66 lines
1.6 KiB
C
66 lines
1.6 KiB
C
#ifndef _ICM_42627_H
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#define _ICM_42627_H
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#define ICM_42627_DeviceID 0x20
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// PWR_MGMT0
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#define GYRO_MODE_OFF 0<<2
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#define GYRO_MODE_LN 3<<2
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#define GYRO_MODE_Standby 1<<2
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#define ACCEL_MODE_OFF 1<<0
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#define ACCEL_MODE_LP 2<<0 //LOW POWER
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#define ACCEL_MODE_LN 3<<0 //LOW Noise
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#define IDLE_OFF 1<<4
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#define IDLE_ON 0<<4
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#define TEMP_DIS_ON 0<<5
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#define TEMP_DIS_OFF 1<<5
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//GYRO_CONFIG0
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#define GYRO_ODR_1KHZ 6<<0
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#define GYRO_FS_SEL_250dps 3<<5
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//CONFIG0_REG
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#define ACCEL_ODR_1KHZ 6<<0
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#define ACCEL_FS_SEL_2G 3<<5
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//INT_STATUS
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#define UI_FSYNC_INT 1<<6
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#define PLL_RDY_INT 1<<5
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#define RESET_DONE_INT 1<<4
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#define DATA_RDY_INT 1<<3
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#define FIFO_THS_INT 1<<2
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#define FIFO_FULL_INT 1<<1
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#define AGC_RDY_INT 1<<0
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#define ICM_42627_ADDRESS 0x68 //I2C Address
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#define WHO_AM_I_ICM42627 0x75 // Should return 0x20
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//ICM_42627 REG
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#define PWR_MGMT0_REG 0x4E
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#define GYRO_CONFIG0_REG 0x4F
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#define ACCEL_CONFIG0_REG 0x50
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#define SELF_TEST_CONFIG_REG 0x70
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#define INT_STATUS_REG 0x2D
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#define TEMP_OUT_H_REG 0x1D
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#define TEMP_OUT_L_REG 0x1E
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#define ACCEL_XOUT_H_REG 0x1F
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#define ACCEL_XOUT_L_REG 0x20
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#define ACCEL_YOUT_H_REG 0x21
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#define ACCEL_YOUT_L_REG 0x22
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#define ACCEL_ZOUT_H_REG 0x23
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#define ACCEL_ZOUT_L_REG 0x24
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#define GYRO_XOUT_H_REG 0x25
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#define GYRO_XOUT_L_REG 0x26
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#define GYRO_YOUT_H_REG 0x27
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#define GYRO_YOUT_L_REG 0x28
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#define GYRO_ZOUT_H_REG 0x29
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#define GYRO_ZOUT_L_REG 0x30
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#endif |