Merge pull request #413 from espressif/fix/icm42670_bugs

Fix/icm42670 bugs

Author: tore-espressif

bsp/m5stack_core_s3/CMakeLists.txt

@@ -2,6 +2,6 @@ idf_component_register(
     SRCS "m5stack_core_s3.c" "m5stack_core_s3_idf5.c"
     INCLUDE_DIRS "include"
     PRIV_INCLUDE_DIRS "priv_include"
-    REQUIRES esp_driver_i2c esp_driver_i2s esp_driver_gpio esp_driver_sdmmc spiffs
-    PRIV_REQUIRES fatfs esp_lcd esp_driver_spi
+    REQUIRES esp_driver_i2s esp_driver_gpio esp_driver_sdmmc spiffs
+    PRIV_REQUIRES fatfs esp_lcd esp_driver_spi esp_driver_i2c
 )

bsp/m5stack_core_s3/include/bsp/m5stack_core_s3.h

@@ -13,7 +13,6 @@
 
 #include "sdkconfig.h"
 #include "driver/gpio.h"
-#include "driver/i2c_master.h"
 #include "driver/i2s_std.h"
 #include "driver/sdmmc_host.h"
 #include "soc/usb_pins.h"

bsp/m5stack_core_s3/m5stack_core_s3.c

@@ -5,7 +5,9 @@
  */
 
 #include "driver/gpio.h"
+#include "driver/i2c_master.h"
 #include "driver/spi_master.h"
+#include "driver/sdspi_host.h"
 #include "esp_err.h"
 #include "esp_log.h"
 #include "esp_check.h"
@@ -14,7 +16,6 @@
 #include "esp_lcd_panel_vendor.h"
 #include "esp_lcd_panel_ops.h"
 #include "esp_vfs_fat.h"
-#include "driver/sdspi_host.h"
 
 #include "bsp/m5stack_core_s3.h"
 #include "bsp/display.h"
@@ -49,7 +50,7 @@ sdmmc_card_t *bsp_sdcard = NULL;    // Global SD card handler
  * @brief I2C handle for BSP usage
  *
  * You can call i2c_master_get_bus_handle(BSP_I2C_NUM, i2c_master_bus_handle_t *ret_handle)
- * from #include "esp_private/i2c_platforma.h"
+ * from #include "esp_private/i2c_platform.h"
  */
 static i2c_master_bus_handle_t i2c_handle = NULL;
 static bool i2c_initialized = false;
@@ -68,21 +69,21 @@ esp_err_t bsp_i2c_init(void)
         .i2c_port = BSP_I2C_NUM,
         .sda_io_num = BSP_I2C_SDA,
         .scl_io_num = BSP_I2C_SCL,
-        .clk_source = 1,
+        .clk_source = I2C_CLK_SRC_DEFAULT,
     };
     BSP_ERROR_CHECK_RETURN_ERR(i2c_new_master_bus(&i2c_config, &i2c_handle));
 
     // AXP2101 and AW9523 are managed by this BSP
     const i2c_device_config_t axp2101_config = {
         .dev_addr_length = I2C_ADDR_BIT_LEN_7,
         .device_address = BSP_AXP2101_ADDR,
-        .scl_speed_hz = 400000,
+        .scl_speed_hz = CONFIG_BSP_I2C_CLK_SPEED_HZ,
     };
     BSP_ERROR_CHECK_RETURN_ERR(i2c_master_bus_add_device(i2c_handle, &axp2101_config, &axp2101_h));
     const i2c_device_config_t aw9523_config = {
         .dev_addr_length = I2C_ADDR_BIT_LEN_7,
         .device_address = BSP_AW9523_ADDR,
-        .scl_speed_hz = 400000,
+        .scl_speed_hz = CONFIG_BSP_I2C_CLK_SPEED_HZ,
     };
     BSP_ERROR_CHECK_RETURN_ERR(i2c_master_bus_add_device(i2c_handle, &aw9523_config, &aw9523_h));
 
@@ -435,7 +436,7 @@ esp_err_t bsp_touch_new(const bsp_touch_config_t *config, esp_lcd_touch_handle_t
     };
     esp_lcd_panel_io_handle_t tp_io_handle = NULL;
     esp_lcd_panel_io_i2c_config_t tp_io_config = ESP_LCD_TOUCH_IO_I2C_FT5x06_CONFIG();
-    tp_io_config.scl_speed_hz = 400000; // This parameter was introduce together with I2C Driver-NG in IDF v5.2
+    tp_io_config.scl_speed_hz = CONFIG_BSP_I2C_CLK_SPEED_HZ; // This parameter was introduced together with I2C Driver-NG in IDF v5.2
     ESP_RETURN_ON_ERROR(esp_lcd_new_panel_io_i2c(i2c_handle, &tp_io_config, &tp_io_handle), TAG, "");
     return esp_lcd_touch_new_i2c_ft5x06(tp_io_handle, &tp_cfg, ret_touch);
 }

components/icm42670/README.md

@@ -1,6 +1,7 @@
 # ICM42607/ICM42670 6-Axis MotionTracking (Accelerometer and Gyroscope)
 
 [![Component Registry](https://components.espressif.com/components/espressif/icm42670/badge.svg)](https://components.espressif.com/components/espressif/icm42670)
+![maintenance-status](https://img.shields.io/badge/maintenance-passively--maintained-yellowgreen.svg)
 
 C driver for Invensense ICM42607/ICM42670 6-axis gyroscope and accelerometer based on I2C communication.
 
@@ -27,6 +28,4 @@ This driver, along with many other components from this repository, can be used
 Another option is to manually create a `idf_component.yml` file. You can find more about using .yml files for components from [Espressif's documentation](https://docs.espressif.com/projects/esp-idf/en/latest/esp32/api-guides/tools/idf-component-manager.html).
 
 ## See Also
-* [MPU6050 datasheet](https://invensense.tdk.com/products/motion-tracking/6-axis/icm-42670-p/)
-
-
+* [ICM42670 datasheet](https://invensense.tdk.com/products/motion-tracking/6-axis/icm-42670-p/)

components/icm42670/icm42670.c

@@ -186,7 +186,7 @@ esp_err_t icm42670_get_acce_sensitivity(icm42670_handle_t sensor, float *sensiti
 
     ret = icm42670_read(sensor, ICM42670_ACCEL_CONFIG0, &acce_fs, 1);
     if (ret == ESP_OK) {
-        acce_fs = (acce_fs >> 3) & 0x03;
+        acce_fs = (acce_fs >> 5) & 0x03;
         switch (acce_fs) {
         case ACCE_FS_16G:
             *sensitivity = ACCE_FS_16G_SENSITIVITY;
@@ -215,9 +215,9 @@ esp_err_t icm42670_get_gyro_sensitivity(icm42670_handle_t sensor, float *sensiti
 
     *sensitivity = 0;
 
-    ret = icm42670_read(sensor, ICM42670_ACCEL_CONFIG0, &gyro_fs, 1);
+    ret = icm42670_read(sensor, ICM42670_GYRO_CONFIG0, &gyro_fs, 1);
     if (ret == ESP_OK) {
-        gyro_fs = (gyro_fs >> 3) & 0x03;
+        gyro_fs = (gyro_fs >> 5) & 0x03;
         switch (gyro_fs) {
         case GYRO_FS_2000DPS:
             *sensitivity = GYRO_FS_2000_SENSITIVITY;
@@ -326,7 +326,7 @@ esp_err_t icm42670_get_temp_value(icm42670_handle_t sensor, float *value)
     ret = icm42670_get_temp_raw_value(sensor, &raw_value);
     ESP_RETURN_ON_ERROR(ret, TAG, "Get raw value error!");
 
-    *value = (raw_value / 128) + 25;
+    *value = ((float)raw_value / 128.0) + 25.0;
 
     return ESP_OK;
 }

components/icm42670/idf_component.yml

@@ -1,4 +1,4 @@
-version: "2.0.0"
+version: "2.0.1"
 description: I2C driver for ICM 42670 6-Axis MotionTracking
 url: https://github.com/espressif/esp-bsp/tree/master/components/icm42670
 dependencies:

components/icm42670/test_apps/main/test_app_icm42670.c

@@ -91,7 +91,7 @@ TEST_CASE("Sensor icm42670 test", "[icm42670]")
     vTaskDelay(10); // Give FreeRTOS some time to free its resources
 }
 
-#define TEST_MEMORY_LEAK_THRESHOLD  (400)
+#define TEST_MEMORY_LEAK_THRESHOLD  (500)
 
 void setUp(void)
 {

components/icm42670/test_apps/sdkconfig.defaults

@@ -1,12 +1,10 @@
+# This file was generated using idf.py save-defconfig. It can be edited manually.
+# Espressif IoT Development Framework (ESP-IDF) 5.4.0 Project Minimal Configuration
+#
 CONFIG_IDF_TARGET="esp32s3"
-CONFIG_ESPTOOLPY_FLASHFREQ_80M=y
 CONFIG_COMPILER_OPTIMIZATION_PERF=y
-CONFIG_SPIRAM=y
-CONFIG_SPIRAM_MODE_OCT=y
-CONFIG_SPIRAM_FETCH_INSTRUCTIONS=y
-CONFIG_SPIRAM_RODATA=y
-CONFIG_SPIRAM_SPEED_80M=y
 CONFIG_ESP_DEFAULT_CPU_FREQ_MHZ_240=y
+CONFIG_ESP_CONSOLE_USB_SERIAL_JTAG=y
 CONFIG_ESP_TASK_WDT_EN=n
 CONFIG_FREERTOS_HZ=1000
 CONFIG_FREERTOS_TIMER_TASK_STACK_DEPTH=4096