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

#include "peripherals/invensense3_456.h"
#include "peripherals/invensense3_456_regs.h"
#include "math/pprz_isa.h"
#include "math/pprz_algebra_int.h"
#include "math/pprz_algebra_float.h"
#include "modules/imu/imu.h"
#include "modules/core/abi.h"
#include "mcu_periph/gpio_arch.h"
#include "std.h"
#include <string.h>
#include "modules/datalink/telemetry.h"

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Functions
static void	invensense3_456_parse_fifo_data (struct invensense3_456_t inv, uint8_t data, uint16_t samples)
	Parse the FIFO buffer data.

static void	invensense3_456_set_scalings (struct invensense3_456_t *inv)
	This sets the correct scalings.

static bool	invensense3_456_register_write (struct invensense3_456_t *inv, uint8_t reg, uint8_t value)
	Write a register.

static bool	invensense3_456_register_read (struct invensense3_456_t *inv, uint8_t reg, uint16_t size)
	Read a register based on a combined bank/regsiter value.

static bool	invensense3_456_config (struct invensense3_456_t *inv)
	Configure the Invensense 3 device register by register.

static int	samples_from_odr (int odr)

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.

static int32_t	reassemble_uint20 (uint8_t msb, uint8_t bits, uint8_t lsb)

static bool	invensense3_register_write_bank (struct invensense3_456_t *inv, uint16_t bank_addr, uint16_t reg, uint8_t val)
	Write to a register in a specific bank.

Detailed Description

Driver for the Invensense 456XY IMUs:

ICM45686

Definition in file invensense3_456.c.

Function Documentation

◆ invensense3_456_config()

static bool invensense3_456_config ( struct invensense3_456_t * inv )

static

Configure the Invensense 3 device register by register.

REF: https://github.com/ArduPilot/ardupilot/blob/85a8a55611a95d4c59052f79f56744a93a9c5a63/libraries/AP_InertialSensor/AP_InertialSensor_Invensensev3.cpp#L933

Parameters

inv	The invensense v3 instance

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

Definition at line 415 of file invensense3_456.c.

References ACCEL_FS_SEL_SHIFT, ACCEL_ODR_SHIFT, foo, get_sys_time_usec(), GYRO_FS_SEL_SHIFT, GYRO_ODR_SHIFT, INV3BANK_456_IPREG_SYS1_ADDR, INV3BANK_456_IPREG_SYS2_ADDR, INV3BANK_456_IPREG_TOP1_ADDR, INV3REG_456_ACCEL_CONFIG0, INV3REG_456_FIFO_CONFIG0, INV3REG_456_FIFO_CONFIG3, INV3REG_456_GYRO_CONFIG0, INV3REG_456_PWR_MGMT0, INV3REG_456_REG_MISC2, INV_456_BASE_FIFO3_CONFIG_VALUE, INV_456_FIFO_IF_EN, invensense3_456_register_write(), and invensense3_register_write_bank().

Referenced by invensense3_456_event(), and invensense3_456_periodic().

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◆ invensense3_456_event()

void invensense3_456_event ( struct invensense3_456_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 137 of file invensense3_456.c.

References foo, INV3_456_WHOAMI_ICM45686, INV3REG_456_FIFO_COUNTH, invensense3_456_config(), INVENSENSE3_456_CONFIG, INVENSENSE3_456_ICM45686, INVENSENSE3_456_IDLE, invensense3_456_parse_fifo_data(), invensense3_456_register_read(), INVENSENSE3_456_RUNNING, invensense3_456_set_scalings(), Min, n_samples, SPITransDone, SPITransFailed, and SPITransSuccess.

Referenced by imu_cube_event().

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◆ invensense3_456_init()

void invensense3_456_init ( struct invensense3_456_t * inv )

Initialize the invensense v3 sensor instance.

Parameters

inv	The structure containing the configuration of the invensense v3 instance

Definition at line 57 of file invensense3_456.c.

References foo, INVENSENSE3_456_IDLE, INVENSENSE3_456_UNKOWN, samples_from_odr(), SPICphaEdge2, SPICpolIdleHigh, SPIDiv16, SPIDss8bit, SPIMSBFirst, SPISelectUnselect, and SPITransDone.

Referenced by imu_cube_init().

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◆ invensense3_456_parse_fifo_data()

static void invensense3_456_parse_fifo_data	(	struct invensense3_456_t *	inv,
		uint8_t *	data,
		uint16_t	samples
	)

static

Parse the FIFO buffer data.

Parameters

inv	The invensense v3 instance
data	The FIFO buffer data to parse
len	The length of the FIFO buffer

Definition at line 247 of file invensense3_456.c.

References FIFODataHighRes::accel, FIFODataHighRes::ax, FIFODataHighRes::ay, FIFODataHighRes::az, foo, get_sys_time_usec(), FIFODataHighRes::gx, FIFODataHighRes::gy, FIFODataHighRes::gyro, FIFODataHighRes::gz, FIFODataHighRes::header, INVENSENSE3_456_FIFO_BUFFER_LEN, Min, reassemble_uint20(), and FIFODataHighRes::temperature.

Referenced by invensense3_456_event().

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◆ invensense3_456_periodic()

void invensense3_456_periodic ( struct invensense3_456_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 95 of file invensense3_456.c.

References foo, INV3REG_456_FIFO_COUNTH, INV3REG_456_WHOAMI, invensense3_456_config(), INVENSENSE3_456_CONFIG, INVENSENSE3_456_IDLE, invensense3_456_register_read(), INVENSENSE3_456_RUNNING, Min, and SPITransDone.

Referenced by imu_cube_periodic().

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◆ invensense3_456_register_read()

static bool invensense3_456_register_read	(	struct invensense3_456_t *	inv,
		uint8_t	reg,
		uint16_t	size
	)

static

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

Parameters

inv	The invensense v3 instance
reg	The address of the register to read
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 396 of file invensense3_456.c.

References foo, INV3_456_READ_FLAG, and spi_submit().

Referenced by invensense3_456_event(), and invensense3_456_periodic().

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◆ invensense3_456_register_write()

static bool invensense3_456_register_write	(	struct invensense3_456_t *	inv,
		uint8_t	reg,
		uint8_t	value
	)

static

Write a register.

Parameters

inv	The invensense v3 instance
reg	The address of the register to write to
value	The value to write to the register

Returns: true Whenever the register write was started

Definition at line 349 of file invensense3_456.c.

References foo, and spi_submit().

Referenced by invensense3_456_config().

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◆ invensense3_456_set_scalings()

static void invensense3_456_set_scalings ( struct invensense3_456_t * inv )

static

This sets the correct scalings.

Parameters

inv	The invensense v3 instance

Definition at line 297 of file invensense3_456.c.

References ACCEL_BFP_OF_REAL, foo, imu_set_defaults_accel(), imu_set_defaults_gyro(), INVENSENSE3_456_ODR_100HZ, INVENSENSE3_456_ODR_1_6KHZ, INVENSENSE3_456_ODR_200HZ, INVENSENSE3_456_ODR_25HZ, INVENSENSE3_456_ODR_3_2KHZ, INVENSENSE3_456_ODR_400HZ, INVENSENSE3_456_ODR_50HZ, INVENSENSE3_456_ODR_6_4KHZ, INVENSENSE3_456_ODR_800HZ, and RATE_BFP_OF_REAL.

Referenced by invensense3_456_event().

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◆ invensense3_register_write_bank()

static bool invensense3_register_write_bank	(	struct invensense3_456_t *	inv,
		uint16_t	bank_addr,
		uint16_t	reg,
		uint8_t	val
	)

static

Write to a register in a specific bank.

Parameters

inv	The invensense v3 instance
bank_addr	The address of the bank to write to
reg	The address of the register to write to
value	The value to write to the register