2019-05-03 10:55:36 -07:00
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/*
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Copyright 2019 Benjamin Vedder benjamin@vedder.se
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This file is part of the VESC firmware.
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The VESC firmware is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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The VESC firmware is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#ifndef IMU_ICM20948_H_
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#define IMU_ICM20948_H_
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#include "ch.h"
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#include "hal.h"
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#include <stdint.h>
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#include <stdbool.h>
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#include "i2c_bb.h"
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typedef struct {
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i2c_bb_state *i2cs;
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uint8_t i2c_address;
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2019-05-06 13:40:05 -07:00
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void(*read_callback)(float *accel, float *gyro, float *mag);
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2019-05-03 10:55:36 -07:00
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} ICM20948_STATE;
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void icm20948_init(ICM20948_STATE *s, i2c_bb_state *i2c_state, int ad0_val,
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stkalign_t *work_area, size_t work_area_size);
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2019-05-06 13:40:05 -07:00
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void icm20948_set_read_callback(ICM20948_STATE *s, void(*func)(float *accel, float *gyro, float *mag));
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2019-05-03 10:55:36 -07:00
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// All banks
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#define ICM20948_BANK_SEL 0x7F
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// Bank 0 registers
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#define ICM20948_PWR_MGMT_1 0x06
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#define ICM20948_PIN_CFG 0x0F
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#define ICM20948_ACCEL_XOUT_H 0x2D
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// Bank 2 registers
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#define ICM20948_ACCEL_CONFIG 0x14
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#define ICM20948_GYRO_CONFIG_1 0x01
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#endif /* IMU_ICM20948_H_ */
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