Source Edit

ICM20948 9-Axis IMU Sensor Module

Nim wrapper for the ICM20948 9-axis IMU sensor.

The ICM20948 combines a 3-axis accelerometer, 3-axis gyroscope, and 3-axis magnetometer (AK09916) in a single package.

Features:

3-axis gyroscope with configurable ranges (250, 500, 1000, 2000 DPS)
3-axis accelerometer with configurable ranges (±2g, ±4g, ±8g, ±16g)
3-axis magnetometer with configurable data rates (10Hz to 100Hz)
Temperature sensor
Both I2C and SPI transport options
Integrated auxiliary I2C bus for magnetometer

Example:

import nimphea
import nimphea/dev/icm20948

var imu: Icm20948I2C
var config: Icm20948I2CConfig

# Configure I2C transport
config.transport_config.address = ICM20948_I2CADDR_DEFAULT
config.transport_config.periph = I2C_PERIPH_1
config.transport_config.speed = I2C_400KHZ
config.transport_config.scl = seed.GetPin(11)  # PB8
config.transport_config.sda = seed.GetPin(12)  # PB9

if imu.init(config) == ICM20948_OK:
  discard imu.setupMag()
  
  while true:
    imu.process()
    let accel = imu.getAccelVect()
    let gyro = imu.getGyroVect()
    let mag = imu.getMagVect()
    let temp = imu.getTemp()
    # Use sensor data...

Imports

nimphea, i2c, spi

Types

Ak09916DataRate {.importcpp: "daisy::Icm20948<daisy::Icm20948I2CTransport>::ak09916_data_rate_t", size: 4.} = enum AK09916_MAG_DATARATE_SHUTDOWN = 0, ## Stops measurement updates AK09916_MAG_DATARATE_SINGLE = 1, ## Single measurement AK09916_MAG_DATARATE_10_HZ = 2, ## 10 Hz updates AK09916_MAG_DATARATE_20_HZ = 4, ## 20 Hz updates AK09916_MAG_DATARATE_50_HZ = 6, ## 50 Hz updates AK09916_MAG_DATARATE_100_HZ = 8 ## 100 Hz updates: Magnetometer data rate Source Edit
Icm20948AccelRange {.importcpp: "daisy::Icm20948<daisy::Icm20948I2CTransport>::icm20948_accel_range_t", size: 4.} = enum ICM20948_ACCEL_RANGE_2_G = 0, ## ±2g ICM20948_ACCEL_RANGE_4_G = 1, ## ±4g ICM20948_ACCEL_RANGE_8_G = 2, ## ±8g ICM20948_ACCEL_RANGE_16_G = 3 ## ±16g: Accelerometer measurement range Source Edit
Icm20948GyroRange {.importcpp: "daisy::Icm20948<daisy::Icm20948I2CTransport>::icm20948_gyro_range_t", size: 4.} = enum ICM20948_GYRO_RANGE_250_DPS = 0, ## ±250 degrees per second ICM20948_GYRO_RANGE_500_DPS = 1, ## ±500 degrees per second ICM20948_GYRO_RANGE_1000_DPS = 2, ## ±1000 degrees per second ICM20948_GYRO_RANGE_2000_DPS = 3 ## ±2000 degrees per second: Gyroscope measurement range Source Edit
Icm20948I2C {.importcpp: "daisy::Icm20948I2C", bycopy.} = object: ICM20948 sensor with I2C transport Source Edit
Icm20948I2CConfig {.importcpp: "daisy::Icm20948I2C::Config", bycopy.} = object transport_config* {.importcpp: "transport_config".}: Icm20948I2CTransportConfig: I2C device configuration Source Edit
Icm20948I2CTransport {.importcpp: "daisy::Icm20948I2CTransport", bycopy.} = object: I2C transport for ICM20948 Source Edit
Icm20948I2CTransportConfig {.importcpp: "daisy::Icm20948I2CTransport::Config", bycopy.} = object periph* {.importcpp: "periph".}: I2CPeripheral speed* {.importcpp: "speed".}: I2CSpeed scl* {.importcpp: "scl".}: Pin sda* {.importcpp: "sda".}: Pin address* {.importcpp: "address".}: uint8: I2C transport configuration Source Edit
Icm20948Result {.importcpp: "daisy::Icm20948<daisy::Icm20948I2CTransport>::Result", size: 4.} = enum ICM20948_OK = 0, ## Success ICM20948_ERR = 1 ## Error: Operation result Source Edit
Icm20948Spi {.importcpp: "daisy::Icm20948Spi", bycopy.} = object: ICM20948 sensor with SPI transport Source Edit
Icm20948SpiConfig {.importcpp: "daisy::Icm20948Spi::Config", bycopy.} = object transport_config* {.importcpp: "transport_config".}: Icm20948SpiTransportConfig: SPI device configuration Source Edit
Icm20948SpiTransport {.importcpp: "daisy::Icm20948SpiTransport", bycopy.} = object: SPI transport for ICM20948 Source Edit
Icm20948SpiTransportConfig {.importcpp: "daisy::Icm20948SpiTransport::Config", bycopy.} = object periph* {.importcpp: "periph".}: SpiPeripheral sclk* {.importcpp: "sclk".}: Pin miso* {.importcpp: "miso".}: Pin mosi* {.importcpp: "mosi".}: Pin nss* {.importcpp: "nss".}: Pin: SPI transport configuration Source Edit
Icm20948Vect {.importcpp: "daisy::Icm20948<daisy::Icm20948I2CTransport>::Icm20948Vect", bycopy.} = object x* {.importcpp: "x".}: cfloat y* {.importcpp: "y".}: cfloat z* {.importcpp: "z".}: cfloat: 3D vector for sensor data Source Edit

Consts

ICM20948_CHIP_ID = 0xEA'u8: ICM20948 chip ID Source Edit
ICM20948_I2CADDR_DEFAULT = 0x69'u8: Default I2C address Source Edit
ICM20948_MAG_ID = 0x09'u8: Magnetometer chip ID Source Edit
ICM20948_UT_PER_LSB = 0.15'f32: Magnetometer LSB value Source Edit

Procs

proc getAccelRange(this: var Icm20948I2C): Icm20948AccelRange {. importcpp: "#.GetAccelRange()", header: "dev/icm20948.h", ...raises: [], tags: [], forbids: [].}: Get the current accelerometer measurement range

Returns: Current accelerometer range
Source Edit
proc getAccelRange(this: var Icm20948Spi): Icm20948AccelRange {. importcpp: "#.GetAccelRange()", header: "dev/icm20948.h", ...raises: [], tags: [], forbids: [].}: Get the current accelerometer measurement range Source Edit
proc getAccelVect(this: var Icm20948I2C): Icm20948Vect {. importcpp: "#.GetAccelVect()", header: "dev/icm20948.h", ...raises: [], tags: [], forbids: [].}: Get the latest accelerometer reading in m/s²

Returns: Vector with x, y, z acceleration values
Source Edit
proc getAccelVect(this: var Icm20948Spi): Icm20948Vect {. importcpp: "#.GetAccelVect()", header: "dev/icm20948.h", ...raises: [], tags: [], forbids: [].}: Get the latest accelerometer reading in m/s² Source Edit
proc getGyroRange(this: var Icm20948I2C): Icm20948GyroRange {. importcpp: "#.GetGyroRange()", header: "dev/icm20948.h", ...raises: [], tags: [], forbids: [].}: Get the current gyroscope measurement range

Returns: Current gyroscope range
Source Edit
proc getGyroRange(this: var Icm20948Spi): Icm20948GyroRange {. importcpp: "#.GetGyroRange()", header: "dev/icm20948.h", ...raises: [], tags: [], forbids: [].}: Get the current gyroscope measurement range Source Edit
proc getGyroVect(this: var Icm20948I2C): Icm20948Vect {. importcpp: "#.GetGyroVect()", header: "dev/icm20948.h", ...raises: [], tags: [], forbids: [].}: Get the latest gyroscope reading in rad/s

Returns: Vector with x, y, z rotation values
Source Edit
proc getGyroVect(this: var Icm20948Spi): Icm20948Vect {. importcpp: "#.GetGyroVect()", header: "dev/icm20948.h", ...raises: [], tags: [], forbids: [].}: Get the latest gyroscope reading in rad/s Source Edit
proc getMagDataRate(this: var Icm20948I2C): Ak09916DataRate {. importcpp: "#.GetMagDataRate()", header: "dev/icm20948.h", ...raises: [], tags: [], forbids: [].}: Get the current magnetometer data rate

Returns: Current magnetometer data rate
Source Edit
proc getMagDataRate(this: var Icm20948Spi): Ak09916DataRate {. importcpp: "#.GetMagDataRate()", header: "dev/icm20948.h", ...raises: [], tags: [], forbids: [].}: Get the current magnetometer data rate Source Edit
proc getMagVect(this: var Icm20948I2C): Icm20948Vect {. importcpp: "#.GetMagVect()", header: "dev/icm20948.h", ...raises: [], tags: [], forbids: [].}: Get the latest magnetometer reading in µT

Returns: Vector with x, y, z magnetic field values
Source Edit
proc getMagVect(this: var Icm20948Spi): Icm20948Vect {. importcpp: "#.GetMagVect()", header: "dev/icm20948.h", ...raises: [], tags: [], forbids: [].}: Get the latest magnetometer reading in µT Source Edit
proc getTemp(this: var Icm20948I2C): cfloat {.importcpp: "#.GetTemp()", header: "dev/icm20948.h", ...raises: [], tags: [], forbids: [].}: Get the latest temperature reading in °C

Returns: Temperature in degrees Celsius
Source Edit
proc getTemp(this: var Icm20948Spi): cfloat {.importcpp: "#.GetTemp()", header: "dev/icm20948.h", ...raises: [], tags: [], forbids: [].}: Get the latest temperature reading in °C Source Edit
proc init(this: var Icm20948I2C; config: Icm20948I2CConfig): Icm20948Result {. importcpp: "#.Init(#)", header: "dev/icm20948.h", ...raises: [], tags: [], forbids: [].}: Initialize the ICM20948 sensor

Parameters:

config - Configuration struct with transport and sensor settings

Returns: ICM20948_OK on success, ICM20948_ERR on failure
Source Edit
proc init(this: var Icm20948Spi; config: Icm20948SpiConfig): Icm20948Result {. importcpp: "#.Init(#)", header: "dev/icm20948.h", ...raises: [], tags: [], forbids: [].}: Initialize the ICM20948 sensor via SPI Source Edit
proc initIcm20948I2CConfig(): Icm20948I2CConfig {.constructor, importcpp: "daisy::Icm20948I2C::Config(@)", header: "dev/icm20948.h".}: Initialize I2C device config with defaults Source Edit
proc initIcm20948I2CTransportConfig(): Icm20948I2CTransportConfig {.constructor, importcpp: "daisy::Icm20948I2CTransport::Config(@)", header: "dev/icm20948.h".}: Initialize I2C transport config with defaults Source Edit
proc initIcm20948SpiConfig(): Icm20948SpiConfig {.constructor, importcpp: "daisy::Icm20948Spi::Config(@)", header: "dev/icm20948.h".}: Initialize SPI device config with defaults Source Edit
proc initIcm20948SpiTransportConfig(): Icm20948SpiTransportConfig {.constructor, importcpp: "daisy::Icm20948SpiTransport::Config(@)", header: "dev/icm20948.h".}: Initialize SPI transport config with defaults Source Edit
proc process(this: var Icm20948I2C) {.importcpp: "#.Process()", header: "dev/icm20948.h", ...raises: [], tags: [], forbids: [].}: Update all sensor readings

Call this regularly to fetch new data from the sensor.
Source Edit
proc process(this: var Icm20948Spi) {.importcpp: "#.Process()", header: "dev/icm20948.h", ...raises: [], tags: [], forbids: [].}: Update all sensor readings Source Edit
proc reset(this: var Icm20948I2C) {.importcpp: "#.Reset()", header: "dev/icm20948.h", ...raises: [], tags: [], forbids: [].}: Reset the sensor to default settings Source Edit
proc reset(this: var Icm20948Spi) {.importcpp: "#.Reset()", header: "dev/icm20948.h", ...raises: [], tags: [], forbids: [].}: Reset the sensor to default settings Source Edit
proc setAccelRange(this: var Icm20948I2C; range: Icm20948AccelRange) {. importcpp: "#.SetAccelRange(#)", header: "dev/icm20948.h", ...raises: [], tags: [], forbids: [].}: Set the accelerometer measurement range

Parameters:

range - Measurement range (2g, 4g, 8g, or 16g)

Source Edit
proc setAccelRange(this: var Icm20948Spi; range: Icm20948AccelRange) {. importcpp: "#.SetAccelRange(#)", header: "dev/icm20948.h", ...raises: [], tags: [], forbids: [].}: Set the accelerometer measurement range Source Edit
proc setAccelRateDivisor(this: var Icm20948I2C; divisor: uint16) {. importcpp: "#.SetAccelRateDivisor(#)", header: "dev/icm20948.h", ...raises: [], tags: [], forbids: [].}: Set the accelerometer sample rate divisor

Rate = 1125Hz / (1 + divisor)

Parameters:

divisor - Rate divisor (0-4095)

Source Edit
proc setAccelRateDivisor(this: var Icm20948Spi; divisor: uint16) {. importcpp: "#.SetAccelRateDivisor(#)", header: "dev/icm20948.h", ...raises: [], tags: [], forbids: [].}: Set the accelerometer sample rate divisor Source Edit
proc setGyroRange(this: var Icm20948I2C; range: Icm20948GyroRange) {. importcpp: "#.SetGyroRange(#)", header: "dev/icm20948.h", ...raises: [], tags: [], forbids: [].}: Set the gyroscope measurement range

Parameters:

range - Measurement range (250, 500, 1000, or 2000 DPS)

Source Edit
proc setGyroRange(this: var Icm20948Spi; range: Icm20948GyroRange) {. importcpp: "#.SetGyroRange(#)", header: "dev/icm20948.h", ...raises: [], tags: [], forbids: [].}: Set the gyroscope measurement range Source Edit
proc setGyroRateDivisor(this: var Icm20948I2C; divisor: uint8) {. importcpp: "#.SetGyroRateDivisor(#)", header: "dev/icm20948.h", ...raises: [], tags: [], forbids: [].}: Set the gyroscope sample rate divisor

Rate = 1100Hz / (1 + divisor)

Parameters:

divisor - Rate divisor (0-255)

Source Edit
proc setGyroRateDivisor(this: var Icm20948Spi; divisor: uint8) {. importcpp: "#.SetGyroRateDivisor(#)", header: "dev/icm20948.h", ...raises: [], tags: [], forbids: [].}: Set the gyroscope sample rate divisor Source Edit
proc setMagDataRate(this: var Icm20948I2C; rate: Ak09916DataRate): bool {. importcpp: "#.SetMagDataRate(#)", header: "dev/icm20948.h", ...raises: [], tags: [], forbids: [].}: Set the magnetometer data rate

Parameters:

rate - Data rate (10Hz, 20Hz, 50Hz, or 100Hz)

Returns: true on success, false on failure
Source Edit
proc setMagDataRate(this: var Icm20948Spi; rate: Ak09916DataRate): bool {. importcpp: "#.SetMagDataRate(#)", header: "dev/icm20948.h", ...raises: [], tags: [], forbids: [].}: Set the magnetometer data rate Source Edit
proc setupMag(this: var Icm20948I2C): Icm20948Result {. importcpp: "#.SetupMag()", header: "dev/icm20948.h", ...raises: [], tags: [], forbids: [].}: Setup the magnetometer

Must be called after init() to enable magnetometer readings.

Returns: ICM20948_OK on success, ICM20948_ERR on failure
Source Edit
proc setupMag(this: var Icm20948Spi): Icm20948Result {. importcpp: "#.SetupMag()", header: "dev/icm20948.h", ...raises: [], tags: [], forbids: [].}: Setup the magnetometer Source Edit