304 lines
14 KiB
C
304 lines
14 KiB
C
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/*
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This is a C-compatible interface to the features presented by the ICM 20948 9-axis device
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The imementation of the interface is flexible
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*/
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#ifndef _ICM_20948_C_H_
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#define _ICM_20948_C_H_
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#include <stdint.h>
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#include <stdbool.h>
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#include <stddef.h>
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#include "ICM_20948_REGISTERS.h"
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#include "ICM_20948_ENUMERATIONS.h" // This is to give users access to usable value definiitons
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#include "AK09916_ENUMERATIONS.h"
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#include "ICM_20948_DMP.h"
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#ifdef __cplusplus
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extern "C"
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{
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#endif /* __cplusplus */
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extern int memcmp(const void *, const void *, size_t); // Avoid compiler warnings
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// Define if the DMP will be supported
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// Note: you must have 14290/14301 Bytes of program memory available to store the DMP firmware!
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//#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
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// There are two versions of the InvenSense DMP firmware for the ICM20948 - with slightly different sizes
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#define DMP_CODE_SIZE 14301 /* eMD-SmartMotion-ICM20948-1.1.0-MP */
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//#define DMP_CODE_SIZE 14290 /* ICM20948_eMD_nucleo_1.0 */
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#define ICM_20948_I2C_ADDR_AD0 0x68 // Or 0x69 when AD0 is high
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#define ICM_20948_I2C_ADDR_AD1 0x69 //
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#define ICM_20948_WHOAMI 0xEA
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#define MAG_AK09916_I2C_ADDR 0x0C
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#define MAG_AK09916_WHO_AM_I 0x4809
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#define MAG_REG_WHO_AM_I 0x00
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/** @brief Max size that can be read across I2C or SPI data lines */
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#define INV_MAX_SERIAL_READ 16
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/** @brief Max size that can be written across I2C or SPI data lines */
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#define INV_MAX_SERIAL_WRITE 16
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typedef enum
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{
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ICM_20948_Stat_Ok = 0x00, // The only return code that means all is well
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ICM_20948_Stat_Err, // A general error
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ICM_20948_Stat_NotImpl, // Returned by virtual functions that are not implemented
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ICM_20948_Stat_ParamErr,
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ICM_20948_Stat_WrongID,
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ICM_20948_Stat_InvalSensor, // Tried to apply a function to a sensor that does not support it (e.g. DLPF to the temperature sensor)
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ICM_20948_Stat_NoData,
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ICM_20948_Stat_SensorNotSupported,
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ICM_20948_Stat_DMPNotSupported, // DMP not supported (no #define ICM_20948_USE_DMP)
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ICM_20948_Stat_DMPVerifyFail, // DMP was written but did not verify correctly
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ICM_20948_Stat_FIFONoDataAvail, // FIFO contains no data
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ICM_20948_Stat_FIFOIncompleteData, // FIFO contained incomplete data
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ICM_20948_Stat_FIFOMoreDataAvail, // FIFO contains more data
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ICM_20948_Stat_UnrecognisedDMPHeader,
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ICM_20948_Stat_UnrecognisedDMPHeader2,
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ICM_20948_Stat_InvalDMPRegister, // Invalid DMP Register
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ICM_20948_Stat_NUM,
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ICM_20948_Stat_Unknown,
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} ICM_20948_Status_e;
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typedef enum
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{
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ICM_20948_Internal_Acc = (1 << 0),
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ICM_20948_Internal_Gyr = (1 << 1),
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ICM_20948_Internal_Mag = (1 << 2),
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ICM_20948_Internal_Tmp = (1 << 3),
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ICM_20948_Internal_Mst = (1 << 4), // I2C Master Ineternal
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} ICM_20948_InternalSensorID_bm; // A bitmask of internal sensor IDs
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typedef union
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{
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int16_t i16bit[3];
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uint8_t u8bit[6];
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} ICM_20948_axis3bit16_t;
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typedef union
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{
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int16_t i16bit;
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uint8_t u8bit[2];
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} ICM_20948_axis1bit16_t;
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typedef struct
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{
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uint8_t a : 2;
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uint8_t g : 2;
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uint8_t reserved_0 : 4;
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} ICM_20948_fss_t; // Holds full-scale settings to be able to extract measurements with units
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typedef struct
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{
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uint8_t a;
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uint8_t g;
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} ICM_20948_dlpcfg_t; // Holds digital low pass filter settings. Members are type ICM_20948_ACCEL_CONFIG_DLPCFG_e
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typedef struct
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{
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uint16_t a;
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uint8_t g;
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} ICM_20948_smplrt_t;
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typedef struct
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{
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uint8_t I2C_MST_INT_EN : 1;
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uint8_t DMP_INT1_EN : 1;
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uint8_t PLL_RDY_EN : 1;
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uint8_t WOM_INT_EN : 1;
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uint8_t REG_WOF_EN : 1;
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uint8_t RAW_DATA_0_RDY_EN : 1;
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uint8_t FIFO_OVERFLOW_EN_4 : 1;
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uint8_t FIFO_OVERFLOW_EN_3 : 1;
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uint8_t FIFO_OVERFLOW_EN_2 : 1;
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uint8_t FIFO_OVERFLOW_EN_1 : 1;
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uint8_t FIFO_OVERFLOW_EN_0 : 1;
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uint8_t FIFO_WM_EN_4 : 1;
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uint8_t FIFO_WM_EN_3 : 1;
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uint8_t FIFO_WM_EN_2 : 1;
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uint8_t FIFO_WM_EN_1 : 1;
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uint8_t FIFO_WM_EN_0 : 1;
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} ICM_20948_INT_enable_t;
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typedef union
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{
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ICM_20948_axis3bit16_t raw;
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struct
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{
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int16_t x;
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int16_t y;
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int16_t z;
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} axes;
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} ICM_20948_axis3named_t;
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typedef struct
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{
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ICM_20948_axis3named_t acc;
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ICM_20948_axis3named_t gyr;
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ICM_20948_axis3named_t mag;
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union
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{
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ICM_20948_axis1bit16_t raw;
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int16_t val;
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} tmp;
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ICM_20948_fss_t fss; // Full-scale range settings for this measurement
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uint8_t magStat1;
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uint8_t magStat2;
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} ICM_20948_AGMT_t;
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typedef struct
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{
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ICM_20948_Status_e (*write)(uint8_t regaddr, uint8_t *pdata, uint32_t len, void *user);
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ICM_20948_Status_e (*read)(uint8_t regaddr, uint8_t *pdata, uint32_t len, void *user);
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// void (*delay)(uint32_t ms);
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void *user;
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} ICM_20948_Serif_t; // This is the vtable of serial interface functions
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extern const ICM_20948_Serif_t NullSerif; // Here is a default for initialization (NULL)
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typedef struct
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{
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const ICM_20948_Serif_t *_serif; // Pointer to the assigned Serif (Serial Interface) vtable
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bool _dmp_firmware_available; // Indicates if the DMP firmware has been included. It
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bool _firmware_loaded; // Indicates if DMP has been loaded
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uint8_t _last_bank; // Keep track of which bank was selected last - to avoid unnecessary writes
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uint8_t _last_mems_bank; // Keep track of which bank was selected last - to avoid unnecessary writes
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int32_t _gyroSF; // Use this to record the GyroSF, calculated by inv_icm20948_set_gyro_sf
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int8_t _gyroSFpll;
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uint32_t _enabled_Android_0; // Keep track of which Android sensors are enabled: 0-31
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uint32_t _enabled_Android_1; // Keep track of which Android sensors are enabled: 32-
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uint32_t _enabled_Android_intr_0; // Keep track of which Android sensor interrupts are enabled: 0-31
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uint32_t _enabled_Android_intr_1; // Keep track of which Android sensor interrupts are enabled: 32-
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uint16_t _dataOutCtl1; // Diagnostics: record the setting of DATA_OUT_CTL1
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uint16_t _dataOutCtl2; // Diagnostics: record the setting of DATA_OUT_CTL2
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uint16_t _dataRdyStatus; // Diagnostics: record the setting of DATA_RDY_STATUS
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uint16_t _motionEventCtl; // Diagnostics: record the setting of MOTION_EVENT_CTL
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uint16_t _dataIntrCtl; // Diagnostics: record the setting of DATA_INTR_CTL
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} ICM_20948_Device_t; // Definition of device struct type
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ICM_20948_Status_e ICM_20948_init_struct(ICM_20948_Device_t *pdev); // Initialize ICM_20948_Device_t
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// ICM_20948_Status_e ICM_20948_Startup( ICM_20948_Device_t* pdev ); // For the time being this performs a standardized startup routine
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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
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// use the device's serif to perform a read or write
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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
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ICM_20948_Status_e ICM_20948_execute_w(ICM_20948_Device_t *pdev, uint8_t regaddr, uint8_t *pdata, uint32_t len);
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// Single-shot I2C on Master IF
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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);
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ICM_20948_Status_e ICM_20948_i2c_master_single_w(ICM_20948_Device_t *pdev, uint8_t addr, uint8_t reg, uint8_t *data);
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ICM_20948_Status_e ICM_20948_i2c_master_single_r(ICM_20948_Device_t *pdev, uint8_t addr, uint8_t reg, uint8_t *data);
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// Device Level
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ICM_20948_Status_e ICM_20948_set_bank(ICM_20948_Device_t *pdev, uint8_t bank); // Sets the bank
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ICM_20948_Status_e ICM_20948_sw_reset(ICM_20948_Device_t *pdev); // Performs a SW reset
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ICM_20948_Status_e ICM_20948_sleep(ICM_20948_Device_t *pdev, bool on); // Set sleep mode for the chip
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ICM_20948_Status_e ICM_20948_low_power(ICM_20948_Device_t *pdev, bool on); // Set low power mode for the chip
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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
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ICM_20948_Status_e ICM_20948_get_who_am_i(ICM_20948_Device_t *pdev, uint8_t *whoami); // Return whoami in out prarmeter
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ICM_20948_Status_e ICM_20948_check_id(ICM_20948_Device_t *pdev); // Return 'ICM_20948_Stat_Ok' if whoami matches ICM_20948_WHOAMI
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ICM_20948_Status_e ICM_20948_data_ready(ICM_20948_Device_t *pdev); // Returns 'Ok' if data is ready
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// Interrupt Configuration
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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
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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
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// WoM Threshold Level Configuration
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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
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// Internal Sensor Options
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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
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ICM_20948_Status_e ICM_20948_set_full_scale(ICM_20948_Device_t *pdev, ICM_20948_InternalSensorID_bm sensors, ICM_20948_fss_t fss);
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ICM_20948_Status_e ICM_20948_set_dlpf_cfg(ICM_20948_Device_t *pdev, ICM_20948_InternalSensorID_bm sensors, ICM_20948_dlpcfg_t cfg);
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ICM_20948_Status_e ICM_20948_enable_dlpf(ICM_20948_Device_t *pdev, ICM_20948_InternalSensorID_bm sensors, bool enable);
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ICM_20948_Status_e ICM_20948_set_sample_rate(ICM_20948_Device_t *pdev, ICM_20948_InternalSensorID_bm sensors, ICM_20948_smplrt_t smplrt);
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// Interface Things
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ICM_20948_Status_e ICM_20948_i2c_master_passthrough(ICM_20948_Device_t *pdev, bool passthrough);
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ICM_20948_Status_e ICM_20948_i2c_master_enable(ICM_20948_Device_t *pdev, bool enable);
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ICM_20948_Status_e ICM_20948_i2c_master_reset(ICM_20948_Device_t *pdev);
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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);
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// Higher Level
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ICM_20948_Status_e ICM_20948_get_agmt(ICM_20948_Device_t *pdev, ICM_20948_AGMT_t *p);
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// FIFO
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ICM_20948_Status_e ICM_20948_enable_FIFO(ICM_20948_Device_t *pdev, bool enable);
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ICM_20948_Status_e ICM_20948_reset_FIFO(ICM_20948_Device_t *pdev);
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ICM_20948_Status_e ICM_20948_set_FIFO_mode(ICM_20948_Device_t *pdev, bool snapshot);
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ICM_20948_Status_e ICM_20948_get_FIFO_count(ICM_20948_Device_t *pdev, uint16_t *count);
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ICM_20948_Status_e ICM_20948_read_FIFO(ICM_20948_Device_t *pdev, uint8_t *data, uint8_t len);
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// DMP
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ICM_20948_Status_e ICM_20948_enable_DMP(ICM_20948_Device_t *pdev, bool enable);
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ICM_20948_Status_e ICM_20948_reset_DMP(ICM_20948_Device_t *pdev);
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ICM_20948_Status_e ICM_20948_firmware_load(ICM_20948_Device_t *pdev);
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ICM_20948_Status_e ICM_20948_set_dmp_start_address(ICM_20948_Device_t *pdev, unsigned short address);
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/** @brief Loads the DMP firmware from SRAM
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* @param[in] data pointer where the image
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* @param[in] size size if the image
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* @param[in] load_addr address to loading the image
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* @return 0 in case of success, -1 for any error
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*/
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ICM_20948_Status_e inv_icm20948_firmware_load(ICM_20948_Device_t *pdev, const unsigned char *data, unsigned short size, unsigned short load_addr);
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/**
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* @brief Write data to a register in DMP memory
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* @param[in] DMP memory address
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* @param[in] number of byte to be written
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* @param[out] output data from the register
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* @return 0 if successful.
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*/
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ICM_20948_Status_e inv_icm20948_write_mems(ICM_20948_Device_t *pdev, unsigned short reg, unsigned int length, const unsigned char *data);
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/**
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* @brief Read data from a register in DMP memory
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* @param[in] DMP memory address
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* @param[in] number of byte to be read
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* @param[in] input data from the register
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* @return 0 if successful.
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*/
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||
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ICM_20948_Status_e inv_icm20948_read_mems(ICM_20948_Device_t *pdev, unsigned short reg, unsigned int length, unsigned char *data);
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||
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ICM_20948_Status_e inv_icm20948_set_dmp_sensor_period(ICM_20948_Device_t *pdev, enum DMP_ODR_Registers odr_reg, uint16_t interval);
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||
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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
|
||
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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
|
||
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uint8_t sensor_type_2_android_sensor(enum inv_icm20948_sensor sensor);
|
||
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enum inv_icm20948_sensor inv_icm20948_sensor_android_2_sensor_type(int sensor);
|
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||
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ICM_20948_Status_e inv_icm20948_read_dmp_data(ICM_20948_Device_t *pdev, icm_20948_DMP_data_t *data);
|
||
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ICM_20948_Status_e inv_icm20948_set_gyro_sf(ICM_20948_Device_t *pdev, unsigned char div, int gyro_level);
|
||
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|
|
||
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|
// ToDo:
|
||
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|
||
|
|
/*
|
||
|
|
Want to access magnetometer throught the I2C master interface...
|
||
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|
|
||
|
|
// 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_ */
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