コウスケ スズキ
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ICM20602_I2C
ICM20602_I2C
icm20602_i2c.h
- Committer:
- kosukesuzuki
- Date:
- 2022-08-19
- Revision:
- 3:a3a918003b88
- Parent:
- 2:74690f762c0f
File content as of revision 3:a3a918003b88:
#define ICM20602_SELF_TEST_X_ACCEL 0x0D #define ICM20602_SELF_TEST_Y_ACCEL 0x0E #define ICM20602_SELF_TEST_Z_ACCEL 0x0F //#define SELF_TEST_A 0x10 #define ICM20602_XG_OFFS_USRH 0x13 // User-defined trim values for gyroscope; supported in MPU-6050? #define ICM20602_XG_OFFS_USRL 0x14 #define ICM20602_YG_OFFS_USRH 0x15 #define ICM20602_YG_OFFS_USRL 0x16 #define ICM20602_ZG_OFFS_USRH 0x17 #define ICM20602_ZG_OFFS_USRL 0x18 #define ICM20602_SMPLRT_DIV 0x19 #define ICM20602_CONFIG 0x1A #define ICM20602_GYRO_CONFIG 0x1B #define ICM20602_ACCEL_CONFIG 0x1C #define ICM20602_ACCEL_CONFIG2 0x1D // Free-fall #define ICM20602_LP_MODE_CFG 0x1E // Free-fall #define ICM20602_ACCEL_WOM_THR 0x1F // Motion detection threshold bits [7:0] //#define MOT_DUR 0x20 // Duration counter threshold for motion interrupt generation, 1 kHz rate, LSB = 1 ms //#define ZMOT_THR 0x21 // Zero-motion detection threshold bits [7:0] //#define ZRMOT_DUR 0x22 // Duration counter threshold for zero motion interrupt generation, 16 Hz rate, LSB = 64 ms #define ICM20602_FIFO_EN 0x23 //#define I2C_MST_CTRL 0x24 //#define I2C_SLV0_ADDR 0x25 //#define I2C_SLV0_REG 0x26 //#define I2C_SLV0_CTRL 0x27 //#define I2C_SLV1_ADDR 0x28 //#define I2C_SLV1_REG 0x29 //#define I2C_SLV1_CTRL 0x2A //#define I2C_SLV2_ADDR 0x2B //#define I2C_SLV2_REG 0x2C //#define I2C_SLV2_CTRL 0x2D //#define I2C_SLV3_ADDR 0x2E //#define I2C_SLV3_REG 0x2F //#define I2C_SLV3_CTRL 0x30 //#define I2C_SLV4_ADDR 0x31 //#define I2C_SLV4_REG 0x32 //#define I2C_SLV4_DO 0x33 //#define I2C_SLV4_CTRL 0x34 //#define I2C_SLV4_DI 0x35 #define ICM20602_FSYNC_INT 0x36 #define ICM20602_INT_PIN_CFG 0x37 #define ICM20602_INT_ENABLE 0x38 //#define DMP_INT_STATUS 0x39 // Check DMP interrupt #define ICM20602_INT_STATUS 0x3A #define ICM20602_ACCEL_XOUT_H 0x3B #define ICM20602_ACCEL_XOUT_L 0x3C #define ICM20602_ACCEL_YOUT_H 0x3D #define ICM20602_ACCEL_YOUT_L 0x3E #define ICM20602_ACCEL_ZOUT_H 0x3F #define ICM20602_ACCEL_ZOUT_L 0x40 #define ICM20602_TEMP_OUT_H 0x41 #define ICM20602_TEMP_OUT_L 0x42 #define ICM20602_GYRO_XOUT_H 0x43 #define ICM20602_GYRO_XOUT_L 0x44 #define ICM20602_GYRO_YOUT_H 0x45 #define ICM20602_GYRO_YOUT_L 0x46 #define ICM20602_GYRO_ZOUT_H 0x47 #define ICM20602_GYRO_ZOUT_L 0x48 //#define EXT_SENS_DATA_00 0x49 //#define EXT_SENS_DATA_01 0x4A //#define EXT_SENS_DATA_02 0x4B //#define EXT_SENS_DATA_03 0x4C //#define EXT_SENS_DATA_04 0x4D //#define EXT_SENS_DATA_05 0x4E //#define EXT_SENS_DATA_06 0x4F #define ICM20602_SELF_TEST_X_GYRO 0x50 #define ICM20602_SELF_TEST_y_GYRO 0x51 #define ICM20602_SELF_TEST_z_GYRO 0x52 //#define EXT_SENS_DATA_10 0x53 //#define EXT_SENS_DATA_11 0x54 //#define EXT_SENS_DATA_12 0x55 //#define EXT_SENS_DATA_13 0x56 //#define EXT_SENS_DATA_14 0x57 //#define EXT_SENS_DATA_15 0x58 //#define EXT_SENS_DATA_16 0x59 //#define EXT_SENS_DATA_17 0x5A //#define EXT_SENS_DATA_18 0x5B //#define EXT_SENS_DATA_19 0x5C //#define EXT_SENS_DATA_20 0x5D //#define EXT_SENS_DATA_21 0x5E //#define EXT_SENS_DATA_22 0x5F //#define EXT_SENS_DATA_23 0x60 //#define MOT_DETECT_STATUS 0x61 //#define I2C_SLV0_DO 0x63 //#define I2C_SLV1_DO 0x64 //#define I2C_SLV2_DO 0x65 //#define I2C_SLV3_DO 0x66 //#define I2C_MST_DELAY_CTRL 0x67 #define ICM20602_SIGNAL_PATH_RESET 0x68 #define ICM20602_ACCEL_INTEL_CTRL 0x69 #define ICM20602_USER_CTRL 0x6A // Bit 7 enable DMP, bit 3 reset DMP #define ICM20602_PWR_MGMT_1 0x6B // Device defaults to the SLEEP mode #define ICM20602_PWR_MGMT_2 0x6C //#define DMP_BANK 0x6D // Activates a specific bank in the DMP //#define DMP_RW_PNT 0x6E // Set read/write pointer to a specific start address in specified DMP bank //#define DMP_REG 0x6F // Register in DMP from which to read or to which to write //#define DMP_REG_1 0x70 //#define DMP_REG_2 0x71 #define ICM20602_FIFO_COUNTH 0x72 #define ICM20602_FIFO_COUNTL 0x73 #define ICM20602_FIFO_R_W 0x74 #define ICM20602_WHO_AM_I 0x75 // Should return 0x68 // Using the GY-521 breakout board, I set ADO to 0 by grounding through a 4k7 resistor // Seven-bit device address is 110100 for ADO = 0 and 110101 for ADO = 1 #define ADO 0 #if ADO #define ICM20602_slave_addr 0x69<<1 // Device address when ADO = 1 #else #define ICM20602_slave_addr 0x68<<1 // Device address when ADO = 0 #endif #define IMU_ONE_G 9.80665 //#define ICM20602_slave_addr 0xD0 extern float aRes, gRes; extern Serial pc; class ICM20602 { public: void whoAmI(); void init(); int16_t getAccXvalue(); int16_t getAccYvalue(); int16_t getAccZvalue(); int16_t getGyrXvalue(); int16_t getGyrYvalue(); int16_t getGyrZvalue(); int16_t getIMUTemp(); float setAccRange(int Ascale); float setGyroRange(int Gscale); };