ICM42670_apex.h File Reference

Optional APEX motion feature API for the ICM-42670-P. More...

#include "ICM42670_driver.h"

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Data Structures
struct	ICM42670_PedoConfig_t
	Pedometer configuration. More...
struct	ICM42670_PedoData_t
	Pedometer output data. More...
struct	ICM42670_TiltConfig_t
	Tilt detection configuration. More...
struct	ICM42670_LowGConfig_t
	Low-g detection configuration. More...
struct	ICM42670_FreeFallConfig_t
	Freefall detection configuration. More...
struct	ICM42670_FreeFallData_t
	Freefall output data. More...
struct	ICM42670_WakeOnMotionConfig_t
	Wake-on-motion threshold configuration. More...
struct	ICM42670_WakeOnMotionData_t
	Wake-on-motion output flags. More...
struct	ICM42670_SignificantMotionConfig_t
	Significant-motion sensitivity configuration. More...
struct	ICM42670_ApexData_t
	Combined APEX snapshot data. More...

Enumerations
enum	ICM42670_ApexActivity_t { ICM42670_APEX_ACTIVITY_UNKNOWN = 0U , ICM42670_APEX_ACTIVITY_WALK = 1U , ICM42670_APEX_ACTIVITY_RUN = 2U }
	Pedometer activity classification.

Functions
ICM42670_Status_t	ICM42670_Init_Apex (const ICM42670_Config *config)
	Initialize the APEX DMP block before enabling tilt/pedometer features.
ICM42670_Status_t	ICM42670_Enable_Pedo (const ICM42670_Config *config, const ICM42670_PedoConfig_t *pedo_config)
	Pedometer tracks step count and issues a step detect interrupt.
ICM42670_Status_t	ICM42670_Disable_Pedo (const ICM42670_Config *config)
	Disable pedometer reporting.
ICM42670_Status_t	ICM42670_Read_Pedo (const ICM42670_Config *config, ICM42670_PedoData_t *pedo_data)
	Read pedometer data and read-clear step status flags.
ICM42670_Status_t	ICM42670_Enable_Tilt (const ICM42670_Config *config, const ICM42670_TiltConfig_t *tilt_config)
	Tilt detection issues an interrupt when the tilt angle exceeds 35 degrees for more than a programmable time.
ICM42670_Status_t	ICM42670_Disable_Tilt (const ICM42670_Config *config)
	Disable tilt detection.
ICM42670_Status_t	ICM42670_Read_Tilt (const ICM42670_Config *config, uint8_t *tilt_detected)
	Read and clear the tilt event flag.
ICM42670_Status_t	ICM42670_Enable_Low_G (const ICM42670_Config *config, const ICM42670_LowGConfig_t *low_g_config)
	Low-g detection triggers an interrupt when the absolute value of the accelerometer combined axis falls below a programmable threshold and stays below the threshold for a programmable time.
ICM42670_Status_t	ICM42670_Disable_Low_G (const ICM42670_Config *config)
	Disable low-g detection.
ICM42670_Status_t	ICM42670_Read_Low_G (const ICM42670_Config *config, uint8_t *low_g_detected)
	Read and clear the low-g event flag.
ICM42670_Status_t	ICM42670_Enable_Free_Fall (const ICM42670_Config *config, const ICM42670_FreeFallConfig_t *free_fall_config)
	Freefall detection triggers an interrupt when device freefall is detected and outputs freefall duration.
ICM42670_Status_t	ICM42670_Disable_Free_Fall (const ICM42670_Config *config)
	Disable freefall detection.
ICM42670_Status_t	ICM42670_Read_Free_Fall (const ICM42670_Config *config, ICM42670_FreeFallData_t *free_fall_data)
	Read freefall data and read-clear the freefall event flag.
ICM42670_Status_t	ICM42670_Enable_Wake_On_Motion (const ICM42670_Config *config, const ICM42670_WakeOnMotionConfig_t *wake_on_motion_config)
	Wake on Motion detects motion when accelerometer samples exceed a programmable threshold. This motion event can be used to enable device operation from sleep mode.
ICM42670_Status_t	ICM42670_Disable_Wake_On_Motion (const ICM42670_Config *config)
	Disable wake-on-motion detection.
ICM42670_Status_t	ICM42670_Read_Wake_On_Motion (const ICM42670_Config *config, ICM42670_WakeOnMotionData_t *wake_on_motion_data)
	Read and clear wake-on-motion axis flags.
ICM42670_Status_t	ICM42670_Enable_Significant_Motion (const ICM42670_Config *config, const ICM42670_SignificantMotionConfig_t *significant_motion_config)
	Significant Motion Detector detects significant motion based on accelerometer data.
ICM42670_Status_t	ICM42670_Disable_Significant_Motion (const ICM42670_Config *config)
	Disable significant-motion detection.
ICM42670_Status_t	ICM42670_Read_Significant_Motion (const ICM42670_Config *config, uint8_t *significant_motion_detected)
	Read and clear the significant-motion event flag.
ICM42670_Status_t	ICM42670_Read_Apex (const ICM42670_Config *config, ICM42670_ApexData_t *apex_data)
	Read a combined APEX data snapshot.

Detailed Description

Optional APEX motion feature API for the ICM-42670-P.

APEX features use the device's internal DMP. Call ICM42670_Init_Apex() before enabling pedometer, tilt, low-g, freefall, wake-on-motion, or significant-motion features.

Function Documentation

ICM42670_Disable_Free_Fall()

ICM42670_Status_t ICM42670_Disable_Free_Fall

(

const ICM42670_Config *

config

)

Disable freefall detection.

Parameters

config

Driver configuration with read and write callbacks.

Returns

ICM42670_OK on success, otherwise ICM42670_ERROR.

ICM42670_Disable_Low_G()

ICM42670_Status_t ICM42670_Disable_Low_G

(

const ICM42670_Config *

config

)

Disable low-g detection.

Parameters

config

Driver configuration with read and write callbacks.

Returns

ICM42670_OK on success, otherwise ICM42670_ERROR.

ICM42670_Disable_Pedo()

ICM42670_Status_t ICM42670_Disable_Pedo

(

const ICM42670_Config *

config

)

Disable pedometer reporting.

Parameters

config

Driver configuration with read and write callbacks.

Returns

ICM42670_OK on success, otherwise ICM42670_ERROR.

ICM42670_Disable_Significant_Motion()

ICM42670_Status_t ICM42670_Disable_Significant_Motion

(

const ICM42670_Config *

config

)

Disable significant-motion detection.

Parameters

config

Driver configuration with read and write callbacks.

Returns

ICM42670_OK on success, otherwise ICM42670_ERROR.

ICM42670_Disable_Tilt()

ICM42670_Status_t ICM42670_Disable_Tilt

(

const ICM42670_Config *

config

)

Disable tilt detection.

Parameters

config

Driver configuration with read and write callbacks.

Returns

ICM42670_OK on success, otherwise ICM42670_ERROR.

ICM42670_Disable_Wake_On_Motion()

ICM42670_Status_t ICM42670_Disable_Wake_On_Motion

(

const ICM42670_Config *

config

)

Disable wake-on-motion detection.

Parameters

config

Driver configuration with read and write callbacks.

Returns

ICM42670_OK on success, otherwise ICM42670_ERROR.

ICM42670_Enable_Free_Fall()

ICM42670_Status_t ICM42670_Enable_Free_Fall	(	const ICM42670_Config *	config,
		const ICM42670_FreeFallConfig_t *	free_fall_config
	)

Freefall detection triggers an interrupt when device freefall is detected and outputs freefall duration.

Parameters

config	Driver configuration with read and write callbacks.
free_fall_config	Freefall setup values.

Returns

ICM42670_OK on success, otherwise ICM42670_ERROR or ICM42670_BUSY.

References ICM42670_FreeFallConfig_t::debounce_ms, ICM42670_ERROR, ICM42670_OK, ICM42670_FreeFallConfig_t::max_distance_cm, and ICM42670_FreeFallConfig_t::min_distance_cm.

ICM42670_Enable_Low_G()

ICM42670_Status_t ICM42670_Enable_Low_G	(	const ICM42670_Config *	config,
		const ICM42670_LowGConfig_t *	low_g_config
	)

Low-g detection triggers an interrupt when the absolute value of the accelerometer combined axis falls below a programmable threshold and stays below the threshold for a programmable time.

Parameters

config	Driver configuration with read and write callbacks.
low_g_config	Low-g setup values.

Returns

ICM42670_OK on success, otherwise ICM42670_ERROR or ICM42670_BUSY.

References ICM42670_ERROR, ICM42670_OK, ICM42670_LowGConfig_t::sample_count, and ICM42670_LowGConfig_t::threshold_mg.

ICM42670_Enable_Pedo()

ICM42670_Status_t ICM42670_Enable_Pedo	(	const ICM42670_Config *	config,
		const ICM42670_PedoConfig_t *	pedo_config
	)

Pedometer tracks step count and issues a step detect interrupt.

Parameters

config	Driver configuration with read and write callbacks.
pedo_config	Pedometer setup values.

Returns

ICM42670_OK on success, otherwise ICM42670_ERROR or ICM42670_BUSY.

References ICM42670_ERROR, ICM42670_OK, and ICM42670_PedoConfig_t::slow_walk_enable.

ICM42670_Enable_Significant_Motion()

ICM42670_Status_t ICM42670_Enable_Significant_Motion	(	const ICM42670_Config *	config,
		const ICM42670_SignificantMotionConfig_t *	significant_motion_config
	)

Significant Motion Detector detects significant motion based on accelerometer data.

Parameters

config	Driver configuration with read and write callbacks.
significant_motion_config	Significant-motion setup values.

Returns

ICM42670_OK on success, otherwise ICM42670_ERROR or ICM42670_BUSY.

References ICM42670_ERROR, ICM42670_OK, and ICM42670_SignificantMotionConfig_t::sensitivity_level.

ICM42670_Enable_Tilt()

ICM42670_Status_t ICM42670_Enable_Tilt	(	const ICM42670_Config *	config,
		const ICM42670_TiltConfig_t *	tilt_config
	)

Tilt detection issues an interrupt when the tilt angle exceeds 35 degrees for more than a programmable time.

Parameters

config	Driver configuration with read and write callbacks.
tilt_config	Tilt setup values.

Returns

ICM42670_OK on success, otherwise ICM42670_ERROR or ICM42670_BUSY.

References ICM42670_ERROR, ICM42670_OK, and ICM42670_TiltConfig_t::wait_time_s.

ICM42670_Enable_Wake_On_Motion()

ICM42670_Status_t ICM42670_Enable_Wake_On_Motion	(	const ICM42670_Config *	config,
		const ICM42670_WakeOnMotionConfig_t *	wake_on_motion_config
	)

Wake on Motion detects motion when accelerometer samples exceed a programmable threshold. This motion event can be used to enable device operation from sleep mode.

Parameters

config	Driver configuration with read and write callbacks.
wake_on_motion_config	Wake-on-motion threshold setup.

Returns

ICM42670_OK on success, otherwise ICM42670_ERROR or ICM42670_BUSY.

References ICM42670_ERROR, ICM42670_OK, ICM42670_WakeOnMotionConfig_t::x_threshold_mg, ICM42670_WakeOnMotionConfig_t::y_threshold_mg, and ICM42670_WakeOnMotionConfig_t::z_threshold_mg.

ICM42670_Init_Apex()

ICM42670_Status_t ICM42670_Init_Apex

(

const ICM42670_Config *

config

)

Initialize the APEX DMP block before enabling tilt/pedometer features.

This sets DMP_ODR to 50 Hz, disables DMP power-save for direct polling use, resets APEX memory, and runs the DMP initialization command.

Parameters

config

Driver configuration with read, write, and delay callbacks.

Returns

ICM42670_OK on success, otherwise ICM42670_ERROR or ICM42670_BUSY.

References ICM42670_Config::delay_ms, ICM42670_ERROR, and ICM42670_OK.

ICM42670_Read_Apex()

ICM42670_Status_t ICM42670_Read_Apex	(	const ICM42670_Config *	config,
		ICM42670_ApexData_t *	apex_data
	)

Read a combined APEX data snapshot.

This is the preferred read path when multiple APEX features are enabled, because INT_STATUS2 and INT_STATUS3 are read-clear.

Parameters

config	Driver configuration with a read callback.
apex_data	Destination for combined APEX data.

Returns

ICM42670_OK on success, otherwise ICM42670_ERROR.

References ICM42670_PedoData_t::activity, ICM42670_PedoData_t::cadence_raw, ICM42670_FreeFallData_t::detected, ICM42670_FreeFallData_t::duration_samples, ICM42670_ApexData_t::free_fall, ICM42670_ERROR, ICM42670_OK, ICM42670_ApexData_t::low_g_detected, ICM42670_PedoData_t::overflow, ICM42670_ApexData_t::pedo, ICM42670_ApexData_t::significant_motion_detected, ICM42670_PedoData_t::step_count, ICM42670_PedoData_t::step_detected, ICM42670_ApexData_t::tilt_detected, ICM42670_ApexData_t::wake_on_motion, ICM42670_WakeOnMotionData_t::x_detected, ICM42670_WakeOnMotionData_t::y_detected, and ICM42670_WakeOnMotionData_t::z_detected.

ICM42670_Read_Free_Fall()

ICM42670_Status_t ICM42670_Read_Free_Fall	(	const ICM42670_Config *	config,
		ICM42670_FreeFallData_t *	free_fall_data
	)

Read freefall data and read-clear the freefall event flag.

Parameters

config	Driver configuration with a read callback.
free_fall_data	Destination for freefall data.

Returns

ICM42670_OK on success, otherwise ICM42670_ERROR.

References ICM42670_FreeFallData_t::detected, ICM42670_FreeFallData_t::duration_samples, ICM42670_ERROR, and ICM42670_OK.

ICM42670_Read_Low_G()

ICM42670_Status_t ICM42670_Read_Low_G	(	const ICM42670_Config *	config,
		uint8_t *	low_g_detected
	)

Read and clear the low-g event flag.

Parameters

config	Driver configuration with a read callback.
low_g_detected	Destination flag, nonzero when low-g was reported.

Returns

ICM42670_OK on success, otherwise ICM42670_ERROR.

References ICM42670_ERROR, and ICM42670_OK.

ICM42670_Read_Pedo()

ICM42670_Status_t ICM42670_Read_Pedo	(	const ICM42670_Config *	config,
		ICM42670_PedoData_t *	pedo_data
	)

Read pedometer data and read-clear step status flags.

Parameters

config	Driver configuration with a read callback.
pedo_data	Destination for pedometer data.

Returns

ICM42670_OK on success, ICM42670_BUSY if data is invalid, otherwise ICM42670_ERROR.

References ICM42670_PedoData_t::activity, ICM42670_PedoData_t::cadence_raw, ICM42670_BUSY, ICM42670_ERROR, ICM42670_OK, ICM42670_PedoData_t::overflow, ICM42670_PedoData_t::step_count, and ICM42670_PedoData_t::step_detected.

ICM42670_Read_Significant_Motion()

ICM42670_Status_t ICM42670_Read_Significant_Motion	(	const ICM42670_Config *	config,
		uint8_t *	significant_motion_detected
	)

Read and clear the significant-motion event flag.

Parameters

config	Driver configuration with a read callback.
significant_motion_detected	Destination flag, nonzero when reported.

Returns

ICM42670_OK on success, otherwise ICM42670_ERROR.

References ICM42670_ERROR, and ICM42670_OK.

ICM42670_Read_Tilt()

ICM42670_Status_t ICM42670_Read_Tilt	(	const ICM42670_Config *	config,
		uint8_t *	tilt_detected
	)

Read and clear the tilt event flag.

Parameters

config	Driver configuration with a read callback.
tilt_detected	Destination flag, nonzero when tilt was reported.

Returns

ICM42670_OK on success, otherwise ICM42670_ERROR.

References ICM42670_ERROR, and ICM42670_OK.

ICM42670_Read_Wake_On_Motion()

ICM42670_Status_t ICM42670_Read_Wake_On_Motion	(	const ICM42670_Config *	config,
		ICM42670_WakeOnMotionData_t *	wake_on_motion_data
	)

Read and clear wake-on-motion axis flags.

Parameters

config	Driver configuration with a read callback.
wake_on_motion_data	Destination for axis flags.

Returns

ICM42670_OK on success, otherwise ICM42670_ERROR.

References ICM42670_ERROR, ICM42670_OK, ICM42670_WakeOnMotionData_t::x_detected, ICM42670_WakeOnMotionData_t::y_detected, and ICM42670_WakeOnMotionData_t::z_detected.