Diff: icm20602_i2c.cpp

Revision:

2:74690f762c0f

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/icm20602_i2c.cpp	Wed Jul 19 07:56:49 2017 +0000
@@ -0,0 +1,178 @@
+#include "mbed.h"
+#include "icm20602_i2c.h"
+//Serial pc1(USBTX,USBRX); 
+I2C  ICM20602_i2c(D14,D15); // I2C0_SDA, I2C0_SCL
+
+// Acc Full Scale Range  +-2G 4G 8G 16G 
+enum Ascale
+{
+    AFS_2G=0,  
+    AFS_4G,
+    AFS_8G,
+    AFS_16G
+};
+
+// Gyro Full Scale Range +-250 500 1000 2000 Degrees per second
+enum Gscale
+{
+    GFS_250DPS=0,   
+    GFS_500DPS,
+    GFS_1000DPS,
+    GFS_2000DPS
+};
+
+// Scale resolutions per LSB for the sensors
+float aRes, gRes; 
+int Ascale = AFS_2G;
+int Gscale = GFS_1000DPS;
+
+void ICM20602_WriteByte(uint8_t ICM20602_reg, uint8_t ICM20602_data)
+{
+    char data_out[2];
+    data_out[0]=ICM20602_reg;
+    data_out[1]=ICM20602_data;
+    ICM20602_i2c.write(ICM20602_slave_addr, data_out, 2, 0);
+}
+
+uint8_t ICM20602_ReadByte(uint8_t ICM20602_reg)
+{
+    char data_out[1], data_in[1];
+    data_out[0] = ICM20602_reg;
+    ICM20602_i2c.write(ICM20602_slave_addr, data_out, 1, 1);
+    ICM20602_i2c.read(ICM20602_slave_addr, data_in, 1, 0);
+    return (data_in[0]);
+}
+
+// Communication test: WHO_AM_I register reading 
+void ICM20602::whoAmI()
+{
+    uint8_t whoAmI = ICM20602_ReadByte(ICM20602_WHO_AM_I);   // Should return 0x68
+    pc.printf("I AM ICM20602: 0x%x \r\n",whoAmI);
+    
+    if(whoAmI==0x12)//0x68)
+    {
+        pc.printf("ICM20602 is online... \r\n");  
+//        led2=1;
+//        ledToggle(2);
+    }
+    else
+    {
+        pc.printf("Could not connect to ICM20602 \r\nCheck the connections... \r\n");  
+//        toggler1.attach(&toggle_led1,0.1);     // toggles led1 every 100 ms
+    }  
+    
+}
+
+void ICM20602::init()
+{
+    ICM20602_i2c.frequency(400000);    
+    ICM20602_WriteByte(ICM20602_PWR_MGMT_1, 0x00);    // CLK_SEL=0: internal 8MHz, TEMP_DIS=0, SLEEP=0 
+    ICM20602_WriteByte(ICM20602_SMPLRT_DIV, 0x07);  // Gyro output sample rate = Gyro Output Rate/(1+SMPLRT_DIV)
+    ICM20602_WriteByte(ICM20602_CONFIG, 0x01); //176Hz     // set TEMP_OUT_L, DLPF=3 (Fs=1KHz):0x03
+//    ICM20602_WriteByte(ICM20602_GYRO_CONFIG, 0x00); // bit[4:3] 0=+-250d/s,1=+-500d/s,2=+-1000d/s,3=+-2000d/s :0x18
+//    ICM20602_WriteByte(ICM20602_ACCEL_CONFIG, 0x00);// bit[4:3] 0=+-2g,1=+-4g,2=+-8g,3=+-16g, ACC_HPF=On (5Hz):0x01
+    setAccRange(Ascale);
+    setGyroRange(Gscale);
+}
+
+int16_t ICM20602::getAccXvalue()
+{
+    uint8_t LoByte, HiByte;
+    LoByte = ICM20602_ReadByte(ICM20602_ACCEL_XOUT_L); // read Accelerometer X_Low  value
+    HiByte = ICM20602_ReadByte(ICM20602_ACCEL_XOUT_H); // read Accelerometer X_High value
+    return((HiByte<<8) | LoByte);
+//    pc1.printf("accx:%d,%d\r\n",HiByte,LoByte);  // send data to matlab
+}
+
+int16_t ICM20602::getAccYvalue()
+{
+    uint8_t LoByte, HiByte;
+    LoByte = ICM20602_ReadByte(ICM20602_ACCEL_YOUT_L); // read Accelerometer X_Low  value
+    HiByte = ICM20602_ReadByte(ICM20602_ACCEL_YOUT_H); // read Accelerometer X_High value
+    return ((HiByte<<8) | LoByte);
+}
+
+int16_t ICM20602::getAccZvalue()
+{
+    uint8_t LoByte, HiByte;
+    LoByte = ICM20602_ReadByte(ICM20602_ACCEL_ZOUT_L); // read Accelerometer X_Low  value
+    HiByte = ICM20602_ReadByte(ICM20602_ACCEL_ZOUT_H); // read Accelerometer X_High value
+    return ((HiByte<<8) | LoByte);
+}
+
+int16_t ICM20602::getGyrXvalue()
+{
+    uint8_t LoByte, HiByte;
+    LoByte = ICM20602_ReadByte(ICM20602_GYRO_XOUT_L); // read Accelerometer X_Low  value
+    HiByte = ICM20602_ReadByte(ICM20602_GYRO_XOUT_H); // read Accelerometer X_High value
+    return ((HiByte<<8) | LoByte);
+}
+
+int16_t ICM20602::getGyrYvalue()
+{
+    uint8_t LoByte, HiByte;
+    LoByte = ICM20602_ReadByte(ICM20602_GYRO_YOUT_L); // read Accelerometer X_Low  value
+    HiByte = ICM20602_ReadByte(ICM20602_GYRO_YOUT_H); // read Accelerometer X_High value
+    return ((HiByte<<8) | LoByte);
+}
+
+int16_t ICM20602::getGyrZvalue()
+{
+    uint8_t LoByte, HiByte;
+    LoByte = ICM20602_ReadByte(ICM20602_GYRO_ZOUT_L); // read Accelerometer X_Low  value
+    HiByte = ICM20602_ReadByte(ICM20602_GYRO_ZOUT_H); // read Accelerometer X_High value
+    return ((HiByte<<8) | LoByte);
+}
+
+int16_t ICM20602::getIMUTemp()
+{
+    uint8_t LoByte, HiByte;
+    LoByte = ICM20602_ReadByte(ICM20602_TEMP_OUT_L); // read Accelerometer X_Low  value
+    HiByte = ICM20602_ReadByte(ICM20602_TEMP_OUT_H); // read Accelerometer X_High value
+    return ((HiByte<<8) | LoByte);
+}
+
+
+// Calculates Acc resolution
+float ICM20602::setAccRange(int Ascale)
+{
+    switch(Ascale)
+    {
+        case AFS_2G:
+            aRes = 2.0/32768.0;
+            break;
+        case AFS_4G:
+            aRes = 4.0/32768.0;
+            break;
+        case AFS_8G:
+            aRes = 8.0/32768.0;
+            break;
+        case AFS_16G:
+            aRes = 16.0/32768.0;
+            break;         
+    }
+    ICM20602_WriteByte(ICM20602_ACCEL_CONFIG, Ascale<<3);// bit[4:3] 0=+-2g,1=+-4g,2=+-8g,3=+-16g, ACC_HPF=On (5Hz)
+    return aRes;
+}
+
+// Calculates Gyro resolution
+float ICM20602::setGyroRange(int Gscale)
+{
+    switch(Gscale)
+    {
+        case GFS_250DPS:
+            gRes = 250.0/32768.0;
+            break;
+        case GFS_500DPS:
+            gRes = 500.0/32768.0;
+            break;
+        case GFS_1000DPS:
+            gRes = 1000.0/32768.0;
+            break;
+        case GFS_2000DPS:
+            gRes = 2000.0/32768.0;
+            break;
+    }
+    ICM20602_WriteByte(ICM20602_GYRO_CONFIG, Gscale<<3); // bit[4:3] 0=+-250d/s,1=+-500d/s,2=+-1000d/s,3=+-2000d/s
+    return gRes;
+}
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