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