drivers/imu/invensense: new ICM20948 driver on SPI with AK09916 mag

boards/mro/ctrl-zero-f7/default.cmake

@@ -31,7 +31,7 @@ px4_add_board(
 		#imu # all available imu drivers
 		imu/bmi088
 		imu/invensense/icm20602
-		imu/icm20948
+		imu/invensense/icm20948
 		irlock
 		lights/blinkm
 		lights/rgbled

boards/mro/ctrl-zero-f7/init/rc.board_sensors

@@ -12,8 +12,8 @@ icm20602 -s -R 4 start
 bmi088 -A -R 10 -s start
 bmi088 -G -R 10 -s start
 
-# Internal ICM-20948
+# Internal ICM-20948 (with magnetometer)
-icm20948 -s -R 10 start
+icm20948 -s -R 2 -M start
 
 # Interal DPS310 (barometer)
 dps310 -s start

boards/mro/ctrl-zero-f7/src/board_config.h

@@ -118,6 +118,7 @@
 #define BOARD_NUMBER_BRICKS             1
 
 #define GPIO_VDD_3V3_SPEKTRUM_POWER_EN  /* PE4  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN4)
+#define GPIO_VDD_3V3_SENSORS_EN         /* PE3  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN3)
 
 
 /* Define True logic Power Control in arch agnostic form */
@@ -200,6 +201,7 @@
 		GPIO_CAN1_SILENT_S0,              \
 		GPIO_nPOWER_IN_A,                 \
 		GPIO_VDD_3V3_SPEKTRUM_POWER_EN,   \
+		GPIO_VDD_3V3_SENSORS_EN,          \
 		GPIO_TONE_ALARM_IDLE,             \
 		GPIO_SAFETY_SWITCH_IN,            \
 	}

boards/mro/ctrl-zero-f7/src/init.c

@@ -163,7 +163,7 @@ stm32_boardinitialize(void)
 	px4_gpio_init(gpio, arraySize(gpio));
 
 	/* configure SPI interfaces */
-	stm32_spiinitialize();
+	px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, 0);
 
 	/* configure USB interfaces */
 	stm32_usbinitialize();
@@ -198,11 +198,14 @@ stm32_boardinitialize(void)
 __EXPORT int board_app_initialize(uintptr_t arg)
 {
 	/* Power on Interfaces */
+	px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, 1);
 	board_control_spi_sensors_power(true, 0xffff);
 	VDD_3V3_SPEKTRUM_POWER_EN(true);
 
 	px4_platform_init();
 
+	stm32_spiinitialize();
+
 	/* configure the DMA allocator */
 	if (board_dma_alloc_init() < 0) {
 		syslog(LOG_ERR, "[boot] DMA alloc FAILED\n");

boards/mro/ctrl-zero-f7/src/spi.cpp

@@ -39,7 +39,7 @@ constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
 	initSPIBus(SPI::Bus::SPI1, {
 		initSPIDevice(DRV_IMU_DEVTYPE_ICM20602, SPI::CS{GPIO::PortC, GPIO::Pin2}, SPI::DRDY{GPIO::PortD, GPIO::Pin15}),
 		initSPIDevice(DRV_IMU_DEVTYPE_ICM20948, SPI::CS{GPIO::PortE, GPIO::Pin15}, SPI::DRDY{GPIO::PortE, GPIO::Pin12}),
-	}, {GPIO::PortE, GPIO::Pin3}),
+	}),
 	initSPIBus(SPI::Bus::SPI2, {
 		initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortD, GPIO::Pin10}),
 		initSPIDevice(DRV_BARO_DEVTYPE_DPS310, SPI::CS{GPIO::PortD, GPIO::Pin7}),
@@ -47,7 +47,7 @@ constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
 	initSPIBus(SPI::Bus::SPI5, {
 		initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::PortF, GPIO::Pin10}, SPI::DRDY{GPIO::PortF, GPIO::Pin3}),
 		initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::PortF, GPIO::Pin6}, SPI::DRDY{GPIO::PortF, GPIO::Pin1}),
-	}, {GPIO::PortE, GPIO::Pin3}),
+	}),
 };
 
 static constexpr bool unused = validateSPIConfig(px4_spi_buses);

src/drivers/drv_sensor.h

@@ -61,7 +61,7 @@
 #define DRV_MAG_DEVTYPE_RM3100   0x07
 #define DRV_MAG_DEVTYPE_QMC5883  0x08
 #define DRV_MAG_DEVTYPE_AK09916  0x09
-#define DRV_IMU_DEVTYPE_ICM20948 0x0A
+
 #define DRV_MAG_DEVTYPE_IST8308  0x0B
 #define DRV_MAG_DEVTYPE_LIS2MDL  0x0C
 
@@ -79,6 +79,7 @@
 #define DRV_IMU_DEVTYPE_ICM20649 0x25
 #define DRV_IMU_DEVTYPE_ICM42688P 0x26
 #define DRV_IMU_DEVTYPE_ICM40609D 0x27
+#define DRV_IMU_DEVTYPE_ICM20948 0x28
 
 #define DRV_RNG_DEVTYPE_MB12XX   0x31
 #define DRV_RNG_DEVTYPE_LL40LS   0x32

src/drivers/imu/invensense/icm20948/AKM_AK09916_registers.hpp

@@ -0,0 +1,105 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2019 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file AKM_AK09916_registers.hpp
+ *
+ * Asahi Kasei Microdevices (AKM) AK09916 registers.
+ *
+ */
+
+#pragma once
+
+#include <cstdint>
+
+namespace AKM_AK09916
+{
+
+// TODO: move to a central header
+static constexpr uint8_t Bit0 = (1 << 0);
+static constexpr uint8_t Bit1 = (1 << 1);
+static constexpr uint8_t Bit2 = (1 << 2);
+static constexpr uint8_t Bit3 = (1 << 3);
+static constexpr uint8_t Bit4 = (1 << 4);
+static constexpr uint8_t Bit5 = (1 << 5);
+static constexpr uint8_t Bit6 = (1 << 6);
+static constexpr uint8_t Bit7 = (1 << 7);
+
+static constexpr uint32_t I2C_SPEED = 400 * 1000; // 400 kHz I2C serial interface
+static constexpr uint8_t I2C_ADDRESS_DEFAULT = 0b0001100;
+
+static constexpr uint8_t WHOAMI = 0x09;
+
+enum class Register : uint8_t {
+	WIA   = 0x01,   // Device ID
+
+	ST1   = 0x10,   // Status 1
+	HXL   = 0x11,
+	HXH   = 0x12,
+	HYL   = 0x13,
+	HYH   = 0x14,
+	HZL   = 0x15,
+	HZH   = 0x16,
+
+	ST2   = 0x18,   // Status 2
+
+	CNTL2 = 0x31,   // Control 2
+	CNTL3 = 0x32,   // Control 3
+};
+
+// ST1
+enum ST1_BIT : uint8_t {
+	DOR  = Bit1,    // Data overrun
+	DRDY = Bit0,    // Data is ready
+};
+
+// ST2
+enum ST2_BIT : uint8_t {
+	BITM = Bit4, // Output bit setting (mirror)
+	HOFL = Bit3, // Magnetic sensor overflow
+};
+
+// CNTL2
+enum CNTL2_BIT : uint8_t {
+	MODE1 = Bit1,        // Continuous measurement mode 1 (10Hz)
+	MODE2 = Bit2,        // Continuous measurement mode 2 (20Hz)
+	MODE3 = Bit2 | Bit1, // Continuous measurement mode 3 (50Hz)
+	MODE4 = Bit3,        // Continuous measurement mode 4 (100Hz)
+};
+
+// CNTL3
+enum CNTL3_BIT : uint8_t {
+	SRST = Bit0,
+};
+
+} // namespace AKM_AK09916

src/drivers/imu/invensense/icm20948/CMakeLists.txt

@@ -0,0 +1,52 @@
+############################################################################
+#
+#   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+px4_add_module(
+	MODULE drivers__imu__icm20948
+	MAIN icm20948
+	COMPILE_FLAGS
+		-DDEBUG_BUILD
+		-O0
+	SRCS
+		AKM_AK09916_registers.hpp
+		ICM20948.cpp
+		ICM20948.hpp
+		ICM20948_AK09916.cpp
+		ICM20948_AK09916.hpp
+		icm20948_main.cpp
+		InvenSense_ICM20948_registers.hpp
+	DEPENDS
+		px4_work_queue
+		drivers_accelerometer
+		drivers_gyroscope
+		drivers_magnetometer
+	)

src/drivers/imu/invensense/icm20948/ICM20948.cpp

@@ -0,0 +1,755 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include "ICM20948.hpp"
+
+#include "AKM_AK09916_registers.hpp"
+
+using namespace time_literals;
+
+static constexpr int16_t combine(uint8_t msb, uint8_t lsb)
+{
+	return (msb << 8u) | lsb;
+}
+
+ICM20948::ICM20948(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rotation rotation, int bus_frequency,
+		   spi_mode_e spi_mode, spi_drdy_gpio_t drdy_gpio, bool enable_magnetometer) :
+	SPI(DRV_IMU_DEVTYPE_ICM20948, MODULE_NAME, bus, device, spi_mode, bus_frequency),
+	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
+	_drdy_gpio(drdy_gpio),
+	_px4_accel(get_device_id(), ORB_PRIO_DEFAULT, rotation),
+	_px4_gyro(get_device_id(), ORB_PRIO_DEFAULT, rotation)
+{
+	ConfigureSampleRate(_px4_gyro.get_max_rate_hz());
+
+	if (enable_magnetometer) {
+		_slave_ak09916_magnetometer = new AKM_AK09916::ICM20948_AK09916(*this, rotation);
+
+		if (_slave_ak09916_magnetometer) {
+			for (auto &r : _register_bank3_cfg) {
+				if (r.reg == Register::BANK_3::I2C_SLV4_CTRL) {
+					r.set_bits = I2C_SLV4_CTRL_BIT::I2C_MST_DLY;
+
+				} else if (r.reg == Register::BANK_3::I2C_MST_CTRL) {
+					r.set_bits = I2C_MST_CTRL_BIT::I2C_MST_P_NSR | I2C_MST_CTRL_BIT::I2C_MST_CLK_400_kHz;
+
+				} else if (r.reg == Register::BANK_3::I2C_MST_DELAY_CTRL) {
+					r.set_bits = I2C_MST_DELAY_CTRL_BIT::I2C_SLVX_DLY_EN;
+				}
+			}
+		}
+	}
+}
+
+ICM20948::~ICM20948()
+{
+	perf_free(_transfer_perf);
+	perf_free(_bad_register_perf);
+	perf_free(_bad_transfer_perf);
+	perf_free(_fifo_empty_perf);
+	perf_free(_fifo_overflow_perf);
+	perf_free(_fifo_reset_perf);
+	perf_free(_drdy_interval_perf);
+
+	delete _slave_ak09916_magnetometer;
+}
+
+int ICM20948::init()
+{
+	int ret = SPI::init();
+
+	if (ret != PX4_OK) {
+		DEVICE_DEBUG("SPI::init failed (%i)", ret);
+		return ret;
+	}
+
+	return Reset() ? 0 : -1;
+}
+
+bool ICM20948::Reset()
+{
+	_state = STATE::RESET;
+	ScheduleClear();
+	ScheduleNow();
+	return true;
+}
+
+void ICM20948::exit_and_cleanup()
+{
+	DataReadyInterruptDisable();
+	I2CSPIDriverBase::exit_and_cleanup();
+}
+
+void ICM20948::print_status()
+{
+	I2CSPIDriverBase::print_status();
+	PX4_INFO("FIFO empty interval: %d us (%.3f Hz)", _fifo_empty_interval_us,
+		 static_cast<double>(1000000 / _fifo_empty_interval_us));
+
+	perf_print_counter(_transfer_perf);
+	perf_print_counter(_bad_register_perf);
+	perf_print_counter(_bad_transfer_perf);
+	perf_print_counter(_fifo_empty_perf);
+	perf_print_counter(_fifo_overflow_perf);
+	perf_print_counter(_fifo_reset_perf);
+	perf_print_counter(_drdy_interval_perf);
+
+	_px4_accel.print_status();
+	_px4_gyro.print_status();
+
+	if (_slave_ak09916_magnetometer) {
+		_slave_ak09916_magnetometer->PrintInfo();
+	}
+}
+
+int ICM20948::probe()
+{
+	const uint8_t whoami = RegisterRead(Register::BANK_0::WHO_AM_I);
+
+	if (whoami != WHOAMI) {
+		DEVICE_DEBUG("unexpected WHO_AM_I 0x%02x", whoami);
+		return PX4_ERROR;
+	}
+
+	return PX4_OK;
+}
+
+void ICM20948::RunImpl()
+{
+	switch (_state) {
+	case STATE::RESET:
+		// PWR_MGMT_1: Device Reset
+		RegisterWrite(Register::BANK_0::PWR_MGMT_1, PWR_MGMT_1_BIT::DEVICE_RESET);
+		_reset_timestamp = hrt_absolute_time();
+		_state = STATE::WAIT_FOR_RESET;
+		ScheduleDelayed(10_ms);
+		break;
+
+	case STATE::WAIT_FOR_RESET:
+
+		// The reset value is 0x00 for all registers other than the registers below
+		if ((RegisterRead(Register::BANK_0::WHO_AM_I) == WHOAMI)
+		    && (RegisterRead(Register::BANK_0::PWR_MGMT_1) == 0x41)) {
+
+			// if reset succeeded then configure
+			_state = STATE::CONFIGURE;
+			ScheduleDelayed(10_ms);
+
+		} else {
+			// RESET not complete
+			if (hrt_elapsed_time(&_reset_timestamp) > 100_ms) {
+				PX4_DEBUG("Reset failed, retrying");
+				_state = STATE::RESET;
+				ScheduleDelayed(100_ms);
+
+			} else {
+				PX4_DEBUG("Reset not complete, check again in 10 ms");
+				ScheduleDelayed(10_ms);
+			}
+		}
+
+		break;
+
+	case STATE::CONFIGURE:
+		if (Configure()) {
+
+			// start AK09916 magnetometer (I2C aux)
+			if (_slave_ak09916_magnetometer) {
+				_slave_ak09916_magnetometer->Reset();
+			}
+
+			// if configure succeeded then start reading from FIFO
+			_state = STATE::FIFO_READ;
+
+			if (DataReadyInterruptConfigure()) {
+				_data_ready_interrupt_enabled = true;
+
+				// backup schedule as a watchdog timeout
+				ScheduleDelayed(10_ms);
+
+			} else {
+				_data_ready_interrupt_enabled = false;
+				ScheduleOnInterval(_fifo_empty_interval_us, _fifo_empty_interval_us);
+			}
+
+			FIFOReset();
+
+		} else {
+			PX4_DEBUG("Configure failed, retrying");
+			// try again in 10 ms
+			ScheduleDelayed(10_ms);
+		}
+
+		break;
+
+	case STATE::FIFO_READ: {
+			hrt_abstime timestamp_sample = 0;
+			uint8_t samples = 0;
+
+			if (_data_ready_interrupt_enabled) {
+				// re-schedule as watchdog timeout
+				ScheduleDelayed(10_ms);
+
+				// timestamp set in data ready interrupt
+				if (!_force_fifo_count_check) {
+					samples = _fifo_read_samples.load();
+
+				} else {
+					const uint16_t fifo_count = FIFOReadCount();
+					samples = (fifo_count / sizeof(FIFO::DATA) / SAMPLES_PER_TRANSFER) * SAMPLES_PER_TRANSFER; // round down to nearest
+				}
+
+				timestamp_sample = _fifo_watermark_interrupt_timestamp;
+			}
+
+			bool failure = false;
+
+			// manually check FIFO count if no samples from DRDY or timestamp looks bogus
+			if (!_data_ready_interrupt_enabled || (samples == 0)
+			    || (hrt_elapsed_time(&timestamp_sample) > (_fifo_empty_interval_us / 2))) {
+
+				// use the time now roughly corresponding with the last sample we'll pull from the FIFO
+				timestamp_sample = hrt_absolute_time();
+				const uint16_t fifo_count = FIFOReadCount();
+				samples = (fifo_count / sizeof(FIFO::DATA) / SAMPLES_PER_TRANSFER) * SAMPLES_PER_TRANSFER; // round down to nearest
+			}
+
+			if (samples > FIFO_MAX_SAMPLES) {
+				// not technically an overflow, but more samples than we expected or can publish
+				perf_count(_fifo_overflow_perf);
+				failure = true;
+				FIFOReset();
+
+			} else if (samples >= SAMPLES_PER_TRANSFER) {
+				// require at least SAMPLES_PER_TRANSFER (we want at least 1 new accel sample per transfer)
+				if (!FIFORead(timestamp_sample, samples)) {
+					failure = true;
+					_px4_accel.increase_error_count();
+					_px4_gyro.increase_error_count();
+				}
+
+			} else if (samples == 0) {
+				failure = true;
+				perf_count(_fifo_empty_perf);
+			}
+
+			if (failure || hrt_elapsed_time(&_last_config_check_timestamp) > 10_ms) {
+				// check BANK_0 & BANK_2 registers incrementally
+				if (RegisterCheck(_register_bank0_cfg[_checked_register_bank0], true)
+				    && RegisterCheck(_register_bank2_cfg[_checked_register_bank2], true)
+				    && RegisterCheck(_register_bank3_cfg[_checked_register_bank3], true)
+				   ) {
+					_last_config_check_timestamp = timestamp_sample;
+					_checked_register_bank0 = (_checked_register_bank0 + 1) % size_register_bank0_cfg;
+					_checked_register_bank2 = (_checked_register_bank2 + 1) % size_register_bank2_cfg;
+					_checked_register_bank3 = (_checked_register_bank3 + 1) % size_register_bank3_cfg;
+
+				} else {
+					// register check failed, force reconfigure
+					PX4_DEBUG("Health check failed, reconfiguring");
+					_state = STATE::CONFIGURE;
+					ScheduleNow();
+				}
+
+			} else {
+				// periodically update temperature (1 Hz)
+				if (hrt_elapsed_time(&_temperature_update_timestamp) > 1_s) {
+					UpdateTemperature();
+					_temperature_update_timestamp = timestamp_sample;
+				}
+			}
+		}
+
+		break;
+	}
+}
+
+void ICM20948::ConfigureAccel()
+{
+	const uint8_t ACCEL_FS_SEL = RegisterRead(Register::BANK_2::ACCEL_CONFIG) & (Bit2 | Bit1); // 2:1 ACCEL_FS_SEL[1:0]
+
+	switch (ACCEL_FS_SEL) {
+	case ACCEL_FS_SEL_2G:
+		_px4_accel.set_scale(CONSTANTS_ONE_G / 16384.f);
+		_px4_accel.set_range(2.f * CONSTANTS_ONE_G);
+		break;
+
+	case ACCEL_FS_SEL_4G:
+		_px4_accel.set_scale(CONSTANTS_ONE_G / 8192.f);
+		_px4_accel.set_range(4.f * CONSTANTS_ONE_G);
+		break;
+
+	case ACCEL_FS_SEL_8G:
+		_px4_accel.set_scale(CONSTANTS_ONE_G / 4096.f);
+		_px4_accel.set_range(8.f * CONSTANTS_ONE_G);
+		break;
+
+	case ACCEL_FS_SEL_16G:
+		_px4_accel.set_scale(CONSTANTS_ONE_G / 2048.f);
+		_px4_accel.set_range(16.f * CONSTANTS_ONE_G);
+		break;
+	}
+}
+
+void ICM20948::ConfigureGyro()
+{
+	const uint8_t GYRO_FS_SEL = RegisterRead(Register::BANK_2::GYRO_CONFIG_1) & (Bit2 | Bit1); // 2:1 GYRO_FS_SEL[1:0]
+
+	switch (GYRO_FS_SEL) {
+	case GYRO_FS_SEL_250_DPS:
+		_px4_gyro.set_scale(math::radians(1.f / 131.f));
+		_px4_gyro.set_range(math::radians(250.f));
+		break;
+
+	case GYRO_FS_SEL_500_DPS:
+		_px4_gyro.set_scale(math::radians(1.f / 65.5f));
+		_px4_gyro.set_range(math::radians(500.f));
+		break;
+
+	case GYRO_FS_SEL_1000_DPS:
+		_px4_gyro.set_scale(math::radians(1.f / 32.8f));
+		_px4_gyro.set_range(math::radians(1000.f));
+		break;
+
+	case GYRO_FS_SEL_2000_DPS:
+		_px4_gyro.set_scale(math::radians(1.f / 16.4f));
+		_px4_gyro.set_range(math::radians(2000.f));
+		break;
+	}
+}
+
+void ICM20948::ConfigureSampleRate(int sample_rate)
+{
+	if (sample_rate == 0) {
+		sample_rate = 800; // default to ~800 Hz
+	}
+
+	// round down to nearest FIFO sample dt * SAMPLES_PER_TRANSFER
+	const float min_interval = SAMPLES_PER_TRANSFER * FIFO_SAMPLE_DT;
+	_fifo_empty_interval_us = math::max(roundf((1e6f / (float)sample_rate) / min_interval) * min_interval, min_interval);
+
+	_fifo_gyro_samples = roundf(math::min((float)_fifo_empty_interval_us / (1e6f / GYRO_RATE), (float)FIFO_MAX_SAMPLES));
+
+	// recompute FIFO empty interval (us) with actual gyro sample limit
+	_fifo_empty_interval_us = _fifo_gyro_samples * (1e6f / GYRO_RATE);
+
+	_fifo_accel_samples = roundf(math::min(_fifo_empty_interval_us / (1e6f / ACCEL_RATE), (float)FIFO_MAX_SAMPLES));
+
+	_px4_accel.set_update_rate(1e6f / _fifo_empty_interval_us);
+	_px4_gyro.set_update_rate(1e6f / _fifo_empty_interval_us);
+}
+
+void ICM20948::SelectRegisterBank(enum REG_BANK_SEL_BIT bank)
+{
+	if (bank != _last_register_bank) {
+		// select BANK_0
+		uint8_t cmd_bank_sel[2] {};
+		cmd_bank_sel[0] = static_cast<uint8_t>(Register::BANK_0::REG_BANK_SEL);
+		cmd_bank_sel[1] = bank;
+		transfer(cmd_bank_sel, cmd_bank_sel, sizeof(cmd_bank_sel));
+
+		_last_register_bank = bank;
+	}
+}
+
+bool ICM20948::Configure()
+{
+	bool success = true;
+
+	for (const auto &reg : _register_bank0_cfg) {
+		if (!RegisterCheck(reg)) {
+			success = false;
+		}
+	}
+
+	for (const auto &reg : _register_bank2_cfg) {
+		if (!RegisterCheck(reg)) {
+			success = false;
+		}
+	}
+
+	for (const auto &reg : _register_bank3_cfg) {
+		if (!RegisterCheck(reg)) {
+			success = false;
+		}
+	}
+
+	ConfigureAccel();
+	ConfigureGyro();
+
+	return success;
+}
+
+int ICM20948::DataReadyInterruptCallback(int irq, void *context, void *arg)
+{
+	static_cast<ICM20948 *>(arg)->DataReady();
+	return 0;
+}
+
+void ICM20948::DataReady()
+{
+	perf_count(_drdy_interval_perf);
+
+	if (_data_ready_count.fetch_add(1) >= (_fifo_gyro_samples - 1)) {
+		_data_ready_count.store(0);
+		_fifo_watermark_interrupt_timestamp = hrt_absolute_time();
+		_fifo_read_samples.store(_fifo_gyro_samples);
+		ScheduleNow();
+	}
+}
+
+bool ICM20948::DataReadyInterruptConfigure()
+{
+	if (_drdy_gpio == 0) {
+		return false;
+	}
+
+	// Setup data ready on falling edge
+	return px4_arch_gpiosetevent(_drdy_gpio, false, true, true, &DataReadyInterruptCallback, this) == 0;
+}
+
+bool ICM20948::DataReadyInterruptDisable()
+{
+	if (_drdy_gpio == 0) {
+		return false;
+	}
+
+	return px4_arch_gpiosetevent(_drdy_gpio, false, false, false, nullptr, nullptr) == 0;
+}
+
+template <typename T>
+bool ICM20948::RegisterCheck(const T &reg_cfg, bool notify)
+{
+	bool success = true;
+
+	const uint8_t reg_value = RegisterRead(reg_cfg.reg);
+
+	if (reg_cfg.set_bits && ((reg_value & reg_cfg.set_bits) != reg_cfg.set_bits)) {
+		PX4_DEBUG("0x%02hhX: 0x%02hhX (0x%02hhX not set)", (uint8_t)reg_cfg.reg, reg_value, reg_cfg.set_bits);
+		success = false;
+	}
+
+	if (reg_cfg.clear_bits && ((reg_value & reg_cfg.clear_bits) != 0)) {
+		PX4_DEBUG("0x%02hhX: 0x%02hhX (0x%02hhX not cleared)", (uint8_t)reg_cfg.reg, reg_value, reg_cfg.clear_bits);
+		success = false;
+	}
+
+	if (!success) {
+		RegisterSetAndClearBits(reg_cfg.reg, reg_cfg.set_bits, reg_cfg.clear_bits);
+
+		if (notify) {
+			perf_count(_bad_register_perf);
+			_px4_accel.increase_error_count();
+			_px4_gyro.increase_error_count();
+		}
+	}
+
+	return success;
+}
+
+template <typename T>
+uint8_t ICM20948::RegisterRead(T reg)
+{
+	SelectRegisterBank(reg);
+
+	uint8_t cmd[2] {};
+	cmd[0] = static_cast<uint8_t>(reg) | DIR_READ;
+	transfer(cmd, cmd, sizeof(cmd));
+	return cmd[1];
+}
+
+template <typename T>
+void ICM20948::RegisterWrite(T reg, uint8_t value)
+{
+	SelectRegisterBank(reg);
+
+	uint8_t cmd[2] { (uint8_t)reg, value };
+	transfer(cmd, cmd, sizeof(cmd));
+}
+
+template <typename T>
+void ICM20948::RegisterSetAndClearBits(T reg, uint8_t setbits, uint8_t clearbits)
+{
+	const uint8_t orig_val = RegisterRead(reg);
+	uint8_t val = orig_val;
+
+	if (setbits) {
+		val |= setbits;
+	}
+
+	if (clearbits) {
+		val &= ~clearbits;
+	}
+
+	RegisterWrite(reg, val);
+}
+
+uint16_t ICM20948::FIFOReadCount()
+{
+	SelectRegisterBank(REG_BANK_SEL_BIT::USER_BANK_0);
+
+	// read FIFO count
+	uint8_t fifo_count_buf[3] {};
+	fifo_count_buf[0] = static_cast<uint8_t>(Register::BANK_0::FIFO_COUNTH) | DIR_READ;
+
+	if (transfer(fifo_count_buf, fifo_count_buf, sizeof(fifo_count_buf)) != PX4_OK) {
+		perf_count(_bad_transfer_perf);
+		return 0;
+	}
+
+	return combine(fifo_count_buf[1], fifo_count_buf[2]);
+}
+
+bool ICM20948::FIFORead(const hrt_abstime &timestamp_sample, uint16_t samples)
+{
+	perf_begin(_transfer_perf);
+
+	SelectRegisterBank(REG_BANK_SEL_BIT::USER_BANK_0);
+
+	FIFOTransferBuffer buffer{};
+	const size_t transfer_size = math::min(samples * sizeof(FIFO::DATA) + 3, FIFO::SIZE);
+
+	if (transfer((uint8_t *)&buffer, (uint8_t *)&buffer, transfer_size) != PX4_OK) {
+		perf_end(_transfer_perf);
+		perf_count(_bad_transfer_perf);
+		return false;
+	}
+
+	perf_end(_transfer_perf);
+
+	const uint16_t fifo_count_bytes = combine(buffer.FIFO_COUNTH, buffer.FIFO_COUNTL);
+	const uint16_t fifo_count_samples = fifo_count_bytes / sizeof(FIFO::DATA);
+
+	if (fifo_count_samples == 0) {
+		perf_count(_fifo_empty_perf);
+		return false;
+	}
+
+	if (fifo_count_bytes >= FIFO::SIZE) {
+		perf_count(_fifo_overflow_perf);
+		FIFOReset();
+		return false;
+	}
+
+	const uint16_t valid_samples = math::min(samples, fifo_count_samples);
+
+	if (fifo_count_samples < samples) {
+		// force check if there is somehow fewer samples actually in the FIFO (potentially a serious error)
+		_force_fifo_count_check = true;
+
+	} else if (fifo_count_samples >= samples + 2) {
+		// if we're more than a couple samples behind force FIFO_COUNT check
+		_force_fifo_count_check = true;
+
+	} else {
+		// skip earlier FIFO_COUNT and trust DRDY count if we're in sync
+		_force_fifo_count_check = false;
+	}
+
+	if (valid_samples > 0) {
+		ProcessGyro(timestamp_sample, buffer, valid_samples);
+
+		if (ProcessAccel(timestamp_sample, buffer, valid_samples)) {
+			return true;
+		}
+	}
+
+	// force FIFO count check if there was any other error
+	_force_fifo_count_check = true;
+
+	return false;
+}
+
+void ICM20948::FIFOReset()
+{
+	perf_count(_fifo_reset_perf);
+
+	// FIFO_RST: reset FIFO
+	RegisterSetBits(Register::BANK_0::FIFO_RST, FIFO_RST_BIT::FIFO_RESET);
+	RegisterClearBits(Register::BANK_0::FIFO_RST, FIFO_RST_BIT::FIFO_RESET);
+
+	// reset while FIFO is disabled
+	_data_ready_count.store(0);
+	_fifo_watermark_interrupt_timestamp = 0;
+	_fifo_read_samples.store(0);
+}
+
+static bool fifo_accel_equal(const FIFO::DATA &f0, const FIFO::DATA &f1)
+{
+	return (memcmp(&f0.ACCEL_XOUT_H, &f1.ACCEL_XOUT_H, 6) == 0);
+}
+
+bool ICM20948::ProcessAccel(const hrt_abstime &timestamp_sample, const FIFOTransferBuffer &buffer,
+			    const uint8_t samples)
+{
+	PX4Accelerometer::FIFOSample accel;
+	accel.timestamp_sample = timestamp_sample;
+	accel.dt = _fifo_empty_interval_us / _fifo_accel_samples;
+
+	bool bad_data = false;
+
+	// accel data is doubled in FIFO, but might be shifted
+	int accel_first_sample = 1;
+
+	if (samples >= 4) {
+		if (fifo_accel_equal(buffer.f[0], buffer.f[1]) && fifo_accel_equal(buffer.f[2], buffer.f[3])) {
+			// [A0, A1, A2, A3]
+			//  A0==A1, A2==A3
+			accel_first_sample = 1;
+
+		} else if (fifo_accel_equal(buffer.f[1], buffer.f[2])) {
+			// [A0, A1, A2, A3]
+			//  A0, A1==A2, A3
+			accel_first_sample = 0;
+
+		} else {
+			perf_count(_bad_transfer_perf);
+			bad_data = true;
+		}
+	}
+
+	int accel_samples = 0;
+
+	for (int i = accel_first_sample; i < samples; i = i + 2) {
+		const FIFO::DATA &fifo_sample = buffer.f[i];
+		int16_t accel_x = combine(fifo_sample.ACCEL_XOUT_H, fifo_sample.ACCEL_XOUT_L);
+		int16_t accel_y = combine(fifo_sample.ACCEL_YOUT_H, fifo_sample.ACCEL_YOUT_L);
+		int16_t accel_z = combine(fifo_sample.ACCEL_ZOUT_H, fifo_sample.ACCEL_ZOUT_L);
+
+		// sensor's frame is +x forward, +y left, +z up
+		//  flip y & z to publish right handed with z down (x forward, y right, z down)
+		accel.x[accel_samples] = accel_x;
+		accel.y[accel_samples] = (accel_y == INT16_MIN) ? INT16_MAX : -accel_y;
+		accel.z[accel_samples] = (accel_z == INT16_MIN) ? INT16_MAX : -accel_z;
+		accel_samples++;
+	}
+
+	accel.samples = accel_samples;
+
+	_px4_accel.updateFIFO(accel);
+
+	return !bad_data;
+}
+
+void ICM20948::ProcessGyro(const hrt_abstime &timestamp_sample, const FIFOTransferBuffer &buffer, const uint8_t samples)
+{
+	PX4Gyroscope::FIFOSample gyro;
+	gyro.timestamp_sample = timestamp_sample;
+	gyro.samples = samples;
+	gyro.dt = _fifo_empty_interval_us / _fifo_gyro_samples;
+
+	for (int i = 0; i < samples; i++) {
+		const FIFO::DATA &fifo_sample = buffer.f[i];
+
+		const int16_t gyro_x = combine(fifo_sample.GYRO_XOUT_H, fifo_sample.GYRO_XOUT_L);
+		const int16_t gyro_y = combine(fifo_sample.GYRO_YOUT_H, fifo_sample.GYRO_YOUT_L);
+		const int16_t gyro_z = combine(fifo_sample.GYRO_ZOUT_H, fifo_sample.GYRO_ZOUT_L);
+
+		// sensor's frame is +x forward, +y left, +z up
+		//  flip y & z to publish right handed with z down (x forward, y right, z down)
+		gyro.x[i] = gyro_x;
+		gyro.y[i] = (gyro_y == INT16_MIN) ? INT16_MAX : -gyro_y;
+		gyro.z[i] = (gyro_z == INT16_MIN) ? INT16_MAX : -gyro_z;
+	}
+
+	_px4_gyro.updateFIFO(gyro);
+}
+
+void ICM20948::UpdateTemperature()
+{
+	SelectRegisterBank(REG_BANK_SEL_BIT::USER_BANK_0);
+
+	// read current temperature
+	uint8_t temperature_buf[3] {};
+	temperature_buf[0] = static_cast<uint8_t>(Register::BANK_0::TEMP_OUT_H) | DIR_READ;
+
+	if (transfer(temperature_buf, temperature_buf, sizeof(temperature_buf)) != PX4_OK) {
+		perf_count(_bad_transfer_perf);
+		return;
+	}
+
+	const int16_t TEMP_OUT = combine(temperature_buf[1], temperature_buf[2]);
+	const float TEMP_degC = (TEMP_OUT / TEMPERATURE_SENSITIVITY) + TEMPERATURE_OFFSET;
+
+	if (PX4_ISFINITE(TEMP_degC)) {
+		_px4_accel.set_temperature(TEMP_degC);
+		_px4_gyro.set_temperature(TEMP_degC);
+
+		if (_slave_ak09916_magnetometer) {
+			_slave_ak09916_magnetometer->set_temperature(TEMP_degC);
+		}
+	}
+}
+
+void ICM20948::I2CSlaveRegisterStartRead(uint8_t slave_i2c_addr, uint8_t reg)
+{
+	I2CSlaveExternalSensorDataEnable(slave_i2c_addr, reg, 1);
+}
+
+void ICM20948::I2CSlaveRegisterWrite(uint8_t slave_i2c_addr, uint8_t reg, uint8_t val)
+{
+	RegisterWrite(Register::BANK_3::I2C_SLV0_ADDR, slave_i2c_addr);
+	RegisterWrite(Register::BANK_3::I2C_SLV0_REG, reg);
+	RegisterWrite(Register::BANK_3::I2C_SLV0_DO, val);
+	RegisterSetBits(Register::BANK_3::I2C_SLV0_CTRL, 1);
+}
+
+void ICM20948::I2CSlaveExternalSensorDataEnable(uint8_t slave_i2c_addr, uint8_t reg, uint8_t size)
+{
+	//RegisterWrite(Register::I2C_SLV0_ADDR, 0); // disable slave
+	RegisterWrite(Register::BANK_3::I2C_SLV0_ADDR, slave_i2c_addr | I2C_SLV0_ADDR_BIT::I2C_SLV0_RNW);
+	RegisterWrite(Register::BANK_3::I2C_SLV0_REG, reg);
+	RegisterWrite(Register::BANK_3::I2C_SLV0_CTRL, size | I2C_SLV0_CTRL_BIT::I2C_SLV0_EN);
+}
+
+bool ICM20948::I2CSlaveExternalSensorDataRead(uint8_t *buffer, uint8_t length)
+{
+	bool ret = false;
+
+	if (buffer != nullptr && length <= 24) {
+		SelectRegisterBank(REG_BANK_SEL_BIT::USER_BANK_0);
+
+		// max EXT_SENS_DATA 24 bytes
+		uint8_t transfer_buffer[24 + 1] {};
+		transfer_buffer[0] = static_cast<uint8_t>(Register::BANK_0::EXT_SLV_SENS_DATA_00) | DIR_READ;
+
+		if (transfer(transfer_buffer, transfer_buffer, length + 1) == PX4_OK) {
+			ret = true;
+		}
+
+		// copy data after cmd back to return buffer
+		memcpy(buffer, &transfer_buffer[1], length);
+	}
+
+	return ret;
+}

src/drivers/imu/invensense/icm20948/ICM20948.hpp

@@ -0,0 +1,225 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file ICM20948.hpp
+ *
+ * Driver for the Invensense ICM20948 connected via SPI.
+ *
+ */
+
+#pragma once
+
+#include "InvenSense_ICM20948_registers.hpp"
+
+#include <drivers/drv_hrt.h>
+#include <lib/drivers/accelerometer/PX4Accelerometer.hpp>
+#include <lib/drivers/device/spi.h>
+#include <lib/drivers/gyroscope/PX4Gyroscope.hpp>
+#include <lib/ecl/geo/geo.h>
+#include <lib/perf/perf_counter.h>
+#include <px4_platform_common/atomic.h>
+#include <px4_platform_common/i2c_spi_buses.h>
+
+#include "ICM20948_AK09916.hpp"
+
+using namespace InvenSense_ICM20948;
+
+class ICM20948 : public device::SPI, public I2CSPIDriver<ICM20948>
+{
+public:
+	ICM20948(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rotation rotation, int bus_frequency,
+		 spi_mode_e spi_mode, spi_drdy_gpio_t drdy_gpio, bool enable_magnetometer = false);
+	~ICM20948() override;
+
+	static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
+					     int runtime_instance);
+	static void print_usage();
+
+	void RunImpl();
+
+	int init() override;
+	void print_status() override;
+
+private:
+	void exit_and_cleanup() override;
+
+	// Sensor Configuration
+	static constexpr float FIFO_SAMPLE_DT{1e6f / 9000.f};
+	static constexpr uint32_t SAMPLES_PER_TRANSFER{2};       // ensure at least 1 new accel sample per transfer
+	static constexpr float GYRO_RATE{1e6f / FIFO_SAMPLE_DT}; // 9000 Hz gyro
+	static constexpr float ACCEL_RATE{GYRO_RATE / 2.f};      // 4500 Hz accel
+
+	static constexpr uint32_t FIFO_MAX_SAMPLES{math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(PX4Gyroscope::FIFOSample::x) / sizeof(PX4Gyroscope::FIFOSample::x[0]))};
+
+	// Transfer data
+	struct FIFOTransferBuffer {
+		uint8_t cmd{static_cast<uint8_t>(Register::BANK_0::FIFO_COUNTH) | DIR_READ};
+		uint8_t FIFO_COUNTH{0};
+		uint8_t FIFO_COUNTL{0};
+		FIFO::DATA f[FIFO_MAX_SAMPLES] {};
+	};
+	// ensure no struct padding
+	static_assert(sizeof(FIFOTransferBuffer) == (3 + FIFO_MAX_SAMPLES *sizeof(FIFO::DATA)));
+
+	struct register_bank0_config_t {
+		Register::BANK_0 reg;
+		uint8_t set_bits{0};
+		uint8_t clear_bits{0};
+	};
+
+	struct register_bank2_config_t {
+		Register::BANK_2 reg;
+		uint8_t set_bits{0};
+		uint8_t clear_bits{0};
+	};
+
+	struct register_bank3_config_t {
+		Register::BANK_3 reg;
+		uint8_t set_bits{0};
+		uint8_t clear_bits{0};
+	};
+
+	int probe() override;
+
+	bool Reset();
+
+	bool Configure();
+	void ConfigureAccel();
+	void ConfigureGyro();
+	void ConfigureSampleRate(int sample_rate);
+
+	void SelectRegisterBank(enum REG_BANK_SEL_BIT bank);
+	void SelectRegisterBank(Register::BANK_0 reg) { SelectRegisterBank(REG_BANK_SEL_BIT::USER_BANK_0); }
+	void SelectRegisterBank(Register::BANK_2 reg) { SelectRegisterBank(REG_BANK_SEL_BIT::USER_BANK_2); }
+	void SelectRegisterBank(Register::BANK_3 reg) { SelectRegisterBank(REG_BANK_SEL_BIT::USER_BANK_3); }
+
+	static int DataReadyInterruptCallback(int irq, void *context, void *arg);
+	void DataReady();
+	bool DataReadyInterruptConfigure();
+	bool DataReadyInterruptDisable();
+
+	template <typename T> bool RegisterCheck(const T &reg_cfg, bool notify = false);
+	template <typename T> uint8_t RegisterRead(T reg);
+	template <typename T> void RegisterWrite(T reg, uint8_t value);
+	template <typename T> void RegisterSetAndClearBits(T reg, uint8_t setbits, uint8_t clearbits);
+	template <typename T> void RegisterSetBits(T reg, uint8_t setbits) { RegisterSetAndClearBits(reg, setbits, 0); }
+	template <typename T> void RegisterClearBits(T reg, uint8_t clearbits) { RegisterSetAndClearBits(reg, 0, clearbits); }
+
+	uint16_t FIFOReadCount();
+	bool FIFORead(const hrt_abstime &timestamp_sample, uint16_t samples);
+	void FIFOReset();
+
+	bool ProcessAccel(const hrt_abstime &timestamp_sample, const FIFOTransferBuffer &buffer, const uint8_t samples);
+	void ProcessGyro(const hrt_abstime &timestamp_sample, const FIFOTransferBuffer &buffer, const uint8_t samples);
+	void UpdateTemperature();
+
+	const spi_drdy_gpio_t _drdy_gpio;
+
+	// I2C AUX interface (slave 1 - 4)
+	friend class AKM_AK09916::ICM20948_AK09916;
+
+	void I2CSlaveRegisterStartRead(uint8_t slave_i2c_addr, uint8_t reg);
+	void I2CSlaveRegisterWrite(uint8_t slave_i2c_addr, uint8_t reg, uint8_t val);
+	void I2CSlaveExternalSensorDataEnable(uint8_t slave_i2c_addr, uint8_t reg, uint8_t size);
+	bool I2CSlaveExternalSensorDataRead(uint8_t *buffer, uint8_t length);
+
+	AKM_AK09916::ICM20948_AK09916 *_slave_ak09916_magnetometer{nullptr};
+
+	PX4Accelerometer _px4_accel;
+	PX4Gyroscope _px4_gyro;
+
+	perf_counter_t _transfer_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": transfer")};
+	perf_counter_t _bad_register_perf{perf_alloc(PC_COUNT, MODULE_NAME": bad register")};
+	perf_counter_t _bad_transfer_perf{perf_alloc(PC_COUNT, MODULE_NAME": bad transfer")};
+	perf_counter_t _fifo_empty_perf{perf_alloc(PC_COUNT, MODULE_NAME": FIFO empty")};
+	perf_counter_t _fifo_overflow_perf{perf_alloc(PC_COUNT, MODULE_NAME": FIFO overflow")};
+	perf_counter_t _fifo_reset_perf{perf_alloc(PC_COUNT, MODULE_NAME": FIFO reset")};
+	perf_counter_t _drdy_interval_perf{perf_alloc(PC_INTERVAL, MODULE_NAME": DRDY interval")};
+
+	hrt_abstime _reset_timestamp{0};
+	hrt_abstime _last_config_check_timestamp{0};
+	hrt_abstime _fifo_watermark_interrupt_timestamp{0};
+	hrt_abstime _temperature_update_timestamp{0};
+
+	enum REG_BANK_SEL_BIT _last_register_bank {REG_BANK_SEL_BIT::USER_BANK_0};
+
+	px4::atomic<uint8_t> _data_ready_count{0};
+	px4::atomic<uint8_t> _fifo_read_samples{0};
+	bool _data_ready_interrupt_enabled{false};
+	bool _force_fifo_count_check{true};
+
+	enum class STATE : uint8_t {
+		RESET,
+		WAIT_FOR_RESET,
+		CONFIGURE,
+		FIFO_READ,
+	};
+
+	STATE _state{STATE::RESET};
+
+	uint16_t _fifo_empty_interval_us{1250}; // default 1250 us / 800 Hz transfer interval
+	uint8_t _fifo_gyro_samples{static_cast<uint8_t>(_fifo_empty_interval_us / (1000000 / GYRO_RATE))};
+	uint8_t _fifo_accel_samples{static_cast<uint8_t>(_fifo_empty_interval_us / (1000000 / ACCEL_RATE))};
+
+	uint8_t _checked_register_bank0{0};
+	static constexpr uint8_t size_register_bank0_cfg{6};
+	register_bank0_config_t _register_bank0_cfg[size_register_bank0_cfg] {
+		// Register                             | Set bits, Clear bits
+		{ Register::BANK_0::USER_CTRL,          USER_CTRL_BIT::FIFO_EN | USER_CTRL_BIT::I2C_MST_EN | USER_CTRL_BIT::I2C_IF_DIS, USER_CTRL_BIT::DMP_EN },
+		{ Register::BANK_0::PWR_MGMT_1,         PWR_MGMT_1_BIT::CLKSEL_0, PWR_MGMT_1_BIT::DEVICE_RESET | PWR_MGMT_1_BIT::SLEEP },
+		{ Register::BANK_0::INT_PIN_CFG,        INT_PIN_CFG_BIT::INT1_ACTL, 0 },
+		{ Register::BANK_0::INT_ENABLE_1,       INT_ENABLE_1_BIT::RAW_DATA_0_RDY_EN, 0 },
+		{ Register::BANK_0::FIFO_EN_2,          FIFO_EN_2_BIT::ACCEL_FIFO_EN | FIFO_EN_2_BIT::GYRO_Z_FIFO_EN | FIFO_EN_2_BIT::GYRO_Y_FIFO_EN | FIFO_EN_2_BIT::GYRO_X_FIFO_EN, FIFO_EN_2_BIT::TEMP_FIFO_EN },
+		{ Register::BANK_0::FIFO_MODE,          FIFO_MODE_BIT::Snapshot, 0 },
+		// { Register::BANK_0::FIFO_CFG,           FIFO_CFG_BIT::FIFO_CFG, 0 }, // TODO: enable data ready interrupt
+	};
+
+	uint8_t _checked_register_bank2{0};
+	static constexpr uint8_t size_register_bank2_cfg{2};
+	register_bank2_config_t _register_bank2_cfg[size_register_bank2_cfg] {
+		// Register                             | Set bits, Clear bits
+		{ Register::BANK_2::GYRO_CONFIG_1,      GYRO_CONFIG_1_BIT::GYRO_FS_SEL_2000_DPS, GYRO_CONFIG_1_BIT::GYRO_FCHOICE },
+		{ Register::BANK_2::ACCEL_CONFIG,       ACCEL_CONFIG_BIT::ACCEL_FS_SEL_16G, ACCEL_CONFIG_BIT::ACCEL_FCHOICE },
+	};
+
+	uint8_t _checked_register_bank3{0};
+	static constexpr uint8_t size_register_bank3_cfg{4};
+	register_bank3_config_t _register_bank3_cfg[size_register_bank3_cfg] {
+		// Register                             | Set bits, Clear bits
+		{ Register::BANK_3::I2C_MST_ODR_CONFIG, 0, 0 },
+		{ Register::BANK_3::I2C_MST_CTRL,       0, 0 },
+		{ Register::BANK_3::I2C_MST_DELAY_CTRL, 0, 0 },
+		{ Register::BANK_3::I2C_SLV4_CTRL,      0, 0 },
+	};
+};

src/drivers/imu/invensense/icm20948/ICM20948_AK09916.cpp

@@ -0,0 +1,298 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include "ICM20948_AK09916.hpp"
+
+#include "ICM20948.hpp"
+
+using namespace time_literals;
+
+namespace AKM_AK09916
+{
+
+static constexpr int16_t combine(uint8_t msb, uint8_t lsb)
+{
+	return (msb << 8u) | lsb;
+}
+
+ICM20948_AK09916::ICM20948_AK09916(ICM20948 &icm20948, enum Rotation rotation) :
+	ScheduledWorkItem("icm20948_ak09916", px4::device_bus_to_wq(icm20948.get_device_id())),
+	_icm20948(icm20948),
+	_px4_mag(icm20948.get_device_id(), ORB_PRIO_DEFAULT, rotation)
+{
+	_px4_mag.set_device_type(DRV_MAG_DEVTYPE_AK09916);
+	_px4_mag.set_external(icm20948.external());
+}
+
+ICM20948_AK09916::~ICM20948_AK09916()
+{
+	ScheduleClear();
+
+	perf_free(_transfer_perf);
+	perf_free(_bad_register_perf);
+	perf_free(_bad_transfer_perf);
+	perf_free(_duplicate_data_perf);
+	perf_free(_data_not_ready);
+}
+
+bool ICM20948_AK09916::Init()
+{
+	return Reset();
+}
+
+bool ICM20948_AK09916::Reset()
+{
+	_state = STATE::RESET;
+	ScheduleClear();
+	ScheduleNow();
+	return true;
+}
+
+void ICM20948_AK09916::PrintInfo()
+{
+	perf_print_counter(_transfer_perf);
+	perf_print_counter(_bad_register_perf);
+	perf_print_counter(_bad_transfer_perf);
+	perf_print_counter(_duplicate_data_perf);
+	perf_print_counter(_data_not_ready);
+
+	_px4_mag.print_status();
+}
+
+void ICM20948_AK09916::Run()
+{
+	switch (_state) {
+	case STATE::RESET:
+		// CNTL3 SRST: Soft reset
+		RegisterWrite(Register::CNTL3, CNTL3_BIT::SRST);
+		_reset_timestamp = hrt_absolute_time();
+		_state = STATE::READ_WHO_AM_I;
+		ScheduleDelayed(100_ms);
+		break;
+
+	case STATE::READ_WHO_AM_I:
+		_icm20948.I2CSlaveRegisterStartRead(I2C_ADDRESS_DEFAULT, (uint8_t)Register::WIA);
+		_state = STATE::WAIT_FOR_RESET;
+		ScheduleDelayed(10_ms);
+		break;
+
+	case STATE::WAIT_FOR_RESET: {
+
+			uint8_t WIA = 0;
+			_icm20948.I2CSlaveExternalSensorDataRead(&WIA, 1);
+
+			if (WIA == WHOAMI) {
+				// if reset succeeded then configure
+				PX4_DEBUG("AK09916 reset successful, configuring");
+				_state = STATE::CONFIGURE;
+				ScheduleDelayed(10_ms);
+
+			} else {
+				// RESET not complete
+				if (hrt_elapsed_time(&_reset_timestamp) > 100_ms) {
+					PX4_DEBUG("Reset failed, retrying");
+					_state = STATE::RESET;
+					ScheduleDelayed(100_ms);
+
+				} else {
+					PX4_DEBUG("Reset not complete, check again in 100 ms");
+					ScheduleDelayed(100_ms);
+				}
+			}
+		}
+
+		break;
+
+	// TODO: read FUSE ROM (to get ASA corrections)
+
+	case STATE::CONFIGURE:
+		if (Configure()) {
+			// if configure succeeded then start reading
+			PX4_DEBUG("AK09916 configure successful, reading");
+			_icm20948.I2CSlaveExternalSensorDataEnable(I2C_ADDRESS_DEFAULT, (uint8_t)Register::ST1, sizeof(TransferBuffer));
+			_state = STATE::READ;
+			ScheduleOnInterval(20_ms, 20_ms); // 50 Hz
+
+		} else {
+			PX4_DEBUG("Configure failed, retrying");
+			// try again in 100 ms
+			ScheduleDelayed(100_ms);
+		}
+
+		break;
+
+	case STATE::READ: {
+			perf_begin(_transfer_perf);
+
+			TransferBuffer buffer{};
+			const hrt_abstime timestamp_sample = hrt_absolute_time();
+			bool success = _icm20948.I2CSlaveExternalSensorDataRead((uint8_t *)&buffer, sizeof(TransferBuffer));
+
+			perf_end(_transfer_perf);
+
+			if (success && !(buffer.ST2 & ST2_BIT::HOFL) && (buffer.ST1 & ST1_BIT::DRDY)) {
+				// sensor's frame is +y forward (x), -x right, +z down
+				int16_t x = combine(buffer.HYH, buffer.HYL); // +Y
+				int16_t y = combine(buffer.HXH, buffer.HXL); // +X
+				y = (y == INT16_MIN) ? INT16_MAX : -y; // flip y
+				int16_t z = combine(buffer.HZH, buffer.HZL);
+
+				const bool all_zero = (x == 0 && y == 0 && z == 0);
+				const bool new_data = (_last_measurement[0] != x || _last_measurement[1] != y || _last_measurement[2] != z);
+
+				if (!new_data) {
+					perf_count(_duplicate_data_perf);
+				}
+
+				if (!all_zero && new_data) {
+					_px4_mag.update(timestamp_sample, x, y, z);
+
+					_last_measurement[0] = x;
+					_last_measurement[1] = y;
+					_last_measurement[2] = z;
+
+				} else {
+					success = false;
+				}
+
+			} else {
+				perf_count(_data_not_ready);
+			}
+
+			if (!success) {
+				perf_count(_bad_transfer_perf);
+			}
+		}
+
+		break;
+	}
+}
+
+bool ICM20948_AK09916::Configure()
+{
+	bool success = true;
+
+	for (const auto &reg : _register_cfg) {
+		if (!RegisterCheck(reg)) {
+			success = false;
+		}
+	}
+
+	// TODO: read ASA and set sensitivity
+
+	//const uint8_t ASAX = RegisterRead(Register::ASAX);
+	//const uint8_t ASAY = RegisterRead(Register::ASAY);
+	//const uint8_t ASAZ = RegisterRead(Register::ASAZ);
+
+	// float ak8963_ASA[3] {};
+
+	// for (int i = 0; i < 3; i++) {
+	// 	if (0 != response[i] && 0xff != response[i]) {
+	// 		ak8963_ASA[i] = ((float)(response[i] - 128) / 256.0f) + 1.0f;
+
+	// 	} else {
+	// 		return false;
+	// 	}
+	// }
+
+	// _px4_mag.set_sensitivity(ak8963_ASA[0], ak8963_ASA[1], ak8963_ASA[2]);
+
+
+	// in 16-bit sampling mode the mag resolution is 1.5 milli Gauss per bit */
+	_px4_mag.set_scale(1.5e-3f);
+
+	return success;
+}
+
+bool ICM20948_AK09916::RegisterCheck(const register_config_t &reg_cfg, bool notify)
+{
+	bool success = true;
+
+	const uint8_t reg_value = RegisterRead(reg_cfg.reg);
+
+	if (reg_cfg.set_bits && ((reg_value & reg_cfg.set_bits) != reg_cfg.set_bits)) {
+		PX4_DEBUG("0x%02hhX: 0x%02hhX (0x%02hhX not set)", (uint8_t)reg_cfg.reg, reg_value, reg_cfg.set_bits);
+		success = false;
+	}
+
+	if (reg_cfg.clear_bits && ((reg_value & reg_cfg.clear_bits) != 0)) {
+		PX4_DEBUG("0x%02hhX: 0x%02hhX (0x%02hhX not cleared)", (uint8_t)reg_cfg.reg, reg_value, reg_cfg.clear_bits);
+		success = false;
+	}
+
+	if (!success) {
+		RegisterSetAndClearBits(reg_cfg.reg, reg_cfg.set_bits, reg_cfg.clear_bits);
+
+		if (notify) {
+			perf_count(_bad_register_perf);
+			_px4_mag.increase_error_count();
+		}
+	}
+
+	return success;
+}
+
+uint8_t ICM20948_AK09916::RegisterRead(Register reg)
+{
+	// TODO: use slave 4 and check register
+	_icm20948.I2CSlaveRegisterStartRead(I2C_ADDRESS_DEFAULT, static_cast<uint8_t>(reg));
+	usleep(1000);
+
+	uint8_t buffer{};
+	_icm20948.I2CSlaveExternalSensorDataRead(&buffer, 1);
+
+	return buffer;
+}
+
+void ICM20948_AK09916::RegisterWrite(Register reg, uint8_t value)
+{
+	return _icm20948.I2CSlaveRegisterWrite(I2C_ADDRESS_DEFAULT, static_cast<uint8_t>(reg), value);
+}
+
+void ICM20948_AK09916::RegisterSetAndClearBits(Register reg, uint8_t setbits, uint8_t clearbits)
+{
+	const uint8_t orig_val = RegisterRead(reg);
+	uint8_t val = orig_val;
+
+	if (setbits) {
+		val |= setbits;
+	}
+
+	if (clearbits) {
+		val &= ~clearbits;
+	}
+
+	RegisterWrite(reg, val);
+}
+
+} // namespace AKM_AK09916

src/drivers/imu/invensense/icm20948/ICM20948_AK09916.hpp

@@ -0,0 +1,133 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file ICM20948_AK09916.hpp
+ *
+ * Driver for the AKM AK09916 connected via I2C.
+ *
+ */
+
+#pragma once
+
+#include "AKM_AK09916_registers.hpp"
+
+#include <drivers/drv_hrt.h>
+#include <lib/drivers/device/i2c.h>
+#include <lib/drivers/magnetometer/PX4Magnetometer.hpp>
+#include <lib/perf/perf_counter.h>
+#include <px4_platform_common/atomic.h>
+#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
+
+class ICM20948;
+
+namespace AKM_AK09916
+{
+
+class ICM20948_AK09916 : public px4::ScheduledWorkItem
+{
+public:
+	ICM20948_AK09916(ICM20948 &icm20948, enum Rotation rotation = ROTATION_NONE);
+	~ICM20948_AK09916() override;
+
+	bool Init();
+	bool Reset();
+	void PrintInfo();
+
+	void set_temperature(float temperature) { _px4_mag.set_temperature(temperature); }
+
+private:
+
+	struct TransferBuffer {
+		uint8_t ST1;
+		uint8_t HXL;
+		uint8_t HXH;
+		uint8_t HYL;
+		uint8_t HYH;
+		uint8_t HZL;
+		uint8_t HZH;
+		uint8_t TMPS;
+		uint8_t ST2;
+	};
+
+	struct register_config_t {
+		AKM_AK09916::Register reg;
+		uint8_t set_bits{0};
+		uint8_t clear_bits{0};
+	};
+
+	int probe();
+
+	void Run() override;
+
+	bool Configure();
+
+	bool RegisterCheck(const register_config_t &reg_cfg, bool notify = false);
+
+	uint8_t RegisterRead(AKM_AK09916::Register reg);
+	void RegisterWrite(AKM_AK09916::Register reg, uint8_t value);
+	void RegisterSetAndClearBits(AKM_AK09916::Register reg, uint8_t setbits, uint8_t clearbits);
+
+	ICM20948 &_icm20948;
+
+	PX4Magnetometer _px4_mag;
+
+	perf_counter_t _transfer_perf{perf_alloc(PC_ELAPSED, MODULE_NAME"_ak09916: transfer")};
+	perf_counter_t _bad_register_perf{perf_alloc(PC_COUNT, MODULE_NAME"_ak09916: bad register")};
+	perf_counter_t _bad_transfer_perf{perf_alloc(PC_COUNT, MODULE_NAME"_ak09916: bad transfer")};
+	perf_counter_t _duplicate_data_perf{perf_alloc(PC_COUNT, MODULE_NAME"_ak09916: duplicate data")};
+	perf_counter_t _data_not_ready{perf_alloc(PC_COUNT, MODULE_NAME"_ak09916: data not ready")};
+
+	hrt_abstime _reset_timestamp{0};
+	hrt_abstime _last_config_check_timestamp{0};
+
+	int16_t _last_measurement[3] {};
+
+	uint8_t _checked_register{0};
+
+	enum class STATE : uint8_t {
+		RESET,
+		READ_WHO_AM_I,
+		WAIT_FOR_RESET,
+		CONFIGURE,
+		READ,
+	} _state{STATE::RESET};;
+
+	static constexpr uint8_t size_register_cfg{1};
+	register_config_t _register_cfg[size_register_cfg] {
+		// Register                       | Set bits, Clear bits
+		{ AKM_AK09916::Register::CNTL2,   AKM_AK09916::CNTL2_BIT::MODE3, (uint8_t)~AKM_AK09916::CNTL2_BIT::MODE3 },
+	};
+};
+
+} // namespace AKM_AK09916

src/drivers/imu/invensense/icm20948/InvenSense_ICM20948_registers.hpp

@@ -0,0 +1,272 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file InvenSense_ICM20948_registers.hpp
+ *
+ * Invensense ICM-20948 registers.
+ *
+ */
+
+#pragma once
+
+#include <cstdint>
+
+namespace InvenSense_ICM20948
+{
+// TODO: move to a central header
+static constexpr uint8_t Bit0 = (1 << 0);
+static constexpr uint8_t Bit1 = (1 << 1);
+static constexpr uint8_t Bit2 = (1 << 2);
+static constexpr uint8_t Bit3 = (1 << 3);
+static constexpr uint8_t Bit4 = (1 << 4);
+static constexpr uint8_t Bit5 = (1 << 5);
+static constexpr uint8_t Bit6 = (1 << 6);
+static constexpr uint8_t Bit7 = (1 << 7);
+
+static constexpr uint32_t SPI_SPEED = 7 * 1000 * 1000; // 7 MHz SPI
+static constexpr uint8_t DIR_READ = 0x80;
+
+static constexpr uint8_t WHOAMI = 0xEA;
+
+static constexpr float TEMPERATURE_SENSITIVITY = 333.87f; // LSB/C
+static constexpr float TEMPERATURE_OFFSET = 21.f; // C
+
+namespace Register
+{
+
+enum class BANK_0 : uint8_t {
+	WHO_AM_I             = 0x00,
+
+	USER_CTRL            = 0x03,
+
+	PWR_MGMT_1           = 0x06,
+
+	INT_PIN_CFG          = 0x0F,
+
+	INT_ENABLE_1         = 0x11,
+
+	I2C_MST_STATUS       = 0x17,
+
+	TEMP_OUT_H           = 0x39,
+	TEMP_OUT_L           = 0x3A,
+	EXT_SLV_SENS_DATA_00 = 0x3B,
+	// [EXT_SLV_SENS_DATA_01, EXT_SLV_SENS_DATA_22]
+	EXT_SLV_SENS_DATA_23 = 0x52,
+
+	FIFO_EN_2            = 0x67,
+	FIFO_RST             = 0x68,
+	FIFO_MODE            = 0x69,
+	FIFO_COUNTH          = 0x70,
+	FIFO_COUNTL          = 0x71,
+	FIFO_R_W             = 0x72,
+
+	FIFO_CFG             = 0x76,
+
+	REG_BANK_SEL         = 0x7F,
+};
+
+enum class BANK_2 : uint8_t {
+	GYRO_CONFIG_1        = 0x01,
+
+	ACCEL_CONFIG         = 0x14,
+
+	REG_BANK_SEL         = 0x7F,
+};
+
+enum class BANK_3 : uint8_t {
+	I2C_MST_ODR_CONFIG   = 0x00,
+	I2C_MST_CTRL         = 0x01,
+	I2C_MST_DELAY_CTRL   = 0x02,
+
+	I2C_SLV0_ADDR        = 0x03,
+	I2C_SLV0_REG         = 0x04,
+	I2C_SLV0_CTRL        = 0x05,
+	I2C_SLV0_DO          = 0x06,
+
+	I2C_SLV4_CTRL        = 0x15,
+
+	REG_BANK_SEL         = 0x7F,
+};
+
+};
+
+
+//---------------- BANK0 Register bits
+// USER_CTRL
+enum USER_CTRL_BIT : uint8_t {
+	DMP_EN      = Bit7,
+	FIFO_EN     = Bit6,
+	I2C_MST_EN  = Bit5, // Enable the I2C Master I/F module
+	I2C_IF_DIS  = Bit4, // Reset I2C Slave module and put the serial interface in SPI mode only
+	DMP_RST     = Bit3, // Reset DMP module. Reset is asynchronous. This bit auto clears after one clock cycle of the internal 20 MHz clock.
+	SRAM_RST    = Bit2, // Reset SRAM module. Reset is asynchronous. This bit auto clears after one clock cycle of the internal 20 MHz clock.
+	I2C_MST_RST = Bit1, // Reset I2C Master module.
+};
+
+// PWR_MGMT_1
+enum PWR_MGMT_1_BIT : uint8_t {
+	DEVICE_RESET = Bit7,
+	SLEEP        = Bit6,
+
+	CLKSEL_2     = Bit2,
+	CLKSEL_1     = Bit1,
+	CLKSEL_0     = Bit0,
+};
+
+// INT_PIN_CFG
+enum INT_PIN_CFG_BIT : uint8_t {
+	INT1_ACTL        = Bit7,
+};
+
+// INT_ENABLE_1
+enum INT_ENABLE_1_BIT : uint8_t {
+	RAW_DATA_0_RDY_EN = Bit0,
+};
+
+// FIFO_EN_2
+enum FIFO_EN_2_BIT : uint8_t {
+	ACCEL_FIFO_EN  = Bit4,
+	GYRO_Z_FIFO_EN = Bit3,
+	GYRO_Y_FIFO_EN = Bit2,
+	GYRO_X_FIFO_EN = Bit1,
+	TEMP_FIFO_EN   = Bit0,
+};
+
+// FIFO_RST
+enum FIFO_RST_BIT : uint8_t {
+	FIFO_RESET = Bit4 | Bit3 | Bit2 | Bit1 | Bit0,
+};
+
+// FIFO_MODE
+enum FIFO_MODE_BIT : uint8_t {
+	Snapshot = Bit0,
+};
+
+// FIFO_CFG
+enum FIFO_CFG_BIT : uint8_t {
+	FIFO_CFG = Bit0,
+};
+
+// REG_BANK_SEL
+enum REG_BANK_SEL_BIT : uint8_t {
+	USER_BANK_0 = 0,           // 0: Select USER BANK 0.
+	USER_BANK_1 = Bit4,        // 1: Select USER BANK 1.
+	USER_BANK_2 = Bit5,        // 2: Select USER BANK 2.
+	USER_BANK_3 = Bit5 | Bit4, // 3: Select USER BANK 3.
+};
+
+//---------------- BANK2 Register bits
+// GYRO_CONFIG_1
+enum GYRO_CONFIG_1_BIT : uint8_t {
+	// GYRO_FS_SEL[1:0]
+	GYRO_FS_SEL_250_DPS  = 0,           // 0b00 = ±250 dps
+	GYRO_FS_SEL_500_DPS  = Bit1,        // 0b01 = ±500 dps
+	GYRO_FS_SEL_1000_DPS = Bit2,        // 0b10 = ±1000 dps
+	GYRO_FS_SEL_2000_DPS = Bit2 | Bit1, // 0b11 = ±2000 dps
+
+	GYRO_FCHOICE         = Bit0,        // 0 – Bypass gyro DLPF
+};
+
+// ACCEL_CONFIG
+enum ACCEL_CONFIG_BIT : uint8_t {
+	// ACCEL_FS_SEL[1:0]
+	ACCEL_FS_SEL_2G  = 0,           // 0b00: ±2g
+	ACCEL_FS_SEL_4G  = Bit1,        // 0b01: ±4g
+	ACCEL_FS_SEL_8G  = Bit2,        // 0b10: ±8g
+	ACCEL_FS_SEL_16G = Bit2 | Bit1, // 0b11: ±16g
+
+	ACCEL_FCHOICE    = Bit0,        // 0: Bypass accel DLPF
+};
+
+
+//---------------- BANK3 Register bits
+
+// I2C_MST_CTRL
+enum I2C_MST_CTRL_BIT : uint8_t {
+	I2C_MST_P_NSR = Bit4, // I2C Master’s transition from one slave read to the next slave read
+
+	// I2C_MST_CLK [3:0]
+	I2C_MST_CLK_400_kHz = 7, // To achieve a targeted clock frequency of 400 kHz, MAX, it is recommended to set I2C_MST_CLK = 7 (345.6 kHz / 46.67% duty cycle)
+};
+
+// I2C_MST_DELAY_CTRL
+enum I2C_MST_DELAY_CTRL_BIT : uint8_t {
+	I2C_SLVX_DLY_EN = Bit4 | Bit3 | Bit2 | Bit1 | Bit0, // limit all slave access (1+I2C_MST_DLY)
+};
+
+// I2C_SLV0_ADDR
+enum I2C_SLV0_ADDR_BIT : uint8_t {
+	I2C_SLV0_RNW = Bit7, // 1 – Transfer is a read
+
+	// I2C_ID_0[6:0]
+	I2C_ID_0 = Bit6 | Bit5 | Bit4 | Bit3 | Bit2 | Bit1 | Bit0, // Physical address of I2C slave 0
+};
+
+// I2C_SLV0_CTRL
+enum I2C_SLV0_CTRL_BIT : uint8_t {
+	I2C_SLV0_EN      = Bit7, // Enable reading data from this slave
+	I2C_SLV0_BYTE_SW = Bit6, // Swap bytes when reading both the low and high byte of a word
+	I2C_SLV0_REG_DIS = Bit5, // transaction does not write a register value (only read data)
+
+	I2C_SLV0_LENG    = Bit3 | Bit2 | Bit1 | Bit0, // Number of bytes to be read from I2C slave 0
+};
+
+// I2C_SLV4_CTRL
+enum I2C_SLV4_CTRL_BIT : uint8_t {
+	// I2C_MST_DLY[4:0]
+	I2C_MST_DLY = Bit4 | Bit3 | Bit2 | Bit1 | Bit0,
+};
+
+
+namespace FIFO
+{
+static constexpr size_t SIZE = 512;
+
+// FIFO_DATA layout when FIFO_EN has ACCEL_FIFO_EN and GYRO_{Z, Y, X}_FIFO_EN set
+struct DATA {
+	uint8_t ACCEL_XOUT_H;
+	uint8_t ACCEL_XOUT_L;
+	uint8_t ACCEL_YOUT_H;
+	uint8_t ACCEL_YOUT_L;
+	uint8_t ACCEL_ZOUT_H;
+	uint8_t ACCEL_ZOUT_L;
+	uint8_t GYRO_XOUT_H;
+	uint8_t GYRO_XOUT_L;
+	uint8_t GYRO_YOUT_H;
+	uint8_t GYRO_YOUT_L;
+	uint8_t GYRO_ZOUT_H;
+	uint8_t GYRO_ZOUT_L;
+};
+}
+} // namespace InvenSense_ICM20948

src/drivers/imu/invensense/icm20948/icm20948_main.cpp

@@ -0,0 +1,112 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include "ICM20948.hpp"
+
+#include <px4_platform_common/getopt.h>
+#include <px4_platform_common/module.h>
+
+void ICM20948::print_usage()
+{
+	PRINT_MODULE_USAGE_NAME("icm20948", "driver");
+	PRINT_MODULE_USAGE_SUBCATEGORY("imu");
+	PRINT_MODULE_USAGE_COMMAND("start");
+	PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(false, true);
+	PRINT_MODULE_USAGE_PARAM_FLAG('M', "Enable Magnetometer (AK8963)", true);
+	PRINT_MODULE_USAGE_PARAM_INT('R', 0, 0, 35, "Rotation", true);
+	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
+}
+
+I2CSPIDriverBase *ICM20948::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
+					int runtime_instance)
+{
+	bool mag = (cli.custom1 == 1);
+	ICM20948 *instance = new ICM20948(iterator.configuredBusOption(), iterator.bus(), iterator.devid(), cli.rotation,
+					  cli.bus_frequency, cli.spi_mode, iterator.DRDYGPIO(), mag);
+
+	if (!instance) {
+		PX4_ERR("alloc failed");
+		return nullptr;
+	}
+
+	if (OK != instance->init()) {
+		delete instance;
+		return nullptr;
+	}
+
+	return instance;
+}
+
+extern "C" int icm20948_main(int argc, char *argv[])
+{
+	int ch;
+	using ThisDriver = ICM20948;
+	BusCLIArguments cli{false, true};
+	cli.default_spi_frequency = SPI_SPEED;
+
+	while ((ch = cli.getopt(argc, argv, "MR:")) != EOF) {
+		switch (ch) {
+		case 'M':
+			cli.custom1 = 1;
+			break;
+
+		case 'R':
+			cli.rotation = (enum Rotation)atoi(cli.optarg());
+			break;
+		}
+	}
+
+	const char *verb = cli.optarg();
+
+	if (!verb) {
+		ThisDriver::print_usage();
+		return -1;
+	}
+
+	BusInstanceIterator iterator(MODULE_NAME, cli, DRV_IMU_DEVTYPE_ICM20948);
+
+	if (!strcmp(verb, "start")) {
+		return ThisDriver::module_start(cli, iterator);
+	}
+
+	if (!strcmp(verb, "stop")) {
+		return ThisDriver::module_stop(iterator);
+	}
+
+	if (!strcmp(verb, "status")) {
+		return ThisDriver::module_status(iterator);
+	}
+
+	ThisDriver::print_usage();
+	return -1;
+}