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Commit for initial submission to Arduino library manager. Still needs some tweaking
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12 files changed

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-256
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‎examples/Arduino/Example1_Basics_I2C/Example1_Basics_I2C.ino‎

Lines changed: 228 additions & 1 deletion
Original file line numberDiff line numberDiff line change
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11
#include "ICM_20948.h"
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3-
ICM_20948_I2C myIC;
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#define MAG_AK09916_I2C_ADDR 0x0C
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#define MAG_AK09916_WHO_AM_I 0x4809
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#define MAG_REG_WHO_AM_I 0x00
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#define SERIAL_PORT Serial
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ICM_20948_I2C myICM;
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void setup() {
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// put your setup code here, to run once:
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SERIAL_PORT.begin(115200);
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// while(!SERIAL_PORT){}; // NOTE: make sure while(!SERIAL_PORT) does not accidentally call Wire.begin a bunch of times
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Wire.begin();
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// Wire.setClock(10000); // low-speed mode maybe helps?
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Wire.setClock(400000); // low-speed mode maybe helps?
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myICM.begin();
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while(!myICM.isConnected()){
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SERIAL_PORT.print("Could not find the device at (8bit) address: 0x");
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SERIAL_PORT.print(myICM._addr, HEX);
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SERIAL_PORT.print(". Trying again");
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SERIAL_PORT.println();
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delay(500);
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}
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SERIAL_PORT.println("Device connected!");
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// Here we are doing a SW reset to make sure the device starts in a known state
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myICM.swReset( );
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if( myICM.status != ICM_20948_Stat_Ok){
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SERIAL_PORT.print(F("Software Reset returned: "));
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SERIAL_PORT.println(myICM.statusString());
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}
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delay(250);
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// Now wake the sensor up
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myICM.sleep( false );
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myICM.lowPower( false );
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// Set Gyro and Accelerometer to a particular sample mode
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myICM.setSampleMode( (ICM_20948_Internal_Acc | ICM_20948_Internal_Gyr), ICM_20948_Sample_Mode_Continuous ); // options: ICM_20948_Sample_Mode_Continuous or ICM_20948_Sample_Mode_Cycled
47+
if( myICM.status != ICM_20948_Stat_Ok){
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SERIAL_PORT.print(F("setSampleMode returned: "));
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SERIAL_PORT.println(myICM.statusString());
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}
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// Set full scale ranges for both acc and gyr
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ICM_20948_fss_t myFSS;
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myFSS.a = gpm2; // (ICM_20948_ACCEL_CONFIG_FS_SEL_e)
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myFSS.g = dps2000; // (ICM_20948_GYRO_CONFIG_1_FS_SEL_e)
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myICM.setFullScale( (ICM_20948_Internal_Acc | ICM_20948_Internal_Gyr), myFSS );
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if( myICM.status != ICM_20948_Stat_Ok){
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SERIAL_PORT.print(F("setFullScale returned: "));
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SERIAL_PORT.println(myICM.statusString());
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}
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// Set up DLPF configuration
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ICM_20948_dlpcfg_t myDLPcfg;
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myDLPcfg.a = acc_d473bw_n499bw;
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myDLPcfg.g = gyr_d361bw4_n376bw5;
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myICM.setDLPFcfg( (ICM_20948_Internal_Acc | ICM_20948_Internal_Gyr), myDLPcfg );
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if( myICM.status != ICM_20948_Stat_Ok){
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SERIAL_PORT.print(F("setDLPcfg returned: "));
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SERIAL_PORT.println(myICM.statusString());
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}
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// Choose whether or not to use DLPF
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ICM_20948_Status_e accDLPEnableStat = myICM.enableDLPF( ICM_20948_Internal_Acc, false );
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ICM_20948_Status_e gyrDLPEnableStat = myICM.enableDLPF( ICM_20948_Internal_Gyr, false );
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SERIAL_PORT.print(F("Enable DLPF for Accelerometer returned: ")); SERIAL_PORT.println(myICM.statusString(accDLPEnableStat));
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SERIAL_PORT.print(F("Enable DLPF for Gyroscope returned: ")); SERIAL_PORT.println(myICM.statusString(gyrDLPEnableStat));
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// // Enable the I2C master to talk to the magnetometer through the ICM 20948
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// myICM.i2cMasterEnable( true );
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// SERIAL_PORT.print(F("Enabling the I2C master returned ")); SERIAL_PORT.println(myICM.statusString());
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//
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myICM.i2cMasterPassthrough( true ); // Set passthrough mode to try to access the magnetometer
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}
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void loop() {
1188
// put your main code here, to run repeatedly:
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90+
// if( myICM.dataReady() ){
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// myICM.getAGMT();
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//// printRawAGMT( myICM.agmt );
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// printScaledAGMT( myICM.agmt);
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//
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// delay(20);
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//
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// }else{
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// Serial.println("0");
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// }
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// Serial.println( myICM.i2cMasterSingleR( MAG_AK09916_I2C_ADDR, MAG_REG_WHO_AM_I ), HEX);
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// Serial.println("hi");
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// delay(500);
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byte error, address;
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int nDevices;
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Serial.println("Scanning...");
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nDevices = 0;
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for(address = 1; address < 127; address++ )
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{
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// The i2c_scanner uses the return value of
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// the Write.endTransmisstion to see if
115+
// a device did acknowledge to the address.
116+
Wire.beginTransmission(address);
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error = Wire.endTransmission();
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if (error == 0)
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{
121+
Serial.print("I2C device found at address 0x");
122+
if (address<16)
123+
Serial.print("0");
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Serial.print(address,HEX);
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Serial.println(" !");
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nDevices++;
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}
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else if (error==4)
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{
131+
Serial.print("Unknown error at address 0x");
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if (address<16)
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Serial.print("0");
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Serial.println(address,HEX);
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}
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}
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if (nDevices == 0)
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Serial.println("No I2C devices found\n");
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else
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Serial.println("done\n");
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delay(1000); // wait 5 seconds for next scan
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}
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void printPaddedInt16b( int16_t val ){
147+
if(val > 0){
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SERIAL_PORT.print(" ");
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if(val < 10000){ SERIAL_PORT.print("0"); }
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if(val < 1000 ){ SERIAL_PORT.print("0"); }
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if(val < 100 ){ SERIAL_PORT.print("0"); }
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if(val < 10 ){ SERIAL_PORT.print("0"); }
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}else{
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SERIAL_PORT.print("-");
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if(abs(val) < 10000){ SERIAL_PORT.print("0"); }
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if(abs(val) < 1000 ){ SERIAL_PORT.print("0"); }
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if(abs(val) < 100 ){ SERIAL_PORT.print("0"); }
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if(abs(val) < 10 ){ SERIAL_PORT.print("0"); }
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}
160+
SERIAL_PORT.print(abs(val));
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}
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void printRawAGMT( ICM_20948_AGMT_t agmt){
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SERIAL_PORT.print("RAW. Acc [ ");
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printPaddedInt16b( agmt.acc.axes.x );
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SERIAL_PORT.print(", ");
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printPaddedInt16b( agmt.acc.axes.y );
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SERIAL_PORT.print(", ");
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printPaddedInt16b( agmt.acc.axes.z );
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SERIAL_PORT.print(" ], Gyr [ ");
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printPaddedInt16b( agmt.gyr.axes.x );
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SERIAL_PORT.print(", ");
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printPaddedInt16b( agmt.gyr.axes.y );
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SERIAL_PORT.print(", ");
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printPaddedInt16b( agmt.gyr.axes.z );
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SERIAL_PORT.print(" ], Mag [ ");
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printPaddedInt16b( agmt.mag.axes.x );
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SERIAL_PORT.print(", ");
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printPaddedInt16b( agmt.mag.axes.y );
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SERIAL_PORT.print(", ");
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printPaddedInt16b( agmt.mag.axes.z );
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SERIAL_PORT.print(" ], Tmp [ ");
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printPaddedInt16b( agmt.tmp.val );
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SERIAL_PORT.print(" ]");
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SERIAL_PORT.println();
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}
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float getAccMG( int16_t raw, uint8_t fss ){
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switch(fss){
190+
case 0 : return (((float)raw)/16.384); break;
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case 1 : return (((float)raw)/8.192); break;
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case 2 : return (((float)raw)/4.096); break;
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case 3 : return (((float)raw)/2.048); break;
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default : return 0; break;
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}
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}
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float getGyrDPS( int16_t raw, uint8_t fss ){
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switch(fss){
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case 0 : return (((float)raw)/131); break;
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case 1 : return (((float)raw)/65.5); break;
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case 2 : return (((float)raw)/32.8); break;
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case 3 : return (((float)raw)/16.4); break;
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default : return 0; break;
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}
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}
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float getMagUT( int16_t raw ){
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// return (((float)raw)*0.15);
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// todo: this is a much more complicated formula, atually
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}
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float getTmpC( int16_t raw ){
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return (((float)raw)/333.87) + 21;
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}
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void printScaledAGMT( ICM_20948_AGMT_t agmt){
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Serial.print("Scaled. Acc (mg) [ ");
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Serial.print( getAccMG(agmt.acc.axes.x, agmt.fss.a ) );
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Serial.print(", ");
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Serial.print( getAccMG(agmt.acc.axes.y, agmt.fss.a ) );
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Serial.print(", ");
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Serial.print( getAccMG(agmt.acc.axes.z, agmt.fss.a ) );
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Serial.print(" ], Gyr (DPS) [ ");
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Serial.print( getGyrDPS(agmt.gyr.axes.x, agmt.fss.g ) );
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Serial.print(", ");
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Serial.print( getGyrDPS(agmt.gyr.axes.y, agmt.fss.g ) );
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Serial.print(", ");
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Serial.print( getGyrDPS(agmt.gyr.axes.z, agmt.fss.g ) );
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Serial.print(" ], Mag (uT) [ ");
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Serial.print( getMagUT(agmt.mag.axes.x) );
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Serial.print(", ");
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Serial.print( getMagUT(agmt.mag.axes.y) );
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Serial.print(", ");
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Serial.print( getMagUT(agmt.mag.axes.z) );
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Serial.print(" ], Tmp (C) [ ");
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Serial.print( getTmpC(agmt.tmp.val) );
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Serial.print(" ]");
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Serial.println();
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}

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