Add IMU_USE_SPI_ICM45686

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

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

src/madflight/imu/ICM4xxxx/ICM45686/LICENSE

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