Changing the way inv_icm20948_enable_dmp_sensor and inv_icm20948_enable_dmp_sensor_int work

This commit makes inv_icm20948_enable_dmp_sensor and inv_icm20948_enable_dmp_sensor_int more like the InvenSense example.
_enabled_Android_0/1 and _enabled_Android_intr_0/1 keep track of which sensors/interrupts are enabled, so that more than one sensor can be enabled. Sensors can now be disabled too if required.
Adding ICM_20948_Stat_FIFOIncompleteData as a return value for inv_icm20948_read_dmp_data.

Author: PaulZC

DMP.md

@@ -74,6 +74,7 @@ The DMP data is returned via the FIFO (First In First Out). ```readDMPdataFromFI
 - ```ICM_20948_Stat_FIFONoDataAvail``` if no data or incomplete data is available
 - ```ICM_20948_Stat_Ok``` if a valid frame was read
 - ```ICM_20948_Stat_FIFOMoreDataAvail``` if a valid frame was read _and_ the FIFO contains more (unread) data
+- ```ICM_20948_Stat_FIFOIncompleteData``` if a frame was present in the FIFO but it was incomplete
 
 You can examine the 16-bit ```icm_20948_DMP_data_t data.header``` to see what data the frame contained. ```data.header``` is a bit field; each bit indicates what data is present:
 - **DMP_header_bitmap_Compass_Calibr** (0x0020)

keywords.txt

@@ -123,6 +123,7 @@ ICM_20948_Stat_SensorNotSupported	LITERAL1
 ICM_20948_Stat_DMPNotSupported	LITERAL1
 ICM_20948_Stat_DMPVerifyFail	LITERAL1
 ICM_20948_Stat_FIFONoDataAvail	LITERAL1
+ICM_20948_Stat_FIFOIncompleteData	LITERAL1
 ICM_20948_Stat_FIFOMoreDataAvail	LITERAL1
 ICM_20948_Stat_UnrecognisedDMPHeader	LITERAL1
 ICM_20948_Stat_UnrecognisedDMPHeader2	LITERAL1
@@ -165,7 +166,6 @@ INV_ICM20948_SENSOR_GRAVITY	LITERAL1
 INV_ICM20948_SENSOR_LINEAR_ACCELERATION	LITERAL1
 INV_ICM20948_SENSOR_ORIENTATION	LITERAL1
 INV_ICM20948_SENSOR_B2S	LITERAL1
-INV_ICM20948_SENSOR_RAW_MAGNETOMETER	LITERAL1
 DMP_header_bitmap_Header2	LITERAL1
 DMP_header_bitmap_Step_Detector	LITERAL1
 DMP_header_bitmap_Compass_Calibr	LITERAL1

src/ICM_20948.cpp

@@ -116,6 +116,9 @@ void ICM_20948::debugPrintStatus(ICM_20948_Status_e stat)
     case ICM_20948_Stat_FIFONoDataAvail:
         debugPrint(F("No FIFO Data Available"));
         break;
+    case ICM_20948_Stat_FIFOIncompleteData:
+        debugPrint(F("DMP data in FIFO was incomplete"));
+        break;
     case ICM_20948_Stat_FIFOMoreDataAvail:
         debugPrint(F("More FIFO Data Available"));
         break;
@@ -292,6 +295,9 @@ const char *ICM_20948::statusString(ICM_20948_Status_e stat)
     case ICM_20948_Stat_FIFONoDataAvail:
         return "No FIFO Data Available";
         break;
+    case ICM_20948_Stat_FIFOIncompleteData:
+        return "DMP data in FIFO was incomplete";
+        break;
     case ICM_20948_Stat_FIFOMoreDataAvail:
         return "More FIFO Data Available";
         break;
@@ -1026,14 +1032,10 @@ ICM_20948_Status_e ICM_20948::enableDMPSensor(enum inv_icm20948_sensor sensor, b
   if (_device._dmp_firmware_available == true) // Should we attempt to enable the sensor?
   {
     status = inv_icm20948_enable_dmp_sensor(&_device, sensor, enable == true ? 1 : 0);
-    debugPrint(F("ICM_20948::enableDMPSensor:  _DATA_OUT_CTL1: "));
-    debugPrintf((int)_device._DATA_OUT_CTL1);
-    debugPrint(F("  _DATA_OUT_CTL2: "));
-    debugPrintf((int)_device._DATA_OUT_CTL2);
-    debugPrint(F("  _DATA_RDY_STATUS: "));
-    debugPrintf((int)_device._DATA_RDY_STATUS);
-    debugPrint(F("  _MOTION_EVENT_CTL: "));
-    debugPrintf((int)_device._MOTION_EVENT_CTL);
+    debugPrint(F("ICM_20948::enableDMPSensor:  _enabled_Android_0: "));
+    debugPrintf((int)_device._enabled_Android_0);
+    debugPrint(F("  _enabled_Android_1: "));
+    debugPrintf((int)_device._enabled_Android_1);
     debugPrintln(F(""));
     return status;
   }
@@ -1045,6 +1047,11 @@ ICM_20948_Status_e ICM_20948::enableDMPSensorInt(enum inv_icm20948_sensor sensor
   if (_device._dmp_firmware_available == true) // Should we attempt to enable the sensor interrupt?
   {
     status = inv_icm20948_enable_dmp_sensor_int(&_device, sensor, enable == true ? 1 : 0);
+    debugPrint(F("ICM_20948::enableDMPSensorInt:  _enabled_Android_intr_0: "));
+    debugPrintf((int)_device._enabled_Android_intr_0);
+    debugPrint(F("  _enabled_Android_intr_1: "));
+    debugPrintf((int)_device._enabled_Android_intr_1);
+    debugPrintln(F(""));
     return status;
   }
   return ICM_20948_Stat_DMPNotSupported;
@@ -1161,10 +1168,10 @@ ICM_20948_Status_e ICM_20948_I2C::begin(TwoWire &wirePort, bool ad0val, uint8_t
     _device._last_mems_bank = 255;  // Initialize _last_mems_bank. Make it invalid. It will be set by the first call of inv_icm20948_write_mems.
     _device._gyroSF = 0; // Use this to record the GyroSF, calculated by inv_icm20948_set_gyro_sf
 		_device._gyroSFpll = 0;
-		_device._DATA_OUT_CTL1 = 0; // Keep a record of what sensors are enabled
-		_device._DATA_OUT_CTL2 = 0; // Keep a record of what header2 items are enabled
-		_device._DATA_RDY_STATUS = 0; // Keep a record of how Data Ready Status is configured
-		_device._MOTION_EVENT_CTL = 0; // Keep a record of how Motion Event Ctrl is configured
+		_device._enabled_Android_0 = 0; // Keep track of which Android sensors are enabled: 0-31
+		_device._enabled_Android_1 = 0; // Keep track of which Android sensors are enabled: 32-
+    _device._enabled_Android_intr_0 = 0; // Keep track of which Android sensor interrupts are enabled: 0-31
+		_device._enabled_Android_intr_1 = 0; // Keep track of which Android sensor interrupts are enabled: 32-
 
     // Perform default startup
     // Do a minimal startupDefault if using the DMP. User can always call startupDefault(false) manually if required.
@@ -1348,10 +1355,10 @@ ICM_20948_Status_e ICM_20948_SPI::begin(uint8_t csPin, SPIClass &spiPort, uint32
     _device._last_mems_bank = 255;  // Initialize _last_mems_bank. Make it invalid. It will be set by the first call of inv_icm20948_write_mems.
     _device._gyroSF = 0; // Use this to record the GyroSF, calculated by inv_icm20948_set_gyro_sf
 		_device._gyroSFpll = 0;
-		_device._DATA_OUT_CTL1 = 0; // Keep a record of what sensors are enabled
-		_device._DATA_OUT_CTL2 = 0; // Keep a record of what header2 items are enabled
-		_device._DATA_RDY_STATUS = 0; // Keep a record of how Data Ready Status is configured
-		_device._MOTION_EVENT_CTL = 0; // Keep a record of how Motion Event Ctrl is configured
+    _device._enabled_Android_0 = 0; // Keep track of which Android sensors are enabled: 0-31
+		_device._enabled_Android_1 = 0; // Keep track of which Android sensors are enabled: 32-
+    _device._enabled_Android_intr_0 = 0; // Keep track of which Android sensor interrupts are enabled: 0-31
+		_device._enabled_Android_intr_1 = 0; // Keep track of which Android sensor interrupts are enabled: 32-
 
     // Perform default startup
     // Do a minimal startupDefault if using the DMP. User can always call startupDefault(false) manually if required.

src/ICM_20948.h

@@ -180,23 +180,23 @@ class ICM_20948
     //  Reset FIFO
     //  Reset DMP
     //  Enable DMP interrupt
-    //  Configuring DMP to output data to FIFO: set DATA_OUT_CTL1 and DATA_INTR_CTL
+    //  Configuring DMP to output data to FIFO: set DATA_OUT_CTL1, DATA_OUT_CTL2, DATA_INTR_CTL and MOTION_EVENT_CTL
     //  Configuring DMP to output data at multiple ODRs
+    //  Configure DATA_RDY_STATUS
+    //  Configuring Accel calibration
+    //  Configuring Compass calibration
+    //  Configuring Gyro gain
+    //  Configuring Accel gain
 
     // To Do:
-    //  Configure DATA_RDY_STATUS
-    //  Additional FIFO output control: DATA_OUT_CTL2, FIFO_WATERMARK, BM_BATCH_MASK, BM_BATCH_CNTR, BM_BATCH_THLD
-    //  Configuring DMP features: MOTION_EVENT_CTL, PED_STD_STEPCTR, PED_STD_TIMECTR
+    //  Additional FIFO output control: FIFO_WATERMARK, BM_BATCH_MASK, BM_BATCH_CNTR, BM_BATCH_THLD
+    //  Configuring DMP features: PED_STD_STEPCTR, PED_STD_TIMECTR
     //  Enabling Activity Recognition (BAC) feature
     //  Enabling Significant Motion Detect (SMD) feature
     //  Enabling Tilt Detector feature
     //  Enabling Pick Up Gesture feature
     //  Enabling Fsync detection feature
-    //  Configuring Accel calibration
-    //  Configuring Compass calibration
-    //  Configuring Gyro gain
-    //  Configuring Accel gain
-    //  Biases
+    //  Biases?
 
     ICM_20948_Status_e enableDMP(bool enable = true);
     ICM_20948_Status_e resetDMP(void);