motor_ctl-3/User/Inc/ICM20600.h

/* 
 * ICM20600.h
 * A library for Grove - IMU 9DOF(ICM20600 + AK09918)
 *
 * Copyright (c) 2018 seeed technology inc.
 * Website    : www.seeed.cc
 * Author     : Jerry Yip
 * Create Time: 2018-06
 * Version    : 0.1
 * Change Log :
 *
 * The MIT License (MIT)
 *
 * Permission is hereby granted, free of charge, to any person obtaining a copy
 * of this software and associated documentation files (the "Software"), to deal
 * in the Software without restriction, including without limitation the rights
 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
 * copies of the Software, and to permit persons to whom the Software is
 * furnished to do so, subject to the following conditions:
 *
 * The above copyright notice and this permission notice shall be included in
 * all copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
 * THE SOFTWARE.
 */




#ifndef __IMU_9DOF_ICM20600_H__
#define __IMU_9DOF_ICM20600_H__

#include "stm32f1xx_hal.h"
/***************************************************************
 ICM20600 I2C Register
 ***************************************************************/
#define ICM20600_XG_OFFS_TC_H           0x04     
#define ICM20600_XG_OFFS_TC_L           0x05
#define ICM20600_YG_OFFS_TC_H           0x07
#define ICM20600_YG_OFFS_TC_L           0x08
#define ICM20600_ZG_OFFS_TC_H           0x0a
#define ICM20600_ZG_OFFS_TC_L           0x0b
#define ICM20600_SELF_TEST_X_ACCEL      0x0d
#define ICM20600_SELF_TEST_Y_ACCEL      0x0e
#define ICM20600_SELF_TEST_Z_ACCEL      0x0f
#define ICM20600_XG_OFFS_USRH           0x13
#define ICM20600_XG_OFFS_USRL           0x14
#define ICM20600_YG_OFFS_USRH           0x15
#define ICM20600_YG_OFFS_USRL           0x16
#define ICM20600_ZG_OFFS_USRH           0x17
#define ICM20600_ZG_OFFS_USRL           0x18
#define ICM20600_SMPLRT_DIV             0x19
#define ICM20600_CONFIG                 0x1a
#define ICM20600_GYRO_CONFIG            0x1b
#define ICM20600_ACCEL_CONFIG           0x1c
#define ICM20600_ACCEL_CONFIG2          0x1d
#define ICM20600_GYRO_LP_MODE_CFG       0x1e
#define ICM20600_ACCEL_WOM_X_THR        0x20
#define ICM20600_ACCEL_WOM_Y_THR        0x21
#define ICM20600_ACCEL_WOM_Z_THR        0x22
#define ICM20600_FIFO_EN                0x23
#define ICM20600_FSYNC_INT              0x36
#define ICM20600_INT_PIN_CFG            0x37
#define ICM20600_INT_ENABLE             0x38
#define ICM20600_FIFO_WM_INT_STATUS     0x39
#define ICM20600_INT_STATUS             0x3a
#define ICM20600_ACCEL_XOUT_H           0x3b
#define ICM20600_ACCEL_XOUT_L           0x3c
#define ICM20600_ACCEL_YOUT_H           0x3d
#define ICM20600_ACCEL_YOUT_L           0x3e
#define ICM20600_ACCEL_ZOUT_H           0x3f
#define ICM20600_ACCEL_ZOUT_L           0x40
#define ICM20600_TEMP_OUT_H             0x41
#define ICM20600_TEMP_OUT_L             0x42
#define ICM20600_GYRO_XOUT_H            0x43
#define ICM20600_GYRO_XOUT_L            0x44
#define ICM20600_GYRO_YOUT_H            0x45
#define ICM20600_GYRO_YOUT_L            0x46
#define ICM20600_GYRO_ZOUT_H            0x47
#define ICM20600_GYRO_ZOUT_L            0x48
#define ICM20600_SELF_TEST_X_GYRO       0x50
#define ICM20600_SELF_TEST_Y_GYRO       0x51
#define ICM20600_SELF_TEST_Z_GYRO       0x52
#define ICM20600_FIFO_WM_TH1            0x60
#define ICM20600_FIFO_WM_TH2            0x61
#define ICM20600_SIGNAL_PATH_RESET      0x68
#define ICM20600_ACCEL_INTEL_CTRL       0x69
#define ICM20600_USER_CTRL              0x6A
#define ICM20600_PWR_MGMT_1             0x6b
#define ICM20600_PWR_MGMT_2             0x6c
#define ICM20600_I2C_IF                 0x70
#define ICM20600_FIFO_COUNTH            0x72
#define ICM20600_FIFO_COUNTL            0x73
#define ICM20600_FIFO_R_W               0x74
#define ICM20600_WHO_AM_I               0x75
#define ICM20600_XA_OFFSET_H            0x77
#define ICM20600_XA_OFFSET_L            0x78
#define ICM20600_YA_OFFSET_H            0x7a
#define ICM20600_YA_OFFSET_L            0x7b
#define ICM20600_ZA_OFFSET_H            0x7d
#define ICM20600_ZA_OFFSET_L            0x7e

#define ICM20600_I2C_ADDR1              0x68
#define ICM20600_I2C_ADDR2              0x69

#define ICM20600_FIFO_EN_BIT            (1 << 6)
#define ICM20600_FIFO_RST_BIT           (1 << 2)
#define ICM20600_RESET_BIT              (1 << 0)
#define ICM20600_DEVICE_RESET_BIT       (1 << 7)

// Gyroscope scale range
typedef enum 
{
    RANGE_250_DPS = 0,
    RANGE_500_DPS,
    RANGE_1K_DPS,
    RANGE_2K_DPS,
} gyro_scale_type_t;

// Accelerometer scale range
typedef enum
{
    RANGE_2G = 0,
    RANGE_4G,
    RANGE_8G,
    RANGE_16G,
} acc_scale_type_t;

// Gyroscope output data rate
typedef enum 
{
    GYRO_RATE_8K_BW_3281 = 0,
    GYRO_RATE_8K_BW_250,
    GYRO_RATE_1K_BW_176,
    GYRO_RATE_1K_BW_92,
    GYRO_RATE_1K_BW_41,
    GYRO_RATE_1K_BW_20,
    GYRO_RATE_1K_BW_10,
    GYRO_RATE_1K_BW_5,
} gyro_lownoise_odr_type_t;

// Accelerometer output data rate
typedef enum 
{
    ACC_RATE_4K_BW_1046 = 0,
    ACC_RATE_1K_BW_420,
    ACC_RATE_1K_BW_218,
    ACC_RATE_1K_BW_99,
    ACC_RATE_1K_BW_44,
    ACC_RATE_1K_BW_21,
    ACC_RATE_1K_BW_10,
    ACC_RATE_1K_BW_5,
} acc_lownoise_odr_type_t;

// Averaging filter settings for Low Power Accelerometer mode
typedef enum  
{
    ACC_AVERAGE_4 = 0,
    ACC_AVERAGE_8,
    ACC_AVERAGE_16,
    ACC_AVERAGE_32,
} acc_averaging_sample_type_t;

// Averaging filter configuration for low-power gyroscope mode
typedef enum
{
    GYRO_AVERAGE_1 = 0,
    GYRO_AVERAGE_2,
    GYRO_AVERAGE_4,
    GYRO_AVERAGE_8,
    GYRO_AVERAGE_16,
    GYRO_AVERAGE_32,
    GYRO_AVERAGE_64,
    GYRO_AVERAGE_128,
} gyro_averaging_sample_type_t;

// ICM20600 power mode
typedef enum
{
    ICM_SLEEP_MODE = 0,
    ICM_STANDYBY_MODE,
    ICM_ACC_LOW_POWER,
    ICM_ACC_LOW_NOISE,
    ICM_GYRO_LOW_POWER,
    ICM_GYRO_LOW_NOISE,
    ICM_6AXIS_LOW_POWER,
    ICM_6AXIS_LOW_NOISE,
} icm20600_power_type_t;

typedef struct
{
	int16_t data_raw;
	int16_t offset;
	int16_t data_offset;	
	float coefficient;
	float data;  
} Single_AXIS_Data_typedef;

typedef struct
{
	FunctionalState UpdateEn;
	float PitchAngle;
	float RollAngle;
	int16_t Roll;
	int16_t Pitch;
	int16_t Pitch_offset;
	uint8_t DataBuffer[14];
	uint8_t count;
	Single_AXIS_Data_typedef  Temp;	
	Single_AXIS_Data_typedef	GyroX;
	Single_AXIS_Data_typedef	GyroY;
	Single_AXIS_Data_typedef	GyroZ;
	Single_AXIS_Data_typedef	AcceX;
	Single_AXIS_Data_typedef	AcceY;
	Single_AXIS_Data_typedef	AcceZ;
} ICM20600_Data_typedef;

typedef struct
{
	TrueOrFalse_Flag_Struct_t UpWardSlope_flag;  //ÅÀƱê־λ
	TrueOrFalse_Flag_Struct_t FellDown_flag;     //µ¹Ï±ê־λ
	uint16_t UpWardSlope_True_Timecount;
	uint16_t UpWardSlope_False_Timecount;
	uint16_t FellDown_True_Timecount;
	uint16_t FellDown_False_Timecount;
}Bike_Attitude_typedef;

extern ICM20600_Data_typedef ICM20600Sensor;
extern Bike_Attitude_typedef Bike_Attitude;
extern TrueOrFalse_Flag_Struct_t ICM20600_OK_Flag;

extern float twoKp, twoKi, invSampleFreq; 
extern float q0, q1, q2, q3;          
extern float integralFBx, integralFBy, integralFBz;

extern uint8_t ICM20600_getDeviceID(void);
extern void ICM20600_reset(void);
extern void ICM20600_initialize(void);
extern void ICM20600_coefficientinitialize( gyro_scale_type_t gyro_scale, acc_scale_type_t acc_scale, ICM20600_Data_typedef *ICM20600Sensor_temp );
extern void ICM20600_setPowerMode(icm20600_power_type_t mode);
extern void ICM20600_setGyroScaleRange(gyro_scale_type_t range);
extern void ICM20600_setGyroAverageSample(gyro_averaging_sample_type_t sample);
extern void ICM20600_setGyroOutputDataRate(gyro_lownoise_odr_type_t odr);
extern void ICM20600_setAccScaleRange(acc_scale_type_t range);
extern void ICM20600_setAccAverageSample(acc_averaging_sample_type_t sample);
extern void ICM20600_setAccOutputDataRate(acc_lownoise_odr_type_t odr);

extern void ICM20600_getSensordata( ICM20600_Data_typedef *ICM20600Sensor_temp );
extern void ICM20600_computePitchAndRollAngle( ICM20600_Data_typedef *ICM20600Sensor_temp );
extern void IMUupdate(float gx, float gy, float gz, float ax, float ay, float az);
extern float invSqrt(float x);
extern void ComputeAngles(void);
extern void BikeAttitude_Process(void);
#endif // __IMU_9DOF_ICM20600_H__