Driver for the Invensense 456XY IMUs: More...

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

Include dependency graph for invensense3_456.h:

This graph shows which files directly or indirectly include this file:

Data Structures
struct	FIFODataHighRes

struct	invensense3_456_spi_t

struct	invensense3_456_t

Macros
#define	INVENSENSE3_456_FIFO_BUFFER_LEN 22

#define	INVENSENSE3_456_BUFFER_SIZE INVENSENSE3_456_FIFO_BUFFER_LEN * sizeof(struct FIFODataHighRes) + 3

Enumerations
enum	invensense3_456_status_t { INVENSENSE3_456_IDLE , INVENSENSE3_456_CONFIG , INVENSENSE3_456_RUNNING }

enum	invensense3_456_device_t { INVENSENSE3_456_UNKOWN , INVENSENSE3_456_ICM45686 }

enum	invensense3_456_odr_t { INVENSENSE3_456_ODR_6_4KHZ = 0b0011 , INVENSENSE3_456_ODR_3_2KHZ = 0b0100 , INVENSENSE3_456_ODR_1_6KHZ = 0b0101 , INVENSENSE3_456_ODR_800HZ = 0b0110 , INVENSENSE3_456_ODR_400HZ = 0b0111 , INVENSENSE3_456_ODR_200HZ = 0b1000 , INVENSENSE3_456_ODR_100HZ = 0b1001 , INVENSENSE3_456_ODR_50HZ = 0b1010 , INVENSENSE3_456_ODR_25HZ = 0b1011 }

Functions
void	invensense3_456_init (struct invensense3_456_t *inv)
	Initialize the invensense v3 sensor instance.

void	invensense3_456_periodic (struct invensense3_456_t *inv)
	Should be called periodically to request sensor readings.

void	invensense3_456_event (struct invensense3_456_t *inv)
	Should be called in the event thread.

Detailed Description

Driver for the Invensense 456XY IMUs:

ICM45686

This driver is largely based on the original Invense v3 driver by Freek van Tienen, the Arupilot AP_InertialSensor_Invensensev3 with some inspiration from the px4 one as well. Split from the "main" invensensev3 driver as the WHO_AM_I register is different, and we operate this driver in high-resolution (20-bit) mode which is not used by any of the existing drivers. TL;DR: the drivers are quite different (even sensor ODR's), so we would be using if statements everywhere anyway. This seemed like the cleaner solution.

Definition in file invensense3_456.h.

Data Structure Documentation

◆ FIFODataHighRes

struct FIFODataHighRes

Definition at line 48 of file invensense3_456.h.

Data Fields
uint8_t	accel[6]
uint8_t	ax: 4
uint8_t	ay: 4
uint8_t	az: 4
uint8_t	gx: 4
uint8_t	gy: 4
uint8_t	gyro[6]
uint8_t	gz: 4
uint8_t	header
int16_t	temperature
uint16_t	timestamp

◆ invensense3_456_spi_t

struct invensense3_456_spi_t

Definition at line 59 of file invensense3_456.h.

Collaboration diagram for invensense3_456_spi_t:

Data Fields
struct spi_periph *	p	Peripheral device for communication.
uint8_t	rx_buf[INVENSENSE3_456_BUFFER_SIZE]	Receive buffer.
uint8_t	slave_idx	Slave index used for Slave Select.
struct spi_transaction	trans	Transaction used during configuration and measurements.
uint8_t	tx_buf[4]	Transmit buffer.

◆ invensense3_456_t

struct invensense3_456_t

Definition at line 99 of file invensense3_456.h.

Collaboration diagram for invensense3_456_t:

Data Fields
uint8_t	abi_id	The ABI id used to broadcast the device measurements.
uint8_t	config_idx	The current configuration index (used for setup/initial configuration)
enum invensense3_456_device_t	device	The device type detected.
enum invensense3_456_odr_t	imu_odr	Accelerometer / gyro Output Data Rate configuration.
float	imu_samplerate	Sample rate in Hz from the imu_odr.
uint8_t *	rx_buffer
uint16_t *	rx_length
int	sample_numbers	expected FIFO packet number, assuming reading at PERIODIC_FREQUENCY
struct invensense3_456_spi_t	spi	SPI specific configuration (support SPI only for now)
enum invensense3_456_status_t	status	Status of the invensense device.
uint32_t	timer	Used to time operations during configuration (samples left during measuring)
uint8_t *	tx_buffer

Macro Definition Documentation

◆ INVENSENSE3_456_BUFFER_SIZE

#define INVENSENSE3_456_BUFFER_SIZE INVENSENSE3_456_FIFO_BUFFER_LEN * sizeof(struct FIFODataHighRes) + 3

Definition at line 45 of file invensense3_456.h.

◆ INVENSENSE3_456_FIFO_BUFFER_LEN

#define INVENSENSE3_456_FIFO_BUFFER_LEN 22

Definition at line 44 of file invensense3_456.h.

Enumeration Type Documentation

◆ invensense3_456_device_t

enum invensense3_456_device_t

Enumerator
INVENSENSE3_456_UNKOWN
INVENSENSE3_456_ICM45686

Definition at line 75 of file invensense3_456.h.

◆ invensense3_456_odr_t

enum invensense3_456_odr_t

Enumerator
INVENSENSE3_456_ODR_6_4KHZ
INVENSENSE3_456_ODR_3_2KHZ
INVENSENSE3_456_ODR_1_6KHZ
INVENSENSE3_456_ODR_800HZ
INVENSENSE3_456_ODR_400HZ
INVENSENSE3_456_ODR_200HZ
INVENSENSE3_456_ODR_100HZ
INVENSENSE3_456_ODR_50HZ
INVENSENSE3_456_ODR_25HZ