Add support for the ICM20948

Author: LiquidCGS

README.md

@@ -10,7 +10,8 @@
 * MPU6500 
 * MPU6050
 * ICM20689 
-* ICM20690 
+* ICM20690
+* ICM20948 
 * BMI055 
 * BMX055 (Magnetometer currently untested)
 * BMI160
@@ -24,6 +25,7 @@
 * AK8975
 * AK8963
 * AK09918
+* BMM150
 
 ### Using non default I2C ports:
 If you're planning on using an IMU on a non-default I2C port, you can specify the port in the constructor of your IMU, for example:
@@ -49,9 +51,7 @@ creates a hybrid `MPU6050` and `QMC5883L` IMU object that behaves as a single IM
 ### Planned:
 * BNO080 (probably soonish)
 * GY-85
-* BMM150 
 * BNO055 (the one I bought is DOA... might take a bit)
-* ICM20948 
 * BMI270 (if I can get my hands on one)
 
 ### Data types
@@ -108,6 +108,7 @@ creates a hybrid `MPU6050` and `QMC5883L` IMU object that behaves as a single IM
 
 ![2](MountIndex.png)
 
+##### TODO: VQF? built in filters?
 ##### TODO: get DMP working for pure quaternion output from invsense IMU's
 ##### TODO: get FIFO working for all IMU's that have it.
 ##### TODO: get timestamping working 

datasheets/AK09916-Datasheet.pdf

@@ -9,7 +9,7 @@
 MPU6050 IMU;                //Change to the name of any supported IMU
 #define IMU_GEOMETRY 0		//Change to your current IMU geometry (check docs for a reference pic).
 
-// Currently supported IMUS: MPU9255 MPU9250 MPU6886 MPU6500 MPU6050 ICM20689 ICM20690 BMI055 BMX055 BMI160 LSM6DS3 LSM6DSL QMI8658
+// Currently supported IMUS: MPU9255 MPU9250 MPU6886 MPU6500 MPU6050 ICM20689 ICM20690 ICM20948 BMI055 BMX055 BMI160 LSM6DS3 LSM6DSL QMI8658
 
 calData calib = { 0 };  //Calibration data
 AccelData IMUAccel;    //Sensor data

datasheets/ICM-20948-Datasheet.pdf

@@ -6,7 +6,7 @@
 #define PERFORM_CALIBRATION //Comment to disable startup calibration
 ICM20689 IMU;               //Change to the name of any supported IMU!
 
-// Currently supported IMUS: MPU9255 MPU9250 MPU6886 MPU6500 MPU6050 ICM20689 ICM20690 BMI055 BMX055 BMI160 LSM6DS3 LSM6DSL QMI8658
+// Currently supported IMUS: MPU9255 MPU9250 MPU6886 MPU6500 MPU6050 ICM20689 ICM20690 ICM20948 BMI055 BMX055 BMI160 LSM6DS3 LSM6DSL QMI8658
 
 calData calib = { 0 };  //Calibration data
 AccelData IMUAccel;    //Sensor data

examples/Calibrated_HadesVR/Calibrated_HadesVR.ino

@@ -15,7 +15,7 @@ MPU6050 IMU;                //Change to the name of any supported IMU!
 
 #define IMU_GEOMETRY 0		  //Change to your current IMU geomtery (check docs for a reference pic).
 
-// Currently supported IMUS: MPU9255 MPU9250 MPU6886 MPU6500 MPU6050 ICM20689 ICM20690 BMI055 BMX055 BMI160 LSM6DS3 LSM6DSL QMI8658
+// Currently supported IMUS: MPU9255 MPU9250 MPU6886 MPU6500 MPU6050 ICM20689 ICM20690 ICM20948 BMI055 BMX055 BMI160 LSM6DS3 LSM6DSL QMI8658
 
 #define FILTER_MAX_BETA 0.15
 #define FILTER_MIN_BETA 0.015

examples/Calibrated_quat/Calibrated_quat.ino

@@ -5,7 +5,7 @@
 #define PERFORM_CALIBRATION //Comment to disable startup calibration
 MPU6050 IMU;               //Change to the name of any supported IMU! 
 
-// Currently supported IMUS: MPU9255 MPU9250 MPU6886 MPU6500 MPU6050 ICM20689 ICM20690 BMI055 BMX055 BMI160 LSM6DS3 LSM6DSL QMI8658
+// Currently supported IMUS: MPU9255 MPU9250 MPU6886 MPU6500 MPU6050 ICM20689 ICM20690 ICM20948 BMI055 BMX055 BMI160 LSM6DS3 LSM6DSL QMI8658
 
 calData calib = { 0 };  //Calibration data
 AccelData accelData;    //Sensor data

examples/Calibrated_relativty/Calibrated_relativty.ino

@@ -1,4 +1,5 @@
 #include <Wire.h>
+#include <avr/pgmspace.h>
 // Similar to https://github.com/Levi--G/IMU-WhoAmIVerifier
 
 //Do be aware that MPU9150's will report as 6050s, this is because a 9150 is a 6050 with a magnetometer
@@ -16,12 +17,12 @@ typedef struct IMU {
   uint8_t Address2;
   uint8_t Register;
   uint8_t ExpectedID;
-  const char*  IMUName PROGMEM;
-  const char*  IMUCapabilities PROGMEM;
+  const char*  IMUName;
+  const char*  IMUCapabilities;
   bool    LibSupported;
 };
 
-const IMU IMUList[NUM_IMUS] =
+const IMU IMUList[NUM_IMUS] PROGMEM =
 {
   {0x68, 0x69, 0x75, 0x68, "MPU6050",   "3A,3G",	true},
   {0x68, 0x69, 0x75, 0x70, "MPU6500",   "3A,3G",	true},
@@ -36,6 +37,7 @@ const IMU IMUList[NUM_IMUS] =
   {0x6B, 0x6A, 0x0F, 0x6A, "LSM6DSL or LSM6DS3TR-C",   "3A,3G",	true},
   {0x68, 0x69, 0x75, 0x98, "ICM20689",  "3A,3G",	true},
   {0x68, 0x69, 0x75, 0x20, "ICM20690",  "3A,3G",	true},
+  {0x68, 0x69, 0x00, 0xEA, "ICM20948",  "3A,3G,3M",	true},
   {0x6B, 0x6A, 0x00, 0x05, "QMI8658",   "3A,3G",	true},
   {0x18, 0x19, 0x00, 0xFA, "BMI055 or BMX055", "3A,3G or 3A,3G,3M", true},
   {0x1E, 0x1E, 0x0C, 0x33, "HMC5883L",   "3M",		true},
@@ -61,7 +63,6 @@ const IMU IMUList[NUM_IMUS] =
   {0x68, 0x69, 0x00, 0xE1, "ICM20649",  "3A,3G",	false},
   {0x68, 0x69, 0x75, 0xA9, "ICG20660",  "3A,3G",	false},
   {0x68, 0x69, 0x75, 0x91, "IAM20680",  "3A,3G",	false},
-  {0x68, 0x69, 0x00, 0xEA, "ICM20948",  "3A,3G,3M",	false},
   {0x68, 0x69, 0x75, 0x6C, "IIM42351",  "3A",		false},
   {0x68, 0x69, 0x75, 0x6D, "IIM42352",  "3A",		false},
   {0x68, 0x69, 0x75, 0x4E, "ICM40627",  "3A,3G",	false},
@@ -72,6 +73,12 @@ const IMU IMUList[NUM_IMUS] =
   {0x68, 0x69, 0x00, 0x68, "MPU3050",   "3G",		false}
 };
 
+static inline IMU getIMU(uint8_t i) {
+  IMU tmp;
+  memcpy_P(&tmp, &IMUList[i], sizeof(IMU));
+  return tmp;
+}
+
 void setup() {
   Serial.begin(9600);
   while (!Serial) ;
@@ -101,10 +108,11 @@ void loop() {
   bool detected = false;
   for (int i = 0; i < NUM_IMUS; i++)
   {
+    IMU imu = getIMU(i);
 #ifdef WIRE_HAS_TIMEOUT
     if (errorflag || Wire.getWireTimeoutFlag()) {
       Serial.print(F("Error while reading address 0x"));
-      Serial.print(IMUList[i].Address1, HEX);
+      Serial.print(imu.Address1, HEX);
       Serial.print(F(": "));
       if (Wire.getWireTimeoutFlag()) {
         Serial.println(F("I2C bus timed out. (Bad IMU? check wiring.)"));
@@ -119,16 +127,16 @@ void loop() {
       return;
     }
 #endif
-    if (readByte(IMUList[i].Address1, IMUList[i].Register) == IMUList[i].ExpectedID)
+    if (readByte(imu.Address1, imu.Register) == imu.ExpectedID)
     {
       detected = true;
       Serial.print(F("IMU Found: "));
-      Serial.print(IMUList[i].IMUName);
+      Serial.print(imu.IMUName);
       Serial.print(F(" On address: 0x"));
-      Serial.println(IMUList[i].Address1, HEX);
+      Serial.println(imu.Address1, HEX);
       Serial.print(F("This IMU is capable of the following axis: "));
-      Serial.println(IMUList[i].IMUCapabilities);
-      if (IMUList[i].LibSupported) {
+      Serial.println(imu.IMUCapabilities);
+      if (imu.LibSupported) {
         Serial.println(F("This IMU is supported by the FastIMU library."));
       }
       else
@@ -137,21 +145,21 @@ void loop() {
       }
       Serial.println(F("======================================"));
     }
-    else if (readByte(IMUList[i].Address2, IMUList[i].Register) == IMUList[i].ExpectedID)
+    else if (readByte(imu.Address2, imu.Register) == imu.ExpectedID)
     {
       detected = true;
       Serial.print(F("IMU Found: "));
-      Serial.print(IMUList[i].IMUName);
+      Serial.print(imu.IMUName);
       Serial.print(F(" On address: 0x"));
-      Serial.println(IMUList[i].Address2, HEX);
+      Serial.println(imu.Address2, HEX);
       Serial.print(F("This IMU is capable of the following axis: "));
-      Serial.println(IMUList[i].IMUCapabilities);
-      if (IMUList[i].LibSupported) {
+      Serial.println(imu.IMUCapabilities);
+      if (imu.LibSupported) {
         Serial.println(F("This IMU is supported by the FastIMU library."));
       }
       else
       {
-        Serial.println(F(" This IMU is not supported by the FastIMU library."));
+        Serial.println(F("This IMU is not supported by the FastIMU library."));
       }
       Serial.println(F("======================================"));
     }