287 lines
13 KiB
C
287 lines
13 KiB
C
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/*
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A C++ interface to the ICM-20948
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*/
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#ifndef _ICM_20948_H_
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#define _ICM_20948_H_
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#include "ICM_20948_C.h" // The C backbone. ICM_20948_USE_DMP is defined in here.
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#include "AK09916_REGISTERS.h"
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#include "Arduino.h" // Arduino support
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#include "Wire.h"
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#include "SPI.h"
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#define ICM_20948_ARD_UNUSED_PIN 0xFF
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// Base
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class ICM_20948
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{
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private:
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Stream *_debugSerial; //The stream to send debug messages to if enabled
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bool _printDebug = false; //Flag to print the serial commands we are sending to the Serial port for debug
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const uint8_t MAX_MAGNETOMETER_STARTS = 10; // This replaces maxTries
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protected:
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ICM_20948_Device_t _device;
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float getTempC(int16_t val);
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float getGyrDPS(int16_t axis_val);
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float getAccMG(int16_t axis_val);
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float getMagUT(int16_t axis_val);
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public:
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ICM_20948(); // Constructor
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// Enable debug messages using the chosen Serial port (Stream)
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// Boards like the RedBoard Turbo use SerialUSB (not Serial).
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// But other boards like the SAMD51 Thing Plus use Serial (not SerialUSB).
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// These lines let the code compile cleanly on as many SAMD boards as possible.
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#if defined(ARDUINO_ARCH_SAMD) // Is this a SAMD board?
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#if defined(USB_VID) // Is the USB Vendor ID defined?
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#if (USB_VID == 0x1B4F) // Is this a SparkFun board?
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#if !defined(ARDUINO_SAMD51_THING_PLUS) & !defined(ARDUINO_SAMD51_MICROMOD) // If it is not a SAMD51 Thing Plus or SAMD51 MicroMod
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void enableDebugging(Stream &debugPort = SerialUSB); //Given a port to print to, enable debug messages.
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#else
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void enableDebugging(Stream &debugPort = Serial); //Given a port to print to, enable debug messages.
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#endif
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#else
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void enableDebugging(Stream &debugPort = Serial); //Given a port to print to, enable debug messages.
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#endif
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#else
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void enableDebugging(Stream &debugPort = Serial); //Given a port to print to, enable debug messages.
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#endif
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#else
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void enableDebugging(Stream &debugPort = Serial); //Given a port to print to, enable debug messages.
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#endif
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void disableDebugging(void); //Turn off debug statements
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void debugPrintStatus(ICM_20948_Status_e stat);
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// gfvalvo's flash string helper code: https://forum.arduino.cc/index.php?topic=533118.msg3634809#msg3634809
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void debugPrint(const char *);
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void debugPrint(const __FlashStringHelper *);
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void debugPrintln(const char *);
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void debugPrintln(const __FlashStringHelper *);
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void doDebugPrint(char (*)(const char *), const char *, bool newLine = false);
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void debugPrintf(int i);
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void debugPrintf(float f);
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ICM_20948_AGMT_t agmt; // Acceleometer, Gyroscope, Magenetometer, and Temperature data
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ICM_20948_AGMT_t getAGMT(void); // Updates the agmt field in the object and also returns a copy directly
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float magX(void); // micro teslas
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float magY(void); // micro teslas
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float magZ(void); // micro teslas
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float accX(void); // milli g's
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float accY(void); // milli g's
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float accZ(void); // milli g's
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float gyrX(void); // degrees per second
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float gyrY(void); // degrees per second
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float gyrZ(void); // degrees per second
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float temp(void); // degrees celsius
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ICM_20948_Status_e status; // Status from latest operation
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const char *statusString(ICM_20948_Status_e stat = ICM_20948_Stat_NUM); // Returns a human-readable status message. Defaults to status member, but prints string for supplied status if supplied
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// Device Level
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ICM_20948_Status_e setBank(uint8_t bank); // Sets the bank
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ICM_20948_Status_e swReset(void); // Performs a SW reset
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ICM_20948_Status_e sleep(bool on = false); // Set sleep mode for the chip
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ICM_20948_Status_e lowPower(bool on = true); // Set low power mode for the chip
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ICM_20948_Status_e setClockSource(ICM_20948_PWR_MGMT_1_CLKSEL_e source); // Choose clock source
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ICM_20948_Status_e checkID(void); // Return 'ICM_20948_Stat_Ok' if whoami matches ICM_20948_WHOAMI
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bool dataReady(void); // Returns 'true' if data is ready
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uint8_t getWhoAmI(void); // Return whoami in out prarmeter
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bool isConnected(void); // Returns true if communications with the device are sucessful
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// Internal Sensor Options
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ICM_20948_Status_e setSampleMode(uint8_t sensor_id_bm, uint8_t lp_config_cycle_mode); // Use to set accel, gyro, and I2C master into cycled or continuous modes
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ICM_20948_Status_e setFullScale(uint8_t sensor_id_bm, ICM_20948_fss_t fss);
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ICM_20948_Status_e setDLPFcfg(uint8_t sensor_id_bm, ICM_20948_dlpcfg_t cfg);
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ICM_20948_Status_e enableDLPF(uint8_t sensor_id_bm, bool enable);
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ICM_20948_Status_e setSampleRate(uint8_t sensor_id_bm, ICM_20948_smplrt_t smplrt);
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// Interrupts on INT and FSYNC Pins
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ICM_20948_Status_e clearInterrupts(void);
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ICM_20948_Status_e cfgIntActiveLow(bool active_low);
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ICM_20948_Status_e cfgIntOpenDrain(bool open_drain);
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ICM_20948_Status_e cfgIntLatch(bool latching); // If not latching then the interrupt is a 50 us pulse
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ICM_20948_Status_e cfgIntAnyReadToClear(bool enabled); // If enabled, *ANY* read will clear the INT_STATUS register. So if you have multiple interrupt sources enabled be sure to read INT_STATUS first
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ICM_20948_Status_e cfgFsyncActiveLow(bool active_low);
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ICM_20948_Status_e cfgFsyncIntMode(bool interrupt_mode); // Can use FSYNC as an interrupt input that sets the I2C Master Status register's PASS_THROUGH bit
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ICM_20948_Status_e intEnableI2C(bool enable);
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ICM_20948_Status_e intEnableDMP(bool enable);
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ICM_20948_Status_e intEnablePLL(bool enable);
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ICM_20948_Status_e intEnableWOM(bool enable);
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ICM_20948_Status_e intEnableWOF(bool enable);
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ICM_20948_Status_e intEnableRawDataReady(bool enable);
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ICM_20948_Status_e intEnableOverflowFIFO(uint8_t bm_enable);
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ICM_20948_Status_e intEnableWatermarkFIFO(uint8_t bm_enable);
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ICM_20948_Status_e WOMThreshold(uint8_t threshold);
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// Interface Options
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ICM_20948_Status_e i2cMasterPassthrough(bool passthrough = true);
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ICM_20948_Status_e i2cMasterEnable(bool enable = true);
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ICM_20948_Status_e i2cMasterReset();
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//Used for configuring peripherals 0-3
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ICM_20948_Status_e i2cControllerConfigurePeripheral(uint8_t peripheral, uint8_t addr, uint8_t reg, uint8_t len, bool Rw = true, bool enable = true, bool data_only = false, bool grp = false, bool swap = false, uint8_t dataOut = 0);
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ICM_20948_Status_e i2cControllerPeriph4Transaction(uint8_t addr, uint8_t reg, uint8_t *data, uint8_t len, bool Rw, bool send_reg_addr = true);
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//Provided for backward-compatibility only. Please update to i2cControllerConfigurePeripheral and i2cControllerPeriph4Transaction.
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//https://www.oshwa.org/2020/06/29/a-resolution-to-redefine-spi-pin-names/
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ICM_20948_Status_e i2cMasterConfigureSlave(uint8_t peripheral, uint8_t addr, uint8_t reg, uint8_t len, bool Rw = true, bool enable = true, bool data_only = false, bool grp = false, bool swap = false);
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ICM_20948_Status_e i2cMasterSLV4Transaction(uint8_t addr, uint8_t reg, uint8_t *data, uint8_t len, bool Rw, bool send_reg_addr = true);
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//Used for configuring the Magnetometer
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ICM_20948_Status_e i2cMasterSingleW(uint8_t addr, uint8_t reg, uint8_t data);
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uint8_t i2cMasterSingleR(uint8_t addr, uint8_t reg);
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// Default Setup
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ICM_20948_Status_e startupDefault(bool minimal = false); // If minimal is true, several startup steps are skipped. If ICM_20948_USE_DMP is defined, .begin will call startupDefault with minimal set to true.
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// direct read/write
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ICM_20948_Status_e read(uint8_t reg, uint8_t *pdata, uint32_t len);
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ICM_20948_Status_e write(uint8_t reg, uint8_t *pdata, uint32_t len);
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//Mag specific
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ICM_20948_Status_e startupMagnetometer(bool minimal = false); // If minimal is true, several startup steps are skipped. The mag then needs to be set up manually for the DMP.
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ICM_20948_Status_e magWhoIAm(void);
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uint8_t readMag(AK09916_Reg_Addr_e reg);
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ICM_20948_Status_e writeMag(AK09916_Reg_Addr_e reg, uint8_t *pdata);
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ICM_20948_Status_e resetMag();
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//FIFO
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ICM_20948_Status_e enableFIFO(bool enable = true);
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ICM_20948_Status_e resetFIFO(void);
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ICM_20948_Status_e setFIFOmode(bool snapshot = false); // Default to Stream (non-Snapshot) mode
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ICM_20948_Status_e getFIFOcount(uint16_t *count);
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ICM_20948_Status_e readFIFO(uint8_t *data, uint8_t len = 1);
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//DMP
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//Gyro Bias
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ICM_20948_Status_e SetBiasGyroX( int newValue);
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ICM_20948_Status_e SetBiasGyroY( int newValue);
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ICM_20948_Status_e SetBiasGyroZ( int newValue);
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ICM_20948_Status_e GetBiasGyroX( int* bias);
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ICM_20948_Status_e GetBiasGyroY( int* bias);
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ICM_20948_Status_e GetBiasGyroZ( int* bias);
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//Accel Bias
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ICM_20948_Status_e SetBiasAccelX( int newValue);
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ICM_20948_Status_e SetBiasAccelY( int newValue);
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ICM_20948_Status_e SetBiasAccelZ( int newValue);
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ICM_20948_Status_e GetBiasAccelX( int* bias);
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ICM_20948_Status_e GetBiasAccelY( int* bias);
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ICM_20948_Status_e GetBiasAccelZ( int* bias);
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//CPass Bias
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ICM_20948_Status_e SetBiasCPassX( int newValue);
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ICM_20948_Status_e SetBiasCPassY( int newValue);
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ICM_20948_Status_e SetBiasCPassZ( int newValue);
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ICM_20948_Status_e GetBiasCPassX( int* bias);
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ICM_20948_Status_e GetBiasCPassY( int* bias);
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ICM_20948_Status_e GetBiasCPassZ( int* bias);
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// Done:
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// Configure DMP start address through PRGM_STRT_ADDRH/PRGM_STRT_ADDRL
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// Load Firmware
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// Configure Accel scaling to DMP
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// Configure Compass mount matrix and scale to DMP
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// Reset FIFO
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// Reset DMP
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// Enable DMP interrupt
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// Configuring DMP to output data to FIFO: set DATA_OUT_CTL1, DATA_OUT_CTL2, DATA_INTR_CTL and MOTION_EVENT_CTL
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// Configuring DMP to output data at multiple ODRs
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// Configure DATA_RDY_STATUS
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// Configuring Accel calibration
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// Configuring Compass calibration
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// Configuring Gyro gain
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// Configuring Accel gain
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// Configure I2C_SLV0 and I2C_SLV1 to: request mag data from the hidden reserved AK09916 registers; trigger Single Measurements
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// Configure I2C Master ODR (default to 68.75Hz)
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// To Do:
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// Additional FIFO output control: FIFO_WATERMARK, BM_BATCH_MASK, BM_BATCH_CNTR, BM_BATCH_THLD
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// Configuring DMP features: PED_STD_STEPCTR, PED_STD_TIMECTR
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// Enabling Activity Recognition (BAC) feature
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// Enabling Significant Motion Detect (SMD) feature
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// Enabling Tilt Detector feature
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// Enabling Pick Up Gesture feature
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// Enabling Fsync detection feature
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// Biases: add save and load methods
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ICM_20948_Status_e enableDMP(bool enable = true);
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ICM_20948_Status_e resetDMP(void);
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ICM_20948_Status_e loadDMPFirmware(void);
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ICM_20948_Status_e setDMPstartAddress(unsigned short address = DMP_START_ADDRESS);
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ICM_20948_Status_e enableDMPSensor(enum inv_icm20948_sensor sensor, bool enable = true);
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ICM_20948_Status_e enableDMPSensorInt(enum inv_icm20948_sensor sensor, bool enable = true);
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ICM_20948_Status_e writeDMPmems(unsigned short reg, unsigned int length, const unsigned char *data);
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ICM_20948_Status_e readDMPmems(unsigned short reg, unsigned int length, unsigned char *data);
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ICM_20948_Status_e setDMPODRrate(enum DMP_ODR_Registers odr_reg, int interval);
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ICM_20948_Status_e readDMPdataFromFIFO(icm_20948_DMP_data_t *data);
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ICM_20948_Status_e setGyroSF(unsigned char div, int gyro_level);
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ICM_20948_Status_e initializeDMP(void) __attribute__((weak)); // Combine all of the DMP start-up code in one place. Can be overwritten if required
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};
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// I2C
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// Forward declarations of TwoWire and Wire for board/variant combinations that don't have a default 'SPI'
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//class TwoWire; // Commented by PaulZC 21/2/8 - this was causing compilation to fail on the Arduino NANO 33 BLE
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//extern TwoWire Wire; // Commented by PaulZC 21/2/8 - this was causing compilation to fail on the Arduino NANO 33 BLE
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class ICM_20948_I2C : public ICM_20948
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{
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private:
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protected:
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public:
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TwoWire *_i2c;
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uint8_t _addr;
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uint8_t _ad0;
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bool _ad0val;
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ICM_20948_Serif_t _serif;
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ICM_20948_I2C(); // Constructor
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virtual ICM_20948_Status_e begin(TwoWire &wirePort = Wire, bool ad0val = true, uint8_t ad0pin = ICM_20948_ARD_UNUSED_PIN);
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};
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// SPI
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#define ICM_20948_SPI_DEFAULT_FREQ 4000000
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#define ICM_20948_SPI_DEFAULT_ORDER MSBFIRST
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#define ICM_20948_SPI_DEFAULT_MODE SPI_MODE0
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// Forward declarations of SPIClass and SPI for board/variant combinations that don't have a default 'SPI'
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//class SPIClass; // Commented by PaulZC 21/2/8 - this was causing compilation to fail on the Arduino NANO 33 BLE
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//extern SPIClass SPI; // Commented by PaulZC 21/2/8 - this was causing compilation to fail on the Arduino NANO 33 BLE
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class ICM_20948_SPI : public ICM_20948
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{
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private:
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protected:
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public:
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SPIClass *_spi;
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SPISettings _spisettings;
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uint8_t _cs;
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ICM_20948_Serif_t _serif;
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ICM_20948_SPI(); // Constructor
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ICM_20948_Status_e begin(uint8_t csPin, SPIClass &spiPort = SPI, uint32_t SPIFreq = ICM_20948_SPI_DEFAULT_FREQ);
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};
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#endif /* _ICM_20948_H_ */
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