Version 1.2.13

This release:

• Corrects the Euler (Tait Bryan) angles in the DMP quaternion examples - thank you @Gord1 #145

Version 1.2.12

This release:

• Adds Wake-On-Motion WOMLogic - thank you @daescobarh #121
  • Please see the updated Example4 for details

Version 1.2.11

This release:

• Contains a small fix submitted by @yanivamichy in #109 - thank you Yaniv

Version 1.2.10

This release:

• Adds new methods to get and set the DMP biases
  • Thank you @ThreadOfFate #105
  • The methods are: getBiasGyroX , getBiasAccelY , setBiasCPassZ etc
• Adds a new example showing how to use the new methods and save/restore the biases
  • The example uses EEPROM to store the biases
  • It is written for ESP32 but can be adapted to work on many other platforms. You may need to change EEPROM.begin , EEPROM.commit etc.
  • If the EEPROM biases are valid, they are restored after the DMP has been begun
  • The biases are saved to EEPROM after two minutes
  • In those two minutes: rotate the sensor slowly around all three axes; hold the sensor stationary in all six orientations for a few seconds
  • When the example starts, the roll, pitch and yaw will start at zero but will settle to the correct values over the next ~ten seconds
• Don't forget to uncomment line 29 (#define ICM_20948_USE_DMP) in ICM_20948_C.h to enable support for the DMP

Version 1.2.9

This release:

• Adds a fix for issue #8 (seen on Teensy + SPI)
• Adds extra checking and diagnostics (needed to pin down issue #8)
• Fixes some old compiler warnings

Version 1.2.8

This release:

• Adds a fix to allow the DMP image 'pgmspace' to compile correctly on Apollo3 v2 (Artemis)
• Updates the Portable C example - add ICM_20948_init_struct - thank you @peterleif #72
• Adds a fix to allow the code to compile on linux targets - thank you @spacecheese #79
• Removes a redundant duplicate endTransmission from the Portable C example - thank you @Koepel #80

Version 1.2.7

This release:

• Adds DMP PROGMEM support for older AVR platforms like the ATmega2560 - thank you @HyperKokichi #63
  • Tested on the Arduino ATmega2560 R3 using SPI (CS is pin 53)
  • Please note: the Arduino Uno does not have enough PROGMEM to hold the DMP firmware (14kBytes)
  • Please be careful when using 5V boards like the ATmega2560. The SparkFun ICM-20948 Breakout will work OK on both SPI and I²C when powered from 5V. But take care not to connect a 3.3V device to the Qwiic (I²C) bus at the same time. Bad things will happen if you do.

Version 1.2.6

This release:

• Corrects an error where the accel and gyro were being left in low power mode, which was preventing the DMP from operating correctly
  • See DMP.md for more details
  • The critical commit is this one
• Changes _printDebug from boolean to bool - thank you @lwestfall #62
• Removes the references to Accuracy in the Quat6 examples (only Quat9 provides accuracy data)

Version 1.2.5

This release:

• Corrects a typo in the comments for the gyro DLPF
• Changes the whitespace tab formatting to spaces:2
• Configures I2C_SLV0 and I2C_SLV1 to read the magnetometer data and request a new Single Measurement
• Changes which AK09916 registers are read (ten undocumented registers starting at 0x03 - as per the InvenSense Icm20948AuxCompassAkm.c)
• Configures the I2C Master ODR to reduce the magnetometer read rate from 1100Hz to a sensible 69Hz
• Moves all of the DMP initialization code into a new weak function called initializeDMP
  • This avoids massive code duplication in the DMP examples
  • initializeDMP is weak and can be overwritten if (e.g.) you want to change the sample rate. See Example10

Version 1.2.4

This release:

• corrects issue #48 - thank you @Arnatious