Merge pull request #85 from sparkfun/release_candidate

v1.2.9

examples/Arduino/Example2_Advanced/Example2_Advanced.ino

@@ -98,8 +98,6 @@ void setup()
  SERIAL_PORT.println(myICM.statusString());
  }
 
- delay(1); // Give the ICM20948 time to change the sample mode (see issue #8)
-
  // Set full scale ranges for both acc and gyr
  ICM_20948_fss_t myFSS; // This uses a "Full Scale Settings" structure that can contain values for all configurable sensors
 

library.properties

@@ -1,5 +1,5 @@
 name=SparkFun 9DoF IMU Breakout - ICM 20948 - Arduino Library
-version=1.2.8
+version=1.2.9
 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

@@ -395,6 +395,7 @@ bool ICM_20948::isConnected(void)
 ICM_20948_Status_e ICM_20948::setSampleMode(uint8_t sensor_id_bm, uint8_t lp_config_cycle_mode)
 {
  status = ICM_20948_set_sample_mode(&_device, (ICM_20948_InternalSensorID_bm)sensor_id_bm, (ICM_20948_LP_CONFIG_CYCLE_e)lp_config_cycle_mode);
+ delay(1); // Give the ICM20948 time to change the sample mode (see issue #8)
  return status;
 }
 
@@ -1704,16 +1705,7 @@ ICM_20948_Status_e ICM_20948_read_I2C(uint8_t reg, uint8_t *buff, uint32_t len,
  _i2c->write(reg);
  _i2c->endTransmission(false); // Send repeated start
 
- uint32_t offset = 0;
  uint32_t num_received = _i2c->requestFrom(addr, len);
- // while(_i2c->available()){
- // if(len > 0){
- // *(buff + offset) = _i2c->read();
- // len--;
- // }else{
- // break;
- // }
- // }
 
  if (num_received == len)
  {

src/util/ICM_20948_C.c

@@ -627,6 +627,26 @@ ICM_20948_Status_e ICM_20948_set_sample_mode(ICM_20948_Device_t *pdev, ICM_20948
  {
  return retval;
  }
+
+ // Check the data was written correctly
+ retval = ICM_20948_execute_r(pdev, AGB0_REG_LP_CONFIG, (uint8_t *)&reg, sizeof(ICM_20948_LP_CONFIG_t));
+ if (retval != ICM_20948_Stat_Ok)
+ {
+ return retval;
+ }
+ if (sensors & ICM_20948_Internal_Acc)
+ {
+ if (reg.ACCEL_CYCLE != mode) retval = ICM_20948_Stat_Err;
+ }
+ if (sensors & ICM_20948_Internal_Gyr)
+ {
+ if (reg.GYRO_CYCLE != mode) retval = ICM_20948_Stat_Err;
+ }
+ if (sensors & ICM_20948_Internal_Mst)
+ {
+ if (reg.I2C_MST_CYCLE != mode) retval = ICM_20948_Stat_Err;
+ }
+
  return retval;
 }
 
@@ -646,6 +666,9 @@ ICM_20948_Status_e ICM_20948_set_full_scale(ICM_20948_Device_t *pdev, ICM_20948_
  retval |= ICM_20948_execute_r(pdev, AGB2_REG_ACCEL_CONFIG, (uint8_t *)&reg, sizeof(ICM_20948_ACCEL_CONFIG_t));
  reg.ACCEL_FS_SEL = fss.a;
  retval |= ICM_20948_execute_w(pdev, AGB2_REG_ACCEL_CONFIG, (uint8_t *)&reg, sizeof(ICM_20948_ACCEL_CONFIG_t));
+ // Check the data was written correctly
+ retval |= ICM_20948_execute_r(pdev, AGB2_REG_ACCEL_CONFIG, (uint8_t *)&reg, sizeof(ICM_20948_ACCEL_CONFIG_t));
+ if (reg.ACCEL_FS_SEL != fss.a) retval |= ICM_20948_Stat_Err;
  }
  if (sensors & ICM_20948_Internal_Gyr)
  {
@@ -654,6 +677,9 @@ ICM_20948_Status_e ICM_20948_set_full_scale(ICM_20948_Device_t *pdev, ICM_20948_
  retval |= ICM_20948_execute_r(pdev, AGB2_REG_GYRO_CONFIG_1, (uint8_t *)&reg, sizeof(ICM_20948_GYRO_CONFIG_1_t));
  reg.GYRO_FS_SEL = fss.g;
  retval |= ICM_20948_execute_w(pdev, AGB2_REG_GYRO_CONFIG_1, (uint8_t *)&reg, sizeof(ICM_20948_GYRO_CONFIG_1_t));
+ // Check the data was written correctly
+ retval |= ICM_20948_execute_r(pdev, AGB2_REG_GYRO_CONFIG_1, (uint8_t *)&reg, sizeof(ICM_20948_GYRO_CONFIG_1_t));
+ if (reg.GYRO_FS_SEL != fss.g) retval |= ICM_20948_Stat_Err;
  }
  return retval;
 }
@@ -674,6 +700,9 @@ ICM_20948_Status_e ICM_20948_set_dlpf_cfg(ICM_20948_Device_t *pdev, ICM_20948_In
  retval |= ICM_20948_execute_r(pdev, AGB2_REG_ACCEL_CONFIG, (uint8_t *)&reg, sizeof(ICM_20948_ACCEL_CONFIG_t));
  reg.ACCEL_DLPFCFG = cfg.a;
  retval |= ICM_20948_execute_w(pdev, AGB2_REG_ACCEL_CONFIG, (uint8_t *)&reg, sizeof(ICM_20948_ACCEL_CONFIG_t));
+ // Check the data was written correctly
+ retval |= ICM_20948_execute_r(pdev, AGB2_REG_ACCEL_CONFIG, (uint8_t *)&reg, sizeof(ICM_20948_ACCEL_CONFIG_t));
+ if (reg.ACCEL_DLPFCFG != cfg.a) retval |= ICM_20948_Stat_Err;
  }
  if (sensors & ICM_20948_Internal_Gyr)
  {
@@ -682,6 +711,9 @@ ICM_20948_Status_e ICM_20948_set_dlpf_cfg(ICM_20948_Device_t *pdev, ICM_20948_In
  retval |= ICM_20948_execute_r(pdev, AGB2_REG_GYRO_CONFIG_1, (uint8_t *)&reg, sizeof(ICM_20948_GYRO_CONFIG_1_t));
  reg.GYRO_DLPFCFG = cfg.g;
  retval |= ICM_20948_execute_w(pdev, AGB2_REG_GYRO_CONFIG_1, (uint8_t *)&reg, sizeof(ICM_20948_GYRO_CONFIG_1_t));
+ // Check the data was written correctly
+ retval |= ICM_20948_execute_r(pdev, AGB2_REG_GYRO_CONFIG_1, (uint8_t *)&reg, sizeof(ICM_20948_GYRO_CONFIG_1_t));
+ if (reg.GYRO_DLPFCFG != cfg.g) retval |= ICM_20948_Stat_Err;
  }
  return retval;
 }
@@ -709,6 +741,16 @@ ICM_20948_Status_e ICM_20948_enable_dlpf(ICM_20948_Device_t *pdev, ICM_20948_Int
  reg.ACCEL_FCHOICE = 0;
  }
  retval |= ICM_20948_execute_w(pdev, AGB2_REG_ACCEL_CONFIG, (uint8_t *)&reg, sizeof(ICM_20948_ACCEL_CONFIG_t));
+ // Check the data was written correctly
+ retval |= ICM_20948_execute_r(pdev, AGB2_REG_ACCEL_CONFIG, (uint8_t *)&reg, sizeof(ICM_20948_ACCEL_CONFIG_t));
+ if (enable)
+ {
+ if (reg.ACCEL_FCHOICE != 1) retval |= ICM_20948_Stat_Err;
+ }
+ else
+ {
+ if (reg.ACCEL_FCHOICE != 0) retval |= ICM_20948_Stat_Err;
+ }
  }
  if (sensors & ICM_20948_Internal_Gyr)
  {
@@ -724,6 +766,16 @@ ICM_20948_Status_e ICM_20948_enable_dlpf(ICM_20948_Device_t *pdev, ICM_20948_Int
  reg.GYRO_FCHOICE = 0;
  }
  retval |= ICM_20948_execute_w(pdev, AGB2_REG_GYRO_CONFIG_1, (uint8_t *)&reg, sizeof(ICM_20948_GYRO_CONFIG_1_t));
+ // Check the data was written correctly
+ retval |= ICM_20948_execute_r(pdev, AGB2_REG_GYRO_CONFIG_1, (uint8_t *)&reg, sizeof(ICM_20948_GYRO_CONFIG_1_t));
+ if (enable)
+ {
+ if (reg.GYRO_FCHOICE != 1) retval |= ICM_20948_Stat_Err;
+ }
+ else
+ {
+ if (reg.GYRO_FCHOICE != 0) retval |= ICM_20948_Stat_Err;
+ }
  }
  return retval;
 }
@@ -2384,7 +2436,7 @@ ICM_20948_Status_e inv_icm20948_read_dmp_data(ICM_20948_Device_t *pdev, icm_2094
  return result;
 }
 
-static uint8_t sensor_type_2_android_sensor(enum inv_icm20948_sensor sensor)
+uint8_t sensor_type_2_android_sensor(enum inv_icm20948_sensor sensor)
 {
  switch (sensor)
  {

src/util/ICM_20948_C.h

@@ -274,7 +274,7 @@ extern int memcmp(const void *, const void *, size_t); // Avoid compiler warning
  ICM_20948_Status_e inv_icm20948_set_dmp_sensor_period(ICM_20948_Device_t *pdev, enum DMP_ODR_Registers odr_reg, uint16_t interval);
  ICM_20948_Status_e inv_icm20948_enable_dmp_sensor(ICM_20948_Device_t *pdev, enum inv_icm20948_sensor sensor, int state); // State is actually boolean
  ICM_20948_Status_e inv_icm20948_enable_dmp_sensor_int(ICM_20948_Device_t *pdev, enum inv_icm20948_sensor sensor, int state); // State is actually boolean
- static uint8_t sensor_type_2_android_sensor(enum inv_icm20948_sensor sensor);
+ uint8_t sensor_type_2_android_sensor(enum inv_icm20948_sensor sensor);
  enum inv_icm20948_sensor inv_icm20948_sensor_android_2_sensor_type(int sensor);
 
  ICM_20948_Status_e inv_icm20948_read_dmp_data(ICM_20948_Device_t *pdev, icm_20948_DMP_data_t *data);