STM32 ICM-20948 IMU Part 2: magnetometer

[@steppeschool3629]

Complete guidance on ICM20948 along with attitude estimation using Euler angles and quaternions can be found in my course:
www.steppeschool.com/courses/stm32-hal-orientation-estimation
The source code is available on Patreon page:
www.patreon.com/user?u=80399744

[@toddhoot1443]

Great videos. I hope there is a next step in this series that shows how to use DMP functions to offload calculation of sensor roll, pitch, yaw,

[@steppeschool3629]

Thanks a lot. Hope to release new videos soon.

[@bobby9568]

Amazing content! This channel is a gem 🎉

[@steppeschool3629]

Thanks👍

[@duchuylee]

Great Job, thank you for sharing

[@colorhacker996]

Thank you very much for your guidance. My problem is the delay. There is no delay for the operation of bank3, so I have been stuck reading data.

[@Vutung8988]

11:17 can you explain more about reg MAG_DATA_ONSET? why read 8 byte in that? many thanks!

[@steppeschool3629]

Sorry for the late reply. We just read 6 bytes for magnetometer data (2 bytes x 3 axes) and 2 additional bytes, so the magnetometer will update the readings. We just do serial read starting from MAG_DATA_ONSET. For full info, you can refer to my course:
www.steppeschool.com/courses/stm32-hal-orientation-estimation

[@Vutung8988]

@@steppeschool3629 is the address of MAG_DATA_ONSET same the MAG_ST1 (10h)?

[@jwalkerbg60]

Please add a description how to make magnetometer (I2C_SLV0) be synchronized with accelerometer and gyroscope and write data into FIFO.

[@myetis1990]

is it the best sensor for drones?

[@steppeschool3629]

I do not think so, there should be other IMU sensors with better characteristics

[@rohandeshpande7896]

Please Please make a video to get quaternions that are accurate. I am using different libraries from 2 weeks with i2c with stm and arduino ide but no luck, the quat i get jump positive to negative. Help me cause there seems to be no help from git hub also.

[@steppeschool3629]

Hello, If you check my website, there is a course about the attitude estimation, where I explained how to compute quaternions. However, it still needs to be completed. Right now, I am working on finishing and updating the course content. If you need news regarding that, you can join my community page on Patreon and the website.

[@Theo005-k5e]

at timestamp 12:02 why did you reverse the operands order for the magnetometer(like data_rx[15]

[@steppeschool3629]

Hi, sorry for the late reply. In the magnetometer, the bytes are in reverse order. That is why I have to read in this way

[@Theo005-k5e]

@@steppeschool3629 No problem!I followed along your video series and i writ library using i2c.Unfortunately the magnetometer does not work,here is the snippet of the code : void Mag_WriteReg(uint8_t reg,uint8_t data)
{
ICM_SelBank(3);
ICM_WriteReg(B3_I2C_SLV0_ADDR,(MAG_SLAVE_ADDR));
ICM_WriteReg(B3_I2C_SLV0_REG,reg);
ICM_WriteReg(B3_I2C_SLV0_DO,data);
HAL_Delay(10);
ICM_WriteReg(B3_I2C_SLV0_CTRL,0x81);
HAL_Delay(10);
}
void Mag_ReadReg(uint8_t reg,uint8_t len)
{
ICM_SelBank(3);
ICM_WriteReg(B3_I2C_SLV0_ADDR,(MAG_SLAVE_ADDR) | 0x80);
ICM_WriteReg(B3_I2C_SLV0_REG,reg);
uint8_t slave_reg;
ICM_ReadReg(B3_I2C_SLV0_REG,&slave_reg);
ICM_WriteReg(B3_I2C_SLV0_CTRL,0x80 | len);
}the registers are written corectly,and I do not know how could i debug the internal i2c master.Would you give me some guidance?

[@jwalkerbg60]

Hi, what is the measuring unit the parameter of HAL_Delay() function?

[@TechSponsorTV]

milliseconds