stm32_hal_icm20948

Brief

ICM-20948 is 9-axis IMU sensor.
TAG - ICM-20948 AK09916 SPI STM32 HAL

Axis	Not Recommended for New Designs	Recommended for New Designs
6-axis	MPU-6050	ICM-20602
9-axis	MPU-9250	ICM-20948

Library Feature

• Read sensor data
• Offset cancellation

Dev Environment

• STM32CubeIDE
• STM32 HAL driver
• STM32F411CEU6
• ICM-20948 module ( SparkFun 9Dof IMU Breakout - ICM-20948 (Qwiic) )

STM32CubeMX

SPI

GPIO

Example

icm20948.h

• SPI1, PA4 (CS Pin)

/* User Configuration */
#define ICM20948_SPI					(&hspi1)

#define ICM20948_SPI_CS_PIN_PORT		GPIOA
#define ICM20948_SPI_CS_PIN_NUMBER		GPIO_PIN_4

main.c

• only contain relative things

#include "icm20948.h"

// variables to store sensor data
axises my_gyro;
axises my_accel;
axises my_mag;

int main(void)
{
    // initialize
    // Modify the inside of init function for personal setting.
    icm20948_init();
    ak09916_init();

    while (1)
    {
        // raw data
        icm20948_gyro_read(&my_gyro);
        icm20948_accel_read(&my_accel);
        ak09916_mag_read(&my_mag);

        // or unit conversion
        icm20948_gyro_read_dps(&my_gyro);
        icm20948_accel_read_g(&my_accel);
        ak09916_mag_read_uT(&my_mag);
    }
}