ESP-IDF I2C and SPI transport adapters for the ICM-42670-P driver. More...

#include "ICM42670_driver.h"
#include "driver/gpio.h"
#include "driver/i2c_master.h"
#include "driver/spi_master.h"
#include "esp_err.h"
#include <stdbool.h>
#include <stdint.h>

Include dependency graph for ICM42670_esp_idf.h:

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Go to the source code of this file.

Data Structures
struct	ICM42670_ESP_I2CBus
	ESP-IDF I2C bus state used by the portable driver callbacks. More...

struct	ICM42670_ESP_SPIBus
	ESP-IDF SPI bus state used by the portable driver callbacks. More...

Macros
#define	ICM42670_ESP_DEFAULT_I2C_SPEED_HZ 400000U

#define	ICM42670_ESP_DEFAULT_SPI_SPEED_HZ 1000000

Functions
esp_err_t	ICM42670_ESP_I2C_Init (ICM42670_Config config, ICM42670_ESP_I2CBus bus, int i2c_port, gpio_num_t sda_pin, gpio_num_t scl_pin, uint8_t device_addr, uint32_t scl_speed_hz)
	Create an ESP-IDF I2C bus/device and populate ICM42670_Config.

esp_err_t	ICM42670_ESP_I2C_AttachDevice (ICM42670_Config config, ICM42670_ESP_I2CBus bus, i2c_master_bus_handle_t bus_handle, i2c_master_dev_handle_t dev_handle)
	Attach an existing ESP-IDF I2C device to ICM42670_Config.

esp_err_t	ICM42670_ESP_I2C_Deinit (ICM42670_ESP_I2CBus *bus)
	Release ESP-IDF I2C resources owned by this adapter.

esp_err_t	ICM42670_ESP_I2C_Probe (ICM42670_ESP_I2CBus *bus, uint8_t device_addr)
	Probe an I2C address on the adapter's bus.

int8_t	ICM42670_ESP_I2C_ReadReg (void handle, uint8_t reg_addr, uint8_t data, uint16_t len)
	ESP-IDF I2C register-read callback for ICM42670_Config.

int8_t	ICM42670_ESP_I2C_WriteReg (void handle, uint8_t reg_addr, const uint8_t data, uint16_t len)
	ESP-IDF I2C register-write callback for ICM42670_Config.

esp_err_t	ICM42670_ESP_SPI_Init (ICM42670_Config config, ICM42670_ESP_SPIBus bus, spi_host_device_t host_id, gpio_num_t miso_pin, gpio_num_t mosi_pin, gpio_num_t sclk_pin, gpio_num_t cs_pin, int clock_speed_hz)
	Create an ESP-IDF SPI bus/device and populate ICM42670_Config.

esp_err_t	ICM42670_ESP_SPI_AttachDevice (ICM42670_Config config, ICM42670_ESP_SPIBus bus, spi_host_device_t host_id, spi_device_handle_t dev_handle)
	Attach an existing ESP-IDF SPI device to ICM42670_Config.

esp_err_t	ICM42670_ESP_SPI_Deinit (ICM42670_ESP_SPIBus *bus)
	Release ESP-IDF SPI resources owned by this adapter.

int8_t	ICM42670_ESP_SPI_ReadReg (void handle, uint8_t reg_addr, uint8_t data, uint16_t len)
	ESP-IDF SPI register-read callback for ICM42670_Config.

int8_t	ICM42670_ESP_SPI_WriteReg (void handle, uint8_t reg_addr, const uint8_t data, uint16_t len)
	ESP-IDF SPI register-write callback for ICM42670_Config.

Detailed Description

ESP-IDF I2C and SPI transport adapters for the ICM-42670-P driver.

Macro Definition Documentation

◆ ICM42670_ESP_DEFAULT_I2C_SPEED_HZ

#define ICM42670_ESP_DEFAULT_I2C_SPEED_HZ 400000U

Default I2C bus speed.

◆ ICM42670_ESP_DEFAULT_SPI_SPEED_HZ

#define ICM42670_ESP_DEFAULT_SPI_SPEED_HZ 1000000

Default SPI clock speed.

Function Documentation

◆ ICM42670_ESP_I2C_AttachDevice()

esp_err_t ICM42670_ESP_I2C_AttachDevice	(	ICM42670_Config *	config,
		ICM42670_ESP_I2CBus *	bus,
		i2c_master_bus_handle_t	bus_handle,
		i2c_master_dev_handle_t	dev_handle
	)

Attach an existing ESP-IDF I2C device to ICM42670_Config.

The adapter does not own attached handles and will not remove them during deinit.

Parameters

config	Driver configuration to populate.
bus	I2C bus state owned by the caller.
bus_handle	Existing ESP-IDF I2C master bus handle.
dev_handle	Existing ESP-IDF I2C device handle.

Returns: ESP_OK on success, otherwise ESP_ERR_INVALID_ARG.

References ICM42670_ESP_I2CBus::bus_handle, ICM42670_ESP_I2CBus::dev_handle, ICM42670_ESP_I2C_ReadReg(), ICM42670_ESP_I2C_WriteReg(), and ICM42670_ESP_I2CBus::timeout_ms.

◆ ICM42670_ESP_I2C_Deinit()

esp_err_t ICM42670_ESP_I2C_Deinit ( ICM42670_ESP_I2CBus * bus )

Release ESP-IDF I2C resources owned by this adapter.

Parameters

bus	I2C bus state.

Returns: ESP_OK on success, otherwise an ESP-IDF error code.

References ICM42670_ESP_I2CBus::bus_handle, ICM42670_ESP_I2CBus::dev_handle, ICM42670_ESP_I2CBus::owns_bus, and ICM42670_ESP_I2CBus::owns_device.

Referenced by ICM42670_ESP_I2C_Init().

◆ ICM42670_ESP_I2C_Init()

esp_err_t ICM42670_ESP_I2C_Init	(	ICM42670_Config *	config,
		ICM42670_ESP_I2CBus *	bus,
		int	i2c_port,
		gpio_num_t	sda_pin,
		gpio_num_t	scl_pin,
		uint8_t	device_addr,
		uint32_t	scl_speed_hz
	)

Create an ESP-IDF I2C bus/device and populate ICM42670_Config.

The adapter owns the created bus and device until ICM42670_ESP_I2C_Deinit() is called.

Parameters

config	Driver configuration to populate.
bus	I2C bus state owned by the caller.
i2c_port	ESP-IDF I2C port number.
sda_pin	SDA GPIO.
scl_pin	SCL GPIO.
device_addr	7-bit I2C device address.
scl_speed_hz	I2C clock speed, or 0 for the default.

Returns: ESP_OK on success, otherwise an ESP-IDF error code.

References ICM42670_ESP_I2CBus::bus_handle, ICM42670_ESP_I2CBus::dev_handle, ICM42670_ESP_DEFAULT_I2C_SPEED_HZ, ICM42670_ESP_I2C_Deinit(), ICM42670_ESP_I2C_ReadReg(), ICM42670_ESP_I2C_WriteReg(), ICM42670_ESP_I2CBus::owns_bus, ICM42670_ESP_I2CBus::owns_device, and ICM42670_ESP_I2CBus::timeout_ms.

◆ ICM42670_ESP_I2C_Probe()

esp_err_t ICM42670_ESP_I2C_Probe	(	ICM42670_ESP_I2CBus *	bus,
		uint8_t	device_addr
	)

Probe an I2C address on the adapter's bus.

Parameters

bus	I2C bus state with a valid bus handle.
device_addr	7-bit I2C address to probe.

Returns: ESP_OK on success, otherwise an ESP-IDF error code.

References ICM42670_ESP_I2CBus::bus_handle, and ICM42670_ESP_I2CBus::timeout_ms.

◆ ICM42670_ESP_I2C_ReadReg()

int8_t ICM42670_ESP_I2C_ReadReg	(	void *	handle,
		uint8_t	reg_addr,
		uint8_t *	data,
		uint16_t	len
	)

ESP-IDF I2C register-read callback for ICM42670_Config.

Parameters

handle	Pointer to ICM42670_ESP_I2CBus.
reg_addr	Register address to read from.
data	Destination buffer.
len	Number of bytes to read.

Returns: ICM42670_OK on success, otherwise ICM42670_ERROR.

References ICM42670_ESP_I2CBus::bus_handle, ICM42670_ESP_I2CBus::dev_handle, ICM42670_ERROR, ICM42670_OK, and ICM42670_ESP_I2CBus::timeout_ms.

Referenced by ICM42670_ESP_I2C_AttachDevice(), and ICM42670_ESP_I2C_Init().

◆ ICM42670_ESP_I2C_WriteReg()

int8_t ICM42670_ESP_I2C_WriteReg	(	void *	handle,
		uint8_t	reg_addr,
		const uint8_t *	data,
		uint16_t	len
	)

ESP-IDF I2C register-write callback for ICM42670_Config.

Parameters

handle	Pointer to ICM42670_ESP_I2CBus.
reg_addr	Register address to write to.
data	Source buffer.
len	Number of bytes to write.

Returns: ICM42670_OK on success, otherwise ICM42670_ERROR.

References ICM42670_ESP_I2CBus::bus_handle, ICM42670_ESP_I2CBus::dev_handle, ICM42670_ERROR, ICM42670_OK, and ICM42670_ESP_I2CBus::timeout_ms.

Referenced by ICM42670_ESP_I2C_AttachDevice(), and ICM42670_ESP_I2C_Init().

◆ ICM42670_ESP_SPI_AttachDevice()

esp_err_t ICM42670_ESP_SPI_AttachDevice	(	ICM42670_Config *	config,
		ICM42670_ESP_SPIBus *	bus,
		spi_host_device_t	host_id,
		spi_device_handle_t	dev_handle
	)

Attach an existing ESP-IDF SPI device to ICM42670_Config.

The adapter does not own attached handles and will not remove them during deinit.

Parameters

config	Driver configuration to populate.
bus	SPI bus state owned by the caller.
host_id	ESP-IDF SPI host used by dev_handle.
dev_handle	Existing ESP-IDF SPI device handle.

Returns: ESP_OK on success, otherwise ESP_ERR_INVALID_ARG.

References ICM42670_ESP_SPIBus::dev_handle, ICM42670_ESP_SPIBus::host_id, ICM42670_ESP_SPI_ReadReg(), ICM42670_ESP_SPI_WriteReg(), and ICM42670_ESP_SPIBus::timeout_ms.

◆ ICM42670_ESP_SPI_Deinit()

esp_err_t ICM42670_ESP_SPI_Deinit ( ICM42670_ESP_SPIBus * bus )

Release ESP-IDF SPI resources owned by this adapter.

Parameters

bus	SPI bus state.

Returns: ESP_OK on success, otherwise an ESP-IDF error code.

References ICM42670_ESP_SPIBus::dev_handle, ICM42670_ESP_SPIBus::host_id, ICM42670_ESP_SPIBus::owns_bus, and ICM42670_ESP_SPIBus::owns_device.

Referenced by ICM42670_ESP_SPI_Init().

◆ ICM42670_ESP_SPI_Init()

esp_err_t ICM42670_ESP_SPI_Init	(	ICM42670_Config *	config,
		ICM42670_ESP_SPIBus *	bus,
		spi_host_device_t	host_id,
		gpio_num_t	miso_pin,
		gpio_num_t	mosi_pin,
		gpio_num_t	sclk_pin,
		gpio_num_t	cs_pin,
		int	clock_speed_hz
	)

Create an ESP-IDF SPI bus/device and populate ICM42670_Config.

The adapter owns the created bus and device until ICM42670_ESP_SPI_Deinit() is called.

Parameters

config	Driver configuration to populate.
bus	SPI bus state owned by the caller.
host_id	ESP-IDF SPI host.
miso_pin	MISO GPIO.
mosi_pin	MOSI GPIO.
sclk_pin	SCLK GPIO.
cs_pin	Chip-select GPIO.
clock_speed_hz	SPI clock speed, or 0 for the default.

Returns: ESP_OK on success, otherwise an ESP-IDF error code.

References ICM42670_ESP_SPIBus::dev_handle, ICM42670_ESP_SPIBus::host_id, ICM42670_ESP_DEFAULT_SPI_SPEED_HZ, ICM42670_ESP_SPI_Deinit(), ICM42670_ESP_SPI_ReadReg(), ICM42670_ESP_SPI_WriteReg(), ICM42670_ESP_SPIBus::owns_bus, ICM42670_ESP_SPIBus::owns_device, and ICM42670_ESP_SPIBus::timeout_ms.

◆ ICM42670_ESP_SPI_ReadReg()

int8_t ICM42670_ESP_SPI_ReadReg	(	void *	handle,
		uint8_t	reg_addr,
		uint8_t *	data,
		uint16_t	len
	)

ESP-IDF SPI register-read callback for ICM42670_Config.

Parameters

handle	Pointer to ICM42670_ESP_SPIBus.
reg_addr	Register address to read from.
data	Destination buffer.
len	Number of bytes to read.

Returns: ICM42670_OK on success, otherwise ICM42670_ERROR.

References ICM42670_ESP_SPIBus::dev_handle, ICM42670_ERROR, and ICM42670_OK.

Referenced by ICM42670_ESP_SPI_AttachDevice(), and ICM42670_ESP_SPI_Init().

◆ ICM42670_ESP_SPI_WriteReg()

int8_t ICM42670_ESP_SPI_WriteReg	(	void *	handle,
		uint8_t	reg_addr,
		const uint8_t *	data,
		uint16_t	len
	)

ESP-IDF SPI register-write callback for ICM42670_Config.

Parameters

handle	Pointer to ICM42670_ESP_SPIBus.
reg_addr	Register address to write to.
data	Source buffer.
len	Number of bytes to write.

Returns: ICM42670_OK on success, otherwise ICM42670_ERROR.

References ICM42670_ESP_SPIBus::dev_handle, ICM42670_ERROR, and ICM42670_OK.

Referenced by ICM42670_ESP_SPI_AttachDevice(), and ICM42670_ESP_SPI_Init().

Data Structures

Macros

Functions

Detailed Description

Macro Definition Documentation

◆ ICM42670_ESP_DEFAULT_I2C_SPEED_HZ

◆ ICM42670_ESP_DEFAULT_SPI_SPEED_HZ

Function Documentation

◆ ICM42670_ESP_I2C_AttachDevice()

◆ ICM42670_ESP_I2C_Deinit()

◆ ICM42670_ESP_I2C_Init()

◆ ICM42670_ESP_I2C_Probe()

◆ ICM42670_ESP_I2C_ReadReg()

◆ ICM42670_ESP_I2C_WriteReg()

◆ ICM42670_ESP_SPI_AttachDevice()

◆ ICM42670_ESP_SPI_Deinit()

◆ ICM42670_ESP_SPI_Init()

◆ ICM42670_ESP_SPI_ReadReg()

◆ ICM42670_ESP_SPI_WriteReg()