362 lines
12 KiB
C
362 lines
12 KiB
C
/**
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* @file iam20680.c
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* @author Joseph Gillispie
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* @date 22Aug2022
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* @brief This is the source file for the TDK IAM-20680 acceleromter/gyrometer.
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*/
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/*! @file iam20680.c
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* @brief Driver for IAM-20680 sensor
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*/
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#include "iam20680.h"
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/**\name Internal macros */
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/**\name Internal APIs */
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// Ex: power modes, calibration checks, etc
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/*!
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* @brief This API must be called before other APIs. It verifies the chip ID of the sensor.
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*/
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uint8_t iam20680_init(struct iam20680_dev *dev)
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{
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uint8_t status;
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uint8_t buff;
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// Reset device to defaults.
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buff = 0x80;
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status = iam20680_write_regs((uint8_t)IAM20680_PWR_MGMT_1, &buff, 1, dev);
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// Check chip ID to ensure IAM-20680 exists on board.
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// I2C:0x68 or 0x69 depending upon the value driven on AD0 pin
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status = iam20680_read_regs((uint8_t)IAM20680_WHO_AM_I, &buff, 1, dev);
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dev->chip_id = buff;
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// Configure int pin as data ready.
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buff = 0x00;
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status |= iam20680_read_regs((uint8_t)IAM20680_INT_ENABLE, &buff, 1, dev);
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buff &= ~0x01;
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buff |= 1 << 0; // DATA_RDY_INT_EN
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status |= iam20680_write_regs((uint8_t)IAM20680_INT_ENABLE, &buff, 1, dev);
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// Set gyro low noise mode.
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buff = 0x00;
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status |= iam20680_read_regs((uint8_t)IAM20680_LP_MODE_CFG, &buff, 1, dev);
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buff &= ~0x80;
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buff |= 1 << 7; // GYRO_CYCLE
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status |= iam20680_write_regs((uint8_t)IAM20680_LP_MODE_CFG, &buff, 1, dev);
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// Set accel low noise mode.
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buff = 0x00;
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status |= iam20680_read_regs((uint8_t)IAM20680_PWR_MGMT_1, &buff, 1, dev);
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buff &= ~0x20;
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buff |= 1 << 5; // ACCEL_CYCLE
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status |= iam20680_write_regs((uint8_t)IAM20680_PWR_MGMT_1, &buff, 1, dev);
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// Wait 20 ms.
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iam20680_delay_ms(20, dev);
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// Bypass gyro DLPF.
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buff = 0x00;
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status |= iam20680_read_regs((uint8_t)IAM20680_GYRO_CONFIG, &buff, 1, dev);
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buff &= ~0x03;
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buff |= 0 << 0; // FCHOICE
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status |= iam20680_write_regs((uint8_t)IAM20680_GYRO_CONFIG, &buff, 1, dev);
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// Bypass accel DLPF.
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buff = 0x00;
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status |= iam20680_read_regs((uint8_t)IAM20680_ACCEL_CONFIG2, &buff, 1, dev);
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buff &= ~0x08;
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buff |= 0 << 3; // ACCEL_FCHOICE_B
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status |= iam20680_write_regs((uint8_t)IAM20680_ACCEL_CONFIG2, &buff, 1, dev);
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// Set DLPF_CFG.
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buff = 0x00;
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status |= iam20680_read_regs((uint8_t)IAM20680_CONFIG, &buff, 1, dev);
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buff &= ~0x07;
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buff |= 1 << 0; // DLPF_CFG
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status |= iam20680_write_regs((uint8_t)IAM20680_CONFIG, &buff, 1, dev);
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buff = 0x00;
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status |= iam20680_read_regs((uint8_t)IAM20680_ACCEL_CONFIG2, &buff, 1, dev);
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buff &= ~0x07;
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buff |= 1 << 0; // A_DLPF_CFG
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status |= iam20680_write_regs((uint8_t)IAM20680_ACCEL_CONFIG2, &buff, 1, dev);
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// Set averaging filter.
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// Gyro
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buff = 0x00;
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status |= iam20680_read_regs((uint8_t)IAM20680_LP_MODE_CFG, &buff, 1, dev);
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buff &= ~0x70;
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buff |= 0 << 4; // G_AVGCFG
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status |= iam20680_write_regs((uint8_t)IAM20680_LP_MODE_CFG, &buff, 1, dev);
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// Accel
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buff = 0x00;
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status |= iam20680_read_regs((uint8_t)IAM20680_ACCEL_CONFIG2, &buff, 1, dev);
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buff &= ~0x30;
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buff |= 0 << 4; // DEC2_CFG
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status |= iam20680_write_regs((uint8_t)IAM20680_ACCEL_CONFIG2, &buff, 1, dev);
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// Set SMPLRT_DIV.
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buff = 0x00;
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status |= iam20680_read_regs((uint8_t)IAM20680_SMPLRT_DIV, &buff, 1, dev);
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buff = 0x09; // 10 ms / 100 Hz
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status |= iam20680_write_regs((uint8_t)IAM20680_SMPLRT_DIV, &buff, 1, dev);
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// Disable accel and gyro all axes.
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buff = 0x00;
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status |= iam20680_read_regs((uint8_t)IAM20680_PWR_MGMT_2, &buff, 1, dev);
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buff |= 0x3F;
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status |= iam20680_write_regs((uint8_t)IAM20680_PWR_MGMT_2, &buff, 1, dev);
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// Set full scale range.
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// Gyro
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buff = 0x00;
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status |= iam20680_read_regs((uint8_t)IAM20680_GYRO_CONFIG, &buff, 1, dev);
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buff &= ~0x18;
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buff |= 1 << 3; // FS_SEL
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status |= iam20680_write_regs((uint8_t)IAM20680_GYRO_CONFIG, &buff, 1, dev);
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// Accel
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buff = 0x00;
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status |= iam20680_read_regs((uint8_t)IAM20680_ACCEL_CONFIG, &buff, 1, dev);
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buff &= ~0x18;
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buff |= 0 << 3; // ACCEL_FS_SEL
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status |= iam20680_write_regs((uint8_t)IAM20680_ACCEL_CONFIG, &buff, 1, dev);
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// Enable accel.
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buff = 0x00;
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status |= iam20680_read_regs((uint8_t)IAM20680_PWR_MGMT_2, &buff, 1, dev);
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buff &= ~0x38;
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buff |= 0 << 3; // Enable x, y, and z.
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status |= iam20680_write_regs((uint8_t)IAM20680_PWR_MGMT_2, &buff, 1, dev);
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iam20680_delay_ms(20, dev);
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// Enable gyro.
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buff = 0x00;
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status |= iam20680_read_regs((uint8_t)IAM20680_PWR_MGMT_2, &buff, 1, dev);
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buff &= ~0x07;
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buff |= 0 << 0; // Enable x, y, and z.
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status |= iam20680_write_regs((uint8_t)IAM20680_PWR_MGMT_2, &buff, 1, dev);
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iam20680_delay_ms(50, dev);
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// Reset and enable FIFO.
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// Disable FIFO
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buff = 0x00;
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status |= iam20680_read_regs((uint8_t)IAM20680_USER_CTRL, &buff, 1, dev);
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buff &= ~0x40;
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buff |= 0 << 6; // FIFO_EN
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status |= iam20680_write_regs((uint8_t)IAM20680_USER_CTRL, &buff, 1, dev);
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// Reset FIFO
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buff = 0x00;
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status |= iam20680_read_regs((uint8_t)IAM20680_USER_CTRL, &buff, 1, dev);
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buff &= ~0x04;
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buff |= 1 << 2; // FIFO_RST
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status |= iam20680_write_regs((uint8_t)IAM20680_USER_CTRL, &buff, 1, dev);
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// Enable gyro FIFO
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buff = 0x00;
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status |= iam20680_read_regs((uint8_t)IAM20680_FIFO_EN, &buff, 1, dev);
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buff &= ~0x70;
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buff |= 7 << 4; // Write x, y, and z to FIFO at data rate.
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status |= iam20680_write_regs((uint8_t)IAM20680_FIFO_EN, &buff, 1, dev);
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// Enable accel FIFO
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buff = 0x00;
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status |= iam20680_read_regs((uint8_t)IAM20680_FIFO_EN, &buff, 1, dev);
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buff &= ~0x08;
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buff |= 1 << 3; // Write x, y, and z to FIFO at data rate.
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status |= iam20680_write_regs((uint8_t)IAM20680_FIFO_EN, &buff, 1, dev);
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// Enable FIFO
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buff = 0x00;
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status |= iam20680_read_regs((uint8_t)IAM20680_USER_CTRL, &buff, 1, dev);
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buff &= ~0x40;
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buff |= 1 << 6; // FIFO_EN
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status |= iam20680_write_regs((uint8_t)IAM20680_USER_CTRL, &buff, 1, dev);
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return status;
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}
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/*!
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* @brief This API must be called before other APIs. It verifies the chip ID of the sensor.
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*/
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uint8_t iam20680_init2(struct iam20680_dev *dev)
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{
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uint8_t status = 0x00;
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uint8_t buff;
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// Delay 100 ms from power-up before register read/write.
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iam20680_delay_ms(100, dev);
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// Disable I2C.
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status |= iam20680_read_regs((uint8_t)IAM20680_USER_CTRL, &buff, 1, dev);
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buff |= 0x10; // I2C_IF_DIS
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status |= iam20680_write_regs((uint8_t)IAM20680_USER_CTRL, &buff, 1, dev);
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// Check WHO_AM_I register.
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status = iam20680_read_regs((uint8_t)IAM20680_WHO_AM_I, &buff, 1, dev);
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dev->chip_id = buff;
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// Reset driver states.
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status |= iam20680_read_regs((uint8_t)IAM20680_PWR_MGMT_1, &buff, 1, dev);
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buff |= 0x80; // DEVICE_RESET
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status |= iam20680_write_regs((uint8_t)IAM20680_PWR_MGMT_1, &buff, 1, dev);
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iam20680_delay_ms(100, dev);
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//buff = 0x00;
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while ((buff & (0x80)) != 0x00)
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{
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iam20680_read_regs((uint8_t)IAM20680_PWR_MGMT_1, &buff, 1, dev);
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iam20680_delay_ms(1, dev);
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}
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// Disable I2C.
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status |= iam20680_read_regs((uint8_t)IAM20680_USER_CTRL, &buff, 1, dev);
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buff |= 0x10; // I2C_IF_DIS
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status |= iam20680_write_regs((uint8_t)IAM20680_USER_CTRL, &buff, 1, dev);
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// Wake up.
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buff = 0x00;
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status |= iam20680_read_regs((uint8_t)IAM20680_PWR_MGMT_1, &buff, 1, dev);
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buff &= ~0x40; // SLEEP
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status |= iam20680_write_regs((uint8_t)IAM20680_PWR_MGMT_1, &buff, 1, dev);
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iam20680_delay_ms(5, dev);
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// Set up CLKSEL.
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buff = 0x00;
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status |= iam20680_read_regs((uint8_t)IAM20680_PWR_MGMT_1, &buff, 1, dev);
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buff &= ~0x07; // Clear CLKSEL
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buff |= 0x01; // Set CLKSEL
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status |= iam20680_write_regs((uint8_t)IAM20680_PWR_MGMT_1, &buff, 1, dev);
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// Disable gyro and accel.
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// Set full scale range.
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// Set bandwidth.
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// Set averaging filter.
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// Set sampling rate.
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// Disable FIFO.
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// Configure FIFO.
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// Enable Data Ready interrupt.
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return status;
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}
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/*!
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* @brief This API must be called before other APIs. It verifies the chip ID of the sensor.
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*/
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uint8_t iam20680_init_simple(struct iam20680_dev *dev)
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{
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uint8_t buff;
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uint8_t status = 0x00;
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// Reset driver states.
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status |= iam20680_read_regs((uint8_t)IAM20680_PWR_MGMT_1, &buff, 1, dev);
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buff |= 0x80; // DEVICE_RESET
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status |= iam20680_write_regs((uint8_t)IAM20680_PWR_MGMT_1, &buff, 1, dev);
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iam20680_delay_ms(100, dev);
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//buff = 0x00;
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while ((buff & (0x80)) != 0x00)
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{
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iam20680_read_regs((uint8_t)IAM20680_PWR_MGMT_1, &buff, 1, dev);
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iam20680_delay_ms(1, dev);
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}
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// Let device select best clock source.
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buff = 0x00;
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status |= iam20680_read_regs((uint8_t)IAM20680_PWR_MGMT_1, &buff, 1, dev);
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buff &= ~0x07; // Clear CLKSEL
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buff |= 0x01; // Set CLKSEL
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status |= iam20680_write_regs((uint8_t)IAM20680_PWR_MGMT_1, &buff, 1, dev);
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// Select ODR.
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buff = 0x00;
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status |= iam20680_read_regs((uint8_t)IAM20680_SMPLRT_DIV, &buff, 1, dev);
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buff = 0x09; // Set ODR = 100 Hz
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status |= iam20680_write_regs((uint8_t)IAM20680_PWR_MGMT_1, &buff, 1, dev);
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// Select FS range.
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buff = 0x00;
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status |= iam20680_read_regs((uint8_t)IAM20680_ACCEL_CONFIG, &buff, 1, dev);
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buff &= 0x18;
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buff |= 0 << 3;
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status |= iam20680_write_regs((uint8_t)IAM20680_ACCEL_CONFIG, &buff, 1, dev);
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buff = 0x00;
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status |= iam20680_read_regs((uint8_t)IAM20680_GYRO_CONFIG, &buff, 1, dev);
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buff &= 0x18;
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buff |= 0 << 3;
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status |= iam20680_write_regs((uint8_t)IAM20680_GYRO_CONFIG, &buff, 1, dev);
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// Select filter.
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buff = 0x00;
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status |= iam20680_read_regs((uint8_t)IAM20680_ACCEL_CONFIG2, &buff, 1, dev);
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buff &= 0x07;
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buff |= 5 << 0;
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status |= iam20680_write_regs((uint8_t)IAM20680_ACCEL_CONFIG2, &buff, 1, dev);
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buff = 0x00;
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status |= iam20680_read_regs((uint8_t)IAM20680_CONFIG, &buff, 1, dev);
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buff &= 0x07;
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buff |= 5 << 0;
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status |= iam20680_write_regs((uint8_t)IAM20680_CONFIG, &buff, 1, dev);
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return status;
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}
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/*!
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* @brief This API writes the data to the given register address of the sensor.
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*/
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uint8_t iam20680_write_regs(uint8_t reg_addr, uint8_t *reg_data, uint8_t len, struct iam20680_dev *dev)
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{
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// Write the data.
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dev->status = dev->write(reg_addr, reg_data, len);
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return dev->status;
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}
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/*!
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* @brief This api reads the data from the given register address of the sensor.
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*/
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uint8_t iam20680_read_regs(uint8_t reg_addr, uint8_t *reg_data, uint8_t len, struct iam20680_dev *dev)
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{
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// Check if SPI is used.
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if (dev->interface == IAM20680_SPI)
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{
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reg_addr |= 0x80;
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}
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// Read the data.
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dev->status = dev->read(reg_addr, reg_data, len);
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return dev->status;
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}
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/*!
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* @brief This api provides and blocking ms delay function.
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*/
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uint8_t iam20680_delay_ms(uint32_t delay, struct iam20680_dev *dev)
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{
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dev->status = 1;
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dev->delay(delay);
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dev->status = 0;
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return dev->status;
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}
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/*!
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* @brief This api gets acceleromter, temperature, and gyrometer data.
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*/
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uint8_t iam20680_get_data(struct iam20680_data *data, struct iam20680_dev *dev)
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{
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uint8_t buff[14] = {0}; // Accel, temp, and gyro two bytes each.
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dev->status = iam20680_read_regs((uint8_t)IAM20680_ACCEL_XOUT_H, &buff[0], sizeof(buff), dev);
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data->accel_x = (buff[0] << 8) | buff[1];
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data->accel_y = (buff[2] << 8) | buff[3];
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data->accel_z = (buff[4] << 8) | buff[5];
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data->temp = (buff[6] << 8) | buff[7];
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data->gyro_x = (buff[8] << 8) | buff[9];
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data->gyro_y = (buff[10] << 8) | buff[11];
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data->gyro_z = (buff[12] << 8) | buff[13];
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return dev->status;
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}
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