icm42670: Driver for TDK ICM-42670-P 6-Axis IMU

Defines

ICM42670_I2C_ADDR_GND

ICM42670_I2C_ADDR_VCC

ICM42670_REG_MCLK_RDY

ICM42670_REG_DEVICE_CONFIG

ICM42670_REG_SIGNAL_PATH_RESET

ICM42670_REG_DRIVE_CONFIG1

ICM42670_REG_DRIVE_CONFIG2

ICM42670_REG_DRIVE_CONFIG3

ICM42670_REG_INT_CONFIG

ICM42670_REG_TEMP_DATA1

ICM42670_REG_TEMP_DATA0

ICM42670_REG_ACCEL_DATA_X1

ICM42670_REG_ACCEL_DATA_X0

ICM42670_REG_ACCEL_DATA_Y1

ICM42670_REG_ACCEL_DATA_Y0

ICM42670_REG_ACCEL_DATA_Z1

ICM42670_REG_ACCEL_DATA_Z0

ICM42670_REG_GYRO_DATA_X1

ICM42670_REG_GYRO_DATA_X0

ICM42670_REG_GYRO_DATA_Y1

ICM42670_REG_GYRO_DATA_Y0

ICM42670_REG_GYRO_DATA_Z1

ICM42670_REG_GYRO_DATA_Z0

ICM42670_REG_TMST_FSYNCH

ICM42670_REG_TMST_FSYNCL

ICM42670_REG_APEX_DATA4

ICM42670_REG_APEX_DATA5

ICM42670_REG_PWR_MGMT0

ICM42670_REG_GYRO_CONFIG0

ICM42670_REG_ACCEL_CONFIG0

ICM42670_REG_TEMP_CONFIG0

ICM42670_REG_GYRO_CONFIG1

ICM42670_REG_ACCEL_CONFIG1

ICM42670_REG_APEX_CONFIG0

ICM42670_REG_APEX_CONFIG1

ICM42670_REG_WOM_CONFIG

ICM42670_REG_FIFO_CONFIG1

ICM42670_REG_FIFO_CONFIG2

ICM42670_REG_FIFO_CONFIG3

ICM42670_REG_INT_SOURCE0

ICM42670_REG_INT_SOURCE1

ICM42670_REG_INT_SOURCE3

ICM42670_REG_INT_SOURCE4

ICM42670_REG_FIFO_LOST_PKT0

ICM42670_REG_FIFO_LOST_PKT1

ICM42670_REG_APEX_DATA0

ICM42670_REG_APEX_DATA1

ICM42670_REG_APEX_DATA2

ICM42670_REG_APEX_DATA3

ICM42670_REG_INTF_CONFIG0

ICM42670_REG_INTF_CONFIG1

ICM42670_REG_INT_STATUS_DRDY

ICM42670_REG_INT_STATUS

ICM42670_REG_INT_STATUS2

ICM42670_REG_INT_STATUS3

ICM42670_REG_FIFO_COUNTH

ICM42670_REG_FIFO_COUNTL

ICM42670_REG_FIFO_DATA

ICM42670_REG_WHO_AM_I

ICM42670_REG_BLK_SEL_W

ICM42670_REG_MADDR_W

ICM42670_REG_M_W

ICM42670_REG_BLK_SEL_R

ICM42670_REG_MADDR_R

ICM42670_REG_M_R

ICM42670_REG_TMST_CONFIG1

ICM42670_REG_FIFO_CONFIG5

ICM42670_REG_FIFO_CONFIG6

ICM42670_REG_FSYNC_CONFIG

ICM42670_REG_INT_CONFIG0

ICM42670_REG_INT_CONFIG1

ICM42670_REG_SENSOR_CONFIG3

ICM42670_REG_ST_CONFIG

ICM42670_REG_SELFTEST

ICM42670_REG_INTF_CONFIG6

ICM42670_REG_INTF_CONFIG10

ICM42670_REG_INTF_CONFIG7

ICM42670_REG_OTP_CONFIG

ICM42670_REG_INT_SOURCE6

ICM42670_REG_INT_SOURCE7

ICM42670_REG_INT_SOURCE8

ICM42670_REG_INT_SOURCE9

ICM42670_REG_INT_SOURCE10

ICM42670_REG_APEX_CONFIG2

ICM42670_REG_APEX_CONFIG3

ICM42670_REG_APEX_CONFIG4

ICM42670_REG_APEX_CONFIG5

ICM42670_REG_APEX_CONFIG9

ICM42670_REG_APEX_CONFIG10

ICM42670_REG_APEX_CONFIG11

ICM42670_REG_ACCEL_WOM_X_THR

ICM42670_REG_ACCEL_WOM_Y_THR

ICM42670_REG_ACCEL_WOM_Z_THR

ICM42670_REG_OFFSET_USER0

ICM42670_REG_OFFSET_USER1

ICM42670_REG_OFFSET_USER2

ICM42670_REG_OFFSET_USER3

ICM42670_REG_OFFSET_USER4

ICM42670_REG_OFFSET_USER5

ICM42670_REG_OFFSET_USER6

ICM42670_REG_OFFSET_USER7

ICM42670_REG_OFFSET_USER8

ICM42670_REG_ST_STATUS1

ICM42670_REG_ST_STATUS2

ICM42670_REG_FDR_CONFIG

ICM42670_REG_APEX_CONFIG12

ICM42670_REG_OTP_CTRL7

ICM42670_REG_XA_ST_DATA

ICM42670_REG_YA_ST_DATA

ICM42670_REG_ZA_ST_DATA

ICM42670_REG_XG_ST_DATA

ICM42670_REG_YG_ST_DATA

ICM42670_REG_ZG_ST_DATA

Enums

enum icm42670_gyro_pwr_mode_t

Values:

enumerator ICM42670_GYRO_DISABLE

enumerator ICM42670_GYRO_STANDBY

enumerator ICM42670_GYRO_ENABLE_LN_MODE

enum icm42670_accel_pwr_mode_t

Values:

enumerator ICM42670_ACCEL_DISABLE

enumerator ICM42670_ACCEL_ENABLE_LP_MODE

enumerator ICM42670_ACCEL_ENABLE_LN_MODE

enum icm42670_lp_clock_source_t

Values:

enumerator ICM42670_LP_CLK_WUO

enumerator ICM42670_LP_CLK_RCO

enum icm42670_gyro_fsr_t

Values:

enumerator ICM42670_GYRO_RANGE_2000DPS

enumerator ICM42670_GYRO_RANGE_1000DPS

enumerator ICM42670_GYRO_RANGE_500DPS

enumerator ICM42670_GYRO_RANGE_250DPS

enum icm42670_gyro_odr_t

Values:

enumerator ICM42670_GYRO_ODR_12_5HZ

enumerator ICM42670_GYRO_ODR_25HZ

enumerator ICM42670_GYRO_ODR_50HZ

enumerator ICM42670_GYRO_ODR_100HZ

enumerator ICM42670_GYRO_ODR_200HZ

enumerator ICM42670_GYRO_ODR_400HZ

enumerator ICM42670_GYRO_ODR_800HZ

enumerator ICM42670_GYRO_ODR_1_6KHZ

enum icm42670_accel_fsr_t

Values:

enumerator ICM42670_ACCEL_RANGE_16G

enumerator ICM42670_ACCEL_RANGE_8G

enumerator ICM42670_ACCEL_RANGE_4G

enumerator ICM42670_ACCEL_RANGE_2G

enum icm42670_accel_odr_t

Values:

enumerator ICM42670_ACCEL_ODR_1_5625HZ

enumerator ICM42670_ACCEL_ODR_3_125HZ

enumerator ICM42670_ACCEL_ODR_6_25HZ

enumerator ICM42670_ACCEL_ODR_12_5HZ

enumerator ICM42670_ACCEL_ODR_25HZ

enumerator ICM42670_ACCEL_ODR_50HZ

enumerator ICM42670_ACCEL_ODR_100HZ

enumerator ICM42670_ACCEL_ODR_200HZ

enumerator ICM42670_ACCEL_ODR_400HZ

enumerator ICM42670_ACCEL_ODR_800HZ

enumerator ICM42670_ACCEL_ODR_1_6KHZ

enum icm42670_temp_lfp_t

Values:

enumerator ICM42670_TEMP_LFP_BYPASSED

enumerator ICM42670_TEMP_LFP_180HZ

enumerator ICM42670_TEMP_LFP_72HZ

enumerator ICM42670_TEMP_LFP_34HZ

enumerator ICM42670_TEMP_LFP_16HZ

enumerator ICM42670_TEMP_LFP_8HZ

enumerator ICM42670_TEMP_LFP_4HZ

enum icm42670_gyro_lfp_t

Values:

enumerator ICM42670_GYRO_LFP_BYPASSED

enumerator ICM42670_GYRO_LFP_180HZ

enumerator ICM42670_GYRO_LFP_121HZ

enumerator ICM42670_GYRO_LFP_73HZ

enumerator ICM42670_GYRO_LFP_53HZ

enumerator ICM42670_GYRO_LFP_34HZ

enumerator ICM42670_GYRO_LFP_25HZ

enumerator ICM42670_GYRO_LFP_16HZ

enum icm42670_accel_lfp_t

Values:

enumerator ICM42670_ACCEL_LFP_BYPASSED

enumerator ICM42670_ACCEL_LFP_180HZ

enumerator ICM42670_ACCEL_LFP_121HZ

enumerator ICM42670_ACCEL_LFP_73HZ

enumerator ICM42670_ACCEL_LFP_53HZ

enumerator ICM42670_ACCEL_LFP_34HZ

enumerator ICM42670_ACCEL_LFP_25HZ

enumerator ICM42670_ACCEL_LFP_16HZ

enum icm42670_accel_avg_t

Values:

enumerator ICM42670_ACCEL_AVG_2X

enumerator ICM42670_ACCEL_AVG_4X

enumerator ICM42670_ACCEL_AVG_8X

enumerator ICM42670_ACCEL_AVG_16X

enumerator ICM42670_ACCEL_AVG_32X

enumerator ICM42670_ACCEL_AVG_64X

enum icm42670_int_mode_t

Values:

enumerator ICM42670_INT_MODE_PULSED

enumerator ICM42670_INT_MODE_LATCHED

enum icm42670_int_drive_t

Values:

enumerator ICM42670_INT_DRIVE_OPEN_DRAIN

enumerator ICM42670_INT_DRIVE_PUSH_PULL

enum icm42670_int_polarity_t

Values:

enumerator ICM42670_INT_POLARITY_ACTIVE_LOW

enumerator ICM42670_INT_POLARITY_ACTIVE_HIGH

enum icm42670_wom_int_dur_t

Values:

enumerator ICM42670_WOM_INT_DUR_FIRST

enumerator ICM42670_WOM_INT_DUR_SECOND

enumerator ICM42670_WOM_INT_DUR_THIRD

enumerator ICM42670_WOM_INT_DUR_FOURTH

enum icm42670_wom_int_mode_t

Values:

enumerator ICM42670_WOM_INT_MODE_ALL_OR

enumerator ICM42670_WOM_INT_MODE_ALL_AND

enum icm42670_wom_mode_t

Values:

enumerator ICM42670_WOM_MODE_REF_INITIAL

enumerator ICM42670_WOM_MODE_REF_LAST

enum icm42670_mreg_number_t

Values:

enumerator ICM42670_MREG1_RW

enumerator ICM42670_MREG2_RW

enumerator ICM42670_MREG3_RW

Functions

esp_err_t icm42670_init_desc(icm42670_t *dev, uint8_t addr, i2c_port_t port, gpio_num_t sda_gpio, gpio_num_t scl_gpio)

Initialize device descriptor.

Parameters:

dev – Device descriptor

addr – I2C device address, ICM42670_I2C_ADDR_... const

port – I2C port

sda_gpio – SDA GPIO pin

scl_gpio – SCL GPIO pin

Returns:

ESP_OK on success

esp_err_t icm42670_free_desc(icm42670_t *dev)

Free device descriptor.

Parameters:

dev – Device descriptor

Returns:

ESP_OK on success

esp_err_t icm42670_init(icm42670_t *dev)

Initialize device.

Parameters:

dev – Device descriptor

Returns:

ESP_OK on success

esp_err_t icm42670_set_idle_pwr_mode(icm42670_t *dev, bool enable_idle)

Set device power mode.

Parameters:

dev – Device descriptor

enable_idle – bool to enable idle mode

Returns:

ESP_OK on success

esp_err_t icm42670_set_gyro_pwr_mode(icm42670_t *dev, icm42670_gyro_pwr_mode_t pwr_mode)

Set gyro power mode.

Parameters:

dev – Device descriptor

pwr_mode – struct of type icm42670_gyro_pwr_mode_t

Returns:

ESP_OK on success

esp_err_t icm42670_set_accel_pwr_mode(icm42670_t *dev, icm42670_accel_pwr_mode_t pwr_mode)

Set accel power mode.

Parameters:

dev – Device descriptor

pwr_mode – struct of type icm42670_accel_pwr_mode_t

Returns:

ESP_OK on success

esp_err_t icm42670_set_low_power_clock(icm42670_t *dev, icm42670_lp_clock_source_t clock_source)

Set clock source in LP mode.

Parameters:

dev – Device descriptor

clock_source – struct of type icm42670_lp_clock_source_t

Returns:

ESP_OK on success

esp_err_t icm42670_read_temperature(icm42670_t *dev, float *temperature)

Read temperature from device.

Parameters:

dev – Device descriptor

temperature – [out] temperature, degree C

Returns:

ESP_OK on success

esp_err_t icm42670_read_raw_data(icm42670_t *dev, uint8_t data_register, int16_t *data)

Read 16-bit raw data registers (accelerometer and gyro values)

Parameters:

dev – Device descriptor

data_register – data register to read from

data – [out] accel or gyro data

Returns:

ESP_OK on success

esp_err_t icm42670_reset(icm42670_t *dev)

Performs a soft-reset.

Parameters:

dev – Device descriptor

Returns:

ESP_OK on success

esp_err_t icm42670_flush_fifo(icm42670_t *dev)

Wipes the FIFO.

Parameters:

dev – Device descriptor

Returns:

ESP_OK on success

esp_err_t icm42670_set_gyro_fsr(icm42670_t *dev, icm42670_gyro_fsr_t range)

Set the measurement FSR (Full Scale Range) of the gyro.

Parameters:

dev – Device descriptor

range – struct of type icm42670_gyro_fsr_t

Returns:

ESP_OK on success

esp_err_t icm42670_set_gyro_odr(icm42670_t *dev, icm42670_gyro_odr_t odr)

Set the measurement ODR (Output Data Rate) of the gyro.

Parameters:

dev – Device descriptor

odr – struct of type icm42670_gyro_odr_t

Returns:

ESP_OK on success

esp_err_t icm42670_set_accel_fsr(icm42670_t *dev, icm42670_accel_fsr_t range)

Set the measurement FSR (Full Scale Range) of the accelerometer.

Parameters:

dev – Device descriptor

range – struct of type icm42670_accel_fsr_t

Returns:

ESP_OK on success

esp_err_t icm42670_set_accel_odr(icm42670_t *dev, icm42670_accel_odr_t odr)

Set the measurement ODR (Output Data Rate) of the accelerometer.

Parameters:

dev – Device descriptor

odr – struct of type icm42670_accel_odr_t

Returns:

ESP_OK on success

esp_err_t icm42670_set_temp_lpf(icm42670_t *dev, icm42670_temp_lfp_t lpf_bw)

Set the digital Low-Pass-Filter (LPF) of the temperature sensor.

Parameters:

dev – Device descriptor

lpf_bw – struct of type icm42670_temp_lfp_t (bandwidth)

Returns:

ESP_OK on success

esp_err_t icm42670_set_gyro_lpf(icm42670_t *dev, icm42670_gyro_lfp_t lpf_bw)

Set the digital Low-Pass-Filter (LPF) of the gyro.

Parameters:

dev – Device descriptor

lpf_bw – struct of type icm42670_gyro_lfp_t (bandwidth)

Returns:

ESP_OK on success

esp_err_t icm42670_set_accel_lpf(icm42670_t *dev, icm42670_accel_lfp_t lpf_bw)

Set the digital Low-Pass-Filter (LPF) of the accelerometer.

Parameters:

dev – Device descriptor

lpf_bw – struct of type icm42670_accel_lfp_t (bandwidth)

Returns:

ESP_OK on success

esp_err_t icm42670_set_accel_avg(icm42670_t *dev, icm42670_accel_avg_t avg)

Set the averaging filter of the accelerometer (ONLY IN LOW POWER MODE (LPM)) This field can not be changed, when accel sensor is in LPM!

Parameters:

dev – Device descriptor

avg – struct of type icm42670_accel_avg_t (averaging)

Returns:

ESP_OK on success

esp_err_t icm42670_config_int_pin(icm42670_t *dev, uint8_t int_pin, icm42670_int_config_t config)

Configures the behaviour of an interrupt pin.

Parameters:

dev – Device descriptor

int_pin – interrupt pin (1 or 2)

config – struct of type icm42670_int_config_t

Returns:

ESP_OK on success

esp_err_t icm42670_set_int_sources(icm42670_t *dev, uint8_t int_pin, icm42670_int_source_t sources)

Configures the sources for an interrupt.

Parameters:

dev – Device descriptor

int_pin – interrupt pin (1 or 2)

sources – struct of type icm42670_int_source_t

Returns:

ESP_OK on success

esp_err_t icm42670_config_wom(icm42670_t *dev, icm42670_wom_config_t config)

Configures the Wake on Motion (WoM) behaviour WoM can only be configured if WoM is not enabled.

Parameters:

dev – Device descriptor

config – struct of type icm42670_wom_config_t

Returns:

ESP_OK on success

esp_err_t icm42670_enable_wom(icm42670_t *dev, bool enable)

Enable or Disable Wake on Motion (WoM)

Parameters:

dev – Device descriptor

enable – true to enable, false to disable

Returns:

ESP_OK on success

esp_err_t icm42670_get_mclk_rdy(icm42670_t *dev, bool *mclk_rdy)

Get the status of the internal clock.

Parameters:

dev – Device descriptor

mclk_rdy – true if internal clock is running

Returns:

ESP_OK on success

esp_err_t icm42670_get_accel_odr(icm42670_t *dev, icm42670_accel_odr_t *odr)

Get the output data rate (ODR) of the accel.

Parameters:

dev – Device descriptor

odr – pointer to icm42670_accel_odr_t

Returns:

ESP_OK on success

esp_err_t icm42670_get_accel_avg(icm42670_t *dev, icm42670_accel_avg_t *avg)

Get the status of the accel averaging.

Parameters:

dev – Device descriptor

avg – pointer to icm42670_accel_avg_t

Returns:

ESP_OK on success

struct icm42670_int_config_t

#include <icm42670.h>

Public Members

icm42670_int_mode_t mode

icm42670_int_drive_t drive

icm42670_int_polarity_t polarity

struct icm42670_int_source_t

#include <icm42670.h>

Public Members

bool self_test_done

bool fsync

bool pll_ready

bool reset_done

bool data_ready

bool fifo_threshold

bool fifo_full

bool agc_ready

bool i3c_error

bool smd

bool wom_z

bool wom_y

bool wom_x

struct icm42670_wom_config_t

#include <icm42670.h>

Public Members

icm42670_wom_int_dur_t trigger

icm42670_wom_int_mode_t logical_mode

icm42670_wom_mode_t reference

uint8_t wom_x_threshold

uint8_t wom_y_threshold

uint8_t wom_z_threshold

struct icm42670_t

#include <icm42670.h>

Device descriptor.

Public Members

i2c_dev_t i2c_dev