ICM42670 Class Reference

A class for the TDK InvenSense ICM-42670 6-axis accelerometer + gyroscope. More...

#include <ICM42670.h>

Public Member Functions
bool	begin ()
	Initialize the IMU.
bool	enableAccelGyroLnMode (void)
	Enable low-noise mode for both accelerometer and gyroscope.
	ICM42670 ()
	Construct a new ICM42670 object Default constructor uses the default Wire I2C bus. You can also provide a custom TwoWire instance if needed.
bool	readSensorData (float &ax, float &ay, float &az, float &gx, float &gy, float &gz, float &t)
	Enable low-noise mode for both accelerometer and gyroscope.
bool	reset ()
	Perform a soft reset of the IMU.
bool	startAccel (uint16_t odr_hz, uint16_t fsr_g)
	Start the accelerometer.
bool	startGyro (uint16_t odr_hz, uint16_t fsr_dps)
	Start the gyroscope.
bool	startWithDefaultValues (void)
	Start IMU with SDK default settings and enable LN mode.

Detailed Description

A class for the TDK InvenSense ICM-42670 6-axis accelerometer + gyroscope.

Datasheet can be found at: https://invensense.tdk.com/wp-content/uploads/2021/07/DS-000451-ICM-42670-P-v1.0.pdf Functions are based on TKJHAT C SDK with minimal modifications to fit Arduino style and the class structure.

The IMU is connected on I2C at ICM42670_I2C_ADDRESS (0x69).

Recommended defaults

• Accelerometer: ±ICM42670_ACCEL_FSR_DEFAULT g at ICM42670_ACCEL_ODR_DEFAULT Hz
  (typically: ±4 g @ 100 Hz)
• Gyroscope: ±ICM42670_GYRO_FSR_DEFAULT dps at ICM42670_GYRO_ODR_DEFAULT Hz
  (typically: ±250 dps @ 100 Hz)

Modes

• This SDK supports Low-Noise (LN) mode (higher precision, higher power).
• Other modes (LP/ULP/hybrid) are not implemented in this SDK.

Precondition

The I2C interface must be initialized (use init_i2c_default() or init_hat_sdk()). {@

Member Function Documentation

begin()

bool ICM42670::begin

(

)

Initialize the IMU.

Performs a soft reset and verifies device identity (WHO_AM_I).

Returns

true on success, false on error.

enableAccelGyroLnMode()

bool ICM42670::enableAccelGyroLnMode

(

void

)

Enable low-noise mode for both accelerometer and gyroscope.

Returns

true on success, false on error.

readSensorData()

bool ICM42670::readSensorData	(	float &	ax,
		float &	ay,
		float &	az,
		float &	gx,
		float &	gy,
		float &	gz,
		float &	t )

Enable low-noise mode for both accelerometer and gyroscope.

Returns

true on success, false on error.

reset()

bool ICM42670::reset

(

)

Perform a soft reset of the IMU.

This function sends the appropriate command to reset the device and waits for it to become ready again.

Returns

true on success, false on error.

startAccel()

bool ICM42670::startAccel	(	uint16_t	odr_hz,
		uint16_t	fsr_g )

Start the accelerometer.

Configures the accelerometer with the requested ODR and FSR.

Parameters

odr_hz	Desired output data rate in Hz (e.g., ICM42670_ACCEL_ODR_DEFAULT).
fsr_g	Full-scale range in g (2, 4, 8, 16; e.g., ICM42670_ACCEL_FSR_DEFAULT).

Returns

true on success, false on error.

startGyro()

bool ICM42670::startGyro	(	uint16_t	odr_hz,
		uint16_t	fsr_dps )

Start the gyroscope.

Configures the gyroscope with the requested ODR and FSR.

Parameters

odr_hz	Desired output data rate in Hz (e.g., ICM42670_GYRO_ODR_DEFAULT).
fsr_dps	Full-scale range in degrees per second (250, 500, 1000, 2000; e.g., ICM42670_GYRO_FSR_DEFAULT).

Returns

true on success, false on error.

startWithDefaultValues()

bool ICM42670::startWithDefaultValues

(

void

)

Start IMU with SDK default settings and enable LN mode.

Calls:

• ICM42670::startAccel(ICM42670_ACCEL_ODR_DEFAULT, ICM42670_ACCEL_FSR_DEFAULT)
• ICM42670::startGyro (ICM42670_GYRO_ODR_DEFAULT, ICM42670_GYRO_FSR_DEFAULT)
• ICM42670::enableAccelGyroLnMode()

Precondition

Call ICM42670::begin() successfully before this function.

Returns

true on success, false on error.

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The documentation for this class was generated from the following file:

• src/ICM42670.h