src/main/drivers/accgyro/accgyro_spi_icm20649.h

   1 /*
   2  * This file is part of Cleanflight and Betaflight.
   3  *
   4  * Cleanflight and Betaflight are free software. You can redistribute
   5  * this software and/or modify this software under the terms of the
   6  * GNU General Public License as published by the Free Software
   7  * Foundation, either version 3 of the License, or (at your option)
   8  * any later version.
   9  *
  10  * Cleanflight and Betaflight are distributed in the hope that they
  11  * will be useful, but WITHOUT ANY WARRANTY; without even the implied
  12  * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  13  * See the GNU General Public License for more details.
  14  *
  15  * You should have received a copy of the GNU General Public License
  16  * along with this software.
  17  *
  18  * If not, see <http://www.gnu.org/licenses/>.
  19  */
  20
  21 #pragma once
  22
  23 #include "drivers/bus.h"
  24
  25 #define ICM20649_BIT_RESET                  (0x80)
  26
  27 #define ICM20649_RA_REG_BANK_SEL       0x7F
  28
  29 // BANK 0
  30 #define ICM20649_RA_WHO_AM_I           0x00
  31 #define ICM20649_RA_PWR_MGMT_1         0x06
  32 #define ICM20649_RA_PWR_MGMT_2         0x07
  33 #define ICM20649_RA_INT_PIN_CFG        0x0F
  34 #define ICM20649_RA_INT_ENABLE_1       0x11
  35 #define ICM20649_RA_GYRO_XOUT_H        0x33
  36 #define ICM20649_RA_ACCEL_XOUT_H       0x2D
  37
  38 // BANK 2
  39 #define ICM20649_RA_GYRO_SMPLRT_DIV    0x00
  40 #define ICM20649_RA_GYRO_CONFIG_1      0x01
  41 #define ICM20649_RA_ACCEL_CONFIG       0x14
  42
  43 enum icm20649_gyro_fsr_e {
  44     ICM20649_FSR_500DPS = 0,
  45     ICM20649_FSR_1000DPS,
  46     ICM20649_FSR_2000DPS,
  47     ICM20649_FSR_4000DPS,
  48     NUM_ICM20649_GYRO_FSR
  49 };
  50
  51 enum icm20649_accel_fsr_e {
  52     ICM20649_FSR_4G = 0,
  53     ICM20649_FSR_8G,
  54     ICM20649_FSR_16G,
  55     ICM20649_FSR_30G,
  56     NUM_ICM20649_ACCEL_FSR
  57 };
  58
  59 void icm20649AccInit(accDev_t *acc);
  60 void icm20649GyroInit(gyroDev_t *gyro);
  61
  62 uint8_t icm20649SpiDetect(const extDevice_t *dev);
  63
  64 bool icm20649SpiAccDetect(accDev_t *acc);
  65 bool icm20649SpiGyroDetect(gyroDev_t *gyro);
  66
  67 bool icm20649GyroReadSPI(gyroDev_t *gyro);
  68 bool icm20649AccRead(accDev_t *acc);