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_ICM42670_H_ 10 #define ZEPHYR_DRIVERS_SENSOR_ICM42670_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 icm42670_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 (*icm42670_bus_check_fn)(const union icm42670_bus *bus); 33 typedef int (*icm42670_reg_read_fn)(const union icm42670_bus *bus, uint8_t reg, uint8_t *buf, 34 uint32_t size); 35 typedef int (*icm42670_reg_write_fn)(const union icm42670_bus *bus, uint8_t reg, uint8_t *buf, 36 uint32_t size); 37 38 struct icm42670_bus_io { 39 icm42670_bus_check_fn check; 40 icm42670_reg_read_fn read; 41 icm42670_reg_write_fn write; 42 }; 43 44 #if CONFIG_SPI 45 extern const struct icm42670_bus_io icm42670_bus_io_spi; 46 #endif 47 48 #if CONFIG_I2C 49 extern const struct icm42670_bus_io icm42670_bus_io_i2c; 50 #endif 51 52 struct icm42670_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 int32_t gyro_x; 65 int32_t gyro_y; 66 int32_t gyro_z; 67 uint16_t gyro_hz; 68 uint16_t gyro_fs; 69 int32_t temp; 70 #ifdef CONFIG_TDK_APEX 71 uint8_t dmp_odr_hz; 72 uint64_t pedometer_cnt; 73 uint8_t pedometer_activity; 74 uint8_t pedometer_cadence; 75 uint8_t apex_status; 76 #endif 77 78 #ifdef CONFIG_ICM42670_TRIGGER 79 const struct device *dev; 80 struct gpio_callback gpio_cb; 81 sensor_trigger_handler_t data_ready_handler; 82 const struct sensor_trigger *data_ready_trigger; 83 struct k_mutex mutex; 84 #endif 85 #ifdef CONFIG_ICM42670_TRIGGER_OWN_THREAD 86 K_KERNEL_STACK_MEMBER(thread_stack, CONFIG_ICM42670_THREAD_STACK_SIZE); 87 struct k_thread thread; 88 struct k_sem gpio_sem; 89 #endif 90 #ifdef CONFIG_ICM42670_TRIGGER_GLOBAL_THREAD 91 struct k_work work; 92 #endif 93 }; 94 95 struct icm42670_config { 96 union icm42670_bus bus; 97 const struct icm42670_bus_io *bus_io; 98 struct gpio_dt_spec gpio_int; 99 uint8_t accel_fs; 100 uint16_t accel_hz; 101 uint16_t accel_avg; 102 uint16_t accel_filt_bw; 103 uint16_t gyro_fs; 104 uint16_t gyro_hz; 105 uint16_t gyro_filt_bw; 106 uint8_t accel_pwr_mode; 107 uint8_t apex; 108 }; 109 110 #ifdef CONFIG_TDK_APEX 111 112 #define ICM42670_APEX_STATUS_MASK_TILT BIT(0) 113 #define ICM42670_APEX_STATUS_MASK_SMD BIT(1) 114 #define ICM42670_APEX_STATUS_MASK_WOM_X BIT(2) 115 #define ICM42670_APEX_STATUS_MASK_WOM_Y BIT(3) 116 #define ICM42670_APEX_STATUS_MASK_WOM_Z BIT(4) 117 118 int icm42670_apex_enable(inv_imu_device_t *s); 119 int icm42670_apex_fetch_from_dmp(const struct device *dev); 120 void icm42670_apex_pedometer_cadence_convert(struct sensor_value *val, uint8_t raw_val, 121 uint8_t dmp_odr_hz); 122 int icm42670_apex_enable_pedometer(const struct device *dev, inv_imu_device_t *s); 123 int icm42670_apex_enable_tilt(inv_imu_device_t *s); 124 int icm42670_apex_enable_smd(inv_imu_device_t *s); 125 int icm42670_apex_enable_wom(inv_imu_device_t *s); 126 #endif 127 128 #endif /* ZEPHYR_DRIVERS_SENSOR_ICM42670_H_ */ 129
