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PaulZCPaulZC
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Merge pull request #43 from nikitos1550/issue-37
vars declarations moved from header to code
2 parents ffff72a + 4d0dad8 commit aa33176

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3 files changed

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‎src/util/ICM_20948_C.c‎

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@@ -2,6 +2,110 @@
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#include "ICM_20948_REGISTERS.h"
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#include "AK09916_REGISTERS.h"
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/*
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* Icm20948 device require a DMP image to be loaded on init
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* Provide such images by mean of a byte array
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*/
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#if defined(ICM_20948_USE_DMP) // Only include the 93KBytes of DMP if ICM_20948_USE_DMP is defined
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const uint8_t dmp3_image[] = {
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#include "icm20948_img.dmp3a.h"
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};
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#endif
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// ICM-20948 data is big-endian. We need to make it little-endian when writing into icm_20948_DMP_data_t
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const int DMP_Quat9_Byte_Ordering[icm_20948_DMP_Quat9_Bytes] =
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{
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3,2,1,0,7,6,5,4,11,10,9,8,13,12 // Also used for Geomag
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};
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const int DMP_Quat6_Byte_Ordering[icm_20948_DMP_Quat6_Bytes] =
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{
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3,2,1,0,7,6,5,4,11,10,9,8 // Also used for Gyro_Calibr, Compass_Calibr
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};
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const int DMP_PQuat6_Byte_Ordering[icm_20948_DMP_PQuat6_Bytes] =
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{
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1,0,3,2,5,4 // Also used for Raw_Accel, Compass
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};
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const int DMP_Raw_Gyro_Byte_Ordering[icm_20948_DMP_Raw_Gyro_Bytes + icm_20948_DMP_Gyro_Bias_Bytes] =
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{
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1,0,3,2,5,4,7,6,9,8,11,10
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};
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const int DMP_Activity_Recognition_Byte_Ordering[icm_20948_DMP_Activity_Recognition_Bytes] =
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{
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0,1,5,4,3,2
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};
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const int DMP_Secondary_On_Off_Byte_Ordering[icm_20948_DMP_Secondary_On_Off_Bytes] =
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{
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1,0
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};
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const uint16_t inv_androidSensor_to_control_bits[ANDROID_SENSOR_NUM_MAX]=
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{
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// Data output control 1 register bit definition
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// 16-bit accel 0x8000
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// 16-bit gyro 0x4000
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// 16-bit compass 0x2000
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// 16-bit ALS 0x1000
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// 32-bit 6-axis quaternion 0x0800
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// 32-bit 9-axis quaternion + heading accuracy 0x0400
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// 16-bit pedometer quaternion 0x0200
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// 32-bit Geomag rv + heading accuracy 0x0100
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// 16-bit Pressure 0x0080
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// 32-bit calibrated gyro 0x0040
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// 32-bit calibrated compass 0x0020
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// Pedometer Step Detector 0x0010
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// Header 2 0x0008
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// Pedometer Step Indicator Bit 2 0x0004
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// Pedometer Step Indicator Bit 1 0x0002
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// Pedometer Step Indicator Bit 0 0x0001
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// Unsupported Sensors are 0xFFFF
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0xFFFF, // 0 Meta Data
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0x8008, // 1 Accelerometer
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0x0028, // 2 Magnetic Field
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0x0408, // 3 Orientation
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0x4048, // 4 Gyroscope
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0x1008, // 5 Light
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0x0088, // 6 Pressure
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0xFFFF, // 7 Temperature
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0xFFFF, // 8 Proximity <----------- fixme
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0x0808, // 9 Gravity
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0x8808, // 10 Linear Acceleration
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0x0408, // 11 Rotation Vector
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0xFFFF, // 12 Humidity
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0xFFFF, // 13 Ambient Temperature
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0x2008, // 14 Magnetic Field Uncalibrated
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0x0808, // 15 Game Rotation Vector
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0x4008, // 16 Gyroscope Uncalibrated
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0x0000, // 17 Significant Motion
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0x0018, // 18 Step Detector
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0x0010, // 19 Step Counter <----------- fixme
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0x0108, // 20 Geomagnetic Rotation Vector
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0xFFFF, // 21 ANDROID_SENSOR_HEART_RATE,
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0xFFFF, // 22 ANDROID_SENSOR_PROXIMITY,
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0x8008, // 23 ANDROID_SENSOR_WAKEUP_ACCELEROMETER,
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0x0028, // 24 ANDROID_SENSOR_WAKEUP_MAGNETIC_FIELD,
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0x0408, // 25 ANDROID_SENSOR_WAKEUP_ORIENTATION,
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0x4048, // 26 ANDROID_SENSOR_WAKEUP_GYROSCOPE,
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0x1008, // 27 ANDROID_SENSOR_WAKEUP_LIGHT,
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0x0088, // 28 ANDROID_SENSOR_WAKEUP_PRESSURE,
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0x0808, // 29 ANDROID_SENSOR_WAKEUP_GRAVITY,
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0x8808, // 30 ANDROID_SENSOR_WAKEUP_LINEAR_ACCELERATION,
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0x0408, // 31 ANDROID_SENSOR_WAKEUP_ROTATION_VECTOR,
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0xFFFF, // 32 ANDROID_SENSOR_WAKEUP_RELATIVE_HUMIDITY,
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0xFFFF, // 33 ANDROID_SENSOR_WAKEUP_AMBIENT_TEMPERATURE,
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0x2008, // 34 ANDROID_SENSOR_WAKEUP_MAGNETIC_FIELD_UNCALIBRATED,
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0x0808, // 35 ANDROID_SENSOR_WAKEUP_GAME_ROTATION_VECTOR,
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0x4008, // 36 ANDROID_SENSOR_WAKEUP_GYROSCOPE_UNCALIBRATED,
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0x0018, // 37 ANDROID_SENSOR_WAKEUP_STEP_DETECTOR,
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0x0010, // 38 ANDROID_SENSOR_WAKEUP_STEP_COUNTER,
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0x0108, // 39 ANDROID_SENSOR_WAKEUP_GEOMAGNETIC_ROTATION_VECTOR
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0xFFFF, // 40 ANDROID_SENSOR_WAKEUP_HEART_RATE,
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0x0000, // 41 ANDROID_SENSOR_WAKEUP_TILT_DETECTOR,
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0x8008, // 42 Raw Acc
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0x4048, // 43 Raw Gyr
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};
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const ICM_20948_Serif_t NullSerif = {
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NULL, // write
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NULL, // read

‎src/util/ICM_20948_C.h‎

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Original file line numberDiff line numberDiff line change
@@ -170,17 +170,6 @@ extern int memcmp(const void *, const void *, size_t); // Avoid compiler warning
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uint32_t _enabled_Android_intr_1; // Keep track of which Android sensor interrupts are enabled: 32-
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} ICM_20948_Device_t; // Definition of device struct type
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/*
174-
* Icm20948 device require a DMP image to be loaded on init
175-
* Provide such images by mean of a byte array
176-
*/
177-
#if defined(ICM_20948_USE_DMP) // Only include the 93KBytes of DMP if ICM_20948_USE_DMP is defined
178-
const uint8_t dmp3_image[] = {
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#include "icm20948_img.dmp3a.h"
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};
181-
#endif
182-
183-
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// ICM_20948_Status_e ICM_20948_Startup( ICM_20948_Device_t* pdev ); // For the time being this performs a standardized startup routine
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186175
ICM_20948_Status_e ICM_20948_link_serif(ICM_20948_Device_t *pdev, const ICM_20948_Serif_t *s); // Links a SERIF structure to the device

‎src/util/ICM_20948_DMP.h‎

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Original file line numberDiff line numberDiff line change
@@ -485,74 +485,6 @@ enum DMP_Header2_Bitmap
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DMP_header2_bitmap_Accel_Accuracy = 0x4000
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};
487487

488-
const uint16_t inv_androidSensor_to_control_bits[ANDROID_SENSOR_NUM_MAX]=
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{
490-
// Data output control 1 register bit definition
491-
// 16-bit accel 0x8000
492-
// 16-bit gyro 0x4000
493-
// 16-bit compass 0x2000
494-
// 16-bit ALS 0x1000
495-
// 32-bit 6-axis quaternion 0x0800
496-
// 32-bit 9-axis quaternion + heading accuracy 0x0400
497-
// 16-bit pedometer quaternion 0x0200
498-
// 32-bit Geomag rv + heading accuracy 0x0100
499-
// 16-bit Pressure 0x0080
500-
// 32-bit calibrated gyro 0x0040
501-
// 32-bit calibrated compass 0x0020
502-
// Pedometer Step Detector 0x0010
503-
// Header 2 0x0008
504-
// Pedometer Step Indicator Bit 2 0x0004
505-
// Pedometer Step Indicator Bit 1 0x0002
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// Pedometer Step Indicator Bit 0 0x0001
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// Unsupported Sensors are 0xFFFF
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0xFFFF, // 0 Meta Data
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0x8008, // 1 Accelerometer
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0x0028, // 2 Magnetic Field
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0x0408, // 3 Orientation
513-
0x4048, // 4 Gyroscope
514-
0x1008, // 5 Light
515-
0x0088, // 6 Pressure
516-
0xFFFF, // 7 Temperature
517-
0xFFFF, // 8 Proximity <----------- fixme
518-
0x0808, // 9 Gravity
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0x8808, // 10 Linear Acceleration
520-
0x0408, // 11 Rotation Vector
521-
0xFFFF, // 12 Humidity
522-
0xFFFF, // 13 Ambient Temperature
523-
0x2008, // 14 Magnetic Field Uncalibrated
524-
0x0808, // 15 Game Rotation Vector
525-
0x4008, // 16 Gyroscope Uncalibrated
526-
0x0000, // 17 Significant Motion
527-
0x0018, // 18 Step Detector
528-
0x0010, // 19 Step Counter <----------- fixme
529-
0x0108, // 20 Geomagnetic Rotation Vector
530-
0xFFFF, // 21 ANDROID_SENSOR_HEART_RATE,
531-
0xFFFF, // 22 ANDROID_SENSOR_PROXIMITY,
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0x8008, // 23 ANDROID_SENSOR_WAKEUP_ACCELEROMETER,
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0x0028, // 24 ANDROID_SENSOR_WAKEUP_MAGNETIC_FIELD,
535-
0x0408, // 25 ANDROID_SENSOR_WAKEUP_ORIENTATION,
536-
0x4048, // 26 ANDROID_SENSOR_WAKEUP_GYROSCOPE,
537-
0x1008, // 27 ANDROID_SENSOR_WAKEUP_LIGHT,
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0x0088, // 28 ANDROID_SENSOR_WAKEUP_PRESSURE,
539-
0x0808, // 29 ANDROID_SENSOR_WAKEUP_GRAVITY,
540-
0x8808, // 30 ANDROID_SENSOR_WAKEUP_LINEAR_ACCELERATION,
541-
0x0408, // 31 ANDROID_SENSOR_WAKEUP_ROTATION_VECTOR,
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0xFFFF, // 32 ANDROID_SENSOR_WAKEUP_RELATIVE_HUMIDITY,
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0xFFFF, // 33 ANDROID_SENSOR_WAKEUP_AMBIENT_TEMPERATURE,
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0x2008, // 34 ANDROID_SENSOR_WAKEUP_MAGNETIC_FIELD_UNCALIBRATED,
545-
0x0808, // 35 ANDROID_SENSOR_WAKEUP_GAME_ROTATION_VECTOR,
546-
0x4008, // 36 ANDROID_SENSOR_WAKEUP_GYROSCOPE_UNCALIBRATED,
547-
0x0018, // 37 ANDROID_SENSOR_WAKEUP_STEP_DETECTOR,
548-
0x0010, // 38 ANDROID_SENSOR_WAKEUP_STEP_COUNTER,
549-
0x0108, // 39 ANDROID_SENSOR_WAKEUP_GEOMAGNETIC_ROTATION_VECTOR
550-
0xFFFF, // 40 ANDROID_SENSOR_WAKEUP_HEART_RATE,
551-
0x0000, // 41 ANDROID_SENSOR_WAKEUP_TILT_DETECTOR,
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0x8008, // 42 Raw Acc
553-
0x4048, // 43 Raw Gyr
554-
};
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556488
typedef struct // DMP Activity Recognition data
557489
{
558490
uint8_t Drive : 1;
@@ -601,32 +533,6 @@ typedef struct // DMP Secondary On/Off data
601533
#define icm_20948_DMP_Footer_Bytes 2
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#define icm_20948_DMP_Maximum_Bytes 14 // The most bytes we will attempt to read from the FIFO in one go
603535

604-
// ICM-20948 data is big-endian. We need to make it little-endian when writing into icm_20948_DMP_data_t
605-
const int DMP_Quat9_Byte_Ordering[icm_20948_DMP_Quat9_Bytes] =
606-
{
607-
3,2,1,0,7,6,5,4,11,10,9,8,13,12 // Also used for Geomag
608-
};
609-
const int DMP_Quat6_Byte_Ordering[icm_20948_DMP_Quat6_Bytes] =
610-
{
611-
3,2,1,0,7,6,5,4,11,10,9,8 // Also used for Gyro_Calibr, Compass_Calibr
612-
};
613-
const int DMP_PQuat6_Byte_Ordering[icm_20948_DMP_PQuat6_Bytes] =
614-
{
615-
1,0,3,2,5,4 // Also used for Raw_Accel, Compass
616-
};
617-
const int DMP_Raw_Gyro_Byte_Ordering[icm_20948_DMP_Raw_Gyro_Bytes + icm_20948_DMP_Gyro_Bias_Bytes] =
618-
{
619-
1,0,3,2,5,4,7,6,9,8,11,10
620-
};
621-
const int DMP_Activity_Recognition_Byte_Ordering[icm_20948_DMP_Activity_Recognition_Bytes] =
622-
{
623-
0,1,5,4,3,2
624-
};
625-
const int DMP_Secondary_On_Off_Byte_Ordering[icm_20948_DMP_Secondary_On_Off_Bytes] =
626-
{
627-
1,0
628-
};
629-
630536
typedef struct
631537
{
632538
uint16_t header;

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