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badge pins and inertial sensor added

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This commit is contained in:
Paul Warren 2023-12-01 09:23:37 +11:00
parent 0996c9bca5
commit 8e6bf5cf3d
3 changed files with 918 additions and 0 deletions
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25
esp32/include/badge_pins.h Normal file
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// HSPI pins
#define HSPI_MISO 12
#define HSPI_MOSI 13
#define HSPI_SCLK 14
#define HSPI_SS 15
// ePaper display
#define EPD_DC 25
#define EPD_CS 27
#define EPD_BUSY 35
#define SRAM_CS -1
#define EPD_RESET 26
#define EPD_SPI &SPI3
// I2C
#define ESP_SDA 22
#define ESP_SCL 38
// ATMEL UART Bridge
#define UART_RXD (33u)
#define UART_TXD (32U)
// IMU
#define ESP32_I2C_IMU_SDA ((int)22)
#define ESP32_I2C_IMU_SCL ((int)19)

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esp32/include/icm20602.h Normal file
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#ifndef _ICM20602_H
#define _ICM20602_H
/***** Includes *****/
#include <stdint.h>
#include <stdbool.h>
/***** Macros *****/
/** This initializer will zero out the ICM20602 struct for initialization
* purposes. This is advised as to avoid having uninitialized garbage values
* left within the struct */
#define ICM20602_INIT() \
{ \
.id = 0, \
.hal_wr = NULL, \
.hal_rd = NULL, \
.hal_sleep = NULL, \
.mutex_lock = NULL, \
.mutex_unlock = NULL, \
.use_accel = false, \
.accel_fifo = false, \
.accel_dlpf = 0, \
.accel_g = 0, \
.use_gyro = false, \
.gyro_fifo = false, \
.gyro_dlpf = 0, \
.gyro_dps = 0, \
.sample_rate_div = 1, \
.i2c_disable = false, \
}
/** This initializer will configure the ICM20602 with settings that should
* yield some actual output on both the gyroscope and the accelerometer. All
* that the developer should need to set manually are the "hal_wr", "hal_rd",
* and "hal_sleep" function pointers. It is recommended to use this for
* testing purposes. */
#define ICM20602_DEFAULT_INIT() \
{ \
.id = 0, \
.hal_wr = NULL, \
.hal_rd = NULL, \
.hal_sleep = NULL, \
.mutex_lock = NULL, \
.mutex_unlock = NULL, \
.use_accel = true, \
.accel_fifo = false, \
.accel_dlpf = ICM20602_ACCEL_DLPF_10_2_HZ, \
.accel_g = ICM20602_ACCEL_RANGE_4G, \
.use_gyro = true, \
.gyro_fifo = false, \
.gyro_dlpf = ICM20602_GYRO_DLPF_10_HZ, \
.gyro_dps = ICM20602_GYRO_RANGE_2000_DPS, \
.sample_rate_div = 100, \
.i2c_disable = false, \
}
/***** Typedefs *****/
/** \brief Function pointer for write function.
* \param id the ID value of the icm20602 device struct
* \param reg ICM20602 register address to target
* \param data pointer to data to write
* \param len number of bytes to write
* \return zero on success, anything else is an error
*/
typedef int8_t (*icm20602_hal_wr)(uint8_t id, uint8_t reg, uint8_t * data,
uint16_t len);
/** \brief Function pointer for read function.
* \param id the ID value of the icm20602 device struct
* \param reg ICM20602 register address to target
* \param data pointer to data to read
* \param len number of bytes to read
* \return zero on success, anything else is an error
*/
typedef int8_t (*icm20602_hal_rd)(uint8_t id, uint8_t reg, uint8_t * data,
uint16_t len);
/** \brief Function pointer for sleep function.
* \param ms the total number of milliseconds to sleep for
* \return void
*/
typedef void (*icm20602_hal_sleep)(uint32_t ms);
/** \brief Function pointer for mutex locking function.
* \param id the ID value of the icm20602 device struct
* \return void
*/
typedef void (*icm20602_mutex_lock)(uint8_t id);
/** \brief Function pointer for mutex unlocking function.
* \param id the ID value of the icm20602 device struct
* \return void
*/
typedef void (*icm20602_mutex_unlock)(uint8_t id);
/***** Enums *****/
/** Enumerated value corresponds with A_DLPF_CFG in the ACCEL_CONFIG2 register
* unless BYPASS is specified in the name. If BYPASS is used, the DLPF is
* removed from the signal path and ACCEL_FCHOICE_B is set in the
* ACCEL_CONFIG2 register. */
enum icm20602_accel_dlpf {
ICM20602_ACCEL_DLPF_218_1_HZ = 0, // data clocked at 1kHz
ICM20602_ACCEL_DLPF_99_HZ = 2, // data clocked at 1kHz
ICM20602_ACCEL_DLPF_44_8_HZ = 3, // data clocked at 1kHz
ICM20602_ACCEL_DLPF_21_2_HZ = 4, // data clocked at 1kHz
ICM20602_ACCEL_DLPF_10_2_HZ = 5, // data clocked at 1kHz
ICM20602_ACCEL_DLPF_5_1_HZ = 6, // data clocked at 1kHz
ICM20602_ACCEL_DLPF_420_HZ = 7, // data clocked at 1kHz
ICM20602_ACCEL_DLPF_BYPASS_1046_HZ, // no filter, data clocked at 4kHz
};
/** Enumerated value corresponds with ACCEL_FS_SEL in the ACCEL_CONFIG
* register. Values listed are the full +/- G range. */
enum icm20602_accel_g {
ICM20602_ACCEL_RANGE_2G = 0,
ICM20602_ACCEL_RANGE_4G = 1,
ICM20602_ACCEL_RANGE_8G = 2,
ICM20602_ACCEL_RANGE_16G = 3,
};
/** Enumerated value corresponds with DLPF_CFG in the CONFIG register unless
* BYPASS is specified in the name. If BYPASS is used, the DLPF is removed
* from the signal path and FCHOICE_B is set in GYRO_CONFIG register. */
enum icm20602_gyro_dlpf {
ICM20602_GYRO_DLPF_250_HZ = 0, // data clocked at 8kHz
ICM20602_GYRO_DLPF_176_HZ = 1, // data clocked at 1kHz
ICM20602_GYRO_DLPF_92_HZ = 2, // data clocked at 1kHz
ICM20602_GYRO_DLPF_41_HZ = 3, // data clocked at 1kHz
ICM20602_GYRO_DLPF_20_HZ = 4, // data clocked at 1kHz
ICM20602_GYRO_DLPF_10_HZ = 5, // data clocked at 1kHz
ICM20602_GYRO_DLPF_5_HZ = 6, // data clocked at 1kHz
ICM20602_GYRO_DLPF_3281_HZ = 7, // data clocked at 8kHz
ICM20602_GYRO_DLPF_BYPASS_3281_HZ, // no filter, data clocked at 32kHz
ICM20602_GYRO_DLPF_BYPASS_8173_HZ, // no filter, data clocked at 32kHz
};
/** Enumerated value corresponds with FS_SEL in the GYRO_CONFIG register.
* Values listed are the full +/- DPS range. */
enum icm20602_gyro_dps {
ICM20602_GYRO_RANGE_250_DPS = 0,
ICM20602_GYRO_RANGE_500_DPS = 1,
ICM20602_GYRO_RANGE_1000_DPS = 2,
ICM20602_GYRO_RANGE_2000_DPS = 3,
};
/***** Structs *****/
struct icm20602_dev {
/// Identifier, can be I2C address, SPI CS line, or some other unique value.
uint8_t id;
/// Required function pointer for register write function.
icm20602_hal_wr hal_wr;
/// Required function pointer for register read function.
icm20602_hal_rd hal_rd;
/// Required function pointer for system sleep/delay.
icm20602_hal_sleep hal_sleep;
/// Optional function pointer to mutex lock if needed, NULL otherwise.
icm20602_mutex_lock mutex_lock;
/// Optional function pointer to mutex unlocking if needed, NULL otherwise.
icm20602_mutex_lock mutex_unlock;
/// Set to "true" to configure the accelerometer.
bool use_accel;
/// Enable or disable fifo for accelerometer.
bool accel_fifo;
/// Select the digital low pass filter to use with the accelerometer.
enum icm20602_accel_dlpf accel_dlpf;
/// Select the accelerometer's g-force range.
enum icm20602_accel_g accel_g;
/// Set to "true" to configure the gyroscope.
bool use_gyro;
/// Enable or disable fifo for gyroscope.
bool gyro_fifo;
/// Select the digital low pass filter to use with the gyroscope.
enum icm20602_gyro_dlpf gyro_dlpf;
/// Select the gyroscope's degrees per second range.
enum icm20602_gyro_dps gyro_dps;
/// Divides the data clock for both the accelerometer and gyroscope.
uint8_t sample_rate_div;
/// Disable hardware I2C communications to chip, recommeded if using SPI.
bool i2c_disable;
};
/***** Global Functions *****/
/** \brief Initializes the ICM20602 sensor.
* \param config pointer to configuration struct
* \return zero on success, anything else is an error
*/
extern int8_t
icm20602_init(struct icm20602_dev * dev);
/** \brief Reads current G-force values of accelerometer.
* \param p_x destination for x G value
* \param p_y destination for y G value
* \param p_z destination for z G value
* \return zero on success, anything else is an error
*/
extern int8_t
icm20602_read_accel(struct icm20602_dev * dev, float * p_x, float * p_y,
float * p_z);
/** \brief Reads current degrees per second values of gyroscope.
* \param p_x destination for x value
* \param p_y destination for y value
* \param p_z destination for z value
* \return zero on success, anything else is an error
*/
extern int8_t
icm20602_read_gyro(struct icm20602_dev * dev, float * p_x, float * p_y,
float * p_z);
/** \brief Reads current values of accelerometer and gyroscope.
* \param p_ax destination for accelerometer x G value
* \param p_ay destination for accelerometer y G value
* \param p_az destination for accelerometer z G value
* \param p_gx destination for gyroscope x DPS value
* \param p_gy destination for gyroscope y DPS value
* \param p_gz destination for gyroscope z DPS value
* \param p_t destination for temperature degrees C value
* \return zero on success, anything else is an error
*/
extern int8_t
icm20602_read_data(struct icm20602_dev * dev, float * p_ax, float * p_ay,
float * p_az, float * p_gx, float * p_gy, float * p_gz, float * p_t);
/** \brief Reads current raw values of accelerometer.
* \param p_x destination for x value
* \param p_y destination for y value
* \param p_z destination for z value
* \return zero on success, anything else is an error
*/
extern int8_t
icm20602_read_accel_raw(struct icm20602_dev * dev, int16_t * p_x, int16_t * p_y,
int16_t * p_z);
/** \brief Reads current raw values of gyroscope.
* \param p_x destination for x value
* \param p_y destination for y value
* \param p_z destination for z value
* \return zero on success, anything else is an error
*/
extern int8_t
icm20602_read_gyro_raw(struct icm20602_dev * dev, int16_t * p_x, int16_t * p_y,
int16_t * p_z);
/** \brief Reads current raw values of accelerometer and gyroscope.
* \param p_ax destination for accelerometer x value
* \param p_ay destination for accelerometer y value
* \param p_az destination for accelerometer z value
* \param p_gx destination for gyroscope x value
* \param p_gy destination for gyroscope y value
* \param p_gz destination for gyroscope z value
* \param p_t destination for temperature value
* \return zero on success, anything else is an error
*/
extern int8_t
icm20602_read_data_raw(struct icm20602_dev * dev, int16_t * p_ax,
int16_t * p_ay, int16_t * p_az, int16_t * p_gx, int16_t * p_gy,
int16_t * p_gz, int16_t * p_t);
/** \brief Reads FIFO G-force values of accelerometer.
* \param p_x destination for x G value
* \param p_y destination for y G value
* \param p_z destination for z G value
* \return zero on success, anything else is an error
*/
extern int8_t
icm20602_read_accel_fifo(struct icm20602_dev * dev, float * x, float * y,
float * z);
/** \brief Reads FIFO degrees per second values of gyroscope.
* \param p_x destination for x value
* \param p_y destination for y value
* \param p_z destination for z value
* \return zero on success, anything else is an error
*/
extern int8_t
icm20602_read_gyro_fifo(struct icm20602_dev * dev, float * x, float * y,
float * z);
/** \brief Reads FIFO values of accelerometer and gyroscope. Note, both
* accelerometer and gyroscope fifos should be enabled if this
* function is to be used.
* \param p_ax destination for accelerometer x G value
* \param p_ay destination for accelerometer y G value
* \param p_az destination for accelerometer z G value
* \param p_gx destination for gyroscope x DPS value
* \param p_gy destination for gyroscope y DPS value
* \param p_gz destination for gyroscope z DPS value
* \param p_t destination for temperature degrees C value
* \return zero on success, anything else is an error
*/
extern int8_t
icm20602_read_fifo_data(struct icm20602_dev * dev, float * p_ax, float * p_ay,
float * p_az, float * p_gx, float * p_gy, float * p_gz, float * p_t);
/** \brief Reads FIFO raw values of accelerometer.
* \param p_x destination for x value
* \param p_y destination for y value
* \param p_z destination for z value
* \return zero on success, anything else is an error
*/
extern int8_t
icm20602_read_fifo_accel_raw(struct icm20602_dev * dev, int16_t * p_x,
int16_t * p_y, int16_t * p_z);
/** \brief Reads FIFO raw values of gyroscope.
* \param p_x destination for x value
* \param p_y destination for y value
* \param p_z destination for z value
* \return zero on success, anything else is an error
*/
extern int8_t
icm20602_read_fifo_gyro_raw(struct icm20602_dev * dev, int16_t * p_x,
int16_t * p_y, int16_t * p_z);
/** \brief Reads FIFO raw values of accelerometer and gyroscope. Note, both
* accelerometer and gyroscope fifos should be enabled if this
* function is to be used.
* \param p_ax destination for accelerometer x value
* \param p_ay destination for accelerometer y value
* \param p_az destination for accelerometer z value
* \param p_gx destination for gyroscope x value
* \param p_gy destination for gyroscope y value
* \param p_gz destination for gyroscope z value
* \param p_t destination for temperature value
* \return zero on success, anything else is an error
*/
extern int8_t
icm20602_read_fifo_data_raw(struct icm20602_dev * dev, int16_t * p_ax,
int16_t * p_ay, int16_t * p_az, int16_t * p_gx, int16_t * p_gy,
int16_t * p_gz, int16_t * p_t);
#endif

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/***** Includes *****/
#include <stdlib.h>
#include "icm20602.h"
/***** Defines *****/
#define REG_XG_OFFS_TC_H 0x04
#define REG_XG_OFFS_TC_L 0x05
#define REG_YG_OFFS_TC_H 0x07
#define REG_YG_OFFS_TC_L 0x08
#define REG_ZG_OFFS_TC_H 0x0A
#define REG_ZG_OFFS_TC_L 0x0B
#define REG_SELF_TEST_X_ACCEL 0x0D
#define REG_SELF_TEST_Y_ACCEL 0x0E
#define REG_SELF_TEST_Z_ACCEL 0x0F
#define REG_XG_OFFS_USRH 0x13
#define REG_XG_OFFS_USRL 0x14
#define REG_YG_OFFS_USRH 0x15
#define REG_YG_OFFS_USRL 0x16
#define REG_ZG_OFFS_USRH 0x17
#define REG_ZG_OFFS_USRL 0x18
#define REG_SMPLRT_DIV 0x19
#define REG_CONFIG 0x1A
#define REG_GYRO_CONFIG 0x1B
#define REG_ACCEL_CONFIG 0x1C
#define REG_ACCEL_CONFIG_2 0x1D
#define REG_LP_MODE_CFG 0x1E
#define REG_ACCEL_WOM_X_THR 0x20
#define REG_ACCEL_WOM_Y_THR 0x21
#define REG_ACCEL_WOM_Z_THR 0x22
#define REG_FIFO_EN 0x23
#define REG_FSYNC_INT 0x36
#define REG_INT_PIN_CFG 0x37
#define REG_INT_ENABLE 0x38
#define REG_FIFO_WM_INT_STATUS 0x39
#define REG_INT_STATUS 0x3A
#define REG_ACCEL_XOUT_H 0x3B
#define REG_ACCEL_XOUT_L 0x3C
#define REG_ACCEL_YOUT_H 0x3D
#define REG_ACCEL_YOUT_L 0x3E
#define REG_ACCEL_ZOUT_H 0x3F
#define REG_ACCEL_ZOUT_L 0x40
#define REG_TEMP_OUT_H 0x41
#define REG_TEMP_OUT_L 0x42
#define REG_GYRO_XOUT_H 0x43
#define REG_GYRO_XOUT_L 0x44
#define REG_GYRO_YOUT_H 0x45
#define REG_GYRO_YOUT_L 0x46
#define REG_GYRO_ZOUT_H 0x47
#define REG_GYRO_ZOUT_L 0x48
#define REG_SELF_TEST_X_GYRO 0x50
#define REG_SELF_TEST_Y_GYRO 0x51
#define REG_SELF_TEST_Z_GYRO 0x52
#define REG_FIFO_WM_TH1 0x60
#define REG_FIFO_WM_TH2 0x61
#define REG_SIGNAL_PATH_RESET 0x68
#define REG_ACCEL_INTEL_CTRL 0x69
#define REG_USER_CTRL 0x6A
#define REG_PWR_MGMT_1 0x6B
#define REG_PWR_MGMT_2 0x6C
#define REG_I2C_IF 0x70
#define REG_FIFO_COUNTH 0x72
#define REG_FIFO_COUNTL 0x73
#define REG_FIFO_R_W 0x74
#define REG_WHO_AM_I 0x75
#define REG_XA_OFFSET_H 0x77
#define REG_XA_OFFSET_L 0x78
#define REG_YA_OFFSET_H 0x7A
#define REG_YA_OFFSET_L 0x7B
#define REG_ZA_OFFSET_H 0x7D
#define REG_ZA_OFFSET_L 0x7E
#define REG_WHO_AM_I_CONST 0X12
/***** Macros *****/
#define ON_ERROR_GOTO(cond, symbol) \
if (!(cond)) { goto symbol; }
// extra steps, but I'm paranoid about some compilers/systems not handling the
// conversion from uint8_t to int16_t correctly
#define UINT8_TO_INT16(dst, src_high, src_low) \
do { \
dst = (src_high); \
dst <<= 8; \
dst |= (src_low); \
} while (0);
/***** Local Data *****/
// TODO: Look into getting real temp sensitivity.
static float _temp_sensitivity = 326.8;
/***** Local Functions *****/
/// Used to convert raw accelerometer readings to G-force.
float
_get_accel_sensitivity(enum icm20602_accel_g accel_g)
{
float f = 0.0;
switch (accel_g) {
case (ICM20602_ACCEL_RANGE_2G):
f = 16384.0;
break;
case (ICM20602_ACCEL_RANGE_4G):
f = 8192.0;
break;
case (ICM20602_ACCEL_RANGE_8G):
f = 4096.0;
break;
case (ICM20602_ACCEL_RANGE_16G):
f = 2048.0;
break;
}
return f;
}
/// Used to convert raw gyroscope readings to degrees per second.
float
_get_gyro_sensitivity(enum icm20602_gyro_dps gyro_dps)
{
float f = 0;
switch (gyro_dps) {
case (ICM20602_GYRO_RANGE_250_DPS):
f = 131.0;
break;
case (ICM20602_GYRO_RANGE_500_DPS):
f = 65.5;
break;
case (ICM20602_GYRO_RANGE_1000_DPS):
f = 32.8;
break;
case (ICM20602_GYRO_RANGE_2000_DPS):
f = 16.4;
break;
}
return f;
}
int8_t
_read_data(struct icm20602_dev * dev, uint8_t reg, uint8_t * buf, uint32_t len)
{
int8_t r = 0;
if ((!dev->hal_wr) || (!dev->hal_rd) || (!dev->hal_sleep)) {
return false;
}
if (dev->mutex_lock) {
dev->mutex_lock(dev->id);
}
r = dev->hal_rd(dev->id, reg, buf, len);
if (dev->mutex_unlock) {
dev->mutex_unlock(dev->id);
}
return r;
}
/***** Global Functions *****/
int8_t
icm20602_init(struct icm20602_dev * dev)
{
uint8_t tmp = 0;
int8_t r = 0;
if ((!dev->hal_wr) || (!dev->hal_rd) || (!dev->hal_sleep)) {
return false;
}
// General Procedure:
// 1. reset chip
// 2. set clock for PLL for optimum performance as documented in datasheet
// 3. place accelerometer and gyroscope into standby
// 4. disable fifo
// 5. configure chip
// 6. enable accelerometer and gyroscope
if (dev->mutex_lock) {
dev->mutex_lock(dev->id);
}
// full reset of chip
tmp = 0x80;
r = dev->hal_wr(dev->id, REG_PWR_MGMT_1, &tmp, 1);
ON_ERROR_GOTO((0 == r), return_err);
// TODO: better reset delay value
dev->hal_sleep(1000);
// verify we are able to read from the chip
r = dev->hal_rd(dev->id, REG_WHO_AM_I, &tmp, 1);
ON_ERROR_GOTO((0 == r), return_err);
if (REG_WHO_AM_I_CONST != tmp) {
r = -1;
ON_ERROR_GOTO((0 == r), return_err);
}
// set clock to internal PLL
tmp = 0x01;
r = dev->hal_wr(dev->id, REG_PWR_MGMT_1, &tmp, 1);
ON_ERROR_GOTO((0 == r), return_err);
// place accel and gyro on standby
tmp = 0x3F;
r = dev->hal_wr(dev->id, REG_PWR_MGMT_2, &tmp, 1);
ON_ERROR_GOTO((0 == r), return_err);
// disable fifo
tmp = 0x00;
r = dev->hal_wr(dev->id, REG_USER_CTRL, &tmp, 1);
ON_ERROR_GOTO((0 == r), return_err);
if (dev->i2c_disable) {
// disable chip I2C communications
tmp = 0x40;
r = dev->hal_wr(dev->id, REG_I2C_IF, &tmp, 1);
ON_ERROR_GOTO((0 == r), return_err);
}
if (dev->use_accel) {
if (ICM20602_ACCEL_DLPF_BYPASS_1046_HZ == dev->accel_dlpf) {
tmp = (1 << 3);
r = dev->hal_wr(dev->id, REG_ACCEL_CONFIG_2, &tmp, 1);
ON_ERROR_GOTO((0 == r), return_err);
}
else {
tmp = dev->accel_dlpf;
r = dev->hal_wr(dev->id, REG_ACCEL_CONFIG_2, &tmp, 1);
ON_ERROR_GOTO((0 == r), return_err);
}
tmp = (dev->accel_g) << 2;
r = dev->hal_wr(dev->id, REG_ACCEL_CONFIG, &tmp, 1);
ON_ERROR_GOTO((0 == r), return_err);
}
if (dev->use_gyro) {
if (ICM20602_GYRO_DLPF_BYPASS_3281_HZ == dev->gyro_dlpf) {
// bypass dpf and set dps
tmp = 0x00;
r = dev->hal_wr(dev->id, REG_CONFIG, &tmp, 1);
ON_ERROR_GOTO((0 == r), return_err);
tmp = (dev->gyro_dps << 3) | 0x02; // see table page 37 of datasheet
r = dev->hal_wr(dev->id, REG_GYRO_CONFIG, &tmp, 1);
ON_ERROR_GOTO((0 == r), return_err);
}
else if (ICM20602_GYRO_DLPF_BYPASS_8173_HZ == dev->gyro_dlpf) {
// bypass dpf and set dps
tmp = 0x00;
r = dev->hal_wr(dev->id, REG_CONFIG, &tmp, 1);
ON_ERROR_GOTO((0 == r), return_err);
tmp = (dev->gyro_dps << 3) | 0x01; // see table page 37 of datasheet
r = dev->hal_wr(dev->id, REG_GYRO_CONFIG, &tmp, 1);
ON_ERROR_GOTO((0 == r), return_err);
}
else {
// configure dpf and set dps
tmp = dev->gyro_dlpf;
r = dev->hal_wr(dev->id, REG_CONFIG, &tmp, 1);
ON_ERROR_GOTO((0 == r), return_err);
tmp = dev->gyro_dps << 3;
r = dev->hal_wr(dev->id, REG_GYRO_CONFIG, &tmp, 1);
ON_ERROR_GOTO((0 == r), return_err);
}
}
// enable FIFO if requested
tmp = ((dev->use_accel) && (dev->accel_fifo)) ? 0x08 : 0x00;
tmp |= ((dev->use_gyro) && (dev->gyro_fifo)) ? 0x10 : 0x00;
r = dev->hal_wr(dev->id, REG_FIFO_EN, &tmp, 1);
ON_ERROR_GOTO((0 == r), return_err);
// configure sample rate divider (TODO: is this gyro only?)
// note: SAMPLE_RATE = INTERNAL_SAMPLE_RATE / (1 + SMPLRT_DIV)
tmp = (0 != dev->sample_rate_div) ? dev->sample_rate_div - 1 : 1;
r = dev->hal_wr(dev->id, REG_SMPLRT_DIV, &tmp, 1);
ON_ERROR_GOTO((0 == r), return_err);
tmp = 0;
tmp |= (dev->use_gyro) ? 0 : 0x07; // 0 - on, 1 - disabled
tmp |= (dev->use_accel) ? 0 : 0x38; // 0 - on, 1 - disabled
r = dev->hal_wr(dev->id, REG_PWR_MGMT_2, &tmp, 1);
ON_ERROR_GOTO((0 == r), return_err);
return_err:
if (dev->mutex_unlock) {
dev->mutex_unlock(dev->id);
}
return r;
}
int8_t
icm20602_read_accel(struct icm20602_dev * dev, float * p_x, float * p_y,
float * p_z)
{
float accel_sensitivity;
int16_t x, y, z;
int8_t r = 0;
accel_sensitivity = _get_accel_sensitivity(dev->accel_g);
r = icm20602_read_accel_raw(dev, &x, &y, &z);
if (0 == r) {
*p_x = ((float) x) / accel_sensitivity;
*p_y = ((float) y) / accel_sensitivity;
*p_z = ((float) z) / accel_sensitivity;
}
return r;
}
int8_t
icm20602_read_gyro(struct icm20602_dev * dev, float * p_x, float * p_y,
float * p_z)
{
float gyro_sensitivity;
int16_t x, y, z;
int8_t r = 0;
gyro_sensitivity = _get_gyro_sensitivity(dev->gyro_dps);
r = icm20602_read_gyro_raw(dev, &x, &y, &z);
if (0 == r) {
*p_x = ((float) x) / gyro_sensitivity;
*p_y = ((float) y) / gyro_sensitivity;
*p_z = ((float) z) / gyro_sensitivity;
}
return r;
}
int8_t
icm20602_read_data(struct icm20602_dev * dev, float * p_ax, float * p_ay,
float * p_az, float * p_gx, float * p_gy, float * p_gz, float * p_t)
{
float accel_sensitivity;
float gyro_sensitivity;
int16_t ax, ay, az, gx, gy, gz, t;
int8_t r = 0;
accel_sensitivity = _get_accel_sensitivity(dev->accel_g);
gyro_sensitivity = _get_gyro_sensitivity(dev->gyro_dps);
r = icm20602_read_data_raw(dev, &ax, &ay, &az, &gx, &gy, &gz, &t);
if (0 == r) {
*p_ax = ((float) ax) / accel_sensitivity;
*p_ay = ((float) ay) / accel_sensitivity;
*p_az = ((float) az) / accel_sensitivity;
*p_gx = ((float) gx) / gyro_sensitivity;
*p_gy = ((float) gy) / gyro_sensitivity;
*p_gz = ((float) gz) / gyro_sensitivity;
*p_t = ((float) t) / _temp_sensitivity;
}
return r;
}
int8_t
icm20602_read_accel_raw(struct icm20602_dev * dev, int16_t * p_x, int16_t * p_y,
int16_t * p_z)
{
uint8_t buf[8] = {0};
int8_t r = 0;
r = _read_data(dev, REG_ACCEL_XOUT_H, buf, 8);
if (0 == r) {
UINT8_TO_INT16(*p_x, buf[0], buf[1]);
UINT8_TO_INT16(*p_y, buf[2], buf[3]);
UINT8_TO_INT16(*p_z, buf[4], buf[5]);
// buf[6] and buf[7] hold temperature
}
return r;
}
int8_t
icm20602_read_gyro_raw(struct icm20602_dev * dev, int16_t * p_x, int16_t * p_y,
int16_t * p_z)
{
uint8_t buf[6] = {0};
int8_t r = 0;
r = _read_data(dev, REG_GYRO_XOUT_H, buf, 6);
if (0 == r) {
UINT8_TO_INT16(*p_x, buf[0], buf[1]);
UINT8_TO_INT16(*p_y, buf[2], buf[3]);
UINT8_TO_INT16(*p_z, buf[4], buf[5]);
}
return r;
}
int8_t
icm20602_read_data_raw(struct icm20602_dev * dev, int16_t * p_ax,
int16_t * p_ay, int16_t * p_az, int16_t * p_gx, int16_t * p_gy,
int16_t * p_gz, int16_t * p_t)
{
uint8_t buf[14] = {0};
int8_t r = 0;
r = _read_data(dev, REG_ACCEL_XOUT_H, buf, 14);
if (0 == r) {
UINT8_TO_INT16(*p_ax, buf[0], buf[1]);
UINT8_TO_INT16(*p_ay, buf[2], buf[3]);
UINT8_TO_INT16(*p_az, buf[4], buf[5]);
UINT8_TO_INT16(*p_t, buf[6], buf[7]);
UINT8_TO_INT16(*p_gx, buf[8], buf[9]);
UINT8_TO_INT16(*p_gy, buf[10], buf[11]);
UINT8_TO_INT16(*p_gz, buf[12], buf[13]);
}
return r;
}
int8_t
icm20602_read_accel_fifo(struct icm20602_dev * dev, float * p_x, float * p_y,
float * p_z)
{
float accel_sensitivity;
int16_t x, y, z;
int8_t r = 0;
accel_sensitivity = _get_accel_sensitivity(dev->accel_g);
r = icm20602_read_fifo_accel_raw(dev, &x, &y, &z);
if (0 == r) {
*p_x = ((float) x) / accel_sensitivity;
*p_y = ((float) y) / accel_sensitivity;
*p_z = ((float) z) / accel_sensitivity;
}
return r;
}
int8_t
icm20602_read_gyro_fifo(struct icm20602_dev * dev, float * p_x, float * p_y,
float * p_z)
{
float gyro_sensitivity;
int16_t x, y, z;
int8_t r = 0;
gyro_sensitivity = _get_gyro_sensitivity(dev->gyro_dps);
r = icm20602_read_fifo_gyro_raw(dev, &x, &y, &z);
if (0 == r) {
*p_x = ((float) x) / gyro_sensitivity;
*p_y = ((float) y) / gyro_sensitivity;
*p_z = ((float) z) / gyro_sensitivity;
}
return r;
}
int8_t
icm20602_read_fifo_data(struct icm20602_dev * dev, float * p_ax, float * p_ay,
float * p_az, float * p_gx, float * p_gy, float * p_gz, float * p_t)
{
float accel_sensitivity;
float gyro_sensitivity;
int16_t ax, ay, az, gx, gy, gz, t;
int8_t r = 0;
accel_sensitivity = _get_accel_sensitivity(dev->accel_g);
gyro_sensitivity = _get_gyro_sensitivity(dev->gyro_dps);
r = icm20602_read_fifo_data_raw(dev, &ax, &ay, &az, &gx, &gy, &gz, &t);
if (0 == r) {
*p_ax = ((float) ax) / accel_sensitivity;
*p_ay = ((float) ay) / accel_sensitivity;
*p_az = ((float) az) / accel_sensitivity;
*p_gx = ((float) gx) / gyro_sensitivity;
*p_gy = ((float) gy) / gyro_sensitivity;
*p_gz = ((float) gz) / gyro_sensitivity;
*p_t = ((float) t) / _temp_sensitivity;
}
return r;
}
int8_t
icm20602_read_fifo_accel_raw(struct icm20602_dev * dev, int16_t * p_x,
int16_t * p_y, int16_t * p_z)
{
uint8_t buf[6] = {0};
int8_t r = 0;
r = _read_data(dev, REG_FIFO_R_W, buf, 6);
if (0 == r) {
UINT8_TO_INT16(*p_x, buf[0], buf[1]);
UINT8_TO_INT16(*p_y, buf[2], buf[3]);
UINT8_TO_INT16(*p_z, buf[4], buf[5]);
}
return r;
}
int8_t
icm20602_read_fifo_gyro_raw(struct icm20602_dev * dev, int16_t * p_x,
int16_t * p_y, int16_t * p_z)
{
uint8_t buf[6] = {0};
int8_t r = 0;
r = _read_data(dev, REG_FIFO_R_W, buf, 6);
if (0 == r) {
UINT8_TO_INT16(*p_x, buf[0], buf[1]);
UINT8_TO_INT16(*p_y, buf[2], buf[3]);
UINT8_TO_INT16(*p_z, buf[4], buf[5]);
}
return r;
}
int8_t
icm20602_read_fifo_data_raw(struct icm20602_dev * dev, int16_t * p_ax,
int16_t * p_ay, int16_t * p_az, int16_t * p_gx, int16_t * p_gy,
int16_t * p_gz, int16_t * p_t)
{
uint8_t buf[14] = {0};
int8_t r = 0;
r = _read_data(dev, REG_FIFO_R_W, buf, 14);
if (0 == r) {
UINT8_TO_INT16(*p_ax, buf[0], buf[1]);
UINT8_TO_INT16(*p_ay, buf[2], buf[3]);
UINT8_TO_INT16(*p_az, buf[4], buf[5]);
UINT8_TO_INT16(*p_t, buf[6], buf[7]);
UINT8_TO_INT16(*p_gx, buf[8], buf[9]);
UINT8_TO_INT16(*p_gy, buf[10], buf[11]);
UINT8_TO_INT16(*p_gz, buf[12], buf[13]);
}
return r;
}