First version of ICM42670P Arduino library

3 sketches available: Polling_I2C, Polling_SPI, FIFO_Interrupt_SPI

Author: rbuisson-invn

LICENSE

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+Copyright (c) 2022 InvenSense, Inc All rights reserved.
+
+This software, related documentation and any modifications thereto (collectively "Software") is subject
+to InvenSense, Inc and its licencors' intellectual property rights under U.S. and international copyright
+and other intellectual property rights laws.
+
+InvenSense, Inc and its licencors retain all intellectual property and proprietary rights in and to the Software
+and any use, reproduction, disclosure or distribution of the Software without an express license agreement
+from InvenSense, Inc is strictly prohibited.
+
+EXCEPT AS OTHERWISE PROVIDED IN A LICENSE AGREEMENT BETWEEN THE PARTIES, THE SOFTWARE IS
+PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED
+TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT.
+EXCEPT AS OTHERWISE PROVIDED IN A LICENSE AGREEMENT BETWEEN THE PARTIES, IN NO EVENT SHALL
+InvenSense, Inc BE LIABLE FOR ANY DIRECT, SPECIAL, INDIRECT, INCIDENTAL, OR CONSEQUENTIAL DAMAGES, OR ANY
+DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT,
+NEGLIGENCE OR OTHER TORTUOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR PERFORMANCE
+OF THE SOFTWARE.

README.md

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-# sweng.ICM42670P
+![TDKInvensense](doc/pictures/TDKInvensense.jpg)
+
+# ICM42670P Arduino library
+This arduino library for the [TDK/Invensense ICM42670P High Performance 6-Axis MotionTracking<sup>(TM)</sup> IMU](https://invensense.tdk.com/products/motion-tracking/6-axis/icm-42670-p).
+The ICM-42670-P is a high performance 6-axis MEMS MotionTracking device that combines a 3-axis gyroscope and a 3-axis accelerometer. It has a configurable host interface that supports I3C<sup>SM</sup>, I2C, and SPI serial communication, features up to 2.25 Kbytes FIFO and 2 programmable interrupts with ultra-low-power wake-on-motion support to minimize system power consumption.
+This library supports both I2C and SPI commmunication with the ICM42670P.
+
+# Software setup
+Use Arduino Library manager to find and install the ICM42670P library.
+
+# Hardware setup
+There is currenlty no Arduino shield for the ICM42670P.
+The wiring must be done manually between the Arduino motherboard and the ICM42670P daughter board.
+The below wiring description is given for an Arduino Zero board, it depends on the interface to be used:
+* I2C
+
+|Arduino Zero|ICM42670P daughter board|
+| --- | --- |
+| 3V3        | CN4.9 & CN5.10 |
+| GND        | CN5.9          |
+| SDA        | CN5.4          |
+| SCL        | CN5.6          |
+
+* SPI
+
+|Arduino Zero|ICM42670P daughter board|
+| --- | --- |
+| 3V3        | CN4.9 & CN5.10 |
+| GND        | CN5.9          |
+| MISO=SPI.1 | CN4.7          |
+| MOSI=SPI.4 | CN5.4          |
+| SCK=SPI.3  | CN5.6          |
+| CS=DIG.8   | CN5.8          |
+
+Note: SPI Chip Select can be mapped on any free digital IO, updating the sketches accordingly
+
+* Interrupt
+
+|Arduino Zero|ICM42670P daughter board|
+| --- | --- |
+| DIG.2        | CN4.1        |
+
+Note: Interrupt pin can be mapped on any free interruptable IO, updating the sketches accordingly
+
+## Orientation of axes
+
+The diagram below shows the orientation of the axes of sensitivity and the polarity of rotation. Note the pin 1 identifier (•) in the
+figure.
+
+![Orientation of Axes](doc/pictures/OrientationOfAxes.jpg)
+
+# Library API
+
+## Create ICM42670P instance
+
+**ICM42670P(TwoWire &i2c,bool lsb)**
+Create an instance of the ICM42670P that will be accessed using the specified I2C. The LSB of the I2C address can be set to 0 or 1.
+
+```C++
+ICM42670P IMU(Wire,0);
+```
+
+**ICM42670P(SPIClass &spi,uint8_t cs_id)**
+Create an instance of the ICM42670P that will be accessed using the specified SPI. The IO number to be used as chip select must be specified.
+
+```C++
+ICM42670P IMU(SPI,10);
+```
+
+**/!\ This library does NOT support multiple instances of ICM42670P.**
+
+
+## Initialize the ICM42670P
+Call the begin method to execute the ICM42670P initialization routine. 
+
+**int begin()**
+
+Initializes all the required parameters in order to communicate and use the ICM42670P.
+
+```C++
+IMU.begin();
+```
+
+## Log sensor data
+
+**int startAccel(uint16_t odr, uint16_t fsr)**
+
+This method starts logging with the accelerometer, using the specified full scale range and output data rate.
+Supported ODR are: 12, 25, 50, 100, 200, 400, 800, 1600 Hz (any other value defaults to 100 Hz). 
+Supported full scale ranges are: 2, 4, 8, 16 G (any other value defaults to 16 G).
+
+```C++
+IMU.startAccel(100,16);
+```
+
+**int startGyro(uint16_t odr, uint16_t fsr)**
+
+This method starts logging with the gyroscope, using the specified full scale range and output data rate.
+Supported ODR are: 12, 25, 50, 100, 200, 400, 800, 1600 Hz (any other value defaults to 100 Hz). 
+Supported full scale ranges are: 250, 500, 1000, 2000 dps (any other value defaults to 2000 dps).
+
+```C++
+IMU.startGyro(100,2000);
+```
+
+**int getDataFromRegisters(inv_imu_sensor_event_t&ast; evt)**
+
+This method reads the ICM42670P sensor data from registers and fill the provided event structure with sensor raw data.
+Raw data can be translated to International System using the configured FSR for each sensor. Temperature in Degrees Centigrade = (TEMP_DATA / 128) + 25
+
+```C++
+inv_imu_sensor_event_t event;
+IMU.getDataFromRegisters(&event);
+Serial.print("Accel X = ");
+Serial.println(imu_event.accel[0]);
+Serial.print("Accel Y = ");
+Serial.print(imu_event.accel[1]);
+Serial.print("Accel Z = ");
+Serial.print(imu_event.accel[2]);
+Serial.print("Gyro X = ");
+Serial.print(imu_event.gyro[0]);
+Serial.print("Gyro Y = ");
+Serial.print(imu_event.gyro[1]);
+Serial.print("Gyro Z = ");
+Serial.print(imu_event.gyro[2]);
+Serial.print("Temperature = ");
+Serial.println(imu_event.temperature);
+```
+
+**int enableFifoInterrupt(uint8_t intpin, ICM42670P_irq_handler handler, uint8_t fifo_watermark)**
+
+This method initializes the fifo and the interrupt of the ICM42670P. The interrupt is triggered each time there is enough samples in the fifo (as specified by fifo_watermark), and the provided handler is called.
+Any interuptable pin of the Arduino can be used for intpin.
+
+```C++
+uint8_t irq_received = 0;
+
+void irq_handler(void)
+{
+  irq_received = 1;
+}
+...
+
+// Enable interrupt on pin 2
+IMU.enableFifoInterrupt(2,irq_handler);
+```
+
+**int getDataFromFifo(ICM42670P_sensor_event_cb event_cb)**
+
+This method reads the ICM42670P sensor data samples stored in the FIFO and call the provided event handler with the sample event as parameter.
+Raw data can be translated to International System using the configured FSR for each sensor. Temperature in Degrees Centigrade = (TEMP_DATA / 128) + 25
+
+```C++
+void event_cb(inv_imu_sensor_event_t *evt)
+{
+  Serial.print(evt->accel[0]);
+  Serial.print(",");
+  Serial.print(evt->accel[1]);
+  Serial.print(",");
+  Serial.print(evt->accel[2]);
+  Serial.print(",");
+  Serial.print(evt->gyro[0]);
+  Serial.print(",");
+  Serial.print(evt->gyro[1]);
+  Serial.print(",");
+  Serial.print(evt->gyro[2]);
+  Serial.print(",");
+  Serial.println(evt->temperature);
+}
+
+void loop() {
+  // Wait for interrupt to read data from fifo
+  if(irq_received)
+  {
+      irq_received = 0;
+      IMU.getDataFromFifo(event_cb);
+  }
+}
+```
+
+**inv_imu_sensor_event_t**
+
+This structure is used by the ICM42670P driver to return raw sensor data. Available data is:
+|Field name|description|
+| --- | --- |
+| sensor_mask       | Mask describing available data         |
+| timestamp_fsync   | Timestamp in us                        |
+| accel[3]          | 3-axis accel raw data                  |
+| gyro[3]           | 3-axis gyro raw data                   |
+| temperature       | Temperature raw data (on 1 or 2 bytes) |
+| accel_high_res[3] | 3- axis accel lsb in high resolution   |
+| gyro_high_res[3]  | 3- axis gyro LSB in high resolution    |
+
+
+# Available Sketches
+
+**Polling_I2C**
+
+This sketch initializes the ICM42670P with the I2C interface, and starts logging raw sensor data from IMU registers. Sensor data can be monitored on Serial monitor or Serial plotter
+
+**Polling_SPI**
+
+This sketch initializes the ICM42670P with the SPI interface, and starts logging raw sensor data from IMU registers. Sensor data can be monitored on Serial monitor or Serial plotter
+
+**FIFO_Interrupt**
+
+This sketch initializes the ICM42670P with the SPI interface and interrupt PIN2, and starts logging raw sensor data from IMU FIFO. Sensor data can be monitored on Serial monitor or Serial plotter
+
+**IMU data monitoring**
+
+When the ICM42670P IMU is logging, the Accelerometer, Gyroscope and Temperature raw data can be monitored with the Arduino Serial Plotter (Tools->Serial Plotter).
+
+![Serial Plotter](doc/pictures/SerialPlotter.jpg)
+

doc/DS-000451-ICM-42670-P-v1.0.pdf

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+#include "ICM42670P.h"
+
+// Instantiate an ICM42670P with SPI interface and CS on pin 8
+ICM42670P IMU(SPI,8);
+
+uint8_t irq_received = 0;
+
+void irq_handler(void) {
+  irq_received = 1;
+}
+
+void event_cb(inv_imu_sensor_event_t *evt) {
+  // Format data for Serial Plotter
+  Serial.print(evt->accel[0]);
+  Serial.print(",");
+  Serial.print(evt->accel[1]);
+  Serial.print(",");
+  Serial.print(evt->accel[2]);
+  Serial.print(",");
+  Serial.print(evt->gyro[0]);
+  Serial.print(",");
+  Serial.print(evt->gyro[1]);
+  Serial.print(",");
+  Serial.print(evt->gyro[2]);
+  Serial.print(",");
+  Serial.println(evt->temperature);
+}
+
+void setup() {
+  int ret;
+  Serial.begin(115200);
+  while(!Serial) {}
+
+  // Initializing the ICM42670P
+  ret = IMU.begin();
+  if (ret != 0) {
+    Serial.print("ICM42670P initialization failed: ");
+    Serial.println(ret);
+    while(1);
+  }
+  // Enable interrupt on pin 2, Fifo watermark=10
+  IMU.enableFifoInterrupt(2,irq_handler,10);
+  // Accel ODR = 100 Hz and Full Scale Range = 16G
+  IMU.startAccel(100,16);
+  // Gyro ODR = 100 Hz and Full Scale Range = 2000 dps
+  IMU.startGyro(100,2000);
+  // Plotter axis header
+  Serial.println("AccelX,AccelY,AccelZ,GyroX,GyroY,GyroZ,Temperature");
+}
+
+void loop() {
+  // Wait for interrupt to read data from fifo
+  if(irq_received) {
+      irq_received = 0;
+      IMU.getDataFromFifo(event_cb);
+  }
+}

doc/pictures/OrientationOfAxes.jpg

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+#include "ICM42670P.h"
+
+// Instantiate an ICM42670P with LSB address set to 0
+ICM42670P IMU(Wire,0);
+
+void setup() {
+  int ret;
+  Serial.begin(115200);
+  while(!Serial) {}
+
+  // Initializing the ICM42670P
+  ret = IMU.begin();
+  if (ret != 0) {
+    Serial.print("ICM42670P initialization failed: ");
+    Serial.println(ret);
+    while(1);
+  }
+  // Accel ODR = 100 Hz and Full Scale Range = 16G
+  IMU.startAccel(100,16);
+  // Gyro ODR = 100 Hz and Full Scale Range = 2000 dps
+  IMU.startGyro(100,2000);
+  // Plotter axis header
+  Serial.println("AccelX,AccelY,AccelZ,GyroX,GyroY,GyroZ,Temperature");
+}
+
+void loop() {
+
+  inv_imu_sensor_event_t imu_event;
+
+  // Get last event
+  IMU.getDataFromRegisters(&imu_event);
+
+  // Format data for Serial Plotter
+  Serial.print(imu_event.accel[0]);
+  Serial.print(",");
+  Serial.print(imu_event.accel[1]);
+  Serial.print(",");
+  Serial.print(imu_event.accel[2]);
+  Serial.print(",");
+  Serial.print(imu_event.gyro[0]);
+  Serial.print(",");
+  Serial.print(imu_event.gyro[1]);
+  Serial.print(",");
+  Serial.print(imu_event.gyro[2]);
+  Serial.print(",");
+  Serial.println(imu_event.temperature);
+
+  // Run @ ODR 100Hz
+  delay(10);
+}

doc/pictures/SerialPlotter.jpg

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+#include "ICM42670P.h"
+
+// Instantiate an ICM42670P with SPI interface and CS on pin 8
+ICM42670P IMU(SPI,8);
+
+void setup() {
+  int ret;
+  Serial.begin(115200);
+  while(!Serial) {}
+
+  // Initializing the ICM42670P
+  ret = IMU.begin();
+  if (ret != 0) {
+    Serial.print("ICM42670P initialization failed: ");
+    Serial.println(ret);
+    while(1);
+  }
+  // Accel ODR = 100 Hz and Full Scale Range = 16G
+  IMU.startAccel(100,16);
+  // Gyro ODR = 100 Hz and Full Scale Range = 2000 dps
+  IMU.startGyro(100,2000);
+  // Plotter axis header
+  Serial.println("AccelX,AccelY,AccelZ,GyroX,GyroY,GyroZ,Temperature");
+}
+
+void loop() {
+
+  inv_imu_sensor_event_t imu_event;
+
+  // Get last event
+  IMU.getDataFromRegisters(&imu_event);
+
+  // Format data for Serial Plotter
+  Serial.print(imu_event.accel[0]);
+  Serial.print(",");
+  Serial.print(imu_event.accel[1]);
+  Serial.print(",");
+  Serial.print(imu_event.accel[2]);
+  Serial.print(",");
+  Serial.print(imu_event.gyro[0]);
+  Serial.print(",");
+  Serial.print(imu_event.gyro[1]);
+  Serial.print(",");
+  Serial.print(imu_event.gyro[2]);
+  Serial.print(",");
+  Serial.println(imu_event.temperature);
+
+  // Run @ ODR 100Hz
+  delay(10);
+}