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

#include "peripherals/invensense2.h"
#include "peripherals/invensense2_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"

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Functions
static void	invensense2_parse_data (struct invensense2_t inv, volatile uint8_t data, uint16_t len)
	Parse the FIFO buffer data. More...

static void	invensense2_fix_config (struct invensense2_t *inv)
	This fixes the configuration errors and sets the correct scalings. More...

static bool	invensense2_register_write (struct invensense2_t *inv, uint16_t bank_reg, uint8_t value)
	Write a register based on a combined bank/regsiter value. More...

static bool	invensense2_register_read (struct invensense2_t *inv, uint16_t bank_reg, uint16_t size)
	Read a register based on a combined bank/regsiter value. More...

static bool	invensense2_select_bank (struct invensense2_t *inv, uint8_t bank)
	Select the correct register bank. More...

static bool	invensense2_config (struct invensense2_t *inv)
	Configure the Invensense 2 device register by register. More...

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...

Variables
static const struct Int32Rates	invensense2_gyro_scale [5][2]

static const struct Int32Vect3	invensense2_accel_scale [5][2]

Detailed Description

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

Definition in file invensense2.c.

Function Documentation

◆ invensense2_config()

static bool invensense2_config ( struct invensense2_t * inv )

static

Configure the Invensense 2 device register by register.

Parameters

inv	The invensense v2 instance

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

Definition at line 457 of file invensense2.c.

References invensense2_t::accel_dlpf, ACCEL_DLPF_CFG_SHIFT, ACCEL_FS_SEL_SHIFT, invensense2_t::accel_range, BIT_ACCEL_DLPF_ENABLE, BIT_ACCEL_FIFO_EN, BIT_GYRO_DLPF_ENABLE, BIT_PWR_MGMT_1_CLK_AUTO, BIT_PWR_MGMT_1_DEVICE_RESET, BIT_TEMP_FIFO_EN, BIT_USER_CTRL_FIFO_EN, BIT_USER_CTRL_I2C_IF_DIS, BIT_USER_CTRL_I2C_MST_RESET, BIT_USER_CTRL_SRAM_RESET, BIT_XG_FIFO_EN, BIT_YG_FIFO_EN, BIT_ZG_FIFO_EN, invensense2_t::bus, invensense2_t::config_idx, invensense2_t::device, get_sys_time_usec(), invensense2_t::gyro_dlpf, GYRO_DLPF_CFG_SHIFT, GYRO_FS_SEL_SHIFT, invensense2_t::gyro_range, INV2REG_ACCEL_CONFIG, INV2REG_FIFO_EN_2, INV2REG_FIFO_MODE, INV2REG_FIFO_RST, INV2REG_GYRO_CONFIG_1, INV2REG_GYRO_SMPLRT_DIV, INV2REG_INT_ENABLE_1, INV2REG_PWR_MGMT_1, INV2REG_TIMEBASE_CORRECTIO, INV2REG_USER_CTRL, INVENSENSE2_ACCEL_DLPF_OFF, INVENSENSE2_GYRO_DLPF_OFF, INVENSENSE2_ICM20649, invensense2_register_read(), invensense2_register_write(), INVENSENSE2_SPI, invensense2_t::timebase_correction_pll, and invensense2_t::timer.

Referenced by invensense2_event(), and invensense2_periodic().

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◆ 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().

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◆ invensense2_fix_config()

static void invensense2_fix_config ( struct invensense2_t * inv )

static

This fixes the configuration errors and sets the correct scalings.

Parameters

inv	The invensense v2 instance

Definition at line 326 of file invensense2.c.

References invensense2_t::abi_id, invensense2_t::accel_range, invensense2_t::device, invensense2_t::gyro_range, imu_set_defaults_accel(), imu_set_defaults_gyro(), INVENSENSE2_ACCEL_RANGE_16G, INVENSENSE2_ACCEL_RANGE_2G, INVENSENSE2_ACCEL_RANGE_30G, INVENSENSE2_ACCEL_RANGE_4G, invensense2_accel_scale, INVENSENSE2_GYRO_RANGE_2000DPS, INVENSENSE2_GYRO_RANGE_250DPS, INVENSENSE2_GYRO_RANGE_4000DPS, INVENSENSE2_GYRO_RANGE_500DPS, invensense2_gyro_scale, and INVENSENSE2_ICM20649.

Referenced by invensense2_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().

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◆ invensense2_parse_data()

static void invensense2_parse_data	(	struct invensense2_t *	inv,
		volatile uint8_t *	data,
		uint16_t	len
	)

static

Parse the FIFO buffer data.

Parameters

inv	The invensense v2 instance
data	The FIFO buffer data to parse
len	The length of the FIFO buffer

Definition at line 277 of file invensense2.c.

References invensense2_t::abi_id, invensense2_t::accel_dlpf, get_sys_time_usec(), invensense2_t::gyro_dlpf, INVENSENSE2_ACCEL_DLPF_OFF, INVENSENSE2_GYRO_DLPF_OFF, INVENSENSE2_SAMPLE_CNT, INVENSENSE2_SAMPLE_SIZE, Int32Rates::p, Int32Rates::q, Int32Rates::r, invensense2_t::timebase_correction_pll, Int32Vect3::x, Int32Vect3::y, and Int32Vect3::z.

Referenced by invensense2_event().

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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().

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◆ invensense2_register_read()

static bool invensense2_register_read	(	struct invensense2_t *	inv,
		uint16_t	bank_reg,
		uint16_t	size
	)

static

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

Parameters

inv	The invensense v2 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 392 of file invensense2.c.

References invensense2_t::bus, i2c_transceive(), INV2_READ_FLAG, invensense2_select_bank(), INVENSENSE2_SPI, and spi_submit().

Referenced by invensense2_config(), invensense2_event(), and invensense2_periodic().

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◆ invensense2_register_write()

static bool invensense2_register_write	(	struct invensense2_t *	inv,
		uint16_t	bank_reg,
		uint8_t	value
	)

static

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

Parameters

inv	The invensense v2 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 355 of file invensense2.c.

References invensense2_t::bus, i2c_transmit(), invensense2_select_bank(), INVENSENSE2_SPI, and spi_submit().

Referenced by invensense2_config().

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◆ invensense2_select_bank()

static bool invensense2_select_bank	(	struct invensense2_t *	inv,
		uint8_t	bank
	)

static

Select the correct register bank.

Parameters

inv	The invensense v2 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 427 of file invensense2.c.

References invensense2_t::bus, i2c_transmit(), INV2REG_BANK_SEL, INVENSENSE2_SPI, invensense2_t::register_bank, and spi_submit().

Referenced by invensense2_register_read(), and invensense2_register_write().

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Variable Documentation

◆ invensense2_accel_scale

const struct Int32Vect3 invensense2_accel_scale[5][2]

static

Initial value:

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

Definition at line 44 of file invensense2.c.

Referenced by invensense2_fix_config().

◆ invensense2_gyro_scale

const struct Int32Rates invensense2_gyro_scale[5][2]

static

Initial value:

= {
  { {30267, 30267, 30267},
    {55463, 55463, 55463} }, 
  { {60534, 60534, 60534},
    {55463, 55463, 55463} }, 
  { {40147, 40147, 40147},
    {18420, 18420, 18420} }, 
  { {40147, 40147, 40147},
    {9210,  9210,  9210} },  
  { {40147, 40147, 40147},
    {4605,  4605,  4605} }   
}

Definition at line 44 of file invensense2.c.

Referenced by invensense2_fix_config().

Functions

Variables

Detailed Description

Function Documentation

◆ invensense2_config()

◆ invensense2_event()

◆ invensense2_fix_config()

◆ invensense2_init()

◆ invensense2_parse_data()

◆ invensense2_periodic()

◆ invensense2_register_read()

◆ invensense2_register_write()

◆ invensense2_select_bank()

Variable Documentation

◆ invensense2_accel_scale

◆ invensense2_gyro_scale