Mag support for SPI. Implement mag over I2C master rather than bare I2C. #10
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I believe the primary issue with with getting the mag to work in original library was two fold: the bank bits were not being set correctly, and bank3 was not set in ICM_20948_i2c_master_configure_slave(). Data from mag is now harvested at the same time at gyro and accel from EXT_SLV_SENS_DATA_xx registers. * Add i2cMasterReset() - Needed to reset the I2C master during startup in the case that it has hung due to an incomplete previous transaction with Mag. * Remove all I2C based mag functions. Move to global ICM class. * Remove _has_magnetometer flag. No longer needed. If mag doesn't come online, data returned in 0 in DMP array.
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Maybe squash these commits and fix-up messages? I will test this on an ICM-20948 board I've made and report back |
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Thanks Matt! I didn't expect anyone but @oclyke to have a look but I'd love the review and feedback. |
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| #include "ICM_20948_C.h" | |||
| #include "ICM_20948_REGISTERS.h" | |||
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This is me picking nits - these whitespace changes make it hard to see if any significant code changes happened in the C implementation.
It's a personal thing but I'm not a big fan of VSC's style when it comes to automatic formatting.
I wonder how much effort it will take to revert the whitespace changes w/o undoing any important code changes.
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Same goes for the C.h file but I'll keep the comment here
Stick with pass-by-value in i2cMasterSingleW
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just realized this was spi only - i am using i2c. |
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@ruffner It should apply to both interfaces. Previously the magnetometer could only be accessed when connected to the ICM over I2C because it relied on the I2C passthrough feature. This PR enables the I2C master feature that allows the ICM to handle I2C transactions with other sensors - including the magnetometer chip. This PR also makes that the default mode of accessing the magnetometer so that it is used whether you are talking to the ICM over SPI or I2C |
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@oclyke got it - the 'Advanced' example seems to work well once I add |
I believe the primary issue with with getting the mag to work in original library was two fold: the bank bits were not being set correctly, and bank3 was not set in ICM_20948_i2c_master_configure_slave().
Data from mag is now harvested at the same time at gyro and accel from EXT_SLV_SENS_DATA_xx registers.
Tested on Artemis via SPI/I2C and Uno SPI/I2C.