File content as of revision 2:74690f762c0f:

#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);
};