1 /*
2 * Copyright 2021-2022 NXP
3 * All rights reserved.
4 *
5 * SPDX-License-Identifier: BSD-3-Clause
6 */
7 #include "fsl_icm42688p.h"
8
9 /*******************************************************************************
10 * Definitions
11 ******************************************************************************/
12 /*******************************************************************************
13 * Prototypes
14 ******************************************************************************/
15 /*******************************************************************************
16 * Variables
17 ******************************************************************************/
18 /*******************************************************************************
19 * Code
20 ******************************************************************************/
ICM42688P_WriteReg(icm42688p_handle_t * handle,uint32_t regAddress,uint8_t * regData,size_t dataSize)21 status_t ICM42688P_WriteReg(icm42688p_handle_t *handle, uint32_t regAddress, uint8_t *regData, size_t dataSize)
22 {
23 status_t result = kStatus_Success;
24 result = handle->Sensor_WriteTransfer(handle->sensorAddress, regAddress, regData, dataSize);
25
26 return (result == kStatus_Success) ? result : kStatus_Fail;
27 }
28
ICM42688P_ReadReg(icm42688p_handle_t * handle,uint32_t regAddress,uint8_t * regData,size_t dataSize)29 status_t ICM42688P_ReadReg(icm42688p_handle_t *handle, uint32_t regAddress, uint8_t *regData, size_t dataSize)
30 {
31 status_t result = kStatus_Success;
32 result = handle->Sensor_ReadTransfer(handle->sensorAddress, regAddress, regData, dataSize);
33
34 return (result == kStatus_Success) ? result : kStatus_Fail;
35 }
36
ICM42688P_Init(icm42688p_handle_t * handle,icm42688p_config_t * config)37 status_t ICM42688P_Init(icm42688p_handle_t *handle, icm42688p_config_t *config)
38 {
39 assert(handle != NULL);
40 assert(config != NULL);
41 assert(config->Sensor_WriteTransfer != NULL);
42 assert(config->Sensor_ReadTransfer != NULL);
43
44 handle->Sensor_WriteTransfer = config->Sensor_WriteTransfer;
45 handle->Sensor_ReadTransfer = config->Sensor_ReadTransfer;
46 handle->sensorAddress = config->sensorAddress;
47
48 status_t result = kStatus_Success;
49
50 if (config->isReset)
51 {
52 uint8_t resetVal = 0x01U;
53 uint8_t bankSel = 0;
54
55 result = ICM42688P_WriteReg(handle, BANK_SEL, &bankSel, 1U);
56 if (result != kStatus_Success)
57 {
58 return result;
59 }
60 result = ICM42688P_WriteReg(handle, DEVICE_CONFIG, &resetVal, 1U);
61 if (result != kStatus_Success)
62 {
63 return result;
64 }
65 SDK_DelayAtLeastUs(1000, SystemCoreClock);
66 }
67
68 return result;
69 }
70
ICM42688P_EnableSensors(icm42688p_handle_t * handle)71 status_t ICM42688P_EnableSensors(icm42688p_handle_t *handle)
72 {
73 uint8_t sensorConfig = 0x1FU;
74 uint8_t fifoConfData = 0x03U;
75 uint8_t fifoInitVal = 0x40U;
76 uint8_t whoamiVal = 0;
77 status_t result = kStatus_Success;
78
79 result = ICM42688P_ReadReg(handle, WHO_AM_I, &whoamiVal, 1U);
80 if (result != kStatus_Success)
81 {
82 return result;
83 }
84 assert(whoamiVal == WHO_AM_I_VALUE);
85
86 result = ICM42688P_WriteReg(handle, PWR_MGMT0, &sensorConfig, 1U);
87 if (result != kStatus_Success)
88 {
89 return result;
90 }
91
92 result = ICM42688P_WriteReg(handle, FIFO_CONFIG, &fifoInitVal, 1U);
93 if (result != kStatus_Success)
94 {
95 return result;
96 }
97
98 return ICM42688P_WriteReg(handle, FIFO_CONFIG1, &fifoConfData, 1U);
99 }
100
ICM42688P_ConfigureTapDetectIBI(icm42688p_handle_t * handle)101 status_t ICM42688P_ConfigureTapDetectIBI(icm42688p_handle_t *handle)
102 {
103 uint8_t confData = 0x40U;
104 uint8_t bankSel = 4;
105 uint8_t enTapIbi = 0x1U;
106 status_t result = kStatus_Success;
107
108 result = ICM42688P_WriteReg(handle, APEX_CONFIG0, &confData, 1U);
109 if (result != kStatus_Success)
110 {
111 return result;
112 }
113
114 result = ICM42688P_WriteReg(handle, BANK_SEL, &bankSel, 1U);
115 if (result != kStatus_Success)
116 {
117 return result;
118 }
119
120 return ICM42688P_WriteReg(handle, INT_SOURCE10, &enTapIbi, 1U);
121 }
122
ICM42688P_ReadSensorData(icm42688p_handle_t * handle,icm42688p_sensor_data_t * sensorData)123 status_t ICM42688P_ReadSensorData(icm42688p_handle_t *handle, icm42688p_sensor_data_t *sensorData)
124 {
125 status_t result = kStatus_Success;
126 uint8_t fifoData[16];
127
128 result = ICM42688P_ReadReg(handle, FIFO_DATA, fifoData, 16U);
129 if (result == kStatus_Success)
130 {
131 sensorData->accelDataX = (int16_t)(uint16_t)(((uint16_t)fifoData[1] << 8U) | (uint16_t)fifoData[2]);
132 sensorData->accelDataY = (int16_t)(uint16_t)(((uint16_t)fifoData[3] << 8U) | (uint16_t)fifoData[4]);
133 sensorData->accelDataZ = (int16_t)(uint16_t)(((uint16_t)fifoData[5] << 8U) | (uint16_t)fifoData[6]);
134 sensorData->gyroDataX = (int16_t)(uint16_t)(((uint16_t)fifoData[7] << 8U) | (uint16_t)fifoData[8]);
135 sensorData->gyroDataY = (int16_t)(uint16_t)(((uint16_t)fifoData[9] << 8U) | (uint16_t)fifoData[10]);
136 sensorData->gyroDataZ = (int16_t)(uint16_t)(((uint16_t)fifoData[11] << 8U) | (uint16_t)fifoData[12]);
137 }
138
139 if ((sensorData->accelDataX == INVALID_DATA) || (sensorData->gyroDataX == INVALID_DATA))
140 {
141 result = kStatus_NoData;
142 }
143
144 return result;
145 }
146
