invensense2.h File Reference

Driver for the Invensense V2 IMUs ICM20948, ICM20648 and ICM20649. More...

#include "std.h"
#include "mcu_periph/spi.h"
#include "mcu_periph/i2c.h"

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Data Structures
struct	invensense2_spi_t
struct	invensense2_i2c_t
struct	invensense2_t
union	invensense2_t.__unnamed323__

Macros
#define	INVENSENSE2_SAMPLE_CNT   22
#define	INVENSENSE2_SAMPLE_SIZE   14
#define	INVENSENSE2_BUFFER_SIZE   ((INVENSENSE2_SAMPLE_SIZE*INVENSENSE2_SAMPLE_CNT) + 3)

Enumerations
enum	invensense2_bus_t { INVENSENSE2_SPI , INVENSENSE2_I2C }
enum	invensense2_status_t { INVENSENSE2_IDLE , INVENSENSE2_CONFIG , INVENSENSE2_RUNNING }
enum	invensense2_device_t { INVENSENSE2_UNKOWN , INVENSENSE2_ICM20648 , INVENSENSE2_ICM20649 , INVENSENSE2_ICM20948 }
enum	invensense2_gyro_dlpf_t {   INVENSENSE2_GYRO_DLPF_OFF , INVENSENSE2_GYRO_DLPF_229HZ , INVENSENSE2_GYRO_DLPF_188HZ , INVENSENSE2_GYRO_DLPF_154HZ ,   INVENSENSE2_GYRO_DLPF_73HZ , INVENSENSE2_GYRO_DLPF_36HZ , INVENSENSE2_GYRO_DLPF_18HZ , INVENSENSE2_GYRO_DLPF_9HZ ,   INVENSENSE2_GYRO_DLPF_377HZ }
enum	invensense2_gyro_range_t {   INVENSENSE2_GYRO_RANGE_250DPS , INVENSENSE2_GYRO_RANGE_500DPS , INVENSENSE2_GYRO_RANGE_1000DPS , INVENSENSE2_GYRO_RANGE_2000DPS ,   INVENSENSE2_GYRO_RANGE_4000DPS }
enum	invensense2_accel_dlpf_t {   INVENSENSE2_ACCEL_DLPF_OFF , INVENSENSE2_ACCEL_DLPF_265HZ , INVENSENSE2_ACCEL_DLPF_136HZ , INVENSENSE2_ACCEL_DLPF_69HZ ,   INVENSENSE2_ACCEL_DLPF_34HZ , INVENSENSE2_ACCEL_DLPF_17HZ , INVENSENSE2_ACCEL_DLPF_8HZ , INVENSENSE2_ACCEL_DLPF_499HZ }
enum	invensense2_accel_range_t {   INVENSENSE2_ACCEL_RANGE_2G , INVENSENSE2_ACCEL_RANGE_4G , INVENSENSE2_ACCEL_RANGE_8G , INVENSENSE2_ACCEL_RANGE_16G ,   INVENSENSE2_ACCEL_RANGE_30G }

Functions
void	invensense2_init (struct invensense2_t *inv)
	Initialize the invensense v2 sensor instance. More...
void	invensense2_periodic (struct invensense2_t *inv)
	Should be called periodically to request sensor readings. More...
void	invensense2_event (struct invensense2_t *inv)
	Should be called in the event thread. More...

Detailed Description

Driver for the Invensense V2 IMUs ICM20948, ICM20648 and ICM20649.

Definition in file invensense2.h.

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Data Structure Documentation

invensense2_spi_t

struct invensense2_spi_t

Definition at line 42 of file invensense2.h.

Collaboration diagram for invensense2_spi_t:

Data Fields
struct spi_periph *	p	Peripheral device for communication.
volatile uint8_t	rx_buf[INVENSENSE2_BUFFER_SIZE]	Receive buffer.
uint8_t	slave_idx	Slave index used for Slave Select.
struct spi_transaction	trans	Transaction used during configuration and measurements.
volatile uint8_t	tx_buf[2]	Transmit buffer.

invensense2_i2c_t

struct invensense2_i2c_t

Definition at line 52 of file invensense2.h.

Collaboration diagram for invensense2_i2c_t:

Data Fields
struct i2c_periph *	p	Peripheral device for communication.
uint8_t	slave_addr	The I2C slave address on the bus.
struct i2c_transaction	trans	TRansaction used during configuration and measurements.

invensense2_t

struct invensense2_t

Definition at line 123 of file invensense2.h.

Data Fields
union invensense2_t	__unnamed__
uint8_t	abi_id	The ABI id used to broadcast the device measurements.
enum invensense2_accel_dlpf_t	accel_dlpf	Accelerometer DLPF configuration.
enum invensense2_accel_range_t	accel_range	Accelerometer range configuration.
enum invensense2_bus_t	bus	The communication bus used to connect the device SPI/I2C.
uint8_t	config_idx	The current configuration index.
enum invensense2_device_t	device	The device type detected.
enum invensense2_gyro_dlpf_t	gyro_dlpf	Gyro DLPF configuration.
enum invensense2_gyro_range_t	gyro_range	Gyro range configuration.
uint8_t	register_bank	The current register bank communicating with.
enum invensense2_status_t	status	Status of the invensense V2 device.
float	timebase_correction_pll	Timebase correction factor for the PLL clock.
uint32_t	timer	Used to time operations during configuration (samples left during measuring)

invensense2_t.__unnamed323__

union invensense2_t.__unnamed323__

Definition at line 129 of file invensense2.h.

Data Fields
struct invensense2_i2c_t	i2c	I2C specific configuration.
struct invensense2_spi_t	spi	SPI specific configuration.

Macro Definition Documentation

INVENSENSE2_BUFFER_SIZE

#define INVENSENSE2_BUFFER_SIZE   ((INVENSENSE2_SAMPLE_SIZE*INVENSENSE2_SAMPLE_CNT) + 3)

Definition at line 39 of file invensense2.h.

INVENSENSE2_SAMPLE_CNT

#define INVENSENSE2_SAMPLE_CNT   22

Definition at line 37 of file invensense2.h.

INVENSENSE2_SAMPLE_SIZE

#define INVENSENSE2_SAMPLE_SIZE   14

Definition at line 38 of file invensense2.h.

Enumeration Type Documentation

invensense2_accel_dlpf_t

enum invensense2_accel_dlpf_t

Enumerator
INVENSENSE2_ACCEL_DLPF_OFF
INVENSENSE2_ACCEL_DLPF_265HZ
INVENSENSE2_ACCEL_DLPF_136HZ
INVENSENSE2_ACCEL_DLPF_69HZ
INVENSENSE2_ACCEL_DLPF_34HZ
INVENSENSE2_ACCEL_DLPF_17HZ
INVENSENSE2_ACCEL_DLPF_8HZ
INVENSENSE2_ACCEL_DLPF_499HZ

Definition at line 102 of file invensense2.h.

invensense2_accel_range_t

enum invensense2_accel_range_t

Enumerator
INVENSENSE2_ACCEL_RANGE_2G	Not possible for ICM20649.
INVENSENSE2_ACCEL_RANGE_4G
INVENSENSE2_ACCEL_RANGE_8G
INVENSENSE2_ACCEL_RANGE_16G
INVENSENSE2_ACCEL_RANGE_30G	Only possible for ICM20649.

Definition at line 114 of file invensense2.h.

invensense2_bus_t

enum invensense2_bus_t

Enumerator
INVENSENSE2_SPI
INVENSENSE2_I2C

Definition at line 59 of file invensense2.h.

invensense2_device_t

enum invensense2_device_t

Enumerator
INVENSENSE2_UNKOWN
INVENSENSE2_ICM20648
INVENSENSE2_ICM20649
INVENSENSE2_ICM20948

Definition at line 72 of file invensense2.h.

invensense2_gyro_dlpf_t

enum invensense2_gyro_dlpf_t

Enumerator
INVENSENSE2_GYRO_DLPF_OFF
INVENSENSE2_GYRO_DLPF_229HZ
INVENSENSE2_GYRO_DLPF_188HZ
INVENSENSE2_GYRO_DLPF_154HZ
INVENSENSE2_GYRO_DLPF_73HZ
INVENSENSE2_GYRO_DLPF_36HZ
INVENSENSE2_GYRO_DLPF_18HZ
INVENSENSE2_GYRO_DLPF_9HZ
INVENSENSE2_GYRO_DLPF_377HZ

Definition at line 80 of file invensense2.h.

invensense2_gyro_range_t

enum invensense2_gyro_range_t

Enumerator
INVENSENSE2_GYRO_RANGE_250DPS	Not possible for ICM20649.
INVENSENSE2_GYRO_RANGE_500DPS
INVENSENSE2_GYRO_RANGE_1000DPS
INVENSENSE2_GYRO_RANGE_2000DPS
INVENSENSE2_GYRO_RANGE_4000DPS	Only possible for ICM20649.

Definition at line 93 of file invensense2.h.

invensense2_status_t

enum invensense2_status_t

Enumerator
INVENSENSE2_IDLE
INVENSENSE2_CONFIG
INVENSENSE2_RUNNING

Definition at line 65 of file invensense2.h.

Function Documentation

invensense2_event()

void invensense2_event

(

struct invensense2_t *

inv

)

Should be called in the event thread.

• Checks the response of the WHO_AM_I reading
• Configures the sensor and reads the responses
• Parse and request the sensor data from the FIFO buffers

Parameters

inv	The invensense v2 instance

Definition at line 152 of file invensense2.c.

References invensense2_t::bus, invensense2_t::config_idx, invensense2_t::device, I2CTransDone, I2CTransFailed, I2CTransSuccess, INV2_WHOAMI_ICM20648, INV2_WHOAMI_ICM20649, INV2_WHOAMI_ICM20948, INV2REG_BANK_SEL, INV2REG_FIFO_COUNTH, invensense2_config(), INVENSENSE2_CONFIG, invensense2_fix_config(), INVENSENSE2_I2C, INVENSENSE2_ICM20648, INVENSENSE2_ICM20649, INVENSENSE2_ICM20948, INVENSENSE2_IDLE, invensense2_parse_data(), invensense2_register_read(), INVENSENSE2_RUNNING, INVENSENSE2_SAMPLE_SIZE, INVENSENSE2_SPI, invensense2_t::register_bank, SPITransDone, SPITransFailed, SPITransSuccess, invensense2_t::status, and invensense2_t::timer.

Referenced by imu_cube_event(), and imu_pixhawk6x_event().

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invensense2_init()

void invensense2_init

(

struct invensense2_t *

inv

)

Initialize the invensense v2 sensor instance.

Parameters

inv	The structure containing the configuration of the invensense v2 instance

Definition at line 79 of file invensense2.c.

References invensense2_t::bus, invensense2_t::config_idx, invensense2_t::device, I2CTransDone, INVENSENSE2_IDLE, INVENSENSE2_SPI, INVENSENSE2_UNKOWN, invensense2_t::register_bank, SPICphaEdge2, SPICpolIdleHigh, SPIDiv16, SPIDss8bit, SPIMSBFirst, SPISelectUnselect, SPITransDone, and invensense2_t::status.

Referenced by imu_cube_init(), and imu_pixhawk6x_init().

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invensense2_periodic()

void invensense2_periodic

(

struct invensense2_t *

inv

)

Should be called periodically to request sensor readings.

• First detects the sensor using WHO_AM_I reading
• Configures the sensor according the users requested configuration
• Requests a sensor reading by reading the FIFO_COUNT register

Parameters

inv	The invensense v2 instance

Definition at line 119 of file invensense2.c.

References invensense2_t::bus, I2CTransDone, INV2REG_FIFO_COUNTH, INV2REG_WHO_AM_I, invensense2_config(), INVENSENSE2_CONFIG, INVENSENSE2_I2C, INVENSENSE2_IDLE, invensense2_register_read(), INVENSENSE2_RUNNING, INVENSENSE2_SPI, SPITransDone, and invensense2_t::status.

Referenced by imu_cube_periodic(), and imu_pixhawk6x_periodic().

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