Reference
Principle
The ICG-20660L integrates a 3-axis accelerometer and a 3-axis gyroscope, each digitized through on-chip 16-bit ADCs. The accelerometer measures linear acceleration along the x, y, and z axes, while the gyroscope detects angular velocity across the same axes. These raw signals are converted into digital output through the internal ADCs, enabling precise motion sensing with low noise and ±1% initial sensitivity error.
API Description
/**
* @brief The constructor of the ICG20660L sensor, using IIC communication.
* @param addr: 7-bit IIC address, controlled by SDO pin.
* @n IIC_ADDR_SDO_H or 0x69: SDO pull high.(default)
* @n IIC_ADDR_SDO_L or 0x68: SDO pull down.
* @param pWire: TwoWire class pointer.
*/
DFRobot_ICG20660L_IIC(uint8_t addr = IIC_ADDR_SDO_H, TwoWire *pWire = &Wire);
/**
* @brief The constructor of the ICG20660L sensor, using SPI communication.
* @param csPin: SPI chip select pin, connected to IO pin of MCU.
* @param spi: SPIClass class pointer.
*/
DFRobot_ICG20660L_SPI(int csPin, SPIClass *spi);
/**
* @brief Initialize the sensor, after initialization, all sensors are turned off, and the corresponding configuration
* @n needs to be turned on through enableSensor.
* @param mode: Enum variable,from eDataReadMode_t, configure to read sensor data from FIFO or register?
* @n eRegMode: Read sensor data from registers.
* @n eFIFOMode:Read sensor data from 512 bytes FIFO. Note: Read from FIFO, accelerometer, gyroscope and temperature must all be enabled,
* @n and the internal sampling rate must be configured to be consistent.
* @return status:
* @n 0 : Initialization success.
* @n -1: Interface initialization failed(IIC or SPI).
* @n -2: Failed to read the device ID, the ID is not 0x91
*/
int begin(eDataReadMode_t mode = eRegMode);
/**
* @brief Get device ID, ICG20660L is 0x91 (145).
* @return If device is ICG20660L, it will return 0x91.
*/
uint8_t readID();
/**
* @brief Enable sensor, including Accel of xyz axis, Gyro of xyz, temperature.
* @param bit: 8-bit byte data. Each bit represents enabling a function bit, as shown in the following table:
* @n -------------------------------------------------------------------------------------------------------------------
* @n | bit7 | bit6 | bit5 | bit4 | bit3 | bit2 | bit1 | bit0 |
* @n -------------------------------------------------------------------------------------------------------------------
* @n | reserve | reserve | eAccelAxisX | eAccelAxisY | eAccelAxisZ | eGyroAxisX | eGyroAxisY | eGyroAxisZ |
* @n | | eAccelAxisXYZ | eGyroAxisXYZ |
* @n | | eAxisAll |
* @n -------------------------------------------------------------------------------------------------------------------
* @n bit0: Z-axis of gyro and temperature.
* @n bit1: Y-axis of gyro and temperature.
* @n bit2: X-axis of gyro and temperature.
* @n bit3: Z-axis of acceleration.
* @n bit4: Z-axis of acceleration.
* @n bit5: Z-axis of acceleration.
* @n bit6: reserve.
* @n bit7: reserve.
* @n Note: Enabling any axis of the gyroscope will automatically enable the on-board temperature sensor.
* @n eGyroAxisZ: The bit0 of the bit, enable gyro's z axis and temperature.
* @n eGyroAxisY: The bit1 of the bit, enable gyro's y axis and temperature.
* @n eGyroAxisX: The bit2 of the bit, enable gyro's X axis and temperature.
* @n eAccelAxisZ: The bit3 of the bit, enable accel's z axis.
* @n eAccelAxisY: The bit4 of the bit, enable Accel's y axis.
* @n eAccelAxisX: The bit5 of the bit, enable Accel's X axis.
* @n eGyroAxisXYZ or eGyroAxisX|eGyroAxisY|eGyroAxisZ: The bit0/bit1/bit2 of the bit, enable gyro's xyz axis and temperature.
* @n eAccelAxisXYZ or eAccelAxisX|eAccelAxisY|eAccelAxisZ: The bit3/bit4/bit5 of the bit, enable Accel's xyz axis.
* @n eAxisAll or eGyroAxisX|eGyroAxisY|eGyroAxisZ|eAccelAxisX|eAccelAxisY|eAccelAxisZ: The bit0/bit1/bit2/bit3/bit4/bit5 of the bit,
* @n enable temperature, Accel's and gyro's xyz axis.
*/
void enableSensor(uint8_t bit);
/**
* @brief Disable sensor, including Accel of xyz axis, Gyro of xyz, temperature.
* @param bit: 8-bit byte data. Each bit represents enabling a function bit, as shown in the following table:
* @n -------------------------------------------------------------------------------------------------------------------
* @n | bit7 | bit6 | bit5 | bit4 | bit3 | bit2 | bit1 | bit0 |
* @n -------------------------------------------------------------------------------------------------------------------
* @n | reserve | reserve | eAccelAxisX | eAccelAxisY | eAccelAxisZ | eGyroAxisX | eGyroAxisY | eGyroAxisZ |
* @n | | eAccelAxisXYZ | eGyroAxisXYZ |
* @n | | eAxisAll |
* @n -------------------------------------------------------------------------------------------------------------------
* @n bit0: Z-axis of gyro and temperature.
* @n bit1: Y-axis of gyro and temperature.
* @n bit2: X-axis of gyro and temperature.
* @n bit3: Z-axis of acceleration.
* @n bit4: Z-axis of acceleration.
* @n bit5: Z-axis of acceleration.
* @n bit6: reserve.
* @n bit7: reserve.
* @n Note: Only when the X, Y, and Z axes of the gyroscope are all closed, the temperature sensor will be turned off.
* @n Any axis’s turning on will make the temperature sensor not be turned off.
* @n eGyroAxisZ: The bit0 of the bit, disable gyro's z axis.
* @n eGyroAxisY: The bit1 of the bit, disable gyro's y axis.
* @n eGyroAxisX: The bit2 of the bit, disable gyro's X axis.
* @n eAccelAxisZ: The bit3 of the bit, disable accel's z axis.
* @n eAccelAxisY: The bit4 of the bit, disable Accel's y axis.
* @n eAccelAxisX: The bit5 of the bit, disable Accel's X axis.
* @n eGyroAxisXYZ or eGyroAxisX|eGyroAxisY|eGyroAxisZ: The bit0/bit1/bit2 of the bit, disable gyro's xyz axis and temperature.
* @n eAccelAxisXYZ or eAccelAxisX|eAccelAxisY|eAccelAxisZ: The bit3/bit4/bit5 of the bit, disable Accel's xyz axis.
* @n eAxisAll or eGyroAxisX|eGyroAxisY|eGyroAxisZ|eAccelAxisX|eAccelAxisY|eAccelAxisZ: The bit0/bit1/bit2/bit3/bit4/bit5 of the bit,
* @n disable temperature, Accel's and gyro's xyz axis.
*/
void disableSensor(uint8_t bit);
/**
* @brief Config of gyro's full scale, dlpf bandwidth and internal sample rate.
* @param scale The full scale of gyro, unit: dps(Degrees per second).
* @n eFSR_G_125DPS: The full scale range is ±125 dps.
* @n eFSR_G_250DPS: The full scale range is ±250 dps.
* @n eFSR_G_500DPS: The full scale range is ±500 dps.
* @param bd Set 3-db bandwidth.
* @n eGyro_DLPF_8173_32KHZ: When the signal is equal to or greater than 8173Hz, there will be obvious attenuation, 3-db attenuation, and the internal sampling rate is 32KHz.
* @n eGyro_DLPF_3281_32KHZ: When the signal is equal to or greater than 3281Hz, there will be obvious attenuation, 3-db attenuation, and the internal sampling rate is 32KHz.
* @n eGyro_DLPF_250_8KHZ: When the signal is equal to or greater than 250Hz, there will be obvious attenuation, 3-db attenuation, and the internal sampling rate is 8KHz.
* @n eGyro_DLPF_176_1KHZ: When the signal is equal to or greater than 176Hz, there will be obvious attenuation, 3-db attenuation, and the internal sampling rate is 1KHz.
* @n eGyro_DLPF_92_1KHZ: When the signal is equal to or greater than 92Hz, there will be obvious attenuation, 3-db attenuation, and the internal sampling rate is 1KHz.
* @n eGyro_DLPF_3281_8KHZ: When the signal is equal to or greater than 3281Hz, there will be obvious attenuation, 3-db attenuation, and the internal sampling rate is 8KHz.
* @n Note: When the gyroscope and accelerometer are both enabled, if the sensor data is read through the FIFO,
* @n the internal sampling rate of the gyroscope and accelerometer must be the same.
*/
void configGyro(eGyroFSR_t scale, eGyroBandwidth_t bd);
void configGyro(uint8_t scale, uint8_t bd);
/**
* @brief Config of accel's full scale, dlpf bandwidth and internal sample rate.
* @param scale The full scale of accel, unit: g(1g = 9.80665 m/s²).
* @n eFSR_A_2G: The full scale range is ±2g.
* @n eFSR_A_4G: The full scale range is ±4g.
* @n eFSR_A_8G: The full scale range is ±8g.
* @n eFSR_A_16G: The full scale range is ±16g.
* @param bd Set 3-db bandwidth.
* @n eAccel_DLPF_5_1KHZ or 0: When the signal is less than or equal to 5Hz, there will be obvious attenuation, 3-db attenuation, and the internal sampling rate is 1KHz.
* @n eAccel_DLPF_10_1KHZ or 1: When the signal is less than or equal to 10Hz, there will be obvious attenuation, 3-db attenuation, and the internal sampling rate is 1KHz.
* @n eAccel_DLPF_21_1KHZ or 2: When the signal is less than or equal to 21Hz, there will be obvious attenuation, 3-db attenuation, and the internal sampling rate is 1KHz.
* @n eAccel_DLPF_44_1KHZ or 3: When the signal is less than or equal to 44Hz, there will be obvious attenuation, 3-db attenuation, and the internal sampling rate is 1KHz.
* @n eAccel_DLPF_99_1KHZ or 4: When the signal is less than or equal to 99Hz, there will be obvious attenuation, 3-db attenuation, and the internal sampling rate is 1KHz.
* @n eAccel_DLPF_218_1KHZ or 5: When the signal is less than or equal to 218Hz, there will be obvious attenuation, 3-db attenuation, and the internal sampling rate is 1KHz. Support low power consumption mode
* @n eAccel_DLPF_420_1KHZ or 6: When the signal is less than or equal to 420Hz, there will be obvious attenuation, 3-db attenuation, and the internal sampling rate is 1KHz. Support low power consumption mode
* @n eAccel_DLPF_1046_4KHZ or 7: When the signal is less than or equal to 1046Hz, there will be obvious attenuation, 3-db attenuation, and the internal sampling rate is 4KHz. Support low power consumption mode
* @n eAccel_DLPF_55_1KHZ or 8: When the signal is less than or equal to 55Hz, there will be obvious attenuation, 3-db attenuation, and the internal sampling rate is 1KHz. Only support low power consumption mode
* @n eAccel_DLPF_110_1KHZ or 9: When the signal is less than or equal to 110Hz, there will be obvious attenuation, 3-db attenuation, and the internal sampling rate is 1KHz. Only support low power consumption mode
* @n Note: When the gyroscope and accelerometer are both enabled, if the sensor data is read through the FIFO,
* @n the internal sampling rate of the gyroscope and accelerometer must be the same.
* @param odr: Set the frequency of waking up the chip to take a sample of accel data – the low power accel Output Data Rate.
* @n eODR_125Hz or 9: The low power accel Output Data Rate: 125Hz
* @n eODR_250Hz or 10: The low power accel Output Data Rate: 250Hz
* @n eODR_500Hz or 11: The low power accel Output Data Rate: 500Hz
* @param lowPowerFlag: Whether to configure the Acceleration to low power mode.
* @n true: Enter low power mode.
* @n false: Not configure the Acceleration to low power mode.(default)
*/
void configAccel(eAccelFSR_t scale, eAccelBandwidth_t bd, eODR_t odr = eODR_0_24Hz, bool lowPowerFlag = false);
void configAccel(uint8_t scale, uint8_t bd, uint8_t odr = 0, bool lowPowerFlag = false);
/**
* @brief Set sample rate divider.
* @param div Sample rate divider, the range is 0~255.
* @n Sampling rate = internal sampling rate/(div+1)
* @n Note: If the accelerometer configuration is in low power consumption mode, that is, the formal parameter lowPowerFlag of the configAccel function is true,
* @n the sampling rate must match the output rate of the formal parameter odr of configAccel, as shown in the following table:
* @n ----------------------------------------------------------------------------
* @n | configAccel | setSampleDiv |
* @n ----------------------------------------------------------------------------|
* @n | bd | odr | lowPowerFlag | div |
* @n ----------------------------------------------------------------------------|
* @n | X | X | false | 0~255 |
* @n ----------------------------------------------------------------------------|
* @n | | eODR_125Hz | true | 7 |
* @n | |-----------------------------------------------|
* @n |bd of supporting low power consumption mode| eODR_250Hz | true | 3 |
* @n | |-----------------------------------------------|
* @n | | eODR_500Hz | true | 1 |
* @n |---------------------------------------------------------------------------|
*/
void setSampleDiv(uint8_t div);
/**
* @brief Reset, the register will restore the initial value, and you need to call begin to configuration.
*/
void reset();
/**
* @brief Entering sleep mode, it will reduce power consumption, and The gyroscope and acceleration will stop working.
* @n You need to call wakeup function to wake up sensor.
*/
void sleep();
/**
* @brief Wake up sensor from sleep, and you will restore the configuration before sleep.
*/
void wakeup();
/**
* @brief Set the level polarity of the INT pin when the accelerometer sensor is triggered to wake up the motion interrupt.
* @param polarity: the level signal of the sensor INT pin when the wake-up motion is triggered
* @n HIGH:The initial signal of the pin is LOW. When an accelerometer wake-up motion occurs, the level signal of the INT pin will change to HIGH.
* @n Then the readINTStatus function needs to be called to clear the signal and restore the initial signal.
* @n LOW: The initial signal of the pin is HIGH. When an accelerometer wake-up motion occurs, the level signal of the INT pin will change to LOW.
* @n Then the readINTStatus function needs to be called to clear the signal and restore the initial signal.
* @n Note: After triggering the accelerometer wake-up motion, if the read_int_status function is not called to clear the sign,
* @n the INT pin will always maintain the level polarity when the motion is triggered.
*/
void setINTPinMotionTriggerPolarity(int polarity);
/**
* @brief Get the polarity of the INT pin of sensor when the sensor INT pin triggers an interrupt.
* @return The level signal when the INT pin triggers an interrupt.
* @n HIGH: INT pin level held HIGH LEVEL until interrupt status is cleared.
* @n LOW: INT pin level held LOW LEVEL until interrupt status is cleared.
*/
int getINTPinMotionTriggerPolarity();
/**
* @brief Set the threshold value for the Wake on Motion Interrupt for accelerometer.
* @param level: WoM thresholds are expressed in fixed “mg” independent of the selected Range [0g : 1g]; Resolution 1g/256=~3.9mg
* @n level = 0~255
* @return Actul WoM thresholds, unit : g re_value = (level * 3.9)/1000 g
*/
float setWakeOnMotionThresholdForAccel(uint8_t level);
/**
* @brief Read interrupt status register, and clear INT pin's interrupt signal.
* @return Interrupt status register value.
* @n INT_STATUS register：addr:0x3A,acess:rw
* @n ------------------------------------------------------------------------------------
* @n | b7 | b6 | b5 | b4 | b3 | b2 | b1 | b0 |
* @n ------------------------------------------------------------------------------------
* @n | WOM_XYZ_INT | FIFO_OFLOW_INT | rsv | DATA_RDY_INT |
* @n ------------------------------------------------------------------------------------
* @n DATA_RDY_INT : This bit automatically sets to 1 when a Data Ready interrupt is generated. The bit clears to 0 after the register has been read.
* @n rsv : reserve
* @n FIFO_OFLOW_INT: This bit automatically sets to 1 when a FIFO buffer overflow has been generated. The bit clears to 0 after the register has been read.
* @n WOM_XYZ_INT : These bits automatically set to a non-zero number when the X-axis,Y-axis or Z-axis of accelerometer which trigger WOM(wake on motion)
* @n interrupt.Cleared on Read.
*/
uint8_t readINTStatus();
/**
* @brief Get Sensor's accel, gyro and temperature data.
* @param accel: sIcg20660SensorData_t structure pointer which points to accel or NULL.
* @param gyro: sIcg20660SensorData_t structure pointer which points to gyro or NULL.
* @param t: A float pointer which points to temperature or NULL.
*/
void getSensorData(sIcg20660SensorData_t *accel, sIcg20660SensorData_t *gyro, float *t);
/**
* @brief Get X axis acceleration, unit g.
* @return X axis acceleration.
*/
float getAccelDataX();
/**
* @brief Get Y axis acceleration, unit g.
* @return Y axis acceleration.
*/
float getAccelDataY();
/**
* @brief Get Z axis acceleration, unit g.
* @return Z axis acceleration.
*/
float getAccelDataZ();
/**
* @brief Get temperature data, uint: ℃.
* @return Temperature data.
*/
float getTemperatureC();
/**
* @brief Get X-axis gyroscope speed, unit dps.
* @return X-axis gyroscope speed.
*/
float getGyroDataX();
/**
* @brief Get Y-axis gyroscope speed, unit dps.
* @return Y-axis gyroscope speed.
*/
float getGyroDataY();
/**
* @brief Get Z-axis gyroscope speed, unit dps.
* @return Z-axis gyroscope speed.
*/
float getGyroDataZ();
/**
* @brief Get 14 bytes raw data, including accel, gyro and temperature.
* @param data: buffer for storing 14 bytes of raw data.
* @n The first byte of data : Acceleration X-axis high byte data.
* @n The second byte of data: Acceleration X-axis low byte data.
* @n The third byte of data : Acceleration Y-axis high byte data.
* @n The 4th byte of data : Acceleration Y-axis low byte data.
* @n The 5th byte of data : Acceleration Z-axis high byte data.
* @n The 6th byte of data : Acceleration Z-axis low byte data.
* @n The 7th byte of data : Temperature high byte data.
* @n The 8th byte of data : Temperature low byte data.
* @n The 9th byte of data : Gyro X-axis high byte data.
* @n The 10th byte of data : Gyro X-axis low byte data.
* @n The 11th byte of data : Gyro Y-axis high byte data.
* @n The 12th byte of data : Gyro Y-axis low byte data.
* @n The 13th byte of data : Gyro Z-axis high byte data.
* @n The 14th byte of data : Gyro Z-axis low byte data.
* @n Note: You can use RAW_DATA_LENGTH to creat data Arrya, and you can use
* @n RAW_DATA_AX_H_INDEX, RAW_DATA_AX_L_INDEX, RAW_DATA_AY_H_INDEX, RAW_DATA_AY_L_INDEX, RAW_DATA_AZ_H_INDEX, RAW_DATA_AZ_L_INDEX,
* @n RAW_DATA_T_H_INDEX, RAW_DATA_T_L_INDEX,RAW_DATA_GX_H_INDEX, RAW_DATA_GX_L_INDEX,
* @n RAW_DATA_GY_H_INDEX, RAW_DATA_GY_L_INDEX, RAW_DATA_GZ_H_INDEX, RAW_DATA_GZ_L_INDEX or 0~13 to index data array.
* @param len: The length of data array.
*/
void getRawData(uint8_t *data, uint8_t len = 0);
Communication Protocol Description
Connections for different communication methods:
- I2C: 0x69(Default)/ 0x68
- SPI
- Demo Interrupt Pin Mapping
| Mainboard | Default Pin |
|---|---|
| Micro:bit | P9 |
| ESP32 | D9 |
| ESP8266 | D5 |
| Raspberry Pi | BCM27 |
Connect the interrupt pin only if the interrupt function is required.
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