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v1.2.7 - adding DMP PROGMEM support for old AVR platforms like the ATmega2560 #70

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Merged
merged 1 commit into from
May 29, 2021
Merged

v1.2.7 - adding DMP PROGMEM support for old AVR platforms like the ATmega2560 #70

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2 changes: 1 addition & 1 deletion library.properties
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Original file line number Diff line number Diff line change
@@ -1,5 +1,5 @@
name=SparkFun 9DoF IMU Breakout - ICM 20948 - Arduino Library
version=1.2.6
version=1.2.7
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™).
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21 changes: 21 additions & 0 deletions src/util/ICM_20948_C.c
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Original file line number Diff line number Diff line change
Expand Up @@ -7,7 +7,15 @@
* Provide such images by mean of a byte array
*/
#if defined(ICM_20948_USE_DMP) // Only include the 14301 Bytes of DMP if ICM_20948_USE_DMP is defined

#if defined(__AVR__) || defined(__arm__) || defined(__ARDUINO_ARC__) // Store the DMP firmware in PROGMEM on older AVR (ATmega) platforms
#define ICM_20948_USE_PROGMEM_FOR_DMP
#include <avr/pgmspace.h>
const uint8_t dmp3_image[] PROGMEM = {
#else
const uint8_t dmp3_image[] = {
#endif

#include "icm20948_img.dmp3a.h"
};
#endif
Expand Down Expand Up @@ -1249,6 +1257,9 @@ ICM_20948_Status_e inv_icm20948_firmware_load(ICM_20948_Device_t *pdev, const un
data = data_start;
size = size_start;
memaddr = load_addr;
#ifdef ICM_20948_USE_PROGMEM_FOR_DMP
unsigned char data_not_pg[INV_MAX_SERIAL_READ]; // Suggested by @HyperKokichi in Issue #63
#endif
while (size > 0)
{
//write_size = min(size, INV_MAX_SERIAL_WRITE); // Write in chunks of INV_MAX_SERIAL_WRITE
Expand All @@ -1261,7 +1272,12 @@ ICM_20948_Status_e inv_icm20948_firmware_load(ICM_20948_Device_t *pdev, const un
// Moved across a bank
write_size = (memaddr & 0xff) + write_size - 0x100;
}
#ifdef ICM_20948_USE_PROGMEM_FOR_DMP
memcpy_P(data_not_pg, data, write_size); // Suggested by @HyperKokichi in Issue #63
result = inv_icm20948_write_mems(pdev, memaddr, write_size, (unsigned char *)data_not_pg);
#else
result = inv_icm20948_write_mems(pdev, memaddr, write_size, (unsigned char *)data);
#endif
if (result != ICM_20948_Stat_Ok)
return result;
data += write_size;
Expand Down Expand Up @@ -1289,7 +1305,12 @@ ICM_20948_Status_e inv_icm20948_firmware_load(ICM_20948_Device_t *pdev, const un
result = inv_icm20948_read_mems(pdev, memaddr, write_size, data_cmp);
if (result != ICM_20948_Stat_Ok)
flag++; // Error, DMP not written correctly
#ifdef ICM_20948_USE_PROGMEM_FOR_DMP
memcpy_P(data_not_pg, data, write_size); // Suggested by @HyperKokichi in Issue #63
if (memcmp(data_cmp, data_not_pg, write_size))
#else
if (memcmp(data_cmp, data, write_size)) // Compare the data
#endif
return ICM_20948_Stat_DMPVerifyFail;
data += write_size;
size -= write_size;
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