icm20948驱动代码 iic接口

以下是icm20948驱动代码 iic接口的示例：

#include <Wire.h>

#define ICM20948_ADDR 0x69

void setup() {
  Wire.begin();
  Serial.begin(9600);
  configureICM20948();
}

void loop() {
  readICM20948Data();
  delay(100);
}

void configureICM20948() {
  // Set up ICM20948
  Wire.beginTransmission(ICM20948_ADDR);
  Wire.write(0x06); // Power Management 1
  Wire.write(0x80); // Reset device
  Wire.endTransmission();
  delay(100);

  Wire.beginTransmission(ICM20948_ADDR);
  Wire.write(0x06); // Power Management 1
  Wire.write(0x01); // Clock source = Gyro X
  Wire.endTransmission();
  delay(100);

  Wire.beginTransmission(ICM20948_ADDR);
  Wire.write(0x19); // Sample Rate Divider
  Wire.write(0x04); // 1kHz / (1+4) = 200Hz
  Wire.endTransmission();
  delay(100);

  Wire.beginTransmission(ICM20948_ADDR);
  Wire.write(0x1A); // Config
  Wire.write(0x03); // Low Pass Filter = 41Hz
  Wire.endTransmission();
  delay(100);

  Wire.beginTransmission(ICM20948_ADDR);
  Wire.write(0x1B); // Gyroscope Config
  Wire.write(0x10); // Full scale range = ±1000dps
  Wire.endTransmission();
  delay(100);

  Wire.beginTransmission(ICM20948_ADDR);
  Wire.write(0x1C); // Accelerometer Config
  Wire.write(0x10); // Full scale range = ±8g
  Wire.endTransmission();
  delay(100);
}

void readICM20948Data() {
  // Read ICM20948 data
  Wire.beginTransmission(ICM20948_ADDR);
  Wire.write(0x3B); // Starting with register 0x3B (ACCEL_XOUT_H)
  Wire.endTransmission(false);
  Wire.requestFrom(ICM20948_ADDR, 14, true); // Request 14 bytes (accelerometer, gyro, temperature)

  int16_t accelX = Wire.read() << 8 | Wire.read();
  int16_t accelY = Wire.read() << 8 | Wire.read();
  int16_t accelZ = Wire.read() << 8 | Wire.read();
  int16_t temp = Wire.read() << 8 | Wire.read();
  int16_t gyroX = Wire.read() << 8 | Wire.read();
  int16_t gyroY = Wire.read() << 8 | Wire.read();
  int16_t gyroZ = Wire.read() << 8 | Wire.read();

  float accelXG = (float)accelX / 4096.0;
  float accelYG = (float)accelY / 4096.0;
  float accelZG = (float)accelZ / 4096.0;
  float tempC = (float)temp / 333.87 + 21.0;
  float gyroXdeg = (float)gyroX / 65.5;
  float gyroYdeg = (float)gyroY / 65.5;
  float gyroZdeg = (float)gyroZ / 65.5;

  Serial.print("Accelerometer (g): X=");
  Serial.print(accelXG);
  Serial.print(" Y=");
  Serial.print(accelYG);
  Serial.print(" Z=");
  Serial.print(accelZG);
  Serial.print("  Temperature (C): ");
  Serial.print(tempC);
  Serial.print("  Gyroscope (deg/s): X=");
  Serial.print(gyroXdeg);
  Serial.print(" Y=");
  Serial.print(gyroYdeg);
  Serial.print(" Z=");
  Serial.println(gyroZdeg);
}

在这个示例中，我们使用Wire库来控制I2C总线，通过I2C接口与ICM20948通信。在setup()函数中，我们首先调用configureICM20948()函数来配置ICM20948，然后在loop()函数中调用readICM20948Data()函数来读取ICM20948的数据。configureICM20948()函数设置ICM20948的寄存器，以便它可以在所需的采样率和滤波器下工作。readICM20948Data()函数从ICM20948读取加速度计、陀螺仪、温度传感器的数据，并将其打印到串行监视器上。

请注意，ICM20948有多种接口和通信协议可供选择，具体取决于您的应用程序和硬件平台。因此，请确保查阅ICM20948的数据手册和相关参考资料，以了解更多关于ICM20948驱动代码和接口的详细信息。