Adding Data Ready Status

Author: PaulZC

examples/Arduino/Example6_DMP_Quat9_Orientation/Example6_DMP_Quat9_Orientation.ino

@@ -241,6 +241,11 @@ void setup() {
   // Set the DMP Output Data Rate for Quat9 to 12Hz.
   success &= (myICM.setDMPODRrate(DMP_ODR_Reg_Quat9, 12) == ICM_20948_Stat_Ok);
 
+  // Set the DMP Data Ready Status register
+  const uint16_t dsrBits = DMP_Data_ready_Gyro | DMP_Data_ready_Accel | DMP_Data_ready_Secondary_Compass;
+  const unsigned char drsReg[2] = {(const unsigned char)(dsrBits >> 8), (const unsigned char)(dsrBits & 0xFF)};
+  success &= (myICM.writeDMPmems(DATA_RDY_STATUS, 2, &drsReg[0]) == ICM_20948_Stat_Ok);  
+
   // Enable the FIFO
   success &= (myICM.enableFIFO() == ICM_20948_Stat_Ok);
 
@@ -295,7 +300,7 @@ void loop()
       float q2 = ((float)data.Quat9.Data.Q2) / 1073741824.0; // Convert to float. Divide by 2^30
       float q3 = ((float)data.Quat9.Data.Q3) / 1073741824.0; // Convert to float. Divide by 2^30
 
-      SERIAL_PORT.printf("Q1:%.3f Q2:%.3f Q3:%.3f\r\n", q1, q2, q3);
+      SERIAL_PORT.printf("Q1:%.3f Q2:%.3f Q3:%.3f Accuracy:%d\r\n", q1, q2, q3, data.Quat9.Data.Accuracy);
     }
   }
 

examples/Arduino/Example7_DMP_Quat6_EulerAngles/Example7_DMP_Quat6_EulerAngles.ino

@@ -241,6 +241,11 @@ void setup() {
   // Set the DMP Output Data Rate for Quat6 to 12Hz.
   //success &= (myICM.setDMPODRrate(DMP_ODR_Reg_Quat6, 12) == ICM_20948_Stat_Ok);
 
+  // Set the DMP Data Ready Status register
+  const uint16_t dsrBits = DMP_Data_ready_Gyro | DMP_Data_ready_Accel;
+  const unsigned char drsReg[2] = {(const unsigned char)(dsrBits >> 8), (const unsigned char)(dsrBits & 0xFF)};
+  success &= (myICM.writeDMPmems(DATA_RDY_STATUS, 2, &drsReg[0]) == ICM_20948_Stat_Ok);  
+
   // Enable the FIFO
   success &= (myICM.enableFIFO() == ICM_20948_Stat_Ok);
 

keywords.txt

@@ -184,3 +184,6 @@ DMP_header2_bitmap_Fsync	LITERAL1
 DMP_header2_bitmap_Compass_Accuracy	LITERAL1
 DMP_header2_bitmap_Gyro_Accuracy	LITERAL1
 DMP_header2_bitmap_Accel_Accuracy	LITERAL1
+DMP_Data_ready_Gyro	LITERAL1
+DMP_Data_ready_Accel	LITERAL1
+DMP_Data_ready_Secondary_Compass	LITERAL1

src/util/ICM_20948_DMP.h

@@ -392,7 +392,7 @@ enum DMP_Data_Ready_Status_Register_Bits
 {
 	DMP_Data_ready_Gyro = 0x0001, // Gyro samples available
 	DMP_Data_ready_Accel = 0x0002, // Accel samples available
-	DMP_Data_ready_Secondary = 0x0008 // Secondary samples available
+	DMP_Data_ready_Secondary_Compass = 0x0008 // Secondary compass samples available
 };
 
 enum DMP_Data_Output_Control_1_Register_Bits