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/*!
* @file DFRobot_ICM42688.h
* @brief Define the basic structure of DFRobot_ICM42688 class
* @copyright Copyright (c) 2010 DFRobot Co.Ltd (http://www.dfrobot.com)
* @license The MIT License (MIT)
* @author [yangfeng]<feng.yang@dfrobot.com>
* @version V1.0
* @date 2021-05-13
* @url https://github.com/DFRobot/DFRobot_ICM42688
*/
#ifndef __DFRobot_ICM42688_H
#define __DFRobot_ICM42688_H
#include <Arduino.h>
#include <Wire.h>
#include <SPI.h>
//Open this macro and you can see the details of the program
#define ENABLE_DBG
#ifdef ENABLE_DBG
#define DBG(...) {Serial.print("[");Serial.print(__FUNCTION__); Serial.print("(): "); Serial.print(__LINE__); Serial.print(" ] "); Serial.println(__VA_ARGS__);}
#else
#define DBG(...)
#endif
#define DFRobot_ICM42688_I2C_L_ADDR 0x68
#define DFRobot_ICM42688_I2C_H_ADDR 0x69
#define DFRobot_ICM42688_ID 0x47
#define ICM42688_DEVICE_CONFIG 0x11
#define ICM42688_DRIVE_CONFIG 0x13
#define ICM42688_SIGNAL_PATH_RESET 0x4B
#define ICM42688_PWR_MGMT0 0x4E
#define ICM42688_INT_CONFIG 0x14
#define ICM42688_INT_STATUS 0x2D
#define ICM42688_INT_STATUS2 0x37
#define ICM42688_INT_STATUS3 0x38
#define ICM42688_INT_CONFIG0 0x63
#define ICM42688_INT_CONFIG1 0x64
#define ICM42688_INT_SOURCE0 0x65
#define ICM42688_INT_SOURCE1 0x66
#define ICM42688_INT_SOURCE3 0x68
#define ICM42688_INT_SOURCE4 0x69
#define ICM42688_INT_SOURCE6 0x4D
#define ICM42688_INT_SOURCE7 0x4E
#define ICM42688_INT_SOURCE8 0x4F
#define ICM42688_INT_SOURCE9 0x50
#define ICM42688_INT_SOURCE10 0x51
#define ICM42688_TEMP_DATA1 0x1D
#define ICM42688_TEMP_DATA0 0x1E
#define ICM42688_ACCEL_DATA_X1 0x1F
#define ICM42688_ACCEL_DATA_X0 0x20
#define ICM42688_ACCEL_DATA_Y1 0x21
#define ICM42688_ACCEL_DATA_Y0 0x22
#define ICM42688_ACCEL_DATA_Z1 0x23
#define ICM42688_ACCEL_DATA_Z0 0x24
#define ICM42688_GYRO_DATA_X1 0x25
#define ICM42688_GYRO_DATA_X0 0x26
#define ICM42688_GYRO_DATA_Y1 0x27
#define ICM42688_GYRO_DATA_Y0 0x28
#define ICM42688_GYRO_DATA_Z1 0x29
#define ICM42688_GYRO_DATA_Z0 0x30
#define ICM42688_TMST_FSYNCH 0x43
#define ICM42688_TMST_FSYNCL 0x44
#define ICM42688_GYRO_CONFIG_STATIC2 0x0B
#define ICM42688_GYRO_CONFIG_STATIC3 0x0C
#define ICM42688_GYRO_CONFIG_STATIC4 0x0D
#define ICM42688_GYRO_CONFIG_STATIC5 0x0E
#define ICM42688_GYRO_CONFIG_STATIC6 0x0F
#define ICM42688_GYRO_CONFIG_STATIC7 0x10
#define ICM42688_GYRO_CONFIG_STATIC8 0x11
#define ICM42688_GYRO_CONFIG_STATIC9 0x12
#define ICM42688_GYRO_CONFIG_STATIC10 0x13
#define ICM42688_GYRO_CONFIG0 0x4F
#define ICM42688_ACCEL_CONFIG0 0x50
#define ICM42688_GYRO_CONFIG1 0x51
#define ICM42688_GYRO_ACCEL_CONFIG0 0x52
#define ICM42688_ACCEL_CONFIG1 0x53
#define ICM42688_TMST_CONFIG 0x54
#define ICM42688_SMD_CONFIG 0x57
#define ICM42688_FIFO_CONFIG 0x16
#define ICM42688_FIFO_COUNTH 0x2E
#define ICM42688_FIFO_COUNTL 0x2F
#define ICM42688_FIFO_DATA 0x30
#define ICM42688_FIFO_CONFIG1 0x5F
#define ICM42688_FIFO_CONFIG2 0x60
#define ICM42688_FIFO_CONFIG3 0x61
#define ICM42688_FIFO_LOST_PKT0 0x6C
#define ICM42688_FIFO_LOST_PKT1 0x6D
#define ICM42688_FSYNC_CONFIG 0x62
#define ICM42688_SELF_TEST_CONFIG 0x70
#define ICM42688_WHO_AM_I 0x75
#define ICM42688_REG_BANK_SEL 0x76
#define ICM42688_SENSOR_CONFIG0 0x03
#define ICM42688_XG_ST_DATA 0x5F
#define ICM42688_YG_ST_DATA 0x60
#define ICM42688_ZG_ST_DATA 0x61
#define ICM42688_TMSTVAL0 0x62
#define ICM42688_TMSTVAL1 0x63
#define ICM42688_TMSTVAL2 0x64
#define ICM42688_INTF_CONFIG0 0x4C
#define ICM42688_INTF_CONFIG1 0x4D
#define ICM42688_INTF_CONFIG4 0x7A
#define ICM42688_INTF_CONFIG5 0x7B
#define ICM42688_INTF_CONFIG6 0x7C
#define ICM42688_ACCEL_CONFIG_STATIC2 0x03
#define ICM42688_ACCEL_CONFIG_STATIC3 0x04
#define ICM42688_ACCEL_CONFIG_STATIC4 0x05
#define ICM42688_XA_ST_DATA 0x3B
#define ICM42688_YA_ST_DATA 0x3C
#define ICM42688_ZA_ST_DATA 0x3D
#define ICM42688_APEX_DATA0 0x31
#define ICM42688_APEX_DATA1 0x32
#define ICM42688_APEX_DATA2 0x33
#define ICM42688_APEX_DATA3 0x34
#define ICM42688_APEX_DATA4 0x35
#define ICM42688_APEX_DATA5 0x36
#define ICM42688_APEX_CONFIG0 0x56
#define ICM42688_APEX_CONFIG1 0x40
#define ICM42688_APEX_CONFIG2 0x41
#define ICM42688_APEX_CONFIG3 0x42
#define ICM42688_APEX_CONFIG4 0x43
#define ICM42688_APEX_CONFIG5 0x44
#define ICM42688_APEX_CONFIG6 0x45
#define ICM42688_APEX_CONFIG7 0x46
#define ICM42688_APEX_CONFIG8 0x47
#define ICM42688_APEX_CONFIG9 0x48
#define ICM42688_ACCEL_WOM_X_THR 0x4A
#define ICM42688_ACCEL_WOM_Y_THR 0x4B
#define ICM42688_ACCEL_WOM_Z_THR 0x4C
#define ICM42688_OFFSET_USER0 0x77
#define ICM42688_OFFSET_USER1 0x78
#define ICM42688_OFFSET_USER2 0x79
#define ICM42688_OFFSET_USER3 0x7A
#define ICM42688_OFFSET_USER4 0x7B
#define ICM42688_OFFSET_USER5 0x7C
#define ICM42688_OFFSET_USER6 0x7D
#define ICM42688_OFFSET_USER7 0x7E
#define ICM42688_OFFSET_USER8 0x7F
#define ICM42688_STEP_DET_INT 1<<5
#define ICM42688_STEP_CNT_OVF_INT 1<<4
#define ICM42688_TILT_DET_INT 1<<3
#define ICM42688_WAKE_INT 1<<2
#define ICM42688_SLEEP_INT 1<<1
#define ICM42688_TAP_DET_INT 1
#define ICM42688_SMD_INT 1<<3
#define ICM42688_WOM_Z_INT 1<<2
#define ICM42688_WOM_Y_INT 1<<1
#define ICM42688_WOM_X_INT 1
#define ICM42688_STATUS_WALK 1
#define ICM42688_STATUS_RUN 2
class DFRobot_ICM42688
{
public:
#define ERR_OK 0 ///< No error
#define ERR_DATA_BUS -1 ///< Data bus error
#define ERR_IC_VERSION -2 ///< The chip version not match
#define GYRO 0
#define ACCEL 1
#define ALL 5
#define TMST_DEFAULT_CONFIG_START 0x23
#define TMST_VALUE_DIS 0<<4
#define TMST_VALUE_EN 1<<4
#define TMST_RES_EN_DIS 0<<3
#define TMST_RES_EN 1<<3
#define TMST_FSYNC_EN 1<<1
#define TMST_FSYNC_DIS 0<<1
#define TMST_DELTA_EN 0<<2
#define TMST_DELTA_DIS 1<<2
#define TMST_EN 1
#define TMST_DIS 0
#define X_AXIS 0
#define Y_AXIS 2
#define Z_AXIS 4
#define X_AXIS_WOM 1
#define Y_AXIS_WOM 2
#define Z_AXIS_WOM 4
#define ODR_32KHZ 1
#define ODR_16KHZ 2
#define ODR_8KHZ 3
#define ODR_4KHZ 4
#define ODR_2KHZ 5
#define ODR_1KHZ 6
#define ODR_200HZ 7
#define ODR_100HZ 8
#define ODR_50HZ 9
#define ODR_25KHZ 10
#define ODR_12_5KHZ 11
#define ODR_6_25KHZ 12
#define ODR_3_125HZ 13
#define ODR_1_5625HZ 14
#define ODR_500HZ 15
#define FSR_0 0
#define FSR_1 1
#define FSR_2 2
#define FSR_3 3
#define FSR_4 4
#define FSR_5 5
#define FSR_6 6
#define FSR_7 7
#define LP_MODE_ONLY_ACCEL 2
#define LN_MODE 3
#define STANDBY_MODE_ONLY_GYRO 1
#define OFF_MODE 0
#define TAP_SINGLE 8
#define TAP_DOUBLE 16
/**
* @struct sSignalPathReset_t
* @brief Register:SIGNAL_PATH_RESET
* @n -------------------------------------------------------------------------------------------------------------------------------------- ---
* @n | b7 | b6 | b5 | b4 | b3 | b2 | b1 | b0 |
* @n ------------------------------------------------------------------------------------------------------------------------------------------
* @n | Reserved | DMP_INIT_EN | DMP_MEM_RESET_EN | Reserved | ABORT_AND_RESET | TMST_STROBE | FIFO_FLUSH | Reserved |
* @n ------------------------------------------------------------------------------------------------------------------------------------------
* @n DMP_INIT_EN: When this bit is set to 1, the DMP is enabled
* @n DMP_MEM_RESET_EN: When this bit is set to 1, the DMP memory is reset
* @n ABORT_AND_RESET : When this bit is set to 1, the signal path is reset by restarting the ODR counter and signal path controls
* @n TMST_STROBE : When this bit is set to 1, the time stamp counter is latched into the time stamp register. This is a write on clear bit.
* @n FIFO_FLUSH : When set to 1, FIFO will get flushed.
*/
typedef struct {
uint8_t reserved0: 1;
uint8_t FIFOFlush: 1;
uint8_t TMSTStrobe: 1;
uint8_t abortAndReset: 1;
uint8_t reserved4:1;
uint8_t DMPMemResetEn:1;
uint8_t DMPInitEn:1;
uint8_t reserved7:1;
} __attribute__ ((packed)) sSignalPathReset_t;
/**
* @struct sAPEXConfig0_t
* @brief Register:APEX_Config0
* @n -------------------------------------------------------------------------------------------------------------------------------------- --------------------
* @n | b7 | b6 | b5 | b4 | b3 | b2 | b1 | b0 |
* @n -----------------------------------------------------------------------------------------------------------------------------------------------------------
* @n | DMP_POWER_SAVE | TAP_ENABLE | PED_ENABLE | TILT_ENABLE | R2W_EN | Reserved | DMP_ODR |
* @n -----------------------------------------------------------------------------------------------------------------------------------------------------------
* @n DMP_POWER_SAVE : 0: DMP power save mode not active
* @n 1: DMP power save mode active (default)
* @n TAP_ENABLE :0: Tap Detection not enabled (tap detection function)
* @n 1: Tap Detection enabled when accelerometer ODR is set to one of the ODR
* @n values supported by Tap Detection (200Hz, 500Hz, 1kHz)
* @n PED_ENABLE 0: Pedometer not enabled
* @n 1: Pedometer enabled (Pedometer)
* @n TILT_ENABLE 0: Tilt Detection not enabled (tilt)
* @n 1: Tilt Detection enabled
* @n R2W_EN 0: Raise to Wake/Sleep not enabled
* @n 1: Raise to Wake/Sleep enabled
* @n DMP_ODR 00: 25Hz
* @n 01: Reserved
* @n 10: 50Hz
* @n 11: Reserved
*/
typedef struct {
uint8_t dmpODR: 2;
uint8_t reserved: 1;
uint8_t R2WEn: 1;
uint8_t tiltEnable:1;
uint8_t PEDEnable:1;
uint8_t tapEnable:1;
uint8_t DMPPowerSave:1;
} __attribute__ ((packed)) sAPEXConfig0_t;
/**
* @struct sAccelConfig0_t
* @brief Register:Accel_Config0
* @n -------------------------------------------------------------------------------------------------------------------------------------- -------------------
* @n | b7 | b6 | b5 | b4 | b3 | b2 | b1 | b0 |
* @n ----------------------------------------------------------------------------------------------------------------------------------------------------------
* @n | ACCEL_FS_SEL | Reserved | ACCEL_ODR |
* @n ----------------------------------------------------------------------------------------------------------------------------------------------------------
* @n ACCEL_FS_SEL :Full scale select for accelerometer UI interface output
* @n 000: ±16g (default)
* @n 001: ±8g
* @n 010: ±4g
* @n 011: ±2g
* @n 100: Reserved
* @n 101: Reserved
* @n 110: Reserved
* @n 111: Reserved
* @n ACCEL_ODR :Accelerometer ODR selection for UI interface output
* @n 0000: Reserved
* @n 0001: 32kHz (LN mode)
* @n 0010: 16kHz (LN mode)
* @n 0011: 8kHz (LN mode)
* @n 0100: 4kHz (LN mode)
* @n 0101: 2kHz (LN mode)
* @n 0110: 1kHz (LN mode) (default)
* @n 0111: 200Hz (LP or LN mode)
* @n 1000: 100Hz (LP or LN mode)
* @n 1001: 50Hz (LP or LN mode)
* @n 1010: 25Hz (LP or LN mode)
* @n 1011: 12.5Hz (LP or LN mode)
* @n 1100: 6.25Hz (LP mode)
* @n 1101: 3.125Hz (LP mode)
* @n 1110: 1.5625Hz (LP mode)
* @n 1111: 500Hz (LP or LN mode)
*/
typedef struct {
uint8_t accelODR: 4;
uint8_t reserved: 1;
uint8_t accelFsSel: 3;
} __attribute__ ((packed)) sAccelConfig0_t;
/**
* @struct sGyroConfig0_t
* @brief Register:Gyro_Config0
* @n -------------------------------------------------------------------------------------------------------------------------------------- -------------------
* @n | b7 | b6 | b5 | b4 | b3 | b2 | b1 | b0 |
* @n ----------------------------------------------------------------------------------------------------------------------------------------------------------
* @n | GYRO_FS_SEL | Reserved | GYRO_ODR |
* @n ----------------------------------------------------------------------------------------------------------------------------------------------------------
* @n GYRO_FS_SEL : Full scale select for gyroscope UI interface output
* @n 000: ±2000dps (default)
* @n 001: ±1000dps
* @n 010: ±500dps
* @n 011: ±250dps
* @n 100: ±125dps
* @n 101: ±62.5dps
* @n 110: ±31.25dps
* @n 111: ±15.625dps
* @n GYRO_ODR :Gyroscope ODR selection for UI interface output
* @n 0000: Reserved
* @n 0001: 32kHz
* @n 0010: 16kHz
* @n 0011: 8kHz
* @n 0100: 4kHz
* @n 0101: 2kHz
* @n 0110: 1kHz (default)
* @n 0111: 200Hz
* @n 1000: 100Hz
* @n 1001: 50Hz
* @n 1010: 25Hz
* @n 1011: 12.5Hz
* @n 1100: Reserved
* @n 1101: Reserved
* @n 1110: Reserved
* @n 1111: 500Hz
*/
typedef struct {
uint8_t gyroODR: 4;
uint8_t reserved: 1;
uint8_t gyroFsSel: 3;
} __attribute__ ((packed)) sGyroConfig0_t;
/**
* @struct sGyroConfig1_t
* @brief Register:Gyro_Config1
* @n -------------------------------------------------------------------------------------------------------------------------------------- -------------------
* @n | b7 | b6 | b5 | b4 | b3 | b2 | b1 | b0 |
* @n ----------------------------------------------------------------------------------------------------------------------------------------------------------
* @n | TEMP_FILT_BW | reserved | GYRO_UI_FILT_ORD | GYRO_DEC2_M2_ORD |
* @n ----------------------------------------------------------------------------------------------------------------------------------------------------------
* @n TEMP_FILT_BW : Set the bandwidth of the temperature signal DLPF
* @n 000: DLPF BW = 4000Hz; DLPF Latency = 0.125ms (default)
* @n 001: DLPF BW = 170Hz; DLPF Latency = 1ms
* @n 010: DLPF BW = 82Hz; DLPF Latency = 2ms
* @n 011: DLPF BW = 40Hz; DLPF Latency = 4ms
* @n 100: DLPF BW = 20Hz; DLPF Latency = 8ms
* @n 101: DLPF BW = 10Hz; DLPF Latency = 16ms
* @n 110: DLPF BW = 5Hz; DLPF Latency = 32ms
* @n 111: DLPF BW = 5Hz; DLPF Latency = 32ms
* @n GYRO_UI_FILT_ORD :Selects order of GYRO UI filter
* @n 00: 1st Order
* @n 01: 2nd Order
* @n 10: 3rd Order
* @n 11: Reserved
* @n GYRO_DEC2_M2_ORD :Selects order of GYRO DEC2_M2 Filter
* @n 00: Reserved
* @n 01: Reserved
* @n 10: 3rd Order
* @n 11: Reserved
*/
typedef struct {
uint8_t gyroDec2M2ODR: 2;
uint8_t gyroUIFiltODR: 2;
uint8_t reserved: 1;
uint8_t agyroFiltBW: 3;
} __attribute__ ((packed)) sGyroConfig1_t;
/**
* @struct sGyroConfig1_t
* @brief Register:Gyro_Config1
* @n -------------------------------------------------------------------------------------------------------------------------------------- -------------------
* @n | b7 | b6 | b5 | b4 | b3 | b2 | b1 | b0 |
* @n ----------------------------------------------------------------------------------------------------------------------------------------------------------
* @n | Reserved | TEMP_DIS | IDLE | GYRO_MODE | ACCEL_MODE |
* @n ----------------------------------------------------------------------------------------------------------------------------------------------------------
* @n TEMP_DIS : 0: Temperature sensor is enabled (default)
* @n 1: Temperature sensor is disabled
* @n IDLE : 0: When the accelerometer and gyroscope are powered off, the chip will go to OFF state, since the RC oscillator will also be powered off
* @n 1: RC oscillator is powered on even if the accelerometer and gyroscope are powered off
* @n GYRO_MODE :00: Turns gyroscope off (default)
* @n 01: Places gyroscope in Standby Mode
* @n 10: Reserved
* @n 11: Places gyroscope in Low Noise (LN) Mode
* @n Gyroscope needs to be kept ON for a minimum of 45ms. When transitioning from OFF to any of the other modes, do not issue any register writes for 200µs
* @n ACCEL_MODE: 00: Turns accelerometer off (default)
* @n 01: Turns accelerometer off
* @n 10: Places accelerometer in Low Power (LP) Mode
* @n 11: Places accelerometer in Low Noise (LN) Mode
* @n When transitioning from OFF to any of the other modes, do not issue any register writes for 200µs
*/
typedef struct {
uint8_t accelMode: 2;
uint8_t gyroMode: 2;
uint8_t idle: 1;
uint8_t tempDis:1;
uint8_t reserved:2;
} __attribute__ ((packed)) sPWRMgmt0_t;
/**
* @struct sINTFConfig0_t
* @brief Register:INTF_Config0
* @n -------------------------------------------------------------------------------------------------------------------------------------- ---------------------
* @n | b7 | b6 | b5 | b4 | b3 | b2 | b1 | b0 |
* @n ------------------------------------------------------------------------------------------------------------------------------------------------------------
* @n | FIFO_HOLD_LAST_DATA_EN | FIFO_COUNT_REC | FIFO_COUNT_ENDIAN | SENSOR_DATA_ENDIAN | Reserved | UI_SIFS_CFG |
* @n ------------------------------------------------------------------------------------------------------------------------------------------------------------
* @n FIFO_HOLD_LAST_DATA_EN: Method for processing invalid data, 0: Registers do not receive invalid samples. Registers hold last valid sample until new one arrives
* @n FIFO : 16-bit FIFO packet: Same as Sense Registers (Do not receive invalid samples. They hold the last valid sample. Repeated reading before new sample received will yield copies of the last valid sample)
* @n 20-bit FIFO packet: Invalid samples are indicated with the value -524288
* @n 1: Not receive invalid samples. Registers hold last valid sample until new one arrives
* @n FIFO_COUNT_REC: 0: FIFO count is reported in bytes
* @n 1: FIFO count is reported in records
* @n FIFO_COUNT_ENDIAN : 0: FIFO count is reported in Little Endian format
* @n 1: FIFO count is reported in Big Endian format (default)
* @n SENSOR_DATA_ENDIAN : 0: Sensor data is reported in Little Endian format
* @n 1: Sensor data is reported in Big Endian format (default)
* @n UI_SIFS_CFG: 0x: Reserved
* @n 10: Disable SPI
* @n 11: Disable I2C
*/
typedef struct {
uint8_t UISifsConfig: 2;
uint8_t reserved:2;
uint8_t sensorDataEndian: 1;
uint8_t FIFOCountEndian: 1;
uint8_t FIFOCountRec:1;
uint8_t FIFOInvalidSampleTreatment:1;
} __attribute__ ((packed)) sINTFConfig0_t;
/**
* @struct sINTFConfig1_t
* @brief Register:INTF_Config1
* @n -------------------------------------------------------------------------------------------------------------------------------------- -------------------
* @n | b7 | b6 | b5 | b4 | b3 | b2 | b1 | b0 |
* @n ----------------------------------------------------------------------------------------------------------------------------------------------------------
* @n | Reserved | ACCEL_LP_CLK_SEL | RTC_MODE | CLKSEL |
* @n ----------------------------------------------------------------------------------------------------------------------------------------------------------
* @n ACCEL_LP_CLK_SEL : 0: Accelerometer LP mode uses Wake Up oscillator clock
* @n 1: Accelerometer LP mode uses RC oscillator clock
* @n RTC_MODE : 0: No input RTC clock is required
* @n 1: RTC clock input is required
* @n CLKSEL : 00: Always select internal RC oscillator
* @n 01: Select PLL when available, else select RC oscillator (default)
* @n 10: Reserved
* @n 11: Disable all clocks
*/
typedef struct {
uint8_t clksel: 2;
uint8_t rtcMode: 1;
uint8_t accelLpClkSel: 1;
uint8_t reserved:4;
} __attribute__ ((packed)) sINTFConfig1_t;
/**
* @struct sAccelConfig1_t
* @brief Register:Accel_Config1
* @n -------------------------------------------------------------------------------------------------------------------------------------- -------------------
* @n | b7 | b6 | b5 | b4 | b3 | b2 | b1 | b0 |
* @n ----------------------------------------------------------------------------------------------------------------------------------------------------------
* @n | Reserved | ACCEL_UI_FILT_ORD | ACCEL_DEC2_M2_ORD | Reserved |
* @n ----------------------------------------------------------------------------------------------------------------------------------------------------------
* @n ACCEL_UI_FILT_ORD : Selects order of ACCEL UI filter
* @n 00: 1st Order
* @n 01: 2nd Order
* @n 10: 3rd Order
* @n 11: Reserved
* @n ACCEL_DEC2_M2_ORD : Order of Accelerometer DEC2_M2 filter
* @n 00: Reserved
* @n 01: Reserved
* @n 10: 3rd order
* @n 11: Reserved
*/
typedef struct {
uint8_t reserved: 1;
uint8_t accelDec2M2ORD: 2;
uint8_t accelUIFiltORD: 2;
uint8_t reserved2: 3;
} __attribute__ ((packed)) sAccelConfig1_t;
/**
* @struct sGyroAccelConfig0_t
* @brief Register:Gyro_Accel_Config0
* @n -------------------------------------------------------------------------------------------------------------------------------------- -------------------
* @n | b7 | b6 | b5 | b4 | b3 | b2 | b1 | b0 |
* @n ----------------------------------------------------------------------------------------------------------------------------------------------------------
* @n | ACCEL_UI_FILT_BW | GYRO_UI_FILT_BW |
* @n ----------------------------------------------------------------------------------------------------------------------------------------------------------
* @n ACCEL_UI_FILT_BW : Bandwidth for Accel LPF
* @n LN Mode:
* @n 0 BW=ODR/2
* @n 1 BW=max(400Hz, ODR)/4 (default)
* @n 2 BW=max(400Hz, ODR)/5
* @n 3 BW=max(400Hz, ODR)/8
* @n 4 BW=max(400Hz, ODR)/10
* @n 5 BW=max(400Hz, ODR)/16
* @n 6 BW=max(400Hz, ODR)/20
* @n 7 BW=max(400Hz, ODR)/40
* @n 8 to 13: Reserved
* @n 14 Low Latency option: Trivial decimation @ ODR of Dec2 filter output. Dec2
* @n runs at max(400Hz, ODR)
* @n 15 Low Latency option: Trivial decimation @ ODR of Dec2 filter output. Dec2
* @n runs at max(200Hz, 8*ODR)
* @n LP Mode:
* @n 0 Reserved
* @n 1 1x AVG filter (default)
* @n 2 to 5 Reserved
* @n 6 16x AVG filter
* @n 7 to 15 Reserved
* @n GYRO_UI_FILT_BW :Bandwidth for Gyro LPF
* @n LN Mode:
* @n 0 BW=ODR/2
* @n 1 BW=max(400Hz, ODR)/4 (default)
* @n 2 BW=max(400Hz, ODR)/5
* @n 3 BW=max(400Hz, ODR)/8
* @n 4 BW=max(400Hz, ODR)/10
* @n 5 BW=max(400Hz, ODR)/16
* @n 6 BW=max(400Hz, ODR)/20
* @n 7 BW=max(400Hz, ODR)/40
* @n 8 to 13: Reserved
* @n 14 Low Latency option: Trivial decimation @ ODR of Dec2 filter output. Dec2 runs at max(400Hz, ODR)
* @n 15 Low Latency option: Trivial decimation @ ODR of Dec2 filter output. Dec2 runs at max(200Hz, 8*ODR)
*/
typedef struct {
uint8_t gyroUIFiltBW: 4;
uint8_t accelUIFiltBW: 4;
} __attribute__ ((packed)) sGyroAccelConfig0_t;
/**
* @struct sAPEXConfig7_t
* @brief Register:APEX_Config7
* @n -------------------------------------------------------------------------------------------------------------------------------------- --------------------------------------------------
* @n | b7 | b6 | b5 | b4 | b3 | b2 | b1 | b0 |
* @n -----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
* @n | TAP_MIN_JERK_THR | TAP_MAX_PEAK_TOL |
* @n -----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
* @n TAP_MIN_JERK_THR Tap detection minimum jerk threshold, use default value 010001b
* @n TAP_MAX_PEAK_TOL Point detection maximum peak tolerance, use default value 01b
*/
typedef struct {
uint8_t tapMaxPeakTol: 2;
uint8_t tapMinJerkThr: 6;
} __attribute__ ((packed)) sAPEXConfig7_t;
/**
* @struct sAPEXConfig8_t
* @brief Register:APEX_Config8
* @n -------------------------------------------------------------------------------------------------------------------------------------- --------------------------------------------------
* @n | b7 | b6 | b5 | b4 | b3 | b2 | b1 | b0 |
* @n -----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
* @n | Reserved | TAP_TMAX | TAP_TAVG | TAP_TMIN |
* @n -----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
* @n TAP_TMAX Tap measurement window (number of samples), use default value 01b
* @n TAP_TAVG Tap energy measurement window (number of samples), use default value 01b
* @n TAP_TMIN Single tap window (number of samples), use default value 011b
*/
typedef struct {
uint8_t tapTmin: 3;
uint8_t tapTavg: 2;
uint8_t tapTmax: 2;
uint8_t reserved:1;
} __attribute__ ((packed)) sAPEXConfig8_t;
/**
* @struct sAPEXConfig4_t
* @brief Register:APEX_Config4
* @n -------------------------------------------------------------------------------------------------------------------------------------- --------------------------------------------------
* @n | b7 | b6 | b5 | b4 | b3 | b2 | b1 | b0 |
* @n -----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
* @n | TILT_WAIT_TIME_SEL | SLEEP_TIME_OUT | Reserved |
* @n -----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
* @n TILT_WAIT_TIME_SEL Config delay time after tilt is detected before interrupt is triggered
* @n 00: 0s
* @n 01: 2s
* @n 10: 4s (default)
* @n 11: 6s
* @n SLEEP_TIME_OUT Configures the time for sleep detection, for Raise to Wake/Sleep
* @n 000: 1.28sec
* @n 001: 2.56sec
* @n 010: 3.84sec
* @n 011: 5.12sec
* @n 100: 6.40sec
* @n 101: 7.68sec
* @n 110: 8.96sec
* @n 111: 10.24sec
*/
typedef struct {
uint8_t reserved: 3;
uint8_t sleepTimeOut: 3;
uint8_t tiltWaitTimeSel: 2;
} __attribute__ ((packed)) sAPEXConfig4_t;
/**
* @struct sSMDConfig_t
* @brief Register:SMD_Config
* @n -------------------------------------------------------------------------------------------------------------------------------------- --------------------
* @n | b7 | b6 | b5 | b4 | b3 | b2 | b1 | b0 |
* @n -----------------------------------------------------------------------------------------------------------------------------------------------------------
* @n | Reserved | WOM_INT_MODE | WOM_MODE | SMD_MODE |
* @n -----------------------------------------------------------------------------------------------------------------------------------------------------------
* @n WOM_INT_MODE : (Wake on motion) 0: Set WoM interrupt on the OR of all enabled accelerometer thresholds
* @n 1: Set WoM interrupt on the AND of all enabled accelerometer threshold
* @n WOM_MODE 0: Initial sample is stored. Future samples are compared to initial sample
* @n 1: Compare current sample to previous sample
* @n SMD_MODE 00: SMD disabled (important motion detector)
* @n 01: Reserved
* @n 10: SMD short (1 sec wait) An SMD event is detected when two WOM are detected 1 sec apart
* @n 11: SMD long (3 sec wait) An SMD event is detected when two WOM are detected 3 sec apart
*/
typedef struct {
uint8_t SMDMode: 2;
uint8_t WOMMode: 1;
uint8_t WOMIntMode: 1;
uint8_t reserved: 4;
} __attribute__ ((packed)) sSMDConfig_t;
/**
* @struct sGyroConfigStatic9_t
* @brief Register:Gyro_Config_Static9
* @n -------------------------------------------------------------------------------------------------------------------------------------- --------------------------------------------------
* @n | b7 | b6 | b5 | b4 | b3 | b2 | b1 | b0 |
* @n -----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
* @n | Reserved | GYRO_Z_NF_COSWZ_SEL[0] | GYRO_Y_NF_COSWZ_SEL[0] | GYRO_X_NF_COSWZ_SEL[0] | GYRO_Z_NF_COSWZ[8] | GYRO_Y_NF_COSWZ[8] | GYRO_X_NF_COSWZ[8] |
* @n -----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
* @n GYRO_Z_NF_COSWZ_SEL[0] :Used for gyroscope Z-axis notch filter frequency selection
* @n GYRO_Y_NF_COSWZ_SEL[0] :Used for gyroscope Y-axis notch filter frequency selection
* @n GYRO_X_NF_COSWZ_SEL[0] :Used for gyroscope X-axis notch filter frequency selection
* @n GYRO_Z_NF_COSWZ[8] :Used for gyroscope Z-axis notch filter frequency selection
* @n GYRO_Y_NF_COSWZ[8] :Used for gyroscope Y-axis notch filter frequency selection
* @n GYRO_X_NF_COSWZ[8] :Used for gyroscope X-axis notch filter frequency selection
*/
typedef struct {
uint8_t gyroNFCoswzX8: 1;
uint8_t gyroNFCoswzY8: 1;
uint8_t gyroNFCoswzZ8: 1;
uint8_t gyroNFCoswzSelX: 1;
uint8_t gyroNFCoswzSelY: 1;
uint8_t gyroNFCoswzSelZ: 1;
uint8_t reserved:2;
} __attribute__ ((packed)) sGyroConfigStatic9_t;
/**
* @struct sGyroConfigStatic2_t
* @brief Register:Gyro_Config_Static2
* @n -------------------------------------------------------------------------------------------------------------------------------------- ---------------------------------------
* @n | b7 | b6 | b5 | b4 | b3 | b2 | b1 | b0 |
* @n ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
* @n | Reserved | GYRO_AAF_DIS | GYRO_NF_DIS |
* @n ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
* @n GYRO_AAF_DIS :0: Enable gyroscope anti-aliasing filter (default)
* @n 1: Disable gyroscope anti-aliasing filter
* @n GYRO_NF_DIS 0: Enable Notch Filter (default)
* @n 1: Disable Notch Filter
*/
typedef struct {
uint8_t gyroNFDis: 1;
uint8_t gyroAAFDis: 1;
uint8_t reserved: 6;
} __attribute__ ((packed)) sGyroConfigStatic2_t;
/**
* @struct sGyroConfigStatic5_t
* @brief Register:Gyro_Config_Static5
* @n -------------------------------------------------------------------------------------------------------------------------------------- ---------------------------------------
* @n | b7 | b6 | b5 | b4 | b3 | b2 | b1 | b0 |
* @n ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
* @n | GYRO_AAF_BITSHIFT | GYRO_AAF_DELTSQR[11:8] |
* @n ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
* @n GYRO_AAF_BITSHIFT :Controls bandwidth of the gyroscope anti-alias filter
* @n GYRO_AAF_DELTSQR[11:8] Controls bandwidth of the gyroscope anti-alias filter
*/
typedef struct {
uint8_t gyroAAFDeltsqr: 4;
uint8_t gyroAAFBitshift: 4;
} __attribute__ ((packed)) sGyroConfigStatic5_t;
/**
* @struct sAccelConfigStatic2_t
* @brief Register:Accel_Config_Static2
* @n -------------------------------------------------------------------------------------------------------------------------------------- --------------------------------------------------
* @n | b7 | b6 | b5 | b4 | b3 | b2 | b1 | b0 |
* @n -----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
* @n | Reserved | ACCEL_AAF_DELT | ACCEL_AAF_DIS |
* @n -----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
* @n ACCEL_AAF_DELT Controls bandwidth of the accelerometer anti-alias filter
* @n ACCEL_AAF_DIS 0: Enable accelerometer anti-aliasing filter (default)
* @n 1: Disable accelerometer anti-aliasing filter
*/
typedef struct {
uint8_t accelAAFDis: 1;
uint8_t accelAAFDelt: 6;
uint8_t reserved: 1;
} __attribute__ ((packed)) sAccelConfigStatic2_t;
/**
* @struct sAccelConfigStatic4_t
* @brief Register:Accel_Config_Static4
* @n -------------------------------------------------------------------------------------------------------------------------------------- --------------------------------------------------
* @n | b7 | b6 | b5 | b4 | b3 | b2 | b1 | b0 |
* @n -----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
* @n | ACCEL_AAF_BITSHIFT | ACCEL_AAF_DELTSQR[11:8] |
* @n -----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
* @n ACCEL_AAF_BITSHIFT Controls bandwidth of the accelerometer anti-alias filter
* @n ACCEL_AAF_DELTSQR[11:8] Controls bandwidth of the accelerometer anti-alias filter
*/
typedef struct {
uint8_t accelAAFDeltsqr: 4;
uint8_t accelAAFBitshift: 4;
} __attribute__ ((packed)) sAccelConfigStatic4_t;
/**
* @struct sFIFOConfig1_t
* @brief Register:FIFO_Config1
* @n -------------------------------------------------------------------------------------------------------------------------------------- ---------------------------
* @n | b7 | b6 | b5 | b4 | b3 | b2 | b1 | b0 |
* @n ------------------------------------------------------------------------------------------------------------------------------------------------------------------
* @n | Reserved | FIFO_RESUME_PARTIAL_RD | FIFO_WM_GT_TH | FIFO_HIRES_EN | FIFO_TMST_FSYNC_EN | FIFO_TEMP_EN | FIFO_GYRO_EN | FIFO_ACCEL_EN |
* @n ------------------------------------------------------------------------------------------------------------------------------------------------------------------
* @n FIFO_RESUME_PARTIAL_RD : 0: Partial FIFO read is disabled and the entire FIFO needs to be re-read
* @n 1: FIFO read can be partial, and resume from last read point
* @n FIFO_WM_GT_TH Trigger FIFO watermark interrupt on every ODR (DMA write) if FIFO_COUNT ≥ FIFO_WM_TH
* @n FIFO_HIRES_EN : FIFO_HIRES_EN Enable 3 bytes of extended 20-bits accel, gyro data + 1 byte of extended 16-bit temperature sensor data to be placed into the FIFO
* @n FIFO_TMST_FSYNC_EN: Must be set to 1 for all FIFO use cases when FSYNC is used.
* @n FIFO_TEMP_EN Enable temperature sensor packets to go to FIFO
* @n FIFO_GYRO_EN Enable gyroscope packets to go to FIFO
* @n FIFO_ACCEL_EN Enable accelerometer packets to go to FIFO
*/
typedef struct {
uint8_t FIFOAccelEn: 1;
uint8_t FIFOGyroEn: 1;
uint8_t FIFOTempEn: 1;
uint8_t FIFOTmstFsyncEn: 1;
uint8_t FIFOHiresEn: 1;
uint8_t FIFOWmGtTh: 1;
uint8_t FIFOResumeParialRd:1;
uint8_t reseved :1;
} __attribute__ ((packed)) sFIFOConfig1_t;
/**
* @struct sTMSTConfig_t
* @brief Register:TMST_Config
* @n -------------------------------------------------------------------------------------------------------------------------------------- --------------------
* @n | b7 | b6 | b5 | b4 | b3 | b2 | b1 | b0 |
* @n -----------------------------------------------------------------------------------------------------------------------------------------------------------
* @n | Reserved | TMST_TO_REGS_EN | TMST_RES | TMST_DELTA_EN | TMST_FSYNC_EN | TMST_EN |
* @n -----------------------------------------------------------------------------------------------------------------------------------------------------------
* @n TMST_TO_REGS_EN : 0: TMST_VALUE[19:0] read always returns 0s
* @n 1: TMST_VALUE[19:0] read returns timestamp value
* @n TMST_RES : Time Stamp resolution: When set to 0 (default), time stamp resolution is 1 µs. When set to 1, resolution is 16µs
* @n TMST_DELTA_EN Time Stamp delta enable: When set to 1, the time stamp field contains the measurement of time since the last occurrence of ODR.
* @n TMST_FSYNC_EN Time Stamp register FSYNC enable (default). When set to 1, the contents of the Timestamp feature of FSYNC is enabled. The user also needs to select FIFO_TMST_FSYNC_EN in order to propagate the timestamp value to the FIFO.
* @n TMST_EN 0: Time Stamp register disable
* @n 1: Time Stamp register enable (default)
*/
typedef struct {
uint8_t TimeStampEn: 1;
uint8_t TimeStampFSYNCEn: 1;
uint8_t TimeStampDeltaEn: 1;
uint8_t TimeStampRes: 1;
uint8_t TimeStampToRegsEn: 1;
uint8_t reseved :3;
} __attribute__ ((packed)) sTMSTConfig_t;
/**
* @struct sINTConfig_t
* @brief Register:INT_Config
* @n -------------------------------------------------------------------------------------------------------------------------------
* @n | b7 | b6 | b5 | b4 | b3 | b2 | b1 | b0 |
* @n -------------------------------------------------------------------------------------------------------------------------------
* @n | reversed | INT2_MODE | INT2_DRIVE_CIRCUIT | INT2_POLARITY | INT1_MODE | INT1_DRIVE_CIRCUIT | INT1_POLARITY |
* @n -------------------------------------------------------------------------------------------------------------------------------
* @n INT2_MODE:INT2 interrupt mode
* @n 0: Pulsed mode
* @n 1: Latched mode
* @n INT2_DRIVE_CIRCUIT:INT2 drive circuit
* @n 0: Open drain
* @n 1: Push pull
* @n INT2_POLARITY:INT2 interrupt polarity
* @n 0: Active low (default)
* @n 1: Active high
* @n INT1_MODE:INT1 interrupt mode
* @n 0: Pulsed mode
* @n 1: Latched mode
* @n INT1_DRIVE_CIRCUIT:INT1 drive circuit
* @n 0: Open drain
* @n 1: Push pull
* @n INT1_POLARITY:INT1 interrupt polarity
* @n 0: Active low (default)
* @n 1: Active high
*/
typedef struct {
uint8_t INT1Polarity: 1;
uint8_t INT1DriveCirCuit: 1;
uint8_t INT1Mode: 1;
uint8_t INT2Polarity: 1;
uint8_t INT2DriveCirCuit: 1;
uint8_t INT2Mode :1;
uint8_t reversed :2;
} __attribute__ ((packed)) sINTConfig_t;
/**
* @struct sINTSource_t
* @brief Register:INT_Source
* @n ---------------------------------------------------------------------------------------------------------------------------------------------
* @n | b7 | b6 | b5 | b4 | b3 | b2 | b1 | b0 |
* @n ---------------------------------------------------------------------------------------------------------------------------------------------
* @n | reversed | STEP_DET_INT_EN | STEP_CNT_OFL_INT_EN | TILT_DET_INT_EN | WAKE_DET_INT_EN | SLEEP_DET_INT_EN | TAP_DET_INT_EN |
* @n ---------------------------------------------------------------------------------------------------------------------------------------------
*/
typedef struct {
uint8_t tapDetIntEn: 1;
uint8_t sleepDetIntEn: 1;
uint8_t wakeDetIntEn: 1;
uint8_t tiltDetIntEn: 1;
uint8_t stepCntOflIntEn :1;
uint8_t stepDetIntEn :1;
uint8_t reserved:2;
} __attribute__ ((packed)) sINTSource_t;
public:
/**
* @fn DFRobot_ICM42688
* @brief Constructor
*/
DFRobot_ICM42688();
/**
* @fn begin
* @brief Init function
* @return Init result
* @retval ERR_OK Init succeed
* @retval ERR_DATA_BUS Bus data read error
* @retval ERR_IC_VERSION The read Sensor ID is wrong
*/
int begin(void);
/**
* @fn getTemperature
* @brief Get measured temperature
* @return Temperature value, unit: ℃
*/
float getTemperature(void);
/**
* @fn getAccelDataX
* @brief Get X-axis accelerometer value
* @return X-axis accelerometer value, unit: mg
*/
float getAccelDataX(void);
/**
* @fn getAccelDataY
* @brief Get Y-axis accelerometer value
* @return Y-axis accelerometer value, unit: mg
*/
float getAccelDataY(void);
/**
* @fn getAccelDataZ
* @brief Get Z-axis accelerometer value
* @return Z-axis accelerometer value, unit: mg
*/
float getAccelDataZ(void);
/**
* @fn getGyroDataX
* @brief Get X-axis gyroscope value
* @return X-axis gyroscope value, unit: dps
*/
float getGyroDataX(void);
/**
* @fn getGyroDataY
* @brief Get Y-axis gyroscope value
* @return Y-axis gyroscope value, unit: dps
*/
float getGyroDataY(void);
/**
* @fn getGyroDataZ
* @brief Get Z-axis gyroscope value
* @return Z-axis gyroscope value, unit: dps
*/
float getGyroDataZ(void);
/**
* @fn tapDetectionInit
* @brief Tap detection init
* @param accelMode Accelerometer operating mode
* @n 0 for operating in low-power mode
* @n 1 for operating in low-noise mode
*/
void tapDetectionInit(uint8_t accelMode);
/**
* @fn getTapInformation
* @brief Get tap information
*/
void getTapInformation();
/**
* @fn numberOfTap
* @brief Get the number of tap: single-tap or double tap
* @return The number of tap
* @retval TAP_SINGLE Single-tap
* @retval TAP_DOUBLE Double tap
*/
uint8_t numberOfTap();
/**
* @fn axisOfTap
* @brief Get the axis on which the tap occurred: X-axis, Y-axis, or Z-axis
* @return Tap axis
* @retval X_AXIS X-axis
* @retval Y_AXIS Y-axis
* @retval Z_AXIS Z-axis
*/
uint8_t axisOfTap();
/**
* @fn wakeOnMotionInit
* @brief Wake on motion init
*/
void wakeOnMotionInit();
/**
* @fn setWOMTh
* @brief Set wake on motion interrupt threshold of axis accelerometer
* @param axis x/y/z轴
* @n X_AXIS_WOM
* @n Y_AXIS_WOM
* @n Z_AXIS_WOM
* @n ALL
* @param threshold Range(0-255) [WoM thresholds are expressed in fixed “mg” independent of the selected Range [0g : 1g]; Resolution 1g/256=~3.9mg]
*/
void setWOMTh(uint8_t axis,uint8_t threshold);
/**
* @fn setWOMInterrupt
* @brief Enable wake on motion interrupt
* @param axis X-axis, Y-axis, or Z-axis
* @n X_AXIS_WOM
* @n Y_AXIS_WOM
* @n Z_AXIS_WOM
*/
void setWOMInterrupt(uint8_t axis);
/**
* @fn enableSMDInterrupt
* @brief Set important motion detection mode and enable SMD interrupt
* @param mode
* @n 0: disable SMD
* @n 2 : SMD short (1 sec wait) An SMD event is detected when two WOM are detected 1 sec apart
* @n 3 : SMD long (3 sec wait) An SMD event is detected when two WOM are detected 3 sec apart
*/
void enableSMDInterrupt(uint8_t mode);
/**
* @fn readInterruptStatus
* @brief Read interrupt information and clear interrupt
* @param reg Interrupt information register
* @n ICM42688_INT_STATUS2 Obtain interrupt information of SMD_INT, WOM_X_INT, WOM_Y_INT, WOM_Z_INT and clear them
* @n ICM42688_INT_STATUS3 Obtain interrupt information of STEP_DET_INT, STEP_CNT_OVF_INT, TILT_DET_INT, WAKE_INT, TAP_DET_INT and clear them
* @return Interrupt information, return 0 when no interrupt.
*/
uint8_t readInterruptStatus(uint8_t reg);
/**
* @fn setODRAndFSR
* @brief Set ODR and Full-scale range of gyroscope or accelerometer.
* @param who GYRO/ACCEL/ALL
* @n GYRO: indicate only set gyroscope
* @n ACCEL: indicate only set accelerometer
* @param ODR Output data rate
* @n ODR_32KHZ Support: Gyro/Accel(LN mode)
* @n ODR_16KHZ Support: Gyro/Accel(LN mode)
* @n ODR_8KHZ Support: Gyro/Accel(LN mode)
* @n ODR_4KHZ Support: Gyro/Accel(LN mode)
* @n ODR_2KHZ Support: Gyro/Accel(LN mode)
* @n ODR_1KHZ Support: Gyro/Accel(LN mode)
* @n ODR_200HZ Support: Gyro/Accel(LP or LN mode)
* @n ODR_100HZ Support: Gyro/Accel(LP or LN mode)
* @n ODR_50HZ Support: Gyro/Accel(LP or LN mode)
* @n ODR_25KHZ Support: Gyro/Accel(LP or LN mode)
* @n ODR_12_5KHZ Support: Gyro/Accel(LP or LN mode)
* @n ODR_6_25KHZ Support: Accel(LP mode)
* @n ODR_3_125HZ Support: Accel(LP mode)
* @n ODR_1_5625HZ Support: Accel(LP mode)
* @n ODR_500HZ Support: Accel(LP or LN mode)
* @param FSR Full-scale range
* @n FSR_0 Gyro:±2000dps / Accel: ±16g
* @n FSR_1 Gyro:±1000dps / Accel: ±8g
* @n FSR_2 Gyro:±500dps / Accel: ±4g
* @n FSR_3 Gyro:±250dps / Accel: ±2g
* @n FSR_4 Gyro:±125dps / Accel: not optional
* @n FSR_5 Gyro:±62.5dps / Accel: not optional
* @n FSR_6 Gyro:±31.25dps / Accel: not optional
* @n FSR_7 Gyro:±15.625dps / Accel: not optional
* @return Set result
* @retval true indicate the setting succeeds
* @retval flase indicate selected parameter is wrong
*/
bool setODRAndFSR(uint8_t who,uint8_t ODR,uint8_t FSR);
/**
* @fn startFIFOMode
* @brief Enable FIFO
*/
void startFIFOMode();
/**
* @fn sotpFIFOMode
* @brief Disable FIFO
*/
void sotpFIFOMode();
/**
* @fn getFIFOData
* @brief Read FIFO data, read temperature, gyroscope and accelerometer data and save them for parse.
*/
void getFIFOData();
/**
* @fn setINTMode
* @brief Set interrupt mode
* @param INTPin Interrupt pin
* @n 1 Use INT1 interrupt pin
* @n 2 Use INT2 interrupt pin
* @param INTmode Set interrupt mode
* @n 1 Interrupt lock mode (polarity remains unchanged when interrupt triggered, and restore after clearing interrupt)
* @n 0 Pulse mode
* @param INTPolarity Level polarity output by interrupt
* @n 0 Interrupt pin polarity is LOW when producing interrupt
* @n 1 Interrupt pin polarity is HIGH when producing interrupt
* @param INTDriveCircuit
* @n 0 Open drain
* @n 1 Push pull
*/
void setINTMode(uint8_t INTPin,uint8_t INTmode,uint8_t INTPolarity,uint8_t INTDriveCircuit);
/**
* @fn startGyroMeasure
* @brief Start gyroscope
* @param mode Set gyroscope working mode
* @n STANDBY_MODE_ONLY_GYRO 1 Set stanby mode, only support gyroscope
* @n LN_MODE 3 Set low-noise mode
*/
void startGyroMeasure(uint8_t mode);
/**
* @fn startAccelMeasure
* @brief Start accelerometer
* @param mode Set accelerometer working mode
* @n LP_MODE_ONLY_ACCEL 2 Set low-power mode, only support accelerometer
* @n LN_MODE 3 Set low-noise mode
*/
void startAccelMeasure(uint8_t mode);
/**
* @fn startTempMeasure
* @brief Start thermometer
*/
void startTempMeasure();
protected:
/**
* @fn setFIFODataMode
* @brief Set FIFO data packet format
*/
void setFIFODataMode();
/**
* @fn writeReg
* @brief Write register function, design it as a virtual function, implemented by a derived class.
* @param reg Register address 8bits
* @param pBuf Storage and buffer for data to be written
* @param size Length of data to be written
*/
virtual void writeReg(uint8_t reg, void* pBuf, size_t size) = 0;
/**
* @fn readReg
* @brief Read register function, design it as a virtual function, implemented by a derived class.
* @param reg Register address 8bits
* @param pBuf Read data storage and buffer
* @param size Read data length
* @return return the read length, returning 0 means length reading failed
*/
virtual uint8_t readReg(uint8_t reg, void* pBuf, size_t size) = 0;
private:
/**
* @fn setGyroNotchFilterFHz
* @brief Set gyroscope notch filter frequency
* @param freq 1000HZ-3000HZ
* @param axis
* @n X_AXIS
* @n Y_AXIS
* @n Z_AXIS
* @n ALL
*/
void setGyroNotchFilterFHz(double freq,uint8_t axis);
/**
* @fn setGyroNFbandwidth
* @brief Set gyroscope notch filter bandwidth
* @param freq 1000HZ-3000HZ
* @param axis
* @n X_AXIS
* @n Y_AXIS
* @n Z_AXIS
* @n ALL
*/
void setGyroNFbandwidth(uint8_t bw);
/**
* @fn setGyroNotchFilter
* @brief Switch of gyroscope notch filter
* @param mode
* @n true Enable
* @n false Disable
*/
void setGyroNotchFilter(bool mode);
/**
* @fn setAAFBandwidth
* @brief Set AAF bandwidth of gyroscope or accelerometer
* @param who
* @n GYRO
* @n ACCEL
* @n ALL
* @param BWIndex Bandwidth index
* @n uint16_t AAFHZ[63] = {42,84,126,170,213,258,303,348,394,441,488,536,585,634,684,734,785,837,890,943,
* @n 997,1051,1107,1163,1220,1277,1336,1395,1454,1515,1577,1639,1702,1766,1830,1896,
* @n 1962,2029,2097,2166,2235,2306,2377,2449,2522,2596,2671,2746,2823,2900,2978,3057,
* @n 3137,3217,3299,3381,3464,3548,3633,3718,3805,3892,3979};
*/
void setAAFBandwidth(uint8_t who,uint8_t BWIndex);
/**
* @fn setAAF
* @brief Set AAF switch of gyroscope or accelerometer
* @param who
* @n GYRO
* @n ACCEL
* @n ALL
* @param mode
* @n true Enable
* @n false Disable
*/
void setAAF(uint8_t who,bool mode);
/**
* @fn setUIFilter
* @brief Set UI filter of gyroscope or accelerometer
* @param who GYRO\ACCEL\ALL
* @param filterOrder (range:1-3) Selects order of UI filter
* @param UIFilterIndex (range:0-15) Bandwidth for GYRO\ACCEL LPF
* @return Set result
* @retval true indicate the setting succeed
* @retval flase indicate selected parameter is wrong
*/
bool setUIFilter(uint8_t who,uint8_t filterOrder ,uint8_t UIFilterIndex);
private:
uint8_t _r, _g, _b;
uint8_t _mode;
uint8_t _tapNum ;
uint8_t _tapAxis;
uint8_t _tapDir ;
float _gyroRange;
float _accelRange;
bool FIFOMode;
int16_t _accelX;
int16_t _accelY;
int16_t _accelZ;
int16_t _gyroX;
int16_t _gyroZ;
int16_t _gyroY;
int8_t _temp;
int8_t _INTPin;
sAccelConfig0_t accelConfig0;
sPWRMgmt0_t PWRMgmt0;
sINTFConfig1_t INTFConfig1;
sAccelConfig1_t accelConfig1;
sGyroAccelConfig0_t gyroAccelConfig0;
sAPEXConfig7_t APEXConfig7;
sAPEXConfig8_t APEXConfig8;
sSMDConfig_t SMDConfig;
sGyroConfig1_t gyroConfig1;
sFIFOConfig1_t FIFOConfig1;
sINTConfig_t INTConfig;
sGyroConfig0_t gyroConfig0;
sAPEXConfig0_t APEXConfig0;
sGyroConfigStatic9_t gyroConfigStatic9;
sGyroConfigStatic2_t gyroConfigStatic2;
sGyroConfigStatic5_t gyroConfigStatic5;
sAccelConfigStatic2_t accelConfigStatic2;
sAccelConfigStatic4_t accelConfigStatic4;
sINTSource_t INTSource;
};
class DFRobot_ICM42688_I2C:public DFRobot_ICM42688{
public:
DFRobot_ICM42688_I2C(uint8_t i2cAddr,TwoWire *pWire=&Wire);
/**
* @fn begin
* @brief Init function
* @return Init result
* @retval ERR_OK Init succeed
* @retval ERR_DATA_BUS Bus data read error
* @retval ERR_IC_VERSION The read sensor ID is wrong
*/
int begin(void);
protected:
/**
* @fn writeReg
* @brief Write register values through I2C bus
* @param reg Register address 8bits
* @param pBuf Storage and buffer for data to be written
* @param size Length of data to be written
* @return Return the read length, returning 0 means length reading failed
*/
virtual void writeReg(uint8_t reg, void* pBuf, size_t size);
/**
* @fn readReg
* @brief Read register values through I2C bus
* @param reg Register address 8bits
* @param pBuf Storage and buffer for data to be read
* @param size Length of data to be read
* @return Return the read length, returning 0 means length reading failed
*/
virtual uint8_t readReg(uint8_t reg, void* pBuf, size_t size);
private:
TwoWire *_pWire;
uint8_t _deviceAddr;
};
class DFRobot_ICM42688_SPI:public DFRobot_ICM42688{
public:
DFRobot_ICM42688_SPI(uint8_t csPin=5,SPIClass *spi=&SPI);
/**
* @fn begin
* @brief Init function
* @return Init result
* @retval ERR_OK Init succeed
* @retval ERR_DATA_BUS Bus data read error
* @retval ERR_IC_VERSION The read sensor ID is wrong
*/
int begin(void);
protected:
/**
* @fn writeReg
* @brief Write register value through SPI bus
* @param reg Register address 8bits
* @param pBuf Storage and buffer for data to be written
* @param size Length of data to be written
*/
virtual void writeReg(uint8_t reg, void* pBuf, size_t size);
/**
* @fn readReg
* @brief Read register value through SPI bus
* @param reg Register address 8bits
* @param pBuf Storage and buffer for data to be read
* @param size Length of data to be read
* @return Return the read length, returning 0 means length reading failed
*/
virtual uint8_t readReg(uint8_t reg, void* pBuf, size_t size);
private:
SPIClass *_pSpi;
uint8_t _csPin;
};
#endif
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