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vidmavidma
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Add IMU_USE_SPI_ICM45686 (#37)
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‎src/madflight/imu/ICM4xxxx/ICM45686/ICM45686.cpp‎

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‎src/madflight/imu/ICM4xxxx/ICM45686/ICM45686.h‎

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/*
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*
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* Copyright (c) [2020] by InvenSense, Inc.
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*
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* Permission to use, copy, modify, and/or distribute this software for any
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* purpose with or without fee is hereby granted.
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*
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* THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
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* WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
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* MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY
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* SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
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* WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION
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* OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN
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* CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
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*
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*/
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#ifndef ICM456xx_H
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#define ICM456xx_H
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#include "Arduino.h"
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#include "SPI.h"
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#include "Wire.h"
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#define ICM45686
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extern "C" {
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#include "./imu/inv_imu_driver_advanced.h"
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#include "./imu/inv_imu_edmp.h"
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#if defined(ICM45686S) || defined(ICM45605S)
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#include "./imu/inv_imu_edmp_gaf.h"
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#endif
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}
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enum {
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ICM456XX_APEX_TILT=0,
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ICM456XX_APEX_PEDOMETER,
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ICM456XX_APEX_TAP,
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ICM456XX_APEX_R2W,
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ICM456XX_APEX_NB,
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};
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// This defines the handler called when retrieving a sample from the FIFO
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//typedef void (*ICM456xx_sensor_event_cb)(inv_imu_sensor_data_t *event);
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// This defines the handler called when receiving an irq
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typedef void (*ICM456xx_irq_handler)(void);
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class ICM456xx {
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public:
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ICM456xx(TwoWire &i2c,bool address_lsb, uint32_t freq);
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ICM456xx(TwoWire &i2c,bool address_lsb);
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ICM456xx(SPIClass &spi,uint8_t chip_select_id, uint32_t freq);
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ICM456xx(SPIClass &spi,uint8_t chip_select_id);
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int begin();
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int startAccel(uint16_t odr, uint16_t fsr);
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int startGyro(uint16_t odr, uint16_t fsr);
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int getDataFromRegisters(inv_imu_sensor_data_t& data);
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int enableFifoInterrupt(uint8_t intpin, ICM456xx_irq_handler handler, uint8_t fifo_watermark);
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int getDataFromFifo(inv_imu_fifo_data_t& data);
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#if defined(ICM45686S) || defined(ICM45605S)
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int startGaf(uint8_t intpin, ICM456xx_irq_handler handler);
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int getGafData(inv_imu_edmp_gaf_outputs_t& gaf_outputs);
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int getGafData(float& quatW,float& quatX,float& quatY,float& quatZ);
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#endif
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int stopAccel(void);
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int stopGyro(void);
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int startTiltDetection(uint8_t intpin=2, ICM456xx_irq_handler handler=NULL);
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int startPedometer(uint8_t intpin=2, ICM456xx_irq_handler handler=NULL);
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int getPedometer(uint32_t& step_count, float& step_cadence, char*& activity);
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int startWakeOnMotion(uint8_t intpin, ICM456xx_irq_handler handler);
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int startTap(uint8_t intpin=2, ICM456xx_irq_handler handler=NULL);
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bool getTilt(void);
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int getTap(uint8_t& tap_count, uint8_t& axis, uint8_t& direction);
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int startRaiseToWake(uint8_t intpin=2, ICM456xx_irq_handler handler=NULL);
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int getRaiseToWake(void);
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int updateApex(void);
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int setApexInterrupt(uint8_t intpin, ICM456xx_irq_handler handler);
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inv_imu_edmp_int_state_t apex_status;
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protected:
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inv_imu_device_t icm_driver;
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accel_config0_accel_odr_t accel_freq_to_param(uint16_t accel_freq_hz);
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gyro_config0_gyro_odr_t gyro_freq_to_param(uint16_t gyro_freq_hz);
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accel_config0_accel_ui_fs_sel_t accel_fsr_g_to_param(uint16_t accel_fsr_g);
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gyro_config0_gyro_ui_fs_sel_t gyro_fsr_dps_to_param(uint16_t gyro_fsr_dps);
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int setup_irq(uint8_t intpin, ICM456xx_irq_handler handler);
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int startAPEX(dmp_ext_sen_odr_cfg_apex_odr_t edmp_odr, accel_config0_accel_odr_t accel_odr);
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uint32_t step_cnt_ovflw;
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bool apex_enable[ICM456XX_APEX_NB];
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dmp_ext_sen_odr_cfg_apex_odr_t apex_edmp_odr;
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accel_config0_accel_odr_t apex_accel_odr;
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};
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#endif // ICM456xx_H

‎src/madflight/imu/ICM4xxxx/ICM45686/LICENSE‎

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BSD 3-Clause License
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Copyright (c) 2023, InvenSense, Inc.
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions are met:
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1. Redistributions of source code must retain the above copyright notice, this
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list of conditions and the following disclaimer.
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2. Redistributions in binary form must reproduce the above copyright notice,
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this list of conditions and the following disclaimer in the documentation
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and/or other materials provided with the distribution.
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3. Neither the name of the copyright holder nor the names of its
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contributors may be used to endorse or promote products derived from
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this software without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
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FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
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DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
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SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
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OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

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