76 lines
1.8 KiB
C
76 lines
1.8 KiB
C
#ifndef TDK_ICM42688_H
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#define TDK_ICM42688_H
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#include <stdbool.h>
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#include <stdint.h>
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#include "fusion_measurement.h"
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#ifndef TDK_IMU_RAW_QUEUE_CAPACITY
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#define TDK_IMU_RAW_QUEUE_CAPACITY 256u
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#endif
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#ifndef TDK_IMU_ODR_HZ
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#define TDK_IMU_ODR_HZ 500u
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#endif
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typedef enum {
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TDK_ACCEL_FS_2G = 2,
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TDK_ACCEL_FS_4G = 4,
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TDK_ACCEL_FS_8G = 8,
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TDK_ACCEL_FS_16G = 16
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} tdk_accel_full_scale_t;
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typedef enum {
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TDK_GYRO_FS_15D625 = 15625,
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TDK_GYRO_FS_31D25 = 31250,
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TDK_GYRO_FS_62D5 = 62500,
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TDK_GYRO_FS_125 = 125000,
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TDK_GYRO_FS_250 = 250000,
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TDK_GYRO_FS_500 = 500000,
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TDK_GYRO_FS_1000 = 1000000,
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TDK_GYRO_FS_2000 = 2000000
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} tdk_gyro_full_scale_mdps_t;
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typedef struct {
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uint32_t odr_hz;
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tdk_accel_full_scale_t accel_full_scale_g;
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tdk_gyro_full_scale_mdps_t gyro_full_scale_mdps;
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uint8_t ui_filter_config;
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} tdk_icm42688_config_t;
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typedef struct {
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uint64_t timestamp_ticks;
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int16_t temperature_raw;
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int16_t accel_raw[3];
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int16_t gyro_raw[3];
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uint32_t sequence;
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} tdk_icm42688_raw_sample_t;
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typedef struct {
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uint64_t irq_count;
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uint64_t sample_count;
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uint64_t invalid_sample_count;
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uint64_t spurious_irq_count;
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uint64_t queue_overflow_count;
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uint64_t estimated_missed_sample_count;
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uint64_t last_timestamp_ticks;
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uint8_t who_am_i;
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bool initialized;
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bool running;
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} tdk_icm42688_diagnostics_t;
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void tdk_icm42688_default_config(tdk_icm42688_config_t* config);
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bool tdk_icm42688_init(const tdk_icm42688_config_t* config);
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bool tdk_icm42688_start(void);
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void tdk_icm42688_stop(void);
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/* Called only by the common PLIC ISR for BSP_PMOD_IRQ. */
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void tdk_icm42688_irq_handler(void);
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/* Foreground conversion; no floating-point work is performed in the ISR. */
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bool tdk_icm42688_take_measurement(fusion_imu_measurement_t* measurement_out);
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void tdk_icm42688_get_diagnostics(tdk_icm42688_diagnostics_t* diagnostics_out);
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#endif
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