This is a P8X32A/Propeller, P2X8C4M64P/Propeller 2 driver object for the ICM20649 6DoF IMU.
IMPORTANT: This software is meant to be used with the spin-standard-library (P8X32A) or p2-spin-standard-library (P2X8C4M64P). Please install the applicable library first before attempting to use this code, otherwise you will be missing several files required to build the project.
- I2C connection at up to 400kHz
- SPI connection at a fixed 4MHz (P1), up to 7MHz (P2)
- Read accelerometer (raw, micro-g's), gyroscope (raw, micro-dps), temperature (centi-degrees)
- Set accel, gyro full-scale
- Data-ready flag
- Set bias offsets (manual, automatic)
- Set output data rates
- Set optional accel/gyro data low-pass filter
- FIFO modes, status flags
P1/SPIN1:
- spin-standard-library
- 1 extra core/cog for the PASM I2C or SPI engine (none if the bytecode engine is used)
- sensor.accel.common.spinh (provided by spin-standard-library)
- sensor.gyroscope.common.spinh (provided by spin-standard-library)
- sensor.temp.common.spinh (provided by spin-standard-library)
P2/SPIN2:
- p2-spin-standard-library
- sensor.accel.common.spin2h (provided by p2-spin-standard-library)
- sensor.gyroscope.common.spin2h (provided by p2-spin-standard-library)
- sensor.temp.common.spin2h (provided by p2-spin-standard-library)
| Processor | Language | Compiler | Backend | Status |
|---|---|---|---|---|
| P1 | SPIN1 | FlexSpin (6.9.4) | Bytecode | OK |
| P1 | SPIN1 | FlexSpin (6.9.4) | Native/PASM | Some runtime issues |
| P2 | SPIN2 | FlexSpin (6.9.4) | NuCode | OK |
| P2 | SPIN2 | FlexSpin (6.9.4) | Native/PASM2 | OK |
(other versions or toolchains not listed are not supported, and may or may not work)
- TBD