Driver for the Invensense v3 IMUs ICM40605, ICM40609, ICM42605, IIM42652 and ICM42688. More...

#include "peripherals/invensense3.h"
#include "peripherals/invensense3_regs.h"
#include "math/pprz_isa.h"
#include "math/pprz_algebra_int.h"
#include "modules/imu/imu.h"
#include "modules/core/abi.h"
#include "mcu_periph/gpio_arch.h"
#include "std.h"

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Functions
static void	invensense3_parse_fifo_data (struct invensense3_t inv, uint8_t data, uint16_t samples)
	Parse the FIFO buffer data. More...

static void	invensense3_parse_reg_data (struct invensense3_t inv, uint8_t data)
	Parse data from registers. More...

static void	invensense3_fix_config (struct invensense3_t *inv)
	This fixes the configuration errors and sets the correct scalings. More...

static bool	invensense3_register_write (struct invensense3_t *inv, uint16_t bank_reg, uint8_t value)
	Write a register based on a combined bank/regsiter value. More...

static bool	invensense3_register_read (struct invensense3_t *inv, uint16_t bank_reg, uint16_t size)
	Read a register based on a combined bank/regsiter value. More...

static bool	invensense3_select_bank (struct invensense3_t *inv, uint8_t bank)
	Select the correct register bank. More...

static bool	invensense3_config (struct invensense3_t *inv)
	Configure the Invensense 3 device register by register. More...

static bool	invensense3_reset_fifo (struct invensense3_t *inv)
	Reset FIFO (can be useful in some situations) More...

static int	samples_from_odr (int odr)

void	invensense3_init (struct invensense3_t *inv)
	Initialize the invensense v3 sensor instance. More...

void	invensense3_periodic (struct invensense3_t *inv)
	Should be called periodically to request sensor readings. More...

void	invensense3_event (struct invensense3_t *inv)
	Should be called in the event thread. More...

Variables
static const struct Int32Rates	invensense3_gyro_scale [8][2]

static const struct Int32Vect3	invensense3_accel_scale [5][2]

static const uint16_t	invensense3_aaf [][4]

static const uint16_t	invensense3_aaf4x605 [][4]

static const uint8_t	invensense3_fifo_sample_size [4] = {8,8,16,20}

Detailed Description

Driver for the Invensense v3 IMUs ICM40605, ICM40609, ICM42605, IIM42652 and ICM42688.

Definition in file invensense3.c.

Function Documentation

◆ invensense3_config()

static bool invensense3_config ( struct invensense3_t * inv )

static

Configure the Invensense 3 device register by register.

Parameters

inv	The invensense v3 instance

Returns: true When the configuration is completed; false Still busy configuring

Definition at line 837 of file invensense3.c.

References ACCEL_AAF_BITSHIFT_SHIFT, ACCEL_AAF_DELT_SHIFT, invensense3_t::accel_aaf_regs, ACCEL_FS_SEL_SHIFT, ACCEL_MODE_LN, ACCEL_MODE_SHIFT, invensense3_t::accel_odr, ACCEL_ODR_SHIFT, invensense3_t::accel_range, BIT_DEVICE_CONFIG_SOFT_RESET_CONFIG, BIT_FIFO_CONFIG1_ACCEL_EN, BIT_FIFO_CONFIG1_GYRO_EN, BIT_FIFO_CONFIG1_TEMP_EN, BIT_FIFO_FULL_INT_EN, BIT_FIFO_THS_INT_EN, BIT_INT_ASYNC_RESET, BIT_UI_DRDY_INT_EN, invensense3_t::config_idx, invensense3_t::device, FIFO_CONFIG_MODE_SHIFT, FIFO_CONFIG_MODE_STOP_ON_FULL, FIFO_COUNT_REC, get_sys_time_usec(), GYRO_AAF_BITSHIFT_SHIFT, invensense3_t::gyro_aaf_regs, GYRO_FS_SEL_SHIFT, GYRO_MODE_LN, GYRO_MODE_SHIFT, invensense3_t::gyro_odr, GYRO_ODR_SHIFT, invensense3_t::gyro_range, INV3REG_ACCEL_CONFIG0, INV3REG_ACCEL_CONFIG_STATIC2, INV3REG_ACCEL_CONFIG_STATIC3, INV3REG_ACCEL_CONFIG_STATIC4, INV3REG_DEVICE_CONFIG, INV3REG_FIFO_CONFIG, INV3REG_FIFO_CONFIG1, INV3REG_FIFO_CONFIG2, INV3REG_FIFO_CONFIG3, INV3REG_GYRO_CONFIG0, INV3REG_GYRO_CONFIG_STATIC2, INV3REG_GYRO_CONFIG_STATIC3, INV3REG_GYRO_CONFIG_STATIC4, INV3REG_GYRO_CONFIG_STATIC5, INV3REG_INT_CONFIG1, INV3REG_INT_SOURCE0, INV3REG_INTF_CONFIG0, INV3REG_INTF_CONFIG1, INV3REG_PWR_MGMT0, INVENSENSE3_ICM40609, INVENSENSE3_PARSER_FIFO, INVENSENSE3_PARSER_REGISTERS, invensense3_register_write(), invensense3_reset_fifo(), invensense3_t::parser, and invensense3_t::timer.

Referenced by invensense3_event(), and invensense3_periodic().

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◆ invensense3_event()

void invensense3_event ( struct invensense3_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 v3 instance

Definition at line 327 of file invensense3.c.

References invensense3_t::bus, invensense3_t::config_idx, invensense3_t::device, I2CTransDone, I2CTransFailed, I2CTransSuccess, INV3_WHOAMI_ICM40605, INV3_WHOAMI_ICM40609, INV3_WHOAMI_ICM42605, INV3_WHOAMI_ICM42688, INV3_WHOAMI_IIM42652, INV3REG_BANK_SEL, INV3REG_FIFO_COUNTH, invensense3_config(), INVENSENSE3_CONFIG, invensense3_fifo_sample_size, invensense3_fix_config(), INVENSENSE3_I2C, INVENSENSE3_ICM40605, INVENSENSE3_ICM40609, INVENSENSE3_ICM42605, INVENSENSE3_ICM42688, INVENSENSE3_IDLE, INVENSENSE3_IIM42652, invensense3_parse_fifo_data(), invensense3_parse_reg_data(), INVENSENSE3_PARSER_FIFO, INVENSENSE3_PARSER_REGISTERS, invensense3_register_read(), INVENSENSE3_RUNNING, INVENSENSE3_SPI, Min, n_samples, invensense3_t::parser, invensense3_t::register_bank, invensense3_t::rx_buffer, invensense3_t::rx_length, invensense3_t::sample_size, SPITransDone, SPITransFailed, SPITransSuccess, invensense3_t::status, invensense3_t::timer, and invensense3_t::tx_buffer.

Referenced by imu_cube_event(), and imu_icm42688_event().

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◆ invensense3_fix_config()

static void invensense3_fix_config ( struct invensense3_t * inv )

static

This fixes the configuration errors and sets the correct scalings.

Parameters

inv	The invensense v3 instance

Definition at line 558 of file invensense3.c.

Referenced by invensense3_event().

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◆ invensense3_init()

void invensense3_init ( struct invensense3_t * inv )

Initialize the invensense v3 sensor instance.

Parameters

inv	The structure containing the configuration of the invensense v3 instance

Definition at line 223 of file invensense3.c.

References invensense3_t::accel_odr, invensense3_t::bus, invensense3_t::config_idx, invensense3_t::device, invensense3_t::gyro_odr, I2CTransDone, INVENSENSE3_IDLE, INVENSENSE3_SAMPLE_SIZE_PK3, INVENSENSE3_SPI, INVENSENSE3_UNKOWN, Min, invensense3_t::register_bank, invensense3_t::rx_buffer, invensense3_t::rx_length, invensense3_t::sample_numbers, invensense3_t::sample_size, samples_from_odr(), SPICphaEdge2, SPICpolIdleHigh, SPIDiv16, SPIDss8bit, SPIMSBFirst, SPISelectUnselect, SPITransDone, invensense3_t::status, and invensense3_t::tx_buffer.

Referenced by imu_cube_init(), and imu_icm42688_init().

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◆ invensense3_parse_fifo_data()

static void invensense3_parse_fifo_data	(	struct invensense3_t *	inv,
		uint8_t *	data,
		uint16_t	samples
	)

static

Parse the FIFO buffer data.

Parameters

inv	The invensense v3 instance
data	The FIFO buffer data to parse
len	The length of the FIFO buffer

Definition at line 458 of file invensense3.c.

References invensense3_t::abi_id, invensense3_t::accel_odr, invensense3_t::accel_samplerate, get_sys_time_usec(), invensense3_t::gyro_odr, invensense3_t::gyro_samplerate, INVENSENSE3_FIFO_BUFFER_LEN, invensense3_fifo_sample_size, Min, Int32Rates::p, Int32Rates::q, Int32Rates::r, invensense3_t::sample_size, Int32Vect3::x, Int32Vect3::y, and Int32Vect3::z.

Referenced by invensense3_event().

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◆ invensense3_parse_reg_data()

static void invensense3_parse_reg_data	(	struct invensense3_t *	inv,
		uint8_t *	data
	)

static

Parse data from registers.

Parameters

inv	The invensense v3 instance
data	The data from all registers (DATA_TEMP, DATA_ACCEL and DATA_GYRO)

Definition at line 530 of file invensense3.c.

References invensense3_t::abi_id, invensense3_t::accel_samplerate, get_sys_time_usec(), invensense3_t::gyro_samplerate, Int32Rates::p, Int32Rates::q, Int32Rates::r, Int32Vect3::x, Int32Vect3::y, and Int32Vect3::z.

Referenced by invensense3_event().

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◆ invensense3_periodic()

void invensense3_periodic ( struct invensense3_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 v3 instance

Definition at line 275 of file invensense3.c.

References invensense3_t::bus, I2CTransDone, INV3REG_FIFO_COUNTH, INV3REG_TEMP_DATA1, INV3REG_WHO_AM_I, invensense3_config(), INVENSENSE3_CONFIG, invensense3_fifo_sample_size, INVENSENSE3_I2C, INVENSENSE3_IDLE, INVENSENSE3_PARSER_FIFO, INVENSENSE3_PARSER_REGISTERS, invensense3_register_read(), INVENSENSE3_RUNNING, INVENSENSE3_SPI, Min, invensense3_t::parser, invensense3_t::sample_numbers, invensense3_t::sample_size, SPITransDone, invensense3_t::status, and invensense3_t::timer.

Referenced by imu_cube_periodic(), and imu_icm42688_periodic().

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◆ invensense3_register_read()

static bool invensense3_register_read	(	struct invensense3_t *	inv,
		uint16_t	bank_reg,
		uint16_t	size
	)

static

Read a register based on a combined bank/regsiter value.

Parameters

inv	The invensense v3 instance
bank_reg	The bank is shifted 8 bits left, adn register is &0xFF
size	The size to read (already 1 is added for the transmission of the register to read)

Returns: true If we initiated the register read succesfully; false First we are busy switching the register bank

Definition at line 763 of file invensense3.c.

References invensense3_t::bus, i2c_transceive(), INV3_READ_FLAG, invensense3_select_bank(), INVENSENSE3_SPI, spi_submit(), and invensense3_t::tx_buffer.

Referenced by invensense3_event(), and invensense3_periodic().

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◆ invensense3_register_write()

static bool invensense3_register_write	(	struct invensense3_t *	inv,
		uint16_t	bank_reg,
		uint8_t	value
	)

static

Write a register based on a combined bank/regsiter value.

Parameters

inv	The invensense v3 instance
bank_reg	The bank is shifted 8 bits left, adn register is &0xFF
value	The value to write to the register

Returns: true Whenever the register write was started; false First we are busy switching the register bank

Definition at line 727 of file invensense3.c.

References invensense3_t::bus, i2c_transmit(), invensense3_select_bank(), INVENSENSE3_SPI, spi_submit(), and invensense3_t::tx_buffer.

Referenced by invensense3_config(), and invensense3_reset_fifo().

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◆ invensense3_reset_fifo()

static bool invensense3_reset_fifo ( struct invensense3_t * inv )

static

Reset FIFO (can be useful in some situations)

Parameters

inv	The invensense v3 instance

Returns: true When reset is done

Definition at line 824 of file invensense3.c.

References BIT_SIGNAL_PATH_RESET_FIFO_FLUSH, INV3REG_SIGNAL_PATH_RESET, and invensense3_register_write().

Referenced by invensense3_config().

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◆ invensense3_select_bank()

static bool invensense3_select_bank	(	struct invensense3_t *	inv,
		uint8_t	bank
	)

static

Select the correct register bank.

Parameters

inv	The invensense v3 instance
bank	The bank ID to select

Returns: true The bank change has been requested; false The register bank is already correct

Definition at line 797 of file invensense3.c.

References invensense3_t::bus, i2c_transmit(), INV3REG_BANK_SEL, INVENSENSE3_SPI, invensense3_t::register_bank, spi_submit(), and invensense3_t::tx_buffer.

Referenced by invensense3_register_read(), and invensense3_register_write().

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◆ samples_from_odr()

static int samples_from_odr ( int odr )

static

Definition at line 981 of file invensense3.c.

References INVENSENSE3_GYRO_ODR_200HZ, INVENSENSE3_GYRO_ODR_32KHZ, and INVENSENSE3_GYRO_ODR_500HZ.

Referenced by invensense3_init().

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Variable Documentation

◆ invensense3_aaf

const uint16_t invensense3_aaf[][4]

static

Definition at line 84 of file invensense3.c.

Referenced by invensense3_fix_config().

◆ invensense3_aaf4x605

const uint16_t invensense3_aaf4x605[][4]

static

Definition at line 150 of file invensense3.c.

Referenced by invensense3_fix_config().

◆ invensense3_accel_scale

const struct Int32Vect3 invensense3_accel_scale[5][2]

static

Initial value:

= {
  { {51024, 51024, 51024},
    {5203,  5203,  5203} }, 
  { {25512, 25512, 25512},
    {5203,  5203,  5203} }, 
  { {12756, 12756, 12756},
    {5203,  5203,  5203} }, 
  { {6378, 6378, 6378},
    {5203, 5203, 5203} },   
  { {3189, 3189, 3189},
    {5203, 5203, 5203} }    
}

Definition at line 47 of file invensense3.c.

Referenced by invensense3_fix_config().

◆ invensense3_fifo_sample_size

const uint8_t invensense3_fifo_sample_size[4] = {8,8,16,20}

static

Definition at line 216 of file invensense3.c.

Referenced by invensense3_event(), invensense3_parse_fifo_data(), and invensense3_periodic().

◆ invensense3_gyro_scale

const struct Int32Rates invensense3_gyro_scale[8][2]

static

Initial value:

= {
  { {40147,    40147,    40147},
    {9210,     9210,     9210} },     
  { {40147,    40147,    40147},
    {18420,    18420,    18420} },    
  { {60534,    60534,    60534},
    {55463,    55463,    55463} },    
  { {30267,    30267,    30267},
    {55463,    55463,    55463} },    
  { {30267,    30267,    30267},
    {110926,   110926,   110926} },   
  { {3292054,  3292054,  3292054},
    {24144015, 24144015, 24144015} }, 
  { {1646027,  1646027,  1646027},
    {24144015, 24144015, 24144015} }, 
  { {1646027,  1646027,  1646027},
    {48288030, 48288030, 48288030} }, 
}

Definition at line 47 of file invensense3.c.

Referenced by invensense3_fix_config().

Functions

Variables

Detailed Description

Function Documentation

◆ invensense3_config()

◆ invensense3_event()

◆ invensense3_fix_config()

◆ invensense3_init()

◆ invensense3_parse_fifo_data()

◆ invensense3_parse_reg_data()

◆ invensense3_periodic()

◆ invensense3_register_read()

◆ invensense3_register_write()

◆ invensense3_reset_fifo()

◆ invensense3_select_bank()

◆ samples_from_odr()

Variable Documentation

◆ invensense3_aaf

◆ invensense3_aaf4x605

◆ invensense3_accel_scale

◆ invensense3_fifo_sample_size

◆ invensense3_gyro_scale