ICM42670初始化配置程序示例

ICM-42670是一款高精度的6轴惯性测量单元（IMU），它可以测量加速度和角速度。以下是ICM-42670的初始化配置程序示例：

#include <Wire.h>

#define ICM_ADDR 0x69

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

  // Set Sample Rate Divider to 1
  writeByte(ICM_ADDR, 0x19, 0x00);

  // Set Digital Low Pass Filter to 20 Hz
  writeByte(ICM_ADDR, 0x1A, 0x03);

  // Disable Gyroscope Digital Low Pass Filter
  writeByte(ICM_ADDR, 0x1B, 0x00);

  // Set Full Scale Range to +/- 2000 degrees/sec
  writeByte(ICM_ADDR, 0x1C, 0x18);

  // Set Sample Rate to 200 Hz
  writeByte(ICM_ADDR, 0x1D, 0x07);

  // Enable Accel LPF and set Cut-off Frequency to 20 Hz
  writeByte(ICM_ADDR, 0x1E, 0x03);

  // Set Full Scale Range to +/- 16g
  writeByte(ICM_ADDR, 0x1F, 0x18);

  // Enable Accelerometer
  writeByte(ICM_ADDR, 0x10, 0x01);
}

void loop() {
  // Read Accelerometer and Gyroscope Data
  int16_t ax = readWord(ICM_ADDR, 0x3B);
  int16_t ay = readWord(ICM_ADDR, 0x3D);
  int16_t az = readWord(ICM_ADDR, 0x3F);
  int16_t gx = readWord(ICM_ADDR, 0x43);
  int16_t gy = readWord(ICM_ADDR, 0x45);
  int16_t gz = readWord(ICM_ADDR, 0x47);

  // Convert Raw Data to Physical Units
  float accel_x = (float)ax / 16384.0;
  float accel_y = (float)ay / 16384.0;
  float accel_z = (float)az / 16384.0;
  float gyro_x = (float)gx / 16.4;
  float gyro_y = (float)gy / 16.4;
  float gyro_z = (float)gz / 16.4;

  // Print Data to Serial Monitor
  Serial.print("Accelerometer: ");
  Serial.print(accel_x);
  Serial.print(", ");
  Serial.print(accel_y);
  Serial.print(", ");
  Serial.print(accel_z);
  Serial.print(" g");

  Serial.print(" Gyroscope: ");
  Serial.print(gyro_x);
  Serial.print(", ");
  Serial.print(gyro_y);
  Serial.print(", ");
  Serial.print(gyro_z);
  Serial.println(" deg/s");

  delay(10);
}

// Write Byte to I2C Device
void writeByte(uint8_t address, uint8_t subAddress, uint8_t data) {
  Wire.beginTransmission(address);
  Wire.write(subAddress);
  Wire.write(data);
  Wire.endTransmission();
}

// Read Word from I2C Device
int16_t readWord(uint8_t address, uint8_t subAddress) {
  Wire.beginTransmission(address);
  Wire.write(subAddress);
  Wire.endTransmission();
  Wire.requestFrom(address, (uint8_t)2);
  uint8_t low = Wire.read();
  uint8_t high = Wire.read();
  int16_t value = (high << 8) | low;
  return value;
}

在这个示例程序中，我们使用Wire库来与ICM-42670进行I2C通信。首先，在setup()函数中，我们配置了ICM-42670的各种参数，例如采样率、数字低通滤波器、陀螺仪和加速度计的量程等等。然后，在loop()函数中，我们读取ICM-42670的加速度计和陀螺仪数据，并将数据转换为物理单位。最后，我们将数据打印到串口监视器中。

需要注意的是，在本例中，我们假设ICM-42670的I2C地址是0x69。如果您的ICM-42670的I2C地址不同，您需要将ICM_ADDR变量设置为正确的地址。