Accelerometer DLPF validation sketch for the 7Semi ICM-20948. More...

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

Include dependency graph for test.ino:

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.

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

void	firstStage ()
	Verify the IMU identity register.

void	runSweep ()
	Run the accelerometer DLPF validation sweep 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 validation.

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

const ICM20948_Accel_FullScale	accelCfg [] = { ICM20948_Accel_FullScale::G_2, ICM20948_Accel_FullScale::G_4, ICM20948_Accel_FullScale::G_8, ICM20948_Accel_FullScale::G_16}
	Accelerometer full-scale ranges available for validation.

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 [] = { 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.

const char *	etiquetasAccelDLPFCFG [] = { "246/265", "246/265", "111/136", "50.4/68.8","23.9/34.4", "11.5/17.0", "5.7/8.3","473/499"}
	Text labels describing accelDLPF bandwidth pairs.

const ICM20948_Accel_Average	accelAVG [] = {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 available for validation.

const char *	etiquetasAccelAVG [] = {"1 OR 4","8","16","32"}
	Text labels matching accelAVG.

const uint16_t	accelSR [] = {0, 1, 3, 5, 7 , 10, 15, 22, 31, 63, 127, 255, 513, 1022, 2044, 4095}
	Raw accelerometer sample-rate divider values for experiments.

const char *	etiquetasSR [] = { "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.

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

Accelerometer DLPF validation sketch for the 7Semi ICM-20948.

Author: Jonathan Mejorado Lopez

Runs an I2C accelerometer sweep across DLPF settings, prints sample data to Serial, and is intended for bench validation with the sensor flat and stationary.

Definition in file test.ino.

Macro Definition Documentation

◆ I2C_FREQ

#define I2C_FREQ 400000UL

I2C bus speed in hertz.

Definition at line 20 of file test.ino.

◆ ICM_ADDR

#define ICM_ADDR 0x69

ICM-20948 I2C address selected by the AD0 pin.

Definition at line 26 of file test.ino.

◆ SCL_PIN

#define SCL_PIN 7

I2C SCL pin used by the example board.

Definition at line 18 of file test.ino.

◆ SDA_PIN

#define SDA_PIN 6

I2C SDA pin used by the example board.

Definition at line 16 of file test.ino.

Function Documentation

◆ applySettings()

bool applySettings	(	uint8_t	fs_idx,
		const configDLPF &	cfg
	)

Apply one accelerometer full-scale and DLPF configuration.

Parameters

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

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

Definition at line 115 of file test.ino.

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◆ firstStage()

void firstStage ( )

Verify the IMU identity register.

Definition at line 132 of file test.ino.

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◆ loop()

void loop ( )

Optional post-sweep loop for manual accelerometer reads.

Definition at line 226 of file test.ino.

◆ printDobleLinea()

void printDobleLinea ( )

Print a double separator line to Serial.

Definition at line 104 of file test.ino.

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◆ printLinea()

void printLinea ( )

Print a separator line to Serial.

Definition at line 99 of file test.ino.

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◆ runSweep()

void runSweep ( )

Run the accelerometer DLPF validation sweep and print samples.

Definition at line 145 of file test.ino.

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◆ setup()

void setup ( )

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

Definition at line 187 of file test.ino.

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Variable Documentation

◆ accelAVG

const ICM20948_Accel_Average accelAVG[] = {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 available for validation.

Definition at line 73 of file test.ino.

◆ accelCfg

const ICM20948_Accel_FullScale accelCfg[] = { ICM20948_Accel_FullScale::G_2, ICM20948_Accel_FullScale::G_4, ICM20948_Accel_FullScale::G_8, ICM20948_Accel_FullScale::G_16}

Accelerometer full-scale ranges available for validation.

Definition at line 61 of file test.ino.

◆ accelDLPF

const ICM20948_Accel_DLPFCFG accelDLPF[] = { 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 68 of file test.ino.

◆ accelSR

const uint16_t accelSR[] = {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 78 of file test.ino.

◆ configsDLPF

const configDLPF configsDLPF[]

Initial value:

= {
  
  {  0,   0,   265.0f,  1125.0f,  "DLPF0_246 | NBW=265Hz | ODR=1125Hz (4.2x)" },
  {  1,   0,   265.0f,  1125.0f,  "DLPF_246  | NBW=265Hz | ODR=1125Hz (4.2x)" },
  {  2,   1,   136.0f,   562.5f,  "DLPF_111  | NBW=136Hz | ODR= 562Hz (4.1x)" },
  {  3,   3,    68.8f,   281.3f,  "DLPF_50   | NBW= 69Hz | ODR= 281Hz (4.1x)" },
  {  4,   7,    34.4f,   140.6f,  "DLPF_24   | NBW= 34Hz | ODR= 141Hz (4.1x)" },
  {  5,  15,    17.0f,    70.3f,  "DLPF_12   | NBW= 17Hz | ODR=  70Hz (4.1x)" },
  {  6,  31,     8.3f,    35.2f,  "DLPF_6    | NBW=  8Hz | ODR=  35Hz (4.2x)" },
  {  7,   0,   499.0f,  1125.0f,  "DLPF_473  | NBW=499Hz | ODR=1125Hz (2.3x)" },
}

Accelerometer DLPF configurations exercised by this validation.

Definition at line 43 of file test.ino.

◆ etiquetasAccelAVG

const char* etiquetasAccelAVG[] = {"1 OR 4","8","16","32"}

Text labels matching accelAVG.

Definition at line 75 of file test.ino.

◆ etiquetasAccelCfg

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

Text labels matching accelCfg.

Definition at line 63 of file test.ino.

◆ etiquetasAccelDLPFCFG

const char* etiquetasAccelDLPFCFG[] = { "246/265", "246/265", "111/136", "50.4/68.8","23.9/34.4", "11.5/17.0", "5.7/8.3","473/499"}

Text labels describing accelDLPF bandwidth pairs.

Definition at line 70 of file test.ino.

◆ etiquetasSR

const char* etiquetasSR[] = { "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 80 of file test.ino.

◆ imu

DevLab_ICM20948 imu

Global ICM-20948 driver instance.

Definition at line 85 of file test.ino.

◆ N_DLPF

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

Number of accelerometer DLPF configurations.

Definition at line 58 of file test.ino.

◆ N_FS

const uint8_t N_FS = 4

Number of accelerometer full-scale ranges.

Definition at line 65 of file test.ino.

◆ total_fail

uint8_t total_fail = 0

Count of validation failures reserved for future checks.

Definition at line 90 of file test.ino.

◆ total_pass

uint8_t total_pass = 0

Count of validation passes reserved for future checks.

Definition at line 88 of file test.ino.

◆ total_warn

uint8_t total_warn = 0

Count of validation warnings reserved for future checks.

Definition at line 92 of file 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

◆ accelAVG

◆ accelCfg

◆ accelDLPF

◆ accelSR

◆ configsDLPF

◆ etiquetasAccelAVG

◆ etiquetasAccelCfg

◆ etiquetasAccelDLPFCFG

◆ etiquetasSR

◆ imu

◆ N_DLPF

◆ N_FS

◆ total_fail

◆ total_pass

◆ total_warn