mirror of
https://github.com/SlimeVR/SlimeVR-Tracker-ESP.git
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193 lines
7.1 KiB
C
193 lines
7.1 KiB
C
/* 01/14/2022 Copyright Tlera Corporation
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Created by Kris Winer
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This sketch uses SDA/SCL on pins 21/20 (ladybug default), respectively, and it uses the Ladybug STM32L432 Breakout Board.
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The ICM42688 is a combo sensor with embedded accel and gyro, here used as 6 DoF in a 9 DoF absolute orientation solution.
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Library may be used freely and without limit with attribution.
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*/
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#ifndef ICM42688_h
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#define ICM42688_h
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/* ICM42688 registers
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https://media.digikey.com/pdf/Data%20Sheets/TDK%20PDFs/ICM-42688-P_DS_Rev1.2.pdf
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*/
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// User Bank 0
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#define ICM42688_DEVICE_CONFIG 0x11
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#define ICM42688_DRIVE_CONFIG 0x13
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#define ICM42688_INT_CONFIG 0x14
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#define ICM42688_FIFO_CONFIG 0x16
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#define ICM42688_TEMP_DATA1 0x1D
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#define ICM42688_TEMP_DATA0 0x1E
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#define ICM42688_ACCEL_DATA_X1 0x1F
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#define ICM42688_ACCEL_DATA_X0 0x20
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#define ICM42688_ACCEL_DATA_Y1 0x21
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#define ICM42688_ACCEL_DATA_Y0 0x22
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#define ICM42688_ACCEL_DATA_Z1 0x23
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#define ICM42688_ACCEL_DATA_Z0 0x24
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#define ICM42688_GYRO_DATA_X1 0x25
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#define ICM42688_GYRO_DATA_X0 0x26
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#define ICM42688_GYRO_DATA_Y1 0x27
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#define ICM42688_GYRO_DATA_Y0 0x28
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#define ICM42688_GYRO_DATA_Z1 0x29
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#define ICM42688_GYRO_DATA_Z0 0x2A
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#define ICM42688_TMST_FSYNCH 0x2B
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#define ICM42688_TMST_FSYNCL 0x2C
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#define ICM42688_INT_STATUS 0x2D
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#define ICM42688_FIFO_COUNTH 0x2E
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#define ICM42688_FIFO_COUNTL 0x2F
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#define ICM42688_FIFO_DATA 0x30
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#define ICM42688_APEX_DATA0 0x31
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#define ICM42688_APEX_DATA1 0x32
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#define ICM42688_APEX_DATA2 0x33
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#define ICM42688_APEX_DATA3 0x34
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#define ICM42688_APEX_DATA4 0x35
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#define ICM42688_APEX_DATA5 0x36
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#define ICM42688_INT_STATUS2 0x37
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#define ICM42688_INT_STATUS3 0x38
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#define ICM42688_SIGNAL_PATH_RESET 0x4B
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#define ICM42688_INTF_CONFIG0 0x4C
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#define ICM42688_INTF_CONFIG1 0x4D
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#define ICM42688_PWR_MGMT0 0x4E
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#define ICM42688_GYRO_CONFIG0 0x4F
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#define ICM42688_ACCEL_CONFIG0 0x50
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#define ICM42688_GYRO_CONFIG1 0x51
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#define ICM42688_GYRO_ACCEL_CONFIG0 0x52
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#define ICM42688_ACCEL_CONFIG1 0x53
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#define ICM42688_TMST_CONFIG 0x54
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#define ICM42688_APEX_CONFIG0 0x56
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#define ICM42688_SMD_CONFIG 0x57
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#define ICM42688_FIFO_CONFIG1 0x5F
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#define ICM42688_FIFO_CONFIG2 0x60
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#define ICM42688_FIFO_CONFIG3 0x61
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#define ICM42688_FSYNC_CONFIG 0x62
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#define ICM42688_INT_CONFIG0 0x63
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#define ICM42688_INT_CONFIG1 0x64
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#define ICM42688_INT_SOURCE0 0x65
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#define ICM42688_INT_SOURCE1 0x66
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#define ICM42688_INT_SOURCE3 0x68
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#define ICM42688_INT_SOURCE4 0x69
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#define ICM42688_FIFO_LOST_PKT0 0x6C
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#define ICM42688_FIFO_LOST_PKT1 0x6D
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#define ICM42688_SELF_TEST_CONFIG 0x70
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#define ICM42688_WHO_AM_I 0x75 // should return 0x47
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#define ICM42688_REG_BANK_SEL 0x76
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// User Bank 1
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#define ICM42688_SENSOR_CONFIG0 0x03
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#define ICM42688_GYRO_CONFIG_STATIC2 0x0B
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#define ICM42688_GYRO_CONFIG_STATIC3 0x0C
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#define ICM42688_GYRO_CONFIG_STATIC4 0x0D
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#define ICM42688_GYRO_CONFIG_STATIC5 0x0E
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#define ICM42688_GYRO_CONFIG_STATIC6 0x0F
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#define ICM42688_GYRO_CONFIG_STATIC7 0x10
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#define ICM42688_GYRO_CONFIG_STATIC8 0x11
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#define ICM42688_GYRO_CONFIG_STATIC9 0x12
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#define ICM42688_GYRO_CONFIG_STATIC10 0x13
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#define ICM42688_XG_ST_DATA 0x5F
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#define ICM42688_YG_ST_DATA 0x60
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#define ICM42688_ZG_ST_DATA 0x61
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#define ICM42688_TMSTAL0 0x63
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#define ICM42688_TMSTAL1 0x64
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#define ICM42688_TMSTAL2 0x62
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#define ICM42688_INTF_CONFIG4 0x7A
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#define ICM42688_INTF_CONFIG5 0x7B
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#define ICM42688_INTF_CONFIG6 0x7C
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// User Bank 2
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#define ICM42688_ACCEL_CONFIG_STATIC2 0x03
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#define ICM42688_ACCEL_CONFIG_STATIC3 0x04
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#define ICM42688_ACCEL_CONFIG_STATIC4 0x05
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#define ICM42688_XA_ST_DATA 0x3B
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#define ICM42688_YA_ST_DATA 0x3C
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#define ICM42688_ZA_ST_DATA 0x3D
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// User Bank 4
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#define ICM42688_APEX_CONFIG1 0x40
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#define ICM42688_APEX_CONFIG2 0x41
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#define ICM42688_APEX_CONFIG3 0x42
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#define ICM42688_APEX_CONFIG4 0x43
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#define ICM42688_APEX_CONFIG5 0x44
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#define ICM42688_APEX_CONFIG6 0x45
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#define ICM42688_APEX_CONFIG7 0x46
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#define ICM42688_APEX_CONFIG8 0x47
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#define ICM42688_APEX_CONFIG9 0x48
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#define ICM42688_ACCEL_WOM_X_THR 0x4A
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#define ICM42688_ACCEL_WOM_Y_THR 0x4B
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#define ICM42688_ACCEL_WOM_Z_THR 0x4C
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#define ICM42688_INT_SOURCE6 0x4D
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#define ICM42688_INT_SOURCE7 0x4E
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#define ICM42688_INT_SOURCE8 0x4F
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#define ICM42688_INT_SOURCE9 0x50
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#define ICM42688_INT_SOURCE10 0x51
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#define ICM42688_OFFSET_USER0 0x77
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#define ICM42688_OFFSET_USER1 0x78
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#define ICM42688_OFFSET_USER2 0x79
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#define ICM42688_OFFSET_USER3 0x7A
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#define ICM42688_OFFSET_USER4 0x7B
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#define ICM42688_OFFSET_USER5 0x7C
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#define ICM42688_OFFSET_USER6 0x7D
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#define ICM42688_OFFSET_USER7 0x7E
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#define ICM42688_OFFSET_USER8 0x7F
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#define ICM42688_ADDRESS 0x68 // Address of ICM42688 accel/gyro when ADO = 0
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#define AFS_2G 0x03
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#define AFS_4G 0x02
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#define AFS_8G 0x01
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#define AFS_16G 0x00 // default
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#define GFS_2000DPS 0x00 // default
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#define GFS_1000DPS 0x01
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#define GFS_500DPS 0x02
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#define GFS_250DPS 0x03
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#define GFS_125DPS 0x04
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#define GFS_62_50DPS 0x05
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#define GFS_31_25DPS 0x06
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#define GFS_15_625DPS 0x07
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// Low Noise mode
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#define AODR_32kHz 0x01
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#define AODR_16kHz 0x02
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#define AODR_8kHz 0x03
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#define AODR_4kHz 0x04
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#define AODR_2kHz 0x05
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#define AODR_1kHz 0x06 // default
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//Low Noise or Low Power modes
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#define AODR_500Hz 0x0F
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#define AODR_200Hz 0x07
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#define AODR_100Hz 0x08
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#define AODR_50Hz 0x09
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#define AODR_25Hz 0x0A
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#define AODR_12_5Hz 0x0B
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// Low Power mode
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#define AODR_6_25Hz 0x0C
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#define AODR_3_125Hz 0x0D
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#define AODR_1_5625Hz 0x0E
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#define GODR_32kHz 0x01
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#define GODR_16kHz 0x02
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#define GODR_8kHz 0x03
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#define GODR_4kHz 0x04
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#define GODR_2kHz 0x05
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#define GODR_1kHz 0x06 // default
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#define GODR_500Hz 0x0F
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#define GODR_200Hz 0x07
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#define GODR_100Hz 0x08
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#define GODR_50Hz 0x09
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#define GODR_25Hz 0x0A
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#define GODR_12_5Hz 0x0B
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#define aMode_OFF 0x01
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#define aMode_LP 0x02
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#define aMode_LN 0x03
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#define gMode_OFF 0x00
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#define gMode_SBY 0x01
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#define gMode_LN 0x03
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#endif
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