306 lines
9.1 KiB
C++
306 lines
9.1 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 PERIPHERALS_IMU_ICM_HPP_
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#define 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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#include "peripherals_utility.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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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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SetGyroscopeScale(_scale_gyro);
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SetAccelerometerScale(_scale_accel);
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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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void Calibrate(const std::uint32_t samples) override
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{
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std::array<std::int32_t, 3> avg_gyro;
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std::array<std::int32_t, 3> avg_accel;
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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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auto add_to_avg = [&raw](std::array<std::int32_t, 3>& out) {
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for (std::uint32_t j = 0; j < 3; j++)
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out[j] += raw[j];
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};
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ReadGyroRaw(raw.data());
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add_to_avg(avg_gyro);
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ReadAccelerometerRaw(raw.data());
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add_to_avg(avg_accel);
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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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const std::int32_t max = std::numeric_limits<std::int16_t>::max();
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const std::int32_t min = std::numeric_limits<std::int16_t>::min();
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_bias_gyro[i] = Clamp(avg_gyro[i], max, min);
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_bias_accel[i] = Clamp(avg_accel[i], max, min);
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}
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_bias_accel[2] -= AccelerometerReadingToRaw(1);
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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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for (std::uint32_t i = 0; i < 3; i++)
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{
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const std::int16_t bit = ByteToTypeBE<std::int16_t, 2>(&data[i * 2]);
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output[i] = GyroRawToReading(bit);
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}
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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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for (std::uint32_t i = 0; i < 3; i++)
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{
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output[i] = ByteToTypeBE<std::int16_t, 2>(&data[i * 2]);
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}
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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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for (std::uint32_t i = 0; i < 3; i++)
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{
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const std::int16_t bit = ByteToTypeBE<std::int16_t, 2>(&data[i * 2]);
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output[i] = AccelerometerRawToReading(bit);
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}
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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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for (std::uint32_t i = 0; i < 3; i++)
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{
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output[i] = ByteToTypeBE<std::int16_t, 2>(&data[i * 2]);
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}
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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
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{
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return float(bit) * _accel_fs_to_bit_constants[std::uint32_t(_scale_accel)];
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}
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float GyroRawToReading(const std::int16_t bit) const
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{
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return float(bit) * _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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std::array<std::int16_t, 3> _bias_gyro;
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std::array<std::int16_t, 3> _bias_accel;
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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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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 /* PERIPHERALS_IMU_ICM_HPP_ */
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