icm20602初始化代码

以下是ICM20602的初始化代码示例，使用的是Arduino库：

#include "Wire.h"
#include "IMU_ICM20602.h"

IMU_ICM20602 imu;

void setup() {
  Wire.begin();
  imu.init();
}

void loop() {
  imu.update();
  float ax = imu.getAccX();
  float ay = imu.getAccY();
  float az = imu.getAccZ();
  float gx = imu.getGyroX();
  float gy = imu.getGyroY();
  float gz = imu.getGyroZ();
  // do something with the sensor data
}

其中IMU_ICM20602.h和IMU_ICM20602.cpp是自己编写的库文件，可以参考以下代码：

#include "IMU_ICM20602.h"
#include "Wire.h"

IMU_ICM20602::IMU_ICM20602() {}

void IMU_ICM20602::init() {
  Wire.beginTransmission(IMU_ADDRESS);
  Wire.write(0x6B); // PWR_MGMT_1 register
  Wire.write(0);    // set to zero (wakes up the sensor)
  Wire.endTransmission(true);

  Wire.beginTransmission(IMU_ADDRESS);
  Wire.write(0x1B); // GYRO_CONFIG register
  Wire.write(0x18); // set full scale range to +/-2000 degrees/s
  Wire.endTransmission(true);

  Wire.beginTransmission(IMU_ADDRESS);
  Wire.write(0x1C); // ACCEL_CONFIG register
  Wire.write(0x18); // set full scale range to +/-16g
  Wire.endTransmission(true);
}

void IMU_ICM20602::update() {
  Wire.beginTransmission(IMU_ADDRESS);
  Wire.write(0x3B); // starting with register 0x3B (ACCEL_XOUT_H)
  Wire.endTransmission(false);
  Wire.requestFrom(IMU_ADDRESS, 14, true); // request a total of 14 registers

  // read the sensor data
  accelX = (Wire.read() << 8) | Wire.read();
  accelY = (Wire.read() << 8) | Wire.read();
  accelZ = (Wire.read() << 8) | Wire.read();
  temperature = (Wire.read() << 8) | Wire.read();
  gyroX = (Wire.read() << 8) | Wire.read();
  gyroY = (Wire.read() << 8) | Wire.read();
  gyroZ = (Wire.read() << 8) | Wire.read();

  // convert the raw sensor data to physical units
  accelX = accelX / ACCEL_SENSITIVITY;
  accelY = accelY / ACCEL_SENSITIVITY;
  accelZ = accelZ / ACCEL_SENSITIVITY;
  temperature = temperature / TEMP_SENSITIVITY + TEMP_OFFSET;
  gyroX = gyroX / GYRO_SENSITIVITY;
  gyroY = gyroY / GYRO_SENSITIVITY;
  gyroZ = gyroZ / GYRO_SENSITIVITY;
}

float IMU_ICM20602::getAccX() {
  return accelX;
}

float IMU_ICM20602::getAccY() {
  return accelY;
}

float IMU_ICM20602::getAccZ() {
  return accelZ;
}

float IMU_ICM20602::getTemp() {
  return temperature;
}

float IMU_ICM20602::getGyroX() {
  return gyroX;
}

float IMU_ICM20602::getGyroY() {
  return gyroY;
}

float IMU_ICM20602::getGyroZ() {
  return gyroZ;
}

其中IMU_ADDRESS是ICM20602的I2C地址，可以在数据手册中查找。ACCEL_SENSITIVITY、GYRO_SENSITIVITY和TEMP_SENSITIVITY是转换因子，需要根据数据手册中的数据进行计算。