Platform-agnostic C driver for the TDK InvenSense ICM-42670-P IMU, with a small callback-based core and optional platform adapters for ESP-IDF and STM32 HAL projects.

Start Here

Quick setup: use the main Quick Start page.
Core API reference: ICM42670_driver.h.
Optional features: ICM42670_apex.h, ICM42670_fifo.h, and ICM42670_fsync.h.
Platform adapters: ports/esp_idf and ports/stm32_hal.
Repository details: README on GitHub.

Main Files

File	Purpose
`ICM42670_Driver/ICM42670_driver.h`	Core config, init, power, accel, gyro, temperature, and calibration API
`ICM42670_Driver/ICM42670_apex.h`	Optional APEX motion features such as pedometer, tilt, WOM, and freefall
`ICM42670_Driver/ICM42670_fifo.h`	FIFO setup, packet parsing, flushing, watermark, and interrupt routing
`ICM42670_Driver/ICM42670_fsync.h`	Optional FSYNC timestamp capture and event readout
`ICM42670_Driver/ports/esp_idf/ICM42670_esp_idf.h`	ESP-IDF I2C/SPI adapter helpers
`ICM42670_Driver/ports/stm32_hal/ICM42670_stm32_hal.h`	STM32 HAL I2C/SPI/I3C adapter helpers

Driver Shape

The portable core does not include STM32 HAL or ESP-IDF headers. Applications fill an ICM42670_Config with read_reg, write_reg, delay_ms, and a user handle. Platform adapters only populate those callbacks and keep their platform state outside the core driver.

Optional Modules

The optional feature files are intentionally separate from the core API:

APEX for on-chip motion classification and event detection.
FIFO for buffered accel/gyro packets and interrupt routing.
FSYNC for external sync timestamps and event status.

This keeps the basic bring-up path small while still exposing higher-level IMU features when an application needs them.