Merge pull request #585 from sindarin-inc/icm42670-mreg

feat(icm42670): Expose functions for reading/writing registers (BSP-685)

Author: tore-espressif

components/icm42670/icm42670.c

@@ -11,6 +11,7 @@
 #include <sys/time.h>
 #include "esp_system.h"
 #include "esp_check.h"
+#include "esp_rom_sys.h"
 #include "icm42670.h"
 
 #define I2C_CLK_SPEED 400000
@@ -414,3 +415,66 @@ esp_err_t icm42670_complimentory_filter(icm42670_handle_t sensor, const icm42670
 
     return ESP_OK;
 }
+
+esp_err_t icm42670_read_register(icm42670_handle_t sensor, uint8_t reg, uint8_t *val)
+{
+    return icm42670_read(sensor, reg, val, 1);
+}
+
+esp_err_t icm42670_write_register(icm42670_handle_t sensor, uint8_t reg, uint8_t val)
+{
+    return icm42670_write(sensor, reg, &val, 1);
+}
+
+esp_err_t icm42670_read_mreg_register(icm42670_handle_t sensor, uint8_t mreg, uint8_t reg,
+                                      uint8_t *val)
+{
+    uint8_t blk_sel_r = 0;
+    if (mreg == 1) {
+        blk_sel_r = 0;
+    } else if (mreg == 2) {
+        blk_sel_r = 0x28;
+    } else if (mreg == 3) {
+        blk_sel_r = 0x50;
+    } else {
+        ESP_LOGE(TAG, "Invalid MREG value %d", mreg);
+        return ESP_ERR_INVALID_ARG;
+    }
+    ESP_RETURN_ON_ERROR(icm42670_write(sensor, ICM42670_BLK_SEL_R, &blk_sel_r, 1), TAG,
+                        "Failed to set BLK_SEL_R");
+    ESP_RETURN_ON_ERROR(icm42670_write(sensor, ICM42670_MADDR_R, &reg, 1), TAG,
+                        "Failed to set MADDR_R");
+
+    esp_rom_delay_us(10);
+
+    ESP_RETURN_ON_ERROR(icm42670_read(sensor, ICM42670_M_R, val, 1), TAG, "Failed to read M_R");
+
+    esp_rom_delay_us(10);
+
+    return ESP_OK;
+}
+
+esp_err_t icm42670_write_mreg_register(icm42670_handle_t sensor, uint8_t mreg, uint8_t reg,
+                                       uint8_t val)
+{
+    uint8_t blk_sel_w = 0;
+    if (mreg == 1) {
+        blk_sel_w = 0;
+    } else if (mreg == 2) {
+        blk_sel_w = 0x28;
+    } else if (mreg == 3) {
+        blk_sel_w = 0x50;
+    } else {
+        ESP_LOGE(TAG, "Invalid MREG value %d", mreg);
+        return ESP_ERR_INVALID_ARG;
+    }
+    ESP_RETURN_ON_ERROR(icm42670_write(sensor, ICM42670_BLK_SEL_W, &blk_sel_w, 1), TAG,
+                        "Failed to set BLK_SEL_W");
+    ESP_RETURN_ON_ERROR(icm42670_write(sensor, ICM42670_MADDR_W, &reg, 1), TAG,
+                        "Failed to set MADDR_W");
+    ESP_RETURN_ON_ERROR(icm42670_write(sensor, ICM42670_M_W, &val, 1), TAG, "Failed to set M_W");
+
+    esp_rom_delay_us(10);
+
+    return ESP_OK;
+}

components/icm42670/idf_component.yml

@@ -1,4 +1,4 @@
-version: "2.0.1"
+version: "2.0.2"
 description: I2C driver for ICM 42670 6-Axis MotionTracking
 url: https://github.com/espressif/esp-bsp/tree/master/components/icm42670
 dependencies:

components/icm42670/include/icm42670.h

@@ -15,6 +15,34 @@ extern "C" {
 #define ICM42670_I2C_ADDRESS         0x68 /*!< I2C address with AD0 pin low */
 #define ICM42670_I2C_ADDRESS_1       0x69 /*!< I2C address with AD0 pin high */
 
+#define ICM42670_SIGNAL_PATH_RESET   0x02 /*!< Signal path reset */
+#define ICM42670_INT_CONFIG          0x06 /*!< Interrupt configuration */
+#define ICM42670_PWR_MGMT0           0x1F /*!< Power management 0 */
+#define ICM42670_APEX_CONFIG0        0x25 /*!< APEX configuration 0 */
+#define ICM42670_APEX_CONFIG1        0x26 /*!< APEX configuration 1 */
+#define ICM42670_WOM_CONFIG          0x27 /*!< Wake on Motion configuration */
+#define ICM42670_INT_SOURCE0         0x2B /*!< Interrupt source 0 */
+#define ICM42670_INT_SOURCE1         0x2C /*!< Interrupt source 1 */
+#define ICM42670_INTF_CONFIG0        0x35 /*!< Interface configuration 0 */
+#define ICM42670_INTF_CONFIG1        0x36 /*!< Interface configuration 1 */
+#define ICM42670_INT_STATUS          0x3A /*!< Interrupt status */
+#define ICM42670_INT_STATUS2         0x3B /*!< Interrupt status 2 */
+#define ICM42670_INT_STATUS3         0x3C /*!< Interrupt status 3 */
+#define ICM42670_BLK_SEL_W           0x79 /*! Select MREG1, MREG2, or MREG3 bank for writing */
+#define ICM42670_MADDR_W             0x7A /*! Set MREG* register address for writing */
+#define ICM42670_M_W                 0x7B /*! Write MREG* register value */
+#define ICM42670_BLK_SEL_R           0x7C /*! Select MREG1, MREG2, or MREG3 bank for reading */
+#define ICM42670_MADDR_R             0x7D /*! Set MREG* register address for reading */
+#define ICM42670_M_R                 0x7E /*! Read MREG* register value */
+
+// MREG1 Registers
+#define ICM42670_MREG1_INT_CONFIG0      0x04 /*!< Interrupt configuration 0 */
+#define ICM42670_MREG1_INT_CONFIG1      0x05 /*!< Interrupt configuration 1 */
+#define ICM42670_MREG1_ACCEL_WOM_X_THR  0x4B /*!< WOM X threshold */
+#define ICM42670_MREG1_ACCEL_WOM_Y_THR  0x4C /*!< WOM Y threshold */
+#define ICM42670_MREG1_ACCEL_WOM_Z_THR  0x4D /*!< WOM Z threshold */
+
+
 typedef enum {
     ACCE_FS_16G = 0,     /*!< Accelerometer full scale range is +/- 16g */
     ACCE_FS_8G  = 1,     /*!< Accelerometer full scale range is +/- 8g */
@@ -273,6 +301,64 @@ esp_err_t icm42670_get_temp_value(icm42670_handle_t sensor, float *value);
 esp_err_t icm42670_complimentory_filter(icm42670_handle_t sensor, const icm42670_value_t *acce_value,
                                         const icm42670_value_t *gyro_value, complimentary_angle_t *complimentary_angle);
 
+/**
+ * @brief Read a register
+ *
+ * @param sensor object handle of icm42670
+ * @param reg register address
+ * @param val value of the register
+ *
+ * @return
+ *     - ESP_OK Success
+ *     - ESP_FAIL Fail
+ */
+esp_err_t icm42670_read_register(icm42670_handle_t sensor, uint8_t reg, uint8_t *val);
+
+/**
+ * @brief Write to a register
+ *
+ * @param sensor object handle of icm42670
+ * @param reg register address
+ * @param val value to write
+ *
+ * @return
+ *     - ESP_OK Success
+ *     - ESP_FAIL Fail
+ */
+esp_err_t icm42670_write_register(icm42670_handle_t sensor, uint8_t reg, uint8_t val);
+
+/**
+ * @brief Read from a MREG register
+ *
+ * @param sensor object handle of icm42670
+ * @param mreg which MREG bank to write (1-3)
+ * @param reg register address
+ * @param data data read
+ *
+ * @return
+ *     - ESP_OK Success
+ *     - ESP_INVALID_ARG Invalid MREG
+ *     - ESP_FAIL Fail
+ */
+esp_err_t icm42670_read_mreg_register(icm42670_handle_t sensor, uint8_t mreg, uint8_t reg,
+                                      uint8_t *val);
+
+/**
+ * @brief Write to a MREG register
+ *
+ * @param sensor object handle of icm42670
+ * @param mreg which MREG bank to write (1-3)
+ * @param reg register address
+ * @param data data to write
+ *
+ * @return
+ *     - ESP_OK Success
+ *     - ESP_INVALID_ARG Invalid MREG
+ *     - ESP_FAIL Fail
+ */
+esp_err_t icm42670_write_mreg_register(icm42670_handle_t sensor, uint8_t mreg, uint8_t reg,
+                                       uint8_t val);
+
 #ifdef __cplusplus
 }
 #endif