ICM20948 DMP代码详解（21）

news2024/12/23 4:36:31

接前一篇文章：ICM20948 DMP代码详解（20）

上一回终于解析完了inv_icm20948_read_mems_reg函数，本回回到inv_icm20948_initialize_lower_driver函数中，继续往下解析该函数接下来的内容。为了便于理解和分析，在此贴出inv_icm20948_initialize_lower_driver函数源码，在EMD-Core\sources\Invn\Devices\Drivers\ICM20948\Icm20948DataBaseDriver.c中，如下：

/** Should be called once on power up. Loads DMP3, initializes internal variables needed 
*   for other lower driver functions.
*/
int inv_icm20948_initialize_lower_driver(struct inv_icm20948 * s, enum SMARTSENSOR_SERIAL_INTERFACE type, 
	const uint8_t *dmp3_image, uint32_t dmp3_image_size)
{
	int result = 0;
	static unsigned char data;
	// set static variable
	s->sAllowLpEn = 1;
	s->s_compass_available = 0;
	// ICM20948 do not support the proximity sensor for the moment.
	// s_proximity_available variable is nerver changes
	s->s_proximity_available = 0;

	// Set varialbes to default values
	memset(&s->base_state, 0, sizeof(s->base_state));
	s->base_state.pwr_mgmt_1 = BIT_CLK_PLL;
	s->base_state.pwr_mgmt_2 = BIT_PWR_ACCEL_STBY | BIT_PWR_GYRO_STBY | BIT_PWR_PRESSURE_STBY;
	s->base_state.serial_interface = type;
	result |= inv_icm20948_read_mems_reg(s, REG_USER_CTRL, 1, &s->base_state.user_ctrl);

	result |= inv_icm20948_wakeup_mems(s);

	result |= inv_icm20948_read_mems_reg(s, REG_WHO_AM_I, 1, &data);

	/* secondary cycle mode should be set all the time */
	data = BIT_I2C_MST_CYCLE|BIT_ACCEL_CYCLE|BIT_GYRO_CYCLE;

	// Set default mode to low power mode
	result |= inv_icm20948_set_lowpower_or_highperformance(s, 0);
	
	// Disable Ivory DMP.
	if(s->base_state.serial_interface == SERIAL_INTERFACE_SPI)   
		s->base_state.user_ctrl = BIT_I2C_IF_DIS;
	else
		s->base_state.user_ctrl = 0;

	result |= inv_icm20948_write_single_mems_reg(s, REG_USER_CTRL, s->base_state.user_ctrl);

	//Setup Ivory DMP.
	result |= inv_icm20948_load_firmware(s, dmp3_image, dmp3_image_size);
	if(result)
		return result;
	else
		s->base_state.firmware_loaded = 1;
	result |= inv_icm20948_set_dmp_address(s);
	// Turn off all sensors on DMP by default.
	//result |= dmp_set_data_output_control1(0);   // FIXME in DMP, these should be off by default.
	result |= dmp_icm20948_reset_control_registers(s);
	
	// set FIFO watermark to 80% of actual FIFO size
	result |= dmp_icm20948_set_FIFO_watermark(s, 800);

	// Enable Interrupts.
	data = 0x2;
	result |= inv_icm20948_write_mems_reg(s, REG_INT_ENABLE, 1, &data); // Enable DMP Interrupt
	data = 0x1;
	result |= inv_icm20948_write_mems_reg(s, REG_INT_ENABLE_2, 1, &data); // Enable FIFO Overflow Interrupt

	// TRACKING : To have accelerometers datas and the interrupt without gyro enables.
	data = 0XE4;
	result |= inv_icm20948_write_mems_reg(s, REG_SINGLE_FIFO_PRIORITY_SEL, 1, &data);

	// Disable HW temp fix
	inv_icm20948_read_mems_reg(s, REG_HW_FIX_DISABLE,1,&data);
	data |= 0x08;
	inv_icm20948_write_mems_reg(s, REG_HW_FIX_DISABLE,1,&data);

	// Setup MEMs properties.
	s->base_state.accel_averaging = 1; //Change this value if higher sensor sample avergaing is required.
	s->base_state.gyro_averaging = 1;  //Change this value if higher sensor sample avergaing is required.
	inv_icm20948_set_gyro_divider(s, FIFO_DIVIDER);       //Initial sampling rate 1125Hz/19+1 = 56Hz.
	inv_icm20948_set_accel_divider(s, FIFO_DIVIDER);      //Initial sampling rate 1125Hz/19+1 = 56Hz.

	// Init the sample rate to 56 Hz for BAC,STEPC and B2S
	dmp_icm20948_set_bac_rate(s, DMP_ALGO_FREQ_56);
	dmp_icm20948_set_b2s_rate(s, DMP_ALGO_FREQ_56);

	// FIFO Setup.
	result |= inv_icm20948_write_single_mems_reg(s, REG_FIFO_CFG, BIT_SINGLE_FIFO_CFG); // FIFO Config. fixme do once? burst write?
	result |= inv_icm20948_write_single_mems_reg(s, REG_FIFO_RST, 0x1f); // Reset all FIFOs.
	result |= inv_icm20948_write_single_mems_reg(s, REG_FIFO_RST, 0x1e); // Keep all but Gyro FIFO in reset.
	result |= inv_icm20948_write_single_mems_reg(s, REG_FIFO_EN, 0x0); // Slave FIFO turned off.
	result |= inv_icm20948_write_single_mems_reg(s, REG_FIFO_EN_2, 0x0); // Hardware FIFO turned off.
    
	s->base_state.lp_en_support = 1;
	
	if(s->base_state.lp_en_support == 1)
		inv_icm20948_set_chip_power_state(s, CHIP_LP_ENABLE, 1);

	result |= inv_icm20948_sleep_mems(s);   
        
	return result;
}

先来看以下代码片段：

	result |= inv_icm20948_read_mems_reg(s, REG_USER_CTRL, 1, &s->base_state.user_ctrl);

前几回就是从这一行代码开始，深入到inv_icm20948_read_mems_reg函数中进行解析的。现在总体再看一下这行代码的作用，实际上就是读取USER_CTRL寄存器的内容，保存到s->base_state.user_ctrl中。当然，inv_icm20948_read_mems_reg函数并不是简单进行读取（简单读取的函数是inv_icm20948_read_reg），而是先唤醒芯片，再禁止低功耗模式，读取完寄存器内容，再恢复低功耗模式。

接下来来到以下一行：

	result |= inv_icm20948_wakeup_mems(s);

inv_icm20948_wakeup_mems函数在EMD-Core\sources\Invn\Devices\Drivers\ICM20948\Icm20948DataBaseDriver.c中，代码如下：

/** Wakes up DMP3 (SMARTSENSOR).
*/
int inv_icm20948_wakeup_mems(struct inv_icm20948 *s)
{
	unsigned char data;
	int result = 0;

	result = inv_icm20948_set_chip_power_state(s, CHIP_AWAKE, 1);

	if(s->base_state.serial_interface == SERIAL_INTERFACE_SPI) {
		s->base_state.user_ctrl |= BIT_I2C_IF_DIS;
		inv_icm20948_write_single_mems_reg(s, REG_USER_CTRL, s->base_state.user_ctrl);  
	}

	data = 0x47;	// FIXME, should set up according to sensor/engines enabled.
	result |= inv_icm20948_write_mems_reg(s, REG_PWR_MGMT_2, 1, &data);

	if(s->base_state.firmware_loaded == 1) {
		s->base_state.user_ctrl |= BIT_DMP_EN | BIT_FIFO_EN;
		result |= inv_icm20948_write_single_mems_reg(s, REG_USER_CTRL, s->base_state.user_ctrl);  
	}

	result |= inv_icm20948_set_chip_power_state(s, CHIP_LP_ENABLE, 1);
	return result;
}

一头一尾的两段代码

	result = inv_icm20948_set_chip_power_state(s, CHIP_AWAKE, 1);

	result |= inv_icm20948_set_chip_power_state(s, CHIP_LP_ENABLE, 1);

在前文书解析inv_icm20948_read_mems_reg函数的时候已经讲过了，在此不再赘述。只是注意一点，inv_icm20948_wakeup_mems函数中并没有inv_icm20948_read_mems_reg函数中的禁止LP_EN一段代码，不知是遗漏了还是特意没有加。

重点来看inv_icm20948_wakeup_mems函数中的以下代码片段：

	if(s->base_state.serial_interface == SERIAL_INTERFACE_SPI) {
		s->base_state.user_ctrl |= BIT_I2C_IF_DIS;
		inv_icm20948_write_single_mems_reg(s, REG_USER_CTRL, s->base_state.user_ctrl);  
	}

	data = 0x47;	// FIXME, should set up according to sensor/engines enabled.
	result |= inv_icm20948_write_mems_reg(s, REG_PWR_MGMT_2, 1, &data);

	if(s->base_state.firmware_loaded == 1) {
		s->base_state.user_ctrl |= BIT_DMP_EN | BIT_FIFO_EN;
		result |= inv_icm20948_write_single_mems_reg(s, REG_USER_CTRL, s->base_state.user_ctrl);  
	}

如果接口是SPI，则调用inv_icm20948_write_single_mem_regs将USER_CTRL寄存器的I2C_IF_DIS位置1。对应于芯片手册中的以下内容：