icm20948.c File Reference

ICM20948 IMU driver + SPP service implementation. More...

#include "spp/services/icm20948/icm20948.h"
#include "spp/core/returnTypes.h"
#include "spp/hal/spi/spi.h"
#include "spp/hal/gpio/gpio.h"
#include "spp/hal/time/time.h"
#include "spp/core/types.h"
#include "spp/services/log/log.h"
#include "spp/services/databank/databank.h"
#include "spp/services/service.h"
#include "spp/core/pubsub/pubsub.h"
#include "spp/services/fsm/fsm.h"
#include <string.h>
#include <math.h>
#include "dmpImage.h"

Include dependency graph for icm20948.c:

Go to the source code of this file.

Data Structures
struct	ICM20948_DmpMatrixEntry_t

Macros
#define	K_READ_OP   0x80U
#define	K_WRITE_OP   0x00U
#define	K_ICM20948_BASE_SAMPLE_RATE   1125L
#define	K_ICM20948_DMP_RUNNING_RATE   225L
#define	K_ICM20948_DMP_DIVIDER   (K_ICM20948_BASE_SAMPLE_RATE / K_ICM20948_DMP_RUNNING_RATE)
#define	K_ICM20948_WHO_AM_I_VALUE   0xEAU
#define	K_ICM20948_DMP_PACKET_SIZE_BYTES   42U
#define	K_ICM20948_FIFO_RESET_THRESHOLD   512U
#define	K_ICM20948_DMP_START_ADDR_MSB   0x10U
#define	K_ICM20948_DMP_START_ADDR_LSB   0x00U
#define	K_ICM20948_LOG_TAG   "ICM"

Functions
static SPP_RetVal_t	SPP_SERVICES_ICM20948_writeReg (void *p_spi, spp_uint8_t reg, spp_uint8_t value)
	Writes a single byte to an ICM-20948 register over SPI.
static SPP_RetVal_t	SPP_SERVICES_ICM20948_readReg (void *p_spi, spp_uint8_t reg, spp_uint8_t *p_value)
	Reads a single byte from an ICM-20948 register over SPI.
static SPP_RetVal_t	readFifoBurst (void *p_spi, spp_uint8_t *p_dst, spp_uint8_t count)
	Reads count bytes sequentially from the FIFO_R_W register.
static SPP_RetVal_t	SPP_SERVICES_ICM20948_setBank (void *p_spi, ICM20948_RegBank_t regBank)
	Selects the active register bank by writing REG_BANK_SEL.
static SPP_RetVal_t	SPP_SERVICES_ICM20948_resetFifo (void *p_spi)
	Resets all five FIFO streams by toggling the FIFO_RST bits.
static SPP_RetVal_t	SPP_SERVICES_ICM20948_dmpWriteBytes (void *p_data, spp_uint16_t addr, const spp_uint8_t *p_bytes, spp_uint8_t len)
	Writes len bytes to DMP memory starting at address addr.
static SPP_RetVal_t	SPP_SERVICES_ICM20948_dmpWrite32 (void *p_data, spp_uint16_t addr, spp_uint32_t value)
	Writes a 32-bit big-endian value to DMP memory at addr.
static SPP_RetVal_t	SPP_SERVICES_ICM20948_dmpWrite16 (void *p_data, spp_uint16_t addr, spp_uint16_t value)
	Writes a 16-bit big-endian value to DMP memory at addr.
static SPP_RetVal_t	SPP_SERVICES_ICM20948_lpWakeCycle (void *p_data)
	Toggles PWR_MGMT_1 into low-power wake-cycle mode then back to normal.
static spp_int32_t	SPP_SERVICES_ICM20948_calcGyroSf (spp_int8_t pll)
	Computes the DMP gyroscope scale factor from the PLL trim value.
static SPP_RetVal_t	ICM20948_dmpWriteOutputConfig (void *p_data, spp_uint16_t outCtl1, spp_uint16_t motionEvent)
	Programs the DMP output control and motion event registers.
static SPP_RetVal_t	SPP_SERVICES_ICM20948_loadDmp (void *p_data)
	Loads the DMP3 firmware image into ICM-20948 SRAM.
static SPP_RetVal_t	SPP_SERVICES_ICM20948_configDmpInit (void *p_data)
	Executes the full DMP initialisation sequence.
static void	SPP_SERVICES_ICM20948_checkFifoData (ICM20948_t *p_ctx)
	Reads and parses DMP FIFO packets, updating the sensor data fields.
static void	SPP_SERVICES_ICM20948_initGpio (ICM20948_Data_t *p_icm)
	Initialises the ICM20948 interrupt context and registers the GPIO ISR.
static SPP_RetVal_t	SPP_SERVICES_ICM20948_init (void)
	Service init callback — sets hardware config, registers GPIO ISR, loads DMP firmware.
static SPP_RetVal_t	SPP_SERVICES_ICM20948_acquireData (SPP_Kpid_t kpid)
	Service acquire callback — reads FIFO data and publishes a packet.
const SPP_SERVICE_ProducerContract_t *	SPP_SERVICES_ICM20948_getProducerContract (void)
	Returns a pointer to the ICM20948 producer contract.

Variables
static const spp_uint8_t	s_dmp3Image []
static ICM20948_t	s_icmData
static const SPP_SERVICE_ProducerContract_t	s_icm20948ProducerContract

Detailed Description

ICM20948 IMU driver + SPP service implementation.

Implements SPI register access, DMP firmware loading and the full DMP initialisation sequence. Exposes a single public accessor (SPP_SERVICES_ICM20948_getProducerContract) so the device can be registered with the SPP service registry via SPP_SERVICES_PUBSUB_registerProducer().

Definition in file icm20948.c.

Macro Definition Documentation

K_READ_OP

#define K_READ_OP   0x80U

SPI read flag — set MSB to signal a read transaction.

Definition at line 35 of file icm20948.c.

Referenced by readFifoBurst(), SPP_SERVICES_ICM20948_checkFifoData(), and SPP_SERVICES_ICM20948_readReg().

K_WRITE_OP

#define K_WRITE_OP   0x00U

SPI write marker (zero).

Definition at line 36 of file icm20948.c.

Referenced by SPP_SERVICES_ICM20948_checkFifoData(), SPP_SERVICES_ICM20948_readReg(), and SPP_SERVICES_ICM20948_writeReg().

K_ICM20948_BASE_SAMPLE_RATE

#define K_ICM20948_BASE_SAMPLE_RATE   1125L

Definition at line 38 of file icm20948.c.

K_ICM20948_DMP_RUNNING_RATE

#define K_ICM20948_DMP_RUNNING_RATE   225L

Definition at line 39 of file icm20948.c.

K_ICM20948_DMP_DIVIDER

#define K_ICM20948_DMP_DIVIDER   (K_ICM20948_BASE_SAMPLE_RATE / K_ICM20948_DMP_RUNNING_RATE)

Definition at line 40 of file icm20948.c.

Referenced by SPP_SERVICES_ICM20948_calcGyroSf().

K_ICM20948_WHO_AM_I_VALUE

#define K_ICM20948_WHO_AM_I_VALUE   0xEAU

Definition at line 41 of file icm20948.c.

Referenced by SPP_SERVICES_ICM20948_configDmpInit().

K_ICM20948_DMP_PACKET_SIZE_BYTES

#define K_ICM20948_DMP_PACKET_SIZE_BYTES   42U

Definition at line 42 of file icm20948.c.

Referenced by SPP_SERVICES_ICM20948_checkFifoData().

K_ICM20948_FIFO_RESET_THRESHOLD

#define K_ICM20948_FIFO_RESET_THRESHOLD   512U

Definition at line 43 of file icm20948.c.

Referenced by SPP_SERVICES_ICM20948_checkFifoData().

K_ICM20948_DMP_START_ADDR_MSB

#define K_ICM20948_DMP_START_ADDR_MSB   0x10U

Definition at line 44 of file icm20948.c.

Referenced by SPP_SERVICES_ICM20948_configDmpInit().

K_ICM20948_DMP_START_ADDR_LSB

#define K_ICM20948_DMP_START_ADDR_LSB   0x00U

Definition at line 45 of file icm20948.c.

Referenced by SPP_SERVICES_ICM20948_configDmpInit().

K_ICM20948_LOG_TAG

#define K_ICM20948_LOG_TAG   "ICM"

Definition at line 46 of file icm20948.c.

Referenced by SPP_SERVICES_ICM20948_acquireData(), SPP_SERVICES_ICM20948_checkFifoData(), SPP_SERVICES_ICM20948_configDmpInit(), and SPP_SERVICES_ICM20948_init().

Function Documentation

SPP_SERVICES_ICM20948_writeReg()

SPP_RetVal_t SPP_SERVICES_ICM20948_writeReg ( void * p_spi, spp_uint8_t reg, spp_uint8_t value )

static

Writes a single byte to an ICM-20948 register over SPI.

Parameters

p_spi	SPI device handle.
reg	Register address.
value	Value to write.

Returns

K_SPP_OK on success, K_SPP_ERROR on SPI failure.

Definition at line 265 of file icm20948.c.

References K_WRITE_OP, SPP_HAL_SPI_transmit(), and SPP_SERVICES_ICM20948_writeReg().

Referenced by SPP_SERVICES_ICM20948_configDmpInit(), SPP_SERVICES_ICM20948_dmpWriteBytes(), SPP_SERVICES_ICM20948_loadDmp(), SPP_SERVICES_ICM20948_lpWakeCycle(), SPP_SERVICES_ICM20948_resetFifo(), SPP_SERVICES_ICM20948_setBank(), and SPP_SERVICES_ICM20948_writeReg().

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SPP_SERVICES_ICM20948_readReg()

SPP_RetVal_t SPP_SERVICES_ICM20948_readReg ( void * p_spi, spp_uint8_t reg, spp_uint8_t * p_value )

static

Reads a single byte from an ICM-20948 register over SPI.

The HAL always issues a 3-byte SPI frame for reads (addr + 2 data bytes); ICM-20948 has no dummy byte so data lands at buf[1]. buf[2] absorbs the extra byte clocked out — must exist in the array to avoid a stack write.

Parameters

p_spi	SPI device handle.
reg	Register address.
p_value	Output: register value (may be NULL to discard).

Returns

K_SPP_OK on success, K_SPP_ERROR on SPI failure.

Definition at line 283 of file icm20948.c.

References K_READ_OP, K_WRITE_OP, SPP_HAL_SPI_transmit(), and SPP_SERVICES_ICM20948_readReg().

Referenced by SPP_SERVICES_ICM20948_configDmpInit(), SPP_SERVICES_ICM20948_loadDmp(), and SPP_SERVICES_ICM20948_readReg().

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readFifoBurst()

SPP_RetVal_t readFifoBurst ( void * p_spi, spp_uint8_t * p_dst, spp_uint8_t count )

static

Reads count bytes sequentially from the FIFO_R_W register.

The HAL issues 3-byte read frames (address + 2 data bytes), yielding 2 FIFO bytes per frame. count must be even; K_ICM20948_DMP_PACKET_SIZE_BYTES satisfies this requirement.

Parameters

p_spi	SPI device handle.
p_dst	Destination buffer (must be at least count bytes).
count	Number of bytes to read (must be even).

Returns

K_SPP_OK on success, K_SPP_ERROR on SPI failure.

Definition at line 308 of file icm20948.c.

References K_ICM20948_REG_FIFO_R_W, K_READ_OP, K_SPP_OK, readFifoBurst(), and SPP_HAL_SPI_transmit().

Referenced by readFifoBurst(), and SPP_SERVICES_ICM20948_checkFifoData().

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SPP_SERVICES_ICM20948_setBank()

SPP_RetVal_t SPP_SERVICES_ICM20948_setBank ( void * p_spi, ICM20948_RegBank_t regBank )

static

Selects the active register bank by writing REG_BANK_SEL.

Parameters

p_spi	SPI device handle.
regBank	Target bank (K_ICM20948_REG_BANK_0 … _3).

Returns

K_SPP_OK on success, K_SPP_ERROR on invalid bank or SPI failure.

Definition at line 339 of file icm20948.c.

References ICM20948_RegBankSel_t::bits, K_ICM20948_REG_BANK_0, K_ICM20948_REG_BANK_1, K_ICM20948_REG_BANK_2, K_ICM20948_REG_BANK_3, K_ICM20948_REG_BANK_SEL, K_SPP_ERROR, SPP_SERVICES_ICM20948_setBank(), SPP_SERVICES_ICM20948_writeReg(), and ICM20948_RegBankSel_t::value.

Referenced by SPP_SERVICES_ICM20948_configDmpInit(), SPP_SERVICES_ICM20948_loadDmp(), and SPP_SERVICES_ICM20948_setBank().

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SPP_SERVICES_ICM20948_resetFifo()

SPP_RetVal_t SPP_SERVICES_ICM20948_resetFifo ( void * p_spi )

static

Resets all five FIFO streams by toggling the FIFO_RST bits.

Parameters

p_spi

SPI device handle.

Returns

K_SPP_OK on success, K_SPP_ERROR on SPI failure.

Definition at line 369 of file icm20948.c.

References ICM20948_RegFifoRst_t::bits, K_ICM20948_REG_FIFO_RST, K_SPP_OK, SPP_SERVICES_ICM20948_resetFifo(), SPP_SERVICES_ICM20948_writeReg(), and ICM20948_RegFifoRst_t::value.

Referenced by SPP_SERVICES_ICM20948_checkFifoData(), SPP_SERVICES_ICM20948_configDmpInit(), and SPP_SERVICES_ICM20948_resetFifo().

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SPP_SERVICES_ICM20948_dmpWriteBytes()

SPP_RetVal_t SPP_SERVICES_ICM20948_dmpWriteBytes ( void * p_data, spp_uint16_t addr, const spp_uint8_t * p_bytes, spp_uint8_t len )

static

Writes len bytes to DMP memory starting at address addr.

Parameters

p_data	SPI device handle.
addr	DMP memory start address.
p_bytes	Pointer to byte array to write.
len	Number of bytes to write.

Returns

K_SPP_OK on success, K_SPP_ERROR_NULL_POINTER or K_SPP_ERROR on failure.

Definition at line 399 of file icm20948.c.

References K_ICM20948_REG_MEM_BANK_SEL, K_ICM20948_REG_MEM_R_W, K_ICM20948_REG_MEM_START_ADDR, K_SPP_ERROR_NULL_POINTER, K_SPP_OK, SPP_SERVICES_ICM20948_dmpWriteBytes(), and SPP_SERVICES_ICM20948_writeReg().

Referenced by SPP_SERVICES_ICM20948_dmpWrite16(), SPP_SERVICES_ICM20948_dmpWrite32(), and SPP_SERVICES_ICM20948_dmpWriteBytes().

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SPP_SERVICES_ICM20948_dmpWrite32()

SPP_RetVal_t SPP_SERVICES_ICM20948_dmpWrite32 ( void * p_data, spp_uint16_t addr, spp_uint32_t value )

static

Writes a 32-bit big-endian value to DMP memory at addr.

Parameters

p_data	SPI device handle.
addr	DMP memory address.
value	32-bit value to write.

Returns

K_SPP_OK on success, K_SPP_ERROR on failure.

Definition at line 441 of file icm20948.c.

References SPP_SERVICES_ICM20948_dmpWrite32(), and SPP_SERVICES_ICM20948_dmpWriteBytes().

Referenced by SPP_SERVICES_ICM20948_configDmpInit(), and SPP_SERVICES_ICM20948_dmpWrite32().

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SPP_SERVICES_ICM20948_dmpWrite16()

SPP_RetVal_t SPP_SERVICES_ICM20948_dmpWrite16 ( void * p_data, spp_uint16_t addr, spp_uint16_t value )

static

Writes a 16-bit big-endian value to DMP memory at addr.

Parameters

p_data	SPI device handle.
addr	DMP memory address.
value	16-bit value to write.

Returns

K_SPP_OK on success, K_SPP_ERROR on failure.

Definition at line 456 of file icm20948.c.

References SPP_SERVICES_ICM20948_dmpWrite16(), and SPP_SERVICES_ICM20948_dmpWriteBytes().

Referenced by ICM20948_dmpWriteOutputConfig(), SPP_SERVICES_ICM20948_configDmpInit(), and SPP_SERVICES_ICM20948_dmpWrite16().

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SPP_SERVICES_ICM20948_lpWakeCycle()

SPP_RetVal_t SPP_SERVICES_ICM20948_lpWakeCycle ( void * p_data )

static

Toggles PWR_MGMT_1 into low-power wake-cycle mode then back to normal.

Parameters

p_data

SPI device handle.

Returns

K_SPP_OK on success, K_SPP_ERROR_NULL_POINTER or K_SPP_ERROR on failure.

Definition at line 468 of file icm20948.c.

References ICM20948_RegPwrMgmt1_t::bits, K_ICM20948_CLK_AUTO, K_ICM20948_REG_PWR_MGMT_1, K_SPP_ERROR_NULL_POINTER, K_SPP_OK, SPP_SERVICES_ICM20948_lpWakeCycle(), SPP_SERVICES_ICM20948_writeReg(), and ICM20948_RegPwrMgmt1_t::value.

Referenced by SPP_SERVICES_ICM20948_configDmpInit(), and SPP_SERVICES_ICM20948_lpWakeCycle().

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SPP_SERVICES_ICM20948_calcGyroSf()

spp_int32_t SPP_SERVICES_ICM20948_calcGyroSf ( spp_int8_t pll )

static

Computes the DMP gyroscope scale factor from the PLL trim value.

Parameters

pll	PLL timebase correction value read from bank 1.

Returns

Scaled gyroscope scale factor for the DMP.

Definition at line 499 of file icm20948.c.

References K_ICM20948_DMP_DIVIDER, and SPP_SERVICES_ICM20948_calcGyroSf().

Referenced by SPP_SERVICES_ICM20948_calcGyroSf(), and SPP_SERVICES_ICM20948_configDmpInit().

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ICM20948_dmpWriteOutputConfig()

SPP_RetVal_t ICM20948_dmpWriteOutputConfig ( void * p_data, spp_uint16_t outCtl1, spp_uint16_t motionEvent )

static

Programs the DMP output control and motion event registers.

Parameters

p_data	SPI device handle.
outCtl1	DATA_OUT_CTL1 bitmask (selects sensor outputs).
motionEvent	MOTION_EVENT_CTL bitmask.

Returns

K_SPP_OK on success, K_SPP_ERROR on SPI failure.

Definition at line 520 of file icm20948.c.

References ICM20948_dmpWriteOutputConfig(), K_ICM20948_DMP_DATA_INTR_CTL, K_ICM20948_DMP_DATA_OUT_CTL1, K_ICM20948_DMP_DATA_OUT_CTL2, K_ICM20948_DMP_MOTION_EVENT_CTL, K_SPP_OK, and SPP_SERVICES_ICM20948_dmpWrite16().

Referenced by ICM20948_dmpWriteOutputConfig(), and SPP_SERVICES_ICM20948_configDmpInit().

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SPP_SERVICES_ICM20948_loadDmp()

SPP_RetVal_t SPP_SERVICES_ICM20948_loadDmp ( void * p_data )

static

Loads the DMP3 firmware image into ICM-20948 SRAM.

Writes s_dmp3Image byte-by-byte starting at K_ICM20948_DMP_LOAD_START, then primes the SRAM read path with a dummy read transaction.

Parameters

p_data

SPI device handle.

Returns

K_SPP_OK on success, K_SPP_ERROR_NULL_POINTER or K_SPP_ERROR on failure.

Definition at line 564 of file icm20948.c.

References K_ICM20948_DMP_LOAD_START, K_ICM20948_REG_BANK_0, K_ICM20948_REG_MEM_BANK_SEL, K_ICM20948_REG_MEM_R_W, K_ICM20948_REG_MEM_START_ADDR, K_SPP_ERROR_NULL_POINTER, K_SPP_OK, s_dmp3Image, SPP_SERVICES_ICM20948_loadDmp(), SPP_SERVICES_ICM20948_readReg(), SPP_SERVICES_ICM20948_setBank(), and SPP_SERVICES_ICM20948_writeReg().

Referenced by SPP_SERVICES_ICM20948_configDmpInit(), and SPP_SERVICES_ICM20948_loadDmp().

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SPP_SERVICES_ICM20948_configDmpInit()

SPP_RetVal_t SPP_SERVICES_ICM20948_configDmpInit ( void * p_data )

static

Executes the full DMP initialisation sequence.

Resets the device, loads DMP firmware, configures gyroscope/accelerometer full-scale ranges, compass mount matrix, sample-rate dividers and output data rates, then starts the magnetometer and enables the DMP FIFO.

Parameters

p_data

SPI device handle.

Returns

K_SPP_OK on success, K_SPP_ERROR on any step failure.

Definition at line 645 of file icm20948.c.

References ICM20948_RegAccelConfig_t::bits, ICM20948_RegGyroConfig_t::bits, ICM20948_RegIntEnable2_t::bits, ICM20948_RegIntEnable_t::bits, ICM20948_RegLpConf_t::bits, ICM20948_RegPwrMgmt1_t::bits, ICM20948_RegPwrMgmt2_t::bits, ICM20948_RegUserCtrl_t::bits, ICM20948_dmpWriteOutputConfig(), K_ICM20948_ACCEL_FS_4G, K_ICM20948_CLK_AUTO, K_ICM20948_DMP_ACC_SCALE, K_ICM20948_DMP_ACC_SCALE2, K_ICM20948_DMP_ACCEL_A_VAR, K_ICM20948_DMP_ACCEL_ALPHA_VAR, K_ICM20948_DMP_ACCEL_CAL_INIT, K_ICM20948_DMP_ACCEL_ONLY_GAIN, K_ICM20948_DMP_B2S_MTX_00, K_ICM20948_DMP_B2S_MTX_01, K_ICM20948_DMP_B2S_MTX_02, K_ICM20948_DMP_B2S_MTX_10, K_ICM20948_DMP_B2S_MTX_11, K_ICM20948_DMP_B2S_MTX_12, K_ICM20948_DMP_B2S_MTX_20, K_ICM20948_DMP_B2S_MTX_21, K_ICM20948_DMP_B2S_MTX_22, K_ICM20948_DMP_B2S_RATE, K_ICM20948_DMP_BAC_RATE, K_ICM20948_DMP_CPASS_MTX_00, K_ICM20948_DMP_CPASS_MTX_01, K_ICM20948_DMP_CPASS_MTX_02, K_ICM20948_DMP_CPASS_MTX_10, K_ICM20948_DMP_CPASS_MTX_11, K_ICM20948_DMP_CPASS_MTX_12, K_ICM20948_DMP_CPASS_MTX_20, K_ICM20948_DMP_CPASS_MTX_21, K_ICM20948_DMP_CPASS_MTX_22, K_ICM20948_DMP_CPASS_TIME_BUFFER, K_ICM20948_DMP_DATA_RDY_STATUS, K_ICM20948_DMP_FIFO_WATERMARK, K_ICM20948_DMP_GYRO_FULLSCALE, K_ICM20948_DMP_GYRO_SF, K_ICM20948_DMP_ODR_ACCEL, K_ICM20948_DMP_ODR_CPASS, K_ICM20948_DMP_ODR_GYRO, K_ICM20948_DMP_ODR_QUAT6, K_ICM20948_DMP_ODR_QUAT9, K_ICM20948_DMP_START_ADDR_LSB, K_ICM20948_DMP_START_ADDR_MSB, K_ICM20948_GYRO_FS_2000DPS, K_ICM20948_I2C_MST_ODR_CONFIG, K_ICM20948_I2C_SLV1_ADDR, K_ICM20948_I2C_SLV1_CTRL, K_ICM20948_I2C_SLV1_DO, K_ICM20948_I2C_SLV1_REG, K_ICM20948_LOG_TAG, K_ICM20948_MAG_CTRL_2, K_ICM20948_MAG_RD_ADDR, K_ICM20948_MAG_WR_ADDR, K_ICM20948_REG_ACCEL_CONFIG, K_ICM20948_REG_ACCEL_CONFIG_2, K_ICM20948_REG_ACCEL_SMPLRT_DIV_1, K_ICM20948_REG_ACCEL_SMPLRT_DIV_2, K_ICM20948_REG_BANK_0, K_ICM20948_REG_BANK_1, K_ICM20948_REG_BANK_2, K_ICM20948_REG_BANK_3, K_ICM20948_REG_DMP_ADDR_LSB, K_ICM20948_REG_DMP_ADDR_MSB, K_ICM20948_REG_FIFO_CFG, K_ICM20948_REG_FIFO_EN_1, K_ICM20948_REG_FIFO_EN_2, K_ICM20948_REG_GYRO_CONFIG, K_ICM20948_REG_GYRO_SMPLRT_DIV, K_ICM20948_REG_HW_FIX_DISABLE, K_ICM20948_REG_I2C_CTRL, K_ICM20948_REG_INT_ENABLE, K_ICM20948_REG_INT_ENABLE_2, K_ICM20948_REG_LP_CONF, K_ICM20948_REG_PWR_MGMT_1, K_ICM20948_REG_PWR_MGMT_2, K_ICM20948_REG_SINGLE_FIFO_PRIORITY_SEL, K_ICM20948_REG_SLV0_ADDR, K_ICM20948_REG_SLV0_CTRL, K_ICM20948_REG_SLV0_REG, K_ICM20948_REG_TIMEBASE_CORRECTION_PLL, K_ICM20948_REG_USER_CTRL, K_ICM20948_REG_WHO_AM_I, K_ICM20948_WHO_AM_I_VALUE, K_SPP_ERROR, K_SPP_ERROR_NULL_POINTER, K_SPP_OK, SPP_HAL_TIME_delayMs(), SPP_LOGE, SPP_LOGI, SPP_SERVICES_ICM20948_calcGyroSf(), SPP_SERVICES_ICM20948_configDmpInit(), SPP_SERVICES_ICM20948_dmpWrite16(), SPP_SERVICES_ICM20948_dmpWrite32(), SPP_SERVICES_ICM20948_loadDmp(), SPP_SERVICES_ICM20948_lpWakeCycle(), SPP_SERVICES_ICM20948_readReg(), SPP_SERVICES_ICM20948_resetFifo(), SPP_SERVICES_ICM20948_setBank(), SPP_SERVICES_ICM20948_writeReg(), ICM20948_RegAccelConfig2_t::value, ICM20948_RegAccelConfig_t::value, ICM20948_RegFifoCfg_t::value, ICM20948_RegFifoEn1_t::value, ICM20948_RegFifoEn2_t::value, ICM20948_RegGyroConfig_t::value, ICM20948_RegHwFixDisable_t::value, ICM20948_RegIntEnable2_t::value, ICM20948_RegIntEnable_t::value, ICM20948_RegLpConf_t::value, ICM20948_RegPwrMgmt1_t::value, ICM20948_RegPwrMgmt2_t::value, ICM20948_RegSingleFifoPrioritySel_t::value, and ICM20948_RegUserCtrl_t::value.

Referenced by SPP_SERVICES_ICM20948_configDmpInit(), and SPP_SERVICES_ICM20948_init().

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SPP_SERVICES_ICM20948_checkFifoData()

void SPP_SERVICES_ICM20948_checkFifoData ( ICM20948_t * p_ctx )

static

Reads and parses DMP FIFO packets, updating the sensor data fields.

Checks INT_STATUS for a raw-data-ready flag, reads the FIFO count, and processes each complete DMP packet. Resets the FIFO if the count exceeds K_ICM20948_FIFO_RESET_THRESHOLD.

Parameters

p_ctx

Pointer to the ICM20948 driver context.

Definition at line 1632 of file icm20948.c.

References ICM20948_SensorData_t::accuracy, ICM20948_SensorData_t::ax, ICM20948_SensorData_t::ay, ICM20948_SensorData_t::az, ICM20948_SensorData_t::dataReady, ICM20948_SensorData_t::gx, ICM20948_SensorData_t::gy, ICM20948_SensorData_t::gz, K_ICM20948_DMP_PACKET_SIZE_BYTES, K_ICM20948_FIFO_RESET_THRESHOLD, K_ICM20948_LOG_TAG, K_ICM20948_REG_DMP_INT_STATUS, K_ICM20948_REG_FIFO_COUNTH, K_ICM20948_REG_INT_STATUS, K_READ_OP, K_SPP_OK, K_WRITE_OP, ICM20948_t::lastData, ICM20948_SensorData_t::mx, ICM20948_SensorData_t::my, ICM20948_SensorData_t::mz, ICM20948_t::p_spi, ICM20948_SensorData_t::qw, ICM20948_SensorData_t::qx, ICM20948_SensorData_t::qy, ICM20948_SensorData_t::qz, readFifoBurst(), SPP_HAL_SPI_transmit(), SPP_LOGI, SPP_SERVICES_ICM20948_checkFifoData(), and SPP_SERVICES_ICM20948_resetFifo().

Referenced by SPP_SERVICES_ICM20948_acquireData(), and SPP_SERVICES_ICM20948_checkFifoData().

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SPP_SERVICES_ICM20948_initGpio()

void SPP_SERVICES_ICM20948_initGpio ( ICM20948_Data_t * p_icm )

static

Initialises the ICM20948 interrupt context and registers the GPIO ISR.

Parameters

p_icm

Pointer to the ICM20948 interrupt context to initialise.

Definition at line 123 of file icm20948.c.

References ICM20948_Data_t::drdyFlag, ICM20948_Data_t::intIntrType, ICM20948_Data_t::intPin, ICM20948_Data_t::intPull, ICM20948_Data_t::isr_ctx, SPP_GpioIsrCtx_t::p_flag, SPP_HAL_GPIO_configInterrupt(), SPP_HAL_GPIO_registerIsr(), and SPP_SERVICES_ICM20948_initGpio().

Referenced by SPP_SERVICES_ICM20948_init(), and SPP_SERVICES_ICM20948_initGpio().

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SPP_SERVICES_ICM20948_init()

SPP_RetVal_t SPP_SERVICES_ICM20948_init ( void )

static

Service init callback — sets hardware config, registers GPIO ISR, loads DMP firmware.

Returns

K_SPP_OK on success, K_SPP_ERROR on DMP init failure.

Definition at line 135 of file icm20948.c.

References ICM20948_t::icmData, ICM20948_Data_t::intIntrType, ICM20948_t::intIntrType, ICM20948_Data_t::intPin, ICM20948_t::intPin, ICM20948_Data_t::intPull, ICM20948_t::intPull, K_ICM20948_INT_INTR_TYPE, K_ICM20948_INT_PIN_NUM, K_ICM20948_INT_PULL, K_ICM20948_LOG_TAG, K_ICM20948_SPI_HOST_USED, K_SPP_ERROR_NULL_POINTER, K_SPP_OK, ICM20948_t::p_spi, s_icmData, ICM20948_t::seq, ICM20948_t::spiDevIdx, SPP_CORE_FSM_getErrorsBit(), SPP_HAL_SPI_deviceInit(), SPP_HAL_SPI_getHandle(), SPP_LOGE, SPP_LOGI, SPP_SERVICES_ICM20948_configDmpInit(), SPP_SERVICES_ICM20948_init(), and SPP_SERVICES_ICM20948_initGpio().

Referenced by SPP_SERVICES_ICM20948_init().

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SPP_SERVICES_ICM20948_acquireData()

SPP_RetVal_t SPP_SERVICES_ICM20948_acquireData ( SPP_Kpid_t kpid )

static

Service acquire callback — reads FIFO data and publishes a packet.

Called by the service framework on each cycle. Checks the DRDY flag, reads the DMP FIFO, packs 9-axis sensor data into an SPP packet and publishes it.

Returns

K_SPP_OK on success or no data; K_SPP_ERROR if packet allocation or packing fails.

Definition at line 177 of file icm20948.c.

References ICM20948_SensorData_t::accuracy, ICM20948_SensorData_t::ax, ICM20948_SensorData_t::ay, ICM20948_SensorData_t::az, ICM20948_SensorData_t::dataReady, ICM20948_Data_t::drdyFlag, ICM20948_SensorData_t::gx, ICM20948_SensorData_t::gy, ICM20948_SensorData_t::gz, ICM20948_t::icmData, K_ICM20948_LOG_TAG, K_SPP_ERROR, K_SPP_OK, ICM20948_t::lastData, ICM20948_SensorData_t::mx, ICM20948_SensorData_t::my, ICM20948_SensorData_t::mz, ICM20948_SensorData_t::qw, ICM20948_SensorData_t::qx, ICM20948_SensorData_t::qy, ICM20948_SensorData_t::qz, s_icmData, ICM20948_t::seq, SPP_LOGE, SPP_LOGI, SPP_Packet_t, SPP_SERVICES_DATABANK_getPacket(), SPP_SERVICES_DATABANK_packetData(), SPP_SERVICES_DATABANK_returnPacket(), SPP_SERVICES_ICM20948_acquireData(), SPP_SERVICES_ICM20948_checkFifoData(), SPP_SERVICES_PUBSUB_publish(), and SPP_Kpid_t::value.

Referenced by SPP_SERVICES_ICM20948_acquireData().

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SPP_SERVICES_ICM20948_getProducerContract()

const SPP_SERVICE_ProducerContract_t * SPP_SERVICES_ICM20948_getProducerContract

(

void

)

Returns a pointer to the ICM20948 producer contract.

Returns

Pointer to the static producer contract.

Definition at line 106 of file icm20948.c.

References s_icm20948ProducerContract, and SPP_SERVICES_ICM20948_getProducerContract().

Referenced by SPP_SERVICES_ICM20948_getProducerContract().

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Variable Documentation

s_dmp3Image

const spp_uint8_t s_dmp3Image[]

static

Definition at line 85 of file icm20948.c.

Referenced by SPP_SERVICES_ICM20948_loadDmp().

s_icmData

ICM20948_t s_icmData

static

Definition at line 89 of file icm20948.c.

Referenced by SPP_SERVICES_ICM20948_acquireData(), and SPP_SERVICES_ICM20948_init().

s_icm20948ProducerContract

const SPP_SERVICE_ProducerContract_t s_icm20948ProducerContract

static

Initial value:

                                                                       = {
    .p_nameProducer = "icm20948",
    .tiemoutMs = K_ICM20948_TASK_TIMEOUT_MS,
    .init = SPP_SERVICES_ICM20948_init,
    .acquireData = SPP_SERVICES_ICM20948_acquireData,
}

Definition at line 91 of file icm20948.c.

Referenced by SPP_SERVICES_ICM20948_getProducerContract().