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lib/ICM20948.h

+#ifndef _ICM20948_H_
+#define _ICM20948_H_
+
+#include <hardware/i2c.h>
+
+#include <math.h>
+
+// typedef uint8_t bool;
+#define true 1
+#define false 0
+
+#define ICM20948_DEVICE      0X00
+
+/* define ICM-20948 Device I2C address*/
+#define I2C_ADD_ICM20948 0x68
+#define I2C_ADD_ICM20948_AK09916 0x0C
+#define I2C_ADD_ICM20948_AK09916_READ 0x80
+#define I2C_ADD_ICM20948_AK09916_WRITE 0x00
+
+/* define ICM-20948 Register */
+/* user bank 0 register */
+#define REG_ADD_WIA 0x00  // WIA : WHO_AM_I
+#define REG_VAL_WIA 0xEA
+#define REG_ADD_USER_CTRL 0x03
+#define REG_VAL_BIT_DMP_EN 0x80
+#define REG_VAL_BIT_FIFO_EN 0x40
+#define REG_VAL_BIT_I2C_MST_EN 0x20
+#define REG_VAL_BIT_I2C_IF_DIS 0x10
+#define REG_VAL_BIT_DMP_RST 0x08
+#define REG_VAL_BIT_DIAMOND_DMP_RST 0x04
+#define REG_ADD_PWR_MIGMT_1 0x06
+#define REG_VAL_ALL_RGE_RESET 0x80
+#define REG_VAL_RUN_MODE 0x01  // Non low-power mode
+#define REG_ADD_LP_CONFIG 0x05
+#define REG_ADD_PWR_MGMT_1 0x06
+#define REG_ADD_PWR_MGMT_2 0x07
+#define REG_ADD_ACCEL_XOUT_H 0x2D
+#define REG_ADD_ACCEL_XOUT_L 0x2E
+#define REG_ADD_ACCEL_YOUT_H 0x2F
+#define REG_ADD_ACCEL_YOUT_L 0x30
+#define REG_ADD_ACCEL_ZOUT_H 0x31
+#define REG_ADD_ACCEL_ZOUT_L 0x32
+#define REG_ADD_GYRO_XOUT_H 0x33
+#define REG_ADD_GYRO_XOUT_L 0x34
+#define REG_ADD_GYRO_YOUT_H 0x35
+#define REG_ADD_GYRO_YOUT_L 0x36
+#define REG_ADD_GYRO_ZOUT_H 0x37
+#define REG_ADD_GYRO_ZOUT_L 0x38
+#define REG_ADD_EXT_SENS_DATA_00 0x3B
+#define FIFO_EN_1 0x66
+#define FIFO_EN_2 0x67
+#define ACCEL_FIFO_EN
+#define GYRO_Z_FIFO_EN
+#define GYRO_Y_FIFO_EN
+#define GYRO_X_FIFO_EN
+#define TEMP_FIFO_EN
+
+#define REG_ADD_REG_BANK_SEL 0x7F
+#define REG_VAL_REG_BANK_0 0x00
+#define REG_VAL_REG_BANK_1 0x10
+#define REG_VAL_REG_BANK_2 0x20
+#define REG_VAL_REG_BANK_3 0x30
+
+#define FIFO_COUNT_H 0x70
+#define FIFO_COUNT_L 0x71
+
+/* user bank 1 register */
+/* user bank 2 register */
+#define REG_ADD_GYRO_SMPLRT_DIV 0x00
+#define REG_ADD_GYRO_CONFIG_1 0x01
+#define REG_VAL_BIT_GYRO_DLPCFG_2 0x10   /* bit[5:3] */
+#define REG_VAL_BIT_GYRO_DLPCFG_4 0x20   /* bit[5:3] */
+#define REG_VAL_BIT_GYRO_DLPCFG_6 0x30   /* bit[5:3] */
+#define REG_VAL_BIT_GYRO_FS_250DPS 0x00  /* bit[2:1] */
+#define REG_VAL_BIT_GYRO_FS_500DPS 0x02  /* bit[2:1] */
+#define REG_VAL_BIT_GYRO_FS_1000DPS 0x04 /* bit[2:1] */
+#define REG_VAL_BIT_GYRO_FS_2000DPS 0x06 /* bit[2:1] */
+#define REG_VAL_BIT_GYRO_DLPF 0x01       /* bit[0]   */
+#define REG_ADD_ACCEL_SMPLRT_DIV_1 0x10
+#define REG_ADD_ACCEL_SMPLRT_DIV_2 0x11
+#define REG_ADD_ACCEL_CONFIG 0x14
+#define REG_VAL_BIT_ACCEL_DLPCFG_2 0x10 /* bit[5:3] */
+#define REG_VAL_BIT_ACCEL_DLPCFG_4 0x20 /* bit[5:3] */
+#define REG_VAL_BIT_ACCEL_DLPCFG_6 0x30 /* bit[5:3] */
+#define REG_VAL_BIT_ACCEL_FS_2g 0x00    /* bit[2:1] */
+#define REG_VAL_BIT_ACCEL_FS_4g 0x02    /* bit[2:1] */
+#define REG_VAL_BIT_ACCEL_FS_8g 0x04    /* bit[2:1] */
+#define REG_VAL_BIT_ACCEL_FS_16g 0x06   /* bit[2:1] */
+#define REG_VAL_BIT_ACCEL_DLPF 0x01     /* bit[0]   */
+
+/* user bank 3 register */
+#define REG_ADD_I2C_SLV0_ADDR 0x03
+#define REG_ADD_I2C_SLV0_REG 0x04
+#define REG_ADD_I2C_SLV0_CTRL 0x05
+#define REG_VAL_BIT_SLV0_EN 0x80
+#define REG_VAL_BIT_MASK_LEN 0x07
+#define REG_ADD_I2C_SLV0_DO 0x06
+#define REG_ADD_I2C_SLV1_ADDR 0x07
+#define REG_ADD_I2C_SLV1_REG 0x08
+#define REG_ADD_I2C_SLV1_CTRL 0x09
+#define REG_ADD_I2C_SLV1_DO 0x0A
+/* define ICM-20948 Register  end */
+
+/* define ICM-20948 MAG Register  */
+#define REG_ADD_MAG_WIA1 0x00
+#define REG_VAL_MAG_WIA1 0x48
+#define REG_ADD_MAG_WIA2 0x01
+#define REG_VAL_MAG_WIA2 0x09
+#define REG_ADD_MAG_ST2 0x10
+#define REG_ADD_MAG_DATA 0x11
+#define REG_ADD_MAG_CNTL2 0x31
+#define REG_VAL_MAG_MODE_PD 0x00
+#define REG_VAL_MAG_MODE_SM 0x01
+#define REG_VAL_MAG_MODE_10HZ 0x02
+#define REG_VAL_MAG_MODE_20HZ 0x04
+#define REG_VAL_MAG_MODE_50HZ 0x05
+#define REG_VAL_MAG_MODE_100HZ 0x08
+#define REG_VAL_MAG_MODE_ST 0x10
+/* define ICM-20948 MAG Register  end */
+
+#define MAG_DATA_LEN 6
+
+typedef enum {
+  IMU_EN_SENSOR_TYPE_NULL = 0,
+  IMU_EN_SENSOR_TYPE_ICM20948,
+  IMU_EN_SENSOR_TYPE_MAX
+} IMU_EN_SENSOR_TYPE;
+
+typedef struct imu_st_angles_data_tag {
+  float fYaw;
+  float fPitch;
+  float fRoll;
+} IMU_ST_ANGLES_DATA;
+
+typedef struct imu_st_sensor_data_tag {
+  int16_t s16X;
+  int16_t s16Y;
+  int16_t s16Z;
+} IMU_ST_SENSOR_DATA;
+
+typedef struct icm20948_st_avg_data_tag {
+  uint8_t u8Index;
+  int16_t s16AvgBuffer[8];
+} ICM20948_ST_AVG_DATA;
+
+
+void  imuAHRSupdate(float gx, float gy, float gz, float ax, float ay, float az,
+                            float mx, float my, float mz);
+float invSqrt(float x);
+
+void icm20948init();
+bool icm20948GyroRead(float *ps16X, float *ps16Y, float *ps16Z);
+bool icm20948AccelRead(float *ps16X, float *ps16Y, float *ps16Z);
+bool icm20948MagRead(float *ps16X, float *ps16Y, float *ps16Z);
+bool icm20948MagCheck(void);
+void icm20948CalAvgValue(uint8_t *pIndex, int16_t *pAvgBuffer, int16_t InVal,
+                                int32_t *pOutVal);
+void icm20948GyroOffset();
+void icm20948ReadSecondary(uint8_t u8I2CAddr, uint8_t u8RegAddr, uint8_t u8Len,
+                                  uint8_t *pu8data);
+void icm20948WriteSecondary(uint8_t u8I2CAddr, uint8_t u8RegAddr,
+                                    uint8_t u8data);
+bool icm20948Check();
+
+bool reserved_addr(uint8_t addr);
+
+void imuInit(IMU_EN_SENSOR_TYPE *penMotionSensorType);
+
+void I2C_WriteOneByte(uint8_t reg, uint8_t value);
+char I2C_ReadOneByte(uint8_t reg);
+
+int  dataReady();
+bool imuDataGet(IMU_ST_ANGLES_DATA *pstAngles,
+                        IMU_ST_SENSOR_DATA *pstGyroRawData,
+                        IMU_ST_SENSOR_DATA *pstAccelRawData,
+                        IMU_ST_SENSOR_DATA *pstMagnRawData);
+void        setContinuousMode();
+
+
+#endif  //_ICM20948_H_
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