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Merge pull request #5 from stephendpmurphy/dev
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Release dev into master branch
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stephendpmurphy authored Oct 6, 2020
2 parents 26d707e + 6014d53 commit 9fce4ef
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56 changes: 41 additions & 15 deletions README.md
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# ICM-20948 9-Axis MEMS Motion Tracking Sensor Driver
[![Release](https://img.shields.io/github/release/stephendpmurphy/icm20948.svg?style=flat-square)](https://github.com/stephendpmurphy/icm20948/releases/latest)
![CI](https://github.com/stephendpmurphy/icm20948/workflows/CI/badge.svg)
[![License: MIT](https://img.shields.io/badge/License-MIT-yellow.svg)](https://opensource.org/licenses/MIT)

C Driver for the IC-20948 9-Axis Telemetry sensor. This driver can be included directly into a developers source or a static library can be created and then linked against. Development is done on the **dev** branch, and official releases can be found on the **master** branch. Releases will be made on a ~monthly basis assuming no driver breaking bugs are found. Otherwise, a fix will be released to **master** ASAP.

## Currently supported features
The currently supported features are below. The API is written to greatly simplify the implementation of this IC, and thus only a small amount of control is given to the end-user. In the future, settings/config will be added to allow a user to change sample rates, resolution and more for each sensor in this part.
</br>
C Driver for the IC-20948 9-Axis Telemetry sensor. This driver can be included directly into a developers source or a static library can be created and then linked against.
</br></br>
Development is done on the *dev* branch, and official releases can be found on the *master* branch. Releases will be made on a ~monthly basis assuming no driver breaking bugs are found. Otherwise, a fix will be released to *master* ASAP.
Currently supported features:
* Accel
* +-2G
* +-4G
* +-8G
* +-16G
* Gyro
* +-250DPS
* +-500DPS
* +-1000DPS
* +-2000DPS

## Retrieving the Source
The source is located on Github and can be either downloaded and included directly into a developers source directoriy or the developer can add this repo as a submodule into their source (The latter is the preferred method).
The source is located on Github and can be either downloaded and included directly into a developers source OR the developer can add this repo as a submodule into their project directory (The latter is the preferred method).

To include the driver as a git submodule
```bash
Expand All @@ -18,7 +31,13 @@ $ git submodule add https://github.com/stephendpmurphy/icm20948.git

## Integration
#### Creating & Linking against a static library
To create a static library to link against, you must first source your build environment and ensure the **CC** environment variable is set to your desired toolchain. Once your cross-compiler is properly setup. Execute the following commands:
To create a static library to link against, you must first source your build environment and ensure the **CC** environment variable is set to your desired toolchain. Below is an example of sourcing the **AVR** toolchain before compiling.
```bash
$ export CC=/usr/bin/avr-gcc
$ export CXX=/usr/bin/avr-g++
```

Once your cross-compiler is properly setup. Execute the following commands:
```bash
$ mkdir build && cd build
$ cmake ..
Expand Down Expand Up @@ -53,15 +72,15 @@ Example application and main can be found below:

int8_t usr_write(uint8_t addr, uint8_t *data, uint32_t len) {
icm20948_return_code_t ret = ICM20948_RET_OK;

// Assert the CS

// Write the address

// Write the data from the provided data buffer

// De-assert the CS

return ret;
}

Expand All @@ -80,7 +99,7 @@ int8_t usr_read(uint8_t addr, uint8_t *data, uint32_t len) {
}

void usr_delay_us(uint32_t period) {
// Delay for the requested period
// uS Delay for the requested period
}

int main(void) {
Expand All @@ -92,19 +111,25 @@ int main(void) {
// Init the device function pointers
ret = icm20948_init(usr_read, usr_write, usr_delay_us);

// Check if we successfully stored the function poiners provided
if( ret == ICM20948_RET_OK ) {
// Enable the gyro
settings.gyro_en = ICM20948_GYRO_ENABLE;
// Enable the accelerometer
settings.accel_en = ICM20948_ACCEL_ENABLE;
// Apply the settings
// Enable the Gyro
settings.gyro.en = ICM20948_MOD_ENABLED;
// Select the +-20000dps range
settings.gyro.fs = ICM20948_GYRO_FS_SEL_2000DPS;
// Enable the Accel
settings.accel.en = ICM20948_MOD_ENABLED;
// Select the +-2G range
settings.accel.fs = ICM20948_ACCEL_FS_SEL_2G;
ret = icm20948_applySettings(&settings);
}

while(1) {
// Retireve the Gyro data and store it in our gyro_data struct
// Retrieve the Gyro data and store it in our gyro_data struct
// Output is in dps (Degress per second)
ret |= icm20948_getGyroData(&gyro_data);
// Retrieve the Accel data and store it in our accel_data struct
// Output is in mG
ret |= icm20948_getAccelData(&accel_data);
}

Expand All @@ -113,4 +138,5 @@ int main(void) {
```
## License
MIT License
[![License: MIT](https://img.shields.io/badge/License-MIT-yellow.svg)](https://opensource.org/licenses/MIT) </br>
License has been provided with this source and can be found in the [License](./LICENSE) file.
84 changes: 72 additions & 12 deletions inc/icm20948_api.h
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Expand Up @@ -32,15 +32,6 @@
#include <stdint.h>
#include <stdbool.h>

#define ICM20948_GYRO_ENABLE (true)
#define ICM20948_GYRO_DISABLE (false)

#define ICM20948_ACCEL_ENABLE (true)
#define ICM20948_ACCEL_DISABLE (false)

#define ICM20948_MAG_ENABLE (true)
#define ICM20948_MAG_DISABLE (false)

typedef int8_t(*icm20948_read_fptr_t)(const uint8_t addr, uint8_t *data, const uint32_t len);
typedef int8_t(*icm20948_write_fptr_t)(const uint8_t addr, const uint8_t *data, const uint32_t len);
typedef void(*icm20948_delay_us_fptr_t)(uint32_t period);
Expand All @@ -54,10 +45,43 @@ typedef enum {
ICM20948_RET_TIMEOUT = -5
} icm20948_return_code_t;

typedef enum {
ICM20948_MOD_DISABLED = 0x00,
ICM20948_MOD_ENABLED
} icm20948_mod_enable_t;

typedef enum {
ICM20948_GYRO_FS_SEL_250DPS = 0x00,
ICM20948_GYRO_FS_SEL_500DPS = 0x01,
ICM20948_GYRO_FS_SEL_1000DPS = 0x02,
ICM20948_GYRO_FS_SEL_2000DPS = 0x03
} icm20948_gyro_full_scale_select_t;

typedef struct {
icm20948_mod_enable_t en;
icm20948_gyro_full_scale_select_t fs;
} icm20948_gyro_settings_t;

typedef enum {
ICM20948_ACCEL_FS_SEL_2G = 0x00,
ICM20948_ACCEL_FS_SEL_4G = 0x01,
ICM20948_ACCEL_FS_SEL_8G = 0x02,
ICM20948_ACCEL_FS_SEL_16G = 0x03
} icm20948_accel_full_scale_select_t;

typedef struct {
bool gyro_en;
bool accel_en;
bool mag_en;
icm20948_mod_enable_t en;
icm20948_accel_full_scale_select_t fs;
} icm20948_accel_settings_t;

typedef struct {
icm20948_mod_enable_t en;
} icm20948_mag_settings_t;

typedef struct {
icm20948_gyro_settings_t gyro;
icm20948_accel_settings_t accel;
icm20948_mag_settings_t mag;
} icm20948_settings_t;

typedef struct {
Expand All @@ -78,9 +102,45 @@ typedef struct {
int16_t z;
} icm20948_mag_t;

/*!
* @brief This API initializes the ICM20948 comms interface, and then does a read from the device
* to verify working comms
*
* @param[in] r: Function pointer to the developers SPI read function
* @param[in] w: Function pointer to the developers SPI write function
* @param[in] delay: Function pointer to the developers micro-second delay function
*
* @return Returns the status of initialization
*/
icm20948_return_code_t icm20948_init(icm20948_read_fptr_t r, icm20948_write_fptr_t w, icm20948_delay_us_fptr_t delay);

/*!
* @brief This API applys the developers settings for configuring the ICM20948 components
*
* @param[in] newSettings: Pointer to the new ICM20948 settings to be applied
*
* @return Returns the status of applying settings
*/
icm20948_return_code_t icm20948_applySettings(icm20948_settings_t *newSettings);

/*!
* @brief This API retrieves the current gyro data from the device
*
* @param[in] gyro: Pointer to the gyro data struct where the new samples
* should be placed
*
* @return Returns the status of reading gyro data
*/
icm20948_return_code_t icm20948_getGyroData(icm20948_gyro_t *gyro);

/*!
* @brief This API retrieves the current accel data from the device
*
* @param[in] accel: Pointer to the accel data struct where the new samples
* should be placed
*
* @return Returns the status of reading accel data
*/
icm20948_return_code_t icm20948_getAccelData(icm20948_accel_t *accel);

#endif // _ICM20948_API_H_
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