ICM20948 DMP代码详解（19）

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于 2024-09-14 09:06:32 发布

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分类专栏： DMP 文章标签： ICM20948 DMP

本文链接：https://blog.csdn.net/phmatthaus/article/details/142137645

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接前一篇文章：ICM20948 DMP代码详解（18）

上一回完成了对inv_icm20948_set_chip_power_state函数的完全解析。本回回到调用它的inv_icm20948_read_mems_reg函数中，继续往下解析。为了便于理解和回顾，再次贴出inv_icm20948_read_mems_reg函数源码，在EMD-Core\sources\Invn\Devices\Drivers\ICM20948\Icm20948Transport.c中，如下：

/**
*  @brief      Read data from a register on MEMs.
*  @param[in]  Register address
*  @param[in]  Length of data
*  @param[in]  Data to be written
*  @return     0 if successful.
*/
int inv_icm20948_read_mems_reg(struct inv_icm20948 * s, uint16_t reg, unsigned int length, unsigned char *data)
{
	int result = 0;
	unsigned int bytesRead = 0;
	unsigned char regOnly = (unsigned char)(reg & 0x7F);
	unsigned char i, dat[INV_MAX_SERIAL_READ];
	unsigned char power_state = inv_icm20948_get_chip_power_state(s);

	if((power_state & CHIP_AWAKE) == 0)   // Wake up chip since it is asleep
		result = inv_icm20948_set_chip_power_state(s, CHIP_AWAKE, 1);

	if(check_reg_access_lp_disable(s, reg))   // Check if register needs LP_EN to be disabled
		result |= inv_icm20948_set_chip_power_state(s, CHIP_LP_ENABLE, 0);  //Disable LP_EN

	result |= inv_set_bank(s, reg >> 7);

	while (bytesRead<length) 
	{
		int thisLen = min(INV_MAX_SERIAL_READ, length-bytesRead);
		if(s->base_state.serial_interface == SERIAL_INTERFACE_SPI) {
			result |= inv_icm20948_read_reg(s, regOnly+bytesRead, &dat[bytesRead], thisLen);
		} else {
			result |= inv_icm20948_read_reg(s, regOnly+bytesRead, &data[bytesRead],thisLen);
		}

		if (result)
			return result;

		bytesRead += thisLen;
	}

	if(s->base_state.serial_interface == SERIAL_INTERFACE_SPI) {
		for (i=0; i< length; i++) {
			*data= dat[i];
			data++;
		}
	}

	if(check_reg_access_lp_disable(s, reg))    // Check if register needs LP_EN to be enabled  
		result |= inv_icm20948_set_chip_power_state(s, CHIP_LP_ENABLE, 1);  //Enable LP_EN

	return result;
}

check_reg_access_lp_disable函数在EMD-Core\sources\Invn\Devices\Drivers\ICM20948\Icm20948Transport.c中，代码如下：

static uint8_t check_reg_access_lp_disable(struct inv_icm20948 *s, unsigned short reg)
{
	switch(reg){
	case REG_LP_CONFIG:      /** (BANK_0 | 0x05) */
	case REG_PWR_MGMT_1:     /** (BANK_0 | 0x06) */
	case REG_PWR_MGMT_2:     /** (BANK_0 | 0x07) */
	case REG_INT_PIN_CFG:    /** (BANK_0 | 0x0F) */
	case REG_INT_ENABLE:     /** (BANK_0 | 0x10) */
	case REG_FIFO_COUNT_H:   /** (BANK_0 | 0x70) */
	case REG_FIFO_COUNT_L:   /** (BANK_0 | 0x71) */
	case REG_FIFO_R_W:       /** (BANK_0 | 0x72) */
		return inv_icm20948_ctrl_get_batch_mode_status(s);
	case REG_FIFO_CFG:       /** (BANK_0 | 0x76) */
	case REG_MEM_BANK_SEL:   /** (BANK_0 | 0x7E) */
	case REG_BANK_SEL:       /** 0x7F */
	case REG_INT_STATUS:     /** (BANK_0 | 0x19) */
	case REG_DMP_INT_STATUS: /** (BANK_0 | 0x18) */
		return 0;
		break;
	default:
		break;
	}
	return 1;
}

此处在inv_icm20948_read_mems_reg函数中传给check_reg_access_lp_disable函数的实参是reg，而这个reg又是inv_icm20948_initialize_lower_driver函数传给inv_icm20948_read_mems_reg函数的，实际的寄存器是REG_USER_CTRL。

REG_USER_CTRL宏在EMD-Core\sources\Invn\Devices\Drivers\ICM20948\Icm20948Defs.h中定义，如下：

#define REG_USER_CTRL           (BANK_0 | 0x03)

对应于ICM20948芯片手册中的USER_CTRL寄存器，如下所示：

由于REG_USER_CTRL不属于switch中的case，或者说属于default，因此函数check_reg_access_lp_disable直接返回1。

这样，inv_icm20948_read_mems_reg函数的以下代码片段的完整功能就明晰了。

	unsigned char power_state = inv_icm20948_get_chip_power_state(s);

	if((power_state & CHIP_AWAKE) == 0)   // Wake up chip since it is asleep
		result = inv_icm20948_set_chip_power_state(s, CHIP_AWAKE, 1);

	if(check_reg_access_lp_disable(s, reg))   // Check if register needs LP_EN to be disabled
		result |= inv_icm20948_set_chip_power_state(s, CHIP_LP_ENABLE, 0);  //Disable LP_EN

1）首先通过inv_icm20948_get_chip_power_state函数得到power_state即s->base_state.wake_state；

2）如果power_state中的CHIP_AWAKE没有置位、即ICM20948芯片处于休眠状态，则调用inv_icm20948_set_chip_power_state函数将其唤醒；

3）之后检查USER_CTRL寄存器是否需要将LP_EN禁止；

4）如果需要，则再次通过inv_icm20948_set_chip_power_state函数禁止低功耗模式（注意是暂时性的，下边还会恢复低功耗模式）。

回到inv_icm20948_read_mems_reg函数中。接下来调用inv_set_bank函数设置bank。inv_set_bank函数前文书中已经解析过（参见https://phmatthaus.blog.csdn.net/article/details/142096690），在此不再赘述。

接下来就要开始实际的数据读取了，对于这部分的解析，放在下一回中。