From cc4d5bd2a66f5a68c8e1b5850545376449e41dd4 Mon Sep 17 00:00:00 2001 From: Jukka Laitinen Date: Tue, 13 Aug 2024 13:40:49 +0300 Subject: [PATCH] icm40609d: Add INTF register definition and disable I2C interface Disable I2C to make sure that the sensor doesn't switch to that by accident Signed-off-by: Jukka Laitinen --- src/drivers/imu/invensense/icm40609d/ICM40609D.hpp | 3 ++- .../icm40609d/InvenSense_ICM40609D_registers.hpp | 12 ++++++++++++ 2 files changed, 14 insertions(+), 1 deletion(-) diff --git a/src/drivers/imu/invensense/icm40609d/ICM40609D.hpp b/src/drivers/imu/invensense/icm40609d/ICM40609D.hpp index ab6fcfa1f27b..882e11a91ee8 100644 --- a/src/drivers/imu/invensense/icm40609d/ICM40609D.hpp +++ b/src/drivers/imu/invensense/icm40609d/ICM40609D.hpp @@ -160,10 +160,11 @@ class ICM40609D : public device::SPI, public I2CSPIDriver int32_t _fifo_gyro_samples{static_cast(_fifo_empty_interval_us / (1000000 / GYRO_RATE))}; uint8_t _checked_register_bank0{0}; - static constexpr uint8_t size_register_bank0_cfg{10}; + static constexpr uint8_t size_register_bank0_cfg{11}; register_bank0_config_t _register_bank0_cfg[size_register_bank0_cfg] { // Register | Set bits, Clear bits { Register::BANK_0::INT_CONFIG, INT_CONFIG_BIT::INT1_MODE | INT_CONFIG_BIT::INT1_DRIVE_CIRCUIT, INT_CONFIG_BIT::INT1_POLARITY }, + { Register::BANK_0::INTF_CONFIG0, INTF_CONFIG0_BIT::UI_SIFS_CFG_DISABLE_I2C, 0}, { Register::BANK_0::FIFO_CONFIG, FIFO_CONFIG_BIT::FIFO_MODE_STOP_ON_FULL, 0 }, { Register::BANK_0::PWR_MGMT0, PWR_MGMT0_BIT::GYRO_MODE_LOW_NOISE | PWR_MGMT0_BIT::ACCEL_MODE_LOW_NOISE, 0 }, { Register::BANK_0::GYRO_CONFIG0, GYRO_CONFIG0_BIT::GYRO_ODR_8kHz, Bit7 | Bit6 | Bit5 | Bit3 | Bit2 }, diff --git a/src/drivers/imu/invensense/icm40609d/InvenSense_ICM40609D_registers.hpp b/src/drivers/imu/invensense/icm40609d/InvenSense_ICM40609D_registers.hpp index 4d359526ba92..e9880ec8cdd0 100644 --- a/src/drivers/imu/invensense/icm40609d/InvenSense_ICM40609D_registers.hpp +++ b/src/drivers/imu/invensense/icm40609d/InvenSense_ICM40609D_registers.hpp @@ -82,6 +82,8 @@ enum class BANK_0 : uint8_t { SIGNAL_PATH_RESET = 0x4B, + INTF_CONFIG0 = 0x4C, + PWR_MGMT0 = 0x4E, GYRO_CONFIG0 = 0x4F, ACCEL_CONFIG0 = 0x50, @@ -132,6 +134,16 @@ enum SIGNAL_PATH_RESET_BIT : uint8_t { FIFO_FLUSH = Bit1, }; +// INTF_CONFIG0 +enum INTF_CONFIG0_BIT : uint8_t { + FIFO_HOLD_LAST_DATA_EN = Bit7, + FIFO_COUNT_REC = Bit6, + FIFO_COUNT_ENDIAN = Bit5, + SENSOR_DATA_ENDIAN = Bit4, + UI_SIFS_CFG_DISABLE_SPI = Bit1, + UI_SIFS_CFG_DISABLE_I2C = Bit1 | Bit0 +}; + // PWR_MGMT0 enum PWR_MGMT0_BIT : uint8_t { GYRO_MODE_LOW_NOISE = Bit3 | Bit2, // 11: Places gyroscope in Low Noise (LN) Mode