[nRF52] add support for ICM-20948 IMU sensor [skip ci]

software/firmware/source/SoftRF/src/platform/nRF52.cpp

@@ -284,7 +284,9 @@ ui_settings_t *ui;
 #define IMU_UPDATE_INTERVAL 500 /* ms */
 
 #include <MPU9250.h>
-MPU9250 imu;
+#include <ICM_20948.h>
+MPU9250 imu_1;
+ICM_20948_I2C imu_2;
 
 static bool nRF52_has_imu = false;
 static unsigned long IMU_Time_Marker = 0;
@@ -673,6 +675,10 @@ static void nRF52_setup()
 #if !defined(EXCLUDE_IMU)
  Wire.beginTransmission(MPU9250_ADDRESS);
  nRF52_has_imu = (Wire.endTransmission() == 0);
+ if (nRF52_has_imu == false) {
+ Wire.beginTransmission(ICM20948_ADDRESS);
+ nRF52_has_imu = (Wire.endTransmission() == 0);
+ }
 #endif /* EXCLUDE_IMU */
 
  Wire.end();
@@ -781,14 +787,20 @@ static void nRF52_setup()
 #endif /* ARDUINO_ARCH_MBED */
 
 #if !defined(EXCLUDE_IMU)
- if (nRF52_has_imu && imu.setup(MPU9250_ADDRESS)) {
- imu.verbose(false);
- if (imu.isSleeping()) {
- imu.sleep(false);
+ if (nRF52_has_imu && imu_1.setup(MPU9250_ADDRESS)) {
+ imu_1.verbose(false);
+ if (imu_1.isSleeping()) {
+ imu_1.sleep(false);
  }
  hw_info.imu = IMU_MPU9250;
  hw_info.mag = MAG_AK8963;
  IMU_Time_Marker = millis();
+ } else {
+ if (nRF52_has_imu && imu_2.begin() == ICM_20948_Stat_Ok) {
+ hw_info.imu = IMU_ICM20948;
+ hw_info.mag = MAG_AK09916;
+ IMU_Time_Marker = millis();
+ }
  }
 #endif /* EXCLUDE_IMU */
 
@@ -943,7 +955,8 @@ static void nRF52_post_init()
  Serial.println();
  Serial.println(F("External components:"));
  Serial.print(F("IMU : "));
- Serial.println(hw_info.imu == IMU_MPU9250 ? F("PASS") : F("N/A"));
+ Serial.println(hw_info.imu == IMU_MPU9250 ||
+ hw_info.imu == IMU_ICM20948 ? F("PASS") : F("N/A"));
  Serial.flush();
 #endif /* EXCLUDE_IMU */
 
@@ -1128,15 +1141,28 @@ static void nRF52_loop()
 #if !defined(EXCLUDE_IMU)
  if (hw_info.imu == IMU_MPU9250 &&
  (millis() - IMU_Time_Marker) > IMU_UPDATE_INTERVAL) {
- if (imu.update()) {
- float a_x = imu.getAccX();
- float a_y = imu.getAccY();
- float a_z = imu.getAccZ();
+ if (imu_1.update()) {
+ float a_x = imu_1.getAccX();
+ float a_y = imu_1.getAccY();
+ float a_z = imu_1.getAccZ();
 
  IMU_g = sqrtf(a_x*a_x + a_y*a_y + a_z*a_z);
  }
  IMU_Time_Marker = millis();
  }
+
+ if (hw_info.imu == IMU_ICM20948 &&
+ (millis() - IMU_Time_Marker) > IMU_UPDATE_INTERVAL) {
+ if (imu_2.dataReady()) {
+ // milli g's
+ float a_x = imu_2.accX();
+ float a_y = imu_2.accY();
+ float a_z = imu_2.accZ();
+
+ IMU_g = sqrtf(a_x*a_x + a_y*a_y + a_z*a_z) / 1000;
+ }
+ IMU_Time_Marker = millis();
+ }
 #endif /* EXCLUDE_IMU */
 }
 
@@ -1155,7 +1181,12 @@ static void nRF52_fini(int reason)
 
 #if !defined(EXCLUDE_IMU)
  if (hw_info.imu == IMU_MPU9250) {
- imu.sleep(true);
+ imu_1.sleep(true);
+ }
+
+ if (hw_info.imu == IMU_ICM20948) {
+ imu_2.sleep(true);
+ // imu_2.lowPower(true);
  }
 #endif /* EXCLUDE_IMU */
 

software/firmware/source/SoftRF/src/platform/nRF52.h

@@ -104,6 +104,7 @@ struct rst_info {
 #define DFU_MAGIC_SKIP (0x6d)
 #define BME280_ADDRESS (0x77)
 #define MPU9250_ADDRESS (0x68)
+#define ICM20948_ADDRESS (0x69)
 
 #if defined(ARDUINO_ARCH_MBED)
 #define PCF8563_SLAVE_ADDRESS (0x51)