ICM42670_driver.h

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#ifndef ICM42670_DRIVER_H
#define ICM42670_DRIVER_H
 
#ifdef __cplusplus
extern "C" {
#endif
 
#include "ICM42670_registermap.h"
#include <stdint.h>
 
typedef enum {
  ICM42670_OK = 0,      
  ICM42670_ERROR = -1,  
  ICM42670_BUSY = -2,   
} ICM42670_Status_t;
 
typedef struct {
  float x_g; 
  float y_g; 
  float z_g; 
} ICM42670_Accel_t;
 
typedef struct {
  float x_dps; 
  float y_dps; 
  float z_dps; 
} ICM42670_Gyro_t;
 
typedef struct {
  int16_t x_raw_offset; 
  int16_t y_raw_offset; 
  int16_t z_raw_offset; 
} ICM42670_Gyro_Offsets_t;
 
 
typedef enum {
  ICM42670_ACCEL_FS_16G = 0x00U,
  ICM42670_ACCEL_FS_8G = 0x20U,
  ICM42670_ACCEL_FS_4G = 0x40U,
  ICM42670_ACCEL_FS_2G = 0x60U,
} ICM42670_AccelFS_t;
 
typedef enum {
  ICM42670_GYRO_FS_2000_DPS = 0x00U,
  ICM42670_GYRO_FS_1000_DPS = 0x20U,
  ICM42670_GYRO_FS_500_DPS = 0x40U,
  ICM42670_GYRO_FS_250_DPS = 0x60U
} ICM42670_GyroFS_t;
 
typedef enum {
  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,
} ICM42670_Odr_t;
 
typedef enum {
  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,
} ICM42670_Lpf_t;
 
typedef enum {
  ICM42670_POWER_SLEEP = 0x00U,
 
  ICM42670_POWER_STANDBY,
 
  ICM42670_POWER_ACCEL_LP,
 
  ICM42670_POWER_ACCEL_LN,
 
  ICM42670_POWER_GYRO_LN,
 
  ICM42670_POWER_6AXIS_LN,
} ICM42670_PowerState_t;
 
 
typedef struct {
 
  ICM42670_Odr_t accel_odr;    
  ICM42670_AccelFS_t accel_fs; 
  ICM42670_Odr_t gyro_odr;     
  ICM42670_GyroFS_t gyro_fs;   
  ICM42670_Gyro_Offsets_t gyro_offsets; 
  void *handle; 
  int8_t (*read_reg)(void *handle, uint8_t reg_addr, uint8_t *data,
                     uint16_t len); 
  int8_t (*write_reg)(void *handle, uint8_t reg_addr, const uint8_t *data,
                      uint16_t len); 
  void (*delay_ms)(uint32_t ms); 
} ICM42670_Config;
 
ICM42670_Status_t ICM42670_Init(ICM42670_Config *config);
 
ICM42670_Status_t ICM42670_SetPowerState(ICM42670_Config *config,
                                         ICM42670_PowerState_t state);
 
ICM42670_Status_t ICM42670_SetAccelRange(ICM42670_Config *config,
                                         ICM42670_AccelFS_t accel_fs);
 
ICM42670_Status_t ICM42670_SetGyroRange(ICM42670_Config *config,
                                        ICM42670_GyroFS_t gyro_fs);
 
ICM42670_Status_t ICM42670_SetAccelOdr(ICM42670_Config *config,
                                       ICM42670_Odr_t odr);
 
ICM42670_Status_t ICM42670_SetGyroOdr(ICM42670_Config *config,
                                      ICM42670_Odr_t odr);
 
ICM42670_Status_t ICM42670_SetAccelLpf(ICM42670_Config *config,
                                       ICM42670_Lpf_t lpf);
 
ICM42670_Status_t ICM42670_SetGyroLpf(ICM42670_Config *config,
                                      ICM42670_Lpf_t lpf);
 
ICM42670_Status_t ICM42670_ReadAccelRaw(const ICM42670_Config *config,
                                        int16_t accel_raw[3]);
 
ICM42670_Status_t ICM42670_ReadGyroRaw(const ICM42670_Config *config,
                                       int16_t gyro_raw[3]);
 
ICM42670_Status_t ICM42670_ReadTempRaw(const ICM42670_Config *config,
                                       int16_t *temp_raw);
 
ICM42670_Status_t ICM42670_ReadAccelG(const ICM42670_Config *config,
                                      ICM42670_Accel_t *accel);
 
ICM42670_Status_t ICM42670_ReadGyroDps(const ICM42670_Config *config,
                                       ICM42670_Gyro_t *gyro);
 
ICM42670_Status_t ICM42670_ReadTempC(const ICM42670_Config *config,
                                     float *temp_c);
 
ICM42670_Status_t ICM42670_Gyro_Calibration(ICM42670_Config *config);
#ifdef __cplusplus
}
#endif
 
#endif /* ICM42670_DRIVER_H */