Modified Arduino library for ICM_20948 IMU for Nucleo boards
Diff: util/ICM_20948_C.h
- Revision:
- 0:894b603d32ee
diff -r 000000000000 -r 894b603d32ee util/ICM_20948_C.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/util/ICM_20948_C.h Mon Jan 31 03:25:31 2022 +0000 @@ -0,0 +1,303 @@ +/* + +This is a C-compatible interface to the features presented by the ICM 20948 9-axis device +The imementation of the interface is flexible + +*/ + +#ifndef _ICM_20948_C_H_ +#define _ICM_20948_C_H_ + +#include <stdint.h> +#include <stdbool.h> +#include <stddef.h> + +#include "ICM_20948_REGISTERS.h" +#include "ICM_20948_ENUMERATIONS.h" // This is to give users access to usable value definiitons +#include "AK09916_ENUMERATIONS.h" +#include "ICM_20948_DMP.h" + +#ifdef __cplusplus +extern "C" +{ +#endif /* __cplusplus */ + +extern int memcmp(const void *, const void *, size_t); // Avoid compiler warnings + +// Define if the DMP will be supported +// Note: you must have 14290/14301 Bytes of program memory available to store the DMP firmware! +//#define ICM_20948_USE_DMP // Uncomment this line to enable DMP support. You can of course use ICM_20948_USE_DMP as a compiler flag too + +// There are two versions of the InvenSense DMP firmware for the ICM20948 - with slightly different sizes +#define DMP_CODE_SIZE 14301 /* eMD-SmartMotion-ICM20948-1.1.0-MP */ +//#define DMP_CODE_SIZE 14290 /* ICM20948_eMD_nucleo_1.0 */ + + +#define ICM_20948_I2C_ADDR_AD0 0x68 // Or 0x69 when AD0 is high +#define ICM_20948_I2C_ADDR_AD1 0x69 // +#define ICM_20948_WHOAMI 0xEA + +#define MAG_AK09916_I2C_ADDR 0x0C +#define MAG_AK09916_WHO_AM_I 0x4809 +#define MAG_REG_WHO_AM_I 0x00 + +/** @brief Max size that can be read across I2C or SPI data lines */ +#define INV_MAX_SERIAL_READ 16 +/** @brief Max size that can be written across I2C or SPI data lines */ +#define INV_MAX_SERIAL_WRITE 16 + + typedef enum + { + ICM_20948_Stat_Ok = 0x00, // The only return code that means all is well + ICM_20948_Stat_Err, // A general error + ICM_20948_Stat_NotImpl, // Returned by virtual functions that are not implemented + ICM_20948_Stat_ParamErr, + ICM_20948_Stat_WrongID, + ICM_20948_Stat_InvalSensor, // Tried to apply a function to a sensor that does not support it (e.g. DLPF to the temperature sensor) + ICM_20948_Stat_NoData, + ICM_20948_Stat_SensorNotSupported, + ICM_20948_Stat_DMPNotSupported, // DMP not supported (no #define ICM_20948_USE_DMP) + ICM_20948_Stat_DMPVerifyFail, // DMP was written but did not verify correctly + ICM_20948_Stat_FIFONoDataAvail, // FIFO contains no data + ICM_20948_Stat_FIFOIncompleteData, // FIFO contained incomplete data + ICM_20948_Stat_FIFOMoreDataAvail, // FIFO contains more data + ICM_20948_Stat_UnrecognisedDMPHeader, + ICM_20948_Stat_UnrecognisedDMPHeader2, + ICM_20948_Stat_InvalDMPRegister, // Invalid DMP Register + + ICM_20948_Stat_NUM, + ICM_20948_Stat_Unknown, + } ICM_20948_Status_e; + + typedef enum + { + ICM_20948_Internal_Acc = (1 << 0), + ICM_20948_Internal_Gyr = (1 << 1), + ICM_20948_Internal_Mag = (1 << 2), + ICM_20948_Internal_Tmp = (1 << 3), + ICM_20948_Internal_Mst = (1 << 4), // I2C Master Ineternal + } ICM_20948_InternalSensorID_bm; // A bitmask of internal sensor IDs + + typedef union + { + int16_t i16bit[3]; + uint8_t u8bit[6]; + } ICM_20948_axis3bit16_t; + + typedef union + { + int16_t i16bit; + uint8_t u8bit[2]; + } ICM_20948_axis1bit16_t; + + typedef struct + { + uint8_t a : 2; + uint8_t g : 2; + uint8_t reserved_0 : 4; + } ICM_20948_fss_t; // Holds full-scale settings to be able to extract measurements with units + + typedef struct + { + uint8_t a; + uint8_t g; + } ICM_20948_dlpcfg_t; // Holds digital low pass filter settings. Members are type ICM_20948_ACCEL_CONFIG_DLPCFG_e + + typedef struct + { + uint16_t a; + uint8_t g; + } ICM_20948_smplrt_t; + + typedef struct + { + uint8_t I2C_MST_INT_EN : 1; + uint8_t DMP_INT1_EN : 1; + uint8_t PLL_RDY_EN : 1; + uint8_t WOM_INT_EN : 1; + uint8_t REG_WOF_EN : 1; + uint8_t RAW_DATA_0_RDY_EN : 1; + uint8_t FIFO_OVERFLOW_EN_4 : 1; + uint8_t FIFO_OVERFLOW_EN_3 : 1; + uint8_t FIFO_OVERFLOW_EN_2 : 1; + uint8_t FIFO_OVERFLOW_EN_1 : 1; + uint8_t FIFO_OVERFLOW_EN_0 : 1; + uint8_t FIFO_WM_EN_4 : 1; + uint8_t FIFO_WM_EN_3 : 1; + uint8_t FIFO_WM_EN_2 : 1; + uint8_t FIFO_WM_EN_1 : 1; + uint8_t FIFO_WM_EN_0 : 1; + } ICM_20948_INT_enable_t; + + typedef union + { + ICM_20948_axis3bit16_t raw; + struct + { + int16_t x; + int16_t y; + int16_t z; + } axes; + } ICM_20948_axis3named_t; + + typedef struct + { + ICM_20948_axis3named_t acc; + ICM_20948_axis3named_t gyr; + ICM_20948_axis3named_t mag; + union + { + ICM_20948_axis1bit16_t raw; + int16_t val; + } tmp; + ICM_20948_fss_t fss; // Full-scale range settings for this measurement + uint8_t magStat1; + uint8_t magStat2; + } ICM_20948_AGMT_t; + + typedef struct + { + ICM_20948_Status_e (*write)(uint8_t regaddr, uint8_t *pdata, uint32_t len, void *user); + ICM_20948_Status_e (*read)(uint8_t regaddr, uint8_t *pdata, uint32_t len, void *user); + // void (*delay)(uint32_t ms); + void *user; + } ICM_20948_Serif_t; // This is the vtable of serial interface functions + extern const ICM_20948_Serif_t NullSerif; // Here is a default for initialization (NULL) + + typedef struct + { + const ICM_20948_Serif_t *_serif; // Pointer to the assigned Serif (Serial Interface) vtable + bool _dmp_firmware_available; // Indicates if the DMP firmware has been included. It + bool _firmware_loaded; // Indicates if DMP has been loaded + uint8_t _last_bank; // Keep track of which bank was selected last - to avoid unnecessary writes + uint8_t _last_mems_bank; // Keep track of which bank was selected last - to avoid unnecessary writes + int32_t _gyroSF; // Use this to record the GyroSF, calculated by inv_icm20948_set_gyro_sf + int8_t _gyroSFpll; + uint32_t _enabled_Android_0; // Keep track of which Android sensors are enabled: 0-31 + uint32_t _enabled_Android_1; // Keep track of which Android sensors are enabled: 32- + uint32_t _enabled_Android_intr_0; // Keep track of which Android sensor interrupts are enabled: 0-31 + uint32_t _enabled_Android_intr_1; // Keep track of which Android sensor interrupts are enabled: 32- + uint16_t _dataOutCtl1; // Diagnostics: record the setting of DATA_OUT_CTL1 + uint16_t _dataOutCtl2; // Diagnostics: record the setting of DATA_OUT_CTL2 + uint16_t _dataRdyStatus; // Diagnostics: record the setting of DATA_RDY_STATUS + uint16_t _motionEventCtl; // Diagnostics: record the setting of MOTION_EVENT_CTL + uint16_t _dataIntrCtl; // Diagnostics: record the setting of DATA_INTR_CTL + } ICM_20948_Device_t; // Definition of device struct type + + ICM_20948_Status_e ICM_20948_init_struct(ICM_20948_Device_t *pdev); // Initialize ICM_20948_Device_t + + // ICM_20948_Status_e ICM_20948_Startup( ICM_20948_Device_t* pdev ); // For the time being this performs a standardized startup routine + + ICM_20948_Status_e ICM_20948_link_serif(ICM_20948_Device_t *pdev, const ICM_20948_Serif_t *s); // Links a SERIF structure to the device + + // use the device's serif to perform a read or write + ICM_20948_Status_e ICM_20948_execute_r(ICM_20948_Device_t *pdev, uint8_t regaddr, uint8_t *pdata, uint32_t len); // Executes a R or W witht he serif vt as long as the pointers are not null + ICM_20948_Status_e ICM_20948_execute_w(ICM_20948_Device_t *pdev, uint8_t regaddr, uint8_t *pdata, uint32_t len); + + // Single-shot I2C on Master IF + ICM_20948_Status_e ICM_20948_i2c_controller_periph4_txn(ICM_20948_Device_t *pdev, uint8_t addr, uint8_t reg, uint8_t *data, uint8_t len, bool Rw, bool send_reg_addr); + ICM_20948_Status_e ICM_20948_i2c_master_single_w(ICM_20948_Device_t *pdev, uint8_t addr, uint8_t reg, uint8_t *data); + ICM_20948_Status_e ICM_20948_i2c_master_single_r(ICM_20948_Device_t *pdev, uint8_t addr, uint8_t reg, uint8_t *data); + + // Device Level + ICM_20948_Status_e ICM_20948_set_bank(ICM_20948_Device_t *pdev, uint8_t bank); // Sets the bank + ICM_20948_Status_e ICM_20948_sw_reset(ICM_20948_Device_t *pdev); // Performs a SW reset + ICM_20948_Status_e ICM_20948_sleep(ICM_20948_Device_t *pdev, bool on); // Set sleep mode for the chip + ICM_20948_Status_e ICM_20948_low_power(ICM_20948_Device_t *pdev, bool on); // Set low power mode for the chip + ICM_20948_Status_e ICM_20948_set_clock_source(ICM_20948_Device_t *pdev, ICM_20948_PWR_MGMT_1_CLKSEL_e source); // Choose clock source + ICM_20948_Status_e ICM_20948_get_who_am_i(ICM_20948_Device_t *pdev, uint8_t *whoami); // Return whoami in out prarmeter + ICM_20948_Status_e ICM_20948_check_id(ICM_20948_Device_t *pdev); // Return 'ICM_20948_Stat_Ok' if whoami matches ICM_20948_WHOAMI + ICM_20948_Status_e ICM_20948_data_ready(ICM_20948_Device_t *pdev); // Returns 'Ok' if data is ready + + // Interrupt Configuration + ICM_20948_Status_e ICM_20948_int_pin_cfg(ICM_20948_Device_t *pdev, ICM_20948_INT_PIN_CFG_t *write, ICM_20948_INT_PIN_CFG_t *read); // Set the INT pin configuration + ICM_20948_Status_e ICM_20948_int_enable(ICM_20948_Device_t *pdev, ICM_20948_INT_enable_t *write, ICM_20948_INT_enable_t *read); // Write and or read the interrupt enable information. If non-null the write operation occurs before the read, so as to verify that the write was successful + + // WoM Threshold Level Configuration + ICM_20948_Status_e ICM_20948_wom_threshold(ICM_20948_Device_t *pdev, ICM_20948_ACCEL_WOM_THR_t *write, ICM_20948_ACCEL_WOM_THR_t *read); // Write and or read the Wake on Motion threshold. If non-null the write operation occurs before the read, so as to verify that the write was successful + + // Internal Sensor Options + ICM_20948_Status_e ICM_20948_set_sample_mode(ICM_20948_Device_t *pdev, ICM_20948_InternalSensorID_bm sensors, ICM_20948_LP_CONFIG_CYCLE_e mode); // Use to set accel, gyro, and I2C master into cycled or continuous modes + ICM_20948_Status_e ICM_20948_set_full_scale(ICM_20948_Device_t *pdev, ICM_20948_InternalSensorID_bm sensors, ICM_20948_fss_t fss); + ICM_20948_Status_e ICM_20948_set_dlpf_cfg(ICM_20948_Device_t *pdev, ICM_20948_InternalSensorID_bm sensors, ICM_20948_dlpcfg_t cfg); + ICM_20948_Status_e ICM_20948_enable_dlpf(ICM_20948_Device_t *pdev, ICM_20948_InternalSensorID_bm sensors, bool enable); + ICM_20948_Status_e ICM_20948_set_sample_rate(ICM_20948_Device_t *pdev, ICM_20948_InternalSensorID_bm sensors, ICM_20948_smplrt_t smplrt); + + // Interface Things + ICM_20948_Status_e ICM_20948_i2c_master_passthrough(ICM_20948_Device_t *pdev, bool passthrough); + ICM_20948_Status_e ICM_20948_i2c_master_enable(ICM_20948_Device_t *pdev, bool enable); + ICM_20948_Status_e ICM_20948_i2c_master_reset(ICM_20948_Device_t *pdev); + ICM_20948_Status_e ICM_20948_i2c_controller_configure_peripheral(ICM_20948_Device_t *pdev, uint8_t peripheral, uint8_t addr, uint8_t reg, uint8_t len, bool Rw, bool enable, bool data_only, bool grp, bool swap, uint8_t dataOut); + + // Higher Level + ICM_20948_Status_e ICM_20948_get_agmt(ICM_20948_Device_t *pdev, ICM_20948_AGMT_t *p); + + // FIFO + + ICM_20948_Status_e ICM_20948_enable_FIFO(ICM_20948_Device_t *pdev, bool enable); + ICM_20948_Status_e ICM_20948_reset_FIFO(ICM_20948_Device_t *pdev); + ICM_20948_Status_e ICM_20948_set_FIFO_mode(ICM_20948_Device_t *pdev, bool snapshot); + ICM_20948_Status_e ICM_20948_get_FIFO_count(ICM_20948_Device_t *pdev, uint16_t *count); + ICM_20948_Status_e ICM_20948_read_FIFO(ICM_20948_Device_t *pdev, uint8_t *data, uint8_t len); + + // DMP + + ICM_20948_Status_e ICM_20948_enable_DMP(ICM_20948_Device_t *pdev, bool enable); + ICM_20948_Status_e ICM_20948_reset_DMP(ICM_20948_Device_t *pdev); + ICM_20948_Status_e ICM_20948_firmware_load(ICM_20948_Device_t *pdev); + ICM_20948_Status_e ICM_20948_set_dmp_start_address(ICM_20948_Device_t *pdev, unsigned short address); + + /** @brief Loads the DMP firmware from SRAM + * @param[in] data pointer where the image + * @param[in] size size if the image + * @param[in] load_addr address to loading the image + * @return 0 in case of success, -1 for any error + */ + ICM_20948_Status_e inv_icm20948_firmware_load(ICM_20948_Device_t *pdev, const unsigned char *data, unsigned short size, unsigned short load_addr); + /** + * @brief Write data to a register in DMP memory + * @param[in] DMP memory address + * @param[in] number of byte to be written + * @param[out] output data from the register + * @return 0 if successful. + */ + ICM_20948_Status_e inv_icm20948_write_mems(ICM_20948_Device_t *pdev, unsigned short reg, unsigned int length, const unsigned char *data); + /** + * @brief Read data from a register in DMP memory + * @param[in] DMP memory address + * @param[in] number of byte to be read + * @param[in] input data from the register + * @return 0 if successful. + */ + ICM_20948_Status_e inv_icm20948_read_mems(ICM_20948_Device_t *pdev, unsigned short reg, unsigned int length, unsigned char *data); + + ICM_20948_Status_e inv_icm20948_set_dmp_sensor_period(ICM_20948_Device_t *pdev, enum DMP_ODR_Registers odr_reg, uint16_t interval); + ICM_20948_Status_e inv_icm20948_enable_dmp_sensor(ICM_20948_Device_t *pdev, enum inv_icm20948_sensor sensor, int state); // State is actually boolean + ICM_20948_Status_e inv_icm20948_enable_dmp_sensor_int(ICM_20948_Device_t *pdev, enum inv_icm20948_sensor sensor, int state); // State is actually boolean + uint8_t sensor_type_2_android_sensor(enum inv_icm20948_sensor sensor); + enum inv_icm20948_sensor inv_icm20948_sensor_android_2_sensor_type(int sensor); + + ICM_20948_Status_e inv_icm20948_read_dmp_data(ICM_20948_Device_t *pdev, icm_20948_DMP_data_t *data); + ICM_20948_Status_e inv_icm20948_set_gyro_sf(ICM_20948_Device_t *pdev, unsigned char div, int gyro_level); + + // ToDo: + + /* + Want to access magnetometer throught the I2C master interface... + + // If using the I2C master to read from the magnetometer + // Enable the I2C master to talk to the magnetometer through the ICM 20948 + myICM.i2cMasterEnable( true ); + SERIAL_PORT.print(F("Enabling the I2C master returned ")); SERIAL_PORT.println(myICM.statusString()); + myICM.i2cControllerConfigurePeripheral ( 0, MAG_AK09916_I2C_ADDR, REG_ST1, 9, true, true, false, false, false ); + SERIAL_PORT.print(F("Configuring the magnetometer peripheral returned ")); SERIAL_PORT.println(myICM.statusString()); + + // Operate the I2C master in duty-cycled mode + myICM.setSampleMode( (ICM_20948_Internal_Mst | ICM_20948_Internal_Gyr), ICM_20948_Sample_Mode_Cycled ); // options: ICM_20948_Sample_Mode_Continuous or ICM_20948_Sample_Mode_Cycled +*/ + +#ifdef __cplusplus +} +#endif /* __cplusplus */ + +#endif /* _ICM_20948_C_H_ */