invensense3.h

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/*
 * Copyright (C) 2022 Freek van Tienen <freek.v.tienen@gmail.com>
 *
 * This file is part of paparazzi.
 *
 * paparazzi is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2, or (at your option)
 * any later version.
 *
 * paparazzi is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with paparazzi; see the file COPYING.  If not, write to
 * the Free Software Foundation, 59 Temple Place - Suite 330,
 * Boston, MA 02111-1307, USA.
 */
 
#ifndef INVENSENSE3_H
#define INVENSENSE3_H
 
#include "std.h"
#include "mcu_periph/spi.h"
#include "mcu_periph/i2c.h"
 
/* This sensor has an option to request little-endian data */
// Hold 22 measurements + 3 for the register address and length
#define INVENSENSE3_FIFO_BUFFER_LEN 22
#define INVENSENSE3_BUFFER_SIZE INVENSENSE3_FIFO_BUFFER_LEN * 20 + 3 // 20 bytes is the maximum sample size
 
/* Invensense v3 SPI peripheral */
struct invensense3_spi_t {
  struct spi_periph *p;                             
  uint8_t slave_idx;                                
  struct spi_transaction trans;                     
 
  uint8_t tx_buf[2];                       
  uint8_t rx_buf[INVENSENSE3_BUFFER_SIZE]; 
};
 
/* Invensense v3 I2C peripheral */
struct invensense3_i2c_t {
  struct i2c_periph *p;           
  uint8_t slave_addr;             
  struct i2c_transaction trans;   
};
 
/* Possible communication busses for the invense V3 driver */
enum invensense3_bus_t {
  INVENSENSE3_SPI,
  INVENSENSE3_I2C
};
 
/* Different states the invensense v3 driver can be in */
enum invensense3_status_t {
  INVENSENSE3_IDLE,
  INVENSENSE3_CONFIG,
  INVENSENSE3_RUNNING
};
 
/* Different parsers of the invensense v3 driver */
enum invensense3_parser_t {
  INVENSENSE3_PARSER_REGISTERS,
  INVENSENSE3_PARSER_FIFO
};
 
enum invensense3_fifo_packet_t {
  INVENSENSE3_SAMPLE_SIZE_PK1,
  INVENSENSE3_SAMPLE_SIZE_PK2,
  INVENSENSE3_SAMPLE_SIZE_PK3,
  INVENSENSE3_SAMPLE_SIZE_PK4
};
 
/* Different device types compatible with the invensense v3 driver */
enum invensense3_device_t {
  INVENSENSE3_UNKOWN,
  INVENSENSE3_ICM40605,
  INVENSENSE3_ICM40609,
  INVENSENSE3_ICM42605,
  INVENSENSE3_IIM42652,
  INVENSENSE3_ICM42688
};
 
/* The gyro output data rate configuration */
enum invensense3_gyro_odr_t {
  INVENSENSE3_GYRO_ODR_32KHZ = 1, 
  INVENSENSE3_GYRO_ODR_16KHZ,     
  INVENSENSE3_GYRO_ODR_8KHZ,
  INVENSENSE3_GYRO_ODR_4KHZ,
  INVENSENSE3_GYRO_ODR_2KHZ,
  INVENSENSE3_GYRO_ODR_1KHZ,
  INVENSENSE3_GYRO_ODR_200HZ,
  INVENSENSE3_GYRO_ODR_100HZ,
  INVENSENSE3_GYRO_ODR_50HZ,
  INVENSENSE3_GYRO_ODR_25HZ,
  INVENSENSE3_GYRO_ODR_12_5HZ,
  INVENSENSE3_GYRO_ODR_6_25HZ,
  INVENSENSE3_GYRO_ODR_3_125HZ,
  INVENSENSE3_GYRO_ODR_1_5625HZ,
  INVENSENSE3_GYRO_ODR_500HZ
};
 
/* The gyro range in degrees per second(dps) */
enum invensense3_gyro_range_t {
  INVENSENSE3_GYRO_RANGE_2000DPS,
  INVENSENSE3_GYRO_RANGE_1000DPS,
  INVENSENSE3_GYRO_RANGE_500DPS,
  INVENSENSE3_GYRO_RANGE_250DPS,
  INVENSENSE3_GYRO_RANGE_125DPS,
  INVENSENSE3_GYRO_RANGE_62_5DPS,
  INVENSENSE3_GYRO_RANGE_31_25DPS,
  INVENSENSE3_GYRO_RANGE_15_625DPS
};
 
/* The accelerometer output data rate configuration */
enum invensense3_accel_odr_t {
  INVENSENSE3_ACCEL_ODR_32KHZ = 1,  
  INVENSENSE3_ACCEL_ODR_16KHZ,      
  INVENSENSE3_ACCEL_ODR_8KHZ,
  INVENSENSE3_ACCEL_ODR_4KHZ,
  INVENSENSE3_ACCEL_ODR_2KHZ,
  INVENSENSE3_ACCEL_ODR_1KHZ,
  INVENSENSE3_ACCEL_ODR_200HZ,
  INVENSENSE3_ACCEL_ODR_100HZ,
  INVENSENSE3_ACCEL_ODR_50HZ,
  INVENSENSE3_ACCEL_ODR_25HZ,
  INVENSENSE3_ACCEL_ODR_12_5HZ,
  INVENSENSE3_ACCEL_ODR_6_25HZ,
  INVENSENSE3_ACCEL_ODR_3_125HZ,
  INVENSENSE3_ACCEL_ODR_1_5625HZ,
  INVENSENSE3_ACCEL_ODR_500HZ
};
 
/* The accelerometer range in G */
enum invensense3_accel_range_t {
  INVENSENSE3_ACCEL_RANGE_32G,       
  INVENSENSE3_ACCEL_RANGE_16G,
  INVENSENSE3_ACCEL_RANGE_8G,
  INVENSENSE3_ACCEL_RANGE_4G,
  INVENSENSE3_ACCEL_RANGE_2G
};
 
/* Main invensense v3 device structure */
struct invensense3_t {
  uint8_t abi_id;                     
  enum invensense3_status_t status;   
  enum invensense3_device_t device;   
  enum invensense3_parser_t parser;   
 
  enum invensense3_bus_t bus;         
  union {
    struct invensense3_spi_t spi;     
    struct invensense3_i2c_t i2c;     
  };
  uint8_t* rx_buffer;
  uint8_t* tx_buffer;
  uint16_t* rx_length;
 
  uint8_t register_bank;              
  uint8_t config_idx;                 
  uint32_t timer;                     
 
  enum invensense3_gyro_odr_t gyro_odr;         
  enum invensense3_gyro_range_t gyro_range;     
  uint16_t gyro_aaf;                            
  uint16_t gyro_aaf_regs[4];                    
  enum invensense3_accel_odr_t accel_odr;       
  enum invensense3_accel_range_t accel_range;   
  uint16_t accel_aaf;                           
  uint16_t accel_aaf_regs[4];                   
  enum invensense3_fifo_packet_t sample_size;   
  int sample_numbers;                           
  float gyro_samplerate;                        
  float accel_samplerate;                       
};
 
/* External functions */
void invensense3_init(struct invensense3_t *inv);
void invensense3_periodic(struct invensense3_t *inv);
void invensense3_event(struct invensense3_t *inv);
 
#endif // INVENSENSE3_H