894b603d32ee | 2153 | { |
saloutos | 0:894b603d32ee | 2154 | result = ICM_20948_get_FIFO_count(pdev, &fifo_count); |
saloutos | 0:894b603d32ee | 2155 | if (result != ICM_20948_Stat_Ok) |
saloutos | 0:894b603d32ee | 2156 | return result; |
saloutos | 0:894b603d32ee | 2157 | } |
saloutos | 0:894b603d32ee | 2158 | if (fifo_count < icm_20948_DMP_Geomag_Bytes) |
saloutos | 0:894b603d32ee | 2159 | return ICM_20948_Stat_FIFOIncompleteData; // Bail if not enough data is available |
saloutos | 0:894b603d32ee | 2160 | result = ICM_20948_read_FIFO(pdev, &fifoBytes[0], icm_20948_DMP_Geomag_Bytes); |
saloutos | 0:894b603d32ee | 2161 | if (result != ICM_20948_Stat_Ok) |
saloutos | 0:894b603d32ee | 2162 | return result; |
saloutos | 0:894b603d32ee | 2163 | for (int i = 0; i < icm_20948_DMP_Geomag_Bytes; i++) |
saloutos | 0:894b603d32ee | 2164 | { |
saloutos | 0:894b603d32ee | 2165 | data->Geomag.Bytes[DMP_Quat9_Byte_Ordering[i]] = fifoBytes[i]; // Correct the byte order (map big endian to little endian) |
saloutos | 0:894b603d32ee | 2166 | } |
saloutos | 0:894b603d32ee | 2167 | fifo_count -= icm_20948_DMP_Geomag_Bytes; // Decrement the count |
saloutos | 0:894b603d32ee | 2168 | } |
saloutos | 0:894b603d32ee | 2169 | |
saloutos | 0:894b603d32ee | 2170 | if ((data->header & DMP_header_bitmap_Pressure) > 0) // case DMP_header_bitmap_Pressure: |
saloutos | 0:894b603d32ee | 2171 | { |
saloutos | 0:894b603d32ee | 2172 | if (fifo_count < icm_20948_DMP_Pressure_Bytes) // Check if we need to read the FIFO count again |
saloutos | 0:894b603d32ee | 2173 | { |
saloutos | 0:894b603d32ee | 2174 | result = ICM_20948_get_FIFO_count(pdev, &fifo_count); |
saloutos | 0:894b603d32ee | 2175 | if (result != ICM_20948_Stat_Ok) |
saloutos | 0:894b603d32ee | 2176 | return result; |
saloutos | 0:894b603d32ee | 2177 | } |
saloutos | 0:894b603d32ee | 2178 | if (fifo_count < icm_20948_DMP_Pressure_Bytes) |
saloutos | 0:894b603d32ee | 2179 | return ICM_20948_Stat_FIFOIncompleteData; // Bail if not enough data is available |
saloutos | 0:894b603d32ee | 2180 | result = ICM_20948_read_FIFO(pdev, &fifoBytes[0], icm_20948_DMP_Pressure_Bytes); |
saloutos | 0:894b603d32ee | 2181 | if (result != ICM_20948_Stat_Ok) |
saloutos | 0:894b603d32ee | 2182 | return result; |
saloutos | 0:894b603d32ee | 2183 | for (int i = 0; i < icm_20948_DMP_Pressure_Bytes; i++) |
saloutos | 0:894b603d32ee | 2184 | { |
saloutos | 0:894b603d32ee | 2185 | data->Pressure[i] = fifoBytes[i]; |
saloutos | 0:894b603d32ee | 2186 | } |
saloutos | 0:894b603d32ee | 2187 | fifo_count -= icm_20948_DMP_Pressure_Bytes; // Decrement the count |
saloutos | 0:894b603d32ee | 2188 | } |
saloutos | 0:894b603d32ee | 2189 | |
saloutos | 0:894b603d32ee | 2190 | if ((data->header & DMP_header_bitmap_Gyro_Calibr) > 0) // case DMP_header_bitmap_Gyro_Calibr: |
saloutos | 0:894b603d32ee | 2191 | { |
saloutos | 0:894b603d32ee | 2192 | // lcm20948MPUFifoControl.c suggests icm_20948_DMP_Gyro_Calibr_Bytes is not supported |
saloutos | 0:894b603d32ee | 2193 | // and looking at DMP frames which have the Gyro_Calibr bit set, that certainly seems to be true. |
saloutos | 0:894b603d32ee | 2194 | // So, we'll skip this...: |
saloutos | 0:894b603d32ee | 2195 | /* |
saloutos | 0:894b603d32ee | 2196 | if (fifo_count < icm_20948_DMP_Gyro_Calibr_Bytes) // Check if we need to read the FIFO count again |
saloutos | 0:894b603d32ee | 2197 | { |
saloutos | 0:894b603d32ee | 2198 | result = ICM_20948_get_FIFO_count(pdev, &fifo_count); |
saloutos | 0:894b603d32ee | 2199 | if (result != ICM_20948_Stat_Ok) |
saloutos | 0:894b603d32ee | 2200 | return result; |
saloutos | 0:894b603d32ee | 2201 | } |
saloutos | 0:894b603d32ee | 2202 | if (fifo_count < icm_20948_DMP_Gyro_Calibr_Bytes) |
saloutos | 0:894b603d32ee | 2203 | return ICM_20948_Stat_FIFOIncompleteData; // Bail if not enough data is available |
saloutos | 0:894b603d32ee | 2204 | result = ICM_20948_read_FIFO(pdev, &fifoBytes[0], icm_20948_DMP_Gyro_Calibr_Bytes); |
saloutos | 0:894b603d32ee | 2205 | if (result != ICM_20948_Stat_Ok) |
saloutos | 0:894b603d32ee | 2206 | return result; |
saloutos | 0:894b603d32ee | 2207 | for (int i = 0; i < icm_20948_DMP_Gyro_Calibr_Bytes; i++) |
saloutos | 0:894b603d32ee | 2208 | { |
saloutos | 0:894b603d32ee | 2209 | data->Gyro_Calibr.Bytes[DMP_Quat6_Byte_Ordering[i]] = fifoBytes[i]; // Correct the byte order (map big endian to little endian) |
saloutos | 0:894b603d32ee | 2210 | } |
saloutos | 0:894b603d32ee | 2211 | fifo_count -= icm_20948_DMP_Gyro_Calibr_Bytes; // Decrement the count |
saloutos | 0:894b603d32ee | 2212 | */ |
saloutos | 0:894b603d32ee | 2213 | } |
saloutos | 0:894b603d32ee | 2214 | |
saloutos | 0:894b603d32ee | 2215 | if ((data->header & DMP_header_bitmap_Compass_Calibr) > 0) // case DMP_header_bitmap_Compass_Calibr: |
saloutos | 0:894b603d32ee | 2216 | { |
saloutos | 0:894b603d32ee | 2217 | if (fifo_count < icm_20948_DMP_Compass_Calibr_Bytes) // Check if we need to read the FIFO count again |
saloutos | 0:894b603d32ee | 2218 | { |
saloutos | 0:894b603d32ee | 2219 | result = ICM_20948_get_FIFO_count(pdev, &fifo_count); |
saloutos | 0:894b603d32ee | 2220 | if (result != ICM_20948_Stat_Ok) |
saloutos | 0:894b603d32ee | 2221 | return result; |
saloutos | 0:894b603d32ee | 2222 | } |
saloutos | 0:894b603d32ee | 2223 | if (fifo_count < icm_20948_DMP_Compass_Calibr_Bytes) |
saloutos | 0:894b603d32ee | 2224 | return ICM_20948_Stat_FIFOIncompleteData; // Bail if not enough data is available |
saloutos | 0:894b603d32ee | 2225 | result = ICM_20948_read_FIFO(pdev, &fifoBytes[0], icm_20948_DMP_Compass_Calibr_Bytes); |
saloutos | 0:894b603d32ee | 2226 | if (result != ICM_20948_Stat_Ok) |
saloutos | 0:894b603d32ee | 2227 | return result; |
saloutos | 0:894b603d32ee | 2228 | for (int i = 0; i < icm_20948_DMP_Compass_Calibr_Bytes; i++) |
saloutos | 0:894b603d32ee | 2229 | { |
saloutos | 0:894b603d32ee | 2230 | data->Compass_Calibr.Bytes[DMP_Quat6_Byte_Ordering[i]] = fifoBytes[i]; // Correct the byte order (map big endian to little endian) |
saloutos | 0:894b603d32ee | 2231 | } |
saloutos | 0:894b603d32ee | 2232 | fifo_count -= icm_20948_DMP_Compass_Calibr_Bytes; // Decrement the count |
saloutos | 0:894b603d32ee | 2233 | } |
saloutos | 0:894b603d32ee | 2234 | |
saloutos | 0:894b603d32ee | 2235 | if ((data->header & DMP_header_bitmap_Step_Detector) > 0) // case DMP_header_bitmap_Step_Detector: |
saloutos | 0:894b603d32ee | 2236 | { |
saloutos | 0:894b603d32ee | 2237 | if (fifo_count < icm_20948_DMP_Step_Detector_Bytes) // Check if we need to read the FIFO count again |
saloutos | 0:894b603d32ee | 2238 | { |
saloutos | 0:894b603d32ee | 2239 | result = ICM_20948_get_FIFO_count(pdev, &fifo_count); |
saloutos | 0:894b603d32ee | 2240 | if (result != ICM_20948_Stat_Ok) |
saloutos | 0:894b603d32ee | 2241 | return result; |
saloutos | 0:894b603d32ee | 2242 | } |
saloutos | 0:894b603d32ee | 2243 | if (fifo_count < icm_20948_DMP_Step_Detector_Bytes) |
saloutos | 0:894b603d32ee | 2244 | return ICM_20948_Stat_FIFOIncompleteData; // Bail if not enough data is available |
saloutos | 0:894b603d32ee | 2245 | result = ICM_20948_read_FIFO(pdev, &fifoBytes[0], icm_20948_DMP_Step_Detector_Bytes); |
saloutos | 0:894b603d32ee | 2246 | if (result != ICM_20948_Stat_Ok) |
saloutos | 0:894b603d32ee | 2247 | return result; |
saloutos | 0:894b603d32ee | 2248 | uint32_t aWord = 0; |
saloutos | 0:894b603d32ee | 2249 | for (int i = 0; i < icm_20948_DMP_Step_Detector_Bytes; i++) |
saloutos | 0:894b603d32ee | 2250 | { |
saloutos | 0:894b603d32ee | 2251 | aWord |= ((uint32_t)fifoBytes[i]) << (24 - (i * 8)); |
saloutos | 0:894b603d32ee | 2252 | } |
saloutos | 0:894b603d32ee | 2253 | data->Pedometer_Timestamp = aWord; |
saloutos | 0:894b603d32ee | 2254 | fifo_count -= icm_20948_DMP_Step_Detector_Bytes; // Decrement the count |
saloutos | 0:894b603d32ee | 2255 | } |
saloutos | 0:894b603d32ee | 2256 | |
saloutos | 0:894b603d32ee | 2257 | // Now check for header2 features |
saloutos | 0:894b603d32ee | 2258 | |
saloutos | 0:894b603d32ee | 2259 | if ((data->header2 & DMP_header2_bitmap_Accel_Accuracy) > 0) // case DMP_header2_bitmap_Accel_Accuracy: |
saloutos | 0:894b603d32ee | 2260 | { |
saloutos | 0:894b603d32ee | 2261 | if (fifo_count < icm_20948_DMP_Accel_Accuracy_Bytes) // Check if we need to read the FIFO count again |
saloutos | 0:894b603d32ee | 2262 | { |
saloutos | 0:894b603d32ee | 2263 | result = ICM_20948_get_FIFO_count(pdev, &fifo_count); |
saloutos | 0:894b603d32ee | 2264 | if (result != ICM_20948_Stat_Ok) |
saloutos | 0:894b603d32ee | 2265 | return result; |
saloutos | 0:894b603d32ee | 2266 | } |
saloutos | 0:894b603d32ee | 2267 | if (fifo_count < icm_20948_DMP_Accel_Accuracy_Bytes) |
saloutos | 0:894b603d32ee | 2268 | return ICM_20948_Stat_FIFOIncompleteData; // Bail if not enough data is available |
saloutos | 0:894b603d32ee | 2269 | aShort = 0; |
saloutos | 0:894b603d32ee | 2270 | result = ICM_20948_read_FIFO(pdev, &fifoBytes[0], icm_20948_DMP_Accel_Accuracy_Bytes); |
saloutos | 0:894b603d32ee | 2271 | if (result != ICM_20948_Stat_Ok) |
saloutos | 0:894b603d32ee | 2272 | return result; |
saloutos | 0:894b603d32ee | 2273 | for (int i = 0; i < icm_20948_DMP_Accel_Accuracy_Bytes; i++) |
saloutos | 0:894b603d32ee | 2274 | { |
saloutos | 0:894b603d32ee | 2275 | aShort |= ((uint16_t)fifoBytes[i]) << (8 - (i * 8)); |
saloutos | 0:894b603d32ee | 2276 | } |
saloutos | 0:894b603d32ee | 2277 | data->Accel_Accuracy = aShort; |
saloutos | 0:894b603d32ee | 2278 | fifo_count -= icm_20948_DMP_Accel_Accuracy_Bytes; // Decrement the count |
saloutos | 0:894b603d32ee | 2279 | } |
saloutos | 0:894b603d32ee | 2280 | |
saloutos | 0:894b603d32ee | 2281 | if ((data->header2 & DMP_header2_bitmap_Gyro_Accuracy) > 0) // case DMP_header2_bitmap_Gyro_Accuracy: |
saloutos | 0:894b603d32ee | 2282 | { |
saloutos | 0:894b603d32ee | 2283 | if (fifo_count < icm_20948_DMP_Gyro_Accuracy_Bytes) // Check if we need to read the FIFO count again |
saloutos | 0:894b603d32ee | 2284 | { |
saloutos | 0:894b603d32ee | 2285 | result = ICM_20948_get_FIFO_count(pdev, &fifo_count); |
saloutos | 0:894b603d32ee | 2286 | if (result != ICM_20948_Stat_Ok) |
saloutos | 0:894b603d32ee | 2287 | return result; |
saloutos | 0:894b603d32ee | 2288 | } |
saloutos | 0:894b603d32ee | 2289 | if (fifo_count < icm_20948_DMP_Gyro_Accuracy_Bytes) |
saloutos | 0:894b603d32ee | 2290 | return ICM_20948_Stat_FIFOIncompleteData; // Bail if not enough data is available |
saloutos | 0:894b603d32ee | 2291 | aShort = 0; |
saloutos | 0:894b603d32ee | 2292 | result = ICM_20948_read_FIFO(pdev, &fifoBytes[0], icm_20948_DMP_Gyro_Accuracy_Bytes); |
saloutos | 0:894b603d32ee | 2293 | if (result != ICM_20948_Stat_Ok) |
saloutos | 0:894b603d32ee | 2294 | return result; |
saloutos | 0:894b603d32ee | 2295 | for (int i = 0; i < icm_20948_DMP_Gyro_Accuracy_Bytes; i++) |
saloutos | 0:894b603d32ee | 2296 | { |
saloutos | 0:894b603d32ee | 2297 | aShort |= ((uint16_t)fifoBytes[i]) << (8 - (i * 8)); |
saloutos | 0:894b603d32ee | 2298 | } |
saloutos | 0:894b603d32ee | 2299 | data->Gyro_Accuracy = aShort; |
saloutos | 0:894b603d32ee | 2300 | fifo_count -= icm_20948_DMP_Gyro_Accuracy_Bytes; // Decrement the count |
saloutos | 0:894b603d32ee | 2301 | } |
saloutos | 0:894b603d32ee | 2302 | |
saloutos | 0:894b603d32ee | 2303 | if ((data->header2 & DMP_header2_bitmap_Compass_Accuracy) > 0) // case DMP_header2_bitmap_Compass_Accuracy: |
saloutos | 0:894b603d32ee | 2304 | { |
saloutos | 0:894b603d32ee | 2305 | if (fifo_count < icm_20948_DMP_Compass_Accuracy_Bytes) // Check if we need to read the FIFO count again |
saloutos | 0:894b603d32ee | 2306 | { |
saloutos | 0:894b603d32ee | 2307 | result = ICM_20948_get_FIFO_count(pdev, &fifo_count); |
saloutos | 0:894b603d32ee | 2308 | if (result != ICM_20948_Stat_Ok) |
saloutos | 0:894b603d32ee | 2309 | return result; |
saloutos | 0:894b603d32ee | 2310 | } |
saloutos | 0:894b603d32ee | 2311 | if (fifo_count < icm_20948_DMP_Compass_Accuracy_Bytes) |
saloutos | 0:894b603d32ee | 2312 | return ICM_20948_Stat_FIFOIncompleteData; // Bail if not enough data is available |
saloutos | 0:894b603d32ee | 2313 | aShort = 0; |
saloutos | 0:894b603d32ee | 2314 | result = ICM_20948_read_FIFO(pdev, &fifoBytes[0], icm_20948_DMP_Compass_Accuracy_Bytes); |
saloutos | 0:894b603d32ee | 2315 | if (result != ICM_20948_Stat_Ok) |
saloutos | 0:894b603d32ee | 2316 | return result; |
saloutos | 0:894b603d32ee | 2317 | for (int i = 0; i < icm_20948_DMP_Compass_Accuracy_Bytes; i++) |
saloutos | 0:894b603d32ee | 2318 | { |
saloutos | 0:894b603d32ee | 2319 | aShort |= ((uint16_t)fifoBytes[i]) << (8 - (i * 8)); |
saloutos | 0:894b603d32ee | 2320 | } |
saloutos | 0:894b603d32ee | 2321 | data->Compass_Accuracy = aShort; |
saloutos | 0:894b603d32ee | 2322 | fifo_count -= icm_20948_DMP_Compass_Accuracy_Bytes; // Decrement the count |
saloutos | 0:894b603d32ee | 2323 | } |
saloutos | 0:894b603d32ee | 2324 | |
saloutos | 0:894b603d32ee | 2325 | if ((data->header2 & DMP_header2_bitmap_Fsync) > 0) // case DMP_header2_bitmap_Fsync: |
saloutos | 0:894b603d32ee | 2326 | { |
saloutos | 0:894b603d32ee | 2327 | // lcm20948MPUFifoControl.c suggests icm_20948_DMP_Fsync_Detection_Bytes is not supported. |
saloutos | 0:894b603d32ee | 2328 | // So, we'll skip this just in case...: |
saloutos | 0:894b603d32ee | 2329 | /* |
saloutos | 0:894b603d32ee | 2330 | if (fifo_count < icm_20948_DMP_Fsync_Detection_Bytes) // Check if we need to read the FIFO count again |
saloutos | 0:894b603d32ee | 2331 | { |
saloutos | 0:894b603d32ee | 2332 | result = ICM_20948_get_FIFO_count(pdev, &fifo_count); |
saloutos | 0:894b603d32ee | 2333 | if (result != ICM_20948_Stat_Ok) |
saloutos | 0:894b603d32ee | 2334 | return result; |
saloutos | 0:894b603d32ee | 2335 | } |
saloutos | 0:894b603d32ee | 2336 | if (fifo_count < icm_20948_DMP_Fsync_Detection_Bytes) |
saloutos | 0:894b603d32ee | 2337 | return ICM_20948_Stat_FIFOIncompleteData; // Bail if not enough data is available |
saloutos | 0:894b603d32ee | 2338 | aShort = 0; |
saloutos | 0:894b603d32ee | 2339 | result = ICM_20948_read_FIFO(pdev, &fifoBytes[0], icm_20948_DMP_Fsync_Detection_Bytes); |
saloutos | 0:894b603d32ee | 2340 | if (result != ICM_20948_Stat_Ok) |
saloutos | 0:894b603d32ee | 2341 | return result; |
saloutos | 0:894b603d32ee | 2342 | for (int i = 0; i < icm_20948_DMP_Fsync_Detection_Bytes; i++) |
saloutos | 0:894b603d32ee | 2343 | { |
saloutos | 0:894b603d32ee | 2344 | aShort |= ((uint16_t)fifoBytes[i]) << (8 - (i * 8)); |
saloutos | 0:894b603d32ee | 2345 | } |
saloutos | 0:894b603d32ee | 2346 | data->Fsync_Delay_Time = aShort; |
saloutos | 0:894b603d32ee | 2347 | fifo_count -= icm_20948_DMP_Fsync_Detection_Bytes; // Decrement the count |
saloutos | 0:894b603d32ee | 2348 | */ |
saloutos | 0:894b603d32ee | 2349 | } |
saloutos | 0:894b603d32ee | 2350 | |
saloutos | 0:894b603d32ee | 2351 | if ((data->header2 & DMP_header2_bitmap_Pickup) > 0) // case DMP_header2_bitmap_Pickup: |
saloutos | 0:894b603d32ee | 2352 | { |
saloutos | 0:894b603d32ee | 2353 | if (fifo_count < icm_20948_DMP_Pickup_Bytes) // Check if we need to read the FIFO count again |
saloutos | 0:894b603d32ee | 2354 | { |
saloutos | 0:894b603d32ee | 2355 | result = ICM_20948_get_FIFO_count(pdev, &fifo_count); |
saloutos | 0:894b603d32ee | 2356 | if (result != ICM_20948_Stat_Ok) |
saloutos | 0:894b603d32ee | 2357 | return result; |
saloutos | 0:894b603d32ee | 2358 | } |
saloutos | 0:894b603d32ee | 2359 | if (fifo_count < icm_20948_DMP_Pickup_Bytes) |
saloutos | 0:894b603d32ee | 2360 | return ICM_20948_Stat_FIFOIncompleteData; // Bail if not enough data is available |
saloutos | 0:894b603d32ee | 2361 | aShort = 0; |
saloutos | 0:894b603d32ee | 2362 | result = ICM_20948_read_FIFO(pdev, &fifoBytes[0], icm_20948_DMP_Pickup_Bytes); |
saloutos | 0:894b603d32ee | 2363 | if (result != ICM_20948_Stat_Ok) |
saloutos | 0:894b603d32ee | 2364 | return result; |
saloutos | 0:894b603d32ee | 2365 | for (int i = 0; i < icm_20948_DMP_Pickup_Bytes; i++) |
saloutos | 0:894b603d32ee | 2366 | { |
saloutos | 0:894b603d32ee | 2367 | aShort |= ((uint16_t)fifoBytes[i]) << (8 - (i * 8)); |
saloutos | 0:894b603d32ee | 2368 | } |
saloutos | 0:894b603d32ee | 2369 | data->Pickup = aShort; |
saloutos | 0:894b603d32ee | 2370 | fifo_count -= icm_20948_DMP_Pickup_Bytes; // Decrement the count |
saloutos | 0:894b603d32ee | 2371 | } |
saloutos | 0:894b603d32ee | 2372 | |
saloutos | 0:894b603d32ee | 2373 | if ((data->header2 & DMP_header2_bitmap_Activity_Recog) > 0) // case DMP_header2_bitmap_Activity_Recog: |
saloutos | 0:894b603d32ee | 2374 | { |
saloutos | 0:894b603d32ee | 2375 | if (fifo_count < icm_20948_DMP_Activity_Recognition_Bytes) // Check if we need to read the FIFO count again |
saloutos | 0:894b603d32ee | 2376 | { |
saloutos | 0:894b603d32ee | 2377 | result = ICM_20948_get_FIFO_count(pdev, &fifo_count); |
saloutos | 0:894b603d32ee | 2378 | if (result != ICM_20948_Stat_Ok) |
saloutos | 0:894b603d32ee | 2379 | return result; |
saloutos | 0:894b603d32ee | 2380 | } |
saloutos | 0:894b603d32ee | 2381 | if (fifo_count < icm_20948_DMP_Activity_Recognition_Bytes) |
saloutos | 0:894b603d32ee | 2382 | return ICM_20948_Stat_FIFOIncompleteData; // Bail if not enough data is available |
saloutos | 0:894b603d32ee | 2383 | result = ICM_20948_read_FIFO(pdev, &fifoBytes[0], icm_20948_DMP_Activity_Recognition_Bytes); |
saloutos | 0:894b603d32ee | 2384 | if (result != ICM_20948_Stat_Ok) |
saloutos | 0:894b603d32ee | 2385 | return result; |
saloutos | 0:894b603d32ee | 2386 | for (int i = 0; i < icm_20948_DMP_Activity_Recognition_Bytes; i++) |
saloutos | 0:894b603d32ee | 2387 | { |
saloutos | 0:894b603d32ee | 2388 | data->Activity_Recognition.Bytes[DMP_Activity_Recognition_Byte_Ordering[i]] = fifoBytes[i]; |
saloutos | 0:894b603d32ee | 2389 | } |
saloutos | 0:894b603d32ee | 2390 | fifo_count -= icm_20948_DMP_Activity_Recognition_Bytes; // Decrement the count |
saloutos | 0:894b603d32ee | 2391 | } |
saloutos | 0:894b603d32ee | 2392 | |
saloutos | 0:894b603d32ee | 2393 | if ((data->header2 & DMP_header2_bitmap_Secondary_On_Off) > 0) // case DMP_header2_bitmap_Secondary_On_Off: |
saloutos | 0:894b603d32ee | 2394 | { |
saloutos | 0:894b603d32ee | 2395 | if (fifo_count < icm_20948_DMP_Secondary_On_Off_Bytes) // Check if we need to read the FIFO count again |
saloutos | 0:894b603d32ee | 2396 | { |
saloutos | 0:894b603d32ee | 2397 | result = ICM_20948_get_FIFO_count(pdev, &fifo_count); |
saloutos | 0:894b603d32ee | 2398 | if (result != ICM_20948_Stat_Ok) |
saloutos | 0:894b603d32ee | 2399 | return result; |
saloutos | 0:894b603d32ee | 2400 | } |
saloutos | 0:894b603d32ee | 2401 | if (fifo_count < icm_20948_DMP_Secondary_On_Off_Bytes) |
saloutos | 0:894b603d32ee | 2402 | return ICM_20948_Stat_FIFOIncompleteData; // Bail if not enough data is available |
saloutos | 0:894b603d32ee | 2403 | result = ICM_20948_read_FIFO(pdev, &fifoBytes[0], icm_20948_DMP_Secondary_On_Off_Bytes); |
saloutos | 0:894b603d32ee | 2404 | if (result != ICM_20948_Stat_Ok) |
saloutos | 0:894b603d32ee | 2405 | return result; |
saloutos | 0:894b603d32ee | 2406 | for (int i = 0; i < icm_20948_DMP_Secondary_On_Off_Bytes; i++) |
saloutos | 0:894b603d32ee | 2407 | { |
saloutos | 0:894b603d32ee | 2408 | data->Secondary_On_Off.Bytes[DMP_Secondary_On_Off_Byte_Ordering[i]] = fifoBytes[i]; |
saloutos | 0:894b603d32ee | 2409 | } |
saloutos | 0:894b603d32ee | 2410 | fifo_count -= icm_20948_DMP_Secondary_On_Off_Bytes; // Decrement the count |
saloutos | 0:894b603d32ee | 2411 | } |
saloutos | 0:894b603d32ee | 2412 | |
saloutos | 0:894b603d32ee | 2413 | // Finally, extract the footer (gyro count) |
saloutos | 0:894b603d32ee | 2414 | if (fifo_count < icm_20948_DMP_Footer_Bytes) // Check if we need to read the FIFO count again |
saloutos | 0:894b603d32ee | 2415 | { |
saloutos | 0:894b603d32ee | 2416 | result = ICM_20948_get_FIFO_count(pdev, &fifo_count); |
saloutos | 0:894b603d32ee | 2417 | if (result != ICM_20948_Stat_Ok) |
saloutos | 0:894b603d32ee | 2418 | return result; |
saloutos | 0:894b603d32ee | 2419 | } |
saloutos | 0:894b603d32ee | 2420 | if (fifo_count < icm_20948_DMP_Footer_Bytes) |
saloutos | 0:894b603d32ee | 2421 | return ICM_20948_Stat_FIFOIncompleteData; // Bail if not enough data is available |
saloutos | 0:894b603d32ee | 2422 | aShort = 0; |
saloutos | 0:894b603d32ee | 2423 | result = ICM_20948_read_FIFO(pdev, &fifoBytes[0], icm_20948_DMP_Footer_Bytes); |
saloutos | 0:894b603d32ee | 2424 | if (result != ICM_20948_Stat_Ok) |
saloutos | 0:894b603d32ee | 2425 | return result; |
saloutos | 0:894b603d32ee | 2426 | for (int i = 0; i < icm_20948_DMP_Footer_Bytes; i++) |
saloutos | 0:894b603d32ee | 2427 | { |
saloutos | 0:894b603d32ee | 2428 | aShort |= ((uint16_t)fifoBytes[i]) << (8 - (i * 8)); |
saloutos | 0:894b603d32ee | 2429 | } |
saloutos | 0:894b603d32ee | 2430 | data->Footer = aShort; |
saloutos | 0:894b603d32ee | 2431 | fifo_count -= icm_20948_DMP_Footer_Bytes; // Decrement the count |
saloutos | 0:894b603d32ee | 2432 | |
saloutos | 0:894b603d32ee | 2433 | if (fifo_count > 0) // Check if there is still data waiting to be read |
saloutos | 0:894b603d32ee | 2434 | return ICM_20948_Stat_FIFOMoreDataAvail; |
saloutos | 0:894b603d32ee | 2435 | |
saloutos | 0:894b603d32ee | 2436 | return result; |
saloutos | 0:894b603d32ee | 2437 | } |
saloutos | 0:894b603d32ee | 2438 | |
saloutos | 0:894b603d32ee | 2439 | uint8_t sensor_type_2_android_sensor(enum inv_icm20948_sensor sensor) |
saloutos | 0:894b603d32ee | 2440 | { |
saloutos | 0:894b603d32ee | 2441 | switch (sensor) |
saloutos | 0:894b603d32ee | 2442 | { |
saloutos | 0:894b603d32ee | 2443 | case INV_ICM20948_SENSOR_ACCELEROMETER: |
saloutos | 0:894b603d32ee | 2444 | return ANDROID_SENSOR_ACCELEROMETER; // 1 |
saloutos | 0:894b603d32ee | 2445 | case INV_ICM20948_SENSOR_GYROSCOPE: |
saloutos | 0:894b603d32ee | 2446 | return ANDROID_SENSOR_GYROSCOPE; // 4 |
saloutos | 0:894b603d32ee | 2447 | case INV_ICM20948_SENSOR_RAW_ACCELEROMETER: |
saloutos | 0:894b603d32ee | 2448 | return ANDROID_SENSOR_RAW_ACCELEROMETER; // 42 |
saloutos | 0:894b603d32ee | 2449 | case INV_ICM20948_SENSOR_RAW_GYROSCOPE: |
saloutos | 0:894b603d32ee | 2450 | return ANDROID_SENSOR_RAW_GYROSCOPE; // 43 |
saloutos | 0:894b603d32ee | 2451 | case INV_ICM20948_SENSOR_MAGNETIC_FIELD_UNCALIBRATED: |
saloutos | 0:894b603d32ee | 2452 | return ANDROID_SENSOR_MAGNETIC_FIELD_UNCALIBRATED; // 14 |
saloutos | 0:894b603d32ee | 2453 | case INV_ICM20948_SENSOR_GYROSCOPE_UNCALIBRATED: |
saloutos | 0:894b603d32ee | 2454 | return ANDROID_SENSOR_GYROSCOPE_UNCALIBRATED; // 16 |
saloutos | 0:894b603d32ee | 2455 | case INV_ICM20948_SENSOR_ACTIVITY_CLASSIFICATON: |
saloutos | 0:894b603d32ee | 2456 | return ANDROID_SENSOR_ACTIVITY_CLASSIFICATON; // 47 |
saloutos | 0:894b603d32ee | 2457 | case INV_ICM20948_SENSOR_STEP_DETECTOR: |
saloutos | 0:894b603d32ee | 2458 | return ANDROID_SENSOR_STEP_DETECTOR; // 18 |
saloutos | 0:894b603d32ee | 2459 | case INV_ICM20948_SENSOR_STEP_COUNTER: |
saloutos | 0:894b603d32ee | 2460 | return ANDROID_SENSOR_STEP_COUNTER; // 19 |
saloutos | 0:894b603d32ee | 2461 | case INV_ICM20948_SENSOR_GAME_ROTATION_VECTOR: |
saloutos | 0:894b603d32ee | 2462 | return ANDROID_SENSOR_GAME_ROTATION_VECTOR; // 15 |
saloutos | 0:894b603d32ee | 2463 | case INV_ICM20948_SENSOR_ROTATION_VECTOR: |
saloutos | 0:894b603d32ee | 2464 | return ANDROID_SENSOR_ROTATION_VECTOR; // 11 |
saloutos | 0:894b603d32ee | 2465 | case INV_ICM20948_SENSOR_GEOMAGNETIC_ROTATION_VECTOR: |
saloutos | 0:894b603d32ee | 2466 | return ANDROID_SENSOR_GEOMAGNETIC_ROTATION_VECTOR; // 20 |
saloutos | 0:894b603d32ee | 2467 | case INV_ICM20948_SENSOR_GEOMAGNETIC_FIELD: |
saloutos | 0:894b603d32ee | 2468 | return ANDROID_SENSOR_GEOMAGNETIC_FIELD; // 2 |
saloutos | 0:894b603d32ee | 2469 | case INV_ICM20948_SENSOR_WAKEUP_SIGNIFICANT_MOTION: |
saloutos | 0:894b603d32ee | 2470 | return ANDROID_SENSOR_WAKEUP_SIGNIFICANT_MOTION; // 17 |
saloutos | 0:894b603d32ee | 2471 | case INV_ICM20948_SENSOR_FLIP_PICKUP: |
saloutos | 0:894b603d32ee | 2472 | return ANDROID_SENSOR_FLIP_PICKUP; // 46 |
saloutos | 0:894b603d32ee | 2473 | case INV_ICM20948_SENSOR_WAKEUP_TILT_DETECTOR: |
saloutos | 0:894b603d32ee | 2474 | return ANDROID_SENSOR_WAKEUP_TILT_DETECTOR; // 41 |
saloutos | 0:894b603d32ee | 2475 | case INV_ICM20948_SENSOR_GRAVITY: |
saloutos | 0:894b603d32ee | 2476 | return ANDROID_SENSOR_GRAVITY; // 9 |
saloutos | 0:894b603d32ee | 2477 | case INV_ICM20948_SENSOR_LINEAR_ACCELERATION: |
saloutos | 0:894b603d32ee | 2478 | return ANDROID_SENSOR_LINEAR_ACCELERATION; // 10 |
saloutos | 0:894b603d32ee | 2479 | case INV_ICM20948_SENSOR_ORIENTATION: |
saloutos | 0:894b603d32ee | 2480 | return ANDROID_SENSOR_ORIENTATION; // 3 |
saloutos | 0:894b603d32ee | 2481 | case INV_ICM20948_SENSOR_B2S: |
saloutos | 0:894b603d32ee | 2482 | return ANDROID_SENSOR_B2S; // 45 |
saloutos | 0:894b603d32ee | 2483 | default: |
saloutos | 0:894b603d32ee | 2484 | return ANDROID_SENSOR_NUM_MAX; |
saloutos | 0:894b603d32ee | 2485 | } |
saloutos | 0:894b603d32ee | 2486 | } |
saloutos | 0:894b603d32ee | 2487 | |
saloutos | 0:894b603d32ee | 2488 | enum inv_icm20948_sensor inv_icm20948_sensor_android_2_sensor_type(int sensor) |
saloutos | 0:894b603d32ee | 2489 | { |
saloutos | 0:894b603d32ee | 2490 | switch (sensor) |
saloutos | 0:894b603d32ee | 2491 | { |
saloutos | 0:894b603d32ee | 2492 | case ANDROID_SENSOR_ACCELEROMETER: |
saloutos | 0:894b603d32ee | 2493 | return INV_ICM20948_SENSOR_ACCELEROMETER; |
saloutos | 0:894b603d32ee | 2494 | case ANDROID_SENSOR_GYROSCOPE: |
saloutos | 0:894b603d32ee | 2495 | return INV_ICM20948_SENSOR_GYROSCOPE; |
saloutos | 0:894b603d32ee | 2496 | case ANDROID_SENSOR_RAW_ACCELEROMETER: |
saloutos | 0:894b603d32ee | 2497 | return INV_ICM20948_SENSOR_RAW_ACCELEROMETER; |
saloutos | 0:894b603d32ee | 2498 | case ANDROID_SENSOR_RAW_GYROSCOPE: |
saloutos | 0:894b603d32ee | 2499 | return INV_ICM20948_SENSOR_RAW_GYROSCOPE; |
saloutos | 0:894b603d32ee | 2500 | case ANDROID_SENSOR_MAGNETIC_FIELD_UNCALIBRATED: |
saloutos | 0:894b603d32ee | 2501 | return INV_ICM20948_SENSOR_MAGNETIC_FIELD_UNCALIBRATED; |
saloutos | 0:894b603d32ee | 2502 | case ANDROID_SENSOR_GYROSCOPE_UNCALIBRATED: |
saloutos | 0:894b603d32ee | 2503 | return INV_ICM20948_SENSOR_GYROSCOPE_UNCALIBRATED; |
saloutos | 0:894b603d32ee | 2504 | case ANDROID_SENSOR_ACTIVITY_CLASSIFICATON: |
saloutos | 0:894b603d32ee | 2505 | return INV_ICM20948_SENSOR_ACTIVITY_CLASSIFICATON; |
saloutos | 0:894b603d32ee | 2506 | case ANDROID_SENSOR_STEP_DETECTOR: |
saloutos | 0:894b603d32ee | 2507 | return INV_ICM20948_SENSOR_STEP_DETECTOR; |
saloutos | 0:894b603d32ee | 2508 | case ANDROID_SENSOR_STEP_COUNTER: |
saloutos | 0:894b603d32ee | 2509 | return INV_ICM20948_SENSOR_STEP_COUNTER; |
saloutos | 0:894b603d32ee | 2510 | case ANDROID_SENSOR_GAME_ROTATION_VECTOR: |
saloutos | 0:894b603d32ee | 2511 | return INV_ICM20948_SENSOR_GAME_ROTATION_VECTOR; |
saloutos | 0:894b603d32ee | 2512 | case ANDROID_SENSOR_ROTATION_VECTOR: |
saloutos | 0:894b603d32ee | 2513 | return INV_ICM20948_SENSOR_ROTATION_VECTOR; |
saloutos | 0:894b603d32ee | 2514 | case ANDROID_SENSOR_GEOMAGNETIC_ROTATION_VECTOR: |
saloutos | 0:894b603d32ee | 2515 | return INV_ICM20948_SENSOR_GEOMAGNETIC_ROTATION_VECTOR; |
saloutos | 0:894b603d32ee | 2516 | case ANDROID_SENSOR_GEOMAGNETIC_FIELD: |
saloutos | 0:894b603d32ee | 2517 | return INV_ICM20948_SENSOR_GEOMAGNETIC_FIELD; |
saloutos | 0:894b603d32ee | 2518 | case ANDROID_SENSOR_WAKEUP_SIGNIFICANT_MOTION: |
saloutos | 0:894b603d32ee | 2519 | return INV_ICM20948_SENSOR_WAKEUP_SIGNIFICANT_MOTION; |
saloutos | 0:894b603d32ee | 2520 | case ANDROID_SENSOR_FLIP_PICKUP: |
saloutos | 0:894b603d32ee | 2521 | return INV_ICM20948_SENSOR_FLIP_PICKUP; |
saloutos | 0:894b603d32ee | 2522 | case ANDROID_SENSOR_WAKEUP_TILT_DETECTOR: |
saloutos | 0:894b603d32ee | 2523 | return INV_ICM20948_SENSOR_WAKEUP_TILT_DETECTOR; |
saloutos | 0:894b603d32ee | 2524 | case ANDROID_SENSOR_GRAVITY: |
saloutos | 0:894b603d32ee | 2525 | return INV_ICM20948_SENSOR_GRAVITY; |
saloutos | 0:894b603d32ee | 2526 | case ANDROID_SENSOR_LINEAR_ACCELERATION: |
saloutos | 0:894b603d32ee | 2527 | return INV_ICM20948_SENSOR_LINEAR_ACCELERATION; |
saloutos | 0:894b603d32ee | 2528 | case ANDROID_SENSOR_ORIENTATION: |
saloutos | 0:894b603d32ee | 2529 | return INV_ICM20948_SENSOR_ORIENTATION; |
saloutos | 0:894b603d32ee | 2530 | case ANDROID_SENSOR_B2S: |
saloutos | 0:894b603d32ee | 2531 | return INV_ICM20948_SENSOR_B2S; |
saloutos | 0:894b603d32ee | 2532 | default: |
saloutos | 0:894b603d32ee | 2533 | return INV_ICM20948_SENSOR_MAX; |
saloutos | 0:894b603d32ee | 2534 | } |
saloutos | 0:894b603d32ee | 2535 | } |
saloutos | 0:894b603d32ee | 2536 | |
saloutos | 0:894b603d32ee | 2537 | ICM_20948_Status_e inv_icm20948_set_gyro_sf(ICM_20948_Device_t *pdev, unsigned char div, int gyro_level) |
saloutos | 0:894b603d32ee | 2538 | { |
saloutos | 0:894b603d32ee | 2539 | ICM_20948_Status_e result = ICM_20948_Stat_Ok; |
saloutos | 0:894b603d32ee | 2540 | |
saloutos | 0:894b603d32ee | 2541 | if (pdev->_dmp_firmware_available == false) |
saloutos | 0:894b603d32ee | 2542 | return ICM_20948_Stat_DMPNotSupported; |
saloutos | 0:894b603d32ee | 2543 | |
saloutos | 0:894b603d32ee | 2544 | // gyro_level should be set to 4 regardless of fullscale, due to the addition of API dmp_icm20648_set_gyro_fsr() |
saloutos | 0:894b603d32ee | 2545 | gyro_level = 4; |
saloutos | 0:894b603d32ee | 2546 | |
saloutos | 0:894b603d32ee | 2547 | // First read the TIMEBASE_CORRECTION_PLL register from Bank 1 |
saloutos | 0:894b603d32ee | 2548 | int8_t pll; // Signed. Typical value is 0x18 |
saloutos | 0:894b603d32ee | 2549 | result = ICM_20948_set_bank(pdev, 1); |
saloutos | 0:894b603d32ee | 2550 | result = ICM_20948_execute_r(pdev, AGB1_REG_TIMEBASE_CORRECTION_PLL, (uint8_t *)&pll, 1); |
saloutos | 0:894b603d32ee | 2551 | if (result != ICM_20948_Stat_Ok) |
saloutos | 0:894b603d32ee | 2552 | { |
saloutos | 0:894b603d32ee | 2553 | return result; |
saloutos | 0:894b603d32ee | 2554 | } |
saloutos | 0:894b603d32ee | 2555 | |
saloutos | 0:894b603d32ee | 2556 | pdev->_gyroSFpll = pll; // Record the PLL value so we can debug print it |
saloutos | 0:894b603d32ee | 2557 | |
saloutos | 0:894b603d32ee | 2558 | // Now calculate the Gyro SF using code taken from the InvenSense example (inv_icm20948_set_gyro_sf) |
saloutos | 0:894b603d32ee | 2559 | |
saloutos | 0:894b603d32ee | 2560 | long gyro_sf; |
saloutos | 0:894b603d32ee | 2561 | |
saloutos | 0:894b603d32ee | 2562 | unsigned long long const MagicConstant = 264446880937391LL; |
saloutos | 0:894b603d32ee | 2563 | unsigned long long const MagicConstantScale = 100000LL; |
saloutos | 0:894b603d32ee | 2564 | unsigned long long ResultLL; |
saloutos | 0:894b603d32ee | 2565 | |
saloutos | 0:894b603d32ee | 2566 | if (pll & 0x80) |
saloutos | 0:894b603d32ee | 2567 | { |
saloutos | 0:894b603d32ee | 2568 | ResultLL = (MagicConstant * (long long)(1ULL << gyro_level) * (1 + div) / (1270 - (pll & 0x7F)) / MagicConstantScale); |
saloutos | 0:894b603d32ee | 2569 | } |
saloutos | 0:894b603d32ee | 2570 | else |
saloutos | 0:894b603d32ee | 2571 | { |
saloutos | 0:894b603d32ee | 2572 | ResultLL = (MagicConstant * (long long)(1ULL << gyro_level) * (1 + div) / (1270 + pll) / MagicConstantScale); |
saloutos | 0:894b603d32ee | 2573 | } |
saloutos | 0:894b603d32ee | 2574 | /* |
saloutos | 0:894b603d32ee | 2575 | In above deprecated FP version, worst case arguments can produce a result that overflows a signed long. |
saloutos | 0:894b603d32ee | 2576 | Here, for such cases, we emulate the FP behavior of setting the result to the maximum positive value, as |
saloutos | 0:894b603d32ee | 2577 | the compiler's conversion of a u64 to an s32 is simple truncation of the u64's high half, sadly.... |
saloutos | 0:894b603d32ee | 2578 | */ |
saloutos | 0:894b603d32ee | 2579 | if (ResultLL > 0x7FFFFFFF) |
saloutos | 0:894b603d32ee | 2580 | gyro_sf = 0x7FFFFFFF; |
saloutos | 0:894b603d32ee | 2581 | else |
saloutos | 0:894b603d32ee | 2582 | gyro_sf = (long)ResultLL; |
saloutos | 0:894b603d32ee | 2583 | |
saloutos | 0:894b603d32ee | 2584 | pdev->_gyroSF = gyro_sf; // Record value so we can debug print it |
saloutos | 0:894b603d32ee | 2585 | |
saloutos | 0:894b603d32ee | 2586 | // Finally, write the value to the DMP GYRO_SF register |
saloutos | 0:894b603d32ee | 2587 | unsigned char gyro_sf_reg[4]; |
saloutos | 0:894b603d32ee | 2588 | gyro_sf_reg[0] = (unsigned char)(gyro_sf >> 24); |
saloutos | 0:894b603d32ee | 2589 | gyro_sf_reg[1] = (unsigned char)(gyro_sf >> 16); |
saloutos | 0:894b603d32ee | 2590 | gyro_sf_reg[2] = (unsigned char)(gyro_sf >> 8); |
saloutos | 0:894b603d32ee | 2591 | gyro_sf_reg[3] = (unsigned char)(gyro_sf & 0xff); |
saloutos | 0:894b603d32ee | 2592 | result = inv_icm20948_write_mems(pdev, GYRO_SF, 4, (const unsigned char *)&gyro_sf_reg); |
saloutos | 0:894b603d32ee | 2593 | |
saloutos | 0:894b603d32ee | 2594 | return result; |
saloutos | 0:894b603d32ee | 2595 | } |