ICM20602_I2C(invensense)---stm32f767zi
Fork of NTOUEE-mbed-I2C_MPU6500 by
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?
User | Revision | Line number | New 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 | }; |