/**
******************************************************************************
* File Name : icm20602_driver.c
* Description : This file provides code for the icm_20602 .
******************************************************************************
*
* COPYRIGHT(c) 2016 aibird
*
******************************************************************************
*
* Author:
*
******************************************************************************
*/
/* Includes ------------------------------------------------------------------*/
#include "stm32f1xx_hal.h"
#include "icm20602_driver.h"
#include "soft_iic.h"
/* Private define ------------------------------------------------------------*/
/** @defgroup ICM20602 Device And Register Address
*/
#define ICM20602_DEVICE_ADDRESS (0xD0) //0xD0@SA0=0 0xD2@SA0=1
#define ICM20602_ID_REG_ADDRESS (0x75) //who am i
/*ICM20602配置寄存器*/
#define ICM20602_CFG_REG_ADDR (0x1A)
#define ICM20602_GYRO_CFG_REG_ADDR (0x1B)
#define ICM20602_ACC_CFG_REG_ADDR (0x1C)
#define ICM20602_ACC_CFG2_REG_ADDR (0x1D)
#define ICM20602_GYRO_LPM_CFG_REG_ADDR (0x1E)
/*ICM20602的数据寄存器*/
#define ICM20602_ACC_XOUT_H_REG_ADDR (0x3B)
#define ICM20602_ACC_XOUT_L_REG_ADDR (0x3C)
#define ICM20602_ACC_YOUT_H_REG_ADDR (0x3D)
#define ICM20602_ACC_YOUT_L_REG_ADDR (0x3E)
#define ICM20602_ACC_ZOUT_H_REG_ADDR (0x3F)
#define ICM20602_ACC_ZOUT_L_REG_ADDR (0x40)
#define ICM20602_TMEP_OUT_H_REG_ADDR (0x41)
#define ICM20602_TMEP_OUT_L_REG_ADDR (0x42)
#define ICM20602_GYRO_XOUT_H_REG_ADDR (0x43)
#define ICM20602_GYRO_XOUT_L_REG_ADDR (0x44)
#define ICM20602_GYRO_YOUT_H_REG_ADDR (0x45)
#define ICM20602_GYRO_YOUT_L_REG_ADDR (0x46)
#define ICM20602_GYRO_ZOUT_H_REG_ADDR (0x47)
#define ICM20602_GYRO_ZOUT_L_REG_ADDR (0x48)
/*ICM20602的电源寄存器*/
#define ICM20602_USER_CTRL_REG_ADDR (0x6A)
#define ICM20602_PWR_MGMT_1_REG_ADDR (0x6B)
#define ICM20602_PWR_MGMT_2_REG_ADDR (0x6C)
/* Private variables ---------------------------------------------------------*/
static float f_icm20602_gyro_scale = 1/16.4f; //default 2000dps
static float f_icm20602_acc_scale = 1/16384.f; //default ±2g
/**
* [url=home.php?mod=space&uid=247401]@brief[/url] init mpu6050
*/
void Init_Icm20602(I2C_HandleTypeDef *hi2c)
{
uint8_t uc_icm20602_reg_config_value_p;
uint8_t uc_icm20602_reg_value_fdb_p;
/**
* ICM20602_PWR_MGMT_1_REG_ADDR
* bit7-RST 1-trig device reset 0-no action
* bit6-SLEEP 1-SLEEP 0-NORMAL
* bit5-CYCLE 1-ENABLE 0-DISABLE 周期采样ACC
* bit4-GYRO_STANDBY 1-GYRO_SLEEP 0-GYRO_NROMAL
* bit3-TMEP_DIS 1-DISBALE TEMP 0-ENABLE_TEMP
* bit2:0-CLKSEL[2:0] 0or6-internal 20M 1~5-auto clk 7-no clk
*/
uc_icm20602_reg_config_value_p = 0x80; //standby
HAL_I2C_Mem_Write(hi2c, ICM20602_DEVICE_ADDRESS, ICM20602_PWR_MGMT_1_REG_ADDR, I2C_MEMADD_SIZE_8BIT, &uc_icm20602_reg_config_value_p, 1, 100);
/*wait ICM20602 RESET completed*/
do
{
HAL_I2C_Mem_Read(hi2c, ICM20602_DEVICE_ADDRESS, ICM20602_PWR_MGMT_1_REG_ADDR, I2C_MEMADD_SIZE_8BIT, &uc_icm20602_reg_value_fdb_p, 1, 100);
}while(uc_icm20602_reg_value_fdb_p&0x80);
HAL_Delay(100);
/*auto clk to achieve full gyroscope performance*/
uc_icm20602_reg_config_value_p = 0x01;
HAL_I2C_Mem_Write(hi2c, ICM20602_DEVICE_ADDRESS, ICM20602_PWR_MGMT_1_REG_ADDR, I2C_MEMADD_SIZE_8BIT, &uc_icm20602_reg_config_value_p, 1, 100);
/**
* ICM20602_CFG_REG_ADDR
* bit6-FIFO MODE 1-FIFO满了不再填写 0-FIFO满了替换
* bit5:3-EXT_SYNC_SET 1～7-SYNC SOURCE 0-DISABLE
* bit2:0-DLPF_CFG[2:0] DLPF截至频率配置
*/
uc_icm20602_reg_config_value_p = 0x00;
HAL_I2C_Mem_Write(hi2c, ICM20602_DEVICE_ADDRESS, ICM20602_CFG_REG_ADDR, I2C_MEMADD_SIZE_8BIT, &uc_icm20602_reg_config_value_p, 1, 100);
/**
* ICM20602_GYRO_CFG_REG_ADDR
* bit7-XG_ST X_GYRO self-test
* bit6-YG_ST Y_GYRO self-test
* bit5-ZG_ST Z_GYRO self-test
* bit4:3-FS_SEL 00-±250dps 01-±500dps 10-±1000dps 11-±2000dps
* bit1:0-FCHOICE_B 1～3-DLPF DISBALE 0-DLPF ENABLE
*/
uc_icm20602_reg_config_value_p = 0x18;
HAL_I2C_Mem_Write(hi2c, ICM20602_DEVICE_ADDRESS, ICM20602_GYRO_CFG_REG_ADDR, I2C_MEMADD_SIZE_8BIT, &uc_icm20602_reg_config_value_p, 1, 100);
/*计算陀螺的分辨率*/
f_icm20602_gyro_scale = (1/131.f)*(0x01<<( (uc_icm20602_reg_config_value_p&0x18)>>3 ));
/**
* ICM20602_ACC_CFG_REG_ADDR
* bit7-XA_ST X_ACC self-test
* bit6-YA_ST Y_ACC self-test
* bit5-ZA_ST Z_ACC self-test
* bit4:3-FS_SEL 00-±2g 01-±4g 10-±8g 11-±16g
*/
uc_icm20602_reg_config_value_p = 0x00;
HAL_I2C_Mem_Write(hi2c, ICM20602_DEVICE_ADDRESS, ICM20602_ACC_CFG_REG_ADDR, I2C_MEMADD_SIZE_8BIT, &uc_icm20602_reg_config_value_p, 1, 100);
/*计算陀螺的分辨率*/
f_icm20602_acc_scale = (1/16384.f)*(0x01<<( (uc_icm20602_reg_config_value_p&0x18)>>3 ));
}
/**
* @brief get icm20602 data
* @note 不要再其他位置访问icm20602
* 角速度数据为float类型，存储在float * p_f_icm20602_gyro_data_p (float icm20602_gyro[3])
*/
void Read_Icm20602_Data(I2C_HandleTypeDef *hi2c, float * p_f_icm20602_gyro_data_p, float *p_f_icm20602_acc_data_p)
{
static FlagStatus st_first_read_icm20602_reg_data_flag_p = SET;
uint8_t uc_icm20602_data_p[14];
if(SET == st_first_read_icm20602_reg_data_flag_p)
{
/*读取一次角度寄存器的值，使auto_increment pointer锁定在angle_reg,保证后续读取不需要发送内部寄存器地址*/
HAL_I2C_Mem_Read(hi2c, ICM20602_DEVICE_ADDRESS, ICM20602_ACC_XOUT_H_REG_ADDR, I2C_MEMADD_SIZE_8BIT, uc_icm20602_data_p, 14, 100);
st_first_read_icm20602_reg_data_flag_p = RESET;
}
else
{
HAL_I2C_Mem_Read(hi2c, ICM20602_DEVICE_ADDRESS, ICM20602_ACC_XOUT_H_REG_ADDR, I2C_MEMADD_SIZE_8BIT, uc_icm20602_data_p, 14, 100);
}
p_f_icm20602_acc_data_p[0] = -(float)( ( (int16_t)(int8_t)uc_icm20602_data_p[0] <<8 )|uc_icm20602_data_p[1] )*f_icm20602_acc_scale;
p_f_icm20602_acc_data_p[1] = (float)( ( (int16_t)(int8_t)uc_icm20602_data_p[2] <<8 )|uc_icm20602_data_p[3] )*f_icm20602_acc_scale;
p_f_icm20602_acc_data_p[2] = -(float)( ( (int16_t)(int8_t)uc_icm20602_data_p[4] <<8 )|uc_icm20602_data_p[5] )*f_icm20602_acc_scale;
p_f_icm20602_gyro_data_p[0] = -(float)( ( (int16_t)(int8_t)uc_icm20602_data_p[8] <<8 )|uc_icm20602_data_p[9] )*f_icm20602_gyro_scale;
p_f_icm20602_gyro_data_p[1] = (float)( ( (int16_t)(int8_t)uc_icm20602_data_p[10] <<8 )|uc_icm20602_data_p[11] )*f_icm20602_gyro_scale;
p_f_icm20602_gyro_data_p[2] = -(float)( ( (int16_t)(int8_t)uc_icm20602_data_p[12] <<8 )|uc_icm20602_data_p[13] )*f_icm20602_gyro_scale;
}
/*--------------------------------------------------模拟I2C读取Icm20602数据--------------------------------------*/
/**
* @brief init Icm20602
*/
uint8_t uc_icm20602_reg_value_fdb_p;
void Init_Icm20602_Soft(void)
{
uint8_t uc_icm20602_reg_config_value_p;
uc_icm20602_reg_value_fdb_p = I2C_Read_Single_Reg(ICM20602_DEVICE_ADDRESS, ICM20602_ID_REG_ADDRESS);
/**
* ICM20602_PWR_MGMT_1_REG_ADDR
* bit7-RST 1-trig device reset 0-no action
* bit6-SLEEP 1-SLEEP 0-NORMAL
* bit5-CYCLE 1-ENABLE 0-DISABLE 周期采样ACC
* bit4-GYRO_STANDBY 1-GYRO_SLEEP 0-GYRO_NROMAL
* bit3-TMEP_DIS 1-DISBALE TEMP 0-ENABLE_TEMP
* bit2:0-CLKSEL[2:0] 0or6-internal 20M 1~5-auto clk 7-no clk
*/
uc_icm20602_reg_config_value_p = 0x80; //standby
I2C_Write_Single_Reg(ICM20602_DEVICE_ADDRESS, ICM20602_PWR_MGMT_1_REG_ADDR, uc_icm20602_reg_config_value_p);
/*wait ICM20602 RESET completed*/
while(I2C_Read_Single_Reg(ICM20602_DEVICE_ADDRESS, ICM20602_PWR_MGMT_1_REG_ADDR)&0x80);
HAL_Delay(100);
/*auto clk to achieve full gyroscope performance*/
uc_icm20602_reg_config_value_p = 0x01;
I2C_Write_Single_Reg(ICM20602_DEVICE_ADDRESS, ICM20602_PWR_MGMT_1_REG_ADDR, uc_icm20602_reg_config_value_p);
/**
* ICM20602_CFG_REG_ADDR
* bit6-FIFO MODE 1-FIFO满了不再填写 0-FIFO满了替换
* bit5:3-EXT_SYNC_SET 1～7-SYNC SOURCE 0-DISABLE
* bit2:0-DLPF_CFG[2:0] DLPF截至频率配置
*/
uc_icm20602_reg_config_value_p = 0x00;
I2C_Write_Single_Reg(ICM20602_DEVICE_ADDRESS, ICM20602_CFG_REG_ADDR, uc_icm20602_reg_config_value_p);
/**
* ICM20602_GYRO_CFG_REG_ADDR
* bit7-XG_ST X_GYRO self-test
* bit6-YG_ST Y_GYRO self-test
* bit5-ZG_ST Z_GYRO self-test
* bit4:3-FS_SEL 00-±250dps 01-±500dps 10-±1000dps 11-±2000dps
* bit1:0-FCHOICE_B 1～3-DLPF DISBALE 0-DLPF ENABLE
*/
uc_icm20602_reg_config_value_p = 0x18;
I2C_Write_Single_Reg(ICM20602_DEVICE_ADDRESS, ICM20602_GYRO_CFG_REG_ADDR, uc_icm20602_reg_config_value_p);
uc_icm20602_reg_value_fdb_p = I2C_Read_Single_Reg(ICM20602_DEVICE_ADDRESS, ICM20602_GYRO_CFG_REG_ADDR);
/*计算陀螺的分辨率*/
f_icm20602_gyro_scale = (1/131.f)*(0x01<<( (uc_icm20602_reg_config_value_p&0x18)>>3 ));
/**
* ICM20602_ACC_CFG_REG_ADDR
* bit7-XA_ST X_ACC self-test
* bit6-YA_ST Y_ACC self-test
* bit5-ZA_ST Z_ACC self-test
* bit4:3-FS_SEL 00-±2g 01-±4g 10-±8g 11-±16g
*/
uc_icm20602_reg_config_value_p = 0x00;
I2C_Write_Single_Reg(ICM20602_DEVICE_ADDRESS, ICM20602_ACC_CFG_REG_ADDR, uc_icm20602_reg_config_value_p);
/*计算陀螺的分辨率*/
f_icm20602_acc_scale = (1/16384.f)*(0x01<<( (uc_icm20602_reg_config_value_p&0x18)>>3 ));
}
/**
* @brief get icm20602 data
* @note 不要再其他位置访问icm20602
* 角速度数据为float类型，存储在float * p_f_icm20602_gyro_data_p (float icm20602_gyro[3])
*/
uint8_t uc_icm20602_data_p[14];
float f_icm20602_temp = 0;
void Read_Icm20602_Data_Soft(float * p_f_icm20602_gyro_data_p, float *p_f_icm20602_acc_data_p)
{
static FlagStatus st_first_read_icm20602_reg_data_flag_p = SET;
if(SET == st_first_read_icm20602_reg_data_flag_p)
{
/*读取一次角度寄存器的值，使auto_increment pointer锁定在angle_reg,保证后续读取不需要发送内部寄存器地址*/
I2C_Read_Multi_Reg(ICM20602_DEVICE_ADDRESS, ICM20602_ACC_XOUT_H_REG_ADDR, uc_icm20602_data_p, 14);
st_first_read_icm20602_reg_data_flag_p = RESET;
}
else
{
I2C_Read_Multi_Reg(ICM20602_DEVICE_ADDRESS, ICM20602_ACC_XOUT_H_REG_ADDR, uc_icm20602_data_p, 14);
}
p_f_icm20602_acc_data_p[0] = -(float)( ( (int16_t)(int8_t)uc_icm20602_data_p[0] <<8 )|uc_icm20602_data_p[1] )*f_icm20602_acc_scale;
p_f_icm20602_acc_data_p[1] = (float)( ( (int16_t)(int8_t)uc_icm20602_data_p[2] <<8 )|uc_icm20602_data_p[3] )*f_icm20602_acc_scale;
p_f_icm20602_acc_data_p[2] = -(float)( ( (int16_t)(int8_t)uc_icm20602_data_p[4] <<8 )|uc_icm20602_data_p[5] )*f_icm20602_acc_scale;
p_f_icm20602_gyro_data_p[0] = -(float)( ( (int16_t)(int8_t)uc_icm20602_data_p[8] <<8 )|uc_icm20602_data_p[9] )*f_icm20602_gyro_scale;
p_f_icm20602_gyro_data_p[1] = (float)( ( (int16_t)(int8_t)uc_icm20602_data_p[10] <<8 )|uc_icm20602_data_p[11] )*f_icm20602_gyro_scale;
p_f_icm20602_gyro_data_p[2] = -(float)( ( (int16_t)(int8_t)uc_icm20602_data_p[12] <<8 )|uc_icm20602_data_p[13] )*f_icm20602_gyro_scale;
f_icm20602_temp = (float)( ( (int16_t)(int8_t)uc_icm20602_data_p[6] <<8 )|uc_icm20602_data_p[7] )/326.8 + 25;
}
/**
******************************************************************************
* File Name : icm20602_driver.h
* Description : This file provides code for the icm20602 .
******************************************************************************
*
* COPYRIGHT(c) 2016 aibird
*
******************************************************************************
*
* Author:
*
******************************************************************************
*/
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef _ICM20602_DRIVER_H
#define _ICM20602_DRIVER_H
#ifdef __cplusplus
extern "C" {
#endif
/* Includes ------------------------------------------------------------------*/
#include "stm32f1xx_hal.h"
void Init_Icm20602(I2C_HandleTypeDef *hi2c);
void Read_Icm20602_Data(I2C_HandleTypeDef *hi2c, float * p_f_icm20602_gyro_data_p, float *p_f_icm20602_acc_data_p);
void Init_Icm20602_Soft(void);
void Read_Icm20602_Data_Soft(float * p_f_icm20602_gyro_data_p, float *p_f_icm20602_acc_data_p);
#ifdef __cplusplus
}
#endif
#endif
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