z jx / ICM20602_I2C

ICM20602_I2C(invensense)---stm32f767zi

Dependents:   IMU_fusion_9DOF

Fork of NTOUEE-mbed-I2C_MPU6500 by Richard Kuo

icm20602_i2c.h@2:74690f762c0f, 2017-07-19 (annotated)

Committer:
sarahbest
Date:
Wed Jul 19 07:56:49 2017 +0000
Revision:
2:74690f762c0f
icm20602 ouput 7 variables: acc 3, gyro 3, temp

Who changed what in which revision?

UserRevisionLine numberNew contents of line
sarahbest 2:74690f762c0f 1 #define ICM20602_SELF_TEST_X_ACCEL 0x0D
sarahbest 2:74690f762c0f 2 #define ICM20602_SELF_TEST_Y_ACCEL 0x0E
sarahbest 2:74690f762c0f 3 #define ICM20602_SELF_TEST_Z_ACCEL 0x0F
sarahbest 2:74690f762c0f 4 //#define SELF_TEST_A 0x10
sarahbest 2:74690f762c0f 5 #define ICM20602_XG_OFFS_USRH 0x13 // User-defined trim values for gyroscope; supported in MPU-6050?
sarahbest 2:74690f762c0f 6 #define ICM20602_XG_OFFS_USRL 0x14
sarahbest 2:74690f762c0f 7 #define ICM20602_YG_OFFS_USRH 0x15
sarahbest 2:74690f762c0f 8 #define ICM20602_YG_OFFS_USRL 0x16
sarahbest 2:74690f762c0f 9 #define ICM20602_ZG_OFFS_USRH 0x17
sarahbest 2:74690f762c0f 10 #define ICM20602_ZG_OFFS_USRL 0x18
sarahbest 2:74690f762c0f 11 #define ICM20602_SMPLRT_DIV 0x19
sarahbest 2:74690f762c0f 12 #define ICM20602_CONFIG 0x1A
sarahbest 2:74690f762c0f 13 #define ICM20602_GYRO_CONFIG 0x1B
sarahbest 2:74690f762c0f 14 #define ICM20602_ACCEL_CONFIG 0x1C
sarahbest 2:74690f762c0f 15 #define ICM20602_ACCEL_CONFIG2 0x1D // Free-fall
sarahbest 2:74690f762c0f 16 #define ICM20602_LP_MODE_CFG 0x1E // Free-fall
sarahbest 2:74690f762c0f 17 #define ICM20602_ACCEL_WOM_THR 0x1F // Motion detection threshold bits [7:0]
sarahbest 2:74690f762c0f 18 //#define MOT_DUR 0x20 // Duration counter threshold for motion interrupt generation, 1 kHz rate, LSB = 1 ms
sarahbest 2:74690f762c0f 19 //#define ZMOT_THR 0x21 // Zero-motion detection threshold bits [7:0]
sarahbest 2:74690f762c0f 20 //#define ZRMOT_DUR 0x22 // Duration counter threshold for zero motion interrupt generation, 16 Hz rate, LSB = 64 ms
sarahbest 2:74690f762c0f 21 #define ICM20602_FIFO_EN 0x23
sarahbest 2:74690f762c0f 22 //#define I2C_MST_CTRL 0x24
sarahbest 2:74690f762c0f 23 //#define I2C_SLV0_ADDR 0x25
sarahbest 2:74690f762c0f 24 //#define I2C_SLV0_REG 0x26
sarahbest 2:74690f762c0f 25 //#define I2C_SLV0_CTRL 0x27
sarahbest 2:74690f762c0f 26 //#define I2C_SLV1_ADDR 0x28
sarahbest 2:74690f762c0f 27 //#define I2C_SLV1_REG 0x29
sarahbest 2:74690f762c0f 28 //#define I2C_SLV1_CTRL 0x2A
sarahbest 2:74690f762c0f 29 //#define I2C_SLV2_ADDR 0x2B
sarahbest 2:74690f762c0f 30 //#define I2C_SLV2_REG 0x2C
sarahbest 2:74690f762c0f 31 //#define I2C_SLV2_CTRL 0x2D
sarahbest 2:74690f762c0f 32 //#define I2C_SLV3_ADDR 0x2E
sarahbest 2:74690f762c0f 33 //#define I2C_SLV3_REG 0x2F
sarahbest 2:74690f762c0f 34 //#define I2C_SLV3_CTRL 0x30
sarahbest 2:74690f762c0f 35 //#define I2C_SLV4_ADDR 0x31
sarahbest 2:74690f762c0f 36 //#define I2C_SLV4_REG 0x32
sarahbest 2:74690f762c0f 37 //#define I2C_SLV4_DO 0x33
sarahbest 2:74690f762c0f 38 //#define I2C_SLV4_CTRL 0x34
sarahbest 2:74690f762c0f 39 //#define I2C_SLV4_DI 0x35
sarahbest 2:74690f762c0f 40 #define ICM20602_FSYNC_INT 0x36
sarahbest 2:74690f762c0f 41 #define ICM20602_INT_PIN_CFG 0x37
sarahbest 2:74690f762c0f 42 #define ICM20602_INT_ENABLE 0x38
sarahbest 2:74690f762c0f 43 //#define DMP_INT_STATUS 0x39 // Check DMP interrupt
sarahbest 2:74690f762c0f 44 #define ICM20602_INT_STATUS 0x3A
sarahbest 2:74690f762c0f 45 #define ICM20602_ACCEL_XOUT_H 0x3B
sarahbest 2:74690f762c0f 46 #define ICM20602_ACCEL_XOUT_L 0x3C
sarahbest 2:74690f762c0f 47 #define ICM20602_ACCEL_YOUT_H 0x3D
sarahbest 2:74690f762c0f 48 #define ICM20602_ACCEL_YOUT_L 0x3E
sarahbest 2:74690f762c0f 49 #define ICM20602_ACCEL_ZOUT_H 0x3F
sarahbest 2:74690f762c0f 50 #define ICM20602_ACCEL_ZOUT_L 0x40
sarahbest 2:74690f762c0f 51 #define ICM20602_TEMP_OUT_H 0x41
sarahbest 2:74690f762c0f 52 #define ICM20602_TEMP_OUT_L 0x42
sarahbest 2:74690f762c0f 53 #define ICM20602_GYRO_XOUT_H 0x43
sarahbest 2:74690f762c0f 54 #define ICM20602_GYRO_XOUT_L 0x44
sarahbest 2:74690f762c0f 55 #define ICM20602_GYRO_YOUT_H 0x45
sarahbest 2:74690f762c0f 56 #define ICM20602_GYRO_YOUT_L 0x46
sarahbest 2:74690f762c0f 57 #define ICM20602_GYRO_ZOUT_H 0x47
sarahbest 2:74690f762c0f 58 #define ICM20602_GYRO_ZOUT_L 0x48
sarahbest 2:74690f762c0f 59 //#define EXT_SENS_DATA_00 0x49
sarahbest 2:74690f762c0f 60 //#define EXT_SENS_DATA_01 0x4A
sarahbest 2:74690f762c0f 61 //#define EXT_SENS_DATA_02 0x4B
sarahbest 2:74690f762c0f 62 //#define EXT_SENS_DATA_03 0x4C
sarahbest 2:74690f762c0f 63 //#define EXT_SENS_DATA_04 0x4D
sarahbest 2:74690f762c0f 64 //#define EXT_SENS_DATA_05 0x4E
sarahbest 2:74690f762c0f 65 //#define EXT_SENS_DATA_06 0x4F
sarahbest 2:74690f762c0f 66 #define ICM20602_SELF_TEST_X_GYRO 0x50
sarahbest 2:74690f762c0f 67 #define ICM20602_SELF_TEST_y_GYRO 0x51
sarahbest 2:74690f762c0f 68 #define ICM20602_SELF_TEST_z_GYRO 0x52
sarahbest 2:74690f762c0f 69 //#define EXT_SENS_DATA_10 0x53
sarahbest 2:74690f762c0f 70 //#define EXT_SENS_DATA_11 0x54
sarahbest 2:74690f762c0f 71 //#define EXT_SENS_DATA_12 0x55
sarahbest 2:74690f762c0f 72 //#define EXT_SENS_DATA_13 0x56
sarahbest 2:74690f762c0f 73 //#define EXT_SENS_DATA_14 0x57
sarahbest 2:74690f762c0f 74 //#define EXT_SENS_DATA_15 0x58
sarahbest 2:74690f762c0f 75 //#define EXT_SENS_DATA_16 0x59
sarahbest 2:74690f762c0f 76 //#define EXT_SENS_DATA_17 0x5A
sarahbest 2:74690f762c0f 77 //#define EXT_SENS_DATA_18 0x5B
sarahbest 2:74690f762c0f 78 //#define EXT_SENS_DATA_19 0x5C
sarahbest 2:74690f762c0f 79 //#define EXT_SENS_DATA_20 0x5D
sarahbest 2:74690f762c0f 80 //#define EXT_SENS_DATA_21 0x5E
sarahbest 2:74690f762c0f 81 //#define EXT_SENS_DATA_22 0x5F
sarahbest 2:74690f762c0f 82 //#define EXT_SENS_DATA_23 0x60
sarahbest 2:74690f762c0f 83 //#define MOT_DETECT_STATUS 0x61
sarahbest 2:74690f762c0f 84 //#define I2C_SLV0_DO 0x63
sarahbest 2:74690f762c0f 85 //#define I2C_SLV1_DO 0x64
sarahbest 2:74690f762c0f 86 //#define I2C_SLV2_DO 0x65
sarahbest 2:74690f762c0f 87 //#define I2C_SLV3_DO 0x66
sarahbest 2:74690f762c0f 88 //#define I2C_MST_DELAY_CTRL 0x67
sarahbest 2:74690f762c0f 89 #define ICM20602_SIGNAL_PATH_RESET 0x68
sarahbest 2:74690f762c0f 90 #define ICM20602_ACCEL_INTEL_CTRL 0x69
sarahbest 2:74690f762c0f 91 #define ICM20602_USER_CTRL 0x6A // Bit 7 enable DMP, bit 3 reset DMP
sarahbest 2:74690f762c0f 92 #define ICM20602_PWR_MGMT_1 0x6B // Device defaults to the SLEEP mode
sarahbest 2:74690f762c0f 93 #define ICM20602_PWR_MGMT_2 0x6C
sarahbest 2:74690f762c0f 94 //#define DMP_BANK 0x6D // Activates a specific bank in the DMP
sarahbest 2:74690f762c0f 95 //#define DMP_RW_PNT 0x6E // Set read/write pointer to a specific start address in specified DMP bank
sarahbest 2:74690f762c0f 96 //#define DMP_REG 0x6F // Register in DMP from which to read or to which to write
sarahbest 2:74690f762c0f 97 //#define DMP_REG_1 0x70
sarahbest 2:74690f762c0f 98 //#define DMP_REG_2 0x71
sarahbest 2:74690f762c0f 99 #define ICM20602_FIFO_COUNTH 0x72
sarahbest 2:74690f762c0f 100 #define ICM20602_FIFO_COUNTL 0x73
sarahbest 2:74690f762c0f 101 #define ICM20602_FIFO_R_W 0x74
sarahbest 2:74690f762c0f 102 #define ICM20602_WHO_AM_I 0x75 // Should return 0x68
sarahbest 2:74690f762c0f 103
sarahbest 2:74690f762c0f 104 // Using the GY-521 breakout board, I set ADO to 0 by grounding through a 4k7 resistor
sarahbest 2:74690f762c0f 105 // Seven-bit device address is 110100 for ADO = 0 and 110101 for ADO = 1
sarahbest 2:74690f762c0f 106 #define ADO 0
sarahbest 2:74690f762c0f 107 #if ADO
sarahbest 2:74690f762c0f 108 #define ICM20602_slave_addr 0x69<<1 // Device address when ADO = 1
sarahbest 2:74690f762c0f 109 #else
sarahbest 2:74690f762c0f 110 #define ICM20602_slave_addr 0x68<<1 // Device address when ADO = 0
sarahbest 2:74690f762c0f 111 #endif
sarahbest 2:74690f762c0f 112
sarahbest 2:74690f762c0f 113 #define IMU_ONE_G 9.80665
sarahbest 2:74690f762c0f 114 //#define ICM20602_slave_addr 0xD0
sarahbest 2:74690f762c0f 115 extern float aRes, gRes;
sarahbest 2:74690f762c0f 116 extern Serial pc;
sarahbest 2:74690f762c0f 117
sarahbest 2:74690f762c0f 118 class ICM20602 {
sarahbest 2:74690f762c0f 119 public:
sarahbest 2:74690f762c0f 120 void whoAmI();
sarahbest 2:74690f762c0f 121 void init();
sarahbest 2:74690f762c0f 122 int16_t getAccXvalue();
sarahbest 2:74690f762c0f 123 int16_t getAccYvalue();
sarahbest 2:74690f762c0f 124 int16_t getAccZvalue();
sarahbest 2:74690f762c0f 125 int16_t getGyrXvalue();
sarahbest 2:74690f762c0f 126 int16_t getGyrYvalue();
sarahbest 2:74690f762c0f 127 int16_t getGyrZvalue();
sarahbest 2:74690f762c0f 128 int16_t getIMUTemp();
sarahbest 2:74690f762c0f 129 float setAccRange(int Ascale);
sarahbest 2:74690f762c0f 130 float setGyroRange(int Gscale);
sarahbest 2:74690f762c0f 131 };