ICM20689 - Motion Sensor#

sl_icm20689_spi_init#

sl_status_t sl_icm20689_spi_init (void )

Initialize the SPI bus to communicate with the ICM20689.

Returns

• Returns zero on OK, non-zero otherwise

sl_icm20689_deinit#

sl_status_t sl_icm20689_deinit (void )

De-initialize the ICM20689 sensor.

Returns

• Returns zero on OK, non-zero otherwise

sl_icm20689_read_register#

sl_status_t sl_icm20689_read_register (uint8_t addr, int num_bytes, uint8_t * data)

Read register from the ICM20689 device.

Returns

• Returns zero on OK, non-zero otherwise

sl_icm20689_write_register#

sl_status_t sl_icm20689_write_register (uint8_t addr, uint8_t data)

Write a register in the ICM20689 device.

Returns

• Returns zero on OK, non-zero otherwise

sl_icm20689_reset#

sl_status_t sl_icm20689_reset (void )

Perform soft reset on the ICM20689 chip.

Returns

• Returns zero on OK, non-zero otherwise

sl_icm20689_set_sample_rate#

float sl_icm20689_set_sample_rate (float sample_rate)

Set the sample rate both of the accelerometer and the gyroscope.

Returns

• The actual sample rate, which may be different than the desired value because of the finite and discrete number of divider settings.

sl_icm20689_init#

sl_status_t sl_icm20689_init (void )

Initialize the ICM20689 sensor.

Enable the power supply and SPI lines, set up the host SPI controller, configure the chip control interface, clock generator, and interrupt line.

Returns

• Returns zero on OK, non-zero otherwise

sl_icm20689_gyro_set_bandwidth#

sl_status_t sl_icm20689_gyro_set_bandwidth (sl_gyro_bandwidth_t gyro_bandwidth)

Set the bandwidth of the gyroscope.

Returns

• Returns zero on OK, non-zero otherwise

sl_icm20689_accel_set_bandwidth#

sl_status_t sl_icm20689_accel_set_bandwidth (sl_accel_bandwidth_t accel_bandwidth)

Set the bandwidth of the accelerometer.

Returns

• Returns zero on OK, non-zero otherwise

sl_icm20689_accel_read_data#

sl_status_t sl_icm20689_accel_read_data (float accel)

Read the raw acceleration value and convert to g value based on the actual resolution.

Returns

• Returns zero on OK, non-zero otherwise

sl_icm20689_gyro_read_data#

sl_status_t sl_icm20689_gyro_read_data (float gyro)

Read the raw gyroscope value and convert to deg/sec value based on the actual resolution.

Returns

• Returns zero on OK, non-zero otherwise

sl_icm20689_accel_get_resolution#

sl_status_t sl_icm20689_accel_get_resolution (float * accel_res)

Get the actual resolution of the accelerometer.

Returns

• Returns zero on OK, non-zero otherwise

sl_icm20689_gyro_get_resolution#

sl_status_t sl_icm20689_gyro_get_resolution (float * gyro_res)

Get the actual resolution of the gyroscope.

Returns

• Returns zero on OK, non-zero otherwise

sl_icm20689_accel_set_full_scale#

sl_status_t sl_icm20689_accel_set_full_scale (sl_accel_full_scale_t accel_fs)

Set the full scale value of the accelerometer.

Returns

• Returns zero on OK, non-zero otherwise

sl_icm20689_gyro_set_full_scale#

sl_status_t sl_icm20689_gyro_set_full_scale (sl_gyro_full_scale_t gyro_fs)

Set the full scale value of the gyroscope.

Returns

• Returns zero on OK, non-zero otherwise

sl_icm20689_enable_sleep_mode#

sl_status_t sl_icm20689_enable_sleep_mode (bool enable)

Enable or disable the sleep mode of the device.

Returns

• Returns zero on OK, non-zero otherwise

sl_icm20689_enable_sensor#

sl_status_t sl_icm20689_enable_sensor (bool accel, bool gyro, bool temp)

Enable or disable the sensors in the ICM20689 chip.

Returns

• Returns zero on OK, non-zero otherwise

sl_icm20689_enable_interrupt#

sl_status_t sl_icm20689_enable_interrupt (bool data_ready_enable, bool wom_enable)

Enable or disable the interrupts in the ICM20689 chip.

Returns

• Returns zero on OK, non-zero otherwise

sl_icm20689_read_interrupt_status#

sl_status_t sl_icm20689_read_interrupt_status (uint32_t * int_status)

Read the interrupt status registers of the ICM20689 chip.

Returns

• Returns zero on OK, non-zero otherwise

sl_icm20689_is_data_ready#

bool sl_icm20689_is_data_ready (void )

Check if new data is available to read.

Returns

• Returns true if the Raw Data Ready interrupt bit set, false otherwise

sl_icm20689_calibrate_accel_and_gyro#

sl_status_t sl_icm20689_calibrate_accel_and_gyro (float * accel_bias_scaled, float * gyro_bias_scaled)

Accelerometer and gyroscope calibration function.

Reads the gyroscope and accelerometer values while the device is at rest and in level. The resulting values are loaded to the accel and gyro bias registers to cancel the static offset error.

Returns

• Returns zero on OK, non-zero otherwise

sl_icm20689_calibrate_gyro#

sl_status_t sl_icm20689_calibrate_gyro (float * gyro_bias_scaled)

Gyroscope calibration function.

Read the gyroscope values while the device is at rest and in level. The resulting values are loaded to the gyro bias registers to cancel the static offset error.

Returns

• Returns zero on OK, non-zero otherwise

sl_icm20689_read_temperature_data#

sl_status_t sl_icm20689_read_temperature_data (float * temperature)

Read the temperature sensor raw value and convert to Celsius.

Returns

• Returns zero on OK, non-zero otherwise

sl_icm20689_get_device_id#

sl_status_t sl_icm20689_get_device_id (uint8_t * dev_id)

Read the device ID of the ICM20689.

Returns

• Returns zero on OK, non-zero otherwise