mokhwasomssi / stm32_hal_icm20948

ICM-20948 library with STM32 HAL driver

Experience 🦄

• HL Klemove (24.01 ~ Present) Platform SW Engineer
  • Mass Production Development of AUTOSAR Platfrom ADCU
    • ADCU(Automated Driving Control Unit)
• NEUBILITY (22.03 ~ 23.03) Embedded Firmware Engineer
  • Development of Non-OS, RTOS Robot Firmware
    • UART, SPI, PWM, DMA, ADC based on STM32 MCU
• Myongji University (18.03 ~ 24.02) Bachelor's Degree
  • Mechanical Engineering (ME)
  • Smart Embedded Mechanical System (EE)

Channel 🐬

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Project ✈️

Repo	Tag
Smart Clock with TouchGFX	GUI ToughGFX STM32F7
Elderly Care Robot	ROS2 RK3588 DepthCAM YOLO
IOT TableClock	ToughScreen WIFI ESP32
FPGA_Dang9	FPGA Xilinx Zynq Vivado
Game and Sensor Monitoring	Linux Ubuntu
Drone With Gyroscopic Guard	STM32F4 IMU BLDC PID
Dshot	Drone ESC Digital Protocol
ICM-20948	IMU 9-Axis SPI
Flysky ibus	Remote Controler Receiver Protocol
nRF24L01+	2.4GHz Transceiver SPI
SSD1306	OLED I2C 128x64
MPU6050	IMU 6-Axis I2C

stm32_hal_icm20948's Issues

Incorrect accelerometer data

When calling the function void icm20948_accel_read_g (axises * data); I am getting readings in g that do not have negative values. And the readings can be as high as 2.5g.

I also noticed that when receiving data from the gyroscope, some indication is remembered and in the future it is added to the gyroscope data

I am using STM32 Discovery board with STM32F407vgt chip

the bug in icm20948.c

Hi, I've found the bug in icm20948.c file.

void icm20948_accel_low_pass_filter(uint8_t config)
{
uint8_t new_val = read_single_icm20948_reg(ub_2, B2_ACCEL_CONFIG);
new_val |= config << 3;

// Bug !!! write_single_icm20948_reg(ub_2, B2_GYRO_CONFIG_1, new_val);
write_single_icm20948_reg(ub_2, B2_ACCEL_CONFIG, new_val);

}

Best Regards
James

I want to retrieve data in nrf52840 .

I have been doing efforts to do the same thing on NRF52840 with I2C , I have configured every register right but not get the desired data , It is giving me same value again and again and value is not changing at any time , Can you please help to me in that . Thanks in advance .This is code and its showing logs like that . [
code icm20948.txt
logs.txt
](url)

Friendly Register Assignments

Hi again. I can't help but notice that the way you assign values to registers is not friendly or... safe?

void icm20948_clock_source(uint8_t source)
{
	uint8_t new_val = read_single_icm20948_reg(ub_0, B0_PWR_MGMT_1);
	new_val |= source;

	write_single_icm20948_reg(ub_0, B0_PWR_MGMT_1, new_val);
}

In this snippet, you |= two values, but if I used a number like 0x41 instead of 0x01 here, I could theoretically put the chip into sleep instead of correctly setting the clock source.

Now, in the event that I wanted to set the clock source as 0x07, which I think is valid, and then later change it back to 0x01, I could not with your code.

Consider redoing your assignments to something that clears the bits for the field in the register before OR-ing them.

new_val = (new_val & 0xF8) | (source & 0x07);

would be a much safer way of preventing accidental changes to registers/configs, I think. Nearly every register config function should probably be updated like this.

Accel LPF Assignement

Hello. Thank you for writing this driver. I'm currently adapting it to be useful for a different IMU but STM32 friendly.

void icm20948_accel_low_pass_filter(uint8_t config)
{
	uint8_t new_val = read_single_icm20948_reg(ub_2, B2_ACCEL_CONFIG);
	new_val |= config << 3;

	write_single_icm20948_reg(ub_2, B2_GYRO_CONFIG_1, new_val);
}

I wanted to point out that the registers here do not line up. I think this is a simple typo, and it likely will not have much of an effect, but it would likely be a good idea to fix this before it affects someone's project.

icm20948 i2c

Hello again ,
I make read write function separately reading all register giving me just right value except b0_control reg of bank 0 and B0_EXT_SLV_SENS_DATA_00 , B0_EXT_SLV_SENS_DATA_00 giving me zero value again and again , I am just verifying whoiam of magnetometer . I am adding all codes here please give a small review on that .

static void magnetometer()
{
select_bank(0);
read_data(0,B0_USER_CTRL);
write_data(0,B0_USER_CTRL,0x22,2);
read_data(0,B0_USER_CTRL);
write_data(0,B0_USER_CTRL,0x22,2);
read_data(3,B3_I2C_MST_CTRL);
write_data(3,B3_I2C_MST_CTRL,0x07,2);
read_data(3,B3_I2C_MST_CTRL);
write_data(3,B3_I2C_SLV0_ADDR,0x8C,2);
read_data(3,B3_I2C_SLV0_ADDR);
write_data(3,B3_I2C_SLV0_REG,0x01,2);
read_data(3,B3_I2C_SLV0_REG);
write_data(3,B3_I2C_MST_CTRL,0x81,2);
read_data(3,B3_I2C_MST_CTRL);
nrf_delay_ms(10);
select_bank(0);
read_data(0,B0_EXT_SLV_SENS_DATA_00);
}
void write_data(uint8_t ub , uint8_t regaddress , uint8_t regdata , uint8_t size)
{
writeregaddress=regaddress;
writeregdata=regdata;
len = size;
writeub=ub;
nrf_delay_ms(10);
select_bank(writeub);
nrf_delay_ms(10);
uint8_t writedata[2] = {writeregaddress , writeregdata};
err_code = nrf_drv_twi_tx(&m_twi, ICM20948addr ,writedata,len, true);
APP_ERROR_CHECK(err_code);
}

void read_data(uint8_t ub , uint8_t regaddress)
{
writeub=ub;
readregaddress=regaddress;
nrf_delay_ms(10);
select_bank(writeub);
nrf_delay_ms(10);
err_code = nrf_drv_twi_tx(&m_twi, ICM20948addr ,&readregaddress,1, true);
APP_ERROR_CHECK(err_code);
nrf_delay_ms(10);
read_sensor_data();
}

void select_bank(uint8_t bankselectvalue)
{
funbankselect=bankselectvalue;
shifted_value=funbankselect<<4;
bank[0]=bankselect;
bank[1]=shifted_value;
err_code = nrf_drv_twi_tx(&m_twi, ICM20948addr,bank,2, false);
APP_ERROR_CHECK(err_code);
}

void read_sensor_data()
{
m_xfer_done = false;
//NRF_LOG_INFO("1");
//NRF_LOG_FLUSH();

/* Read 1 byte from the specified address - skip 3 bits dedicated for fractional part of temperature. */
ret_code_t err_code = nrf_drv_twi_rx(&m_twi,ICM20948addr ,& m_sample, 1);
APP_ERROR_CHECK(err_code);
NRF_LOG_INFO("%x",m_sample);
NRF_LOG_FLUSH();
}

int main()
{
APP_ERROR_CHECK(NRF_LOG_INIT(NULL));
NRF_LOG_DEFAULT_BACKENDS_INIT();
NRF_LOG_INFO("\r\nTWI sensor example started.");
NRF_LOG_FLUSH();
twi_init();
NRF_LOG_INFO("1");
NRF_LOG_FLUSH();
//ICM();
magnetometer();
NRF_LOG_INFO("end icm");

NRF_LOG_FLUSH();
}
and these are logs

app:
TWI sensor example started.
app: 1
app: 0
app: Register value = 32
app: 20
app: Register value = 32
app: 20
app: Register value = 129
app: 81
app: Register value = 7
app: 7
app: Register value = 140
app: 8C
app: Register value = 1
app: 1
app: Register value = 129
app: 81
app: Register value = 0
app: end icm

please reply , Thanks in advance.