Core ICM-42670-P initialization, configuration, and read functions. More...

#include "ICM42670_internal.h"
#include <stdint.h>

Include dependency graph for ICM42670_driver.c:

Functions
ICM42670_Status_t	ICM42670_SetPowerState (ICM42670_Config *config, ICM42670_PowerState_t state)
	Switch the ICM-42670-P to one of the standard datasheet power modes.

ICM42670_Status_t	ICM42670_SetAccelRange (ICM42670_Config *config, ICM42670_AccelFS_t accel_fs)
	Set the accelerometer full-scale range.

ICM42670_Status_t	ICM42670_SetGyroRange (ICM42670_Config *config, ICM42670_GyroFS_t gyro_fs)
	Set the gyroscope full-scale range.

ICM42670_Status_t	ICM42670_SetAccelOdr (ICM42670_Config *config, ICM42670_Odr_t odr)
	Set the accelerometer output data rate.

ICM42670_Status_t	ICM42670_SetGyroOdr (ICM42670_Config *config, ICM42670_Odr_t odr)
	Set the gyroscope output data rate.

ICM42670_Status_t	ICM42670_SetAccelLpf (ICM42670_Config *config, ICM42670_Lpf_t lpf)
	Set the accelerometer UI low-pass filter bandwidth.

ICM42670_Status_t	ICM42670_SetGyroLpf (ICM42670_Config *config, ICM42670_Lpf_t lpf)
	Set the gyroscope UI low-pass filter bandwidth.

ICM42670_Status_t	ICM42670_Init (ICM42670_Config *config)
	Initialize the device and enter 6-axis low-noise mode.

ICM42670_Status_t	ICM42670_ReadAccelRaw (const ICM42670_Config *config, int16_t accel_raw[3])
	Read raw accelerometer counts.

ICM42670_Status_t	ICM42670_ReadGyroRaw (const ICM42670_Config *config, int16_t gyro_raw[3])
	Read raw gyroscope counts.

ICM42670_Status_t	ICM42670_ReadTempRaw (const ICM42670_Config config, int16_t temp_raw)
	Read the raw temperature register value.

ICM42670_Status_t	ICM42670_ReadAccelG (const ICM42670_Config config, ICM42670_Accel_t accel)
	Read accelerometer data converted to g.

ICM42670_Status_t	ICM42670_ReadGyroDps (const ICM42670_Config config, ICM42670_Gyro_t gyro)
	Read gyroscope data converted to degrees per second.

ICM42670_Status_t	ICM42670_ReadTempC (const ICM42670_Config config, float temp_c)
	Read temperature converted to degrees Celsius.

ICM42670_Status_t	ICM42670_Gyro_Calibration (ICM42670_Config *config)
	Estimate gyroscope bias while the board is stationary.

Detailed Description

Core ICM-42670-P initialization, configuration, and read functions.

Author: Anthony / SleepPandas

Function Documentation

◆ ICM42670_Gyro_Calibration()

ICM42670_Status_t ICM42670_Gyro_Calibration ( ICM42670_Config * config )

Estimate gyroscope bias while the board is stationary.

This averages raw gyro samples and stores the offsets in config.

Parameters

config Driver configuration with read and delay callbacks.

Returns: ICM42670_OK on success, otherwise ICM42670_ERROR.

References ICM42670_Config::delay_ms, ICM42670_Config::gyro_offsets, ICM42670_ERROR, ICM42670_OK, ICM42670_ReadGyroRaw(), ICM42670_Gyro_Offsets_t::x_raw_offset, ICM42670_Gyro_Offsets_t::y_raw_offset, and ICM42670_Gyro_Offsets_t::z_raw_offset.

◆ ICM42670_Init()

ICM42670_Status_t ICM42670_Init ( ICM42670_Config * config )

Initialize the device and enter 6-axis low-noise mode.

The function validates callbacks, checks WHO_AM_I, normalizes invalid range/ODR values to defaults, writes accel/gyro configuration, and enables both sensors.

Parameters

config Driver configuration with valid callbacks.

Returns: ICM42670_OK on success, otherwise ICM42670_ERROR.

References ICM42670_Config::accel_fs, ICM42670_Config::accel_odr, ICM42670_Config::delay_ms, ICM42670_Config::gyro_fs, ICM42670_Config::gyro_odr, ICM42670_Config::handle, ICM42670_ERROR, ICM42670_OK, ICM42670_POWER_6AXIS_LN, ICM42670_SetPowerState(), ICM42670_Config::read_reg, and ICM42670_Config::write_reg.

◆ ICM42670_ReadAccelG()

ICM42670_Status_t ICM42670_ReadAccelG	(	const ICM42670_Config *	config,
		ICM42670_Accel_t *	accel
	)

Read accelerometer data converted to g.

Parameters

config	Driver configuration with current accel_fs value.
accel	Destination for scaled acceleration.

Returns: ICM42670_OK on success, otherwise ICM42670_ERROR.

References ICM42670_Config::accel_fs, ICM42670_ERROR, ICM42670_OK, ICM42670_ReadAccelRaw(), ICM42670_Accel_t::x_g, ICM42670_Accel_t::y_g, and ICM42670_Accel_t::z_g.

◆ ICM42670_ReadAccelRaw()

ICM42670_Status_t ICM42670_ReadAccelRaw	(	const ICM42670_Config *	config,
		int16_t	accel_raw[3]
	)

Read raw accelerometer counts.

Parameters

config	Driver configuration with a read callback.
accel_raw	Destination array: X, Y, Z raw counts.

Returns: ICM42670_OK on success, otherwise ICM42670_ERROR.

References ICM42670_Config::handle, ICM42670_ERROR, ICM42670_OK, and ICM42670_Config::read_reg.

Referenced by ICM42670_ReadAccelG().

◆ ICM42670_ReadGyroDps()

ICM42670_Status_t ICM42670_ReadGyroDps	(	const ICM42670_Config *	config,
		ICM42670_Gyro_t *	gyro
	)

Read gyroscope data converted to degrees per second.

Configured gyro_offsets are subtracted before scaling.

Parameters

config	Driver configuration with current gyro_fs value.
gyro	Destination for scaled angular rate.

Returns: ICM42670_OK on success, otherwise ICM42670_ERROR.

References ICM42670_Config::gyro_fs, ICM42670_Config::gyro_offsets, ICM42670_ERROR, ICM42670_OK, ICM42670_ReadGyroRaw(), ICM42670_Gyro_t::x_dps, ICM42670_Gyro_Offsets_t::x_raw_offset, ICM42670_Gyro_t::y_dps, ICM42670_Gyro_Offsets_t::y_raw_offset, ICM42670_Gyro_t::z_dps, and ICM42670_Gyro_Offsets_t::z_raw_offset.

◆ ICM42670_ReadGyroRaw()

ICM42670_Status_t ICM42670_ReadGyroRaw	(	const ICM42670_Config *	config,
		int16_t	gyro_raw[3]
	)

Read raw gyroscope counts.

Parameters

config	Driver configuration with a read callback.
gyro_raw	Destination array: X, Y, Z raw counts.

Returns: ICM42670_OK on success, otherwise ICM42670_ERROR.

References ICM42670_Config::handle, ICM42670_ERROR, ICM42670_OK, and ICM42670_Config::read_reg.

Referenced by ICM42670_Gyro_Calibration(), and ICM42670_ReadGyroDps().

◆ ICM42670_ReadTempC()

ICM42670_Status_t ICM42670_ReadTempC	(	const ICM42670_Config *	config,
		float *	temp_c
	)

Read temperature converted to degrees Celsius.

Parameters

config	Driver configuration with a read callback.
temp_c	Destination for temperature in degrees Celsius.

Returns: ICM42670_OK on success, otherwise ICM42670_ERROR.

References ICM42670_ERROR, ICM42670_OK, and ICM42670_ReadTempRaw().

◆ ICM42670_ReadTempRaw()

ICM42670_Status_t ICM42670_ReadTempRaw	(	const ICM42670_Config *	config,
		int16_t *	temp_raw
	)

Read the raw temperature register value.

Parameters

config	Driver configuration with a read callback.
temp_raw	Destination for the signed raw temperature count.

Returns: ICM42670_OK on success, otherwise ICM42670_ERROR.

References ICM42670_Config::handle, ICM42670_ERROR, ICM42670_OK, ICM42670_REG_TEMP_DATA1, and ICM42670_Config::read_reg.

Referenced by ICM42670_ReadTempC().

◆ ICM42670_SetAccelLpf()

ICM42670_Status_t ICM42670_SetAccelLpf	(	ICM42670_Config *	config,
		ICM42670_Lpf_t	lpf
	)

Set the accelerometer UI low-pass filter bandwidth.

Parameters

config	Driver configuration with read and write callbacks.
lpf	Low-pass filter selection.

Returns: ICM42670_OK on success, otherwise ICM42670_ERROR.

◆ ICM42670_SetAccelOdr()

ICM42670_Status_t ICM42670_SetAccelOdr	(	ICM42670_Config *	config,
		ICM42670_Odr_t	odr
	)

Set the accelerometer output data rate.

Parameters

config	Driver configuration with read and write callbacks.
odr	Accelerometer output data rate.

Returns: ICM42670_OK on success, otherwise ICM42670_ERROR.

References ICM42670_Config::accel_odr, ICM42670_ERROR, and ICM42670_OK.

◆ ICM42670_SetAccelRange()

ICM42670_Status_t ICM42670_SetAccelRange	(	ICM42670_Config *	config,
		ICM42670_AccelFS_t	accel_fs
	)

Set the accelerometer full-scale range.

Parameters

config	Driver configuration with read and write callbacks.
accel_fs	Accelerometer range selection.

Returns: ICM42670_OK on success, otherwise ICM42670_ERROR.

References ICM42670_Config::accel_fs, ICM42670_ERROR, and ICM42670_OK.

◆ ICM42670_SetGyroLpf()

ICM42670_Status_t ICM42670_SetGyroLpf	(	ICM42670_Config *	config,
		ICM42670_Lpf_t	lpf
	)

Set the gyroscope UI low-pass filter bandwidth.

Parameters

config	Driver configuration with read and write callbacks.
lpf	Low-pass filter selection.

Returns: ICM42670_OK on success, otherwise ICM42670_ERROR.

◆ ICM42670_SetGyroOdr()

ICM42670_Status_t ICM42670_SetGyroOdr	(	ICM42670_Config *	config,
		ICM42670_Odr_t	odr
	)

Set the gyroscope output data rate.

Parameters

config	Driver configuration with read and write callbacks.
odr	Gyroscope output data rate.

Returns: ICM42670_OK on success, otherwise ICM42670_ERROR.

References ICM42670_Config::gyro_odr, ICM42670_ERROR, and ICM42670_OK.

◆ ICM42670_SetGyroRange()

ICM42670_Status_t ICM42670_SetGyroRange	(	ICM42670_Config *	config,
		ICM42670_GyroFS_t	gyro_fs
	)

Set the gyroscope full-scale range.

Parameters

config	Driver configuration with read and write callbacks.
gyro_fs	Gyroscope range selection.

Returns: ICM42670_OK on success, otherwise ICM42670_ERROR.

References ICM42670_Config::gyro_fs, ICM42670_ERROR, and ICM42670_OK.

◆ ICM42670_SetPowerState()

ICM42670_Status_t ICM42670_SetPowerState	(	ICM42670_Config *	config,
		ICM42670_PowerState_t	state
	)

Switch the ICM-42670-P to one of the standard datasheet power modes.

This writes PWR_MGMT0 and then waits 1 ms so the datasheet's 200 us no-register-write window is respected when either sensor transitions from off to an active mode. Gyro off/on timing and accel LP ODR/filter restrictions remain caller responsibilities.

Parameters

config	Driver configuration with write and delay callbacks.
state	Target power state.

Returns: ICM42670_OK on success, otherwise ICM42670_ERROR.

References ICM42670_Config::delay_ms, ICM42670_Config::handle, ICM42670_ERROR, ICM42670_OK, and ICM42670_Config::write_reg.

Referenced by ICM42670_Init().

Functions

Detailed Description

Function Documentation

◆ ICM42670_Gyro_Calibration()

◆ ICM42670_Init()

◆ ICM42670_ReadAccelG()

◆ ICM42670_ReadAccelRaw()

◆ ICM42670_ReadGyroDps()

◆ ICM42670_ReadGyroRaw()

◆ ICM42670_ReadTempC()

◆ ICM42670_ReadTempRaw()

◆ ICM42670_SetAccelLpf()

◆ ICM42670_SetAccelOdr()

◆ ICM42670_SetAccelRange()

◆ ICM42670_SetGyroLpf()

◆ ICM42670_SetGyroOdr()

◆ ICM42670_SetGyroRange()

◆ ICM42670_SetPowerState()