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Merged
merged 9 commits into from
May 27, 2021
Merged

v1.2.6 #69

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d436818
Remove Accuracy (from the commented code)
PaulZC Apr 26, 2021
21c697a
Remove boolean alias
lwestfall May 10, 2021
9e0654e
Merge branch 'release_candidate' into bool-alias-warn
PaulZC May 11, 2021
25606ad
Merge pull request #62 from lwestfall/bool-alias-warn
PaulZC May 11, 2021
8b14eb1
Don't place accel and gyro into low power mode. Ensure gyro DLPF is e…
PaulZC May 26, 2021
d7bd411
Update Example10_DMP_FastMultipleSensors.ino
PaulZC May 26, 2021
cf3dcd4
v1.2.6
PaulZC May 27, 2021
fe5eeb3
Update DMP.md
PaulZC May 27, 2021
359278e
Disable DMP by default
PaulZC May 27, 2021
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2,768 changes: 2,268 additions & 500 deletions DMP.md
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29 changes: 21 additions & 8 deletions examples/Arduino/Example10_DMP_FastMultipleSensors/Example10_DMP_FastMultipleSensors.ino
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Expand Up @@ -188,7 +188,7 @@ void loop()
// In case of drift, the sum will not add to 1, therefore, quaternion data need to be corrected with right bias values.
// The quaternion data is scaled by 2^30.

//SERIAL_PORT.printf("Quat6 data is: Q1:%ld Q2:%ld Q3:%ld Accuracy:%d\r\n", data.Quat6.Data.Q1, data.Quat6.Data.Q2, data.Quat6.Data.Q3);
//SERIAL_PORT.printf("Quat6 data is: Q1:%ld Q2:%ld Q3:%ld\r\n", data.Quat6.Data.Q1, data.Quat6.Data.Q2, data.Quat6.Data.Q3);

// Scale to +/- 1
double q1 = ((double)data.Quat6.Data.Q1) / 1073741824.0; // Convert to double. Divide by 2^30
Expand Down Expand Up @@ -316,11 +316,12 @@ ICM_20948_Status_e ICM_20948::initializeDMP(void)
// Enable accel and gyro sensors through PWR_MGMT_2
// Enable Accelerometer (all axes) and Gyroscope (all axes) by writing zero to PWR_MGMT_2
result = setBank(0); if (result > worstResult) worstResult = result; // Select Bank 0
uint8_t pwrMgmt2 = 0x40; // Set the reserved bit 6
uint8_t pwrMgmt2 = 0x40; // Set the reserved bit 6 (pressure sensor disable?)
result = write(AGB0_REG_PWR_MGMT_2, &pwrMgmt2, 1); if (result > worstResult) worstResult = result; // Write one byte to the PWR_MGMT_2 register

// Configure I2C_Master/Gyro/Accel in Low Power Mode (cycled) with LP_CONFIG
result = setSampleMode((ICM_20948_Internal_Mst | ICM_20948_Internal_Acc | ICM_20948_Internal_Gyr), ICM_20948_Sample_Mode_Cycled); if (result > worstResult) worstResult = result;
// Place _only_ I2C_Master in Low Power Mode (cycled) via LP_CONFIG
// The InvenSense Nucleo example initially puts the accel and gyro into low power mode too, but then later updates LP_CONFIG so only the I2C_Master is in Low Power Mode
result = setSampleMode(ICM_20948_Internal_Mst, ICM_20948_Sample_Mode_Cycled); if (result > worstResult) worstResult = result;

// Disable the FIFO
result = enableFIFO(false); if (result > worstResult) worstResult = result;
Expand All @@ -343,6 +344,11 @@ ICM_20948_Status_e ICM_20948::initializeDMP(void)
// dps2000
result = setFullScale((ICM_20948_Internal_Acc | ICM_20948_Internal_Gyr), myFSS); if (result > worstResult) worstResult = result;

// The InvenSense Nucleo code also enables the gyro DLPF (but leaves GYRO_DLPFCFG set to zero = 196.6Hz (3dB))
// We found this by going through the SPI data generated by ZaneL's Teensy-ICM-20948 library byte by byte...
// The gyro DLPF is enabled by default (GYRO_CONFIG_1 = 0x01) so the following line should have no effect, but we'll include it anyway
result = enableDLPF(ICM_20948_Internal_Gyr, true); if (result > worstResult) worstResult = result;

// Enable interrupt for FIFO overflow from FIFOs through INT_ENABLE_2
// If we see this interrupt, we'll need to reset the FIFO
//result = intEnableOverflowFIFO( 0x1F ); if (result > worstResult) worstResult = result; // Enable the interrupt on all FIFOs
Expand All @@ -364,8 +370,12 @@ ICM_20948_Status_e ICM_20948::initializeDMP(void)
// Set gyro sample rate divider with GYRO_SMPLRT_DIV
// Set accel sample rate divider with ACCEL_SMPLRT_DIV_2
ICM_20948_smplrt_t mySmplrt;
mySmplrt.g = 4; // ODR is computed as follows: 1.1 kHz/(1+GYRO_SMPLRT_DIV[7:0]). 4 = 220Hz
mySmplrt.a = 4; // ODR is computed as follows: 1.125 kHz/(1+ACCEL_SMPLRT_DIV[11:0]). 4 = 225Hz
//mySmplrt.g = 19; // ODR is computed as follows: 1.1 kHz/(1+GYRO_SMPLRT_DIV[7:0]). 19 = 55Hz. InvenSense Nucleo example uses 19 (0x13).
//mySmplrt.a = 19; // ODR is computed as follows: 1.125 kHz/(1+ACCEL_SMPLRT_DIV[11:0]). 19 = 56.25Hz. InvenSense Nucleo example uses 19 (0x13).
mySmplrt.g = 4; // 225Hz
mySmplrt.a = 4; // 225Hz
//mySmplrt.g = 8; // 112Hz
//mySmplrt.a = 8; // 112Hz
result = setSampleRate((ICM_20948_Internal_Acc | ICM_20948_Internal_Gyr), mySmplrt); if (result > worstResult) worstResult = result;

// Setup DMP start address through PRGM_STRT_ADDRH/PRGM_STRT_ADDRL
Expand Down Expand Up @@ -436,7 +446,7 @@ ICM_20948_Status_e ICM_20948::initializeDMP(void)
// 0=1125Hz sample rate, 1=562.5Hz sample rate, ... 4=225Hz sample rate, ...
// 10=102.2727Hz sample rate, ... etc.
// @param[in] gyro_level 0=250 dps, 1=500 dps, 2=1000 dps, 3=2000 dps
result = setGyroSF(4, 3); if (result > worstResult) worstResult = result; // 0 = 225Hz (see above), 3 = 2000dps (see above)
result = setGyroSF(4, 3); if (result > worstResult) worstResult = result; // 4 = 225Hz (see above), 3 = 2000dps (see above)

// Configure the Gyro full scale
// 2000dps : 2^28
Expand All @@ -448,17 +458,20 @@ ICM_20948_Status_e ICM_20948::initializeDMP(void)

// Configure the Accel Only Gain: 15252014 (225Hz) 30504029 (112Hz) 61117001 (56Hz)
//const unsigned char accelOnlyGain[4] = {0x03, 0xA4, 0x92, 0x49}; // 56Hz
const unsigned char accelOnlyGain[4] = {0x00, 0xE8, 0xBA, 0x2E}; // InvenSense Nucleo example uses 225Hz
const unsigned char accelOnlyGain[4] = {0x00, 0xE8, 0xBA, 0x2E}; // 225Hz
//const unsigned char accelOnlyGain[4] = {0x01, 0xD1, 0x74, 0x5D}; // 112Hz
result = writeDMPmems(ACCEL_ONLY_GAIN, 4, &accelOnlyGain[0]); if (result > worstResult) worstResult = result;

// Configure the Accel Alpha Var: 1026019965 (225Hz) 977872018 (112Hz) 882002213 (56Hz)
//const unsigned char accelAlphaVar[4] = {0x34, 0x92, 0x49, 0x25}; // 56Hz
const unsigned char accelAlphaVar[4] = {0x3D, 0x27, 0xD2, 0x7D}; // 225Hz
//const unsigned char accelAlphaVar[4] = {0x3A, 0x49, 0x24, 0x92}; // 112Hz
result = writeDMPmems(ACCEL_ALPHA_VAR, 4, &accelAlphaVar[0]); if (result > worstResult) worstResult = result;

// Configure the Accel A Var: 47721859 (225Hz) 95869806 (112Hz) 191739611 (56Hz)
//const unsigned char accelAVar[4] = {0x0B, 0x6D, 0xB6, 0xDB}; // 56Hz
const unsigned char accelAVar[4] = {0x02, 0xD8, 0x2D, 0x83}; // 225Hz
//const unsigned char accelAVar[4] = {0x05, 0xB6, 0xDB, 0x6E}; // 112Hz
result = writeDMPmems(ACCEL_A_VAR, 4, &accelAVar[0]); if (result > worstResult) worstResult = result;

// Configure the Accel Cal Rate
Expand Down
2 changes: 1 addition & 1 deletion examples/Arduino/Example9_DMP_MultipleSensors/Example9_DMP_MultipleSensors.ino
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Expand Up @@ -190,7 +190,7 @@ void loop()
// In case of drift, the sum will not add to 1, therefore, quaternion data need to be corrected with right bias values.
// The quaternion data is scaled by 2^30.

//SERIAL_PORT.printf("Quat6 data is: Q1:%ld Q2:%ld Q3:%ld Accuracy:%d\r\n", data.Quat6.Data.Q1, data.Quat6.Data.Q2, data.Quat6.Data.Q3, data.Quat6.Data.Accuracy);
//SERIAL_PORT.printf("Quat6 data is: Q1:%ld Q2:%ld Q3:%ld\r\n", data.Quat6.Data.Q1, data.Quat6.Data.Q2, data.Quat6.Data.Q3);

// Scale to +/- 1
double q1 = ((double)data.Quat6.Data.Q1) / 1073741824.0; // Convert to double. Divide by 2^30
Expand Down
2 changes: 1 addition & 1 deletion library.properties
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@@ -1,5 +1,5 @@
name=SparkFun 9DoF IMU Breakout - ICM 20948 - Arduino Library
version=1.2.5
version=1.2.6
author=SparkFun Electronics <[email protected]>
maintainer=SparkFun Electronics <sparkfun.com>
sentence=Use the low-power high-resolution ICM 20948 9 DoF IMU from Invensense with I2C or SPI. Version 1.2 of the library includes support for the InvenSense Digital Motion Processor (DMP™).
Expand Down
24 changes: 18 additions & 6 deletions src/ICM_20948.cpp
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Expand Up @@ -1215,8 +1215,9 @@ ICM_20948_Status_e ICM_20948::initializeDMP(void)
uint8_t pwrMgmt2 = 0x40; // Set the reserved bit 6 (pressure sensor disable?)
result = write(AGB0_REG_PWR_MGMT_2, &pwrMgmt2, 1); if (result > worstResult) worstResult = result; // Write one byte to the PWR_MGMT_2 register

// Configure I2C_Master/Gyro/Accel in Low Power Mode (cycled) with LP_CONFIG
result = setSampleMode((ICM_20948_Internal_Mst | ICM_20948_Internal_Acc | ICM_20948_Internal_Gyr), ICM_20948_Sample_Mode_Cycled); if (result > worstResult) worstResult = result;
// Place _only_ I2C_Master in Low Power Mode (cycled) via LP_CONFIG
// The InvenSense Nucleo example initially puts the accel and gyro into low power mode too, but then later updates LP_CONFIG so only the I2C_Master is in Low Power Mode
result = setSampleMode(ICM_20948_Internal_Mst, ICM_20948_Sample_Mode_Cycled); if (result > worstResult) worstResult = result;

// Disable the FIFO
result = enableFIFO(false); if (result > worstResult) worstResult = result;
Expand All @@ -1239,6 +1240,11 @@ ICM_20948_Status_e ICM_20948::initializeDMP(void)
// dps2000
result = setFullScale((ICM_20948_Internal_Acc | ICM_20948_Internal_Gyr), myFSS); if (result > worstResult) worstResult = result;

// The InvenSense Nucleo code also enables the gyro DLPF (but leaves GYRO_DLPFCFG set to zero = 196.6Hz (3dB))
// We found this by going through the SPI data generated by ZaneL's Teensy-ICM-20948 library byte by byte...
// The gyro DLPF is enabled by default (GYRO_CONFIG_1 = 0x01) so the following line should have no effect, but we'll include it anyway
result = enableDLPF(ICM_20948_Internal_Gyr, true); if (result > worstResult) worstResult = result;

// Enable interrupt for FIFO overflow from FIFOs through INT_ENABLE_2
// If we see this interrupt, we'll need to reset the FIFO
//result = intEnableOverflowFIFO( 0x1F ); if (result > worstResult) worstResult = result; // Enable the interrupt on all FIFOs
Expand All @@ -1262,7 +1268,10 @@ ICM_20948_Status_e ICM_20948::initializeDMP(void)
ICM_20948_smplrt_t mySmplrt;
mySmplrt.g = 19; // ODR is computed as follows: 1.1 kHz/(1+GYRO_SMPLRT_DIV[7:0]). 19 = 55Hz. InvenSense Nucleo example uses 19 (0x13).
mySmplrt.a = 19; // ODR is computed as follows: 1.125 kHz/(1+ACCEL_SMPLRT_DIV[11:0]). 19 = 56.25Hz. InvenSense Nucleo example uses 19 (0x13).
// ** Note: comment the next line to leave the sample rates at the maximum **
//mySmplrt.g = 4; // 225Hz
//mySmplrt.a = 4; // 225Hz
//mySmplrt.g = 8; // 112Hz
//mySmplrt.a = 8; // 112Hz
result = setSampleRate((ICM_20948_Internal_Acc | ICM_20948_Internal_Gyr), mySmplrt); if (result > worstResult) worstResult = result;

// Setup DMP start address through PRGM_STRT_ADDRH/PRGM_STRT_ADDRL
Expand Down Expand Up @@ -1345,17 +1354,20 @@ ICM_20948_Status_e ICM_20948::initializeDMP(void)

// Configure the Accel Only Gain: 15252014 (225Hz) 30504029 (112Hz) 61117001 (56Hz)
const unsigned char accelOnlyGain[4] = {0x03, 0xA4, 0x92, 0x49}; // 56Hz
//const unsigned char accelOnlyGain[4] = {0x00, 0xE8, 0xBA, 0x2E}; // InvenSense Nucleo example uses 225Hz
//const unsigned char accelOnlyGain[4] = {0x00, 0xE8, 0xBA, 0x2E}; // 225Hz
//const unsigned char accelOnlyGain[4] = {0x01, 0xD1, 0x74, 0x5D}; // 112Hz
result = writeDMPmems(ACCEL_ONLY_GAIN, 4, &accelOnlyGain[0]); if (result > worstResult) worstResult = result;

// Configure the Accel Alpha Var: 1026019965 (225Hz) 977872018 (112Hz) 882002213 (56Hz)
const unsigned char accelAlphaVar[4] = {0x34, 0x92, 0x49, 0x25}; // 56Hz
//const unsigned char accelAlphaVar[4] = {0x06, 0x66, 0x66, 0x66}; // Value taken from InvenSense Nucleo example
//const unsigned char accelAlphaVar[4] = {0x3D, 0x27, 0xD2, 0x7D}; // 225Hz
//const unsigned char accelAlphaVar[4] = {0x3A, 0x49, 0x24, 0x92}; // 112Hz
result = writeDMPmems(ACCEL_ALPHA_VAR, 4, &accelAlphaVar[0]); if (result > worstResult) worstResult = result;

// Configure the Accel A Var: 47721859 (225Hz) 95869806 (112Hz) 191739611 (56Hz)
const unsigned char accelAVar[4] = {0x0B, 0x6D, 0xB6, 0xDB}; // 56Hz
//const unsigned char accelAVar[4] = {0x39, 0x99, 0x99, 0x9A}; // Value taken from InvenSense Nucleo example
//const unsigned char accelAVar[4] = {0x02, 0xD8, 0x2D, 0x83}; // 225Hz
//const unsigned char accelAVar[4] = {0x05, 0xB6, 0xDB, 0x6E}; // 112Hz
result = writeDMPmems(ACCEL_A_VAR, 4, &accelAVar[0]); if (result > worstResult) worstResult = result;

// Configure the Accel Cal Rate
Expand Down
4 changes: 2 additions & 2 deletions src/ICM_20948.h
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Expand Up @@ -20,8 +20,8 @@ A C++ interface to the ICM-20948
class ICM_20948
{
private:
Stream *_debugSerial; //The stream to send debug messages to if enabled
boolean _printDebug = false; //Flag to print the serial commands we are sending to the Serial port for debug
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

Expand Down
25 changes: 12 additions & 13 deletions src/util/ICM_20948_C.c
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Expand Up @@ -1297,10 +1297,9 @@ ICM_20948_Status_e inv_icm20948_firmware_load(ICM_20948_Device_t *pdev, const un
}

//Enable LP_EN since we disabled it at begining of this function.

// result = ICM_20948_low_power(pdev, true); // Put chip into low power state
// if (result != ICM_20948_Stat_Ok)
// return result;
result = ICM_20948_low_power(pdev, true); // Put chip into low power state
if (result != ICM_20948_Stat_Ok)
return result;

if (!flag)
{
Expand Down Expand Up @@ -1602,9 +1601,9 @@ ICM_20948_Status_e inv_icm20948_set_dmp_sensor_period(ICM_20948_Device_t *pdev,
break;
}

// result = ICM_20948_low_power(pdev, true); // Put chip into low power state
// if (result != ICM_20948_Stat_Ok)
// return result;
result = ICM_20948_low_power(pdev, true); // Put chip into low power state
if (result != ICM_20948_Stat_Ok)
return result;

if (result2 > result)
result = result2; // Return the highest error
Expand Down Expand Up @@ -1774,9 +1773,9 @@ ICM_20948_Status_e inv_icm20948_enable_dmp_sensor(ICM_20948_Device_t *pdev, enum
return result;
}

// result = ICM_20948_low_power(pdev, true); // Put chip into low power state
// if (result != ICM_20948_Stat_Ok)
// return result;
result = ICM_20948_low_power(pdev, true); // Put chip into low power state
if (result != ICM_20948_Stat_Ok)
return result;

return result;
}
Expand Down Expand Up @@ -1861,9 +1860,9 @@ ICM_20948_Status_e inv_icm20948_enable_dmp_sensor_int(ICM_20948_Device_t *pdev,
// Write the interrupt control bits into memory address DATA_INTR_CTL
result = inv_icm20948_write_mems(pdev, DATA_INTR_CTL, 2, (const unsigned char *)&data_intr_ctl);

// result = ICM_20948_low_power(pdev, true); // Put chip into low power state
// if (result != ICM_20948_Stat_Ok)
// return result;
result = ICM_20948_low_power(pdev, true); // Put chip into low power state
if (result != ICM_20948_Stat_Ok)
return result;

return result;
}
Expand Down