iam20680hp for STM32 (HAL I2C)

• Add the library to your project.
• Change the I2C_HANDLER if necessary.
• Check the correct I2C address IAM20680_LOGIC.
• You can start with iam20680hpInit().
• Readout by iam20680hpReadAccelData() and iam20680hpReadGyroData().

For example:

//Init the iam20680
if (iam20680hpInit() != IAM20680HP_OK){
  errorHandler();
}

IAM20680HP_accelData_t accelData;
IAM20680HP_gyroData_t gyroData;
IAM20680HP_err_t result;

while(1) {

  result = iam20680hpReadAccelData(&accelData);
  if (result != IAM20680HP_OK)
    errorHandler();
  result = iam20680hpReadGyroData(&gyroData);
  if (result != IAM20680HP_OK)
    errorHandler();

  HAL_Delay(50);
  
}

---

Settings for initialisation

The basic settings for iam20680hpInit() are defined in the header file:

/* User: change these */
// 1) Change to correct handler
#define I2C_HANDLER hi2c1

// 2) Change to 1 if logic level is high, 0 if logic level is low (chip has 2 addresses)
#define IAM20680_LOGIC 1

#if IAM20680_LOGIC == 1
#define IAM20680HP_I2C_ADDRESS 0x69
#else
#define IAM20680HP_I2C_ADDRESS 0x68
#endif

// 3) Timeout of I2C communication
#define IAM20680HP_I2C_TIMEOUT 100


//INITIAL CONFIGURATION
#define SAMPLE_RATE_DIV 0x00                    //Sample rate divider, 0x09 = 1khz/(1+9) = 100hz
#define LOW_PASS_FILTER_GYRO_DLPF_CFG 0x00      //Table 17 datasheet, gyro low pass filter
#define GYRO_FS_SEL 0x00                        //Gyro Full Scale select
#define GYRO_FCHOICE 0x00                       //Used to bypass DLPF
#define ACCEL_FS_SEL 0x00                       //Accel Full Scale select
#define ACCEL_FIFO_SIZE 0x00                    //FIFO size 0x00 = 512byte
#define ACCEL_DEC2_CFG 0x00                     //Average samples for low power mode
#define ACCEL_FCHOICE 0x00                      //Used to bypass DLPF
#define ACCEL_DLPF_CFG 0x05                     //Low pass filter accelerometer 

---

Tables as used in the datasheet

Table 17

FCHOICE_B		DLPF_CFG	Gyroscope			Temperature Sensor
<1>	<0>		3-dB BW (Hz)	Noise BW (Hz)	Rate (kHz)	3-dB BW (Hz)
-----------	------	----------	---------------	-----------------------	------------------	---------------------
X	1	X	8173	8595.1	32	4000
1	0	X	3281	3451.0	32	4000
0	0	0	250	306.6	8	4000
0	0	1	176	177.0	1	188
0	0	2	92	108.6	1	98
0	0	3	41	59.0	1	42
0	0	4	20	30.5	1	20
0	0	5	10	15.6	1	10
0	0	6	5	8.0	1	5
0	0	7	3281	3451.0	8	4000

Table 18

ACCEL_FCHOICE_B	A_DLPF_CFG	3-dB BW (Hz)	Noise BW (Hz)	Rate (kHz)
1	X	1046.0	1100.0	4
0	0	218.1	235.0	1
0	1	218.1	235.0	1
0	2	99.0	121.3	1
0	3	44.8	61.5	1
0	4	21.2	31.0	1
0	5	10.2	15.5	1
0	6	5.1	7.8	1
0	7	420.0	441.6	1