377 lines
12 KiB
C++
377 lines
12 KiB
C++
/*
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* peripherals_imu_icm.hpp
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*
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* Created on: Mar 5, 2021
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* Author: erki
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*/
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#ifndef SKULLC_PERIPHERALS_IMU_ICM_HPP_
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#define SKULLC_PERIPHERALS_IMU_ICM_HPP_
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#include <array>
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#include <limits>
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#include "peripherals_imu.hpp"
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namespace Peripherals
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{
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template<typename T, typename HAL>
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class ImuIcm : public IImu
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{
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public:
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using registers_handle = T;
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using hal = HAL;
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enum class GyroScale : std::uint32_t
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{
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DPS_250 = 0,
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DPS_500,
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DPS_1000,
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DPS_2000
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};
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enum class AccelerometerScale : std::uint32_t
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{
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G2 = 0,
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G4,
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G8,
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G16
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};
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registers_handle registers;
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ImuIcm() = delete;
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ImuIcm(const registers_handle& registers) : registers(registers)
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{
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bias_accel_.fill(0);
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bias_gyro_.fill(0);
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}
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void setup() override
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{
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registers.writeRegister(Registers_::PWR_MGMT_1 & Registers_::WRITE_MASK,
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0b10000000);
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hal::delay(10);
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registers.writeRegister(Registers_::USER_CTRL & Registers_::WRITE_MASK,
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0b00010000);
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hal::delay(10);
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registers.writeRegister(Registers_::PWR_MGMT_1 & Registers_::WRITE_MASK,
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0b00000000);
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hal::delay(10);
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registers.writeRegister(Registers_::PWR_MGMT_1 & Registers_::WRITE_MASK,
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0b00000001);
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hal::delay(10);
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registers.writeRegister(Registers_::CONFIG & Registers_::WRITE_MASK,
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0x03);// DLPF_CFG = 3, gyro filter = 41/59.0, gyro
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// rate = 1KHz, temp filter = 42
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hal::delay(10);
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const std::uint8_t new_gyro_conf = (std::uint32_t(scale_gyro_) << 3);
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registers.writeRegister(Registers_::GYRO_CONFIG & Registers_::WRITE_MASK,
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new_gyro_conf);
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const std::uint8_t new_accel_config = (std::uint32_t(scale_accel_) << 3);
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registers.writeRegister(Registers_::ACCEL_CONFIG & Registers_::WRITE_MASK,
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new_accel_config);
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// ACCEL_FCHOICE_B = 0, A_DLPF_CFG = 3 filter=44.8/61.5 rate=1KHz
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registers.writeRegister(Registers_::ACCEL_CONFIG2 & Registers_::WRITE_MASK,
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0x03);
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hal::delay(10);
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// SAMPLE_RATE = INTERNAL_SAMPLE_RATE / (1 + SMPLRT_DIV) Where
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// INTERNAL_SAMPLE_RATE = 1kHz
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registers.writeRegister(Registers_::SMPLRT_DIV & Registers_::WRITE_MASK, 0);
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hal::delay(10);
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// Enable interrupt
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// The logic level for INT/DRDY pin is active high.
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// INT/DRDY pin is configured as push-pull.
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// INT/DRDY pin indicates interrupt pulse's width is 50us.
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// Interrupt status is cleared only by reading INT_STATUS register
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registers.writeRegister(Registers_::INT_PIN_CFG & Registers_::WRITE_MASK,
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0);
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hal::delay(10);
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registers.writeRegister(Registers_::INT_ENABLE & Registers_::WRITE_MASK, 1);
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hal::delay(10);
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}
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std::array<std::int16_t, 3>& gyroBias()
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{
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return bias_gyro_;
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}
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std::array<std::int16_t, 3>& accelBias()
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{
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return bias_accel_;
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}
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void calibrate(const std::uint32_t samples) override
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{
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const auto prev_accel_scale = scale_accel_;
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const auto prev_gyro_scale = scale_gyro_;
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setAccelerometerScale(AccelerometerScale::G2);
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setGyroscopeScale(GyroScale::DPS_250);
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std::array<std::int32_t, 3> avg_gyro = {0, 0, 0};
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std::array<std::int32_t, 3> avg_accel = {0, 0, 0};
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std::array<std::int32_t, 3> bias_gyro = {0, 0, 0};
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std::array<std::int32_t, 3> bias_accel = {0, 0, 0};
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const std::uint16_t gyro_sensitivity = 131; // = 131 LSB/degrees/sec
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const std::uint16_t accel_sensitivity = 16384; // = 16384 LSB/g
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for (std::uint32_t i = 0; i < samples; i++)
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{
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std::array<std::int16_t, 3> raw;
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readGyroRaw(raw.data());
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for (std::uint32_t j = 0; j < 3; j++)
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avg_gyro[j] += raw[j];
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readAccelerometerRaw(raw.data());
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for (std::uint32_t j = 0; j < 3; j++)
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avg_accel[j] += raw[j];
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hal::delay(2);
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}
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for (std::uint32_t i = 0; i < 3; i++)
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{
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bias_gyro[i] = avg_gyro[i] / std::int32_t(samples);
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bias_accel[i] = avg_accel[i] / std::int32_t(samples);
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}
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if (bias_accel[2] > 0)
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bias_accel[2] -= accel_sensitivity;
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else
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bias_accel[2] += accel_sensitivity;
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std::array<std::uint8_t, 6> push_data;
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// -3888, -2972, 0033
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// Construct the gyro biases for push to the hardware gyro bias registers,
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// which are reset to zero upon device startup.
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// Divide by 4 to get 32.9 LSB per deg/s to conform to expected bias input
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// format.
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push_data[0] = (-bias_gyro[0]/4 >> 8) & 0xFF;
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push_data[1] = (-bias_gyro[0]/4) & 0xFF;
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push_data[2] = (-bias_gyro[1]/4 >> 8) & 0xFF;
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push_data[3] = (-bias_gyro[1]/4) & 0xFF;
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push_data[4] = (-bias_gyro[2]/4 >> 8) & 0xFF;
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push_data[5] = (-bias_gyro[2]/4) & 0xFF;
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registers.writeRegisterMultibyte(Registers_::XG_OFFSET_H & Registers_::WRITE_MASK,
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push_data.data(), push_data.size());
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std::array<std::int32_t, 3> factory_values = {0, 0, 0};
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registers.readRegisterMultibyte(Registers_::XA_OFFSET_H | Registers_::READ_MASK,
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push_data.data(), push_data.size());
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factory_values[0] = std::int32_t((std::int16_t(push_data[0]) << 8) | push_data[1]);
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factory_values[1] = std::int32_t((std::int16_t(push_data[2]) << 8) | push_data[3]);
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factory_values[2] = std::int32_t((std::int16_t(push_data[4]) << 8) | push_data[5]);
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// Construct total accelerometer bias, including calculated average
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// accelerometer bias from above
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// Subtract calculated averaged accelerometer bias scaled to 2048 LSB/g
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// (16 g full scale)
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bias_accel[0] = factory_values[0] - (bias_accel[0] / 8);
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bias_accel[1] = factory_values[1] - (bias_accel[1] / 8);
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bias_accel[1] = factory_values[1] - (bias_accel[1] / 8);
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push_data[0] = ((bias_accel[0] >> 8) & 0xFF);
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push_data[1] = ((bias_accel[0]) & 0xFF) | (factory_values[0] & 0x1);
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push_data[2] = ((bias_accel[1] >> 8) & 0xFF);
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push_data[3] = ((bias_accel[1]) & 0xFF) | (factory_values[1] & 0x1);
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push_data[4] = ((bias_accel[2] >> 8) & 0xFF);
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push_data[5] = ((bias_accel[2]) & 0xFF) | (factory_values[2] & 0x1);
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registers.writeRegisterMultibyte(Registers_::XA_OFFSET_H & Registers_::WRITE_MASK,
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push_data.data(), push_data.size());
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setAccelerometerScale(prev_accel_scale);
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setGyroscopeScale(prev_gyro_scale);
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// TODO: remove manual bias calculations. These are now done in hardware.
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}
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void setGyroscopeScale(const GyroScale scale)
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{
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const std::uint8_t current_config =
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registers.readRegister(Registers_::GYRO_CONFIG | Registers_::READ_MASK);
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const std::uint8_t new_config =
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(current_config & 0xE7) | (std::uint8_t(scale) << 3);
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registers.writeRegister(Registers_::GYRO_CONFIG & Registers_::WRITE_MASK,
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new_config);
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scale_gyro_ = scale;
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}
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void setAccelerometerScale(const AccelerometerScale scale)
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{
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const std::uint8_t current_config = registers.readRegister(
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Registers_::ACCEL_CONFIG | Registers_::READ_MASK);
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const std::uint8_t new_config =
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(current_config & 0xE7) | (std::uint8_t(scale) << 3);
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registers.writeRegister(Registers_::ACCEL_CONFIG & Registers_::WRITE_MASK,
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new_config);
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scale_accel_ = scale;
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}
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void readGyro(float* output) override
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{
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uint8_t data[6] = {0};
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registers.readRegisterMultibyte(
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Registers_::GYRO_XOUT_H | Registers_::READ_MASK, data, 6);
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output[0] = gyroRawToReading(std::int16_t((data[0] << 8) | data[1]), 0);
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output[1] = gyroRawToReading(std::int16_t((data[2] << 8) | data[3]), 1);
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output[2] = gyroRawToReading(std::int16_t((data[4] << 8) | data[5]), 2);
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}
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void readGyroRaw(std::int16_t* output) override
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{
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uint8_t data[6] = {0};
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registers.readRegisterMultibyte(
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Registers_::GYRO_XOUT_H | Registers_::READ_MASK, data, 6);
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output[0] = std::int16_t((data[0] << 8) | data[1]);
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output[1] = std::int16_t((data[2] << 8) | data[3]);
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output[2] = std::int16_t((data[4] << 8) | data[5]);
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}
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void readAccelerometer(float* output) override
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{
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uint8_t data[6] = {0};
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registers.readRegisterMultibyte(
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Registers_::ACCEL_XOUT_H | Registers_::READ_MASK, data, 6);
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output[0] = accelerometerRawToReading(std::int16_t((data[0] << 8) | data[1]), 0);
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output[1] = accelerometerRawToReading(std::int16_t((data[2] << 8) | data[3]), 1);
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output[2] = accelerometerRawToReading(std::int16_t((data[4] << 8) | data[5]), 2);
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}
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void readAccelerometerRaw(std::int16_t* output) override
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{
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uint8_t data[6] = {0};
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registers.readRegisterMultibyte(
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Registers_::ACCEL_XOUT_H | Registers_::READ_MASK, data, 6);
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output[0] = std::int16_t((data[0] << 8) | data[1]);
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output[1] = std::int16_t((data[2] << 8) | data[3]);
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output[2] = std::int16_t((data[4] << 8) | data[5]);
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}
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std::int16_t accelerometerReadingToRaw(const float& fs) const
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{
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return fs / accel_fs_to_bit_constants_[std::uint32_t(scale_accel_)];
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}
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std::int16_t gyroReadingToRaw(const float& fs) const
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{
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return fs / gyro_fs_to_bit_constants_[std::uint32_t(scale_gyro_)];
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}
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float accelerometerRawToReading(const std::int16_t bit, const std::size_t axis) const
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{
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return (float(bit - bias_accel_[axis]) * accel_fs_to_bit_constants_[std::uint32_t(scale_accel_)]) * 9.8f;
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}
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float gyroRawToReading(const std::int16_t bit, const std::size_t axis) const
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{
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return float(bit - bias_gyro_[axis]) * gyro_fs_to_bit_constants_[std::uint32_t(scale_gyro_)];
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}
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std::uint8_t readProductId()
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{
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return registers.readRegister(Registers_::WHO_AM_I | Registers_::READ_MASK);
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}
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private:
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GyroScale scale_gyro_ = GyroScale::DPS_2000;
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AccelerometerScale scale_accel_ = AccelerometerScale::G16;
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static constexpr float accel_fs_to_bit_constants_[4] = {
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(2.0f / 32768.0f), (4.0f / 32768.0f), (8.0f / 32768.0f),
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(16.0f / 32768.0f)};
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static constexpr float gyro_fs_to_bit_constants_[4] = {
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(250.0f / 32768.0f), (500.0f / 32768.0f), (1000.0f / 32768.0f),
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(2000.0f / 32768.0f)};
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std::array<std::int16_t, 3> bias_gyro_;
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std::array<std::int16_t, 3> bias_accel_;
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struct Registers_
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{
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static constexpr std::uint32_t ICM20689_ID = 0x98;
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static constexpr std::uint8_t READ_MASK = 0x80;
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static constexpr std::uint8_t WRITE_MASK = 0x7F;
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static constexpr std::uint8_t SMPLRT_DIV = 0x19;
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static constexpr std::uint8_t CONFIG = 0x1A;
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static constexpr std::uint8_t GYRO_CONFIG = 0x1B;
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static constexpr std::uint8_t ACCEL_CONFIG = 0x1C;
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static constexpr std::uint8_t ACCEL_CONFIG2 = 0x1D;
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static constexpr std::uint8_t INT_PIN_CFG = 0x37;
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static constexpr std::uint8_t INT_ENABLE = 0x38;
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static constexpr std::uint8_t INT_STATUS = 0x3A;
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static constexpr std::uint8_t GYRO_XOUT_H = 0x43;
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static constexpr std::uint8_t GYRO_XOUT_L = 0x44;
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static constexpr std::uint8_t GYRO_YOUT_H = 0x45;
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static constexpr std::uint8_t GYRO_YOUT_L = 0x46;
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static constexpr std::uint8_t GYRO_ZOUT_H = 0x47;
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static constexpr std::uint8_t GYRO_ZOUT_L = 0x48;
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static constexpr std::uint8_t ACCEL_XOUT_H = 0x3B;
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static constexpr std::uint8_t ACCEL_XOUT_L = 0x3C;
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static constexpr std::uint8_t ACCEL_YOUT_H = 0x3D;
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static constexpr std::uint8_t ACCEL_YOUT_L = 0x3E;
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static constexpr std::uint8_t ACCEL_ZOUT_H = 0x3F;
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static constexpr std::uint8_t ACCEL_ZOUT_L = 0x40;
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static constexpr std::uint8_t USER_CTRL = 0x6A;
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static constexpr std::uint8_t PWR_MGMT_1 = 0x6B;
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static constexpr std::uint8_t PWR_MGMT_2 = 0x6C;
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static constexpr std::uint8_t WHO_AM_I = 0x75;
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static constexpr std::uint8_t XG_OFFSET_H = 0x13;
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static constexpr std::uint8_t XG_OFFSET_L = 0x14;
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static constexpr std::uint8_t YG_OFFSET_H = 0x15;
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static constexpr std::uint8_t YG_OFFSET_L = 0x16;
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static constexpr std::uint8_t ZG_OFFSET_H = 0x17;
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static constexpr std::uint8_t ZG_OFFSET_L = 0x18;
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static constexpr std::uint8_t XA_OFFSET_H = 0x77;
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static constexpr std::uint8_t XA_OFFSET_L = 0x78;
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static constexpr std::uint8_t YA_OFFSET_H = 0x7A;
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static constexpr std::uint8_t YA_OFFSET_L = 0x7B;
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static constexpr std::uint8_t ZA_OFFSET_H = 0x7D;
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static constexpr std::uint8_t ZA_OFFSET_L = 0x7E;
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};
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};
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template<typename T, typename HAL>
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constexpr float ImuIcm<T, HAL>::accel_fs_to_bit_constants_[4];
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template<typename T, typename HAL>
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constexpr float ImuIcm<T, HAL>::gyro_fs_to_bit_constants_[4];
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}// namespace Peripherals
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#endif /* SKULLC_PERIPHERALS_IMU_ICM_HPP_ */
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