test2.ino File Reference

Extended accelerometer DLPF, full-scale, and averaging sweep. 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, uint8_t avg)
	Apply one accelerometer full-scale, DLPF, and averaging configuration.
void	runSweep ()
	Run the full accelerometer validation matrix and print samples.
void	setup ()
	Initialize I2C, reset/wake the IMU, enable sensors, and start sweep.
void	loop ()
	Optional post-sweep loop for manual accelerometer reads.

Variables
const configDLPF	configsDLPF []
	Accelerometer DLPF configurations exercised by this sweep.
const uint8_t	N_DLPF = sizeof(configsDLPF) / sizeof(configsDLPF[0])
	Number of accelerometer DLPF configurations.
const ICM20948_Accel_FullScale	accelCfg []
	Accelerometer full-scale ranges exercised by the sweep.
const char *	etiquetasAccelCfg [] = { "+-2G","+-4G","+-8G","+-16G" }
	Text labels matching accelCfg.
const uint8_t	N_FS = 4
	Number of accelerometer full-scale ranges.
const ICM20948_Accel_DLPFCFG	accelDLPF []
	Accelerometer DLPF enum values matching configsDLPF.
const ICM20948_Accel_Average	accelAVG []
	Accelerometer averaging settings exercised by the sweep.
const char *	etiquetasAccelAVG [] = { "14","8","16","32" }
	Text labels matching accelAVG.
const uint8_t	N_AVG = 4
	Number of accelerometer averaging settings.
const uint16_t	accelSR []
	Raw accelerometer sample-rate divider values for experiments.
const char *	etiquetasSR []
	Text labels matching accelSR output data rates.
DevLab_ICM20948	imu
	Global ICM-20948 driver instance.
uint8_t	total_pass = 0
	Count of validation passes reserved for future checks.
uint8_t	total_fail = 0
	Count of validation failures reserved for future checks.
uint8_t	total_warn = 0
	Count of validation warnings reserved for future checks.

Detailed Description

Extended accelerometer DLPF, full-scale, and averaging sweep.

Author

Jonathan Mejorado Lopez

Runs a larger I2C validation matrix for the DevLab ICM-20948 accelerometer and prints CSV-like samples for later analysis.

Definition in file test2.ino.

Macro Definition Documentation

I2C_FREQ

#define I2C_FREQ   400000UL

I2C bus speed in hertz.

Definition at line 20 of file test2.ino.

ICM_ADDR

#define ICM_ADDR   0x69

ICM-20948 I2C address selected by the AD0 pin.

Definition at line 22 of file test2.ino.

SCL_PIN

#define SCL_PIN   7

I2C SCL pin used by the example board.

Definition at line 18 of file test2.ino.

SDA_PIN

#define SDA_PIN   6

I2C SDA pin used by the example board.

Definition at line 16 of file test2.ino.

Function Documentation

applySettings()

bool applySettings	(	uint8_t	fs_idx,
		const configDLPF &	cfg,
		uint8_t	avg
	)

Apply one accelerometer full-scale, DLPF, and averaging configuration.

Parameters

fs_idx	Index into accelCfg.
cfg	DLPF timing and divider configuration.
avg	Index into accelAVG.

Returns

true if all configuration writes succeeded, otherwise false.

Definition at line 150 of file test2.ino.

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firstStage()

void firstStage

(

)

Verify the IMU identity register.

Definition at line 124 of file test2.ino.

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loop()

void loop

(

)

Optional post-sweep loop for manual accelerometer reads.

Definition at line 299 of file test2.ino.

printDobleLinea()

void printDobleLinea

(

)

Print a double separator line to Serial.

Definition at line 117 of file test2.ino.

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printLinea()

void printLinea

(

)

Print a separator line to Serial.

Definition at line 115 of file test2.ino.

runSweep()

void runSweep

(

)

Run the full accelerometer validation matrix and print samples.

Definition at line 184 of file test2.ino.

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setup()

void setup

(

)

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

Definition at line 251 of file test2.ino.

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Variable Documentation

accelAVG

const ICM20948_Accel_Average accelAVG[]

Initial value:

= {
  ICM20948_Accel_Average::AVG_1_OR_4,
  ICM20948_Accel_Average::AVG_8,
  ICM20948_Accel_Average::AVG_16,
  ICM20948_Accel_Average::AVG_32
}

Accelerometer averaging settings exercised by the sweep.

Definition at line 83 of file test2.ino.

accelCfg

const ICM20948_Accel_FullScale accelCfg[]

Initial value:

= {
  ICM20948_Accel_FullScale::G_2,
  ICM20948_Accel_FullScale::G_4,
  ICM20948_Accel_FullScale::G_8,
  ICM20948_Accel_FullScale::G_16
}

Accelerometer full-scale ranges exercised by the sweep.

Definition at line 59 of file test2.ino.

accelDLPF

const ICM20948_Accel_DLPFCFG accelDLPF[]

Initial value:

= {
  ICM20948_Accel_DLPFCFG::DLPF0_246HZ,
  ICM20948_Accel_DLPFCFG::DLPF_246HZ,
  ICM20948_Accel_DLPFCFG::DLPF_111HZ,
  ICM20948_Accel_DLPFCFG::DLPF_50HZ,
  ICM20948_Accel_DLPFCFG::DLPF_24HZ,
  ICM20948_Accel_DLPFCFG::DLPF_12HZ,
  ICM20948_Accel_DLPFCFG::DLPF_6HZ,
  ICM20948_Accel_DLPFCFG::DLPF_473HZ
}

Accelerometer DLPF enum values matching configsDLPF.

Definition at line 71 of file test2.ino.

accelSR

const uint16_t accelSR[]

Initial value:

= {
  0, 1, 3, 5, 7, 10, 15, 22, 31, 63, 127, 255, 513, 1022, 2044, 4095
}

Raw accelerometer sample-rate divider values for experiments.

Definition at line 94 of file test2.ino.

configsDLPF

const configDLPF configsDLPF[]

Initial value:

= {
  {  0,   0,  265.0f, 1125.0f, "246 ; 265 ; 1125 " },
  {  1,   0,  265.0f, 1125.0f, "246 ; 265 ; 1125 " },
  {  2,   1,  136.0f,  562.5f, "111 ; 136 ; 562 " },
  {  3,   2,   68.8f,  375.0f, "50 ; 69 ; 375 " },
  {  4,   7,   34.4f,  140.6f, "24 ; 34 ; 141 " },
  {  5,  15,   17.0f,   70.3f, "12 ; 17 ;  70 " },
  {  6,  29,    8.3f,   37.5f, "6 ; 8 ;  35 " },
  {  7,   0,  499.0f, 1125.0f, "473 ; 499 ; 1125 " },
}

Accelerometer DLPF configurations exercised by this sweep.

Definition at line 42 of file test2.ino.

etiquetasAccelAVG

const char* etiquetasAccelAVG[] = { "14","8","16","32" }

Text labels matching accelAVG.

Definition at line 90 of file test2.ino.

etiquetasAccelCfg

const char* etiquetasAccelCfg[] = { "+-2G","+-4G","+-8G","+-16G" }

Text labels matching accelCfg.

Definition at line 66 of file test2.ino.

etiquetasSR

const char* etiquetasSR[]

Initial value:

= {
  "1125.0","562.5","281.3","187.5","140.6","102.3","70.3",
  "48.9","35.2","17.6","8.8","4.4","2.2","1.1","0.55","0.27"
}

Text labels matching accelSR output data rates.

Definition at line 98 of file test2.ino.

imu

DevLab_ICM20948 imu

Global ICM-20948 driver instance.

Definition at line 105 of file test2.ino.

N_AVG

const uint8_t N_AVG = 4

Number of accelerometer averaging settings.

Definition at line 92 of file test2.ino.

N_DLPF

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

Number of accelerometer DLPF configurations.

Definition at line 53 of file test2.ino.

N_FS

const uint8_t N_FS = 4

Number of accelerometer full-scale ranges.

Definition at line 68 of file test2.ino.

total_fail

uint8_t total_fail = 0

Count of validation failures reserved for future checks.

Definition at line 109 of file test2.ino.

total_pass

uint8_t total_pass = 0

Count of validation passes reserved for future checks.

Definition at line 107 of file test2.ino.

total_warn

uint8_t total_warn = 0

Count of validation warnings reserved for future checks.

Definition at line 111 of file test2.ino.