feature: add imu sensor icm42670

.gitmodules

@@ -37,6 +37,3 @@
 [submodule "examples/freetype/main/lib/freetype"]
 	path = examples/freetype/main/lib/freetype
 	url = https://gitlab.freedesktop.org/freetype/freetype.git
-[submodule "components/lvgl/lv_lib/lv_lib_qrcode"]
-	path = components/lvgl/lv_lib/lv_lib_qrcode
-	url = https://github.com/lvgl/lv_lib_qrcode.git

CMakeLists.txt

@@ -1,16 +0,0 @@
-# CMakeLists.txt
-#
-# Copyright 2021 Espressif Systems (Shanghai) Co. Ltd.
-#
-#   Licensed under the Apache License, Version 2.0 (the "License");
-#   you may not use this file except in compliance with the License.
-#   You may obtain a copy of the License at
-#
-#              http://www.apache.org/licenses/LICENSE-2.0
-#
-#   Unless required by applicable law or agreed to in writing, software
-#   distributed under the License is distributed on an "AS IS" BASIS,
-#   WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-#   See the License for the specific language governing permissions and
-#   limitations under the License.
-#

components/i2c_devices/CMakeLists.txt

@@ -1,9 +1,11 @@
-file(GLOB_RECURSE CSRC_FILES *.c)
+
 idf_component_register(
-    SRCS
-        ${CSRC_FILES}
+    SRC_DIRS
+        "icm42670"
+        "touch_panel"
     INCLUDE_DIRS
-        "include"
+        "icm42670/include"
+        "touch_panel/include"
     REQUIRES
         bsp)
 

components/i2c_devices/icm42670/Message.c

@@ -0,0 +1,75 @@
+/*
+ * ________________________________________________________________________________________________________
+ * Copyright (c) 2015-2015 InvenSense Inc. All rights reserved.
+ *
+ * This software, related documentation and any modifications thereto (collectively “Software”) is subject
+ * to InvenSense and its licensors' intellectual property rights under U.S. and international copyright
+ * and other intellectual property rights laws.
+ *
+ * InvenSense and its licensors retain all intellectual property and proprietary rights in and to the Software
+ * and any use, reproduction, disclosure or distribution of the Software without an express license agreement
+ * from InvenSense is strictly prohibited.
+ *
+ * EXCEPT AS OTHERWISE PROVIDED IN A LICENSE AGREEMENT BETWEEN THE PARTIES, THE SOFTWARE IS
+ * PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED
+ * TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT.
+ * EXCEPT AS OTHERWISE PROVIDED IN A LICENSE AGREEMENT BETWEEN THE PARTIES, IN NO EVENT SHALL
+ * INVENSENSE BE LIABLE FOR ANY DIRECT, SPECIAL, INDIRECT, INCIDENTAL, OR CONSEQUENTIAL DAMAGES, OR ANY
+ * DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT,
+ * NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR PERFORMANCE
+ * OF THE SOFTWARE.
+ * ________________________________________________________________________________________________________
+ */
+
+#include "Message.h"
+
+#include <stdio.h>
+#include <stdlib.h>
+
+static int               msg_level;
+static inv_msg_printer_t msg_printer;
+
+void inv_msg_printer_default(int level, const char * str, va_list ap)
+{
+#if !defined(__ICCARM__)
+	const char * s[INV_MSG_LEVEL_MAX] = {
+		"",    // INV_MSG_LEVEL_OFF
+		" [E] ", // INV_MSG_LEVEL_ERROR
+		" [W] ", // INV_MSG_LEVEL_WARNING
+		" [I] ", // INV_MSG_LEVEL_INFO
+		" [V] ", // INV_MSG_LEVEL_VERBOSE
+		" [D] ", // INV_MSG_LEVEL_DEBUG
+	};
+
+	fprintf(stderr, "%s", s[level]);	
+	vfprintf(stderr, str, ap);
+	fprintf(stderr, "\n");
+#else
+	(void)level, (void)str, (void)ap;
+#endif
+}
+
+void inv_msg_setup(int level, inv_msg_printer_t printer)
+{
+	msg_level   = level;
+	if (level < INV_MSG_LEVEL_OFF)
+		msg_level = INV_MSG_LEVEL_OFF;
+	else if (level > INV_MSG_LEVEL_MAX)
+		msg_level = INV_MSG_LEVEL_MAX;
+	msg_printer = printer;
+}
+
+void inv_msg(int level, const char * str, ...)
+{
+	if(level && level <= msg_level && msg_printer) {
+		va_list ap;
+		va_start(ap, str);
+		msg_printer(level, str, ap);
+		va_end(ap);
+	}
+}
+
+int inv_msg_get_level(void)
+{
+	return msg_level;
+}

components/i2c_devices/icm42670/icm42670.c

@@ -0,0 +1,169 @@
+// Copyright 2020 Espressif Systems (Shanghai) Co. Ltd.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include "stdio.h"
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "esp_log.h"
+#include "bsp_i2c.h"
+#include "Message.h"
+#include "inv_imu_driver.h"
+
+static const char *TAG = "icm42670";
+
+
+/*
+ * Set of timers used throughout standalone applications
+ */
+
+#define SENSOR_ODR_1600HZ  1600
+#define SENSOR_ODR_800HZ  800
+#define SENSOR_ODR_400HZ   400
+#define SENSOR_ODR_200HZ   200
+#define SENSOR_ODR_100HZ   100
+#define SENSOR_ODR_50HZ    50
+#define SENSOR_ODR_25HZ    25
+#define SENSOR_ODR_12_5HZ  12.5
+
+
+static i2c_bus_device_handle_t g_i2c_dev_handle;
+
+static int platform_io_hal_read_reg(void *context, uint8_t reg, uint8_t *buf, uint32_t len)
+{
+    return i2c_bus_read_bytes(g_i2c_dev_handle, reg, len, buf);
+}
+
+static int platform_io_hal_write_reg(void *context, uint8_t reg, const uint8_t *buf, uint32_t len)
+{
+    return i2c_bus_write_bytes(g_i2c_dev_handle, reg, len, buf);
+}
+
+static void platform_delay_ms(uint32_t ms)
+{
+    vTaskDelay(pdMS_TO_TICKS(ms));
+}
+
+static void platform_delay_us(uint32_t us)
+{
+    ets_delay_us(us);
+}
+
+/*
+ * Printer function for message facility
+ */
+static void msg_printer(int level, const char *str, va_list ap)
+{
+    static char out_str[2560]; /* static to limit stack usage */
+    uint32_t idx = 0;
+#define LOG_COLOR_BLACK   "30"
+#define LOG_COLOR_RED     "31"
+#define LOG_COLOR_GREEN   "32"
+#define LOG_COLOR_BROWN   "33"
+#define LOG_COLOR_BLUE    "34"
+#define LOG_COLOR_PURPLE  "35"
+#define LOG_COLOR_CYAN    "36"
+#define LOG_COLOR(COLOR)  "\033[0;" COLOR "m"
+#define LOG_BOLD(COLOR)   "\033[1;" COLOR "m"
+#define LOG_RESET_COLOR   "\033[0m"
+#define LOG_COLOR_E       LOG_COLOR(LOG_COLOR_RED)
+#define LOG_COLOR_W       LOG_COLOR(LOG_COLOR_BROWN)
+#define LOG_COLOR_I       LOG_COLOR(LOG_COLOR_GREEN)
+    const char *s[INV_MSG_LEVEL_MAX] = {
+        "",    // INV_MSG_LEVEL_OFF
+        LOG_COLOR_E "[E]", // INV_MSG_LEVEL_ERROR
+        LOG_COLOR_W "[W]", // INV_MSG_LEVEL_WARNING
+        LOG_COLOR_I "[I]", // INV_MSG_LEVEL_INFO
+        LOG_COLOR_BLUE "[V]", // INV_MSG_LEVEL_VERBOSE
+        LOG_COLOR_BLUE "[D]", // INV_MSG_LEVEL_DEBUG
+    };
+    if (level >= INV_MSG_LEVEL_MAX) {
+        printf("message error!\r\n");
+        return;
+    }
+
+    idx += snprintf(&out_str[idx], sizeof(out_str) - idx, "%s %s: ", s[level], TAG);
+    if (idx >= (sizeof(out_str))) {
+        return;
+    }
+    idx += vsnprintf(&out_str[idx], sizeof(out_str) - idx, str, ap);
+    if (idx >= (sizeof(out_str))) {
+        return;
+    }
+    idx += snprintf(&out_str[idx], sizeof(out_str) - idx, LOG_RESET_COLOR "\r\n");
+    if (idx >= (sizeof(out_str))) {
+        return;
+    }
+    printf(out_str);
+}
+
+esp_err_t icm42670_init(void)
+{
+    esp_err_t ret = ESP_OK;
+    if (NULL != g_i2c_dev_handle) {
+        return ESP_FAIL;
+    }
+
+    bsp_i2c_add_device(&g_i2c_dev_handle, 0x68);
+
+    if (NULL == g_i2c_dev_handle) {
+        return ESP_FAIL;
+    }
+
+    /* Setup message facility to see internal traces from FW */
+    inv_msg_setup(INV_MSG_LEVEL_INFO, msg_printer);
+
+    inv_imu_set_serif(platform_io_hal_read_reg, platform_io_hal_write_reg);
+    inv_imu_set_delay(platform_delay_ms, platform_delay_us);
+
+    float hw_rate = 0.0;
+
+    /* Init device */
+    ret = inv_imu_initialize();
+
+    if (ret != INV_ERROR_SUCCESS) {
+        INV_MSG(INV_MSG_LEVEL_ERROR, "Failed to initialize INV concise driver!");
+        return ret;
+    }
+
+    INV_MSG(INV_MSG_LEVEL_INFO, "IMU device successfully initialized");
+
+    // We may customize full scale range here.
+    ret |= inv_imu_set_accel_fsr(ACCEL_CONFIG0_FS_SEL_4g);
+    ret |= inv_imu_set_gyro_fsr(GYRO_CONFIG0_FS_SEL_2000dps);
+
+    // Below settings are required to configure and enable sensors.
+    ret |= inv_imu_acc_enable();
+    ret |= inv_imu_acc_set_rate(SENSOR_ODR_400HZ, 2, &hw_rate); //200Hz ODR, watermark: 2 packets.
+    ret |= inv_imu_gyro_enable();
+    ret |= inv_imu_gyro_set_rate(SENSOR_ODR_400HZ, 4, &hw_rate); //50Hz ODR, watermark 4.
+
+    if (ret != 0) {
+        INV_LOG(SENSOR_LOG_LEVEL, "Feature enable Failed. Do nothing %d", ret);
+        return ret;
+    }
+    INV_LOG(SENSOR_LOG_LEVEL, "HW odr setting %f ", hw_rate);
+
+    return ESP_OK;
+}
+
+esp_err_t icm42670_get_raw_data(AccDataPacket *accData,
+                                GyroDataPacket *gyroData,
+                                chip_temperature *imu_chip_temperature)
+{
+    int ret = inv_data_handler(accData, gyroData, imu_chip_temperature, 1);
+    if (0 != ret) {
+        return ESP_FAIL;
+    }
+    return ESP_OK;
+}

components/i2c_devices/icm42670/include/InvExport.h

@@ -0,0 +1,39 @@
+/*
+ * ________________________________________________________________________________________________________
+ * Copyright (c) 2015-2015 InvenSense Inc. All rights reserved.
+ *
+ * This software, related documentation and any modifications thereto (collectively “Software”) is subject
+ * to InvenSense and its licensors' intellectual property rights under U.S. and international copyright
+ * and other intellectual property rights laws.
+ *
+ * InvenSense and its licensors retain all intellectual property and proprietary rights in and to the Software
+ * and any use, reproduction, disclosure or distribution of the Software without an express license agreement
+ * from InvenSense is strictly prohibited.
+ *
+ * EXCEPT AS OTHERWISE PROVIDED IN A LICENSE AGREEMENT BETWEEN THE PARTIES, THE SOFTWARE IS
+ * PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED
+ * TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT.
+ * EXCEPT AS OTHERWISE PROVIDED IN A LICENSE AGREEMENT BETWEEN THE PARTIES, IN NO EVENT SHALL
+ * INVENSENSE BE LIABLE FOR ANY DIRECT, SPECIAL, INDIRECT, INCIDENTAL, OR CONSEQUENTIAL DAMAGES, OR ANY
+ * DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT,
+ * NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR PERFORMANCE
+ * OF THE SOFTWARE.
+ * ________________________________________________________________________________________________________
+ */
+
+#ifndef _INV_IDD_EXPORT_H_
+#define _INV_IDD_EXPORT_H_
+
+#if defined(_WIN32)
+	#if !defined(INV_EXPORT) && defined(INV_DO_DLL_EXPORT)
+		#define INV_EXPORT __declspec(dllexport)
+	#elif !defined(INV_EXPORT) && defined(INV_DO_DLL_IMPORT)
+		#define INV_EXPORT __declspec(dllimport)
+	#endif
+#endif
+
+#if !defined(INV_EXPORT)
+	#define INV_EXPORT
+#endif
+
+#endif /* _INV_IDD_EXPORT_H_ */

components/i2c_devices/icm42670/include/Message.h

@@ -0,0 +1,181 @@
+/*
+ * ________________________________________________________________________________________________________
+ * Copyright (c) 2015-2015 InvenSense Inc. All rights reserved.
+ *
+ * This software, related documentation and any modifications thereto (collectively “Software”) is subject
+ * to InvenSense and its licensors' intellectual property rights under U.S. and international copyright
+ * and other intellectual property rights laws.
+ *
+ * InvenSense and its licensors retain all intellectual property and proprietary rights in and to the Software
+ * and any use, reproduction, disclosure or distribution of the Software without an express license agreement
+ * from InvenSense is strictly prohibited.
+ *
+ * EXCEPT AS OTHERWISE PROVIDED IN A LICENSE AGREEMENT BETWEEN THE PARTIES, THE SOFTWARE IS
+ * PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED
+ * TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT.
+ * EXCEPT AS OTHERWISE PROVIDED IN A LICENSE AGREEMENT BETWEEN THE PARTIES, IN NO EVENT SHALL
+ * INVENSENSE BE LIABLE FOR ANY DIRECT, SPECIAL, INDIRECT, INCIDENTAL, OR CONSEQUENTIAL DAMAGES, OR ANY
+ * DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT,
+ * NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR PERFORMANCE
+ * OF THE SOFTWARE.
+ * ________________________________________________________________________________________________________
+ */
+
+/** @defgroup Message Message
+ *  @brief    Utility functions to display and redirect diagnostic messages
+ *
+ *            Use INV_MSG_DISABLE or INV_MSG_ENABLE define before including
+ *            this header to enable/disable messages for a compilation unit.
+ *
+ *            Under Linux, Windows or Arduino, messages are enabled by default.
+ *            Use INV_MSG_DISABLE to disable them.
+ *
+ *            Under orther environmment, message are disabled by default. 
+ *            Use INV_MSG_ENABLE to disable them.
+ *
+ *  @ingroup  EmbUtils
+ *  @{
+ */
+
+#ifndef _INV_MESSAGE_H_
+#define _INV_MESSAGE_H_
+
+#include "InvExport.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdarg.h>
+
+/** @brief For eMD target, disable log by default
+ *	If  compile switch is set for a compilation unit
+ *	messages will be totally disabled by default
+ */
+#if !defined(__linux) && !defined(_WIN32) && !defined(ARDUINO)
+	#define INV_MSG_DISABLE	1
+#endif
+
+#define INV_MSG_ENABLE
+
+/** @brief Allow to force enabling messaging using INV_MSG_ENABLE define  */
+#ifdef INV_MSG_ENABLE
+	#undef INV_MSG_DISABLE
+#endif
+
+
+/** @brief Helper macro for calling inv_msg()
+ *	If INV_MSG_DISABLE compile switch is set for a compilation unit
+ *	messages will be totally disabled
+ */
+#define INV_MSG(level, ...) 	      _INV_MSG(level, __VA_ARGS__)
+
+/** @brief Helper macro for calling inv_msg_setup()
+ *	If INV_MSG_DISABLE compile switch is set for a compilation unit
+ *	messages will be totally disabled
+ */
+#define INV_MSG_SETUP(level, printer) _INV_MSG_SETUP(level, printer)
+
+/** @brief Helper macro for calling inv_msg_setup_level()
+ *	If INV_MSG_DISABLE compile switch is set for a compilation unit
+ *	messages will be totally disabled
+ */
+#define INV_MSG_SETUP_LEVEL(level) 	  _INV_MSG_SETUP_LEVEL(level)
+
+/** @brief Helper macro for calling inv_msg_setup_default()
+ *	If INV_MSG_DISABLE compile switch is set for a compilation unit
+ *	messages will be totally disabled
+ */
+#define INV_MSG_SETUP_DEFAULT()       _INV_MSG_SETUP_DEFAULT()
+
+/** @brief Return current level
+ *	@warning This macro may expand as a function call
+ */
+#define INV_MSG_LEVEL                 _INV_MSG_LEVEL
+
+#if defined(INV_MSG_DISABLE)
+	#define _INV_MSG(level, ...)           (void)0
+	#define _INV_MSG_SETUP(level, printer) (void)0
+	#define _INV_MSG_SETUP_LEVEL(level)    (void)0
+	#define _INV_MSG_LEVEL                 INV_MSG_LEVEL_OFF
+#else
+	#define _INV_MSG(level, ...)           inv_msg(level, __VA_ARGS__)
+ 	#define _INV_MSG_SETUP(level, printer) inv_msg_setup(level, printer)
+ 	#define _INV_MSG_SETUP_LEVEL(level)    inv_msg_setup(level, inv_msg_printer_default)
+	#define _INV_MSG_SETUP_DEFAULT()       inv_msg_setup_default()
+	#define _INV_MSG_LEVEL                 inv_msg_get_level()
+#endif
+
+/** @brief message level definition
+ */
+enum inv_msg_level {
+	INV_MSG_LEVEL_OFF     = 0,
+	INV_MSG_LEVEL_ERROR,
+	INV_MSG_LEVEL_WARNING,
+	INV_MSG_LEVEL_INFO,
+	INV_MSG_LEVEL_VERBOSE,
+	INV_MSG_LEVEL_DEBUG,
+	INV_MSG_LEVEL_MAX
+};
+
+
+/** @brief Prototype for print routine function
+ */
+typedef void (*inv_msg_printer_t)(int level, const char * str, va_list ap);
+
+
+/** @brief Set message level and printer function
+ *  @param[in] level   only message above level will be passed to printer function
+ *  @param[in] printer user provided function in charge printing message
+ *  @return none
+ */
+void INV_EXPORT inv_msg_setup(int level, inv_msg_printer_t printer);
+
+
+/** @brief Default printer function that display messages to stderr
+ *  Function uses stdio. Care must be taken on embeded platfrom.
+ *  Function does nothing with IAR compiler.
+ *  @return none
+ */
+void INV_EXPORT inv_msg_printer_default(int level, const char * str, va_list ap);
+
+/** @brief Set message level
+ *  Default printer function will be used.
+ *  @param[in] level   only message above level will be passed to printer function
+ *  @return none
+ */
+static inline void inv_msg_setup_level(int level)
+{
+	inv_msg_setup(level, inv_msg_printer_default);
+}
+
+
+/** @brief Set default message level and printer
+ *  @return none
+ */
+static inline void inv_msg_setup_default(void)
+{
+	inv_msg_setup(INV_MSG_LEVEL_INFO, inv_msg_printer_default);
+}
+
+/** @brief Return current message level
+ *  @return current message level
+ */
+int INV_EXPORT inv_msg_get_level(void);
+
+/** @brief Display a message (through means of printer function)
+ *  @param[in] 	level for the message
+ *  @param[in] 	str   message string
+ *  @param[in] 	...   optional arguments
+ *  @return none
+ */
+void INV_EXPORT inv_msg(int level, const char * str, ...);
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* INV_MESSAGE_H_ */
+
+/** @} */

components/i2c_devices/icm42670/include/icm42670.h

@@ -0,0 +1,41 @@
+
+#ifndef _ICM_42670_H_
+#define _ICM_42670_H_
+
+#include "esp_err.h"
+#include "inv_imu_driver.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+ * @brief Init ICM-42670 IMU
+ * 
+ * @return 
+ *    - ESP_OK: Success
+ *    - Others: Fail
+ */
+esp_err_t icm42670_init(void);
+
+/**
+ * @brief Get raw data from ICM-42670
+ * 
+ * @param accData Pointer to accelerometer data
+ * @param gyroData Pointor to gyroscope data
+ * @param imu_chip_temperature Pointer to temperature data
+ * @return 
+ *    - ESP_OK: Success
+ *    - Others: Fail
+ */
+esp_err_t icm42670_get_raw_data(AccDataPacket *accData,
+                                GyroDataPacket *gyroData,
+                                chip_temperature *imu_chip_temperature);
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif
+

components/i2c_devices/icm42670/include/inv_imu_cust_config.h

@@ -0,0 +1,104 @@
+/*
+ * ________________________________________________________________________________________________________
+ * Copyright (c) 2015-2015 InvenSense Inc. All rights reserved.
+ *
+ * This software, related documentation and any modifications thereto (collectively Software is subject
+ * to InvenSense and its licensors' intellectual property rights under U.S. and international copyright
+ * and other intellectual property rights laws.
+ *
+ * InvenSense and its licensors retain all intellectual property and proprietary rights in and to the Software
+ * and any use, reproduction, disclosure or distribution of the Software without an express license agreement
+ * from InvenSense is strictly prohibited.
+ *
+ * EXCEPT AS OTHERWISE PROVIDED IN A LICENSE AGREEMENT BETWEEN THE PARTIES, THE SOFTWARE IS
+ * PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED
+ * TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT.
+ * EXCEPT AS OTHERWISE PROVIDED IN A LICENSE AGREEMENT BETWEEN THE PARTIES, IN NO EVENT SHALL
+ * INVENSENSE BE LIABLE FOR ANY DIRECT, SPECIAL, INDIRECT, INCIDENTAL, OR CONSEQUENTIAL DAMAGES, OR ANY
+ * DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT,
+ * NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR PERFORMANCE
+ * OF THE SOFTWARE.
+ * ________________________________________________________________________________________________________
+ */
+#ifndef _INV_ICM4N607_CONFIG_H_
+#define _INV_ICM4N607_CONFIG_H_
+
+#include <stdint.h>
+#include <assert.h>
+#include <string.h>
+#include <stdbool.h>
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif // __cplusplus
+
+#define FIFO_WM_MODE_EN                      0 //1:fifo mode 0:dri mode
+#define IS_HIGH_RES_MODE 					 0 // 1: FIFO high resolution mode (20bits data format); 0: 16 bits data format;
+#define SPI_MODE_EN                          1 //1:spi 0:i2c
+
+#define DATA_FORMAT_DPS_G                    1  // output sensor data with unit in default  accel: m/s2  gyro: rad/s  
+
+#define SUPPORT_FIFO_TS                      1  // support fifo timestamp by default
+#define DMP_POWERSAVE_FF                     0  // disable apex power save mode for apex freefall for better performance
+#define DMP_POWERSAVE_PEDO                   1  // setting apex power save mode for apex pedometer  by default
+
+#define SUPPORT_DELAY_US                     1  // 1: platform supports delay in us; 0: platform does not support delay in ms.
+
+#define SENSOR_REG_DUMP                      0 //  register dump control
+#define SENSOR_LOG_LEVEL                     3 //INV_LOG_LEVEL_INFO
+#define SENSOR_LOG_TS_ONLY                   1 //only print log sensor data TS  , FIFO Timestampe is only available in fifo mode
+
+
+#define SENSOR_DIRECTION                     0  // 0~7 sensorConvert map index below
+/* { { 1, 1, 1},    {0, 1, 2} },
+   { { -1, 1, 1},   {1, 0, 2} },
+   { { -1, -1, 1},  {0, 1, 2} },
+   { { 1, -1, 1},   {1, 0, 2} },
+   { { -1, 1, -1},  {0, 1, 2} },
+   { { 1, 1, -1},   {1, 0, 2} },
+   { { 1, -1, -1},  {0, 1, 2} },
+   { { -1, -1, -1}, {1, 0, 2} }, */
+
+// For Xian the max FIFO size is 2048 Bytes; common FIFO package is 16 Bytes; so the max number of FIFO pakage is ~128.
+#define MAX_RECV_PACKET                      128
+
+
+/* Initial WOM threshold to be applied to IMU in mg */
+#define WOM_THRESHOLD_INITIAL_MG 200
+
+/* WOM threshold to be applied to IMU, ranges from 1 to 255, in 4mg unit */
+#define WOM_THRESHOLD  WOM_THRESHOLD_INITIAL_MG/3
+#define WOM_THRESHOLD_X  WOM_THRESHOLD
+#define WOM_THRESHOLD_Y  WOM_THRESHOLD
+#define WOM_THRESHOLD_Z  WOM_THRESHOLD
+
+
+#if 0
+/* customer board, need invoke system marco*/
+#define INV_LOG           //define INV_LOG(loglevel,fmt,arg...)   printf("ICM4n607: "fmt"\n",##arg)  
+//#define INV_LOG(loglevel,fmt, args...)   pr_err("INV icm4n607 "fmt"\n",##args)
+
+//#define INV_MSG(loglevel,fmt, args...)   pr_err("INV icm4n607 "fmt"\n",##args) 
+#define EXIT(a)  ;
+#else
+/* smart motion board*/
+#include "Message.h"
+#define INV_LOG           INV_MSG
+#define EXIT(a)  exit(a)
+#endif
+
+/** @brief enumeration  of serial interfaces available on IMU */
+typedef enum
+{
+	UI_I2C,
+	UI_SPI4,
+	UI_SPI3
+} SERIAL_IF_TYPE_t;
+
+#ifdef __cplusplus
+}
+#endif // __cplusplus
+
+#endif

components/i2c_devices/icm42670/test/CMakeLists.txt

@@ -0,0 +1,3 @@
+idf_component_register(SRC_DIRS "."
+                       PRIV_INCLUDE_DIRS "."
+                       PRIV_REQUIRES unity test_utils icm42670)

components/i2c_devices/icm42670/test/component.mk

@@ -0,0 +1,5 @@
+#
+#Component Makefile
+#
+
+COMPONENT_ADD_LDFLAGS = -Wl,--whole-archive -l$(COMPONENT_NAME) -Wl,--no-whole-archive

components/i2c_devices/icm42670/test/example/example_freefall.c

@@ -0,0 +1,273 @@
+/*
+ * ________________________________________________________________________________________________________
+ * Copyright (c) 2017 InvenSense Inc. All rights reserved.
+ *
+ * This software, related documentation and any modifications thereto (collectively “Software? is subject
+ * to InvenSense and its licensors' intellectual property rights under U.S. and international copyright
+ * and other intellectual property rights laws.
+ *
+ * InvenSense and its licensors retain all intellectual property and proprietary rights in and to the Software
+ * and any use, reproduction, disclosure or distribution of the Software without an express license agreement
+ * from InvenSense is strictly prohibited.
+ *
+ * EXCEPT AS OTHERWISE PROVIDED IN A LICENSE AGREEMENT BETWEEN THE PARTIES, THE SOFTWARE IS
+ * PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED
+ * TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT.
+ * EXCEPT AS OTHERWISE PROVIDED IN A LICENSE AGREEMENT BETWEEN THE PARTIES, IN NO EVENT SHALL
+ * INVENSENSE BE LIABLE FOR ANY DIRECT, SPECIAL, INDIRECT, INCIDENTAL, OR CONSEQUENTIAL DAMAGES, OR ANY
+ * DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT,
+ * NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR PERFORMANCE
+ * OF THE SOFTWARE.
+ * ________________________________________________________________________________________________________
+ */
+
+/* std */
+#include <stdio.h>
+
+/* board driver */
+#include "common.h"
+#include "uart_mngr.h"
+#include "delay.h"
+#include "gpio.h"
+#include "timer.h"
+#include "system_interface.h"
+
+/* InvenSense utils */
+#include "Invn/EmbUtils/Message.h"
+#include "Invn/EmbUtils/RingBuffer.h"
+
+#include "inv_imu_driver.h"
+
+/*
+ * Select UART port on which INV_MSG() will be printed.
+ */
+#define LOG_UART_ID     INV_UART_SENSOR_CTRL
+
+/* 
+ * Define msg level 
+ */
+#define MSG_LEVEL       INV_MSG_LEVEL_DEBUG
+
+/* 
+ * Set of timers used throughout standalone applications 
+ */
+#define TIMEBASE_TIMER  INV_TIMER1
+#define DELAY_TIMER     INV_TIMER2
+
+#if !USE_FIFO
+	/* 
+	 * Buffer to keep track of the timestamp when IMU data ready interrupt fires.
+	 * The buffer can contain up to 64 items in order to store one timestamp for each packet in FIFO.
+	 */
+	RINGBUFFER(timestamp_buffer, 64, uint64_t);
+#endif
+
+/* --------------------------------------------------------------------------------------
+ *  Static variables
+ * -------------------------------------------------------------------------------------- */
+
+/* Flag set from IMU device irq handler */
+static volatile int irq_from_device;
+
+
+/* --------------------------------------------------------------------------------------
+ *  Forward declaration
+ * -------------------------------------------------------------------------------------- */
+static int setup_mcu();
+static void ext_interrupt_cb(void * context, unsigned int int_num);
+
+void msg_printer(int level, const char * str, va_list ap);
+
+
+/* --------------------------------------------------------------------------------------
+ *  Functions definitions
+ * -------------------------------------------------------------------------------------- */
+
+/*
+ * This function initializes MCU on which this software is running.
+ * It configures:
+ *   - a UART link used to print some messages
+ *   - interrupt priority group and GPIO so that MCU can receive interrupts from IMU 
+ *   - a microsecond timer requested by IMU driver to compute some delay
+ *   - a microsecond timer used to get some timestamps
+ *   - a serial link to communicate from MCU to IMU 
+ */
+static int setup_mcu()
+{
+	int rc = 0;
+
+	platform_io_hal_board_init();
+	
+	/* configure UART */
+	config_uart(LOG_UART_ID);
+
+	/* Setup message facility to see internal traces from FW */
+	PLATFORM_MSG_SETUP(MSG_LEVEL, msg_printer);
+
+	INV_MSG(INV_MSG_LEVEL_INFO, "######################################");
+	INV_MSG(INV_MSG_LEVEL_INFO, "#  #XIAN MCU Driver V1.0 FF EXAMPLE #");
+	INV_MSG(INV_MSG_LEVEL_INFO, "######################################");
+
+	/*
+	 * Configure input capture mode GPIO connected to pin EXT3-9 (pin PB03).
+	 * This pin is connected to Icm406xx INT1 output and thus will receive interrupts 
+	 * enabled on INT1 from the device.
+	 * A callback function is also passed that will be executed each time an interrupt
+	 * fires.
+	*/
+	platform_gpio_sensor_irq_init(INV_GPIO_INT1, ext_interrupt_cb, 0);
+
+	/* Init timer peripheral for delay */
+	rc |= platform_delay_init(DELAY_TIMER);
+	
+	/*
+	 * Configure the timer for the timebase
+	 */
+	rc |= platform_timer_configure_timebase(1000000);
+	platform_timer_enable(TIMEBASE_TIMER);
+
+	inv_imu_set_serif(platform_io_hal_read_reg, platform_io_hal_write_reg);
+    inv_imu_set_delay(platform_delay_ms,platform_delay_us);                  //void (*delay_ms)(uint32_t), void (*delay_us)(uint32_t))
+	rc |= platform_io_hal_init();
+
+	return rc;
+}
+
+
+/*
+ * IMU interrupt handler.
+ * Function is executed when an IMU interrupt rises on MCU.
+ * This function get a timestamp and store it in the timestamp buffer.
+ * Note that this function is executed in an interrupt handler and thus no protection
+ * are implemented for shared variable timestamp_buffer.
+ */
+static void ext_interrupt_cb(void * context, unsigned int int_num)
+{
+	(void)context;
+
+#if !USE_FIFO
+	/* 
+	 * Read timestamp from the timer dedicated to timestamping 
+	 */
+	uint64_t timestamp = platform_timer_get_counter(TIMEBASE_TIMER);
+
+	if(int_num == INV_GPIO_INT1) {
+		if (!RINGBUFFER_FULL(&timestamp_buffer))
+			RINGBUFFER_PUSH(&timestamp_buffer, &timestamp);
+	}
+#endif
+
+	irq_from_device |= TO_MASK(int_num);
+}
+
+
+/* --------------------------------------------------------------------------------------
+ *  Functions definition
+ * -------------------------------------------------------------------------------------- */
+
+int setup_imu_device()
+{
+	int rc = 0;
+
+	/* Init device */
+	rc = inv_imu_initialize();
+	if (rc != INV_ERROR_SUCCESS) {
+		INV_MSG(INV_MSG_LEVEL_ERROR, "Failed to initialize IMU!");
+		return rc;
+	}
+
+	
+#if !USE_FIFO
+	RINGBUFFER_CLEAR(&timestamp_buffer);
+#endif
+
+	return rc;
+}
+
+
+/* --------------------------------------------------------------------------------------
+ *  Main
+ * -------------------------------------------------------------------------------------- */
+
+int main(void)
+{
+	int rc = 0;
+    bool ff_detect_result = false;
+    float freefall_distance = 0.0f;
+
+	rc |= setup_mcu();
+
+    
+#if !USE_FIFO
+    RINGBUFFER_CLEAR(&timestamp_buffer);
+#endif
+
+    /* Init device */
+     rc = inv_imu_initialize();
+
+    if (rc != INV_ERROR_SUCCESS) {
+        INV_MSG(INV_MSG_LEVEL_ERROR, "Failed to initialize INV concise driver!");
+        return rc;
+    }
+    
+	INV_MSG(INV_MSG_LEVEL_INFO, "IMU device successfully initialized");
+
+    rc = inv_imu_freefall_enable() ;
+
+   
+    if (rc != 0) {
+        INV_LOG(SENSOR_LOG_LEVEL, "freefall enable Failed. Do nothing %d", rc);
+        return rc;
+    }
+
+	int i = 0;
+
+    do {
+		/* Poll device for data */		
+		if (irq_from_device & TO_MASK(INV_GPIO_INT1)) {
+
+			inv_disable_irq();
+            
+            freefall_distance = inv_imu_freefall_get_event(&ff_detect_result);
+            INV_LOG(SENSOR_LOG_LEVEL, "ff result %d, cm %f",ff_detect_result,freefall_distance); 
+            
+			irq_from_device &= ~TO_MASK(INV_GPIO_INT1);
+			inv_enable_irq();
+
+            i++;
+		}
+
+        if (i == 30) {
+            rc = inv_imu_freefall_disable();
+            i++;
+            }
+	} while(1);
+}
+
+/*
+ * Printer function for message facility
+ */
+void msg_printer(int level, const char * str, va_list ap)
+{
+	static char out_str[256]; /* static to limit stack usage */
+	unsigned idx = 0;
+	const char * s[INV_MSG_LEVEL_MAX] = {
+	    "",    // INV_MSG_LEVEL_OFF
+	    "[E] ", // INV_MSG_LEVEL_ERROR
+	    "[W] ", // INV_MSG_LEVEL_WARNING
+	    "[I] ", // INV_MSG_LEVEL_INFO
+	    "[V] ", // INV_MSG_LEVEL_VERBOSE
+	    "[D] ", // INV_MSG_LEVEL_DEBUG
+	};
+	idx += snprintf(&out_str[idx], sizeof(out_str) - idx, "%s", s[level]);
+	if(idx >= (sizeof(out_str)))
+		return;
+	idx += vsnprintf(&out_str[idx], sizeof(out_str) - idx, str, ap);
+	if(idx >= (sizeof(out_str)))
+		return;
+	idx += snprintf(&out_str[idx], sizeof(out_str) - idx, "\r\n");
+	if(idx >= (sizeof(out_str)))
+		return;
+
+	platform_uart_mngr_puts(LOG_UART_ID, out_str, idx);
+}

components/i2c_devices/icm42670/test/example/example_pedometer.c

@@ -0,0 +1,277 @@
+/*
+ * ________________________________________________________________________________________________________
+ * Copyright (c) 2017 InvenSense Inc. All rights reserved.
+ *
+ * This software, related documentation and any modifications thereto (collectively “Software? is subject
+ * to InvenSense and its licensors' intellectual property rights under U.S. and international copyright
+ * and other intellectual property rights laws.
+ *
+ * InvenSense and its licensors retain all intellectual property and proprietary rights in and to the Software
+ * and any use, reproduction, disclosure or distribution of the Software without an express license agreement
+ * from InvenSense is strictly prohibited.
+ *
+ * EXCEPT AS OTHERWISE PROVIDED IN A LICENSE AGREEMENT BETWEEN THE PARTIES, THE SOFTWARE IS
+ * PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED
+ * TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT.
+ * EXCEPT AS OTHERWISE PROVIDED IN A LICENSE AGREEMENT BETWEEN THE PARTIES, IN NO EVENT SHALL
+ * INVENSENSE BE LIABLE FOR ANY DIRECT, SPECIAL, INDIRECT, INCIDENTAL, OR CONSEQUENTIAL DAMAGES, OR ANY
+ * DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT,
+ * NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR PERFORMANCE
+ * OF THE SOFTWARE.
+ * ________________________________________________________________________________________________________
+ */
+
+/* std */
+#include <stdio.h>
+
+/* board driver */
+#include "common.h"
+#include "uart_mngr.h"
+#include "delay.h"
+#include "gpio.h"
+#include "timer.h"
+#include "system_interface.h"
+
+/* InvenSense utils */
+#include "Invn/EmbUtils/Message.h"
+#include "Invn/EmbUtils/RingBuffer.h"
+
+#include "inv_imu_driver.h"
+
+/*
+ * Select UART port on which INV_MSG() will be printed.
+ */
+#define LOG_UART_ID     INV_UART_SENSOR_CTRL
+
+/* 
+ * Define msg level 
+ */
+#define MSG_LEVEL       INV_MSG_LEVEL_DEBUG
+
+/* 
+ * Set of timers used throughout standalone applications 
+ */
+#define TIMEBASE_TIMER  INV_TIMER1
+#define DELAY_TIMER     INV_TIMER2
+
+#if !USE_FIFO
+	/* 
+	 * Buffer to keep track of the timestamp when IMU data ready interrupt fires.
+	 * The buffer can contain up to 64 items in order to store one timestamp for each packet in FIFO.
+	 */
+	RINGBUFFER(timestamp_buffer, 64, uint64_t);
+#endif
+
+/* --------------------------------------------------------------------------------------
+ *  Static variables
+ * -------------------------------------------------------------------------------------- */
+
+/* Flag set from IMU device irq handler */
+static volatile int irq_from_device;
+
+
+/* --------------------------------------------------------------------------------------
+ *  Forward declaration
+ * -------------------------------------------------------------------------------------- */
+static int setup_mcu();
+static void ext_interrupt_cb(void * context, unsigned int int_num);
+
+void msg_printer(int level, const char * str, va_list ap);
+
+
+/* --------------------------------------------------------------------------------------
+ *  Functions definitions
+ * -------------------------------------------------------------------------------------- */
+
+/*
+ * This function initializes MCU on which this software is running.
+ * It configures:
+ *   - a UART link used to print some messages
+ *   - interrupt priority group and GPIO so that MCU can receive interrupts from IMU 
+ *   - a microsecond timer requested by IMU driver to compute some delay
+ *   - a microsecond timer used to get some timestamps
+ *   - a serial link to communicate from MCU to IMU 
+ */
+static int setup_mcu()
+{
+	int rc = 0;
+
+	platform_io_hal_board_init();
+	
+	/* configure UART */
+	config_uart(LOG_UART_ID);
+
+	/* Setup message facility to see internal traces from FW */
+	PLATFORM_MSG_SETUP(MSG_LEVEL, msg_printer);
+
+	INV_MSG(INV_MSG_LEVEL_INFO, "######################################");
+	INV_MSG(INV_MSG_LEVEL_INFO, "#  #XIAN MCU Driver V1.0 PEDO EXAMPLE#");
+	INV_MSG(INV_MSG_LEVEL_INFO, "######################################");
+
+	/*
+	 * Configure input capture mode GPIO connected to pin EXT3-9 (pin PB03).
+	 * This pin is connected to Icm406xx INT1 output and thus will receive interrupts 
+	 * enabled on INT1 from the device.
+	 * A callback function is also passed that will be executed each time an interrupt
+	 * fires.
+	*/
+	platform_gpio_sensor_irq_init(INV_GPIO_INT1, ext_interrupt_cb, 0);
+
+	/* Init timer peripheral for delay */
+	rc |= platform_delay_init(DELAY_TIMER);
+	
+	/*
+	 * Configure the timer for the timebase
+	 */
+	rc |= platform_timer_configure_timebase(1000000);
+	platform_timer_enable(TIMEBASE_TIMER);
+
+	inv_imu_set_serif(platform_io_hal_read_reg, platform_io_hal_write_reg);
+    inv_imu_set_delay(platform_delay_ms,platform_delay_us);                  //void (*delay_ms)(uint32_t), void (*delay_us)(uint32_t))
+	rc |= platform_io_hal_init();
+
+	return rc;
+}
+
+
+/*
+ * IMU interrupt handler.
+ * Function is executed when an IMU interrupt rises on MCU.
+ * This function get a timestamp and store it in the timestamp buffer.
+ * Note that this function is executed in an interrupt handler and thus no protection
+ * are implemented for shared variable timestamp_buffer.
+ */
+static void ext_interrupt_cb(void * context, unsigned int int_num)
+{
+	(void)context;
+
+#if !USE_FIFO
+	/* 
+	 * Read timestamp from the timer dedicated to timestamping 
+	 */
+	uint64_t timestamp = platform_timer_get_counter(TIMEBASE_TIMER);
+
+	if(int_num == INV_GPIO_INT1) {
+		if (!RINGBUFFER_FULL(&timestamp_buffer))
+			RINGBUFFER_PUSH(&timestamp_buffer, &timestamp);
+	}
+#endif
+
+	irq_from_device |= TO_MASK(int_num);
+}
+
+
+/* --------------------------------------------------------------------------------------
+ *  Functions definition
+ * -------------------------------------------------------------------------------------- */
+
+int setup_imu_device()
+{
+	int rc = 0;
+
+	/* Init device */
+	rc = inv_imu_initialize();
+	if (rc != INV_ERROR_SUCCESS) {
+		INV_MSG(INV_MSG_LEVEL_ERROR, "Failed to initialize IMU!");
+		return rc;
+	}
+
+	
+#if !USE_FIFO
+	RINGBUFFER_CLEAR(&timestamp_buffer);
+#endif
+
+	return rc;
+}
+
+
+/* --------------------------------------------------------------------------------------
+ *  Main
+ * -------------------------------------------------------------------------------------- */
+
+int main(void)
+{
+	int rc = 0;
+    APEX_DATA3_ACTIVITY_CLASS_t activity_class;
+    float cadence_step_per_sec;
+    int step_result = 0;
+
+	rc |= setup_mcu();
+
+    
+#if !USE_FIFO
+    RINGBUFFER_CLEAR(&timestamp_buffer);
+#endif
+
+    /* Init device */
+     rc = inv_imu_initialize();
+
+    if (rc != INV_ERROR_SUCCESS) {
+        INV_MSG(INV_MSG_LEVEL_ERROR, "Failed to initialize INV concise driver!");
+        return rc;
+    }
+    
+	INV_MSG(INV_MSG_LEVEL_INFO, "IMU device successfully initialized");
+
+    rc = inv_imu_pedometer_enable() ;
+   
+    if (rc != 0) {
+        INV_MSG(INV_MSG_LEVEL_INFO, "pedometer enable Failed. Do nothing %d", rc);
+        return rc;
+    }
+
+	int i = 0;
+
+    do {
+		/* Poll device for data */		
+		if (irq_from_device & TO_MASK(INV_GPIO_INT1)) {
+
+			inv_disable_irq();
+            
+            step_result = inv_imu_pedometer_get_event(&cadence_step_per_sec,&activity_class);
+
+            if(step_result < 0)
+                INV_MSG(INV_MSG_LEVEL_ERROR, "pedometer get event failure %d",step_result);
+            else
+                INV_MSG(INV_MSG_LEVEL_INFO, "step value %d, %.2f steps/sec, type %d",step_result,cadence_step_per_sec,activity_class); 
+            
+			irq_from_device &= ~TO_MASK(INV_GPIO_INT1);
+			inv_enable_irq();
+
+            i++;
+		}
+
+        if (i == 100) {
+            rc = inv_imu_pedometer_disable();
+            i++;
+            }
+	} while(1);
+}
+
+/*
+ * Printer function for message facility
+ */
+void msg_printer(int level, const char * str, va_list ap)
+{
+	static char out_str[256]; /* static to limit stack usage */
+	unsigned idx = 0;
+	const char * s[INV_MSG_LEVEL_MAX] = {
+	    "",    // INV_MSG_LEVEL_OFF
+	    "[E] ", // INV_MSG_LEVEL_ERROR
+	    "[W] ", // INV_MSG_LEVEL_WARNING
+	    "[I] ", // INV_MSG_LEVEL_INFO
+	    "[V] ", // INV_MSG_LEVEL_VERBOSE
+	    "[D] ", // INV_MSG_LEVEL_DEBUG
+	};
+	idx += snprintf(&out_str[idx], sizeof(out_str) - idx, "%s", s[level]);
+	if(idx >= (sizeof(out_str)))
+		return;
+	idx += vsnprintf(&out_str[idx], sizeof(out_str) - idx, str, ap);
+	if(idx >= (sizeof(out_str)))
+		return;
+	idx += snprintf(&out_str[idx], sizeof(out_str) - idx, "\r\n");
+	if(idx >= (sizeof(out_str)))
+		return;
+
+	platform_uart_mngr_puts(LOG_UART_ID, out_str, idx);
+}

components/i2c_devices/icm42670/test/example/example_raw.c

@@ -0,0 +1,396 @@
+/*
+ * ________________________________________________________________________________________________________
+ * Copyright (c) 2017 InvenSense Inc. All rights reserved.
+ *
+ * This software, related documentation and any modifications thereto (collectively “Software? is subject
+ * to InvenSense and its licensors' intellectual property rights under U.S. and international copyright
+ * and other intellectual property rights laws.
+ *
+ * InvenSense and its licensors retain all intellectual property and proprietary rights in and to the Software
+ * and any use, reproduction, disclosure or distribution of the Software without an express license agreement
+ * from InvenSense is strictly prohibited.
+ *
+ * EXCEPT AS OTHERWISE PROVIDED IN A LICENSE AGREEMENT BETWEEN THE PARTIES, THE SOFTWARE IS
+ * PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED
+ * TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT.
+ * EXCEPT AS OTHERWISE PROVIDED IN A LICENSE AGREEMENT BETWEEN THE PARTIES, IN NO EVENT SHALL
+ * INVENSENSE BE LIABLE FOR ANY DIRECT, SPECIAL, INDIRECT, INCIDENTAL, OR CONSEQUENTIAL DAMAGES, OR ANY
+ * DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT,
+ * NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR PERFORMANCE
+ * OF THE SOFTWARE.
+ * ________________________________________________________________________________________________________
+ */
+
+/* std */
+#include <stdio.h>
+
+/* board driver */
+#include "common.h"
+#include "uart_mngr.h"
+#include "delay.h"
+#include "gpio.h"
+#include "timer.h"
+#include "system_interface.h"
+
+/* InvenSense utils */
+#include "Invn/EmbUtils/Message.h"
+#include "Invn/EmbUtils/RingBuffer.h"
+
+#include "inv_imu_driver.h"
+
+
+struct SensorData Acc_Receive_dataBuff[2048];
+struct SensorData Gyro_Receive_dataBuff[2048];
+
+
+AccDataPacket accData;
+GyroDataPacket gyroData;
+chip_temperature imu_chip_temperature;
+
+uint32_t cur_index = 0;
+
+
+/*
+ * Select UART port on which INV_MSG() will be printed.
+ */
+#define LOG_UART_ID     INV_UART_SENSOR_CTRL
+
+/* 
+ * Define msg level 
+ */
+#define MSG_LEVEL       INV_MSG_LEVEL_DEBUG
+
+/* 
+ * Set of timers used throughout standalone applications 
+ */
+#define TIMEBASE_TIMER  INV_TIMER1
+#define DELAY_TIMER     INV_TIMER2
+
+#define SENSOR_ODR_1600HZ  1600
+#define SENSOR_ODR_800HZ  800
+#define SENSOR_ODR_400HZ   400
+#define SENSOR_ODR_200HZ   200
+#define SENSOR_ODR_100HZ   100
+#define SENSOR_ODR_50HZ    50
+#define SENSOR_ODR_25HZ    25
+#define SENSOR_ODR_12_5HZ  12.5
+
+
+#if !USE_FIFO
+	/* 
+	 * Buffer to keep track of the timestamp when IMU data ready interrupt fires.
+	 * The buffer can contain up to 64 items in order to store one timestamp for each packet in FIFO.
+	 */
+	RINGBUFFER(timestamp_buffer, 64, uint64_t);
+#endif
+
+/* --------------------------------------------------------------------------------------
+ *  Static variables
+ * -------------------------------------------------------------------------------------- */
+
+/* Flag set from IMU device irq handler */
+static volatile int irq_from_device;
+
+
+/* --------------------------------------------------------------------------------------
+ *  Forward declaration
+ * -------------------------------------------------------------------------------------- */
+static int setup_mcu();
+static void ext_interrupt_cb(void * context, unsigned int int_num);
+
+void msg_printer(int level, const char * str, va_list ap);
+
+
+/* --------------------------------------------------------------------------------------
+ *  Functions definitions
+ * -------------------------------------------------------------------------------------- */
+
+/*
+ * This function initializes MCU on which this software is running.
+ * It configures:
+ *   - a UART link used to print some messages
+ *   - interrupt priority group and GPIO so that MCU can receive interrupts from IMU 
+ *   - a microsecond timer requested by IMU driver to compute some delay
+ *   - a microsecond timer used to get some timestamps
+ *   - a serial link to communicate from MCU to IMU 
+ */
+static int setup_mcu()
+{
+	int rc = 0;
+
+	platform_io_hal_board_init();
+	
+	/* configure UART */
+	config_uart(LOG_UART_ID);
+
+	/* Setup message facility to see internal traces from FW */
+	PLATFORM_MSG_SETUP(MSG_LEVEL, msg_printer);
+
+	INV_MSG(INV_MSG_LEVEL_INFO, "######################");
+	INV_MSG(INV_MSG_LEVEL_INFO, "#   Example Raw AG   #");
+	INV_MSG(INV_MSG_LEVEL_INFO, "######################");
+
+	/*
+	 * Configure input capture mode GPIO connected to pin EXT3-9 (pin PB03).
+	 * This pin is connected to Icm406xx INT1 output and thus will receive interrupts 
+	 * enabled on INT1 from the device.
+	 * A callback function is also passed that will be executed each time an interrupt
+	 * fires.
+	*/
+	platform_gpio_sensor_irq_init(INV_GPIO_INT1, ext_interrupt_cb, 0);
+
+	/* Init timer peripheral for delay */
+	rc |= platform_delay_init(DELAY_TIMER);
+	
+	/*
+	 * Configure the timer for the timebase
+	 */
+	rc |= platform_timer_configure_timebase(1000000);
+	platform_timer_enable(TIMEBASE_TIMER);
+
+	inv_imu_set_serif(platform_io_hal_read_reg, platform_io_hal_write_reg);
+    inv_imu_set_delay(platform_delay_ms,platform_delay_us);                  //void (*delay_ms)(uint32_t), void (*delay_us)(uint32_t))
+	rc |= platform_io_hal_init();
+
+	return rc;
+}
+
+
+/*
+ * IMU interrupt handler.
+ * Function is executed when an IMU interrupt rises on MCU.
+ * This function get a timestamp and store it in the timestamp buffer.
+ * Note that this function is executed in an interrupt handler and thus no protection
+ * are implemented for shared variable timestamp_buffer.
+ */
+static void ext_interrupt_cb(void * context, unsigned int int_num)
+{
+	(void)context;
+
+#if !USE_FIFO
+	/* 
+	 * Read timestamp from the timer dedicated to timestamping 
+	 */
+	uint64_t timestamp = platform_timer_get_counter(TIMEBASE_TIMER);
+
+	if(int_num == INV_GPIO_INT1) {
+		if (!RINGBUFFER_FULL(&timestamp_buffer))
+			RINGBUFFER_PUSH(&timestamp_buffer, &timestamp);
+	}
+#endif
+
+	irq_from_device |= TO_MASK(int_num);
+}
+
+
+/* --------------------------------------------------------------------------------------
+ *  Functions definition
+ * -------------------------------------------------------------------------------------- */
+
+int setup_imu_device()
+{
+	int rc = 0;
+
+	/* Init device */
+	rc = inv_imu_initialize();
+	if (rc != INV_ERROR_SUCCESS) {
+		INV_MSG(INV_MSG_LEVEL_ERROR, "Failed to initialize IMU!");
+		return rc;
+	}
+
+	
+#if !USE_FIFO
+	RINGBUFFER_CLEAR(&timestamp_buffer);
+#endif
+
+	return rc;
+}
+
+
+uint32_t get_imu_data()
+{
+    inv_data_handler(&accData,&gyroData,&imu_chip_temperature,false);
+    if(accData.accDataSize != 0){
+        memcpy(&Acc_Receive_dataBuff[cur_index], &accData.databuff[0], accData.accDataSize * sizeof(accData.databuff[0])); 
+    	//INV_MSG(INV_MSG_LEVEL_ERROR, "acDS %u cidex %u",accData.accDataSize,cur_index);
+    }
+    
+    if(gyroData.gyroDataSize != 0){
+        memcpy(&Gyro_Receive_dataBuff[cur_index], &gyroData.databuff[0], gyroData.gyroDataSize * sizeof(gyroData.databuff[0]));  
+    }
+
+    if ((accData.accDataSize != 0) && (gyroData.gyroDataSize != 0))
+         cur_index = cur_index + (uint32_t)accData.accDataSize;
+    else if(accData.accDataSize != 0)
+         cur_index = cur_index + (uint32_t)accData.accDataSize;
+    else if(gyroData.gyroDataSize != 0)
+         cur_index = cur_index + (uint32_t)gyroData.gyroDataSize;   
+
+    return 0;
+}
+
+
+/* --------------------------------------------------------------------------------------
+ *  Main
+ * -------------------------------------------------------------------------------------- */
+
+
+
+int main(void)
+{
+	int rc = 0;
+	float hw_rate = 0.0;
+
+    memset(Acc_Receive_dataBuff,0,sizeof(Acc_Receive_dataBuff));
+    memset(Gyro_Receive_dataBuff,0,sizeof(Gyro_Receive_dataBuff));
+	rc |= setup_mcu();
+    
+    
+#if !USE_FIFO
+    RINGBUFFER_CLEAR(&timestamp_buffer);
+#endif
+
+    /* Init device */
+     rc = inv_imu_initialize();
+
+    if (rc != INV_ERROR_SUCCESS) {
+        INV_MSG(INV_MSG_LEVEL_ERROR, "Failed to initialize INV concise driver!");
+        return rc;
+    }
+    
+	INV_MSG(INV_MSG_LEVEL_INFO, "IMU device successfully initialized");
+
+	// We may customize full scale range here.
+    rc |= inv_imu_set_accel_fsr(ACCEL_CONFIG0_FS_SEL_4g);
+    rc |= inv_imu_set_gyro_fsr(GYRO_CONFIG0_FS_SEL_2000dps);
+
+    // Below settings are required to configure and enable sensors.
+    rc |= inv_imu_acc_enable();
+    rc |= inv_imu_acc_set_rate(SENSOR_ODR_400HZ, 2,&hw_rate);  //200Hz ODR, watermark: 2 packets.
+    rc |= inv_imu_gyro_enable();
+    rc |= inv_imu_gyro_set_rate(SENSOR_ODR_400HZ, 4,&hw_rate);  //50Hz ODR, watermark 4.
+   
+    if (rc != 0) {
+        INV_LOG(SENSOR_LOG_LEVEL, "Feature enable Failed. Do nothing %d", rc);
+        return rc;
+    }
+	INV_LOG(SENSOR_LOG_LEVEL, "HW odr setting %f ", hw_rate);
+
+	do {
+        
+		/* Poll device for data */		
+		if (irq_from_device & TO_MASK(INV_GPIO_INT1)) {
+            
+			get_imu_data();
+			//INV_MSG(INV_MSG_LEVEL_ERROR, "cur idex %lu!",cur_index);
+        
+			inv_disable_irq();
+			irq_from_device &= ~TO_MASK(INV_GPIO_INT1);
+			inv_enable_irq();
+             
+		}
+	} while(cur_index <2048);
+
+    rc |= inv_imu_acc_disable();
+    rc |= inv_imu_gyro_disable();
+
+    #if SENSOR_LOG_TS_ONLY
+    uint32_t i;
+    for(i=0;i< cur_index; i++){
+         INV_LOG(SENSOR_LOG_LEVEL, "ACC %d  TS  %lld ", i+1,Acc_Receive_dataBuff[i].timeStamp);  
+         platform_delay_ms(5);
+        }
+
+    for(i=0;i< cur_index; i++){
+         INV_LOG(SENSOR_LOG_LEVEL, "Gyro %d  TS  %lld ", i+1,Gyro_Receive_dataBuff[i].timeStamp);  
+         platform_delay_ms(5);
+        }
+    #endif
+
+    // following code is just repeating the previous code, just to confirm the testing could be alwasys run 
+    int j = 2;
+    while(1){
+        
+        memset(Acc_Receive_dataBuff,0,sizeof(Acc_Receive_dataBuff));
+        memset(Gyro_Receive_dataBuff,0,sizeof(Gyro_Receive_dataBuff));
+
+        memset(&accData,0,sizeof(accData));
+        memset(&gyroData,0,sizeof(gyroData)); 
+        
+        INV_LOG(SENSOR_LOG_LEVEL, "repeating test round %d", j);
+        // Below settings are required to configure and enable sensors.
+        rc |= inv_imu_acc_enable();
+        rc |= inv_imu_acc_set_rate(SENSOR_ODR_200HZ, 2,&hw_rate);  //200Hz ODR, watermark: 2 packets.
+        rc |= inv_imu_gyro_enable();
+        rc |= inv_imu_gyro_set_rate(SENSOR_ODR_200HZ, 4,&hw_rate);  //50Hz ODR, watermark 4.
+   
+        if (rc != 0) {
+           INV_LOG(SENSOR_LOG_LEVEL, "Feature enable Failed. Do nothing %d", rc);
+          return rc;
+         }
+	    INV_LOG(SENSOR_LOG_LEVEL, "HW odr setting %f ", hw_rate);
+
+  
+        cur_index = 0;
+	    do {
+        
+		    /* Poll device for data */		
+		    if (irq_from_device & TO_MASK(INV_GPIO_INT1)) {
+            
+			    get_imu_data();
+			    //INV_MSG(INV_MSG_LEVEL_ERROR, "cur idex %lu!",cur_index);
+        
+			    inv_disable_irq();
+			    irq_from_device &= ~TO_MASK(INV_GPIO_INT1);
+			    inv_enable_irq();
+             
+		    }
+	    } while(cur_index <2048);
+
+        rc |= inv_imu_acc_disable();
+        rc |= inv_imu_gyro_disable();
+
+        #if SENSOR_LOG_TS_ONLY
+      
+        for(i=0;i< cur_index; i++){
+         INV_LOG(SENSOR_LOG_LEVEL, "ACC %d  TS  %lld ", i+1,Acc_Receive_dataBuff[i].timeStamp);  
+         platform_delay_ms(5);
+        }
+
+        for(i=0;i< cur_index; i++){
+         INV_LOG(SENSOR_LOG_LEVEL, "Gyro %d  TS  %lld ", i+1,Gyro_Receive_dataBuff[i].timeStamp);  
+         platform_delay_ms(5);
+        }
+       #endif
+
+       j++;
+     }
+}
+
+/*
+ * Printer function for message facility
+ */
+void msg_printer(int level, const char * str, va_list ap)
+{
+	static char out_str[256]; /* static to limit stack usage */
+	unsigned idx = 0;
+	const char * s[INV_MSG_LEVEL_MAX] = {
+	    "",    // INV_MSG_LEVEL_OFF
+	    "[E] ", // INV_MSG_LEVEL_ERROR
+	    "[W] ", // INV_MSG_LEVEL_WARNING
+	    "[I] ", // INV_MSG_LEVEL_INFO
+	    "[V] ", // INV_MSG_LEVEL_VERBOSE
+	    "[D] ", // INV_MSG_LEVEL_DEBUG
+	};
+	idx += snprintf(&out_str[idx], sizeof(out_str) - idx, "%s", s[level]);
+	if(idx >= (sizeof(out_str)))
+		return;
+	idx += vsnprintf(&out_str[idx], sizeof(out_str) - idx, str, ap);
+	if(idx >= (sizeof(out_str)))
+		return;
+	idx += snprintf(&out_str[idx], sizeof(out_str) - idx, "\r\n");
+	if(idx >= (sizeof(out_str)))
+		return;
+
+	platform_uart_mngr_puts(LOG_UART_ID, out_str, idx);
+}

components/i2c_devices/icm42670/test/example/example_selftest.c

@@ -0,0 +1,266 @@
+/*
+ * ________________________________________________________________________________________________________
+ * Copyright (c) 2017 InvenSense Inc. All rights reserved.
+ *
+ * This software, related documentation and any modifications thereto (collectively “Software? is subject
+ * to InvenSense and its licensors' intellectual property rights under U.S. and international copyright
+ * and other intellectual property rights laws.
+ *
+ * InvenSense and its licensors retain all intellectual property and proprietary rights in and to the Software
+ * and any use, reproduction, disclosure or distribution of the Software without an express license agreement
+ * from InvenSense is strictly prohibited.
+ *
+ * EXCEPT AS OTHERWISE PROVIDED IN A LICENSE AGREEMENT BETWEEN THE PARTIES, THE SOFTWARE IS
+ * PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED
+ * TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT.
+ * EXCEPT AS OTHERWISE PROVIDED IN A LICENSE AGREEMENT BETWEEN THE PARTIES, IN NO EVENT SHALL
+ * INVENSENSE BE LIABLE FOR ANY DIRECT, SPECIAL, INDIRECT, INCIDENTAL, OR CONSEQUENTIAL DAMAGES, OR ANY
+ * DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT,
+ * NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR PERFORMANCE
+ * OF THE SOFTWARE.
+ * ________________________________________________________________________________________________________
+ */
+
+/* std */
+#include <stdio.h>
+
+/* board driver */
+#include "common.h"
+#include "uart_mngr.h"
+#include "delay.h"
+#include "gpio.h"
+#include "timer.h"
+#include "system_interface.h"
+
+/* InvenSense utils */
+#include "Invn/EmbUtils/Message.h"
+#include "Invn/EmbUtils/RingBuffer.h"
+
+#include "inv_imu_driver.h"
+
+/*
+ * Select UART port on which INV_MSG() will be printed.
+ */
+#define LOG_UART_ID     INV_UART_SENSOR_CTRL
+
+/* 
+ * Define msg level 
+ */
+#define MSG_LEVEL       INV_MSG_LEVEL_DEBUG
+
+/* 
+ * Set of timers used throughout standalone applications 
+ */
+#define TIMEBASE_TIMER  INV_TIMER1
+#define DELAY_TIMER     INV_TIMER2
+
+#if !USE_FIFO
+	/* 
+	 * Buffer to keep track of the timestamp when IMU data ready interrupt fires.
+	 * The buffer can contain up to 64 items in order to store one timestamp for each packet in FIFO.
+	 */
+	RINGBUFFER(timestamp_buffer, 64, uint64_t);
+#endif
+
+/* --------------------------------------------------------------------------------------
+ *  Static variables
+ * -------------------------------------------------------------------------------------- */
+
+/* Flag set from IMU device irq handler */
+static volatile int irq_from_device;
+
+
+/* --------------------------------------------------------------------------------------
+ *  Forward declaration
+ * -------------------------------------------------------------------------------------- */
+static int setup_mcu();
+static void ext_interrupt_cb(void * context, unsigned int int_num);
+
+void msg_printer(int level, const char * str, va_list ap);
+
+
+/* --------------------------------------------------------------------------------------
+ *  Functions definitions
+ * -------------------------------------------------------------------------------------- */
+
+/*
+ * This function initializes MCU on which this software is running.
+ * It configures:
+ *   - a UART link used to print some messages
+ *   - interrupt priority group and GPIO so that MCU can receive interrupts from IMU 
+ *   - a microsecond timer requested by IMU driver to compute some delay
+ *   - a microsecond timer used to get some timestamps
+ *   - a serial link to communicate from MCU to IMU 
+ */
+static int setup_mcu()
+{
+	int rc = 0;
+
+	platform_io_hal_board_init();
+	
+	/* configure UART */
+	config_uart(LOG_UART_ID);
+
+	/* Setup message facility to see internal traces from FW */
+	PLATFORM_MSG_SETUP(MSG_LEVEL, msg_printer);
+
+	INV_MSG(INV_MSG_LEVEL_INFO, "######################################");
+	INV_MSG(INV_MSG_LEVEL_INFO, "#  #XIAN MCU Driver V1.0 SELFTEST EX #");
+	INV_MSG(INV_MSG_LEVEL_INFO, "######################################");
+
+	/*
+	 * Configure input capture mode GPIO connected to pin EXT3-9 (pin PB03).
+	 * This pin is connected to Icm406xx INT1 output and thus will receive interrupts 
+	 * enabled on INT1 from the device.
+	 * A callback function is also passed that will be executed each time an interrupt
+	 * fires.
+	*/
+	platform_gpio_sensor_irq_init(INV_GPIO_INT1, ext_interrupt_cb, 0);
+
+	/* Init timer peripheral for delay */
+	rc |= platform_delay_init(DELAY_TIMER);
+	
+	/*
+	 * Configure the timer for the timebase
+	 */
+	rc |= platform_timer_configure_timebase(1000000);
+	platform_timer_enable(TIMEBASE_TIMER);
+
+	inv_imu_set_serif(platform_io_hal_read_reg, platform_io_hal_write_reg);
+    inv_imu_set_delay(platform_delay_ms,platform_delay_us);                  //void (*delay_ms)(uint32_t), void (*delay_us)(uint32_t))
+	rc |= platform_io_hal_init();
+
+	return rc;
+}
+
+
+/*
+ * IMU interrupt handler.
+ * Function is executed when an IMU interrupt rises on MCU.
+ * This function get a timestamp and store it in the timestamp buffer.
+ * Note that this function is executed in an interrupt handler and thus no protection
+ * are implemented for shared variable timestamp_buffer.
+ */
+static void ext_interrupt_cb(void * context, unsigned int int_num)
+{
+	(void)context;
+
+#if !USE_FIFO
+	/* 
+	 * Read timestamp from the timer dedicated to timestamping 
+	 */
+	uint64_t timestamp = platform_timer_get_counter(TIMEBASE_TIMER);
+
+	if(int_num == INV_GPIO_INT1) {
+		if (!RINGBUFFER_FULL(&timestamp_buffer))
+			RINGBUFFER_PUSH(&timestamp_buffer, &timestamp);
+	}
+#endif
+
+	irq_from_device |= TO_MASK(int_num);
+}
+
+
+/* --------------------------------------------------------------------------------------
+ *  Functions definition
+ * -------------------------------------------------------------------------------------- */
+
+int setup_imu_device()
+{
+	int rc = 0;
+
+	/* Init device */
+	rc = inv_imu_initialize();
+	if (rc != INV_ERROR_SUCCESS) {
+		INV_MSG(INV_MSG_LEVEL_ERROR, "Failed to initialize IMU!");
+		return rc;
+	}
+
+	
+#if !USE_FIFO
+	RINGBUFFER_CLEAR(&timestamp_buffer);
+#endif
+
+	return rc;
+}
+
+
+/* --------------------------------------------------------------------------------------
+ *  Main
+ * -------------------------------------------------------------------------------------- */
+
+int main(void)
+{
+	int rc = 0;
+    uint8_t acc_control = 1;
+    uint8_t gyro_control = 1;
+    
+    struct inv_imu_selftest_output selftest_result;
+
+	rc |= setup_mcu();
+
+    
+#if !USE_FIFO
+    RINGBUFFER_CLEAR(&timestamp_buffer);
+#endif
+
+    /* Init device */
+     rc = inv_imu_initialize();
+
+    if (rc != INV_ERROR_SUCCESS) {
+        INV_MSG(INV_MSG_LEVEL_ERROR, "Failed to initialize INV concise driver!");
+        return rc;
+    }
+    
+	INV_MSG(INV_MSG_LEVEL_INFO, "IMU device successfully initialized");
+
+    rc |= inv_imu_run_selftest(acc_control,gyro_control, &selftest_result);
+
+    if (rc != 0) {
+        INV_LOG(SENSOR_LOG_LEVEL, "selftest run failure. Do nothing %d", rc);
+        return rc;
+    }
+
+    if (selftest_result.accel_status  == 0x1)
+        INV_LOG(SENSOR_LOG_LEVEL,  "accel Selftest PASS\n");
+    else
+        INV_LOG(SENSOR_LOG_LEVEL,  "accel Selftest fail\n");
+    
+    if (selftest_result.gyro_status  == 0x1)
+        INV_LOG(SENSOR_LOG_LEVEL,  "gyro Selftest PASS\n");
+    else
+        INV_LOG(SENSOR_LOG_LEVEL,  "gyro Selftest fail\n");
+   
+
+    do {
+
+	} while(1);
+}
+
+/*
+ * Printer function for message facility
+ */
+void msg_printer(int level, const char * str, va_list ap)
+{
+	static char out_str[256]; /* static to limit stack usage */
+	unsigned idx = 0;
+	const char * s[INV_MSG_LEVEL_MAX] = {
+	    "",    // INV_MSG_LEVEL_OFF
+	    "[E] ", // INV_MSG_LEVEL_ERROR
+	    "[W] ", // INV_MSG_LEVEL_WARNING
+	    "[I] ", // INV_MSG_LEVEL_INFO
+	    "[V] ", // INV_MSG_LEVEL_VERBOSE
+	    "[D] ", // INV_MSG_LEVEL_DEBUG
+	};
+	idx += snprintf(&out_str[idx], sizeof(out_str) - idx, "%s", s[level]);
+	if(idx >= (sizeof(out_str)))
+		return;
+	idx += vsnprintf(&out_str[idx], sizeof(out_str) - idx, str, ap);
+	if(idx >= (sizeof(out_str)))
+		return;
+	idx += snprintf(&out_str[idx], sizeof(out_str) - idx, "\r\n");
+	if(idx >= (sizeof(out_str)))
+		return;
+
+	platform_uart_mngr_puts(LOG_UART_ID, out_str, idx);
+}

components/i2c_devices/icm42670/test/example/example_wom.c

@@ -0,0 +1,273 @@
+/*
+ * ________________________________________________________________________________________________________
+ * Copyright (c) 2017 InvenSense Inc. All rights reserved.
+ *
+ * This software, related documentation and any modifications thereto (collectively “Software? is subject
+ * to InvenSense and its licensors' intellectual property rights under U.S. and international copyright
+ * and other intellectual property rights laws.
+ *
+ * InvenSense and its licensors retain all intellectual property and proprietary rights in and to the Software
+ * and any use, reproduction, disclosure or distribution of the Software without an express license agreement
+ * from InvenSense is strictly prohibited.
+ *
+ * EXCEPT AS OTHERWISE PROVIDED IN A LICENSE AGREEMENT BETWEEN THE PARTIES, THE SOFTWARE IS
+ * PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED
+ * TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT.
+ * EXCEPT AS OTHERWISE PROVIDED IN A LICENSE AGREEMENT BETWEEN THE PARTIES, IN NO EVENT SHALL
+ * INVENSENSE BE LIABLE FOR ANY DIRECT, SPECIAL, INDIRECT, INCIDENTAL, OR CONSEQUENTIAL DAMAGES, OR ANY
+ * DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT,
+ * NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR PERFORMANCE
+ * OF THE SOFTWARE.
+ * ________________________________________________________________________________________________________
+ */
+
+/* std */
+#include <stdio.h>
+
+/* board driver */
+#include "common.h"
+#include "uart_mngr.h"
+#include "delay.h"
+#include "gpio.h"
+#include "timer.h"
+#include "system_interface.h"
+
+/* InvenSense utils */
+#include "Invn/EmbUtils/Message.h"
+#include "Invn/EmbUtils/RingBuffer.h"
+
+#include "inv_imu_driver.h"
+
+
+/*
+ * Select UART port on which INV_MSG() will be printed.
+ */
+#define LOG_UART_ID     INV_UART_SENSOR_CTRL
+
+/* 
+ * Define msg level 
+ */
+#define MSG_LEVEL       INV_MSG_LEVEL_DEBUG
+
+/* 
+ * Set of timers used throughout standalone applications 
+ */
+#define TIMEBASE_TIMER  INV_TIMER1
+#define DELAY_TIMER     INV_TIMER2
+
+#if !USE_FIFO
+	/* 
+	 * Buffer to keep track of the timestamp when IMU data ready interrupt fires.
+	 * The buffer can contain up to 64 items in order to store one timestamp for each packet in FIFO.
+	 */
+	RINGBUFFER(timestamp_buffer, 64, uint64_t);
+#endif
+
+/* --------------------------------------------------------------------------------------
+ *  Static variables
+ * -------------------------------------------------------------------------------------- */
+
+/* Flag set from IMU device irq handler */
+static volatile int irq_from_device;
+
+
+/* --------------------------------------------------------------------------------------
+ *  Forward declaration
+ * -------------------------------------------------------------------------------------- */
+static int setup_mcu();
+static void ext_interrupt_cb(void * context, unsigned int int_num);
+
+void msg_printer(int level, const char * str, va_list ap);
+
+
+/* --------------------------------------------------------------------------------------
+ *  Functions definitions
+ * -------------------------------------------------------------------------------------- */
+
+/*
+ * This function initializes MCU on which this software is running.
+ * It configures:
+ *   - a UART link used to print some messages
+ *   - interrupt priority group and GPIO so that MCU can receive interrupts from IMU 
+ *   - a microsecond timer requested by IMU driver to compute some delay
+ *   - a microsecond timer used to get some timestamps
+ *   - a serial link to communicate from MCU to IMU 
+ */
+static int setup_mcu()
+{
+	int rc = 0;
+
+	platform_io_hal_board_init();
+	
+	/* configure UART */
+	config_uart(LOG_UART_ID);
+
+	/* Setup message facility to see internal traces from FW */
+	PLATFORM_MSG_SETUP(MSG_LEVEL, msg_printer);
+
+	INV_MSG(INV_MSG_LEVEL_INFO, "######################################");
+	INV_MSG(INV_MSG_LEVEL_INFO, "#  #XIAN MCU Driver V1.0 WOM EXAMPLE #");
+	INV_MSG(INV_MSG_LEVEL_INFO, "######################################");
+
+	/*
+	 * Configure input capture mode GPIO connected to pin EXT3-9 (pin PB03).
+	 * This pin is connected to Icm406xx INT1 output and thus will receive interrupts 
+	 * enabled on INT1 from the device.
+	 * A callback function is also passed that will be executed each time an interrupt
+	 * fires.
+	*/
+	platform_gpio_sensor_irq_init(INV_GPIO_INT1, ext_interrupt_cb, 0);
+
+	/* Init timer peripheral for delay */
+	rc |= platform_delay_init(DELAY_TIMER);
+	
+	/*
+	 * Configure the timer for the timebase
+	 */
+	rc |= platform_timer_configure_timebase(1000000);
+	platform_timer_enable(TIMEBASE_TIMER);
+
+	inv_imu_set_serif(platform_io_hal_read_reg, platform_io_hal_write_reg);
+    inv_imu_set_delay(platform_delay_ms,platform_delay_us);                  //void (*delay_ms)(uint32_t), void (*delay_us)(uint32_t))
+	rc |= platform_io_hal_init();
+
+	return rc;
+}
+
+
+/*
+ * IMU interrupt handler.
+ * Function is executed when an IMU interrupt rises on MCU.
+ * This function get a timestamp and store it in the timestamp buffer.
+ * Note that this function is executed in an interrupt handler and thus no protection
+ * are implemented for shared variable timestamp_buffer.
+ */
+static void ext_interrupt_cb(void * context, unsigned int int_num)
+{
+	(void)context;
+
+#if !USE_FIFO
+	/* 
+	 * Read timestamp from the timer dedicated to timestamping 
+	 */
+	uint64_t timestamp = platform_timer_get_counter(TIMEBASE_TIMER);
+
+	if(int_num == INV_GPIO_INT1) {
+		if (!RINGBUFFER_FULL(&timestamp_buffer))
+			RINGBUFFER_PUSH(&timestamp_buffer, &timestamp);
+	}
+#endif
+
+	irq_from_device |= TO_MASK(int_num);
+}
+
+
+/* --------------------------------------------------------------------------------------
+ *  Functions definition
+ * -------------------------------------------------------------------------------------- */
+
+int setup_imu_device()
+{
+	int rc = 0;
+
+	/* Init device */
+	rc = inv_imu_initialize();
+	if (rc != INV_ERROR_SUCCESS) {
+		INV_MSG(INV_MSG_LEVEL_ERROR, "Failed to initialize IMU!");
+		return rc;
+	}
+
+	
+#if !USE_FIFO
+	RINGBUFFER_CLEAR(&timestamp_buffer);
+#endif
+
+	return rc;
+}
+
+/* --------------------------------------------------------------------------------------
+ *  Main
+ * -------------------------------------------------------------------------------------- */
+
+int main(void)
+{
+	int rc = 0;
+    bool wom_detect_result = false;
+    int  wom_flag;
+
+	rc |= setup_mcu();
+
+    
+#if !USE_FIFO
+    RINGBUFFER_CLEAR(&timestamp_buffer);
+#endif
+
+    /* Init device */
+     rc = inv_imu_initialize();
+
+    if (rc != INV_ERROR_SUCCESS) {
+        INV_MSG(INV_MSG_LEVEL_ERROR, "Failed to initialize INV concise driver!");
+        return rc;
+    }
+    
+	INV_MSG(INV_MSG_LEVEL_INFO, "IMU device successfully initialized");
+
+    rc += inv_imu_wom_enable(WOM_THRESHOLD_X,WOM_THRESHOLD_Y,WOM_THRESHOLD_Z,WOM_CONFIG_WOM_INT_DUR_4_SMPL);
+
+   
+    if (rc != 0) {
+        INV_LOG(SENSOR_LOG_LEVEL, "Feature enable Failed. Do nothing %d", rc);
+        return rc;
+    }
+
+	int i = 0;
+
+    do {
+		/* Poll device for data */		
+		if (irq_from_device & TO_MASK(INV_GPIO_INT1)) {
+
+			inv_disable_irq();
+            
+            wom_flag = inv_imu_wom_get_event(&wom_detect_result);
+            INV_LOG(SENSOR_LOG_LEVEL, "wom result %d, flag %x",wom_detect_result,wom_flag); 
+            
+			irq_from_device &= ~TO_MASK(INV_GPIO_INT1);
+			inv_enable_irq();
+
+            i++;
+		}
+
+        if (i == 20) {
+            rc = inv_imu_wom_disable();
+            i++;
+            }
+	} while(1);
+}
+
+/*
+ * Printer function for message facility
+ */
+void msg_printer(int level, const char * str, va_list ap)
+{
+	static char out_str[256]; /* static to limit stack usage */
+	unsigned idx = 0;
+	const char * s[INV_MSG_LEVEL_MAX] = {
+	    "",    // INV_MSG_LEVEL_OFF
+	    "[E] ", // INV_MSG_LEVEL_ERROR
+	    "[W] ", // INV_MSG_LEVEL_WARNING
+	    "[I] ", // INV_MSG_LEVEL_INFO
+	    "[V] ", // INV_MSG_LEVEL_VERBOSE
+	    "[D] ", // INV_MSG_LEVEL_DEBUG
+	};
+	idx += snprintf(&out_str[idx], sizeof(out_str) - idx, "%s", s[level]);
+	if(idx >= (sizeof(out_str)))
+		return;
+	idx += vsnprintf(&out_str[idx], sizeof(out_str) - idx, str, ap);
+	if(idx >= (sizeof(out_str)))
+		return;
+	idx += snprintf(&out_str[idx], sizeof(out_str) - idx, "\r\n");
+	if(idx >= (sizeof(out_str)))
+		return;
+
+	platform_uart_mngr_puts(LOG_UART_ID, out_str, idx);
+}

components/i2c_devices/icm42670/test/icm42670_test.c

@@ -0,0 +1,50 @@
+// Copyright 2020 Espressif Systems (Shanghai) Co. Ltd.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include "stdio.h"
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "freertos/queue.h"
+#include "freertos/timers.h"
+#include "esp_log.h"
+#include "unity.h"
+#include "icm42670.h"
+
+static const char *TAG = "IMU TEST";
+
+
+static void icm42670_test(void *args)
+{
+    AccDataPacket accData;
+    GyroDataPacket gyroData;
+    chip_temperature imu_chip_temperature;
+
+    icm42670_init();
+    while (1) {
+        int ret = icm42670_get_raw_data(&accData, &gyroData, &imu_chip_temperature);
+        if (0 == ret) {
+            INV_LOG(SENSOR_LOG_LEVEL, "temperature=%.1f", imu_chip_temperature);
+            INV_LOG(SENSOR_LOG_LEVEL, "ACC %d   (%.1f, %.1f, %.1f)", accData.accDataSize, accData.databuff[0].x, accData.databuff[0].y, accData.databuff[0].z);
+            INV_LOG(SENSOR_LOG_LEVEL, "Gyro%d   (%.1f, %.1f, %.1f)", gyroData.gyroDataSize, gyroData.databuff[0].x, gyroData.databuff[0].y, gyroData.databuff[0].z);
+        } else {
+            INV_LOG(INV_LOG_LEVEL_ERROR, "read err");
+        }
+        vTaskDelay(pdMS_TO_TICKS(100));
+    }
+}
+
+TEST_CASE("ICM42670 test", "[imu][cube]")
+{
+    icm42670_test(NULL);
+}