Core ICM-42670-P configuration and sensor read API. More...

#include "ICM42670_registermap.h"
#include <stdint.h>

Include dependency graph for ICM42670_driver.h:

This graph shows which files directly or indirectly include this file:

Data Structures
struct	ICM42670_Accel_t
	Scaled accelerometer sample in g. More...

struct	ICM42670_Gyro_t
	Scaled gyroscope sample in degrees per second. More...

struct	ICM42670_Gyro_Offsets_t
	Raw gyroscope bias offsets subtracted by ICM42670_ReadGyroDps(). More...

struct	ICM42670_Config
	Platform-independent driver configuration. More...

Enumerations
enum	ICM42670_Status_t { ICM42670_OK = 0 , ICM42670_ERROR = -1 , ICM42670_BUSY = -2 }
	Return codes used by the ICM-42670-P driver. More...

enum	ICM42670_AccelFS_t { ICM42670_ACCEL_FS_16G = 0x00U , ICM42670_ACCEL_FS_8G = 0x20U , ICM42670_ACCEL_FS_4G = 0x40U , ICM42670_ACCEL_FS_2G = 0x60U }
	Accelerometer full-scale range values for ACCEL_CONFIG0.

enum	ICM42670_GyroFS_t { ICM42670_GYRO_FS_2000_DPS = 0x00U , ICM42670_GYRO_FS_1000_DPS = 0x20U , ICM42670_GYRO_FS_500_DPS = 0x40U , ICM42670_GYRO_FS_250_DPS = 0x60U }
	Gyroscope full-scale range values for GYRO_CONFIG0.

enum	ICM42670_Odr_t { ICM42670_ODR_1600_HZ = 0x05U , ICM42670_ODR_800_HZ = 0x06U , ICM42670_ODR_400_HZ = 0x07U , ICM42670_ODR_200_HZ = 0x08U , ICM42670_ODR_100_HZ = 0x09U , ICM42670_ODR_50_HZ = 0x0AU , ICM42670_ODR_25_HZ = 0x0BU , ICM42670_ODR_12_5_HZ = 0x0CU , ICM42670_ACCEL_ODR_6_25_HZ = 0x0DU , ICM42670_ACCEL_ODR_3_125_HZ = 0x0EU , ICM42670_ACCEL_ODR_1_5625_HZ = 0x0FU }
	Output data rate values for accelerometer and gyroscope setup.

enum	ICM42670_Lpf_t { ICM42670_LPF_BYPASSED = 0x00U , ICM42670_LPF_180_HZ = 0x01U , ICM42670_LPF_121_HZ = 0x02U , ICM42670_LPF_73_HZ = 0x03U , ICM42670_LPF_53_HZ = 0x04U , ICM42670_LPF_34_HZ = 0x05U , ICM42670_LPF_25_HZ = 0x06U , ICM42670_LPF_16_HZ = 0x07U }
	UI low-pass filter bandwidth selections.

enum	ICM42670_PowerState_t { ICM42670_POWER_SLEEP = 0x00U , ICM42670_POWER_STANDBY , ICM42670_POWER_ACCEL_LP , ICM42670_POWER_ACCEL_LN , ICM42670_POWER_GYRO_LN , ICM42670_POWER_6AXIS_LN }
	Standard PWR_MGMT0 power states exposed by the driver. More...

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

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_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 configuration and sensor read API.

The core driver is platform independent. Applications provide register read/write callbacks and a millisecond delay callback through ICM42670_Config.

Enumeration Type Documentation

◆ ICM42670_PowerState_t

enum ICM42670_PowerState_t

Standard PWR_MGMT0 power states exposed by the driver.

Enumerator
ICM42670_POWER_SLEEP	Sleep mode: gyro off, accel off. Lowest normal sensor-off state. MREG access is not available in sleep unless the RC oscillator is kept on with PWR_MGMT0.IDLE.
ICM42670_POWER_STANDBY	Standby mode: gyro drive on, accel off. Use when preparing gyro operation without accelerometer data. The gyro should stay enabled for at least 45 ms once powered on, and callers should wait more than 20 ms after powering it off before enabling it again.
ICM42670_POWER_ACCEL_LP	Accelerometer low-power mode: gyro off, accel duty-cycled. Use for low-current, always-on motion sensing. Configure a valid accelerometer ODR and LP averaging before entering this mode: 1600 Hz and 800 Hz are LN-only, while 6.25 Hz, 3.125 Hz, and 1.5625 Hz are LP-only. MREG access is not supported with the WUOSC LP clock unless IDLE enables the RC oscillator.
ICM42670_POWER_ACCEL_LN	Accelerometer low-noise mode: gyro off, accel on. Use for accelerometer-only reads when lower noise is more important than minimum current draw.
ICM42670_POWER_GYRO_LN	Gyroscope low-noise mode: gyro on, accel off. Use for gyroscope-only reads. The ICM-42670-P does not provide a gyro low-power measurement mode.
ICM42670_POWER_6AXIS_LN	6-axis low-noise mode: gyro on, accel on. Use when both accelerometer and gyroscope data are needed. This is the default mode selected by ICM42670_Init().

◆ ICM42670_Status_t

enum ICM42670_Status_t

Return codes used by the ICM-42670-P driver.

Enumerator
ICM42670_OK	Operation completed successfully.
ICM42670_ERROR	Invalid argument or bus/register error.
ICM42670_BUSY	Device data is not ready yet.

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().

Data Structures

Enumerations

Functions

Detailed Description

Enumeration Type Documentation

◆ ICM42670_PowerState_t

◆ ICM42670_Status_t

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()