ICM20602_I2C(invensense)---stm32f767zi
Fork of NTOUEE-mbed-I2C_MPU6500 by
Diff: icm20602_i2c.h
- Revision:
- 2:74690f762c0f
diff -r b8d0e8f53e6c -r 74690f762c0f icm20602_i2c.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/icm20602_i2c.h Wed Jul 19 07:56:49 2017 +0000 @@ -0,0 +1,131 @@ +#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); +}; \ No newline at end of file