1 /* 2 * Copyright (c) 2024 TDK Invensense 3 * Copyright (c) 2022 Esco Medical ApS 4 * Copyright (c) 2020 TDK Invensense 5 * 6 * SPDX-License-Identifier: Apache-2.0 7 */ 8 9 #ifndef ZEPHYR_DRIVERS_SENSOR_ICM42X70_H_ 10 #define ZEPHYR_DRIVERS_SENSOR_ICM42X70_H_ 11 12 #include <zephyr/drivers/gpio.h> 13 #include <zephyr/drivers/sensor.h> 14 #include <zephyr/drivers/spi.h> 15 #include <zephyr/drivers/i2c.h> 16 #include <zephyr/kernel.h> 17 18 #include "imu/inv_imu_driver.h" 19 #ifdef CONFIG_TDK_APEX 20 #include "imu/inv_imu_apex.h" 21 #endif 22 23 union icm42x70_bus { 24 #if CONFIG_SPI 25 struct spi_dt_spec spi; 26 #endif 27 #if CONFIG_I2C 28 struct i2c_dt_spec i2c; 29 #endif 30 }; 31 32 typedef int (*icm42x70_bus_check_fn)(const union icm42x70_bus *bus); 33 typedef int (*icm42x70_reg_read_fn)(const union icm42x70_bus *bus, uint8_t reg, uint8_t *buf, 34 uint32_t size); 35 typedef int (*icm42x70_reg_write_fn)(const union icm42x70_bus *bus, uint8_t reg, uint8_t *buf, 36 uint32_t size); 37 38 struct icm42x70_bus_io { 39 icm42x70_bus_check_fn check; 40 icm42x70_reg_read_fn read; 41 icm42x70_reg_write_fn write; 42 }; 43 44 #if CONFIG_SPI 45 extern const struct icm42x70_bus_io icm42x70_bus_io_spi; 46 #endif 47 48 #if CONFIG_I2C 49 extern const struct icm42x70_bus_io icm42x70_bus_io_i2c; 50 #endif 51 52 struct icm42x70_data { 53 struct inv_imu_serif serif; 54 struct inv_imu_device driver; 55 uint8_t imu_whoami; 56 char *imu_name; 57 uint8_t chip_id; 58 int32_t accel_x; 59 int32_t accel_y; 60 int32_t accel_z; 61 uint16_t accel_hz; 62 uint8_t accel_fs; 63 uint8_t accel_pwr_mode; 64 #if CONFIG_USE_EMD_ICM42670 65 int32_t gyro_x; 66 int32_t gyro_y; 67 int32_t gyro_z; 68 uint16_t gyro_hz; 69 uint16_t gyro_fs; 70 #endif 71 int32_t temp; 72 #ifdef CONFIG_TDK_APEX 73 uint8_t dmp_odr_hz; 74 uint64_t pedometer_cnt; 75 uint8_t pedometer_activity; 76 uint8_t pedometer_cadence; 77 uint8_t apex_status; 78 #endif 79 80 #ifdef CONFIG_ICM42X70_TRIGGER 81 const struct device *dev; 82 struct gpio_callback gpio_cb; 83 sensor_trigger_handler_t data_ready_handler; 84 const struct sensor_trigger *data_ready_trigger; 85 struct k_mutex mutex; 86 #endif 87 #ifdef CONFIG_ICM42X70_TRIGGER_OWN_THREAD 88 K_KERNEL_STACK_MEMBER(thread_stack, CONFIG_ICM42X70_THREAD_STACK_SIZE); 89 struct k_thread thread; 90 struct k_sem gpio_sem; 91 #endif 92 #ifdef CONFIG_ICM42X70_TRIGGER_GLOBAL_THREAD 93 struct k_work work; 94 #endif 95 }; 96 97 struct icm42x70_config { 98 union icm42x70_bus bus; 99 const struct icm42x70_bus_io *bus_io; 100 uint32_t serif_type; 101 struct gpio_dt_spec gpio_int; 102 uint8_t accel_fs; 103 uint16_t accel_hz; 104 uint16_t accel_avg; 105 uint16_t accel_filt_bw; 106 #if CONFIG_USE_EMD_ICM42670 107 uint16_t gyro_fs; 108 uint16_t gyro_hz; 109 uint16_t gyro_filt_bw; 110 #endif 111 uint8_t accel_pwr_mode; 112 uint8_t apex; 113 }; 114 115 uint32_t convert_freq_to_bitfield(uint32_t val, uint16_t *freq); 116 uint32_t convert_ln_bw_to_bitfield(uint32_t val); 117 118 #ifdef CONFIG_TDK_APEX 119 120 #define ICM42X70_APEX_STATUS_MASK_TILT BIT(0) 121 #define ICM42X70_APEX_STATUS_MASK_SMD BIT(1) 122 #define ICM42X70_APEX_STATUS_MASK_WOM_X BIT(2) 123 #define ICM42X70_APEX_STATUS_MASK_WOM_Y BIT(3) 124 #define ICM42X70_APEX_STATUS_MASK_WOM_Z BIT(4) 125 126 int icm42x70_apex_enable(inv_imu_device_t *s); 127 int icm42x70_apex_fetch_from_dmp(const struct device *dev); 128 void icm42x70_apex_pedometer_cadence_convert(struct sensor_value *val, uint8_t raw_val, 129 uint8_t dmp_odr_hz); 130 int icm42x70_apex_enable_pedometer(const struct device *dev, inv_imu_device_t *s); 131 int icm42x70_apex_enable_tilt(inv_imu_device_t *s); 132 int icm42x70_apex_enable_smd(inv_imu_device_t *s); 133 int icm42x70_apex_enable_wom(inv_imu_device_t *s); 134 #endif 135 136 #endif /* ZEPHYR_DRIVERS_SENSOR_ICM42X70_H_ */ 137
