Skip to content

Fix/moved mag reset outside of constructor #33

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
kammce merged 4 commits into from
Jan 26, 2026
Merged

Fix/moved mag reset outside of constructor #33

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
4 commits
Select commit Hold shift + click to select a range
8de8cda
removed mag and icm reset calls from constructor; included the calls …
yyaatt0 Jan 23, 2026
12b6a3e
moved only the rest_mag() outside of the constructor for a consistent…
yyaatt0 Jan 24, 2026
1636a69
added steady clock into the icm as well as other supporting functions
yyaatt0 Jan 26, 2026
cac14ef
specified the error catch to hal::no_such_device and removed having s…
yyaatt0 Jan 26, 2026
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
21 changes: 18 additions & 3 deletions include/libhal-sensor/imu/icm20948.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -224,7 +224,18 @@ class icm20948
* @brief private constructor for icm20948 objects
* @param p_i2c The I2C peripheral used for communication with the device.
*/
icm20948(hal::i2c& p_i2c);
[[deprecated(
"Use the constructor with hal::steady_clock instead.")]] icm20948(hal::i2c&
p_i2c);

/**
* @brief private constructor for icm20948 objects
* @param p_i2c The I2C peripheral used for communication with the device.
* @param p_steady_clock After an ICM reset, the I2C master may not be ready;
thus, the Clock peripheral is used to provide delay until I2C master is
ready.
*/
icm20948(hal::i2c& p_i2c, hal::steady_clock& p_steady_clock);

void auto_offsets();

Expand Down Expand Up @@ -252,8 +263,8 @@ class icm20948
void set_acc_dlpf(digital_lowpass_filter p_dlpf);
void set_acc_sample_rate_div(uint16_t p_acc_spl_rate_div);
void enable_gyro(bool p_enable_gyro);
[[deprecated("Use the API `enable_gyro()` with a full name.")]]
void enable_gyr(bool p_enable_gyro)
[[deprecated("Use the API `enable_gyro()` with a full name.")]] void
enable_gyr(bool p_enable_gyro)
{
enable_gyro(p_enable_gyro);
}
Expand All @@ -278,10 +289,13 @@ class icm20948
hal::byte check_mag_mode();
hal::byte whoami_ak09916_wia1_direct();
hal::byte whoami_ak09916_wia2_direct();
[[nodiscard]] bool mag_whoami_ok();
void set_mag_op_mode(ak09916_op_mode p_op_mode);
void write_ak09916_register8(hal::byte p_reg, hal::byte p_val);

private:
static constexpr std::uint8_t max_magnetometer_starts = 5;

void set_clock_auto_select();
void switch_bank(hal::byte p_new_bank);

Expand Down Expand Up @@ -312,6 +326,7 @@ class icm20948
void enable_mag_data_read(hal::byte p_reg, hal::byte p_bytes);

void reset_icm20948();
void reset_i2c_master();

/* The I2C peripheral used for communication with the device. */
hal::i2c* m_i2c;
Expand Down
71 changes: 70 additions & 1 deletion src/imu/icm20948.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -96,7 +96,7 @@ constexpr hal::byte temp_config = 0x53;
/* Registers ICM20948 USER BANK 3*/
[[maybe_unused]] constexpr hal::byte i2c_mst_odr_cfg = 0x00;
[[maybe_unused]] constexpr hal::byte i2c_mst_ctrl = 0x01;
[[maybe_unused]] constexpr hal::byte i2c_mst_delay_ctrl = 0x02;
constexpr hal::byte i2c_mst_delay_ctrl = 0x02;
constexpr hal::byte i2c_slv0_addr = 0x03;
constexpr hal::byte i2c_slv0_reg = 0x04;
constexpr hal::byte i2c_slv0_ctrl = 0x05;
Expand Down Expand Up @@ -177,6 +177,53 @@ icm20948::icm20948(hal::i2c& p_i2c)
write_register8({ .bank = 2, .reg = odr_align_en, .val = 1 }); // aligns ODR
}

icm20948::icm20948(hal::i2c& p_i2c, hal::steady_clock& p_steady_clock)
: m_i2c(&p_i2c)
{
m_current_bank = 0;

reset_icm20948();
hal::delay(*p_steady_clock, 100ms);
set_clock_auto_select();
sleep(false);
hal::delay(*p_steady_clock, 10ms);
reset_mag();

std::uint8_t tries = 0;
while (tries < max_magnetometer_starts) {
tries++;

if (mag_whoami_ok()) {
break;
}

i2c_master_reset();
hal::delay(*p_steady_clock, 10ms);
}

if (auto id = whoami(); id != who_am_i_content) {
hal::safe_throw(hal::no_such_device(id, this));
}

m_acc_offset_val.x = 0.0;
m_acc_offset_val.y = 0.0;
m_acc_offset_val.z = 0.0;
m_acc_corr_factor.x = 1.0;
m_acc_corr_factor.y = 1.0;
m_acc_corr_factor.z = 1.0;
m_acc_range_factor = 1.0;
m_gyro_offset_val.x = 0.0;
m_gyro_offset_val.y = 0.0;
m_gyro_offset_val.z = 0.0;
m_gyro_range_factor = 1.0;

sleep(false);
enable_acc(true);
enable_gyro(true);

write_register8({ .bank = 2, .reg = odr_align_en, .val = 1 }); // aligns ODR
}

void icm20948::auto_offsets()
{
set_gyro_dlpf(dlpf_6); // lowest noise
Expand Down Expand Up @@ -662,4 +709,26 @@ void icm20948::enable_mag_data_read(hal::byte p_reg, // NOLINT
hal::byte const enable_and_bytes = 0x80 | p_bytes;
write_register8({ .bank = 3, .reg = i2c_slv0_ctrl, .val = enable_and_bytes });
}

bool icm20948::mag_whoami_ok()
{
try {
enable_bypass_mode();

auto const wia1 = whoami_ak09916_wia1_direct();
auto const wia2 = whoami_ak09916_wia2_direct();

return (wia1 == static_cast<hal::byte>(ak09916_who_am_i_1)) &&
(wia2 == static_cast<hal::byte>(ak09916_who_am_i_2));
} catch (hal::no_such_device const&) {
return false;
}
}

void icm20948::reset_i2c_master()
{
auto ctrl = read_register8({ .bank = 0, .reg = user_ctrl });
ctrl |= i2c_mst_delay_ctrl;
write_register8({ .bank = 0, .reg = user_ctrl, .val = ctrl });
}
} // namespace hal::sensor
Loading