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icm40609d: Add INTF register definition and disable I2C interface

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Disable I2C to make sure that the sensor doesn't switch to that by accident

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
This commit is contained in:
Jukka Laitinen 2024-08-13 13:40:49 +03:00 committed by Daniel Agar
parent fd062d0085
commit cc4d5bd2a6
2 changed files with 14 additions and 1 deletions
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3
src/drivers/imu/invensense/icm40609d/ICM40609D.hpp
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@ -160,10 +160,11 @@ private:
int32_t _fifo_gyro_samples{static_cast<int32_t>(_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 },

12
src/drivers/imu/invensense/icm40609d/InvenSense_ICM40609D_registers.hpp
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@ -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