jh.chun/VesiScan-Basic_Zephyr
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jhchun
2026-06-19 14:21:59 +09:00
parent b64b4d08a2
commit 08b8d3001e
4 changed files with 31 additions and 44 deletions
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src/drivers/imu/imu_i2c.c
+10 -15
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@@ -396,13 +396,11 @@ int imu_init(void)
}
if (who_am_i != ICM_WHOAMI) {
DBG_PRINTF("[IMU] FAIL — WHOAMI mismatch (got=0x%02X, expected=0x%02X)\r\n",
who_am_i, ICM_WHOAMI);
DBG_PRINTF("[IMU] FAIL — WHOAMI mismatch (got=0x%02X, expected=0x%02X)\r\n", who_am_i, ICM_WHOAMI);
return -3;
}
DBG_PRINTF("[IMU] OK — ICM42670P detected (WHOAMI=0x%02X, addr=0x%02X)\r\n",
who_am_i, IMU_I2C_ADDR);
//DBG_PRINTF("[IMU] OK — ICM42670P detected (WHOAMI=0x%02X, addr=0x%02X)\r\n", who_am_i, IMU_I2C_ADDR);
return 0;
}
@@ -443,9 +441,7 @@ int imu_read(int16_t accel[3], int16_t gyro[3])
gyro[1] = (int16_t)((raw[8] << 8) | raw[9]);
gyro[2] = (int16_t)((raw[10] << 8) | raw[11]);
DBG_PRINTF("[IMU] msp: A=(%6d,%6d,%6d) G=(%6d,%6d,%6d)\r\n",
accel[0], accel[1], accel[2],
gyro[0], gyro[1], gyro[2]);
//DBG_PRINTF("[IMU] msp: A=(%6d,%6d,%6d) G=(%6d,%6d,%6d)\r\n", accel[0], accel[1], accel[2], gyro[0], gyro[1], gyro[2]);
/* 슬립 모드: 전력 절감 */
imu_write_reg(REG_PWR_MGMT0, 0x00);
@@ -509,6 +505,7 @@ int imu_read_with_temperature(int16_t accel[3], int16_t gyro[3], int16_t *temp_c
gyro[1] = (int16_t)((raw[10] << 8) | raw[11]);
gyro[2] = (int16_t)((raw[12] << 8) | raw[13]);
/*
DBG_PRINTF("[IMU] mbb: A=(%6d,%6d,%6d) G=(%6d,%6d,%6d) T=%d.%02d C temp_raw=%d/%d/%d/%d avg=%d first=0x%02X%02X\r\n",
accel[0], accel[1], accel[2],
gyro[0], gyro[1], gyro[2],
@@ -520,7 +517,7 @@ int imu_read_with_temperature(int16_t accel[3], int16_t gyro[3], int16_t *temp_c
temp_samples[3],
temp_raw,
raw[0], raw[1]);
*/
imu_write_reg(REG_PWR_MGMT0, 0x00);
return 0;
}
@@ -574,11 +571,12 @@ int imu_read_temperature_cdeg(int16_t *temp_cdeg)
temp_raw = (int16_t)(temp_sum / (int32_t)IMU_TEMP_AVG_SAMPLES);
cdeg = imu_temp_raw_to_cdeg(temp_raw);
*temp_cdeg = (int16_t)cdeg;
/*
DBG_PRINTF("[IMU] temp=%d.%02d C raw=%d\r\n",
*temp_cdeg / 100,
(*temp_cdeg < 0 ? -*temp_cdeg : *temp_cdeg) % 100,
temp_raw);
*/
if (!was_fifo_active)
{
(void)imu_write_reg(REG_PWR_MGMT0, 0x00);
@@ -653,14 +651,11 @@ int imu_fifo_read_latest(uint8_t *sample_bytes,
}
ret = imu_fifo_read_count(&record_count);
DBG_PRINTF("[IMU FIFO] raw count=%u ret=%d target=%u\r\n",
record_count,
ret,
max_samples);
//DBG_PRINTF("[IMU FIFO] raw count=%u ret=%d target=%u\r\n", record_count, ret, max_samples);
if ((ret == 0) && (record_count > 0U))
{
ret = imu_fifo_read_records(record_count);
DBG_PRINTF("[IMU FIFO] read records ret=%d\r\n", ret);
//DBG_PRINTF("[IMU FIFO] read records ret=%d\r\n", ret);
}
if (ret)
@@ -690,7 +685,7 @@ int imu_fifo_read_latest(uint8_t *sample_bytes,
}
*out_count = record_count;
DBG_PRINTF("[IMU FIFO] drained samples=%u\r\n", record_count);
//DBG_PRINTF("[IMU FIFO] drained samples=%u\r\n", record_count);
return 0;
}