invensense3.h File Reference

Driver for the Invensense V3 IMUs ICM40605, ICM40609, ICM42605, IIM42652 and ICM42688. More...

#include "std.h"
#include "mcu_periph/spi.h"
#include "mcu_periph/i2c.h"

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Data Structures
struct	invensense3_spi_t
struct	invensense3_i2c_t
struct	invensense3_t
union	invensense3_t.__unnamed327__

Macros
#define	INVENSENSE3_FIFO_BUFFER_LEN   22
#define	INVENSENSE3_BUFFER_SIZE   INVENSENSE3_FIFO_BUFFER_LEN * 20 + 3

Enumerations
enum	invensense3_bus_t { INVENSENSE3_SPI , INVENSENSE3_I2C }
enum	invensense3_status_t { INVENSENSE3_IDLE , INVENSENSE3_CONFIG , INVENSENSE3_RUNNING }
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 }
enum	invensense3_device_t {   INVENSENSE3_UNKOWN , INVENSENSE3_ICM40605 , INVENSENSE3_ICM40609 , INVENSENSE3_ICM42605 ,   INVENSENSE3_IIM42652 , INVENSENSE3_ICM42688 }
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 }
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 }
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 }
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 }

Functions
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...

Detailed Description

Driver for the Invensense V3 IMUs ICM40605, ICM40609, ICM42605, IIM42652 and ICM42688.

Definition in file invensense3.h.

---

Data Structure Documentation

invensense3_spi_t

struct invensense3_spi_t

Definition at line 42 of file invensense3.h.

Collaboration diagram for invensense3_spi_t:

Data Fields
struct spi_periph *	p	Peripheral device for communication.
uint8_t	rx_buf[INVENSENSE3_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[2]	Transmit buffer.

invensense3_i2c_t

struct invensense3_i2c_t

Definition at line 52 of file invensense3.h.

Collaboration diagram for invensense3_i2c_t:

Data Fields
struct i2c_periph *	p	Peripheral device for communication.
uint8_t	slave_addr	The I2C slave address on the bus.
struct i2c_transaction	trans	TRansaction used during configuration and measurements.

invensense3_t

struct invensense3_t

Definition at line 154 of file invensense3.h.

Data Fields
union invensense3_t	__unnamed__
uint8_t	abi_id	The ABI id used to broadcast the device measurements.
uint16_t	accel_aaf	Accelerometer Anti-alias filter 3dB Bandwidth configuration [Hz].
uint16_t	accel_aaf_regs[4]	Accelerometer Anti-alias filter register values.
enum invensense3_accel_odr_t	accel_odr	Accelerometer Output Data Rate configuration.
enum invensense3_accel_range_t	accel_range	Accelerometer range configuration.
float	accel_samplerate	Sample rate in Hz from the accel_odr.
enum invensense3_bus_t	bus	The communication bus used to connect the device SPI/I2C.
uint8_t	config_idx	The current configuration index.
enum invensense3_device_t	device	The device type detected.
uint16_t	gyro_aaf	Gyro Anti-alias filter 3dB Bandwidth configuration [Hz].
uint16_t	gyro_aaf_regs[4]	Gyro Anti-alias filter register values.
enum invensense3_gyro_odr_t	gyro_odr	Gyro Output Data Rate configuration.
enum invensense3_gyro_range_t	gyro_range	Gyro range configuration.
float	gyro_samplerate	Sample rate in Hz from the gyro_odr.
enum invensense3_parser_t	parser	Parser of the device.
uint8_t	register_bank	The current register bank communicating with.
uint8_t *	rx_buffer
uint16_t *	rx_length
int	sample_numbers	expected FIFO packet number, assuming reading at PERIODIC_FREQUENCY
enum invensense3_fifo_packet_t	sample_size	FIFO packet size.
enum invensense3_status_t	status	Status of the invensense v3 device.
uint32_t	timer	Used to time operations during configuration (samples left during measuring)
uint8_t *	tx_buffer

invensense3_t.__unnamed327__

union invensense3_t.__unnamed327__

Definition at line 161 of file invensense3.h.

Data Fields
struct invensense3_i2c_t	i2c	I2C specific configuration.
struct invensense3_spi_t	spi	SPI specific configuration.

Macro Definition Documentation

INVENSENSE3_BUFFER_SIZE

#define INVENSENSE3_BUFFER_SIZE   INVENSENSE3_FIFO_BUFFER_LEN * 20 + 3

Definition at line 39 of file invensense3.h.

INVENSENSE3_FIFO_BUFFER_LEN

#define INVENSENSE3_FIFO_BUFFER_LEN   22

Definition at line 38 of file invensense3.h.

Enumeration Type Documentation

invensense3_accel_odr_t

enum invensense3_accel_odr_t

Enumerator
INVENSENSE3_ACCEL_ODR_32KHZ	Not possible for ICM40605 and ICM42605.
INVENSENSE3_ACCEL_ODR_16KHZ	Not possible for ICM40605 and ICM42605.
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

Definition at line 126 of file invensense3.h.

invensense3_accel_range_t

enum invensense3_accel_range_t

Enumerator
INVENSENSE3_ACCEL_RANGE_32G	Only possible for ICM40609.
INVENSENSE3_ACCEL_RANGE_16G
INVENSENSE3_ACCEL_RANGE_8G
INVENSENSE3_ACCEL_RANGE_4G
INVENSENSE3_ACCEL_RANGE_2G

Definition at line 145 of file invensense3.h.

invensense3_bus_t

enum invensense3_bus_t

Enumerator
INVENSENSE3_SPI
INVENSENSE3_I2C

Definition at line 59 of file invensense3.h.

invensense3_device_t

enum invensense3_device_t

Enumerator
INVENSENSE3_UNKOWN
INVENSENSE3_ICM40605
INVENSENSE3_ICM40609
INVENSENSE3_ICM42605
INVENSENSE3_IIM42652
INVENSENSE3_ICM42688

Definition at line 85 of file invensense3.h.

invensense3_fifo_packet_t

enum invensense3_fifo_packet_t

Enumerator
INVENSENSE3_SAMPLE_SIZE_PK1
INVENSENSE3_SAMPLE_SIZE_PK2
INVENSENSE3_SAMPLE_SIZE_PK3
INVENSENSE3_SAMPLE_SIZE_PK4

Definition at line 77 of file invensense3.h.

invensense3_gyro_odr_t

enum invensense3_gyro_odr_t

Enumerator
INVENSENSE3_GYRO_ODR_32KHZ	Not possible for ICM40605 and ICM42605.
INVENSENSE3_GYRO_ODR_16KHZ	Not possible for ICM40605 and ICM42605.
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

Definition at line 95 of file invensense3.h.

invensense3_gyro_range_t

enum invensense3_gyro_range_t

Enumerator
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

Definition at line 114 of file invensense3.h.

invensense3_parser_t

enum invensense3_parser_t

Enumerator
INVENSENSE3_PARSER_REGISTERS
INVENSENSE3_PARSER_FIFO

Definition at line 72 of file invensense3.h.

invensense3_status_t

enum invensense3_status_t

Enumerator
INVENSENSE3_IDLE
INVENSENSE3_CONFIG
INVENSENSE3_RUNNING

Definition at line 65 of file invensense3.h.

Function Documentation

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(), imu_icm42688_event(), and imu_pixhawk6x_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(), imu_icm42688_init(), and imu_pixhawk6x_init().

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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(), imu_icm42688_periodic(), and imu_pixhawk6x_periodic().

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