Gyroscope DLPF and full-scale sweep for the DevLab ICM-20948. More...

#include <Wire.h>
#include <DevLab_ICM20948.h>

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Classes
struct	configDLPF
	Gyroscope DLPF divider and timing configuration. More...

Macros
#define	SDA_PIN 6
	I2C SDA pin used by the example board.

#define	SCL_PIN 7
	I2C SCL pin used by the example board.

#define	I2C_FREQ 400000UL
	I2C bus speed in hertz.

#define	ICM_ADDR 0x69
	ICM-20948 I2C address selected by the AD0 pin.

Functions
void	printLinea ()
	Print a separator line to Serial.

void	printDobleLinea ()
	Print a double separator line to Serial.

void	firstStage ()
	Verify the IMU identity register.

bool	applySettings (uint8_t fs_idx, const configDLPF &cfg)
	Apply one gyroscope full-scale and DLPF configuration.

void	runSweep ()
	Run the gyroscope validation sweep and print each captured sample.

void	setup ()
	Initialize I2C, reset/wake the IMU, enable gyro, and start the sweep.

void	loop ()
	Empty loop; this sketch runs the gyroscope sweep once in setup().

Variables
const configDLPF	configsDLPF []

const uint8_t	N_DLPF = sizeof(configsDLPF) / sizeof(configsDLPF[0])
	Number of gyroscope DLPF configurations.

const ICM20948_Gyro_FullScale	gyroFSCfg []
	Gyroscope full-scale ranges exercised by the sweep.

const char *	etiquetasGyroFSCfg [] = {"250", "500", "1000", "2000"}
	Text labels matching gyroFSCfg.

const uint8_t	N_FS = 4
	Number of gyroscope full-scale ranges.

const ICM20948_Gyro_DLPF	gyroDLPF []
	Gyroscope DLPF enum values matching configsDLPF.

const ICM20948_Gyro_Average	gyroAVGCfg []
	Gyroscope averaging settings available for experiments.

const char *	etiquetasGyroAVGCfg [] = {"1","2","4","8","16","32","64","128"}
	Text labels matching gyroAVGCfg.

const uint8_t	N_AVG = 8
	Number of gyroscope averaging settings.

DevLab_ICM20948	imu
	Global ICM-20948 driver instance.

Detailed Description

Gyroscope DLPF and full-scale sweep for the DevLab ICM-20948.

Author: Jonathan Mejorado Lopez

Applies each gyroscope filter/full-scale configuration over I2C and prints repeated samples for validation and noise comparison.

Definition in file gyr_test.ino.

Macro Definition Documentation

◆ I2C_FREQ

#define I2C_FREQ 400000UL

I2C bus speed in hertz.

Definition at line 19 of file gyr_test.ino.

◆ ICM_ADDR

#define ICM_ADDR 0x69

ICM-20948 I2C address selected by the AD0 pin.

Definition at line 21 of file gyr_test.ino.

◆ SCL_PIN

#define SCL_PIN 7

I2C SCL pin used by the example board.

Definition at line 17 of file gyr_test.ino.

◆ SDA_PIN

#define SDA_PIN 6

I2C SDA pin used by the example board.

Definition at line 15 of file gyr_test.ino.

Function Documentation

◆ applySettings()

bool applySettings	(	uint8_t	fs_idx,
		const configDLPF &	cfg
	)

Apply one gyroscope full-scale and DLPF configuration.

Parameters

fs_idx	Index into gyroFSCfg.
cfg	DLPF timing and divider configuration.

Returns: true if all configuration writes succeeded, otherwise false.

Definition at line 124 of file gyr_test.ino.

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◆ firstStage()

void firstStage ( )

Verify the IMU identity register.

Definition at line 108 of file gyr_test.ino.

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◆ loop()

void loop ( )

Empty loop; this sketch runs the gyroscope sweep once in setup().

Definition at line 239 of file gyr_test.ino.

◆ printDobleLinea()

void printDobleLinea ( )

Print a double separator line to Serial.

Definition at line 103 of file gyr_test.ino.

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◆ printLinea()

void printLinea ( )

Print a separator line to Serial.

Definition at line 101 of file gyr_test.ino.

◆ runSweep()

void runSweep ( )

Run the gyroscope validation sweep and print each captured sample.

Definition at line 149 of file gyr_test.ino.

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◆ setup()

void setup ( )

Initialize I2C, reset/wake the IMU, enable gyro, and start the sweep.

Definition at line 194 of file gyr_test.ino.

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Variable Documentation

◆ configsDLPF

const configDLPF configsDLPF[]

Initial value:

= {
  {  0,   0,  229.8f, 1125.0f, "196,6 ; 229,8 ; 1125.0 " },
  {  1,   0,  187.6f, 1125.0f, "151,8 ; 187.6 ; 1125.0 " },
  {  2,   0,  154.3f,  1125.0f, "119,5 ; 154,3 ; 1125.0 " },
  {  3,   2,   73.3f,  375.0f, "51,2 ; 73,3 ; 375 " },
  {  4,   5,   35.9f,  187.5f, "23,9 ; 35,9 ; 187.5 " },
  {  5,  14,   17.8f,   75.0f, "11,6 ; 17,8 ;  75.0 " },
  {  6,  29,    8.9f,   37.5f, "5,7 ; 8,9 ;  37.5 " },
  {  7,   0,  376.5f, 1125.0f, "361,4 ; 376,5 ; 1125 " },
}

Definition at line 42 of file gyr_test.ino.

◆ etiquetasGyroAVGCfg

const char* etiquetasGyroAVGCfg[] = {"1","2","4","8","16","32","64","128"}

Text labels matching gyroAVGCfg.

Definition at line 93 of file gyr_test.ino.

◆ etiquetasGyroFSCfg

const char* etiquetasGyroFSCfg[] = {"250", "500", "1000", "2000"}

Text labels matching gyroFSCfg.

Definition at line 64 of file gyr_test.ino.

◆ gyroAVGCfg

const ICM20948_Gyro_Average gyroAVGCfg[]

Initial value:

= {
  ICM20948_Gyro_Average::AVG_1,
  ICM20948_Gyro_Average::AVG_2,
  ICM20948_Gyro_Average::AVG_4,
  ICM20948_Gyro_Average::AVG_8,
  ICM20948_Gyro_Average::AVG_16,
  ICM20948_Gyro_Average::AVG_32,
  ICM20948_Gyro_Average::AVG_64,
  ICM20948_Gyro_Average::AVG_128
}

Gyroscope averaging settings available for experiments.

Definition at line 81 of file gyr_test.ino.

◆ gyroDLPF

const ICM20948_Gyro_DLPF gyroDLPF[]

Initial value:

= {
  ICM20948_Gyro_DLPF::DLPF_196HZ,
  ICM20948_Gyro_DLPF::DLPF_151HZ,
  ICM20948_Gyro_DLPF::DLPF_119HZ,
  ICM20948_Gyro_DLPF::DLPF_51HZ,
  ICM20948_Gyro_DLPF::DLPF_23HZ,
  ICM20948_Gyro_DLPF::DLPF_11HZ,
  ICM20948_Gyro_DLPF::DLPF_5HZ,
  ICM20948_Gyro_DLPF::DLPF_361HZ
}

Gyroscope DLPF enum values matching configsDLPF.

Definition at line 69 of file gyr_test.ino.

◆ gyroFSCfg

const ICM20948_Gyro_FullScale gyroFSCfg[]

Initial value:

= {
  ICM20948_Gyro_FullScale::DPS_250,
  ICM20948_Gyro_FullScale::DPS_500,
  ICM20948_Gyro_FullScale::DPS_1000,
  ICM20948_Gyro_FullScale::DPS_2000
}

Gyroscope full-scale ranges exercised by the sweep.

Definition at line 56 of file gyr_test.ino.

◆ imu

DevLab_ICM20948 imu

Global ICM-20948 driver instance.

Definition at line 98 of file gyr_test.ino.

◆ N_AVG

const uint8_t N_AVG = 8

Number of gyroscope averaging settings.

Definition at line 95 of file gyr_test.ino.

◆ N_DLPF

const uint8_t N_DLPF = sizeof(configsDLPF) / sizeof(configsDLPF[0])

Number of gyroscope DLPF configurations.

Definition at line 53 of file gyr_test.ino.

◆ N_FS

const uint8_t N_FS = 4

Number of gyroscope full-scale ranges.

Definition at line 66 of file gyr_test.ino.

Classes

Macros

Functions

Variables

Detailed Description

Macro Definition Documentation

◆ I2C_FREQ

◆ ICM_ADDR

◆ SCL_PIN

◆ SDA_PIN

Function Documentation

◆ applySettings()

◆ firstStage()

◆ loop()

◆ printDobleLinea()

◆ printLinea()

◆ runSweep()

◆ setup()

Variable Documentation

◆ configsDLPF

◆ etiquetasGyroAVGCfg

◆ etiquetasGyroFSCfg

◆ gyroAVGCfg

◆ gyroDLPF

◆ gyroFSCfg

◆ imu

◆ N_AVG

◆ N_DLPF

◆ N_FS