feat(icm42670): add support for spi interface in icm42670 (BSP-782)

components/sensors/icm42670/CMakeLists.txt

@@ -1,5 +1,5 @@
 if("${IDF_VERSION_MAJOR}.${IDF_VERSION_MINOR}" VERSION_GREATER_EQUAL "5.3")
-    set(REQ esp_driver_i2c)
+    set(REQ esp_driver_i2c esp_driver_spi)
 else()
     set(REQ driver)
 endif()

components/sensors/icm42670/README.md

@@ -3,7 +3,7 @@
 [![Component Registry](https://components.espressif.com/components/espressif/icm42670/badge.svg)](https://components.espressif.com/components/espressif/icm42670)
 ![maintenance-status](https://img.shields.io/badge/maintenance-passively--maintained-yellowgreen.svg)
 
-C driver for Invensense ICM42607/ICM42670 6-axis gyroscope and accelerometer based on I2C communication.
+C driver for Invensense ICM42607/ICM42670 6-axis gyroscope and accelerometer based on I2C/SPI communication.
 
 ## Features
 
@@ -12,10 +12,6 @@ C driver for Invensense ICM42607/ICM42670 6-axis gyroscope and accelerometer bas
 - Configure gyroscope and accelerometer sensitivity.
 - ICM42607/ICM42670 power down mode.
 
-## Limitations
-
-- Only I2C communication is supported.
-
 ## Get Started
 
 This driver, along with many other components from this repository, can be used as a package from [Espressif's IDF Component Registry](https://components.espressif.com). To include this driver in your project, run the following idf.py from the project's root directory:

components/sensors/icm42670/icm42670.c

@@ -16,103 +16,128 @@
 #include "iot_sensor_hub.h"
 #include "icm42670.h"
 
-#define I2C_CLK_SPEED 400000
+#define ICM42670_I2C_CLK_SPEED 400000
+#define ICM42670_SPI_CLK_SPEED 1000000
 
-#define ALPHA                       0.97f        /*!< Weight of gyroscope */
-#define RAD_TO_DEG                  57.27272727f /*!< Radians to degrees */
+#define ALPHA 0.97f             /*!< Weight of gyroscope */
+#define RAD_TO_DEG 57.27272727f /*!< Radians to degrees */
 
 #define ICM42607_ID 0x60
 #define ICM42670_ID 0x67
 
 /* ICM42670 register */
-#define ICM42670_WHOAMI         0x75
-#define ICM42670_GYRO_CONFIG0   0x20
-#define ICM42670_ACCEL_CONFIG0  0x21
-#define ICM42670_TEMP_CONFIG    0x22
-#define ICM42670_PWR_MGMT0      0x1F
-#define ICM42670_TEMP_DATA      0x09
-#define ICM42670_ACCEL_DATA     0x0B
-#define ICM42670_GYRO_DATA      0x11
+#define ICM42670_WHOAMI 0x75
+#define ICM42670_GYRO_CONFIG0 0x20
+#define ICM42670_ACCEL_CONFIG0 0x21
+#define ICM42670_TEMP_CONFIG 0x22
+#define ICM42670_PWR_MGMT0 0x1F
+#define ICM42670_TEMP_DATA 0x09
+#define ICM42670_ACCEL_DATA 0x0B
+#define ICM42670_GYRO_DATA 0x11
 
 /* Sensitivity of the gyroscope */
 #define GYRO_FS_2000_SENSITIVITY (16.4)
 #define GYRO_FS_1000_SENSITIVITY (32.8)
-#define GYRO_FS_500_SENSITIVITY  (65.5)
-#define GYRO_FS_250_SENSITIVITY  (131.0)
+#define GYRO_FS_500_SENSITIVITY (65.5)
+#define GYRO_FS_250_SENSITIVITY (131.0)
 
 /* Sensitivity of the accelerometer */
 #define ACCE_FS_16G_SENSITIVITY (2048)
-#define ACCE_FS_8G_SENSITIVITY  (4096)
-#define ACCE_FS_4G_SENSITIVITY  (8192)
-#define ACCE_FS_2G_SENSITIVITY  (16384)
+#define ACCE_FS_8G_SENSITIVITY (4096)
+#define ACCE_FS_4G_SENSITIVITY (8192)
+#define ACCE_FS_2G_SENSITIVITY (16384)
 
 /*******************************************************************************
-* Types definitions
-*******************************************************************************/
+ * Types definitions
+ *******************************************************************************/
 
 typedef struct {
+    bool using_spi;
+    spi_device_handle_t spi_handle;
     i2c_master_dev_handle_t i2c_handle;
     bool initialized_filter;
     uint64_t previous_measurement_us;
     complimentary_angle_t previous_measurement;
 } icm42670_dev_t;
 
 /*******************************************************************************
-* Function definitions
-*******************************************************************************/
+ * Function definitions
+ *******************************************************************************/
 static esp_err_t icm42670_write(icm42670_handle_t sensor, const uint8_t reg_start_addr, const uint8_t *data_buf,
                                 const uint8_t data_len);
 static esp_err_t icm42670_read(icm42670_handle_t sensor, const uint8_t reg_start_addr, uint8_t *data_buf,
                                const uint8_t data_len);
 
 static esp_err_t icm42670_get_raw_value(icm42670_handle_t sensor, uint8_t reg, icm42670_raw_value_t *value);
-
+static esp_err_t check_device_present(icm42670_handle_t sensor);
 /*******************************************************************************
-* Local variables
-*******************************************************************************/
+ * Local variables
+ *******************************************************************************/
 static const char *TAG = "ICM42670";
 
 /*******************************************************************************
-* Public API functions
-*******************************************************************************/
+ * Public API functions
+ *******************************************************************************/
 
 esp_err_t icm42670_create(i2c_master_bus_handle_t i2c_bus, const uint8_t dev_addr, icm42670_handle_t *handle_ret)
 {
     esp_err_t ret = ESP_OK;
 
     // Allocate memory and init the driver object
-    icm42670_dev_t *sensor = (icm42670_dev_t *) calloc(1, sizeof(icm42670_dev_t));
-    ESP_RETURN_ON_FALSE(sensor != NULL, ESP_ERR_NO_MEM, TAG, "Not enough memory");
+    icm42670_dev_t *sensor = (icm42670_dev_t *)calloc(1, sizeof(icm42670_dev_t));
+    ESP_RETURN_ON_FALSE(sensor, ESP_ERR_NO_MEM, TAG, "Not enough memory");
 
     // Add new I2C device
     const i2c_device_config_t i2c_dev_cfg = {
         .device_address = dev_addr,
-        .scl_speed_hz = I2C_CLK_SPEED,
+        .scl_speed_hz = ICM42670_I2C_CLK_SPEED,
     };
     ESP_GOTO_ON_ERROR(i2c_master_bus_add_device(i2c_bus, &i2c_dev_cfg, &sensor->i2c_handle), err, TAG,
                       "Failed to add new I2C device");
     assert(sensor->i2c_handle);
 
     // Check device presence
-    uint8_t dev_id = 0;
-    icm42670_get_deviceid(sensor, &dev_id);
-    ESP_GOTO_ON_FALSE(dev_id == ICM42607_ID
-                      || dev_id == ICM42670_ID, ESP_ERR_NOT_FOUND, err, TAG, "Incorrect Device ID (0x%02x).", dev_id);
+    ESP_GOTO_ON_ERROR(check_device_present(sensor), err, TAG, "Incorrect device ID received");
 
-    ESP_LOGD(TAG, "Found device %s, ID: 0x%02x", (dev_id == ICM42607_ID ? "ICM42607" : "ICM42670"), dev_id);
     *handle_ret = sensor;
+    return ESP_OK;
+
+err:
+    icm42670_delete(sensor);
     return ret;
+}
+
+esp_err_t icm42670_create_spi(spi_host_device_t spi_bus, gpio_num_t cs_pin, icm42670_handle_t *handle_ret)
+{
+    esp_err_t ret = ESP_OK;
+    icm42670_dev_t *sensor = (icm42670_dev_t *)calloc(1, sizeof(icm42670_dev_t));
+    ESP_RETURN_ON_FALSE(sensor, ESP_ERR_NO_MEM, TAG, "Not enough memory");
+    sensor->using_spi = true;
+
+    spi_device_interface_config_t dev_cfg = {
+        .clock_speed_hz = ICM42670_SPI_CLK_SPEED,
+        .spics_io_num = cs_pin,
+        .mode = 3,
+        .queue_size = 1,
+    };
+    ESP_GOTO_ON_ERROR(spi_bus_add_device(spi_bus, &dev_cfg, &sensor->spi_handle), err, TAG, "Failed to add new SPI device");
+    assert(sensor->spi_handle);
 
+    ESP_GOTO_ON_ERROR(check_device_present(sensor), err, TAG, "Incorrect device ID received");
+
+    *handle_ret = sensor;
+    return ESP_OK;
 err:
     icm42670_delete(sensor);
     return ret;
 }
 
 void icm42670_delete(icm42670_handle_t sensor)
 {
-    icm42670_dev_t *sens = (icm42670_dev_t *) sensor;
-
-    if (sens->i2c_handle) {
+    icm42670_dev_t *sens = (icm42670_dev_t *)sensor;
+    if (sens->using_spi && sens->spi_handle) {
+        spi_bus_remove_device(sens->spi_handle);
+    } else if (sens->i2c_handle) {
         i2c_master_bus_rm_device(sens->i2c_handle);
     }
 
@@ -333,9 +358,23 @@ esp_err_t icm42670_get_temp_value(icm42670_handle_t sensor, float *value)
 }
 
 /*******************************************************************************
-* Private functions
-*******************************************************************************/
+ * Private functions
+ *******************************************************************************/
 
+static esp_err_t check_device_present(icm42670_handle_t sensor)
+{
+    uint8_t dev_id = 0;
+    esp_err_t ret = icm42670_get_deviceid(sensor, &dev_id);
+    if (ret != ESP_OK) {
+        return ret;
+    }
+    if (dev_id != ICM42607_ID && dev_id != ICM42670_ID) {
+        ESP_LOGD(TAG, "Incorrect Device ID (0x%02x).", dev_id);
+        return ESP_ERR_NOT_FOUND;
+    }
+    ESP_LOGD(TAG, "Found device %s, ID: 0x%02x", (dev_id == ICM42607_ID ? "ICM42607" : "ICM42670"), dev_id);
+    return ESP_OK;
+}
 static esp_err_t icm42670_get_raw_value(icm42670_handle_t sensor, uint8_t reg, icm42670_raw_value_t *value)
 {
     esp_err_t ret = ESP_FAIL;
@@ -360,30 +399,52 @@ static esp_err_t icm42670_get_raw_value(icm42670_handle_t sensor, uint8_t reg, i
 static esp_err_t icm42670_write(icm42670_handle_t sensor, const uint8_t reg_start_addr, const uint8_t *data_buf,
                                 const uint8_t data_len)
 {
-    icm42670_dev_t *sens = (icm42670_dev_t *) sensor;
+    icm42670_dev_t *sens = (icm42670_dev_t *)sensor;
     assert(sens);
 
     assert(data_len < 5);
     uint8_t write_buff[5] = {reg_start_addr};
     memcpy(&write_buff[1], data_buf, data_len);
-    return i2c_master_transmit(sens->i2c_handle, write_buff, data_len + 1, -1);
+    if (sens->using_spi) {
+        spi_transaction_t trans = {
+            .length = (data_len + 1) * 8, // Total length in bits
+            .tx_buffer = write_buff,
+        };
+        return spi_device_transmit(sens->spi_handle, &trans);
+    } else {
+        return i2c_master_transmit(sens->i2c_handle, write_buff, data_len + 1, -1);
+    }
 }
-
 static esp_err_t icm42670_read(icm42670_handle_t sensor, const uint8_t reg_start_addr, uint8_t *data_buf,
                                const uint8_t data_len)
 {
-    uint8_t reg_buff[] = {reg_start_addr};
-    icm42670_dev_t *sens = (icm42670_dev_t *) sensor;
-    assert(sens);
-
-    /* Write register number and read data */
-    return i2c_master_transmit_receive(sens->i2c_handle, reg_buff, sizeof(reg_buff), data_buf, data_len, -1);
+    icm42670_dev_t *sens = (icm42670_dev_t *)sensor;
+    assert(sens && data_buf && data_len <= 6);
+    esp_err_t ret;
+    if (sens->using_spi) {
+        uint8_t tx_buf[7] = {reg_start_addr | 0x80}; // Set MSB for read operation
+        uint8_t rx_buf[7] = {0};                     // Buffer to receive data (including the register address)
+        spi_transaction_t trans = {
+            .length = (data_len + 1) * 8, // Total length in bits
+            .tx_buffer = tx_buf,
+            .rx_buffer = rx_buf,
+        };
+        ret = spi_device_transmit(sens->spi_handle, &trans);
+        if (ret == ESP_OK) {
+            memcpy(data_buf, &rx_buf[1], data_len); // Skip the first byte (register address)
+        }
+    } else {
+        uint8_t reg_buff[] = {reg_start_addr};
+        /* Write register number and read data */
+        ret = i2c_master_transmit_receive(sens->i2c_handle, reg_buff, sizeof(reg_buff), data_buf, data_len, -1);
+    }
+    return ret;
 }
 
 esp_err_t icm42670_complimentory_filter(icm42670_handle_t sensor, const icm42670_value_t *const acce_value,
                                         const icm42670_value_t *const gyro_value, complimentary_angle_t *const complimentary_angle)
 {
-    icm42670_dev_t *sens = (icm42670_dev_t *) sensor;
+    icm42670_dev_t *sens = (icm42670_dev_t *)sensor;
     float measurement_delta;
     uint64_t current_time_us;
     float acc_roll_angle;
@@ -392,9 +453,11 @@ esp_err_t icm42670_complimentory_filter(icm42670_handle_t sensor, const icm42670
     float gyro_pitch_angle;
 
     acc_roll_angle = (atan2(acce_value->y,
-                            sqrt(acce_value->x * acce_value->x + acce_value->z * acce_value->z)) * RAD_TO_DEG);
+                            sqrt(acce_value->x * acce_value->x + acce_value->z * acce_value->z)) *
+                      RAD_TO_DEG);
     acc_pitch_angle = (atan2(-acce_value->x,
-                             sqrt(acce_value->y * acce_value->y + acce_value->z * acce_value->z)) * RAD_TO_DEG);
+                             sqrt(acce_value->y * acce_value->y + acce_value->z * acce_value->z)) *
+                       RAD_TO_DEG);
 
     if (!sens->initialized_filter) {
         sens->initialized_filter = true;
@@ -411,9 +474,11 @@ esp_err_t icm42670_complimentory_filter(icm42670_handle_t sensor, const icm42670
     gyro_pitch_angle = gyro_value->y * measurement_delta;
 
     complimentary_angle->roll = (ALPHA * (sens->previous_measurement.roll + gyro_roll_angle)) + ((
-                                    1 - ALPHA) * acc_roll_angle);
+                                    1 - ALPHA) *
+                                acc_roll_angle);
     complimentary_angle->pitch = (ALPHA * (sens->previous_measurement.pitch + gyro_pitch_angle)) + ((
-                                     1 - ALPHA) * acc_pitch_angle);
+                                     1 - ALPHA) *
+                                 acc_pitch_angle);
 
     sens->previous_measurement.roll = complimentary_angle->roll;
     sens->previous_measurement.pitch = complimentary_angle->pitch;
@@ -519,13 +584,13 @@ esp_err_t icm42670_impl_deinit(void)
     return ESP_OK;
 }
 
-esp_err_t icm42670_impl_test (void)
+esp_err_t icm42670_impl_test(void)
 {
     uint8_t device_id;
     return icm42670_get_deviceid(sensor_hub_icm42670_handle, &device_id);
 }
 
-esp_err_t icm42670_impl_acquire_acce (float *acce_x, float *acce_y, float *acce_z)
+esp_err_t icm42670_impl_acquire_acce(float *acce_x, float *acce_y, float *acce_z)
 {
     icm42670_value_t value;
     ESP_RETURN_ON_ERROR(icm42670_get_acce_value(sensor_hub_icm42670_handle, &value), TAG,

components/sensors/icm42670/idf_component.yml

@@ -1,5 +1,5 @@
 version: 2.1.0
-description: I2C driver for ICM 42670 6-Axis MotionTracking
+description: I2C/SPI driver for ICM 42670 6-Axis MotionTracking
 url: https://github.com/espressif/esp-bsp/tree/master/components/sensors/icm42670
 dependencies:
   idf: ">=5.2"