[icm20689] Add ICM-20689 6-axis accelerometer/gyroscope (SPI) (#19234)

Co-authored-by: Ludovic BOUÉ <938089+lboue@users.noreply.github.com> Co-authored-by: Claude Sonnet 5 <noreply@anthropic.com> Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com> Co-authored-by: J. Nick Koston <nick@home-assistant.io>
2026-10-14 10:12:52 +00:00 · 2026-10-13 08:07:32 -10:00
parent 4a80d785a8
commit 95766ed3ad
10 changed files with 386 additions and 0 deletions
@@ -287,6 +287,7 @@ esphome/components/i2s_audio/microphone/* @jesserockz
 esphome/components/i2s_audio/speaker/* @jesserockz @kahrendt
 esphome/components/i2s_clockless_led_strip/* @j9brown
 esphome/components/iaqcore/* @yozik04
+esphome/components/icm20689/* @lboue
 esphome/components/icnt86/* @danepowell
 esphome/components/ili9xxx/* @clydebarrow @nielsnl68
 esphome/components/improv_base/* @esphome/core
@@ -0,0 +1,13 @@
+import esphome.codegen as cg
+from esphome.components import spi
+from esphome.components.motion import MotionComponent
+
+CODEOWNERS = ["@lboue"]
+DOMAIN = "icm20689"
+
+CONF_ICM20689_ID = "icm20689_id"
+#  C++ namespace / class
+icm20689_ns = cg.esphome_ns.namespace("icm20689")
+ICM20689Component = icm20689_ns.class_(
+    "ICM20689Component", MotionComponent, spi.SPIDevice
+)
@@ -0,0 +1,126 @@
+#include "icm20689.h"
+#include "esphome/core/hal.h"
+#include "esphome/core/log.h"
+
+#include <cstddef>
+#include <cstdint>
+
+namespace esphome::icm20689 {
+
+ESPHOME_LOG_TAG(TAG, "icm20689");
+
+namespace {
+
+// Range enum values 0..3 map to full-scale settings of 2x/4x/8x/16x the base range.
+constexpr float accel_scale(uint8_t range) { return (2.0f * (1U << range)) / 32768.0f; }
+
+constexpr float gyro_scale(uint8_t range) { return (250.0f * (1U << range)) / 32768.0f; }
+
+}  // namespace
+
+void ICM20689Component::write_register_(uint8_t reg, uint8_t value) {
+  this->enable();
+  this->write_byte(reg & 0x7F);
+  this->write_byte(value);
+  this->disable();
+}
+
+void ICM20689Component::read_registers_(uint8_t reg, uint8_t *data, size_t len) {
+  this->enable();
+  this->write_byte(reg | ICM20689_READ_BIT);
+  this->read_array(data, len);
+  this->disable();
+}
+
+void ICM20689Component::setup() {
+  MotionComponent::setup();
+
+  this->spi_setup();
+
+  if (!this->spi_is_ready()) {
+    ESP_LOGE(TAG, "SPI device is not ready");
+    this->mark_failed(LOG_STR(ESP_LOG_MSG_COMM_FAIL));
+    return;
+  }
+
+  // Datasheet 4.20: a soft reset must be the first operation after power-up,
+  // before any register initialization. WHO_AM_I is only valid afterwards.
+  this->write_register_(ICM20689_REG_PWR_MGMT_1, ICM20689_SOFT_RESET);
+  delay(100);  // NOLINT
+
+  // The chip comes out of reset in sleep mode: wake it and select the
+  // auto-selected best clock source (required for full gyro performance).
+  this->write_register_(ICM20689_REG_PWR_MGMT_1, ICM20689_CLKSEL_AUTO);
+
+  // USER_CTRL is not writable in sleep mode, so I2C_IF_DIS is set once awake.
+  // Datasheet 6.1: disable the I2C interface when using SPI.
+  this->write_register_(ICM20689_REG_USER_CTRL, ICM20689_I2C_IF_DIS);
+
+  uint8_t who_am_i = 0;
+  this->read_registers_(ICM20689_REG_WHO_AM_I, &who_am_i, 1);
+
+  if (who_am_i != ICM20689_WHO_AM_I_VALUE) {
+    ESP_LOGE(TAG, "Unexpected WHO_AM_I 0x%02X (expected 0x%02X) -- check wiring/CS", who_am_i, ICM20689_WHO_AM_I_VALUE);
+    this->mark_failed(LOG_STR(ESP_LOG_MSG_COMM_FAIL));
+    return;
+  }
+
+  // Allow the sensor to settle after waking from sleep.
+  delay(50);  // NOLINT
+
+  // Configure the accelerometer and gyroscope full-scale ranges.
+  this->write_register_(ICM20689_REG_ACCEL_CONFIG, static_cast<uint8_t>(this->accel_range_) << 3);
+  this->write_register_(ICM20689_REG_GYRO_CONFIG, static_cast<uint8_t>(this->gyro_range_) << 3);
+}
+
+void ICM20689Component::dump_config() {
+  ESP_LOGCONFIG(TAG, "ICM20689 IMU:");
+  LOG_PIN("  CS Pin: ", this->cs_);
+
+  if (this->is_failed()) {
+    ESP_LOGE(TAG, "  " ESP_LOG_MSG_COMM_FAIL);
+    return;
+  }
+
+  ESP_LOGCONFIG(TAG, "  Accel range: ±%dg", 2 << static_cast<uint8_t>(this->accel_range_));
+  ESP_LOGCONFIG(TAG, "  Gyro range: ±%d°/s", 250 << static_cast<uint8_t>(this->gyro_range_));
+
+  MotionComponent::dump_config();
+}
+
+bool ICM20689Component::update_data(motion::MotionData &data) {
+  if (this->is_failed())
+    return false;
+
+  const uint8_t accel_range = static_cast<uint8_t>(this->accel_range_);
+  const uint8_t gyro_range = static_cast<uint8_t>(this->gyro_range_);
+
+  // Read one contiguous sample:
+  // 0..5   accelerometer X/Y/Z
+  // 6..7   temperature
+  // 8..13  gyroscope X/Y/Z
+  uint8_t raw_data[14] = {};
+  this->read_registers_(ICM20689_REG_ACCEL_XOUT_H, raw_data, sizeof(raw_data));
+
+  const float accel_factor = accel_scale(accel_range);
+
+  data.acceleration[motion::X_AXIS] = static_cast<int16_t>(encode_uint16(raw_data[0], raw_data[1])) * accel_factor;
+  data.acceleration[motion::Y_AXIS] = static_cast<int16_t>(encode_uint16(raw_data[2], raw_data[3])) * accel_factor;
+  data.acceleration[motion::Z_AXIS] = static_cast<int16_t>(encode_uint16(raw_data[4], raw_data[5])) * accel_factor;
+
+  const float gyro_factor = gyro_scale(gyro_range);
+
+  data.angular_rate[motion::X_AXIS] = static_cast<int16_t>(encode_uint16(raw_data[8], raw_data[9])) * gyro_factor;
+  data.angular_rate[motion::Y_AXIS] = static_cast<int16_t>(encode_uint16(raw_data[10], raw_data[11])) * gyro_factor;
+  data.angular_rate[motion::Z_AXIS] = static_cast<int16_t>(encode_uint16(raw_data[12], raw_data[13])) * gyro_factor;
+
+  if (!this->temperature_callback_.empty()) {
+    // Datasheet formula: temperature (°C) = raw / 326.8 + 25.
+    const float temperature = static_cast<int16_t>(encode_uint16(raw_data[6], raw_data[7])) / 326.8f + 25.0f;
+    this->temperature_callback_.call(temperature);
+  }
+
+  return true;
+}
+
+}  // namespace esphome::icm20689
@@ -0,0 +1,66 @@
+#pragma once
+
+#include "esphome/components/motion/motion_component.h"
+#include "esphome/components/spi/spi.h"
+#include "esphome/core/component.h"
+#include "esphome/core/helpers.h"
+
+namespace esphome::icm20689 {
+
+// Register map
+static constexpr uint8_t ICM20689_REG_WHO_AM_I = 0x75;
+static constexpr uint8_t ICM20689_REG_PWR_MGMT_1 = 0x6B;
+static constexpr uint8_t ICM20689_REG_USER_CTRL = 0x6A;
+static constexpr uint8_t ICM20689_REG_GYRO_CONFIG = 0x1B;
+static constexpr uint8_t ICM20689_REG_ACCEL_CONFIG = 0x1C;
+static constexpr uint8_t ICM20689_REG_ACCEL_XOUT_H = 0x3B;
+static constexpr uint8_t ICM20689_READ_BIT = 0x80;
+static constexpr uint8_t ICM20689_WHO_AM_I_VALUE = 0x98;
+static constexpr uint8_t ICM20689_SOFT_RESET = 0x81;   // PWR_MGMT_1: DEVICE_RESET | CLKSEL=1 (datasheet 4.20)
+static constexpr uint8_t ICM20689_CLKSEL_AUTO = 0x01;  // PWR_MGMT_1: SLEEP=0, CLKSEL=1 (auto-select best clock)
+static constexpr uint8_t ICM20689_I2C_IF_DIS = 0x10;   // USER_CTRL bit 4
+
+// Accelerometer range options: FS_SEL bits [4:3] of ACCEL_CONFIG
+enum ICM20689AccelRange : uint8_t {
+  ICM20689_ACCEL_RANGE_2G = 0x00,
+  ICM20689_ACCEL_RANGE_4G = 0x01,
+  ICM20689_ACCEL_RANGE_8G = 0x02,
+  ICM20689_ACCEL_RANGE_16G = 0x03,
+};
+
+// Gyroscope range options: FS_SEL bits [4:3] of GYRO_CONFIG
+enum ICM20689GyroRange : uint8_t {
+  ICM20689_GYRO_RANGE_250 = 0x00,
+  ICM20689_GYRO_RANGE_500 = 0x01,
+  ICM20689_GYRO_RANGE_1000 = 0x02,
+  ICM20689_GYRO_RANGE_2000 = 0x03,
+};
+
+class ICM20689Component final : public motion::MotionComponent,
+                                public spi::SPIDevice<spi::BIT_ORDER_MSB_FIRST, spi::CLOCK_POLARITY_LOW,
+                                                      spi::CLOCK_PHASE_LEADING, spi::DATA_RATE_1MHZ> {
+ public:
+  void setup() override;
+  void dump_config() override;
+
+  void set_accel_range(ICM20689AccelRange range) { this->accel_range_ = range; }
+  void set_gyro_range(ICM20689GyroRange range) { this->gyro_range_ = range; }
+
+  template<typename F> void add_temperature_listener(F &&callback) {
+    this->temperature_callback_.add(std::forward<F>(callback));
+  }
+
+ protected:
+  bool update_data(motion::MotionData &data) override;
+
+  void write_register_(uint8_t reg, uint8_t value);
+  // Reads len bytes starting at reg in one CS-low transaction.
+  void read_registers_(uint8_t reg, uint8_t *data, size_t len);
+
+  ICM20689AccelRange accel_range_{ICM20689_ACCEL_RANGE_2G};
+  ICM20689GyroRange gyro_range_{ICM20689_GYRO_RANGE_250};
+
+  LazyCallbackManager<void(float)> temperature_callback_{};
+};
+
+}  // namespace esphome::icm20689
@@ -0,0 +1,56 @@
+import esphome.codegen as cg
+from esphome.components import spi
+from esphome.components.const import CONF_ACCELEROMETER_RANGE, CONF_GYROSCOPE_RANGE
+from esphome.components.motion import motion_schema, new_motion_component
+import esphome.config_validation as cv
+from esphome.types import ConfigType
+
+from . import ICM20689Component, icm20689_ns
+
+DEPENDENCIES = ["spi"]
+
+#  Enum proxies (must match the C++ enum values exactly)
+ICM20689AccelRange = icm20689_ns.enum("ICM20689AccelRange")
+ACCEL_RANGE_OPTIONS = {
+    "2G": ICM20689AccelRange.ICM20689_ACCEL_RANGE_2G,
+    "4G": ICM20689AccelRange.ICM20689_ACCEL_RANGE_4G,
+    "8G": ICM20689AccelRange.ICM20689_ACCEL_RANGE_8G,
+    "16G": ICM20689AccelRange.ICM20689_ACCEL_RANGE_16G,
+}
+
+ICM20689GyroRange = icm20689_ns.enum("ICM20689GyroRange")
+GYRO_RANGE_OPTIONS = {
+    "250DPS": ICM20689GyroRange.ICM20689_GYRO_RANGE_250,
+    "500DPS": ICM20689GyroRange.ICM20689_GYRO_RANGE_500,
+    "1000DPS": ICM20689GyroRange.ICM20689_GYRO_RANGE_1000,
+    "2000DPS": ICM20689GyroRange.ICM20689_GYRO_RANGE_2000,
+}
+
+#  Top-level CONFIG_SCHEMA
+CONFIG_SCHEMA = (
+    motion_schema(ICM20689Component, has_accel=True, has_gyro=True)
+    .extend(
+        {
+            cv.Optional(CONF_ACCELEROMETER_RANGE, default="2G"): cv.enum(
+                ACCEL_RANGE_OPTIONS, upper=True
+            ),
+            cv.Optional(CONF_GYROSCOPE_RANGE, default="250DPS"): cv.enum(
+                GYRO_RANGE_OPTIONS, upper=True
+            ),
+        }
+    )
+    .extend(
+        spi.spi_device_schema(
+            cs_pin_required=True, default_mode="MODE0", default_data_rate="1MHz"
+        )
+    )
+)
+
+
+#  Code generation
+async def to_code(config: ConfigType) -> None:
+    var = await new_motion_component(config)
+    await spi.register_spi_device(var, config)
+
+    cg.add(var.set_accel_range(config[CONF_ACCELEROMETER_RANGE]))
+    cg.add(var.set_gyro_range(config[CONF_GYROSCOPE_RANGE]))
@@ -0,0 +1,42 @@
+#  YAML config keys
+import esphome.codegen as cg
+from esphome.components import sensor
+import esphome.config_validation as cv
+from esphome.const import (
+    CONF_TEMPERATURE,
+    CONF_TYPE,
+    DEVICE_CLASS_TEMPERATURE,
+    ICON_THERMOMETER,
+    STATE_CLASS_MEASUREMENT,
+    UNIT_CELSIUS,
+)
+from esphome.cpp_generator import MockObj
+from esphome.types import ConfigType
+
+from . import CONF_ICM20689_ID, ICM20689Component
+
+AUTO_LOAD = ["icm20689"]
+
+CONFIG_SCHEMA = sensor.sensor_schema(
+    unit_of_measurement=UNIT_CELSIUS,
+    icon=ICON_THERMOMETER,
+    accuracy_decimals=2,
+    state_class=STATE_CLASS_MEASUREMENT,
+    device_class=DEVICE_CLASS_TEMPERATURE,
+).extend(
+    {
+        cv.Optional(CONF_TYPE): cv.one_of(CONF_TEMPERATURE),
+        cv.GenerateID(CONF_ICM20689_ID): cv.use_id(ICM20689Component),
+    }
+)
+
+
+async def to_code(config: ConfigType) -> None:
+    var = await sensor.new_sensor(config)
+    parent = await cg.get_variable(config[CONF_ICM20689_ID])
+    data = MockObj("data")
+    value_lambda = await cg.process_lambda(
+        var.publish_state(data),
+        [(cg.float_, str(data))],
+    )
+    cg.add(parent.add_temperature_listener(value_lambda))
@@ -0,0 +1,73 @@
+sensor:
+  - platform: icm20689
+    type: temperature
+    name: "ICM20689 Temperature"
+
+  - platform: motion
+    motion_id: icm20689_motion
+    type: acceleration_x
+    name: "ICM20689 Accel X"
+    accuracy_decimals: 4
+    filters:
+      - sliding_window_moving_average:
+          window_size: 4
+          send_every: 1
+  - platform: motion
+    motion_id: icm20689_motion
+    type: acceleration_y
+    name: "ICM20689 Accel Y"
+    accuracy_decimals: 4
+  - platform: motion
+    motion_id: icm20689_motion
+    type: acceleration_z
+    name: "ICM20689 Accel Z"
+    accuracy_decimals: 4
+
+    # Gyroscope axes (unit: °/s)
+  - platform: motion
+    motion_id: icm20689_motion
+    type: gyroscope_x
+    name: "ICM20689 Gyro X"
+  - platform: motion
+    motion_id: icm20689_motion
+    type: gyroscope_y
+    name: "ICM20689 Gyro Y"
+  - platform: motion
+    motion_id: icm20689_motion
+    type: gyroscope_z
+    name: "ICM20689 Gyro Z"
+
+  - platform: motion
+    motion_id: icm20689_motion
+    type: angular_rate_x
+    name: "ICM20689 Angular Rate X"
+  - platform: motion
+    motion_id: icm20689_motion
+    type: angular_rate_y
+    name: "ICM20689 Angular Rate Y"
+  - platform: motion
+    motion_id: icm20689_motion
+    type: angular_rate_z
+    name: "ICM20689 Angular Rate Z"
+
+  - platform: motion
+    motion_id: icm20689_motion
+    type: pitch
+    name: "ICM20689 Pitch"
+  - platform: motion
+    motion_id: icm20689_motion
+    type: roll
+    name: "ICM20689 Roll"
+
+motion:
+  - platform: icm20689
+    id: icm20689_motion
+    cs_pin: GPIO5
+    # Accelerometer full-scale range: 2G | 4G | 8G | 16G
+    accelerometer_range: 4G
+    # Gyroscope full-scale range: 250DPS | 500DPS | 1000DPS | 2000DPS
+    gyroscope_range: 500DPS
+    axis_map:
+      x: y
+      y: x
+      z: -z
@@ -0,0 +1,3 @@
+packages:
+  spi: !include ../../test_build_components/common/spi/esp32-idf.yaml
+  icm20689: !include common.yaml
@@ -0,0 +1,3 @@
+packages:
+  spi: !include ../../test_build_components/common/spi/esp8266-ard.yaml
+  icm20689: !include common.yaml
@@ -0,0 +1,3 @@
+packages:
+  spi: !include ../../test_build_components/common/spi/rp2040-ard.yaml
+  icm20689: !include common.yaml