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‎examples/Arduino/Example10_DMP_FastMultipleSensors/Example10_DMP_FastMultipleSensors.ino

Lines changed: 87 additions & 84 deletions
Original file line numberDiff line numberDiff line change
@@ -24,28 +24,28 @@
2424
* Distributed as-is; no warranty is given.
2525
***************************************************************/
2626

27-
#include "ICM_20948.h" // Click here to get the library: http://librarymanager/All#SparkFun_ICM_20948_IMU
27+
#include "ICM_20948.h" // Click here to get the library: http://librarymanager/All#SparkFun_ICM_20948_IMU
2828

2929
//#define USE_SPI // Uncomment this to use SPI
3030

3131
#define SERIAL_PORT Serial
3232

33-
#define SPI_PORT SPI // Your desired SPI port. Used only when "USE_SPI" is defined
34-
#define CS_PIN 2 // Which pin you connect CS to. Used only when "USE_SPI" is defined
33+
#define SPI_PORT SPI // Your desired SPI port. Used only when "USE_SPI" is defined
34+
#define CS_PIN 2 // Which pin you connect CS to. Used only when "USE_SPI" is defined
3535

36-
#define WIRE_PORT Wire // Your desired Wire port. Used when "USE_SPI" is not defined
37-
#define AD0_VAL 1 // The value of the last bit of the I2C address.
38-
// On the SparkFun 9DoF IMU breakout the default is 1, and when
39-
// the ADR jumper is closed the value becomes 0
36+
#define WIRE_PORT Wire // Your desired Wire port. Used when "USE_SPI" is not defined
37+
#define AD0_VAL 1 // The value of the last bit of the I2C address. \
38+
// On the SparkFun 9DoF IMU breakout the default is 1, and when \
39+
// the ADR jumper is closed the value becomes 0
4040

4141
#ifdef USE_SPI
42-
ICM_20948_SPI myICM; // If using SPI create an ICM_20948_SPI object
42+
ICM_20948_SPI myICM; // If using SPI create an ICM_20948_SPI object
4343
#else
44-
ICM_20948_I2C myICM; // Otherwise create an ICM_20948_I2C object
44+
ICM_20948_I2C myICM; // Otherwise create an ICM_20948_I2C object
4545
#endif
4646

47-
48-
void setup() {
47+
void setup()
48+
{
4949

5050
SERIAL_PORT.begin(115200); // Start the serial console
5151
SERIAL_PORT.println(F("ICM-20948 Example"));
@@ -61,31 +61,35 @@ void setup() {
6161
;
6262

6363
#ifdef USE_SPI
64-
SPI_PORT.begin();
64+
SPI_PORT.begin();
6565
#else
66-
WIRE_PORT.begin();
67-
WIRE_PORT.setClock(400000);
66+
WIRE_PORT.begin();
67+
WIRE_PORT.setClock(400000);
6868
#endif
6969

7070
//myICM.enableDebugging(); // Uncomment this line to enable helpful debug messages on Serial
7171

7272
bool initialized = false;
73-
while( !initialized ){
73+
while (!initialized)
74+
{
7475

7576
// Initialize the ICM-20948
7677
// If the DMP is enabled, .begin performs a minimal startup. We need to configure the sample mode etc. manually.
7778
#ifdef USE_SPI
78-
myICM.begin( CS_PIN, SPI_PORT );
79+
myICM.begin(CS_PIN, SPI_PORT);
7980
#else
80-
myICM.begin( WIRE_PORT, AD0_VAL );
81+
myICM.begin(WIRE_PORT, AD0_VAL);
8182
#endif
8283

83-
SERIAL_PORT.print( F("Initialization of the sensor returned: ") );
84-
SERIAL_PORT.println( myICM.statusString() );
85-
if( myICM.status != ICM_20948_Stat_Ok ){
86-
SERIAL_PORT.println( F("Trying again...") );
84+
SERIAL_PORT.print(F("Initialization of the sensor returned: "));
85+
SERIAL_PORT.println(myICM.statusString());
86+
if (myICM.status != ICM_20948_Stat_Ok)
87+
{
88+
SERIAL_PORT.println(F("Trying again..."));
8789
delay(500);
88-
}else{
90+
}
91+
else
92+
{
8993
initialized = true;
9094
}
9195
}
@@ -103,12 +107,12 @@ void setup() {
103107

104108
// Enable accel and gyro sensors through PWR_MGMT_2
105109
// Enable Accelerometer (all axes) and Gyroscope (all axes) by writing zero to PWR_MGMT_2
106-
success &= (myICM.setBank(0) == ICM_20948_Stat_Ok); // Select Bank 0
107-
uint8_t pwrMgmt2 = 0x40; // Set the reserved bit 6
110+
success &= (myICM.setBank(0) == ICM_20948_Stat_Ok); // Select Bank 0
111+
uint8_t pwrMgmt2 = 0x40; // Set the reserved bit 6
108112
success &= (myICM.write(AGB0_REG_PWR_MGMT_2, &pwrMgmt2, 1) == ICM_20948_Stat_Ok); // Write one byte to the PWR_MGMT_2 register
109113

110114
// Configure I2C_Master/Gyro/Accel in Low Power Mode (cycled) with LP_CONFIG
111-
success &= (myICM.setSampleMode( (ICM_20948_Internal_Mst | ICM_20948_Internal_Acc | ICM_20948_Internal_Gyr), ICM_20948_Sample_Mode_Cycled ) == ICM_20948_Stat_Ok);
115+
success &= (myICM.setSampleMode((ICM_20948_Internal_Mst | ICM_20948_Internal_Acc | ICM_20948_Internal_Gyr), ICM_20948_Sample_Mode_Cycled) == ICM_20948_Stat_Ok);
112116

113117
// Disable the FIFO
114118
success &= (myICM.enableFIFO(false) == ICM_20948_Stat_Ok);
@@ -118,18 +122,18 @@ void setup() {
118122

119123
// Set Gyro FSR (Full scale range) to 2000dps through GYRO_CONFIG_1
120124
// Set Accel FSR (Full scale range) to 4g through ACCEL_CONFIG
121-
ICM_20948_fss_t myFSS; // This uses a "Full Scale Settings" structure that can contain values for all configurable sensors
122-
myFSS.a = gpm4; // (ICM_20948_ACCEL_CONFIG_FS_SEL_e)
123-
// gpm2
124-
// gpm4
125-
// gpm8
126-
// gpm16
127-
myFSS.g = dps2000; // (ICM_20948_GYRO_CONFIG_1_FS_SEL_e)
128-
// dps250
129-
// dps500
130-
// dps1000
131-
// dps2000
132-
success &= (myICM.setFullScale( (ICM_20948_Internal_Acc | ICM_20948_Internal_Gyr), myFSS ) == ICM_20948_Stat_Ok);
125+
ICM_20948_fss_t myFSS; // This uses a "Full Scale Settings" structure that can contain values for all configurable sensors
126+
myFSS.a = gpm4; // (ICM_20948_ACCEL_CONFIG_FS_SEL_e)
127+
// gpm2
128+
// gpm4
129+
// gpm8
130+
// gpm16
131+
myFSS.g = dps2000; // (ICM_20948_GYRO_CONFIG_1_FS_SEL_e)
132+
// dps250
133+
// dps500
134+
// dps1000
135+
// dps2000
136+
success &= (myICM.setFullScale((ICM_20948_Internal_Acc | ICM_20948_Internal_Gyr), myFSS) == ICM_20948_Stat_Ok);
133137

134138
// Enable interrupt for FIFO overflow from FIFOs through INT_ENABLE_2
135139
// If we see this interrupt, we'll need to reset the FIFO
@@ -154,8 +158,8 @@ void setup() {
154158
ICM_20948_smplrt_t mySmplrt;
155159
mySmplrt.g = 4; // ODR is computed as follows: 1.1 kHz/(1+GYRO_SMPLRT_DIV[7:0]). 4 = 220Hz
156160
mySmplrt.a = 4; // ODR is computed as follows: 1.125 kHz/(1+ACCEL_SMPLRT_DIV[11:0]). 4 = 225Hz
157-
myICM.setSampleRate( (ICM_20948_Internal_Acc | ICM_20948_Internal_Gyr), mySmplrt );
158-
161+
myICM.setSampleRate((ICM_20948_Internal_Acc | ICM_20948_Internal_Gyr), mySmplrt);
162+
159163
// Setup DMP start address through PRGM_STRT_ADDRH/PRGM_STRT_ADDRL
160164
success &= (myICM.setDMPstartAddress() == ICM_20948_Stat_Ok); // Defaults to DMP_START_ADDRESS
161165

@@ -169,12 +173,12 @@ void setup() {
169173
success &= (myICM.setBank(0) == ICM_20948_Stat_Ok); // Select Bank 0
170174
uint8_t fix = 0x48;
171175
success &= (myICM.write(AGB0_REG_HW_FIX_DISABLE, &fix, 1) == ICM_20948_Stat_Ok);
172-
176+
173177
// Set the Single FIFO Priority Select register to 0xE4
174178
success &= (myICM.setBank(0) == ICM_20948_Stat_Ok); // Select Bank 0
175179
uint8_t fifoPrio = 0xE4;
176180
success &= (myICM.write(AGB0_REG_SINGLE_FIFO_PRIORITY_SEL, &fifoPrio, 1) == ICM_20948_Stat_Ok);
177-
181+
178182
// Configure Accel scaling to DMP
179183
// The DMP scales accel raw data internally to align 1g as 2^25
180184
// In order to align internal accel raw data 2^25 = 1g write 0x04000000 when FSR is 4g
@@ -194,7 +198,7 @@ void setup() {
194198
// The AK09916 produces a 16-bit signed output in the range +/-32752 corresponding to +/-4912uT. 1uT = 6.66 ADU.
195199
// 2^30 / 6.66666 = 161061273 = 0x9999999
196200
const unsigned char mountMultiplierZero[4] = {0x00, 0x00, 0x00, 0x00};
197-
const unsigned char mountMultiplierPlus[4] = {0x09, 0x99, 0x99, 0x99}; // Value taken from InvenSense Nucleo example
201+
const unsigned char mountMultiplierPlus[4] = {0x09, 0x99, 0x99, 0x99}; // Value taken from InvenSense Nucleo example
198202
const unsigned char mountMultiplierMinus[4] = {0xF6, 0x66, 0x66, 0x67}; // Value taken from InvenSense Nucleo example
199203
success &= (myICM.writeDMPmems(CPASS_MTX_00, 4, &mountMultiplierPlus[0]) == ICM_20948_Stat_Ok);
200204
success &= (myICM.writeDMPmems(CPASS_MTX_01, 4, &mountMultiplierZero[0]) == ICM_20948_Stat_Ok);
@@ -225,7 +229,7 @@ void setup() {
225229
// 10=102.2727Hz sample rate, ... etc.
226230
// @param[in] gyro_level 0=250 dps, 1=500 dps, 2=1000 dps, 3=2000 dps
227231
success &= (myICM.setGyroSF(4, 3) == ICM_20948_Stat_Ok); // 0 = 225Hz (see above), 3 = 2000dps (see above)
228-
232+
229233
// Configure the Gyro full scale
230234
// 2000dps : 2^28
231235
// 1000dps : 2^27
@@ -238,17 +242,17 @@ void setup() {
238242
//const unsigned char accelOnlyGain[4] = {0x03, 0xA4, 0x92, 0x49}; // 56Hz
239243
const unsigned char accelOnlyGain[4] = {0x00, 0xE8, 0xBA, 0x2E}; // InvenSense Nucleo example uses 225Hz
240244
success &= (myICM.writeDMPmems(ACCEL_ONLY_GAIN, 4, &accelOnlyGain[0]) == ICM_20948_Stat_Ok);
241-
245+
242246
// Configure the Accel Alpha Var: 1026019965 (225Hz) 977872018 (112Hz) 882002213 (56Hz)
243247
//const unsigned char accelAlphaVar[4] = {0x34, 0x92, 0x49, 0x25}; // 56Hz
244248
const unsigned char accelAlphaVar[4] = {0x3D, 0x27, 0xD2, 0x7D}; // 225Hz
245249
success &= (myICM.writeDMPmems(ACCEL_ALPHA_VAR, 4, &accelAlphaVar[0]) == ICM_20948_Stat_Ok);
246-
250+
247251
// Configure the Accel A Var: 47721859 (225Hz) 95869806 (112Hz) 191739611 (56Hz)
248252
//const unsigned char accelAVar[4] = {0x0B, 0x6D, 0xB6, 0xDB}; // 56Hz
249253
const unsigned char accelAVar[4] = {0x02, 0xD8, 0x2D, 0x83}; // 225Hz
250254
success &= (myICM.writeDMPmems(ACCEL_A_VAR, 4, &accelAVar[0]) == ICM_20948_Stat_Ok);
251-
255+
252256
// Configure the Accel Cal Rate
253257
const unsigned char accelCalRate[4] = {0x00, 0x00}; // Value taken from InvenSense Nucleo example
254258
success &= (myICM.writeDMPmems(ACCEL_CAL_RATE, 2, &accelCalRate[0]) == ICM_20948_Stat_Ok);
@@ -257,7 +261,7 @@ void setup() {
257261
// in startupMagnetometer. We need to set CPASS_TIME_BUFFER to 100 too.
258262
const unsigned char compassRate[2] = {0x00, 0x64}; // 100Hz
259263
success &= (myICM.writeDMPmems(CPASS_TIME_BUFFER, 2, &compassRate[0]) == ICM_20948_Stat_Ok);
260-
264+
261265
// Enable DMP interrupt
262266
// This would be the most efficient way of getting the DMP data, instead of polling the FIFO
263267
//success &= (myICM.intEnableDMP(true) == ICM_20948_Stat_Ok);
@@ -310,7 +314,7 @@ void setup() {
310314
success &= (myICM.resetFIFO() == ICM_20948_Stat_Ok);
311315

312316
// Check success
313-
if( success )
317+
if (success)
314318
{
315319
SERIAL_PORT.println(F("DMP enabled!"));
316320
}
@@ -335,15 +339,15 @@ void loop()
335339
icm_20948_DMP_data_t data;
336340
myICM.readDMPdataFromFIFO(&data);
337341

338-
if(( myICM.status == ICM_20948_Stat_Ok ) || ( myICM.status == ICM_20948_Stat_FIFOMoreDataAvail )) // Was valid data available?
342+
if ((myICM.status == ICM_20948_Stat_Ok) || (myICM.status == ICM_20948_Stat_FIFOMoreDataAvail)) // Was valid data available?
339343
{
340344
//SERIAL_PORT.print(F("Received data! Header: 0x")); // Print the header in HEX so we can see what data is arriving in the FIFO
341345
//if ( data.header < 0x1000) SERIAL_PORT.print( "0" ); // Pad the zeros
342346
//if ( data.header < 0x100) SERIAL_PORT.print( "0" );
343347
//if ( data.header < 0x10) SERIAL_PORT.print( "0" );
344348
//SERIAL_PORT.println( data.header, HEX );
345349

346-
if ( (data.header & DMP_header_bitmap_Quat6) > 0 ) // Check for GRV data (Quat6)
350+
if ((data.header & DMP_header_bitmap_Quat6) > 0) // Check for GRV data (Quat6)
347351
{
348352
// Q0 value is computed from this equation: Q0^2 + Q1^2 + Q2^2 + Q3^2 = 1.
349353
// In case of drift, the sum will not add to 1, therefore, quaternion data need to be corrected with right bias values.
@@ -355,7 +359,7 @@ void loop()
355359
double q1 = ((double)data.Quat6.Data.Q1) / 1073741824.0; // Convert to double. Divide by 2^30
356360
double q2 = ((double)data.Quat6.Data.Q2) / 1073741824.0; // Convert to double. Divide by 2^30
357361
double q3 = ((double)data.Quat6.Data.Q3) / 1073741824.0; // Convert to double. Divide by 2^30
358-
362+
359363
SERIAL_PORT.print(F("Q1:"));
360364
SERIAL_PORT.print(q1, 3);
361365
SERIAL_PORT.print(F(" Q2:"));
@@ -364,12 +368,12 @@ void loop()
364368
SERIAL_PORT.println(q3, 3);
365369
}
366370

367-
if ( (data.header & DMP_header_bitmap_Accel) > 0 ) // Check for Accel
371+
if ((data.header & DMP_header_bitmap_Accel) > 0) // Check for Accel
368372
{
369373
float acc_x = (float)data.Raw_Accel.Data.X; // Extract the raw accelerometer data
370-
float acc_y = (float)data.Raw_Accel.Data.Y;
371-
float acc_z = (float)data.Raw_Accel.Data.Z;
372-
374+
float acc_y = (float)data.Raw_Accel.Data.Y;
375+
float acc_z = (float)data.Raw_Accel.Data.Z;
376+
373377
SERIAL_PORT.print(F("Accel: X:"));
374378
SERIAL_PORT.print(acc_x);
375379
SERIAL_PORT.print(F(" Y:"));
@@ -378,37 +382,36 @@ void loop()
378382
SERIAL_PORT.println(acc_z);
379383
}
380384

381-
// if ( (data.header & DMP_header_bitmap_Gyro) > 0 ) // Check for Gyro
382-
// {
383-
// float x = (float)data.Raw_Gyro.Data.X; // Extract the raw gyro data
384-
// float y = (float)data.Raw_Gyro.Data.Y;
385-
// float z = (float)data.Raw_Gyro.Data.Z;
386-
//
387-
// SERIAL_PORT.print(F("Gyro: X:"));
388-
// SERIAL_PORT.print(x);
389-
// SERIAL_PORT.print(F(" Y:"));
390-
// SERIAL_PORT.print(y);
391-
// SERIAL_PORT.print(F(" Z:"));
392-
// SERIAL_PORT.println(z);
393-
// }
394-
//
395-
// if ( (data.header & DMP_header_bitmap_Compass) > 0 ) // Check for Compass
396-
// {
397-
// float x = (float)data.Compass.Data.X; // Extract the compass data
398-
// float y = (float)data.Compass.Data.Y;
399-
// float z = (float)data.Compass.Data.Z;
400-
//
401-
// SERIAL_PORT.print(F("Compass: X:"));
402-
// SERIAL_PORT.print(x);
403-
// SERIAL_PORT.print(F(" Y:"));
404-
// SERIAL_PORT.print(y);
405-
// SERIAL_PORT.print(F(" Z:"));
406-
// SERIAL_PORT.println(z);
407-
// }
408-
385+
// if ( (data.header & DMP_header_bitmap_Gyro) > 0 ) // Check for Gyro
386+
// {
387+
// float x = (float)data.Raw_Gyro.Data.X; // Extract the raw gyro data
388+
// float y = (float)data.Raw_Gyro.Data.Y;
389+
// float z = (float)data.Raw_Gyro.Data.Z;
390+
//
391+
// SERIAL_PORT.print(F("Gyro: X:"));
392+
// SERIAL_PORT.print(x);
393+
// SERIAL_PORT.print(F(" Y:"));
394+
// SERIAL_PORT.print(y);
395+
// SERIAL_PORT.print(F(" Z:"));
396+
// SERIAL_PORT.println(z);
397+
// }
398+
//
399+
// if ( (data.header & DMP_header_bitmap_Compass) > 0 ) // Check for Compass
400+
// {
401+
// float x = (float)data.Compass.Data.X; // Extract the compass data
402+
// float y = (float)data.Compass.Data.Y;
403+
// float z = (float)data.Compass.Data.Z;
404+
//
405+
// SERIAL_PORT.print(F("Compass: X:"));
406+
// SERIAL_PORT.print(x);
407+
// SERIAL_PORT.print(F(" Y:"));
408+
// SERIAL_PORT.print(y);
409+
// SERIAL_PORT.print(F(" Z:"));
410+
// SERIAL_PORT.println(z);
411+
// }
409412
}
410413

411-
if ( myICM.status != ICM_20948_Stat_FIFOMoreDataAvail ) // If more data is available then we should read it right away - and not delay
414+
if (myICM.status != ICM_20948_Stat_FIFOMoreDataAvail) // If more data is available then we should read it right away - and not delay
412415
{
413416
delay(1); // Keep this short!
414417
}

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