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PaulZCPaulZC
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Correct the B2S mounting matrix
1 parent aa33176 commit 052abd3

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6 files changed

+57
-53
lines changed

6 files changed

+57
-53
lines changed

‎examples/Arduino/Example10_DMP_FastMultipleSensors/Example10_DMP_FastMultipleSensors.ino‎

Lines changed: 11 additions & 9 deletions
Original file line numberDiff line numberDiff line change
@@ -209,15 +209,15 @@ void setup() {
209209
// Configure the B2S Mounting Matrix
210210
const unsigned char b2sMountMultiplierZero[4] = {0x00, 0x00, 0x00, 0x00};
211211
const unsigned char b2sMountMultiplierPlus[4] = {0x40, 0x00, 0x00, 0x00}; // Value taken from InvenSense Nucleo example
212-
success &= (myICM.writeDMPmems(B2S_MTX_00, 4, &mountMultiplierPlus[0]) == ICM_20948_Stat_Ok);
213-
success &= (myICM.writeDMPmems(B2S_MTX_01, 4, &mountMultiplierZero[0]) == ICM_20948_Stat_Ok);
214-
success &= (myICM.writeDMPmems(B2S_MTX_02, 4, &mountMultiplierZero[0]) == ICM_20948_Stat_Ok);
215-
success &= (myICM.writeDMPmems(B2S_MTX_10, 4, &mountMultiplierZero[0]) == ICM_20948_Stat_Ok);
216-
success &= (myICM.writeDMPmems(B2S_MTX_11, 4, &mountMultiplierPlus[0]) == ICM_20948_Stat_Ok);
217-
success &= (myICM.writeDMPmems(B2S_MTX_12, 4, &mountMultiplierZero[0]) == ICM_20948_Stat_Ok);
218-
success &= (myICM.writeDMPmems(B2S_MTX_20, 4, &mountMultiplierZero[0]) == ICM_20948_Stat_Ok);
219-
success &= (myICM.writeDMPmems(B2S_MTX_21, 4, &mountMultiplierZero[0]) == ICM_20948_Stat_Ok);
220-
success &= (myICM.writeDMPmems(B2S_MTX_22, 4, &mountMultiplierPlus[0]) == ICM_20948_Stat_Ok);
212+
success &= (myICM.writeDMPmems(B2S_MTX_00, 4, &b2sMountMultiplierPlus[0]) == ICM_20948_Stat_Ok);
213+
success &= (myICM.writeDMPmems(B2S_MTX_01, 4, &b2sMountMultiplierZero[0]) == ICM_20948_Stat_Ok);
214+
success &= (myICM.writeDMPmems(B2S_MTX_02, 4, &b2sMountMultiplierZero[0]) == ICM_20948_Stat_Ok);
215+
success &= (myICM.writeDMPmems(B2S_MTX_10, 4, &b2sMountMultiplierZero[0]) == ICM_20948_Stat_Ok);
216+
success &= (myICM.writeDMPmems(B2S_MTX_11, 4, &b2sMountMultiplierPlus[0]) == ICM_20948_Stat_Ok);
217+
success &= (myICM.writeDMPmems(B2S_MTX_12, 4, &b2sMountMultiplierZero[0]) == ICM_20948_Stat_Ok);
218+
success &= (myICM.writeDMPmems(B2S_MTX_20, 4, &b2sMountMultiplierZero[0]) == ICM_20948_Stat_Ok);
219+
success &= (myICM.writeDMPmems(B2S_MTX_21, 4, &b2sMountMultiplierZero[0]) == ICM_20948_Stat_Ok);
220+
success &= (myICM.writeDMPmems(B2S_MTX_22, 4, &b2sMountMultiplierPlus[0]) == ICM_20948_Stat_Ok);
221221

222222
// Configure the DMP Gyro Scaling Factor
223223
// @param[in] gyro_div Value written to GYRO_SMPLRT_DIV register, where
@@ -318,6 +318,8 @@ void setup() {
318318
{
319319
SERIAL_PORT.println(F("Enable DMP failed!"));
320320
SERIAL_PORT.println(F("Please check that you have uncommented line 29 (#define ICM_20948_USE_DMP) in ICM_20948_C.h..."));
321+
while (1)
322+
; // Do nothing more
321323
}
322324
}
323325

‎examples/Arduino/Example6_DMP_Quat9_Orientation/Example6_DMP_Quat9_Orientation.ino‎

Lines changed: 12 additions & 12 deletions
Original file line numberDiff line numberDiff line change
@@ -24,7 +24,7 @@
2424
* Distributed as-is; no warranty is given.
2525
***************************************************************/
2626

27-
#define QUAT_ANIMATION // Uncomment this line to output data in the correct format for ZaneL's Node.js Quaternion animation tool: https://github.com/ZaneL/quaternion_sensor_3d_nodejs
27+
//#define QUAT_ANIMATION // Uncomment this line to output data in the correct format for ZaneL's Node.js Quaternion animation tool: https://github.com/ZaneL/quaternion_sensor_3d_nodejs
2828

2929
#include "ICM_20948.h" // Click here to get the library: http://librarymanager/All#SparkFun_ICM_20948_IMU
3030

@@ -223,19 +223,17 @@ void setup() {
223223
// Configure the B2S Mounting Matrix
224224
const unsigned char b2sMountMultiplierZero[4] = {0x00, 0x00, 0x00, 0x00};
225225
const unsigned char b2sMountMultiplierPlus[4] = {0x40, 0x00, 0x00, 0x00}; // Value taken from InvenSense Nucleo example
226-
success &= (myICM.writeDMPmems(B2S_MTX_00, 4, &mountMultiplierPlus[0]) == ICM_20948_Stat_Ok);
227-
success &= (myICM.writeDMPmems(B2S_MTX_01, 4, &mountMultiplierZero[0]) == ICM_20948_Stat_Ok);
228-
success &= (myICM.writeDMPmems(B2S_MTX_02, 4, &mountMultiplierZero[0]) == ICM_20948_Stat_Ok);
229-
success &= (myICM.writeDMPmems(B2S_MTX_10, 4, &mountMultiplierZero[0]) == ICM_20948_Stat_Ok);
230-
success &= (myICM.writeDMPmems(B2S_MTX_11, 4, &mountMultiplierPlus[0]) == ICM_20948_Stat_Ok);
231-
success &= (myICM.writeDMPmems(B2S_MTX_12, 4, &mountMultiplierZero[0]) == ICM_20948_Stat_Ok);
232-
success &= (myICM.writeDMPmems(B2S_MTX_20, 4, &mountMultiplierZero[0]) == ICM_20948_Stat_Ok);
233-
success &= (myICM.writeDMPmems(B2S_MTX_21, 4, &mountMultiplierZero[0]) == ICM_20948_Stat_Ok);
234-
success &= (myICM.writeDMPmems(B2S_MTX_22, 4, &mountMultiplierPlus[0]) == ICM_20948_Stat_Ok);
226+
success &= (myICM.writeDMPmems(B2S_MTX_00, 4, &b2sMountMultiplierPlus[0]) == ICM_20948_Stat_Ok);
227+
success &= (myICM.writeDMPmems(B2S_MTX_01, 4, &b2sMountMultiplierZero[0]) == ICM_20948_Stat_Ok);
228+
success &= (myICM.writeDMPmems(B2S_MTX_02, 4, &b2sMountMultiplierZero[0]) == ICM_20948_Stat_Ok);
229+
success &= (myICM.writeDMPmems(B2S_MTX_10, 4, &b2sMountMultiplierZero[0]) == ICM_20948_Stat_Ok);
230+
success &= (myICM.writeDMPmems(B2S_MTX_11, 4, &b2sMountMultiplierPlus[0]) == ICM_20948_Stat_Ok);
231+
success &= (myICM.writeDMPmems(B2S_MTX_12, 4, &b2sMountMultiplierZero[0]) == ICM_20948_Stat_Ok);
232+
success &= (myICM.writeDMPmems(B2S_MTX_20, 4, &b2sMountMultiplierZero[0]) == ICM_20948_Stat_Ok);
233+
success &= (myICM.writeDMPmems(B2S_MTX_21, 4, &b2sMountMultiplierZero[0]) == ICM_20948_Stat_Ok);
234+
success &= (myICM.writeDMPmems(B2S_MTX_22, 4, &b2sMountMultiplierPlus[0]) == ICM_20948_Stat_Ok);
235235

236236
// Configure the DMP Gyro Scaling Factor
237-
//const unsigned char gyroScalingFactor[4] = {0x26, 0xFA, 0xB4, 0xB1}; // Value taken from InvenSense Nucleo example
238-
//success &= (myICM.writeDMPmems(GYRO_SF, 4, &gyroScalingFactor[0]) == ICM_20948_Stat_Ok);
239237
// @param[in] gyro_div Value written to GYRO_SMPLRT_DIV register, where
240238
// 0=1125Hz sample rate, 1=562.5Hz sample rate, ... 4=225Hz sample rate, ...
241239
// 10=102.2727Hz sample rate, ... etc.
@@ -338,6 +336,8 @@ void setup() {
338336
{
339337
SERIAL_PORT.println(F("Enable DMP failed!"));
340338
SERIAL_PORT.println(F("Please check that you have uncommented line 29 (#define ICM_20948_USE_DMP) in ICM_20948_C.h..."));
339+
while (1)
340+
; // Do nothing more
341341
}
342342
}
343343

‎examples/Arduino/Example7_DMP_Quat6_EulerAngles/Example7_DMP_Quat6_EulerAngles.ino‎

Lines changed: 11 additions & 11 deletions
Original file line numberDiff line numberDiff line change
@@ -223,19 +223,17 @@ void setup() {
223223
// Configure the B2S Mounting Matrix
224224
const unsigned char b2sMountMultiplierZero[4] = {0x00, 0x00, 0x00, 0x00};
225225
const unsigned char b2sMountMultiplierPlus[4] = {0x40, 0x00, 0x00, 0x00}; // Value taken from InvenSense Nucleo example
226-
success &= (myICM.writeDMPmems(B2S_MTX_00, 4, &mountMultiplierPlus[0]) == ICM_20948_Stat_Ok);
227-
success &= (myICM.writeDMPmems(B2S_MTX_01, 4, &mountMultiplierZero[0]) == ICM_20948_Stat_Ok);
228-
success &= (myICM.writeDMPmems(B2S_MTX_02, 4, &mountMultiplierZero[0]) == ICM_20948_Stat_Ok);
229-
success &= (myICM.writeDMPmems(B2S_MTX_10, 4, &mountMultiplierZero[0]) == ICM_20948_Stat_Ok);
230-
success &= (myICM.writeDMPmems(B2S_MTX_11, 4, &mountMultiplierPlus[0]) == ICM_20948_Stat_Ok);
231-
success &= (myICM.writeDMPmems(B2S_MTX_12, 4, &mountMultiplierZero[0]) == ICM_20948_Stat_Ok);
232-
success &= (myICM.writeDMPmems(B2S_MTX_20, 4, &mountMultiplierZero[0]) == ICM_20948_Stat_Ok);
233-
success &= (myICM.writeDMPmems(B2S_MTX_21, 4, &mountMultiplierZero[0]) == ICM_20948_Stat_Ok);
234-
success &= (myICM.writeDMPmems(B2S_MTX_22, 4, &mountMultiplierPlus[0]) == ICM_20948_Stat_Ok);
226+
success &= (myICM.writeDMPmems(B2S_MTX_00, 4, &b2sMountMultiplierPlus[0]) == ICM_20948_Stat_Ok);
227+
success &= (myICM.writeDMPmems(B2S_MTX_01, 4, &b2sMountMultiplierZero[0]) == ICM_20948_Stat_Ok);
228+
success &= (myICM.writeDMPmems(B2S_MTX_02, 4, &b2sMountMultiplierZero[0]) == ICM_20948_Stat_Ok);
229+
success &= (myICM.writeDMPmems(B2S_MTX_10, 4, &b2sMountMultiplierZero[0]) == ICM_20948_Stat_Ok);
230+
success &= (myICM.writeDMPmems(B2S_MTX_11, 4, &b2sMountMultiplierPlus[0]) == ICM_20948_Stat_Ok);
231+
success &= (myICM.writeDMPmems(B2S_MTX_12, 4, &b2sMountMultiplierZero[0]) == ICM_20948_Stat_Ok);
232+
success &= (myICM.writeDMPmems(B2S_MTX_20, 4, &b2sMountMultiplierZero[0]) == ICM_20948_Stat_Ok);
233+
success &= (myICM.writeDMPmems(B2S_MTX_21, 4, &b2sMountMultiplierZero[0]) == ICM_20948_Stat_Ok);
234+
success &= (myICM.writeDMPmems(B2S_MTX_22, 4, &b2sMountMultiplierPlus[0]) == ICM_20948_Stat_Ok);
235235

236236
// Configure the DMP Gyro Scaling Factor
237-
//const unsigned char gyroScalingFactor[4] = {0x26, 0xFA, 0xB4, 0xB1}; // Value taken from InvenSense Nucleo example
238-
//success &= (myICM.writeDMPmems(GYRO_SF, 4, &gyroScalingFactor[0]) == ICM_20948_Stat_Ok);
239237
// @param[in] gyro_div Value written to GYRO_SMPLRT_DIV register, where
240238
// 0=1125Hz sample rate, 1=562.5Hz sample rate, ... 4=225Hz sample rate, ...
241239
// 10=102.2727Hz sample rate, ... etc.
@@ -338,6 +336,8 @@ void setup() {
338336
{
339337
SERIAL_PORT.println(F("Enable DMP failed!"));
340338
SERIAL_PORT.println(F("Please check that you have uncommented line 29 (#define ICM_20948_USE_DMP) in ICM_20948_C.h..."));
339+
while (1)
340+
; // Do nothing more
341341
}
342342
}
343343

‎examples/Arduino/Example8_DMP_RawAccel/Example8_DMP_RawAccel.ino‎

Lines changed: 11 additions & 11 deletions
Original file line numberDiff line numberDiff line change
@@ -209,19 +209,17 @@ void setup() {
209209
// Configure the B2S Mounting Matrix
210210
const unsigned char b2sMountMultiplierZero[4] = {0x00, 0x00, 0x00, 0x00};
211211
const unsigned char b2sMountMultiplierPlus[4] = {0x40, 0x00, 0x00, 0x00}; // Value taken from InvenSense Nucleo example
212-
success &= (myICM.writeDMPmems(B2S_MTX_00, 4, &mountMultiplierPlus[0]) == ICM_20948_Stat_Ok);
213-
success &= (myICM.writeDMPmems(B2S_MTX_01, 4, &mountMultiplierZero[0]) == ICM_20948_Stat_Ok);
214-
success &= (myICM.writeDMPmems(B2S_MTX_02, 4, &mountMultiplierZero[0]) == ICM_20948_Stat_Ok);
215-
success &= (myICM.writeDMPmems(B2S_MTX_10, 4, &mountMultiplierZero[0]) == ICM_20948_Stat_Ok);
216-
success &= (myICM.writeDMPmems(B2S_MTX_11, 4, &mountMultiplierPlus[0]) == ICM_20948_Stat_Ok);
217-
success &= (myICM.writeDMPmems(B2S_MTX_12, 4, &mountMultiplierZero[0]) == ICM_20948_Stat_Ok);
218-
success &= (myICM.writeDMPmems(B2S_MTX_20, 4, &mountMultiplierZero[0]) == ICM_20948_Stat_Ok);
219-
success &= (myICM.writeDMPmems(B2S_MTX_21, 4, &mountMultiplierZero[0]) == ICM_20948_Stat_Ok);
220-
success &= (myICM.writeDMPmems(B2S_MTX_22, 4, &mountMultiplierPlus[0]) == ICM_20948_Stat_Ok);
212+
success &= (myICM.writeDMPmems(B2S_MTX_00, 4, &b2sMountMultiplierPlus[0]) == ICM_20948_Stat_Ok);
213+
success &= (myICM.writeDMPmems(B2S_MTX_01, 4, &b2sMountMultiplierZero[0]) == ICM_20948_Stat_Ok);
214+
success &= (myICM.writeDMPmems(B2S_MTX_02, 4, &b2sMountMultiplierZero[0]) == ICM_20948_Stat_Ok);
215+
success &= (myICM.writeDMPmems(B2S_MTX_10, 4, &b2sMountMultiplierZero[0]) == ICM_20948_Stat_Ok);
216+
success &= (myICM.writeDMPmems(B2S_MTX_11, 4, &b2sMountMultiplierPlus[0]) == ICM_20948_Stat_Ok);
217+
success &= (myICM.writeDMPmems(B2S_MTX_12, 4, &b2sMountMultiplierZero[0]) == ICM_20948_Stat_Ok);
218+
success &= (myICM.writeDMPmems(B2S_MTX_20, 4, &b2sMountMultiplierZero[0]) == ICM_20948_Stat_Ok);
219+
success &= (myICM.writeDMPmems(B2S_MTX_21, 4, &b2sMountMultiplierZero[0]) == ICM_20948_Stat_Ok);
220+
success &= (myICM.writeDMPmems(B2S_MTX_22, 4, &b2sMountMultiplierPlus[0]) == ICM_20948_Stat_Ok);
221221

222222
// Configure the DMP Gyro Scaling Factor
223-
//const unsigned char gyroScalingFactor[4] = {0x26, 0xFA, 0xB4, 0xB1}; // Value taken from InvenSense Nucleo example
224-
//success &= (myICM.writeDMPmems(GYRO_SF, 4, &gyroScalingFactor[0]) == ICM_20948_Stat_Ok);
225223
// @param[in] gyro_div Value written to GYRO_SMPLRT_DIV register, where
226224
// 0=1125Hz sample rate, 1=562.5Hz sample rate, ... 4=225Hz sample rate, ...
227225
// 10=102.2727Hz sample rate, ... etc.
@@ -312,6 +310,8 @@ void setup() {
312310
{
313311
SERIAL_PORT.println(F("Enable DMP failed!"));
314312
SERIAL_PORT.println(F("Please check that you have uncommented line 29 (#define ICM_20948_USE_DMP) in ICM_20948_C.h..."));
313+
while (1)
314+
; // Do nothing more
315315
}
316316
}
317317

‎examples/Arduino/Example9_DMP_MultipleSensors/Example9_DMP_MultipleSensors.ino‎

Lines changed: 11 additions & 9 deletions
Original file line numberDiff line numberDiff line change
@@ -209,15 +209,15 @@ void setup() {
209209
// Configure the B2S Mounting Matrix
210210
const unsigned char b2sMountMultiplierZero[4] = {0x00, 0x00, 0x00, 0x00};
211211
const unsigned char b2sMountMultiplierPlus[4] = {0x40, 0x00, 0x00, 0x00}; // Value taken from InvenSense Nucleo example
212-
success &= (myICM.writeDMPmems(B2S_MTX_00, 4, &mountMultiplierPlus[0]) == ICM_20948_Stat_Ok);
213-
success &= (myICM.writeDMPmems(B2S_MTX_01, 4, &mountMultiplierZero[0]) == ICM_20948_Stat_Ok);
214-
success &= (myICM.writeDMPmems(B2S_MTX_02, 4, &mountMultiplierZero[0]) == ICM_20948_Stat_Ok);
215-
success &= (myICM.writeDMPmems(B2S_MTX_10, 4, &mountMultiplierZero[0]) == ICM_20948_Stat_Ok);
216-
success &= (myICM.writeDMPmems(B2S_MTX_11, 4, &mountMultiplierPlus[0]) == ICM_20948_Stat_Ok);
217-
success &= (myICM.writeDMPmems(B2S_MTX_12, 4, &mountMultiplierZero[0]) == ICM_20948_Stat_Ok);
218-
success &= (myICM.writeDMPmems(B2S_MTX_20, 4, &mountMultiplierZero[0]) == ICM_20948_Stat_Ok);
219-
success &= (myICM.writeDMPmems(B2S_MTX_21, 4, &mountMultiplierZero[0]) == ICM_20948_Stat_Ok);
220-
success &= (myICM.writeDMPmems(B2S_MTX_22, 4, &mountMultiplierPlus[0]) == ICM_20948_Stat_Ok);
212+
success &= (myICM.writeDMPmems(B2S_MTX_00, 4, &b2sMountMultiplierPlus[0]) == ICM_20948_Stat_Ok);
213+
success &= (myICM.writeDMPmems(B2S_MTX_01, 4, &b2sMountMultiplierZero[0]) == ICM_20948_Stat_Ok);
214+
success &= (myICM.writeDMPmems(B2S_MTX_02, 4, &b2sMountMultiplierZero[0]) == ICM_20948_Stat_Ok);
215+
success &= (myICM.writeDMPmems(B2S_MTX_10, 4, &b2sMountMultiplierZero[0]) == ICM_20948_Stat_Ok);
216+
success &= (myICM.writeDMPmems(B2S_MTX_11, 4, &b2sMountMultiplierPlus[0]) == ICM_20948_Stat_Ok);
217+
success &= (myICM.writeDMPmems(B2S_MTX_12, 4, &b2sMountMultiplierZero[0]) == ICM_20948_Stat_Ok);
218+
success &= (myICM.writeDMPmems(B2S_MTX_20, 4, &b2sMountMultiplierZero[0]) == ICM_20948_Stat_Ok);
219+
success &= (myICM.writeDMPmems(B2S_MTX_21, 4, &b2sMountMultiplierZero[0]) == ICM_20948_Stat_Ok);
220+
success &= (myICM.writeDMPmems(B2S_MTX_22, 4, &b2sMountMultiplierPlus[0]) == ICM_20948_Stat_Ok);
221221

222222
// Configure the DMP Gyro Scaling Factor
223223
// @param[in] gyro_div Value written to GYRO_SMPLRT_DIV register, where
@@ -320,6 +320,8 @@ void setup() {
320320
{
321321
SERIAL_PORT.println(F("Enable DMP failed!"));
322322
SERIAL_PORT.println(F("Please check that you have uncommented line 29 (#define ICM_20948_USE_DMP) in ICM_20948_C.h..."));
323+
while (1)
324+
; // Do nothing more
323325
}
324326
}
325327

‎src/util/ICM_20948_C.c‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -6,7 +6,7 @@
66
* Icm20948 device require a DMP image to be loaded on init
77
* Provide such images by mean of a byte array
88
*/
9-
#if defined(ICM_20948_USE_DMP) // Only include the 93KBytes of DMP if ICM_20948_USE_DMP is defined
9+
#if defined(ICM_20948_USE_DMP) // Only include the 14301 Bytes of DMP if ICM_20948_USE_DMP is defined
1010
const uint8_t dmp3_image[] = {
1111
#include "icm20948_img.dmp3a.h"
1212
};

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