Merge pull request #122 from sparkfun/release_candidate

v1.2.12 - add WOMLogic

examples/Arduino/Example4_WakeOnMotion/Example4_WakeOnMotion.ino

@@ -221,6 +221,8 @@ void setup()
   SERIAL_PORT.print(F("Set threshold returned: "));
   SERIAL_PORT.println(myICM.statusString());
 
+  myICM.WOMLogic(true, 1); // enable WoM Logic mode 1
+
   myICM.intEnableWOM(true); // enable interrupts on WakeOnMotion
   SERIAL_PORT.print(F("intEnableWOM returned: "));
   SERIAL_PORT.println(myICM.statusString());

keywords.txt

@@ -65,6 +65,7 @@ intEnableWOF	KEYWORD2
 intEnableRawDataReady	KEYWORD2
 intEnableOverflowFIFO	KEYWORD2
 intEnableWatermarkFIFO	KEYWORD2
+WOMLogic	KEYWORD2
 WOMThreshold	KEYWORD2
 i2cMasterPassthrough	KEYWORD2
 i2cMasterEnable	KEYWORD2

library.properties

@@ -1,5 +1,5 @@
 name=SparkFun 9DoF IMU Breakout - ICM 20948 - Arduino Library
-version=1.2.11
+version=1.2.12
 author=SparkFun Electronics <[email protected]>
 maintainer=SparkFun Electronics <sparkfun.com>
 sentence=Use the low-power high-resolution ICM 20948 9 DoF IMU from Invensense with I2C or SPI. Version 1.2 of the library includes support for the InvenSense Digital Motion Processor (DMP™).

src/ICM_20948.cpp

@@ -1017,6 +1017,30 @@ ICM_20948_Status_e ICM_20948::intEnableWatermarkFIFO(uint8_t bm_enable)
   return status;
 }
 
+ICM_20948_Status_e ICM_20948::WOMLogic(uint8_t enable, uint8_t mode)
+{
+  ICM_20948_ACCEL_INTEL_CTRL_t ctrl;                   // storage
+  status = ICM_20948_wom_logic(&_device, NULL, &ctrl); // read phase
+  if (status != ICM_20948_Stat_Ok)
+  {
+    return status;
+  }
+  ctrl.ACCEL_INTEL_EN = enable;     // enable the WOM logic
+  ctrl.ACCEL_INTEL_MODE_INT = mode; // config mode
+
+  status = ICM_20948_wom_logic(&_device, &ctrl, &ctrl); // write new config
+  if (status != ICM_20948_Stat_Ok)
+  {
+    return status;
+  }
+  if (ctrl.ACCEL_INTEL_MODE_INT != mode)
+  {
+    status = ICM_20948_Stat_Err;
+    return status;
+  }
+  return status;
+}
+
 ICM_20948_Status_e ICM_20948::WOMThreshold(uint8_t threshold)
 {
   ICM_20948_ACCEL_WOM_THR_t thr;                          // storage

src/ICM_20948.h

@@ -130,6 +130,7 @@ class ICM_20948
   ICM_20948_Status_e intEnableOverflowFIFO(uint8_t bm_enable);
   ICM_20948_Status_e intEnableWatermarkFIFO(uint8_t bm_enable);
 
+  ICM_20948_Status_e WOMLogic(uint8_t enable, uint8_t mode);
   ICM_20948_Status_e WOMThreshold(uint8_t threshold);
 
   // Interface Options

src/util/ICM_20948_C.c

@@ -555,6 +555,41 @@ ICM_20948_Status_e ICM_20948_int_enable(ICM_20948_Device_t *pdev, ICM_20948_INT_
   return retval;
 }
 
+ICM_20948_Status_e ICM_20948_wom_logic(ICM_20948_Device_t *pdev, ICM_20948_ACCEL_INTEL_CTRL_t *write, ICM_20948_ACCEL_INTEL_CTRL_t *read)
+{
+  ICM_20948_Status_e retval = ICM_20948_Stat_Ok;
+
+  ICM_20948_ACCEL_INTEL_CTRL_t ctrl;
+
+  retval = ICM_20948_set_bank(pdev, 2); // Must be in the right bank
+
+  if (write != NULL)
+  { // If the write pointer is not NULL then write to the registers BEFORE reading
+    ctrl.ACCEL_INTEL_EN = write->ACCEL_INTEL_EN;
+    ctrl.ACCEL_INTEL_MODE_INT = write->ACCEL_INTEL_MODE_INT;
+
+    retval = ICM_20948_execute_w(pdev, AGB2_REG_ACCEL_INTEL_CTRL, (uint8_t *)&ctrl, sizeof(ICM_20948_ACCEL_INTEL_CTRL_t));
+    if (retval != ICM_20948_Stat_Ok)
+    {
+      return retval;
+    }
+  }
+
+  if (read != NULL)
+  { // If read pointer is not NULL then read the registers (if write is not NULL then this should read back the results of write into read)
+    retval = ICM_20948_execute_r(pdev, AGB2_REG_ACCEL_INTEL_CTRL, (uint8_t *)&ctrl, sizeof(ICM_20948_ACCEL_INTEL_CTRL_t));
+    if (retval != ICM_20948_Stat_Ok)
+    {
+      return retval;
+    }
+
+    read->ACCEL_INTEL_EN = ctrl.ACCEL_INTEL_EN;
+    read->ACCEL_INTEL_MODE_INT = ctrl.ACCEL_INTEL_MODE_INT;
+  }
+
+  return retval;
+}
+
 ICM_20948_Status_e ICM_20948_wom_threshold(ICM_20948_Device_t *pdev, ICM_20948_ACCEL_WOM_THR_t *write, ICM_20948_ACCEL_WOM_THR_t *read)
 {
   ICM_20948_Status_e retval = ICM_20948_Stat_Ok;

src/util/ICM_20948_C.h

@@ -213,6 +213,9 @@ extern int memcmp(const void *, const void *, size_t); // Avoid compiler warning
   ICM_20948_Status_e ICM_20948_int_pin_cfg(ICM_20948_Device_t *pdev, ICM_20948_INT_PIN_CFG_t *write, ICM_20948_INT_PIN_CFG_t *read); // Set the INT pin configuration
   ICM_20948_Status_e ICM_20948_int_enable(ICM_20948_Device_t *pdev, ICM_20948_INT_enable_t *write, ICM_20948_INT_enable_t *read);    // Write and or read the interrupt enable information. If non-null the write operation occurs before the read, so as to verify that the write was successful
 
+  // WoM Enable Logic configuration
+  ICM_20948_Status_e ICM_20948_wom_logic(ICM_20948_Device_t *pdev, ICM_20948_ACCEL_INTEL_CTRL_t *write, ICM_20948_ACCEL_INTEL_CTRL_t *read); //Enable or disable WoM Logic
+
   // WoM Threshold Level Configuration
   ICM_20948_Status_e ICM_20948_wom_threshold(ICM_20948_Device_t *pdev, ICM_20948_ACCEL_WOM_THR_t *write, ICM_20948_ACCEL_WOM_THR_t *read); // Write and or read the Wake on Motion threshold. If non-null the write operation occurs before the read, so as to verify that the write was successful