ICM20648 - Motion Sensor#

sl_icm20648_spi_init#

sl_status_t sl_icm20648_spi_init (void )

Initialize the SPI bus to communicate with the ICM20648.

Returns

• Returns zero on OK, non-zero otherwise

sl_icm20648_read_register#

void sl_icm20648_read_register (uint16_t addr, int numBytes, uint8_t * data)

Read register from the ICM20648 device.

sl_icm20648_write_register#

void sl_icm20648_write_register (uint16_t addr, uint8_t data)

Write a register in the ICM20648 device.

sl_icm20648_select_register_bank#

void sl_icm20648_select_register_bank (uint8_t bank)

Select the desired register bank.

sl_icm20648_reset#

sl_status_t sl_icm20648_reset (void )

Perform soft reset on the ICM20648 chip.

Returns

• Returns zero on OK, non-zero otherwise

sl_icm20648_set_sample_rate#

sl_status_t sl_icm20648_set_sample_rate (float sampleRate)

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

Returns

• Returns zero on OK, non-zero otherwise

sl_icm20648_gyro_set_sample_rate#

float sl_icm20648_gyro_set_sample_rate (float sampleRate)

Set the sample rate of the accelerometer.

Returns

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

sl_icm20648_accel_set_sample_rate#

float sl_icm20648_accel_set_sample_rate (float sampleRate)

Set the sample rate of 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_icm20648_gyro_set_bandwidth#

sl_status_t sl_icm20648_gyro_set_bandwidth (uint8_t gyroBw)

Set the bandwidth of the gyroscope.

Returns

• Returns zero on OK, non-zero otherwise

sl_icm20648_accel_set_bandwidth#

sl_status_t sl_icm20648_accel_set_bandwidth (uint8_t accelBw)

Set the bandwidth of the accelerometer.

Returns

• Returns zero on OK, non-zero otherwise

sl_icm20648_accel_read_data#

sl_status_t sl_icm20648_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_icm20648_gyro_read_data#

sl_status_t sl_icm20648_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_icm20648_accel_get_resolution#

sl_status_t sl_icm20648_accel_get_resolution (float * accelRes)

Get the actual resolution of the accelerometer.

Returns

• Returns zero on OK, non-zero otherwise

sl_icm20648_gyro_get_resolution#

sl_status_t sl_icm20648_gyro_get_resolution (float * gyroRes)

Get the actual resolution of the gyroscope.

Returns

• Returns zero on OK, non-zero otherwise

sl_icm20648_accel_set_full_scale#

sl_status_t sl_icm20648_accel_set_full_scale (uint8_t accelFs)

Set the full scale value of the accelerometer.

Returns

• Returns zero on OK, non-zero otherwise

sl_icm20648_gyro_set_full_scale#

sl_status_t sl_icm20648_gyro_set_full_scale (uint8_t gyroFs)

Set the full scale value of the gyroscope.

Returns

• Returns zero on OK, non-zero otherwise

sl_icm20648_enable_sleep_mode#

sl_status_t sl_icm20648_enable_sleep_mode (bool enable)

Enable or disable the sleep mode of the device.

Returns

• Returns zero on OK, non-zero otherwise

sl_icm20648_enable_cycle_mode#

sl_status_t sl_icm20648_enable_cycle_mode (bool enable)

Enable or disable the cycle mode operation of the accel and gyro.

Returns

• Returns zero on OK, non-zero otherwise

sl_icm20648_enable_sensor#

sl_status_t sl_icm20648_enable_sensor (bool accel, bool gyro, bool temp)

Enable or disable the sensors in the ICM20648 chip.

Returns

• Returns zero on OK, non-zero otherwise

sl_icm20648_enter_low_power_mode#

sl_status_t sl_icm20648_enter_low_power_mode (bool enAccel, bool enGyro, bool enTemp)

Enable or disable sensors in low-power mode in the ICM20648 chip.

Returns

• Returns zero on OK, non-zero otherwise

sl_icm20648_enable_interrupt#

sl_status_t sl_icm20648_enable_interrupt (bool dataReadyEnable, bool womEnable)

Enable or disable the interrupts in the ICM20648 chip.

Returns

• Returns zero on OK, non-zero otherwise

sl_icm20648_read_interrupt_status#

sl_status_t sl_icm20648_read_interrupt_status (uint32_t * int_status)

Read the interrupt status registers of the ICM20648 chip.

Returns

• Returns zero on OK, non-zero otherwise

sl_icm20648_is_data_ready#

bool sl_icm20648_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_icm20648_enable_wake_on_motion_interrupt#

sl_status_t sl_icm20648_enable_wake_on_motion_interrupt (bool enable, uint8_t womThreshold, float sampleRate)

Set up and enable the Wake-up On Motion feature.

Returns

• Returns zero on OK, non-zero otherwise

sl_icm20648_init#

sl_status_t sl_icm20648_init (void )

Initialize the ICM20648 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_icm20648_deinit#

sl_status_t sl_icm20648_deinit (void )

De-initialize the ICM20648 sensor by disconnecting the supply and SPI lines.

Returns

• Returns zero on OK, non-zero otherwise

sl_icm20648_calibrate_accel_and_gyro#

sl_status_t sl_icm20648_calibrate_accel_and_gyro (float * accelBiasScaled, float * gyroBiasScaled)

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_icm20648_calibrate_gyro#

sl_status_t sl_icm20648_calibrate_gyro (float * gyroBiasScaled)

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_icm20648_read_temperature_data#

sl_status_t sl_icm20648_read_temperature_data (float * temperature)

Read the temperature sensor raw value and convert to Celsius.

Returns

• Returns zero on OK, non-zero otherwise

sl_icm20648_get_device_id#

sl_status_t sl_icm20648_get_device_id (uint8_t * devID)

Read the device ID of the ICM20648.

Returns

• Returns zero on OK, non-zero otherwise