【2024 DigiKey Creative Competition】+ Use of control module

zsy-s · Published on 2024-10-29 22:29

【2024 DigiKey Creative Competition】+ Use of control module [Copy link]

<i class="pstatus"> This post was last edited by zsy-s on 2024-10-29 22:29 </i> # Preface This section implements the reading and writing of data for the 9-axis sensor of the module icm20948 # Module Introduction ICM-20948 integrates a three-axis gyroscope, a three-axis accelerometer, a three-axis magnetometer, and a digital motion processor (DMP). This highly integrated design simplifies system design, reduces costs, and improves system reliability. The programmable full-scale range (FSR) of the three-axis gyroscope is ±250dps, ±500dps, ±1000dps, and ±2000dps; the programmable FSR of the three-axis accelerometer is ±2g, ±4g, ±8g, and ±16g; the range of the three-axis magnetometer can reach ±4900T. These high-precision measurement parameters enable ICM-20948 to accurately perform attitude measurement and motion tracking. ICM-20948 provides I2C and 7MHz high-speed SPI communication interfaces, which facilitate data transmission with the main controller. #Hardware support The development board provides a 1.8v output, but the actual measurement is 2.1v 
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 By taking a photo, I can see that the silk screen is S5XE, not the 1.8v silk screen, which may be soldered incorrectly. ~~The output voltage is used to provide a voltage conversion reference for the voltage converter chip, so I need to buy a 1.8v chip to replace this one. ~~The pins used by the development board are io48 (scl), io47 (sda). 
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 The address of iic, according to the document, defaults to: 0x69 
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 #Control module 
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 Communicate with this control module through the iic interface. The 1.8v pin above is an output pin, which can provide 1.8v voltage to the outside. There is a voltage chip inside the module, which is used to convert vdd to 1.8v. The voltage of vdd can be 3.3v or 5v. For the 9-axis data, the register area is located in band0, as follows: 
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 3-axis inertial navigation (GYRO), 3-axis acceleration (ACCLE), 3-axis magnetic compass (COMPASS), which are the data required by this small application tool. # Program explanation ```c //Initialize iic handle static esp_err_t i2c_bus_init(void) { i2c_config_t conf; conf.mode = I2C_MODE_MASTER; conf.sda_io_num = 47; conf.sda_pullup_en = GPIO_PULLUP_ENABLE; conf.scl_io_num = 48; conf.scl_pullup_en = GPIO_PULLUP_ENABLE; conf.master.clk_speed = I2C_MASTER_FREQ_HZ; conf.clk_flags = I2C_SCLK_SRC_FLAG_FOR_NOMAL; esp_err_t ret = i2c_param_config(I2C_MASTER_NUM, &conf); if (ret != ESP_OK) return ret; return i2c_driver_install(I2C_MASTER_NUM, conf.mode, 0, 0, 0); } Save the configuration information of iic```c icm20948_handle_t icm20948_create(i2c_port_t port, const uint16_t dev_addr) { icm20948_dev_t *sensor = (icm20948_dev_t *)calloc(1, sizeof(icm20948_dev_t)); sensor->bus = port; sensor->dev_addr = dev_addr << 1; sensor->counter = 0; sensor->dt = 0; sensor->timer = (struct timeval *)calloc(1, sizeof(struct timeval)); return (icm20948_handle_t)sensor; } ``` ``` Create an interface for writing registers```c static esp_err_t icm20948_write(icm20948_handle_t sensor, const uint8_t reg_start_addr, const uint8_t *const data_buf, const uint8_t data_len) { icm20948_dev_t *sens = (icm20948_dev_t *)sensor; esp_err_t ret; i2c_cmd _handle_t cmd = i2c_cmd_link_create(); ret = i2c_master_start(cmd); assert(ESP_OK == ret); ret = i2c_master_write_byte(cmd, sens->dev_addr | I2C_MASTER_WRITE, true); assert(ESP_OK == ret); ret = i2c_master_write_byte(cmd, reg_start_addr, true); assert(ESP_OK == ret); ret = i2c_master_write(cmd, data_buf, data_len, true); assert(ESP_OK == ret); ret = i2c_master_stop(cmd); assert(ESP_OK == ret); ret = i2c_master_cmd_begin(sens->bus, cmd, 1000 / portTICK_PERIOD_MS); i2c_cmd_link_delete(cm d); return ret; } ```Create a read interface```c static esp_err_t icm20948_read(icm20948_handle_t sensor, const uint8_t reg_start_addr, uint8_t *const data_buf, const uint8_t data_len) { icm20948_dev_t *sens = (icm20948_dev_t *)s sensor; esp_err_t ret; i2c_cmd_handle_t cmd = i2c_cmd_link_create(); ret = i2c_master_start(cmd); assert(ESP_OK == ret); ret = i2c_master_write_byte(cmd, sens->dev_addr | I2C_MASTER_WRITE, true); assert(ESP_OK == ret); ret = i2c_ master_write_byte(cmd,reg_start_addr, true);
    assert(ESP_OK == ret);
    ret = i2c_master_start(cmd);
    assert(ESP_OK == ret);
    ret = i2c_master_write_byte(cmd, sens->dev_addr | I2C_MASTER_READ, true);
    assert(ESP_OK == ret);
    ret = i2c_master_read(cmd, data_buf, data_len, I2C_MASTER_LAST_NACK);
    assert(ESP_OK == ret);
    ret = i2c_master_stop(cmd);
    assert(ESP_OK == ret);
    ret = i2c_master_cmd_begin(sens->bus, cmd, 1000 / portTICK_PERIOD_MS);
    i2c_cmd_link_delete(cmd);

return ret;
}
```
设置活跃的bank寄存器区
```c
esp_err_t
icm20948_set_bank(icm20948_handle_t sensor, uint8_t bank)
{
    esp_err_t ret;
    if (bank > 3)
        return ESP_FAIL;
    bank = (bank << 4) & 0x30;
    ret = icm20948_write(sensor, ICM20948_REG_BANK_SEL, &bank, 1);
    return ret;
}
```
重启芯片
```c
esp_err_t
icm20948_reset(icm20948_handle_t sensor)
{
    esp_err_t ret;
    uint8_t tmp;

ret = icm20948_read(sensor, ICM20948_PWR_MGMT_1, &tmp, 1);
    if (ret != ESP_OK)
        return ret;
    tmp |= 0x80;
    ret = icm20948_write(sensor, ICM20948_PWR_MGMT_1, &tmp, 1);
    if (ret != ESP_OK)
        return ret;

return ret;
}
```
唤醒芯片，开始工作
```c
esp_err_t
icm20948_wake_up(icm20948_handle_t sensor)
{
    esp_err_t ret;
    uint8_t tmp;
    ret = icm20948_read(sensor, ICM20948_PWR_MGMT_1, &tmp, 1);
    if (ESP_OK != ret) {
        return ret;
    }
    tmp &= (~BIT6);
    ret = icm20948_write(sensor, ICM20948_PWR_MGMT_1, &tmp, 1);
    return ret;
}
```

获取加速度三轴
```c
esp_err_t
icm20948_get_acce_fs(icm20948_handle_t sensor, icm20948_acce_fs_t *acce_fs)
{
    esp_err_t ret;
    uint8_t tmp;

ret = icm20948_set_bank(sensor, 2);
    if (ret != ESP_OK)
        return ret;

ret = icm20948_read(sensor, ICM20948_ACCEL_CONFIG, &tmp, 1);

#if CONFIG_LOG_DEFAULT_LEVEL == 4
    printf(BYTE_TO_BINARY_PATTERN "\n", BYTE_TO_BINARY(tmp));
#endif

tmp &= 0x06;
    tmp >>= 1;
    *acce_fs = tmp;
    return ret;
}
```
获取惯导三轴
```c
esp_err_t
icm20948_get_acce_fs(icm20948_handle_t sensor, icm20948_acce_fs_t *acce_fs)
{
    esp_err_t ret;
    uint8_t tmp;

ret = icm20948_set_bank(sensor, 2);
    if (ret != ESP_OK)
        return ret;

ret = icm20948_read(sensor, ICM20948_ACCEL_CONFIG, &tmp, 1);

#if CONFIG_LOG_DEFAULT_LEVEL == 4
    printf(BYTE_TO_BINARY_PATTERN "\n", BYTE_TO_BINARY(tmp));
#endif

tmp &= 0x06;
    tmp >>= 1;
    *acce_fs = tmp;
    return ret;
}
```1);
    return ret;
}
```
重启芯片
```c
esp_err_t
icm20948_reset(icm20948_handle_t sensor)
{
    esp_err_t ret;
    uint8_t tmp;