Add ICM20948 temperature sensor support

Linux/RTIMULibDrive11/Makefile

@@ -86,6 +86,7 @@ DEPS    = $(RTIMULIBPATH)/RTMath.h \
     $(RTIMULIBPATH)/IMUDrivers/RTHumidityDefs.h \
     $(RTIMULIBPATH)/IMUDrivers/RTHumidityHTS221.h \
     $(RTIMULIBPATH)/IMUDrivers/RTHumidityHTU21D.h \
+    $(RTIMULIBPATH)/IMUDrivers/RTHumidityICM20948.h \
 
 OBJECTS = objects/RTIMULibDrive11.o \
     objects/RTMath.o \
@@ -135,7 +136,7 @@ clean:
 $(OBJECTS_DIR)%.o : $(RTIMULIBPATH)/%.cpp $(DEPS)
 	@$(CHK_DIR_EXISTS) objects/ || $(MKDIR) objects/
 	$(CXX) -c -o $@ $< $(CFLAGS) $(INCPATH)
-	
+
 $(OBJECTS_DIR)%.o : $(RTIMULIBPATH)/IMUDrivers/%.cpp $(DEPS)
 	@$(CHK_DIR_EXISTS) objects/ || $(MKDIR) objects/
 	$(CXX) -c -o $@ $< $(CFLAGS) $(INCPATH)

Linux/python/PyRTIMU_Settings.cpp

@@ -140,8 +140,10 @@ int Unpack_VEC3(const PyObject* val, RTVector3& dest)
 
 static PyGetSetDef RTIMU_Settings_getset[] = {
     RTIMU_PARAM_INT(IMUType, m_imuType),
+    RTIMU_PARAM_INT(HumidityType, m_humidityType),
     RTIMU_PARAM_INT(FusionType, m_fusionType),
     RTIMU_PARAM_INT(I2CAddress, m_I2CSlaveAddress),
+    RTIMU_PARAM_INT(HumidityI2CAddress, m_I2CHumidityAddress),
     RTIMU_PARAM_INT(I2CBus, m_I2CBus),
     RTIMU_PARAM_INT(CompassCalValid, m_compassCalValid),
     RTIMU_PARAM_VEC3(CompassCalMin, m_compassCalMin),

Linux/python/setup.py

@@ -59,11 +59,12 @@
     "IMUDrivers/RTHumidity.cpp",
     "IMUDrivers/RTHumidityHTS221.cpp",
     "IMUDrivers/RTHumidityHTU21D.cpp",
+    "IMUDrivers/RTHumidityICM20948.cpp",
    ]
 RTIMU_sourcedir = "../../RTIMULib"
 
 mod = Extension('RTIMU',
-                sources = ['PyRTIMU.cpp', 'PyRTIMU_Settings.cpp', 'PyRTIMU_RTIMU.cpp', 
+                sources = ['PyRTIMU.cpp', 'PyRTIMU_Settings.cpp', 'PyRTIMU_RTIMU.cpp',
                 'PyRTIMU_RTPressure.cpp', 'PyRTIMU_RTHumidity.cpp'] +
                 [ os.path.join(RTIMU_sourcedir, sr) for sr in RTIMU_sources],
                 include_dirs = [RTIMU_sourcedir],

RTIMULib/CMakeLists.txt

@@ -76,6 +76,7 @@ SET(LIBRTIMU_SRCS
     IMUDrivers/RTHumidityHTS221.cpp
     IMUDrivers/RTHumidityHTU21D.cpp
     IMUDrivers/RTIMUHMC5883LADXL345.cpp
+    IMUDrivers/RTHumidityICM20498.cpp
 )
 
 IF(WIN32 AND QT5)

RTIMULib/IMUDrivers/RTHumidity.cpp

@@ -26,6 +26,7 @@
 
 #include "RTHumidityHTS221.h"
 #include "RTHumidityHTU21D.h"
+#include "RTHumidityICM20948.h"
 
 RTHumidity *RTHumidity::createHumidity(RTIMUSettings *settings)
 {
@@ -36,6 +37,9 @@ RTHumidity *RTHumidity::createHumidity(RTIMUSettings *settings)
     case RTHUMIDITY_TYPE_HTU21D:
         return new RTHumidityHTU21D(settings);
 
+    case RTHUMIDITY_TYPE_ICM20948:
+        return new RTHumidityICM20948(settings);
+
     case RTHUMIDITY_TYPE_AUTODISCOVER:
         if (settings->discoverHumidity(settings->m_humidityType, settings->m_I2CHumidityAddress)) {
             settings->saveSettings();

RTIMULib/IMUDrivers/RTHumidityDefs.h

@@ -30,6 +30,7 @@
 #define RTHUMIDITY_TYPE_NULL            1                   // if no physical hardware
 #define RTHUMIDITY_TYPE_HTS221          2                   // HTS221
 #define RTHUMIDITY_TYPE_HTU21D          3                   // HTU21D
+#define RTHUMIDITY_TYPE_ICM20948        4                   // ICM20948
 
 //----------------------------------------------------------
 //
@@ -79,4 +80,20 @@
 #define HTU21D_READ_USER_REG    0xe7
 #define HTU21D_CMD_SOFT_RESET   0xfe
 
+//  ICM20948 I2C Slave Addresses
+
+#define ICM20948_ADDRESS0               0x68
+#define ICM20948_ADDRESS1               0x69
+
+
+//  Register map
+
+#define ICM20948_TEMP_OUT_H    0x39
+#define ICM20948_TEMP_OUT_L    0x3A
+
+// Constants
+
+#define ICM20948_ROOM_TEMP_OFFSET   0
+#define ICM20948_TEMP_SENSITIVITY   333.87
+
 #endif // _RTHUMIDITYDEFS_H

RTIMULib/IMUDrivers/RTHumidityICM20948.cpp

@@ -0,0 +1,67 @@
+////////////////////////////////////////////////////////////////////////////
+//
+//  This file is part of RTIMULib
+//
+//  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.
+
+#include "RTHumidityICM20948.h"
+#include "RTHumidityDefs.h"
+
+RTHumidityICM20948::RTHumidityICM20948(RTIMUSettings *settings) : RTHumidity(settings)
+{
+    m_temperatureValid = false;
+ }
+
+RTHumidityICM20948::~RTHumidityICM20948()
+{
+}
+
+bool RTHumidityICM20948::humidityInit()
+{
+    m_humidityAddr = m_settings->m_I2CSlaveAddress;
+
+    return true;
+}
+
+
+bool RTHumidityICM20948::humidityRead(RTIMU_DATA& data)
+{
+    unsigned char temp_out_h, temp_out_l;
+    uint16_t temp_out;
+
+
+    data.humidityValid = false;
+    data.humidity = 0;
+
+    if (!m_settings->HALRead(m_humidityAddr, ICM20948_TEMP_OUT_H, 1, &temp_out_h, "Failed to read ICM20948 temperature high"))
+        return false;
+
+    if (!m_settings->HALRead(m_humidityAddr, ICM20948_TEMP_OUT_L, 1, &temp_out_l, "Failed to read ICM20948 temperature low"))
+        return false;
+
+    temp_out = (temp_out_h << 8) | (temp_out_l);
+
+
+    m_temperature = ((temp_out - ICM20948_ROOM_TEMP_OFFSET) / ICM20948_TEMP_SENSITIVITY) + 21.0;
+    m_temperatureValid = true;
+
+    data.temperatureValid = m_temperatureValid;
+    data.temperature = m_temperature;
+
+    return true;
+}

RTIMULib/IMUDrivers/RTHumidityICM20948.h

@@ -0,0 +1,49 @@
+////////////////////////////////////////////////////////////////////////////
+//
+//  This file is part of RTIMULib
+//
+//  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 _RTHUMIDITYICM20948_H_
+#define _RTHUMIDITYICM20948_H_
+
+#include "RTHumidity.h"
+
+class RTIMUSettings;
+
+class RTHumidityICM20948 : public RTHumidity
+{
+public:
+    RTHumidityICM20948(RTIMUSettings *settings);
+    ~RTHumidityICM20948();
+
+    virtual const char *humidityName() { return "ICM20948"; }
+    virtual int humidityType() { return RTHUMIDITY_TYPE_ICM20948; }
+    virtual bool humidityInit();
+    virtual bool humidityRead(RTIMU_DATA& data);
+
+private:
+    unsigned char m_humidityAddr;                           // I2C address
+
+    RTFLOAT m_temperature;                                  // the current temperature
+    bool m_temperatureValid;
+
+};
+
+#endif // _RTHUMIDITYICM20948_H_
+

RTIMULib/RTIMULib.pri

@@ -57,6 +57,7 @@ HEADERS += $$PWD/RTIMULib.h \
     $$PWD/IMUDrivers/RTHumidityDefs.h \
     $$PWD/IMUDrivers/RTHumidityHTS221.h \
     $$PWD/IMUDrivers/RTHumidityHTU21D.h \
+    $$PWD/IMUDrivers/RTHumidityICM20948.h \
 
 SOURCES += $$PWD/RTMath.cpp \
     $$PWD/RTIMUHal.cpp \

RTIMULib/RTIMUSettings.cpp

@@ -43,6 +43,7 @@
 
 #include "IMUDrivers/RTHumidityHTS221.h"
 #include "IMUDrivers/RTHumidityHTU21D.h"
+#include "IMUDrivers/RTHumidityICM20948.h"
 
 #define RATE_TIMER_INTERVAL 2
 
@@ -549,6 +550,20 @@ bool RTIMUSettings::discoverHumidity(int& humidityType, unsigned char& humidityA
             return true;
         }
 
+        if (Detect_ICM20948(ICM20948_ADDRESS0)) {
+            humidityType = RTHUMIDITY_TYPE_ICM20948;
+            humidityAddress = ICM20948_ADDRESS0;
+            HAL_INFO("Detected ICM20948 at standard address\n");
+            return true;
+        }
+
+        if (Detect_ICM20948(ICM20948_ADDRESS1)) {
+            humidityType = RTHUMIDITY_TYPE_ICM20948;
+            humidityAddress = ICM20948_ADDRESS1;
+            HAL_INFO("Detected ICM20948 at option address\n");
+            return true;
+        }
+
     }
     HAL_ERROR("No humidity sensor detected\n");
     return false;
@@ -705,7 +720,7 @@ void RTIMUSettings::setDefaults()
 
     m_LSM9DS1CompassSampleRate = LSM9DS1_COMPASS_SAMPLERATE_20;
     m_LSM9DS1CompassFsr = LSM9DS1_COMPASS_FSR_4;
- 
+
     // BMX055 defaults
 
     m_BMX055GyroSampleRate = BMX055_GYRO_SAMPLERATE_100_32;
@@ -2048,7 +2063,7 @@ bool RTIMUSettings::Detect_ICM20948(uint8_t slaveAddress)
     uint8_t bank;
     if (!HALRead(slaveAddress, ICM20948_REG_BANK_SEL, 1, &bank, ""))
         return false;
-        
+
     if(bank != ICM20948_BANK0) {
         // wrong bank..   We have to write the bank 0 here, so far I don't know any
         // alternate devices which use 0x7f address for anything meaningful, but if