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[driver] Adding InvenSense 6-Axis IMU driver #1040

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Jul 19, 2023
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[driver] Adding InvenSense 6-Axis IMU driver #1040

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64fc5e6
[math] Adding long vector typedefs
rasmuskleist Jul 17, 2023
7bdcab4
[driver] Adding InvenSense 6-Axis IMU driver
rasmuskleist Jul 17, 2023
79f66ff
[example] Adding InvenSense 6-Axis IMU example
rasmuskleist Jul 17, 2023
11a7829
[driver] Adding InvenSense FIFO support
rasmuskleist Jul 17, 2023
8012d82
[example] Adding InvenSense FIFO example
rasmuskleist Jul 17, 2023
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19 changes: 10 additions & 9 deletions README.md
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Original file line number Diff line number Diff line change
Expand Up @@ -751,68 +751,69 @@ your specific needs.
<td align="center"><a href="https://modm.io/reference/module/modm-driver-is31fl3733">IS31FL3733</a></td>
</tr><tr>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-itg3200">ITG3200</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-ixm42xxx">IXM42XXX</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-l3gd20">L3GD20</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-lan8720a">LAN8720A</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-lawicel">LAWICEL</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-lis302dl">LIS302DL</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-lis3dsh">LIS3DSH</a></td>
</tr><tr>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-lis3dsh">LIS3DSH</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-lis3mdl">LIS3MDL</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-lm75">LM75</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-lp503x">LP503x</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-lsm303a">LSM303A</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-lsm6ds33">LSM6DS33</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-lsm6dso">LSM6DSO</a></td>
</tr><tr>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-lsm6dso">LSM6DSO</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-ltc2984">LTC2984</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-max31855">MAX31855</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-max31865">MAX31865</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-max6966">MAX6966</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-max7219">MAX7219</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-mcp23x17">MCP23x17</a></td>
</tr><tr>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-mcp23x17">MCP23x17</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-mcp2515">MCP2515</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-mcp3008">MCP3008</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-mcp7941x">MCP7941x</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-mcp990x">MCP990X</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-mmc5603">MMC5603</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-ms5611">MS5611</a></td>
</tr><tr>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-ms5611">MS5611</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-ms5837">MS5837</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-nokia5110">NOKIA5110</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-nrf24">NRF24</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-parallel_tft_display">TFT-DISPLAY</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-pat9125el">PAT9125EL</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-pca8574">PCA8574</a></td>
</tr><tr>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-pca8574">PCA8574</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-pca9535">PCA9535</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-pca9548a">PCA9548A</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-pca9685">PCA9685</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-sh1106">SH1106</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-siemens_s65">SIEMENS-S65</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-siemens_s75">SIEMENS-S75</a></td>
</tr><tr>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-siemens_s75">SIEMENS-S75</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-sk6812">SK6812</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-sk9822">SK9822</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-ssd1306">SSD1306</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-st7586s">ST7586S</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-st7789">ST7789</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-stts22h">STTS22H</a></td>
</tr><tr>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-stts22h">STTS22H</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-stusb4500">STUSB4500</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-sx1276">SX1276</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-tcs3414">TCS3414</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-tcs3472">TCS3472</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-tlc594x">TLC594x</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-tmp102">TMP102</a></td>
</tr><tr>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-tmp102">TMP102</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-tmp12x">TMP12x</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-tmp175">TMP175</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-touch2046">TOUCH2046</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-vl53l0">VL53L0</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-vl6180">VL6180</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-ws2812">WS2812</a></td>
</tr><tr>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-ws2812">WS2812</a></td>
</tr>
</table>
<!--/drivertable-->
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100 changes: 100 additions & 0 deletions examples/nucleo_g474re/ixm42xxx/main.cpp
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// coding: utf-8
/*
* Copyright (c) 2023, Rasmus Kleist Hørlyck Sørensen
*
* This file is part of the modm project.
*
* This Source Code Form is subject to the terms of the Mozilla Public
* License, v. 2.0. If a copy of the MPL was not distributed with this
* file, You can obtain one at http://mozilla.org/MPL/2.0/.
*/
// ----------------------------------------------------------------------------

#include <modm/board.hpp>
#include <modm/driver/inertial/ixm42xxx.hpp>
#include <modm/math.hpp>
#include <modm/platform.hpp>
#include <modm/processing.hpp>

using SpiMaster = modm::platform::SpiMaster1;
using Mosi = GpioA7;
using Miso = GpioA6;
using Sck = GpioA5;
using Cs = GpioC5;

class ImuThread : public modm::pt::Protothread, public modm::ixm42xxx
{
using Transport = modm::Ixm42xxxTransportSpi< SpiMaster, Cs >;

public:
ImuThread() : imu(data), timer(std::chrono::milliseconds(500)) {}

bool
run()
{
PT_BEGIN();

/// Initialize the IMU and verify that it is connected
PT_CALL(imu.initialize());
while (not PT_CALL(imu.ping()))
{
MODM_LOG_ERROR << "Cannot ping IXM42xxx" << modm::endl;
PT_WAIT_UNTIL(timer.execute());
}

/// Configure data sensors
PT_CALL(imu.updateRegister(Register::GYRO_CONFIG0, GyroFs_t(GyroFs::dps2000) | GyroOdr_t(GyroOdr::kHz1)));
PT_CALL(imu.updateRegister(Register::ACCEL_CONFIG0, AccelFs_t(AccelFs::g16) | AccelOdr_t(AccelOdr::kHz1)));
PT_CALL(imu.updateRegister(Register::PWR_MGMT0, GyroMode_t(GyroMode::LowNoise) | AccelMode_t(AccelMode::LowNoise)));

while (true)
{
PT_WAIT_UNTIL(timer.execute());
PT_CALL(imu.readSensorData());

data.getTemp(&temp);
data.getAccel(&accel);
data.getGyro(&gyro);

MODM_LOG_INFO.printf("Temp: %.3f\n", temp);
MODM_LOG_INFO.printf("Accel: (%.3f, %.3f, %.3f)\n", accel.x, accel.y, accel.z);
MODM_LOG_INFO.printf("Gyro: (%.3f, %.3f, %.3f)\n", gyro.x, gyro.y, gyro.z);
}
PT_END();
}

private:
float temp;
modm::Vector3f accel;
modm::Vector3f gyro;

modm::ixm42xxxdata::Data data;
modm::Ixm42xxx< Transport > imu;

modm::PeriodicTimer timer;

} imuThread;

int
main()
{
Board::initialize();

Cs::setOutput(modm::Gpio::High);
SpiMaster::connect<Mosi::Mosi, Miso::Miso, Sck::Sck>();
SpiMaster::initialize<Board::SystemClock, 21.5_MHz>();
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MODM_LOG_INFO << "==========IXM-42xxx Test==========" << modm::endl;
MODM_LOG_DEBUG << "Debug logging here" << modm::endl;
MODM_LOG_INFO << "Info logging here" << modm::endl;
MODM_LOG_WARNING << "Warning logging here" << modm::endl;
MODM_LOG_ERROR << "Error logging here" << modm::endl;
MODM_LOG_INFO << "==================================" << modm::endl;

while (true)
{
imuThread.run();
}

return 0;
}
15 changes: 15 additions & 0 deletions examples/nucleo_g474re/ixm42xxx/project.xml
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<library>
<extends>modm:nucleo-g474re</extends>
<options>
<option name="modm:build:build.path">../../../build/nucleo_g474re/iim42652</option>
</options>
<modules>
<module>modm:driver:ixm42xxx</module>
<module>modm:math:geometry</module>
<module>modm:platform:gpio</module>
<module>modm:platform:spi:1</module>
<module>modm:processing:protothread</module>
<module>modm:processing:timer</module>
<module>modm:build:scons</module>
</modules>
</library>
148 changes: 148 additions & 0 deletions examples/nucleo_g474re/ixm42xxx_fifo/main.cpp
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// coding: utf-8
/*
* Copyright (c) 2023, Rasmus Kleist Hørlyck Sørensen
*
* This file is part of the modm project.
*
* This Source Code Form is subject to the terms of the Mozilla Public
* License, v. 2.0. If a copy of the MPL was not distributed with this
* file, You can obtain one at http://mozilla.org/MPL/2.0/.
*/
// ----------------------------------------------------------------------------

#include <modm/board.hpp>
#include <modm/driver/inertial/ixm42xxx.hpp>
#include <modm/platform.hpp>
#include <modm/processing.hpp>

namespace
{
volatile bool interrupt = false;
}

using SpiMaster = modm::platform::SpiMaster1;
using Mosi = GpioA7;
using Miso = GpioA6;
using Sck = GpioA5;
using Cs = GpioC5;

using Int1 = GpioC3;

class ImuThread : public modm::pt::Protothread, public modm::ixm42xxx
{
using Transport = modm::Ixm42xxxTransportSpi< SpiMaster, Cs >;

public:
ImuThread() : imu(fifoData), timer(std::chrono::milliseconds(500)) {}

bool
run()
{
PT_BEGIN();

Int1::setInput(modm::platform::Gpio::InputType::PullDown);
Exti::connect<Int1>(Exti::Trigger::RisingEdge, [](uint8_t)
{
interrupt = true;
});

/// Initialize the IMU and verify that it is connected
PT_CALL(imu.initialize());
while (not PT_CALL(imu.ping()))
{
MODM_LOG_ERROR << "Cannot ping IXM-42xxx" << modm::endl;
PT_WAIT_UNTIL(timer.execute());
}

MODM_LOG_INFO << "IXM-42xxx Initialized" << modm::endl;
MODM_LOG_INFO << "Fifo Buffer Size: " << fifoData.getFifoBufferSize() << modm::endl;

/// Configure FIFO
PT_CALL(imu.updateRegister(Register::FIFO_CONFIG, FifoMode_t(FifoMode::StopOnFull)));
PT_CALL(imu.updateRegister(Register::FIFO_CONFIG1, FifoConfig1::FIFO_HIRES_EN | FifoConfig1::FIFO_TEMP_EN | FifoConfig1::FIFO_GYRO_EN | FifoConfig1::FIFO_ACCEL_EN));
PT_CALL(imu.writeFifoWatermark(1024));

/// Configure interrupt
PT_CALL(imu.updateRegister(Register::INT_CONFIG, IntConfig::INT1_MODE | IntConfig::INT1_DRIVE_CIRCUIT | IntConfig::INT1_POLARITY));
PT_CALL(imu.updateRegister(Register::INT_CONFIG1, IntConfig1::INT_ASYNC_RESET));
PT_CALL(imu.updateRegister(Register::INT_SOURCE0, IntSource0::FIFO_THS_INT1_EN | IntSource0::FIFO_FULL_INT1_EN, IntSource0::UI_DRDY_INT1_EN));

/// Configure data sensors
PT_CALL(imu.updateRegister(Register::GYRO_CONFIG0, GyroFs_t(GyroFs::dps2000) | GyroOdr_t(GyroOdr::kHz1)));
PT_CALL(imu.updateRegister(Register::ACCEL_CONFIG0, AccelFs_t(AccelFs::g16) | AccelOdr_t(AccelOdr::kHz1)));
PT_CALL(imu.updateRegister(Register::PWR_MGMT0, GyroMode_t(GyroMode::LowNoise) | AccelMode_t(AccelMode::LowNoise)));

while (true)
{
if (interrupt)
{
PT_CALL(imu.readRegister(Register::INT_STATUS, &intStatus.value));
interrupt = false;
}

if (intStatus.any(IntStatus::FIFO_FULL_INT | IntStatus::FIFO_THS_INT))
{
if (PT_CALL(imu.readFifoData()))
{
// Count packets in FIFO buffer and print contents of last packet
uint16_t count = 0;
modm::ixm42xxxdata::FifoPacket fifoPacket;
for (const auto &packet : fifoData)
{
fifoPacket = packet;
count++;
}

float temp;
modm::Vector3f accel;
modm::Vector3f gyro;

fifoPacket.getTemp(&temp);
fifoPacket.getAccel(&accel, fifoData.getAccelScale());
fifoPacket.getGyro(&gyro, fifoData.getGyroScale());

MODM_LOG_INFO.printf("Temp: %f\n", temp);
MODM_LOG_INFO.printf("Accel: (%f, %f, %f)\n", accel.x, accel.y, accel.z);
MODM_LOG_INFO.printf("Gyro: (%f, %f, %f)\n", gyro.x, gyro.y, gyro.z);
MODM_LOG_INFO.printf("FIFO packet count: %u\n", count);
}
intStatus.reset(IntStatus::FIFO_FULL_INT | IntStatus::FIFO_THS_INT);
}
}
PT_END();
}

private:

/// Due to the non-deterministic nature of system operation, driver memory allocation should always be the largest size of 2080 bytes.
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modm::ixm42xxxdata::FifoData<2080> fifoData;
modm::ixm42xxx::IntStatus_t intStatus;
modm::Ixm42xxx< Transport > imu;

modm::PeriodicTimer timer;

} imuThread;

int
main()
{
Board::initialize();

Cs::setOutput(modm::Gpio::High);
SpiMaster::connect<Mosi::Mosi, Miso::Miso, Sck::Sck>();
SpiMaster::initialize<Board::SystemClock, 21.5_MHz>();
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MODM_LOG_INFO << "==========IXM-42xxx Test==========" << modm::endl;
MODM_LOG_DEBUG << "Debug logging here" << modm::endl;
MODM_LOG_INFO << "Info logging here" << modm::endl;
MODM_LOG_WARNING << "Warning logging here" << modm::endl;
MODM_LOG_ERROR << "Error logging here" << modm::endl;
MODM_LOG_INFO << "==================================" << modm::endl;

while (true)
{
imuThread.run();
}

return 0;
}
16 changes: 16 additions & 0 deletions examples/nucleo_g474re/ixm42xxx_fifo/project.xml
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<library>
<extends>modm:nucleo-g474re</extends>
<options>
<option name="modm:build:build.path">../../../build/nucleo_g474re/iim42652_fifo</option>
</options>
<modules>
<module>modm:driver:ixm42xxx</module>
<module>modm:math:geometry</module>
<module>modm:platform:exti</module>
<module>modm:platform:gpio</module>
<module>modm:platform:spi:1</module>
<module>modm:processing:protothread</module>
<module>modm:processing:timer</module>
<module>modm:build:scons</module>
</modules>
</library>
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