ICM42670: I2C Driver-NG

.build-test-rules.yml

@@ -15,10 +15,8 @@ test_apps/noglib:
 test_apps/components:
   depends_filepatterns:
     - "components/bh1750/**"
-    - "components/ds18b20/**"
     - "components/fbm320/**"
     - "components/hts221/**"
-    - "components/icm42670/**"
     - "components/io_expander/**"
     - "components/lcd/ra8875/**"
     - "components/lcd/sh1107/**"
@@ -68,6 +66,19 @@ components/lcd/esp_lcd_st7796:
     - "components/lcd/esp_lcd_st7796/**"
 
 components/ds18b20:
+  depends_filepatterns:
+    - "components/ds18b20/**"
   disable:
     - if: SOC_RMT_SUPPORTED != 1
       reason: Onewire component depends on RMT peripheral
+
+components/icm42670:
+  depends_filepatterns:
+    - "components/icm42670/**"
+  disable:
+    - if: (IDF_VERSION_MAJOR == 5 and IDF_VERSION_MINOR < 2) or IDF_VERSION_MAJOR < 5
+      reason: Requires I2C Driver-NG which was introduced in v5.2
+
+components/qma6100p:
+  depends_filepatterns:
+    - "components/qma6100p/**"

components/icm42670/icm42670.c

@@ -1,18 +1,20 @@
 /*
- * SPDX-FileCopyrightText: 2023 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2023-2024 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
 
+#include <string.h>
 #include <stdio.h>
 #include <math.h>
 #include <time.h>
 #include <sys/time.h>
 #include "esp_system.h"
 #include "esp_check.h"
-#include "driver/i2c.h"
 #include "icm42670.h"
 
+#define I2C_CLK_SPEED 400000
+
 #define ALPHA                       0.99f        /*!< Weight of gyroscope */
 #define RAD_TO_DEG                  57.27272727f /*!< Radians to degrees */
 
@@ -46,8 +48,7 @@
 *******************************************************************************/
 
 typedef struct {
-    i2c_port_t bus;
-    uint8_t dev_addr;
+    i2c_master_dev_handle_t i2c_handle;
     uint32_t counter;
     float dt;  /*!< delay time between two measurements, dt should be small (ms level) */
     struct timeval *timer;
@@ -70,31 +71,46 @@ static const char *TAG = "ICM42670";
 * Public API functions
 *******************************************************************************/
 
-icm42670_handle_t icm42670_create(i2c_port_t port, const uint8_t dev_addr)
+esp_err_t icm42670_create(i2c_master_bus_handle_t i2c_bus, const uint8_t dev_addr, icm42670_handle_t *handle_ret)
 {
-    icm42670_dev_t *sensor = (icm42670_dev_t *) heap_caps_calloc(1, sizeof(icm42670_dev_t), MALLOC_CAP_DEFAULT);
-    sensor->bus = port;
-    sensor->dev_addr = dev_addr;
-    sensor->counter = 0;
-    sensor->dt = 0;
-    sensor->timer = (struct timeval *) calloc(1, sizeof(struct timeval));
-
+    esp_err_t ret = ESP_OK;
+
+    // Allocate memory and init the driver object
+    icm42670_dev_t *sensor = (icm42670_dev_t *) calloc(1, sizeof(icm42670_dev_t));
+    struct timeval *timer = (struct timeval *) calloc(1, sizeof(struct timeval));
+    ESP_RETURN_ON_FALSE(sensor != NULL && timer != NULL, ESP_ERR_NO_MEM, TAG, "Not enough memory");
+    sensor->timer = timer;
+
+    // Add new I2C device
+    const i2c_device_config_t i2c_dev_cfg = {
+        .device_address = dev_addr,
+        .scl_speed_hz = I2C_CLK_SPEED,
+    };
+    ESP_GOTO_ON_ERROR(i2c_master_bus_add_device(i2c_bus, &i2c_dev_cfg, &sensor->i2c_handle), err, TAG, "Failed to add new I2C device");
+    assert(sensor->i2c_handle);
+
+    // Check device presence
     uint8_t dev_id = 0;
     icm42670_get_deviceid(sensor, &dev_id);
-    if (dev_id != ICM42607_ID && dev_id != ICM42670_ID) {
-        ESP_LOGE(TAG, "Incorrect Device ID (0x%02x).", dev_id);
-        return NULL;
-    }
+    ESP_GOTO_ON_FALSE(dev_id == ICM42607_ID || dev_id == ICM42670_ID, ESP_ERR_NOT_FOUND, err, TAG, "Incorrect Device ID (0x%02x).", dev_id);
 
-    ESP_LOGI(TAG, "Found device %s, ID: 0x%02x", (dev_id == ICM42607_ID ? "ICM42607" : "ICM42670"), dev_id);
+    ESP_LOGD(TAG, "Found device %s, ID: 0x%02x", (dev_id == ICM42607_ID ? "ICM42607" : "ICM42670"), dev_id);
+    *handle_ret = sensor;
+    return ret;
 
-    return (icm42670_handle_t) sensor;
+err:
+    icm42670_delete(sensor);
+    return ret;
 }
 
 void icm42670_delete(icm42670_handle_t sensor)
 {
     icm42670_dev_t *sens = (icm42670_dev_t *) sensor;
 
+    if (sens->i2c_handle) {
+        i2c_master_bus_rm_device(sens->i2c_handle);
+    }
+
     if (sens->timer) {
         free(sens->timer);
     }
@@ -343,36 +359,22 @@ static esp_err_t icm42670_get_raw_value(icm42670_handle_t sensor, uint8_t reg, i
 static esp_err_t icm42670_write(icm42670_handle_t sensor, const uint8_t reg_start_addr, const uint8_t *data_buf, const uint8_t data_len)
 {
     icm42670_dev_t *sens = (icm42670_dev_t *) sensor;
-    esp_err_t  ret;
-
     assert(sens);
 
-    i2c_cmd_handle_t cmd = i2c_cmd_link_create();
-    ret = i2c_master_start(cmd);
-    assert(ESP_OK == ret);
-    ret = i2c_master_write_byte(cmd, (sens->dev_addr << 1) | I2C_MASTER_WRITE, true);
-    assert(ESP_OK == ret);
-    ret = i2c_master_write_byte(cmd, reg_start_addr, true);
-    assert(ESP_OK == ret);
-    ret = i2c_master_write(cmd, data_buf, data_len, true);
-    assert(ESP_OK == ret);
-    ret = i2c_master_stop(cmd);
-    assert(ESP_OK == ret);
-    ret = i2c_master_cmd_begin(sens->bus, cmd, 1000 / portTICK_PERIOD_MS);
-    i2c_cmd_link_delete(cmd);
-
-    return ret;
+    assert(data_len < 5);
+    uint8_t write_buff[5] = {reg_start_addr};
+    memcpy(&write_buff[1], data_buf, data_len);
+    return i2c_master_transmit(sens->i2c_handle, write_buff, data_len + 1, -1);
 }
 
 static esp_err_t icm42670_read(icm42670_handle_t sensor, const uint8_t reg_start_addr, uint8_t *data_buf, const uint8_t data_len)
 {
-    icm42670_dev_t *sens = (icm42670_dev_t *) sensor;
     uint8_t reg_buff[] = {reg_start_addr};
-
+    icm42670_dev_t *sens = (icm42670_dev_t *) sensor;
     assert(sens);
 
     /* Write register number and read data */
-    return i2c_master_write_read_device(sens->bus, sens->dev_addr, reg_buff, sizeof(reg_buff), data_buf, data_len, 1000 / portTICK_PERIOD_MS);
+    return i2c_master_transmit_receive(sens->i2c_handle, reg_buff, sizeof(reg_buff), data_buf, data_len, -1);
 }
 
 esp_err_t icm42670_complimentory_filter(icm42670_handle_t sensor, const icm42670_value_t *const acce_value,

components/icm42670/idf_component.yml

@@ -1,5 +1,5 @@
-version: "1.0.0"
+version: "2.0.0"
 description: I2C driver for ICM 42670 6-Axis MotionTracking
 url: https://github.com/espressif/esp-bsp/tree/master/components/icm42670
 dependencies:
-  idf: ">=4.4"
+  idf: ">=5.2"

components/icm42670/include/icm42670.h

@@ -1,5 +1,5 @@
 /*
- * SPDX-FileCopyrightText: 2023 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2023-2024 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
@@ -10,7 +10,7 @@
 extern "C" {
 #endif
 
-#include "driver/i2c.h"
+#include "driver/i2c_master.h"
 
 #define ICM42670_I2C_ADDRESS         0x68 /*!< I2C address with AD0 pin low */
 #define ICM42670_I2C_ADDRESS_1       0x69 /*!< I2C address with AD0 pin high */
@@ -94,16 +94,19 @@ typedef struct {
 typedef void *icm42670_handle_t;
 
 /**
- * @brief Create and init sensor object and return a sensor handle
+ * @brief Create and init sensor object
  *
- * @param port I2C port number
- * @param dev_addr I2C device address of sensor
+ * @param[in]  i2c_bus    I2C bus handle. Obtained from i2c_new_master_bus()
+ * @param[in]  dev_addr   I2C device address of sensor. Can be ICM42670_I2C_ADDRESS or ICM42670_I2C_ADDRESS_1
+ * @param[out] handle_ret Handle to created ICM42670 driver object
  *
  * @return
- *     - NULL Fail
- *     - Others Success
+ *     - ESP_OK Success
+ *     - ESP_ERR_NO_MEM Not enough memory for the driver
+ *     - ESP_ERR_NOT_FOUND Sensor not found on the I2C bus
+ *     - Others Error from underlying I2C driver
  */
-icm42670_handle_t icm42670_create(i2c_port_t port, const uint8_t dev_addr);
+esp_err_t icm42670_create(i2c_master_bus_handle_t i2c_bus, const uint8_t dev_addr, icm42670_handle_t *handle_ret);
 
 /**
  * @brief Delete and release a sensor object

components/icm42670/test_apps/CMakeLists.txt

@@ -0,0 +1,7 @@
+# The following lines of boilerplate have to be in your project's CMakeLists
+# in this exact order for cmake to work correctly
+cmake_minimum_required(VERSION 3.5)
+set(EXTRA_COMPONENT_DIRS "$ENV{IDF_PATH}/tools/unit-test-app/components")
+set(COMPONENTS main)
+include($ENV{IDF_PATH}/tools/cmake/project.cmake)
+project(test_app_icm42670)

components/icm42670/test_apps/main/CMakeLists.txt

@@ -0,0 +1,4 @@
+idf_component_register(
+    SRCS "test_app_icm42670.c"
+    REQUIRES unity
+    )

components/icm42670/test_apps/main/idf_component.yml

@@ -0,0 +1,6 @@
+## IDF Component Manager Manifest File
+dependencies:
+  idf: ">=5.2"
+  icm42670:
+    version: "*"
+    override_path: "../../"

components/icm42670/test_apps/main/test_app_icm42670.c

@@ -0,0 +1,110 @@
+/*
+ * SPDX-FileCopyrightText: 2024 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#include <stdio.h>
+#include "unity.h"
+#include "driver/i2c_master.h"
+#include "icm42670.h"
+#include "esp_system.h"
+#include "esp_log.h"
+#include "unity.h"
+#include "unity_test_runner.h"
+#include "unity_test_utils_memory.h"
+
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+
+// Pinout for ESP32-S3-BOX
+#define I2C_MASTER_SCL_IO 18       /*!< gpio number for I2C master clock */
+#define I2C_MASTER_SDA_IO 8       /*!< gpio number for I2C master data  */
+#define I2C_MASTER_NUM I2C_NUM_0  /*!< I2C port number for master dev */
+
+static const char *TAG = "icm42670 test";
+static icm42670_handle_t icm42670 = NULL;
+static i2c_master_bus_handle_t i2c_handle = NULL;
+
+static void i2c_bus_init(void)
+{
+    const i2c_master_bus_config_t bus_config = {
+        .i2c_port = I2C_MASTER_NUM,
+        .sda_io_num = I2C_MASTER_SDA_IO,
+        .scl_io_num = I2C_MASTER_SCL_IO,
+        .clk_source = I2C_CLK_SRC_DEFAULT,
+    };
+
+    esp_err_t ret = i2c_new_master_bus(&bus_config, &i2c_handle);
+    TEST_ASSERT_EQUAL_MESSAGE(ESP_OK, ret, "I2C install returned error");
+}
+
+static void i2c_sensor_icm42670_init(void)
+{
+    esp_err_t ret;
+
+    i2c_bus_init();
+    ret = icm42670_create(i2c_handle, ICM42670_I2C_ADDRESS, &icm42670);
+    TEST_ASSERT_EQUAL(ESP_OK, ret);
+    TEST_ASSERT_NOT_NULL_MESSAGE(icm42670, "icm42670 create returned NULL");
+
+    /* Configuration of the accelerometer and gyroscope */
+    const icm42670_cfg_t imu_cfg = {
+        .acce_fs = ACCE_FS_2G,
+        .acce_odr = ACCE_ODR_400HZ,
+        .gyro_fs = GYRO_FS_2000DPS,
+        .gyro_odr = GYRO_ODR_400HZ,
+    };
+    ret = icm42670_config(icm42670, &imu_cfg);
+    TEST_ASSERT_EQUAL(ESP_OK, ret);
+}
+
+TEST_CASE("Sensor icm42670 test", "[icm42670]")
+{
+    esp_err_t ret;
+    icm42670_value_t acc, gyro;
+    float temperature;
+
+    i2c_sensor_icm42670_init();
+
+    /* Set accelerometer and gyroscope to ON */
+    ret = icm42670_acce_set_pwr(icm42670, ACCE_PWR_LOWNOISE);
+    TEST_ASSERT_EQUAL(ESP_OK, ret);
+    ret = icm42670_gyro_set_pwr(icm42670, GYRO_PWR_LOWNOISE);
+    TEST_ASSERT_EQUAL(ESP_OK, ret);
+
+    for (int i = 0; i < 100; i++) {
+        vTaskDelay(pdMS_TO_TICKS(50));
+        ret = icm42670_get_acce_value(icm42670, &acc);
+        TEST_ASSERT_EQUAL(ESP_OK, ret);
+        ret = icm42670_get_gyro_value(icm42670, &gyro);
+        TEST_ASSERT_EQUAL(ESP_OK, ret);
+        ret = icm42670_get_temp_value(icm42670, &temperature);
+        TEST_ASSERT_EQUAL(ESP_OK, ret);
+        ESP_LOGI(TAG, "acc_x:%.2f, acc_y:%.2f, acc_z:%.2f, gyro_x:%.2f, gyro_y:%.2f, gyro_z:%.2f temp: %.1f",
+                 acc.x, acc.y, acc.z, gyro.x, gyro.y, gyro.z, temperature);
+    }
+
+    icm42670_delete(icm42670);
+    ret = i2c_del_master_bus(i2c_handle);
+    TEST_ASSERT_EQUAL(ESP_OK, ret);
+    vTaskDelay(10); // Give FreeRTOS some time to free its resources
+}
+
+#define TEST_MEMORY_LEAK_THRESHOLD  (400)
+
+void setUp(void)
+{
+    unity_utils_set_leak_level(TEST_MEMORY_LEAK_THRESHOLD);
+    unity_utils_record_free_mem();
+}
+
+void tearDown(void)
+{
+    unity_utils_evaluate_leaks();
+}
+
+void app_main(void)
+{
+    unity_run_menu();
+}

components/icm42670/test_apps/sdkconfig.defaults

@@ -0,0 +1,12 @@
+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_TASK_WDT_EN=n
+CONFIG_FREERTOS_HZ=1000
+CONFIG_FREERTOS_TIMER_TASK_STACK_DEPTH=4096

components/qma6100p/test_apps/CMakeLists.txt

@@ -2,5 +2,6 @@
 # in this exact order for cmake to work correctly
 cmake_minimum_required(VERSION 3.5)
 set(EXTRA_COMPONENT_DIRS "$ENV{IDF_PATH}/tools/unit-test-app/components")
+set(COMPONENTS main)
 include($ENV{IDF_PATH}/tools/cmake/project.cmake)
-project(test_esp_acc_qma6100p)
+project(test_esp_acc_qma6100p)

components/qma6100p/test_apps/main/CMakeLists.txt

@@ -1 +1,4 @@
-idf_component_register(SRCS "test_esp_acc_qma6100p.c")
+idf_component_register(
+    SRCS "test_esp_acc_qma6100p.c"
+    REQUIRES unity
+    )

components/qma6100p/test_apps/main/test_esp_acc_qma6100p.c

@@ -81,9 +81,6 @@ TEST_CASE("Sensor qma6100p test", "[qma6100p][iot][sensor]")
 
 #define TEST_MEMORY_LEAK_THRESHOLD  (300)
 
-static size_t before_free_8bit;
-static size_t before_free_32bit;
-
 void setUp(void)
 {
     unity_utils_set_leak_level(TEST_MEMORY_LEAK_THRESHOLD);

test_apps/components/CMakeLists.txt

@@ -35,6 +35,6 @@ if(NOT "${IDF_TARGET}" STREQUAL "esp32s2" AND NOT "${IDF_TARGET}" STREQUAL "esp3
 endif()
 
 # Set the components to include the tests for.
-set(TEST_COMPONENTS bh1750 mpu6050 mag3110 hts221 fbm320 icm42670 qma6100p CACHE STRING "List of components to test")
+set(TEST_COMPONENTS bh1750 mpu6050 mag3110 hts221 fbm320 CACHE STRING "List of components to test")
 include($ENV{IDF_PATH}/tools/cmake/project.cmake)
 project(esp_bsp_test_app)