Hi !
I’m using the ICM-20948:
https://www.sparkfun.com/products/15335
But am only able to produce 10Hz measurement (I am aiming for 100Hz minimum).
Does it make sense its so slow?
Attached is the code.
#include "ICM_20948.h" // Click here to get the library: http://librarymanager/All#SparkFun_ICM_20948_IMU
//#define USE_SPI // Uncomment this to use SPI
#define SERIAL_PORT Serial
#define SPI_PORT SPI // Your desired SPI port. Used only when "USE_SPI" is defined
#define CS_PIN 2 // Which pin you connect CS to. Used only when "USE_SPI" is defined
#define WIRE_PORT Wire // Your desired Wire port. Used when "USE_SPI" is not defined
#define AD0_VAL 1 // The value of the last bit of the I2C address. \
// On the SparkFun 9DoF IMU breakout the default is 1, and when \
// the ADR jumper is closed the value becomes 0
#ifdef USE_SPI
ICM_20948_SPI myICM; // If using SPI create an ICM_20948_SPI object
#else
ICM_20948_I2C myICM; // Otherwise create an ICM_20948_I2C object
#endif
// SD CARD///
#include <Wire.h>
#include "SparkFun_Qwiic_OpenLog_Arduino_Library.h"
OpenLog myLog; //Create instance
/////////////
void setup()
{
//SD CARD////
Wire.begin(); //Initialize I2C
myLog.begin();
///////////
SERIAL_PORT.begin(115200);
while (!SERIAL_PORT)
{
};
#ifdef USE_SPI
SPI_PORT.begin();
#else
WIRE_PORT.begin();
WIRE_PORT.setClock(400000);
#endif
//myICM.enableDebugging(); // Uncomment this line to enable helpful debug messages on Serial
bool initialized = false;
while (!initialized)
{
#ifdef USE_SPI
myICM.begin(CS_PIN, SPI_PORT);
#else
myICM.begin(WIRE_PORT, AD0_VAL);
#endif
SERIAL_PORT.print(F("Initialization of the sensor returned: "));
SERIAL_PORT.println(myICM.statusString());
if (myICM.status != ICM_20948_Stat_Ok)
{
SERIAL_PORT.println("Trying again...");
delay(500);
}
else
{
initialized = true;
}
}
}
void loop()
{
if (myICM.dataReady())
{
myICM.getAGMT(); // The values are only updated when you call 'getAGMT'
// printRawAGMT( myICM.agmt ); // Uncomment this to see the raw values, taken directly from the agmt structure
printScaledAGMT(&myICM); // This function takes into account the scale settings from when the measurement was made to calculate the values with units
//SD CARD///////
myLog.syncFile();
/////////////
}
else
{
SERIAL_PORT.println("Waiting for data");
delay(500);
}
}
// Below here are some helper functions to print the data nicely!
void printPaddedInt16b(int16_t val)
{
if (val > 0)
{
SERIAL_PORT.print(" ");
if (val < 10000)
{
SERIAL_PORT.print("0");
}
if (val < 1000)
{
SERIAL_PORT.print("0");
}
if (val < 100)
{
SERIAL_PORT.print("0");
}
if (val < 10)
{
SERIAL_PORT.print("0");
}
}
else
{
SERIAL_PORT.print("-");
if (abs(val) < 10000)
{
SERIAL_PORT.print("0");
}
if (abs(val) < 1000)
{
SERIAL_PORT.print("0");
}
if (abs(val) < 100)
{
SERIAL_PORT.print("0");
}
if (abs(val) < 10)
{
SERIAL_PORT.print("0");
}
}
SERIAL_PORT.print(abs(val));
}
void printRawAGMT(ICM_20948_AGMT_t agmt)
{
SERIAL_PORT.print("RAW. Acc [ ");
printPaddedInt16b(agmt.acc.axes.x);
SERIAL_PORT.print(", ");
printPaddedInt16b(agmt.acc.axes.y);
SERIAL_PORT.print(", ");
printPaddedInt16b(agmt.acc.axes.z);
SERIAL_PORT.print(" ], Gyr [ ");
printPaddedInt16b(agmt.gyr.axes.x);
SERIAL_PORT.print(", ");
printPaddedInt16b(agmt.gyr.axes.y);
SERIAL_PORT.print(", ");
printPaddedInt16b(agmt.gyr.axes.z);
SERIAL_PORT.print(" ], Mag [ ");
printPaddedInt16b(agmt.mag.axes.x);
SERIAL_PORT.print(", ");
printPaddedInt16b(agmt.mag.axes.y);
SERIAL_PORT.print(", ");
printPaddedInt16b(agmt.mag.axes.z);
SERIAL_PORT.print(" ], Tmp [ ");
printPaddedInt16b(agmt.tmp.val);
SERIAL_PORT.print(" ]");
SERIAL_PORT.println();
}
void printFormattedFloat(float val, uint8_t leading, uint8_t decimals)
{
float aval = abs(val);
if (val < 0)
{
SERIAL_PORT.print("-");
myLog.print("-");
}
else
{
SERIAL_PORT.print(" ");
myLog.print(" ");
}
for (uint8_t indi = 0; indi < leading; indi++)
{
uint32_t tenpow = 0;
if (indi < (leading - 1))
{
tenpow = 1;
}
for (uint8_t c = 0; c < (leading - 1 - indi); c++)
{
tenpow *= 10;
}
if (aval < tenpow)
{
SERIAL_PORT.print("0");
myLog.print("0");
}
else
{
break;
}
}
if (val < 0)
{
SERIAL_PORT.print(-val, decimals);
myLog.print(-val, decimals);
}
else
{
SERIAL_PORT.print(val, decimals);
myLog.print(val, decimals);
}
}
#ifdef USE_SPI
void printScaledAGMT(ICM_20948_SPI *sensor)
{
#else
void printScaledAGMT(ICM_20948_I2C *sensor)
{
#endif
SERIAL_PORT.print("Scaled. Acc (mg) [ ");
myLog.print("Scaled. Acc (mg) [ ");
printFormattedFloat(sensor->accX(), 5, 2);
SERIAL_PORT.print(", ");
myLog.print(", ");
printFormattedFloat(sensor->accY(), 5, 2);
SERIAL_PORT.print(", ");
myLog.print(", ");
printFormattedFloat(sensor->accZ(), 5, 2);
SERIAL_PORT.print(" ], Gyr (DPS) [ ");
myLog.print(" ], Gyr (DPS) [ ");
printFormattedFloat(sensor->gyrX(), 5, 2);
SERIAL_PORT.print(", ");
myLog.print(", ");
printFormattedFloat(sensor->gyrY(), 5, 2);
SERIAL_PORT.print(", ");
myLog.print(", ");
printFormattedFloat(sensor->gyrZ(), 5, 2);
SERIAL_PORT.print(" ], Mag (uT) [ ");
myLog.print(" ], Mag (uT) [ ");
printFormattedFloat(sensor->magX(), 5, 2);
SERIAL_PORT.print(", ");
myLog.print(", ");
printFormattedFloat(sensor->magY(), 5, 2);
SERIAL_PORT.print(", ");
myLog.print(", ");
printFormattedFloat(sensor->magZ(), 5, 2);
SERIAL_PORT.print(" ], Tmp (C) [ ");
myLog.print(" ], Tmp (C) [ ");
printFormattedFloat(sensor->temp(), 5, 2);
SERIAL_PORT.print(" ]");
myLog.print(" ]");
SERIAL_PORT.println();
myLog.println();
}
Thanks!
