1 /* 2 * Copyright 2021-2022 NXP 3 * 4 * SPDX-License-Identifier: BSD-3-Clause 5 */ 6 7 #ifndef _FSL_ICM42688P_H_ 8 #define _FSL_ICM42688P_H_ 9 10 #include "fsl_common.h" 11 12 #define INVALID_DATA (-32768) 13 14 /* Locate in bank 0. */ 15 #define DEVICE_CONFIG 0x11U 16 #define INT_CONFIG 0x14U 17 #define TEMP_DATA1 0x1DU 18 #define TEMP_DATA0 0x1EU 19 #define PWR_MGMT0 0x4EU 20 #define GYRO_CONFIG0 0x4FU 21 #define ACCEL_CONFIG0 0x50U 22 #define GYRO_CONFIG1 0x51U 23 #define GYRO_ACCEL_CONFIG0 0x52U 24 #define ACCEL_CONFIG1 0x53U 25 #define WHO_AM_I 0x75U 26 #define WHO_AM_I_VALUE 0x47U 27 #define BANK_SEL 0x76U 28 29 #define ACCEL_DATA_X1 0x1FU 30 #define ACCEL_DATA_X0 0x20U 31 32 #define ACCEL_DATA_Y1 0x21U 33 #define ACCEL_DATA_Y0 0x22U 34 35 #define ACCEL_DATA_Z1 0x23U 36 #define ACCEL_DATA_Z0 0x24U 37 38 #define GYRO_DATA_X1 0x25U 39 #define GYRO_DATA_X0 0x26U 40 41 #define GYRO_DATA_Y1 0x27U 42 #define GYRO_DATA_Y0 0x28U 43 44 #define GYRO_DATA_Z1 0x29U 45 #define GYRO_DATA_Z0 0x2AU 46 47 #define FIFO_CONFIG 0x16U 48 #define FIFO_CONFIG1 0x5FU 49 #define FIFO_DATA 0x30U 50 #define APEX_CONFIG0 0x56U 51 52 /* Locate in bank 4. */ 53 #define INT_SOURCE10 0x51U 54 55 /*! @brief Define sensor access function. */ 56 typedef status_t (*sensor_write_transfer_func_t)(uint8_t deviceAddress, 57 uint32_t regAddress, 58 uint8_t *regData, 59 size_t dataSize); 60 typedef status_t (*sensor_read_transfer_func_t)(uint8_t deviceAddress, 61 uint32_t regAddress, 62 uint8_t *regData, 63 size_t dataSize); 64 65 typedef struct _icm42688p_sensor_data 66 { 67 int16_t accelDataX; 68 int16_t accelDataY; 69 int16_t accelDataZ; 70 int16_t gyroDataX; 71 int16_t gyroDataY; 72 int16_t gyroDataZ; 73 } icm42688p_sensor_data_t; 74 75 typedef struct _icm42688p_handle 76 { 77 sensor_write_transfer_func_t Sensor_WriteTransfer; 78 sensor_read_transfer_func_t Sensor_ReadTransfer; 79 uint8_t sensorAddress; 80 } icm42688p_handle_t; 81 82 typedef struct _icm42688p_config 83 { 84 sensor_write_transfer_func_t Sensor_WriteTransfer; 85 sensor_read_transfer_func_t Sensor_ReadTransfer; 86 uint8_t sensorAddress; 87 bool isReset; 88 } icm42688p_config_t; 89 90 #if defined(__cplusplus) 91 extern "C" { 92 #endif 93 94 /*! 95 * @brief Create handle for ICM42688P, reset the sensor per user configuration. 96 * 97 * @param icm42688p_handle The pointer to #icm42688p_handle_t. 98 * 99 * @return kStatus_Success if success or kStatus_Fail if error. 100 */ 101 status_t ICM42688P_Init(icm42688p_handle_t *handle, icm42688p_config_t *config); 102 103 /*! 104 * @brief Write Register with register data buffer. 105 * 106 * @param handle The pointer to #icm42688p_handle_t. 107 * @param regAddress register address to write. 108 * @param regData The pointer to data buffer to be write to the reg. 109 * @param dataSize Size of the regData. 110 * 111 * @return kStatus_Success if success or kStatus_Fail if error. 112 */ 113 status_t ICM42688P_WriteReg(icm42688p_handle_t *handle, uint32_t regAddress, uint8_t *regData, size_t dataSize); 114 115 /*! 116 * @brief Read Register to speficied data buffer. 117 * 118 * @param handle The pointer to #icm42688p_handle_t. 119 * @param regAddress register address to read. 120 * @param regData The pointer to data buffer to store the read out data. 121 * @param dataSize Size of the regData to be read. 122 * 123 * @return kStatus_Success if success or kStatus_Fail if error. 124 */ 125 status_t ICM42688P_ReadReg(icm42688p_handle_t *handle, uint32_t regAddress, uint8_t *regData, size_t dataSize); 126 127 /*! 128 * @brief Enable ACCEL and GYRO sensors. 129 * 130 * @param handle The pointer to #icm42688p_handle_t. 131 * 132 * @return kStatus_Success if success or kStatus_Fail if error. 133 */ 134 status_t ICM42688P_EnableSensors(icm42688p_handle_t *handle); 135 136 /*! 137 * @brief Configure ICM42688P sensor to generate TAP detect IBI. 138 * 139 * @param handle The pointer to #icm42688p_handle_t. 140 * 141 * @return kStatus_Success if success or kStatus_Fail if error. 142 */ 143 status_t ICM42688P_ConfigureTapDetectIBI(icm42688p_handle_t *handle); 144 145 /*! 146 * @brief Read sensor data from fifo. 147 * 148 * @param handle The pointer to #icm42688p_handle_t. 149 * @param icm42688p_sensor_data_t The pointer to #icm42688p_sensor_data_t which stores the read out data. 150 * 151 * @return kStatus_Success if success or kStatus_Fail if error. 152 * @return kStatus_NoData There's invalid data in sensorData structure. 153 */ 154 status_t ICM42688P_ReadSensorData(icm42688p_handle_t *handle, icm42688p_sensor_data_t *sensorData); 155 #if defined(__cplusplus) 156 } 157 #endif /* __cplusplus */ 158 159 #endif /* _FSL_ICM42688P_H_ */ 160
