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initial commit with base code
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@grwells
grwells committed Mar 29, 2022
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41 changes: 41 additions & 0 deletions .clang_complete
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-DARDUINO_SAMD51_THING_PLUS
-D__SAMD51J20A__
-D__SAMD51__
-D__FPU_PRESENT
-DARM_MATH_CM4
-DARDUINO=10805
-DF_CPU=120000000L
-DUSBCON
-DUSB_VID=0x1B4F
-DUSB_PID=0xF016
-DUSB_PRODUCT="SparkFun SAMD51 Thing Plus"
-DUSB_MANUFACTURER="SparkFun"
-DARDUINO_ARCH_SAMD
8 changes: 8 additions & 0 deletions .gcc-flags.json
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5 changes: 5 additions & 0 deletions .gitignore
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.pio
.vscode/.browse.c_cpp.db*
.vscode/c_cpp_properties.json
.vscode/launch.json
.vscode/ipch
10 changes: 10 additions & 0 deletions .vscode/extensions.json
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{
// See http://go.microsoft.com/fwlink/?LinkId=827846
// for the documentation about the extensions.json format
"recommendations": [
"platformio.platformio-ide"
],
"unwantedRecommendations": [
"ms-vscode.cpptools-extension-pack"
]
}
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318 changes: 318 additions & 0 deletions disable/IMU.cpp
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/****************************************************************
* Based on the Sparkfun provided library for the ICM-20948.
* Modified by Garrett Wells for a CS senior capstone project. This file provides
* only the initialization and setup configuration stuff for the SAMD51. Use with
* different hardware may result in unexpected errors or lack of function.
*
* USING THIS FILE:
* To use the IMU...
* 1. Call initIMU(), should setup IMU using ICM_20848 library
* 2. Use library functions to get data (see ICM_20848.h in lib). Useful
functions below.
* getAGMT() reads from sensors and stores values in agmt struct
* accX(), accY(), accZ() read only acceleration
* magXYZ() read only magnetic values on an axis
* gyrXYZ() read only gyro values on axis
* temp() read only temperature
* sleep() put device into sleep, may take a bit to wake up
* lowPower() less time to wake than sleep??
* 3. To print debug data to the serial port there are helper functions in this file.
* Make sure you setup Serial first.
***************************************************************/
#include "ICM_20948.h" // Click here to get the library: http://librarymanager/All#SparkFun_ICM_20949_IMU
#include <Wire.h>
#include "wiring_private.h"

#define SERIAL_PORT Serial

#define SPI_PORT SPI // Your desired SPI port. Used only when "USE_SPI" is defined
#define CS_PIN 2 // Which pin you connect CS to. Used only when "USE_SPI" is defined

#define WIRE_PORT Wire // Your desired Wire port. Used when "USE_SPI" is not defined
#define AD0_VAL 1 // The value of the last bit of the I2C address. \
// On the SparkFun 9DoF IMU breakout the default is 1, and when \
// the ADR jumper is closed the value becomes 0

#ifdef USE_SPI
ICM_20948_SPI myICM; // If using SPI create an ICM_20948_SPI object
#else
ICM_20948_I2C myICM; // Otherwise create an ICM_20948_I2C object
#endif

void configFSS();
void configDLPF();

/*
Call this function before attempting to read from the IMU, sets up the
I2C interface for the SAMD51
*/
void initIMU()
{
#ifdef USE_SPI
SPI_PORT.begin();
#else
WIRE_PORT.begin();
WIRE_PORT.setClock(400000);
#endif

bool initialized = false;
while (!initialized)
{
#ifdef USE_SPI
myICM.begin(CS_PIN, SPI_PORT);
#else
myICM.begin(WIRE_PORT, AD0_VAL);
#endif

if (myICM.status != ICM_20948_Stat_Ok)
{
delay(500);
}
else
{
initialized = true;
}
}
}

/*
* Sets the Full scale ranges (FSR) for the accelerometer and the gyroscope.
*/
void configFSS(){
// Set full scale ranges for both acc and gyr
ICM_20948_fss_t myFSS; // This uses a "Full Scale Settings" structure that can contain values for all configurable sensors

myFSS.a = gpm2; // (ICM_20948_ACCEL_CONFIG_FS_SEL_e)
// gpm2
// gpm4
// gpm8
// gpm16

myFSS.g = dps250; // (ICM_20948_GYRO_CONFIG_1_FS_SEL_e)
// dps250
// dps500
// dps1000
// dps2000

myICM.setFullScale((ICM_20948_Internal_Acc | ICM_20948_Internal_Gyr), myFSS);
}

/*
* Select the digital low-pass filter to use with the gyroscope and the accelerometer to reduce noise.
*/
void configDLPF(){
ICM_20948_dlpcfg_t myDLPcfg; // Similar to FSS, this uses a configuration structure for the desired sensors
myDLPcfg.a = acc_d473bw_n499bw; // (ICM_20948_ACCEL_CONFIG_DLPCFG_e)
// acc_d246bw_n265bw - means 3db bandwidth is 246 hz and nyquist bandwidth is 265 hz
// acc_d111bw4_n136bw
// acc_d50bw4_n68bw8
// acc_d23bw9_n34bw4
// acc_d11bw5_n17bw
// acc_d5bw7_n8bw3 - means 3 db bandwidth is 5.7 hz and nyquist bandwidth is 8.3 hz
// acc_d473bw_n499bw

myDLPcfg.g = gyr_d361bw4_n376bw5; // (ICM_20948_GYRO_CONFIG_1_DLPCFG_e)
// gyr_d196bw6_n229bw8
// gyr_d151bw8_n187bw6
// gyr_d119bw5_n154bw3
// gyr_d51bw2_n73bw3
// gyr_d23bw9_n35bw9
// gyr_d11bw6_n17bw8
// gyr_d5bw7_n8bw9
// gyr_d361bw4_n376bw5

myICM.setDLPFcfg((ICM_20948_Internal_Acc | ICM_20948_Internal_Gyr), myDLPcfg);
ICM_20948_Status_e accDLPEnableStat = myICM.enableDLPF(ICM_20948_Internal_Acc, false);
ICM_20948_Status_e gyrDLPEnableStat = myICM.enableDLPF(ICM_20948_Internal_Gyr, true);
}

////////////////////////////////////////////////////////////////////////////////
// Below here are some helper functions to print the data nicely!
////////////////////////////////////////////////////////////////////////////////

/**
* @brief
* This function has something to do with printing IMU data over USB to the
* serial monitor. Other than that, I have no idea what it does. It came as part
* of the IMU demo code, and printScaledAGMT, which is used to validate data
* transmissions, relies on this function.
*
* @param[in] val Signed value to print
*
* @return None
*/
void printPaddedInt16b(int16_t val)
{
if (val > 0)
{
SERIAL_PORT.print(" ");
if (val < 10000)
{
SERIAL_PORT.print("0");
}
if (val < 1000)
{
SERIAL_PORT.print("0");
}
if (val < 100)
{
SERIAL_PORT.print("0");
}
if (val < 10)
{
SERIAL_PORT.print("0");
}
}
else
{
SERIAL_PORT.print("-");
if (abs(val) < 10000)
{
SERIAL_PORT.print("0");
}
if (abs(val) < 1000)
{
SERIAL_PORT.print("0");
}
if (abs(val) < 100)
{
SERIAL_PORT.print("0");
}
if (abs(val) < 10)
{
SERIAL_PORT.print("0");
}
}
SERIAL_PORT.print(abs(val));
}

/**
* @brief
* This function has something to do with printing IMU data over USB to the
* serial monitor. Other than that, I have no idea what it does. It came as part
* of the IMU demo code, and printScaledAGMT, which is used to validate data
* transmissions, relies on this function.
*
* @param[in] agmt An instance of the IMU data object
*
* @return None
*/
void printRawAGMT(ICM_20948_AGMT_t agmt)
{
SERIAL_PORT.print("RAW. Acc [ ");
printPaddedInt16b(agmt.acc.axes.x);
SERIAL_PORT.print(", ");
printPaddedInt16b(agmt.acc.axes.y);
SERIAL_PORT.print(", ");
printPaddedInt16b(agmt.acc.axes.z);
SERIAL_PORT.print(" ], Gyr [ ");
printPaddedInt16b(agmt.gyr.axes.x);
SERIAL_PORT.print(", ");
printPaddedInt16b(agmt.gyr.axes.y);
SERIAL_PORT.print(", ");
printPaddedInt16b(agmt.gyr.axes.z);
SERIAL_PORT.print(" ], Mag [ ");
printPaddedInt16b(agmt.mag.axes.x);
SERIAL_PORT.print(", ");
printPaddedInt16b(agmt.mag.axes.y);
SERIAL_PORT.print(", ");
printPaddedInt16b(agmt.mag.axes.z);
SERIAL_PORT.print(" ], Tmp [ ");
printPaddedInt16b(agmt.tmp.val);
SERIAL_PORT.print(" ]");
SERIAL_PORT.println();
}

/**
* @brief
* This function has something to do with printing IMU data over USB to the
* serial monitor. Other than that, I have no idea what it does. It came as part
* of the IMU demo code, and printScaledAGMT, which is used to validate data
* transmissions, relies on this function.
*
* @param[in] val Value to print
* @param[in] leading Number of digits left of the decimal
* @param[in] decimals Number of digits right of the decimal
*
* @return None
*/
void printFormattedFloat(float val, uint8_t leading, uint8_t decimals)
{
float aval = abs(val);
if (val < 0)
{
SERIAL_PORT.print("-");
}
else
{
SERIAL_PORT.print(" ");
}
for (uint8_t indi = 0; indi < leading; indi++)
{
uint32_t tenpow = 0;
if (indi < (leading - 1))
{
tenpow = 1;
}
for (uint8_t c = 0; c < (leading - 1 - indi); c++)
{
tenpow *= 10;
}
if (aval < tenpow)
{
SERIAL_PORT.print("0");
}
else
{
break;
}
}
if (val < 0)
{
SERIAL_PORT.print(-val, decimals);
}
else
{
SERIAL_PORT.print(val, decimals);
}
}

/**
* @brief
* Prints IMU data over USB to the serial monitor. Converts raw data to a form
* that is readable by humans. Came as part of the IMU demo code.
*
* @param[in] sensor Pointer to IMU object
*
* @return None
*/
#ifdef USE_SPI
void printScaledAGMT(ICM_20948_SPI *sensor)
{
#else
void printScaledAGMT(ICM_20948_I2C *sensor)
{
#endif
SERIAL_PORT.print("Scaled. Acc (mg) [ ");
printFormattedFloat(sensor->accX(), 5, 2);
SERIAL_PORT.print(", ");
printFormattedFloat(sensor->accY(), 5, 2);
SERIAL_PORT.print(", ");
printFormattedFloat(sensor->accZ(), 5, 2);
SERIAL_PORT.print(" ], Gyr (DPS) [ ");
printFormattedFloat(sensor->gyrX(), 5, 2);
SERIAL_PORT.print(", ");
printFormattedFloat(sensor->gyrY(), 5, 2);
SERIAL_PORT.print(", ");
printFormattedFloat(sensor->gyrZ(), 5, 2);
SERIAL_PORT.print(" ], Mag (uT) [ ");
printFormattedFloat(sensor->magX(), 5, 2);
SERIAL_PORT.print(", ");
printFormattedFloat(sensor->magY(), 5, 2);
SERIAL_PORT.print(", ");
printFormattedFloat(sensor->magZ(), 5, 2);
SERIAL_PORT.print(" ], Tmp (C) [ ");
printFormattedFloat(sensor->temp(), 5, 2);
SERIAL_PORT.print(" ]");
SERIAL_PORT.println();
}
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