icm42688六轴数据读取

42688六轴传感器读取陀螺仪和加速度计的数据，使用的是iic的形式读取的，设备的地址是0xD0
cpu：stm32f405 + 硬件iic读取数据，由于42688的寄存器分布在不同的bank，在进行寄存器操作之前，首先选择bank，默认的是bank0
42688初始化：

write(ADDRESS,REG_BANK_SEL,0x00);
write(ADDRESS,0x11,0x01);

id = read(ADDRESS,WHOAMI);
data = read(ADDRESS,PWR_MGMT0);

write(ADDRESS,PWR_MGMT0,data|0x0F);

data = read(ADDRESS,GYRO_CONFIG0);

write(ADDRESS,GYRO_CONFIG0,data|0x06);

data = read(ADDRESS,ACCEL_CONFIG0);

write(ADDRESS,ACCEL_CONFIG0,data|0x06);

读取gyro：

dat[0] = read(ADDRESS,GYRO_DATA_X0);
dat[1] = read(ADDRESS,GYRO_DATA_X1);
			
dat[4] = read(ADDRESS,GYRO_DATA_Z0);
dat[5] = read(ADDRESS,GYRO_DATA_Z1);
			
dat[2] = read(ADDRESS,GYRO_DATA_Y0);
dat[3] = read(ADDRESS,GYRO_DATA_Y1);

读取acc：

dat[0] = read(ADDRESS,ACCEL_DATA_X0);
dat[1] = read(ADDRESS,ACCEL_DATA_X1);

dat[2] = read(ADDRESS,ACCEL_DATA_Y0);

dat[3] = read(ADDRESS,ACCEL_DATA_Y1);

dat[4] = read(ADDRESS,ACCEL_DATA_Z0);
dat[5] = read(ADDRESS,ACCEL_DATA_Z1);

宏定义：

#define ADDRESS       0XD0
#define WHOAMI        0X75
#define PWR_MGMT0     0x4E
#define GYRO_CONFIG0  0x4F
#define ACCEL_CONFIG0 0x50
#define SENSOR_CONFIG0 0x03
#define ACCEL_DATA_X1 0x1F
#define ACCEL_DATA_X0 0x20
#define ACCEL_DATA_Y1 0x21
#define ACCEL_DATA_Y0 0x22
#define ACCEL_DATA_Z1 0x23
#define ACCEL_DATA_Z0 0x24
#define GYRO_DATA_X1  0x25
#define GYRO_DATA_X0  0x26
#define GYRO_DATA_Y1  0x27
#define GYRO_DATA_Y0  0x28
#define GYRO_DATA_Z1  0x29
#define GYRO_DATA_Z0  0x2A
#define REG_BANK_SEL  0x76

下载链接：
https://download.csdn.net/download/liumengyang1992/20481328