Enabling APEX motion functions on ICM-42670-P

[ujur007]

I am working on a library using ICM-42670-P device. This is IMU device with APEX motion features.
I have been working to enable these features on this device but seems that it is not working as expected. I am posting the code maybe someone could find something that is incorrect.
Unfortunately, there is no guide from TDK on steps to be taken to enable these features.!

def enable_imu(self):
        # we want to put both accelerometer and gyroscope to LN mode
        # if you want to put to LP mode write 0x0A
        self.i2c.writeto_mem(_ICM2670P_ADDRESS, _PWR_MGMT0, b'\x1F')
        #self.i2c.stop()
        time.sleep(0.05)
        return 0
    
    def set_accel_rate(self):
        self.i2c.writeto_mem(_ICM2670P_ADDRESS, _ACCEL_CONFIG0, b'\x08')
        time.sleep(0.05)
        self.i2c.writeto_mem(_ICM2670P_ADDRESS, _ACCEL_CONFIG1, b'\x07')
        time.sleep(0.05)
        return 0
    
    def enable_APEX(self):
        self.i2c.writeto_mem(_ICM2670P_ADDRESS, _INT_CONFIG, b'\x3F')
        time.sleep(0.05)
        self.i2c.writeto_mem(_ICM2670P_ADDRESS, _INT_SOURCE0, b'\x00')
        time.sleep(0.05)
        self.i2c.writeto_mem(_ICM2670P_ADDRESS, _INT_SOURCE1, b'\x00')
        time.sleep(0.05)
        self.i2c.writeto_mem(_ICM2670P_ADDRESS, _INT_SOURCE3, b'\x00')
        time.sleep(0.05)
        self.i2c.writeto_mem(_ICM2670P_ADDRESS, _INT_SOURCE4, b'\x00')
        time.sleep(0.05)
        self.i2c.writeto_mem(_ICM2670P_ADDRESS, _APEX_CONFIG0, b'\x01')
        time.sleep(0.05)
        self.i2c.writeto_mem(_ICM2670P_ADDRESS, _APEX_CONFIG1, b'\x22')
        time.sleep(0.05)
        self.i2c.writeto_mem(_ICM2670P_ADDRESS, _APEX_CONFIG12, b'\x00')
        time.sleep(0.05)
        self.i2c.writeto_mem(_ICM2670P_ADDRESS, _APEX_DATA4, b'\x03')
        time.sleep(0.05)
        self.i2c.writeto_mem(_ICM2670P_ADDRESS, _APEX_DATA5, b'\x00')
        time.sleep(0.05)
        
        
    def write_mag_register(self, banknum, registeraddr, value):
        self.i2c.writeto_mem(_ICM2670P_ADDRESS, _BLK_SEL_W, b'\x00')
        time.sleep(0.05)
        self.i2c.writeto_mem(_ICM2670P_ADDRESS, _MADDR_W, registeraddr.to_bytes(1))
        time.sleep(0.05)
        self.i2c.writeto_mem(_ICM2670P_ADDRESS, _M_W, value.to_bytes(1))
        time.sleep(0.05)

def clear_int(self):
        print()
        self.i2c.readfrom_mem(_ICM2670P_ADDRESS, _INT_STATUS3, 1)  
   
    def read_padometer(self):
        data = self.i2c.readfrom_mem(_ICM2670P_ADDRESS, _PADOMETER_LOW, 2)
        steps = int.from_bytes(data[0:2], "big")
        print(self.get_twos_complement(steps))
        print('detected activity')
        act = self.i2c.readfrom_mem(_ICM2670P_ADDRESS, _APEX_DATA3, 1)
        print(act)

[andrewleech]

Curiously I'd thrown together a quick basic driver for this chip just a few days ago, but initial testing looks like it's not working at all (I probably haven't got the power / sleep settings) and I haven't tried to fix it yet andrewleech/micropython-lib@c6b6154

I hadn't looked at the APEX features at all; I don't have an actualy need for this chip it's just present on a dev board I was working with.

Sorry this probably isn't much help but perhaps there's something there that helps to compare to?

[ujur007]

Because you have said initial testing says it's not working. Here is the code that is working for accelerometer. Same would be for Gyroscope.
I am more interested in APEX motion functions because there are many sensors that can give you data from IMU sensors but APEX is something unique to these sensors.

def enable_imu(self):
        # we want to put both accelerometer and gyroscope to LN mode
        # if you want to put to LP mode write 0x0A
        self.i2c.writeto_mem(_ICM2670P_ADDRESS, _PWR_MGMT0, b'\x1F')
        #self.i2c.stop()
        time.sleep(0.05)
        return 0
def set_accel_rate(self):
        self.i2c.writeto_mem(_ICM2670P_ADDRESS, _ACCEL_CONFIG0, b'\x08')
        time.sleep(0.05)
        self.i2c.writeto_mem(_ICM2670P_ADDRESS, _ACCEL_CONFIG1, b'\x07')
        time.sleep(0.05)
        return 0
```

    def read_raw_accelerometer(self):
        # Assume _ACCEL_DATA_X1H is the base address for X axis high byte
        data = self.i2c.readfrom_mem(_ICM2670P_ADDRESS, _ACCEL_DATA_X1H, 6)
        ax = int.from_bytes(data[0:2], "big")
        ay = int.from_bytes(data[2:4], "big")
        az = int.from_bytes(data[4:6], "big")
        #print(ax/2048, ay/2048, az/2048)
        return (ax, ay, az)

    def get_accerometer(self):
        ax, ay, az = self.read_raw_accelerometer()
        
        accx = self.get_twos_complement(ax)
        accy = self.get_twos_complement(ay)
        accz = self.get_twos_complement(az)
        
        gx, gy, gz = self.read_raw_gyroscope()
        
        gyrx = self.get_twos_complement(gx)
        gyry = self.get_twos_complement(gy)
        gyrz = self.get_twos_complement(gz)
        
        print(accx/2048, "       \t   ", accy/2048, "       \t   ", accz/2048, "    \t", gyrx, "\t", gyry, "\t", gyrz, "\t", 0)
        
    def get_twos_complement(self, value):
        if(value & 0x8000):
            data = value - 0x10000
        else:
            data = value
        return data`