Merge pull request #69 from sparkfun/release_candidate

v1.2.6

examples/Arduino/Example10_DMP_FastMultipleSensors/Example10_DMP_FastMultipleSensors.ino

@@ -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
@@ -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;
@@ -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
@@ -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
@@ -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
@@ -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

examples/Arduino/Example9_DMP_MultipleSensors/Example9_DMP_MultipleSensors.ino

@@ -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

library.properties

@@ -1,5 +1,5 @@
 name=SparkFun 9DoF IMU Breakout - ICM 20948 - Arduino Library
-version=1.2.5
+version=1.2.6
 author=SparkFun Electronics <techsupport@sparkfun.com>
 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™).

src/ICM_20948.cpp

@@ -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;
@@ -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
@@ -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
@@ -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

src/ICM_20948.h

@@ -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
 

src/util/ICM_20948_C.c

@@ -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)
  {
@@ -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
@@ -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;
 }
@@ -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;
 }