283 lines
11 KiB
C++
283 lines
11 KiB
C++
/*!
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* @file Adafruit_ICM20X.h
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*
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* I2C Driver for the Adafruit ICM20X 6-DoF Wide-Range Accelerometer and
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*Gyro library
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*
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* This is a library for the Adafruit ICM20X breakouts:
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* https://www.adafruit.com/product/4464
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* https://www.adafruit.com/product/4554
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*
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* Adafruit invests time and resources providing this open source code,
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* please support Adafruit and open-source hardware by purchasing products from
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* Adafruit!
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*
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*
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* BSD license (see license.txt)
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*/
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#ifndef _ADAFRUIT_ICM20X_H
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#define _ADAFRUIT_ICM20X_H
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#include "Arduino.h"
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#include <Adafruit_BusIO_Register.h>
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#include <Adafruit_I2CDevice.h>
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#include <Adafruit_Sensor.h>
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#include <Wire.h>
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// Misc configuration macros
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#define I2C_MASTER_RESETS_BEFORE_FAIL \
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5 ///< The number of times to try resetting a stuck I2C master before giving
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///< up
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#define NUM_FINISHED_CHECKS \
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100 ///< How many times to poll I2C_SLV4_DONE before giving up and resetting
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// Bank 0
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#define ICM20X_B0_WHOAMI 0x00 ///< Chip ID register
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#define ICM20X_B0_USER_CTRL 0x03 ///< User Control Reg. Includes I2C Master
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#define ICM20X_B0_LP_CONFIG 0x05 ///< Low Power config
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#define ICM20X_B0_REG_INT_PIN_CFG 0xF ///< Interrupt config register
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#define ICM20X_B0_REG_INT_ENABLE 0x10 ///< Interrupt enable register 0
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#define ICM20X_B0_REG_INT_ENABLE_1 0x11 ///< Interrupt enable register 1
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#define ICM20X_B0_I2C_MST_STATUS \
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0x17 ///< Records if I2C master bus data is finished
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#define ICM20X_B0_REG_BANK_SEL 0x7F ///< register bank selection register
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#define ICM20X_B0_PWR_MGMT_1 0x06 ///< primary power management register
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#define ICM20X_B0_ACCEL_XOUT_H 0x2D ///< first byte of accel data
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#define ICM20X_B0_GYRO_XOUT_H 0x33 ///< first byte of accel data
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// Bank 2
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#define ICM20X_B2_GYRO_SMPLRT_DIV 0x00 ///< Gyroscope data rate divisor
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#define ICM20X_B2_GYRO_CONFIG_1 0x01 ///< Gyro config for range setting
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#define ICM20X_B2_ACCEL_SMPLRT_DIV_1 0x10 ///< Accel data rate divisor MSByte
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#define ICM20X_B2_ACCEL_SMPLRT_DIV_2 0x11 ///< Accel data rate divisor LSByte
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#define ICM20X_B2_ACCEL_CONFIG_1 0x14 ///< Accel config for setting range
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// Bank 3
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#define ICM20X_B3_I2C_MST_ODR_CONFIG 0x0 ///< Sets ODR for I2C master bus
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#define ICM20X_B3_I2C_MST_CTRL 0x1 ///< I2C master bus config
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#define ICM20X_B3_I2C_MST_DELAY_CTRL 0x2 ///< I2C master bus config
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#define ICM20X_B3_I2C_SLV0_ADDR \
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0x3 ///< Sets I2C address for I2C master bus slave 0
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#define ICM20X_B3_I2C_SLV0_REG \
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0x4 ///< Sets register address for I2C master bus slave 0
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#define ICM20X_B3_I2C_SLV0_CTRL 0x5 ///< Controls for I2C master bus slave 0
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#define ICM20X_B3_I2C_SLV0_DO 0x6 ///< Sets I2C master bus slave 0 data out
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#define ICM20X_B3_I2C_SLV4_ADDR \
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0x13 ///< Sets I2C address for I2C master bus slave 4
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#define ICM20X_B3_I2C_SLV4_REG \
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0x14 ///< Sets register address for I2C master bus slave 4
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#define ICM20X_B3_I2C_SLV4_CTRL 0x15 ///< Controls for I2C master bus slave 4
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#define ICM20X_B3_I2C_SLV4_DO 0x16 ///< Sets I2C master bus slave 4 data out
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#define ICM20X_B3_I2C_SLV4_DI 0x17 ///< Sets I2C master bus slave 4 data in
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#define ICM20948_CHIP_ID 0xEA ///< ICM20948 default device id from WHOAMI
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#define ICM20649_CHIP_ID 0xE1 ///< ICM20649 default device id from WHOAMI
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/** Options for `enableAccelDLPF` */
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typedef enum {
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ICM20X_ACCEL_FREQ_246_0_HZ = 0x1,
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ICM20X_ACCEL_FREQ_111_4_HZ = 0x2,
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ICM20X_ACCEL_FREQ_50_4_HZ = 0x3,
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ICM20X_ACCEL_FREQ_23_9_HZ = 0x4,
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ICM20X_ACCEL_FREQ_11_5_HZ = 0x5,
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ICM20X_ACCEL_FREQ_5_7_HZ = 0x6,
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ICM20X_ACCEL_FREQ_473_HZ = 0x7,
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} icm20x_accel_cutoff_t;
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/** Options for `enableGyroDLPF` */
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typedef enum {
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ICM20X_GYRO_FREQ_196_6_HZ = 0x0,
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ICM20X_GYRO_FREQ_151_8_HZ = 0x1,
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ICM20X_GYRO_FREQ_119_5_HZ = 0x2,
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ICM20X_GYRO_FREQ_51_2_HZ = 0x3,
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ICM20X_GYRO_FREQ_23_9_HZ = 0x4,
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ICM20X_GYRO_FREQ_11_6_HZ = 0x5,
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ICM20X_GYRO_FREQ_5_7_HZ = 0x6,
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ICM20X_GYRO_FREQ_361_4_HZ = 0x7,
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} icm20x_gyro_cutoff_t;
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class Adafruit_ICM20X;
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/** Adafruit Unified Sensor interface for accelerometer component of ICM20X */
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class Adafruit_ICM20X_Accelerometer : public Adafruit_Sensor {
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public:
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/** @brief Create an Adafruit_Sensor compatible object for the accelerometer
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sensor
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@param parent A pointer to the ICM20X class */
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Adafruit_ICM20X_Accelerometer(Adafruit_ICM20X *parent) {
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_theICM20X = parent;
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}
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bool getEvent(sensors_event_t *);
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void getSensor(sensor_t *);
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private:
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int _sensorID = 0x20A;
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Adafruit_ICM20X *_theICM20X = NULL;
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};
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/** Adafruit Unified Sensor interface for gyro component of ICM20X */
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class Adafruit_ICM20X_Gyro : public Adafruit_Sensor {
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public:
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/** @brief Create an Adafruit_Sensor compatible object for the gyro sensor
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@param parent A pointer to the ICM20X class */
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Adafruit_ICM20X_Gyro(Adafruit_ICM20X *parent) { _theICM20X = parent; }
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bool getEvent(sensors_event_t *);
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void getSensor(sensor_t *);
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private:
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int _sensorID = 0x20B;
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Adafruit_ICM20X *_theICM20X = NULL;
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};
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/** Adafruit Unified Sensor interface for magnetometer component of ICM20X */
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class Adafruit_ICM20X_Magnetometer : public Adafruit_Sensor {
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public:
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/** @brief Create an Adafruit_Sensor compatible object for the magnetometer
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sensor
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@param parent A pointer to the ICM20X class */
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Adafruit_ICM20X_Magnetometer(Adafruit_ICM20X *parent) { _theICM20X = parent; }
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bool getEvent(sensors_event_t *);
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void getSensor(sensor_t *);
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private:
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int _sensorID = 0x20C;
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Adafruit_ICM20X *_theICM20X = NULL;
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};
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/** Adafruit Unified Sensor interface for temperature component of ICM20X */
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class Adafruit_ICM20X_Temp : public Adafruit_Sensor {
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public:
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/** @brief Create an Adafruit_Sensor compatible object for the temp sensor
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@param parent A pointer to the ICM20X class */
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Adafruit_ICM20X_Temp(Adafruit_ICM20X *parent) { _theICM20X = parent; }
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bool getEvent(sensors_event_t *);
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void getSensor(sensor_t *);
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private:
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int _sensorID = 0x20D;
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Adafruit_ICM20X *_theICM20X = NULL;
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};
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/*!
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* @brief Class that stores state and functions for interacting with
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* the ST ICM20X 6-DoF Accelerometer and Gyro
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*/
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class Adafruit_ICM20X {
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public:
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Adafruit_ICM20X();
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~Adafruit_ICM20X();
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bool begin_SPI(uint8_t cs_pin, SPIClass *theSPI = &SPI,
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int32_t sensor_id = 0);
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bool begin_SPI(int8_t cs_pin, int8_t sck_pin, int8_t miso_pin,
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int8_t mosi_pin, int32_t sensor_id = 0);
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uint8_t getGyroRateDivisor(void);
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void setGyroRateDivisor(uint8_t new_gyro_divisor);
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uint16_t getAccelRateDivisor(void);
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void setAccelRateDivisor(uint16_t new_accel_divisor);
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bool enableAccelDLPF(bool enable, icm20x_accel_cutoff_t cutoff_freq);
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bool enableGyrolDLPF(bool enable, icm20x_gyro_cutoff_t cutoff_freq);
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void reset(void);
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// TODO: bool-ify
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void setInt1ActiveLow(bool active_low);
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void setInt2ActiveLow(bool active_low);
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Adafruit_Sensor *getAccelerometerSensor(void);
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Adafruit_Sensor *getGyroSensor(void);
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Adafruit_Sensor *getMagnetometerSensor(void);
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Adafruit_Sensor *getTemperatureSensor(void);
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bool getEvent(sensors_event_t *accel, sensors_event_t *gyro,
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sensors_event_t *temp, sensors_event_t *mag = NULL);
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uint8_t readExternalRegister(uint8_t slv_addr, uint8_t reg_addr);
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bool writeExternalRegister(uint8_t slv_addr, uint8_t reg_addr, uint8_t value);
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bool configureI2CMaster(void);
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bool enableI2CMaster(bool enable_i2c_master);
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void resetI2CMaster(void);
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void setI2CBypass(bool bypass_i2c);
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protected:
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float temperature, ///< Last reading's temperature (C)
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accX, ///< Last reading's accelerometer X axis m/s^2
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accY, ///< Last reading's accelerometer Y axis m/s^2
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accZ, ///< Last reading's accelerometer Z axis m/s^2
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gyroX, ///< Last reading's gyro X axis in rad/s
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gyroY, ///< Last reading's gyro Y axis in rad/s
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gyroZ, ///< Last reading's gyro Z axis in rad/s
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magX, ///< Last reading's mag X axis in rad/s
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magY, ///< Last reading's mag Y axis in rad/s
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magZ; ///< Last reading's mag Z axis in rad/s
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Adafruit_I2CDevice *i2c_dev = NULL; ///< Pointer to I2C bus interface
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Adafruit_SPIDevice *spi_dev = NULL; ///< Pointer to SPI bus interface
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Adafruit_ICM20X_Accelerometer *accel_sensor =
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NULL; ///< Accelerometer data object
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Adafruit_ICM20X_Gyro *gyro_sensor = NULL; ///< Gyro data object
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Adafruit_ICM20X_Magnetometer *mag_sensor =
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NULL; ///< Magnetometer sensor data object
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Adafruit_ICM20X_Temp *temp_sensor = NULL; ///< Temp sensor data object
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uint16_t _sensorid_accel, ///< ID number for accelerometer
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_sensorid_gyro, ///< ID number for gyro
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_sensorid_mag, ///< ID number for mag
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_sensorid_temp; ///< ID number for temperature
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void _read(void);
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virtual void scaleValues(void);
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virtual bool begin_I2C(uint8_t i2c_add, TwoWire *wire, int32_t sensor_id);
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// virtual bool _init(int32_t sensor_id);
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bool _init(int32_t sensor_id);
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int16_t rawAccX, ///< temp variables
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rawAccY, ///< temp variables
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rawAccZ, ///< temp variables
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rawTemp, ///< temp variables
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rawGyroX, ///< temp variables
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rawGyroY, ///< temp variables
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rawGyroZ, ///< temp variables
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rawMagX, ///< temp variables
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rawMagY, ///< temp variables
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rawMagZ; ///< temp variables
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uint8_t current_accel_range; ///< accelerometer range cache
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uint8_t current_gyro_range; ///< gyro range cache
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// virtual void _setBank(uint8_t bank_number);
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void _setBank(uint8_t bank_number);
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uint8_t readAccelRange(void);
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void writeAccelRange(uint8_t new_accel_range);
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uint8_t readGyroRange(void);
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void writeGyroRange(uint8_t new_gyro_range);
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private:
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friend class Adafruit_ICM20X_Accelerometer; ///< Gives access to private
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///< members to Accelerometer
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///< data object
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friend class Adafruit_ICM20X_Gyro; ///< Gives access to private members to
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///< Gyro data object
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friend class Adafruit_ICM20X_Magnetometer; ///< Gives access to private
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///< members to Magnetometer data
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///< object
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friend class Adafruit_ICM20X_Temp; ///< Gives access to private members to
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///< Temp data object
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void fillAccelEvent(sensors_event_t *accel, uint32_t timestamp);
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void fillGyroEvent(sensors_event_t *gyro, uint32_t timestamp);
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void fillTempEvent(sensors_event_t *temp, uint32_t timestamp);
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void fillMagEvent(sensors_event_t *mag, uint32_t timestamp);
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uint8_t auxillaryRegisterTransaction(bool read, uint8_t slv_addr,
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uint8_t reg_addr, uint8_t value = -1);
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};
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#endif
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