imu_icm42688.c

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/*
 * Copyright (C) 2022 Freek van tieen <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.
 */
 
#include "modules/imu/imu_icm42688.h"
#include "modules/imu/imu.h"
#include "modules/core/abi.h"
#include "mcu_periph/spi.h"
#include "peripherals/invensense3.h"
 
 
#ifndef INVENSENSE3_GYRO_AAF
#define INVENSENSE3_GYRO_AAF 977
#endif
 
#ifndef INVENSENSE3_ACCEL_AAF
#define INVENSENSE3_ACCEL_AAF 213
#endif
 
static struct invensense3_t imu_icm42688;
 
void imu_icm42688_init(void)
{
  imu_icm42688.abi_id = IMU_ICM42688_ID;
  //imu_icm42688.parser = INVENSENSE3_PARSER_REGISTERS;
  imu_icm42688.parser = INVENSENSE3_PARSER_FIFO;
 
  imu_icm42688.bus = INVENSENSE3_SPI;
  imu_icm42688.spi.p = &IMU_SPI_DEV;
  imu_icm42688.spi.slave_idx = IMU_SPI_SLAVE_IDX;
 
  imu_icm42688.gyro_odr = INVENSENSE3_GYRO_ODR;
  imu_icm42688.gyro_range = INVENSENSE3_GYRO_RANGE;
  imu_icm42688.accel_odr = INVENSENSE3_ACCEL_ODR;
  imu_icm42688.accel_range = INVENSENSE3_ACCEL_RANGE;
    
  // The AAF freq needs to be high enough to avoid group delay and low enough to minimise noise and clipping
  imu_icm42688.gyro_aaf = INVENSENSE3_GYRO_AAF; // ~ODR/4
  imu_icm42688.accel_aaf = INVENSENSE3_ACCEL_AAF; // Fixed
  
  invensense3_init(&imu_icm42688);
}
 
void imu_icm42688_periodic(void)
{
  invensense3_periodic(&imu_icm42688);
}
 
void imu_icm42688_event(void)
{
  invensense3_event(&imu_icm42688);
}