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Some improvements to ICM support

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ThreadOfFate
2022-04-01 17:06:38 +01:00
committed by GitHub
parent 44a9c55413
commit fc9d86ae0a
1 changed files with 11 additions and 5 deletions
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16
src/sensors/icm20948sensor.cpp
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@@ -51,13 +51,17 @@ void ICM20948Sensor::save_bias(bool repeat) {
imu.GetBiasAccelY(&bias_a[1]);
imu.GetBiasAccelZ(&bias_a[2]);
imu.GetBiasCPassX(&bias_m[0]);
imu.GetBiasCPassY(&bias_m[1]);
imu.GetBiasCPassZ(&bias_m[2]);
#if !USE_6_AXIS
imu.GetBiasCPassX(&bias_m[0]);
imu.GetBiasCPassY(&bias_m[1]);
imu.GetBiasCPassZ(&bias_m[2]);
#endif
bool gyro_set = bias_g[0] && bias_g[1] && bias_g[2];
bool accel_set = bias_a[0] && bias_a[1] && bias_a[2];
bool CPass_set = bias_m[0] && bias_m[1] && bias_m[2];
#if !USE_6_AXIS
bool CPass_set = bias_m[0] && bias_m[1] && bias_m[2];
#endif
EEPROM.begin(4096); // max memory usage = 4096
EEPROM.get(addr + 100, count); // 1st imu counter in EEPROM addr: 0x69+100=205, 2nd addr: 0x68+100=204
@@ -85,9 +89,11 @@ void ICM20948Sensor::save_bias(bool repeat) {
if (accel_set) {
EEPROM.put(2046 + (count * 12), bias_a); // 2046 ~ 3030
}
#if !USE_6_AXIS
if (CPass_set) {
EEPROM.put(3072 + (count * 12), bias_m); // 3072 ~ 4056
}
#endif
EEPROM.end(); // save and end
if (repeat) {
bias_save_counter++;
@@ -513,7 +519,7 @@ void ICM20948Sensor::motionLoop() {
bool dataavaliable = true;
while (dataavaliable) {
ICM_20948_Status_e readStatus = imu.readDMPdataFromFIFO(&dmpData);
if(readStatus == ICM_20948_Stat_FIFOMoreDataAvail || readStatus == ICM_20948_Stat_Ok)
if(readStatus == ICM_20948_Stat_Ok)
{
if(USE_6_AXIS)
{