\doxysection{ICM20948\+\_\+regs.\+h}
\hypertarget{ICM20948__regs_8h_source}{}\label{ICM20948__regs_8h_source}\index{src/ICM20948\_regs.h@{src/ICM20948\_regs.h}}
\doxymbox{\hyperlink{ICM20948__regs_8h}{Go to the documentation of this file.}}
\begin{DoxyCode}{0}
\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00001}00001\ \textcolor{preprocessor}{\#ifndef\ ICM20948\_REGS\_H}}
\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00002}00002\ \textcolor{preprocessor}{\#define\ ICM20948\_REGS\_H}}
\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00003}00003\ \textcolor{comment}{}}
\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00004}00004\ \textcolor{comment}{/**}}
\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00005}00005\ \textcolor{comment}{\ *\ 7Semi\ comment\ style}}
\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00006}00006\ \textcolor{comment}{\ *\ -\/\ Full\ ICM-\/20948\ register\ map\ (Banks\ 0–3)\ +\ key\ bit\ fields}}
\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00007}00007\ \textcolor{comment}{\ *\ -\/\ Simple,\ portable\ \#defines\ for\ firmware\ use}}
\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00008}00008\ \textcolor{comment}{\ *\ -\/\ Datasheet\ naming\ kept\ where\ practical;\ fields\ grouped\ by\ bank}}
\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00009}00009\ \textcolor{comment}{\ *}}
\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00010}00010\ \textcolor{comment}{\ *\ Notes}}
\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00011}00011\ \textcolor{comment}{\ *\ -\/\ WHO\_AM\_I\ expected\ value:\ 0xEA}}
\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00012}00012\ \textcolor{comment}{\ *\ -\/\ Select\ register\ bank\ via\ REG\_BANK\_SEL\ in\ any\ bank}}
\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00013}00013\ \textcolor{comment}{\ *\ -\/\ Use\ BANK(n)\ helper\ or\ write\ raw\ values\ 0x00/0x10/0x20/0x30}}
\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00014}00014\ \textcolor{comment}{\ */}}
\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00015}00015\ }
\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00016}00016\ \textcolor{comment}{/*\ -\/-\/-\/-\/-\/-\/-\/-\/\ Common\ helpers\ -\/-\/-\/-\/-\/-\/-\/-\/\ */}}
\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00017}00017\ \textcolor{preprocessor}{\#ifndef\ BIT}}
\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00018}00018\ \textcolor{preprocessor}{\#define\ BIT(n)\ (1u\ <<\ (n))}}
\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00019}00019\ \textcolor{preprocessor}{\#endif}}
\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00020}00020\ }
\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00021}00021\ \textcolor{comment}{//\ \#define\ BANK(n)\ ((uint8\_t)((n)\ <<\ 4))}}
\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00022}00022\ \textcolor{comment}{//\ \#define\ BANK0\ BANK(0)}}
\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00023}00023\ \textcolor{comment}{//\ \#define\ BANK1\ BANK(1)}}
\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00024}00024\ \textcolor{comment}{//\ \#define\ BANK2\ BANK(2)}}
\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00025}00025\ \textcolor{comment}{//\ \#define\ BANK3\ BANK(3)}}
\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00026}00026\ }
\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00027}00027\ \textcolor{comment}{/*\ ==========================================================================\ */}}
\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00028}00028\ \textcolor{comment}{/*\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ BANK\ 0\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ */}}
\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00029}00029\ \textcolor{comment}{/*\ ==========================================================================\ */}}
\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00030}00030\ \textcolor{comment}{}}
\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00031}00031\ \textcolor{comment}{/**\ -\/\ Identity\ /\ power\ /\ interrupts\ /\ sensor\ data\ */}}
\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00032}\doxymbox{\hyperlink{ICM20948__regs_8h_a9fcb9e460d175bfc7ab4d80bf788b43a}{00032}}\ \textcolor{preprocessor}{\#define\ WHO\_AM\_I\ 0x00\ }\textcolor{comment}{/*\ WHO\_AM\_I[7:0]\ */}\textcolor{preprocessor}{}}
\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00033}\doxymbox{\hyperlink{ICM20948__regs_8h_a4a6eb6d34106490a76e78b008ee463db}{00033}}\ \textcolor{preprocessor}{\#define\ WHO\_AM\_I\_VAL\ 0xEA}}
\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00034}00034\ }
\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00035}\doxymbox{\hyperlink{ICM20948__regs_8h_abd9eebb35aad7616fe0414952e2d477d}{00035}}\ \textcolor{preprocessor}{\#define\ USER\_CTRL\ 0x03\ }\textcolor{comment}{/*\ DMP\_EN\ FIFO\_EN\ I2C\_MST\_EN\ I2C\_IF\_DIS\ DMP\_RST\ SRAM\_RST\ I2C\_MST\_RST\ -\/\ */}\textcolor{preprocessor}{}}
\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00036}00036\ \textcolor{comment}{/*\ bits\ */}}
\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00037}\doxymbox{\hyperlink{ICM20948__regs_8h_a63b9f4cadab3f6f1740301b9889af3df}{00037}}\ \textcolor{preprocessor}{\#define\ USER\_CTRL\_DMP\_EN\ BIT(7)}}
\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00038}\doxymbox{\hyperlink{ICM20948__regs_8h_a7df27576927a177e2dfa6472baf9d4e3}{00038}}\ \textcolor{preprocessor}{\#define\ USER\_CTRL\_FIFO\_EN\ BIT(6)}}
\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00039}\doxymbox{\hyperlink{ICM20948__regs_8h_af68c5a8a485ff0d5bf62df214bd843b1}{00039}}\ \textcolor{preprocessor}{\#define\ USER\_CTRL\_I2C\_MST\_EN\ BIT(5)}}
\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00040}\doxymbox{\hyperlink{ICM20948__regs_8h_a128fcd64335fb671533ad48caeab6562}{00040}}\ \textcolor{preprocessor}{\#define\ USER\_CTRL\_I2C\_IF\_DIS\ BIT(4)}}
\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00041}\doxymbox{\hyperlink{ICM20948__regs_8h_adadb891e1c8189de0979c223f87038f9}{00041}}\ \textcolor{preprocessor}{\#define\ USER\_CTRL\_DMP\_RST\ BIT(3)}}
\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00042}\doxymbox{\hyperlink{ICM20948__regs_8h_a4ccf43b75920afac77ea9a0667918eca}{00042}}\ \textcolor{preprocessor}{\#define\ USER\_CTRL\_SRAM\_RST\ BIT(2)}}
\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00043}\doxymbox{\hyperlink{ICM20948__regs_8h_acee98ff18317535502ce4ec24c116e26}{00043}}\ \textcolor{preprocessor}{\#define\ USER\_CTRL\_I2C\_MST\_RST\ BIT(1)}}
\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00044}00044\ }
\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00045}\doxymbox{\hyperlink{ICM20948__regs_8h_a9ae692fa86d432d9edd89eefd79c969d}{00045}}\ \textcolor{preprocessor}{\#define\ LP\_CONFIG\ 0x05\ }\textcolor{comment}{/*\ I2C\_MST\_CYCLE\ ACCEL\_CYCLE\ GYRO\_CYCLE\ -\/\ */}\textcolor{preprocessor}{}}
\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00046}\doxymbox{\hyperlink{ICM20948__regs_8h_a5b4413df4e25c434ad98c865d224f45c}{00046}}\ \textcolor{preprocessor}{\#define\ LP\_I2C\_MST\_CYCLE\ BIT(6)}}
\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00047}\doxymbox{\hyperlink{ICM20948__regs_8h_a9c3541b497cc8ede02a50c383029bd9a}{00047}}\ \textcolor{preprocessor}{\#define\ LP\_ACCEL\_CYCLE\ BIT(5)}}
\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00048}\doxymbox{\hyperlink{ICM20948__regs_8h_abb46a3fdd55f38c3c096650d0e387b30}{00048}}\ \textcolor{preprocessor}{\#define\ LP\_GYRO\_CYCLE\ BIT(4)}}
\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00049}00049\ }
\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00050}\doxymbox{\hyperlink{ICM20948__regs_8h_a96169eb207e721c1546cea9ffd8a35e4}{00050}}\ \textcolor{preprocessor}{\#define\ PWR\_MGMT\_1\ 0x06\ }\textcolor{comment}{/*\ DEVICE\_RESET\ SLEEP\ LP\_EN\ -\/\ TEMP\_DIS\ CLKSEL[2:0]\ */}\textcolor{preprocessor}{}}
\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00051}\doxymbox{\hyperlink{ICM20948__regs_8h_a7b66d3b6474ee8e7229a07beae661cda}{00051}}\ \textcolor{preprocessor}{\#define\ PWR\_DEVICE\_RESET\ BIT(7)}}
\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00052}\doxymbox{\hyperlink{ICM20948__regs_8h_abb01381ecbd799948340ad91c109a4f0}{00052}}\ \textcolor{preprocessor}{\#define\ PWR\_SLEEP\ BIT(6)}}
\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00053}\doxymbox{\hyperlink{ICM20948__regs_8h_adab3241b289c8e0309a112934b56f1f6}{00053}}\ \textcolor{preprocessor}{\#define\ PWR\_LP\_EN\ BIT(5)}}
\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00054}\doxymbox{\hyperlink{ICM20948__regs_8h_a966007d39d833afbf07884f535d7c1fb}{00054}}\ \textcolor{preprocessor}{\#define\ PWR\_TEMP\_DIS\ BIT(3)}}
\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00055}\doxymbox{\hyperlink{ICM20948__regs_8h_a5a4ca9264dfee866c4e074aa20cd6013}{00055}}\ \textcolor{preprocessor}{\#define\ PWR\_CLKSEL\_MASK\ 0x07}}
\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00056}\doxymbox{\hyperlink{ICM20948__regs_8h_ae59f7bb983706849c7421e4409f89cf0}{00056}}\ \textcolor{preprocessor}{\#define\ PWR\_CLKSEL\_INT\_20MHZ\ 0x01}}
\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00057}\doxymbox{\hyperlink{ICM20948__regs_8h_abe90ccd7d626ca00305cd0ec685c0a49}{00057}}\ \textcolor{preprocessor}{\#define\ PWR\_CLKSEL\_AUTO\ 0x01\ }\textcolor{comment}{/*\ typical:\ auto\ selects\ best\ source\ */}\textcolor{preprocessor}{}}
\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00058}00058\ }
\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00059}\doxymbox{\hyperlink{ICM20948__regs_8h_a23cfbcfd19dc88eb631309970f138e65}{00059}}\ \textcolor{preprocessor}{\#define\ PWR\_MGMT\_2\ 0x07\ }\textcolor{comment}{/*\ -\/\ DISABLE\_ACCEL\ DISABLE\_GYRO\ */}\textcolor{preprocessor}{}}
\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00060}\doxymbox{\hyperlink{ICM20948__regs_8h_af710015fbf3b7912ce472c009d7010a9}{00060}}\ \textcolor{preprocessor}{\#define\ PWR\_DISABLE\_ACCEL\ BIT(3)}}
\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00061}\doxymbox{\hyperlink{ICM20948__regs_8h_adfaa9848812eb4bbe08da717c75d7c65}{00061}}\ \textcolor{preprocessor}{\#define\ PWR\_DISABLE\_GYRO\ BIT(0)}}
\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00062}00062\ }
\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00063}00063\ \textcolor{comment}{//Interrupt\ Configs\ register}}
\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00064}\doxymbox{\hyperlink{ICM20948__regs_8h_ab00fdfba66092d2d869031629c092dad}{00064}}\ \textcolor{preprocessor}{\#define\ INT\_PIN\_CFG\ 0x0F\ \ \ \ \ \ \ \ \ }\textcolor{comment}{/*\ INT1\_ACTL\ INT1\_OPEN\ INT1\_LATCH\_INT\_EN\ INT\_ANYRD\_2CLEAR\ ACTL\_FSYNC\ FSYNC\_INT\_MODE\_EN\ BYPASS\_EN\ -\/\ */}\textcolor{preprocessor}{}}
\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00065}\doxymbox{\hyperlink{ICM20948__regs_8h_ab1ea6cc45f06ca59b48db0c585a9e907}{00065}}\ \textcolor{preprocessor}{\#define\ INT1\_ACTL\ BIT(7)\ \ \ \ \ \ \ \ \ }\textcolor{comment}{/*\ active\ low\ */}\textcolor{preprocessor}{}}
\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00066}\doxymbox{\hyperlink{ICM20948__regs_8h_a595c12aa457c6f4644b62772e339f31b}{00066}}\ \textcolor{preprocessor}{\#define\ INT1\_OPEN\ BIT(6)\ \ \ \ \ \ \ \ \ }\textcolor{comment}{/*\ open-\/drain\ */}\textcolor{preprocessor}{}}
\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00067}\doxymbox{\hyperlink{ICM20948__regs_8h_a10e3b6caa24560427a66c9d03423f873}{00067}}\ \textcolor{preprocessor}{\#define\ INT1\_LATCH\_INT\_EN\ BIT(5)\ }\textcolor{comment}{/*\ latch\ until\ status\ read\ */}\textcolor{preprocessor}{}}
\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00068}\doxymbox{\hyperlink{ICM20948__regs_8h_a9f5fc259da5ec490f3aeb2429804bffb}{00068}}\ \textcolor{preprocessor}{\#define\ INT\_ANYRD\_2CLEAR\ BIT(4)}}
\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00069}\doxymbox{\hyperlink{ICM20948__regs_8h_a0fdde4ba96f7f0be4dc165529c9f4e17}{00069}}\ \textcolor{preprocessor}{\#define\ INT\_ACTL\_FSYNC\ BIT(3)}}
\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00070}\doxymbox{\hyperlink{ICM20948__regs_8h_a588de0706f26f2d676044be823d3e52d}{00070}}\ \textcolor{preprocessor}{\#define\ FSYNC\_INT\_MODE\_EN\ BIT(2)}}
\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00071}\doxymbox{\hyperlink{ICM20948__regs_8h_a74fca4c1e6ade3ca508bb1a9d1e7a8b2}{00071}}\ \textcolor{preprocessor}{\#define\ BYPASS\_EN\ BIT(1)\ }\textcolor{comment}{/*\ I2C\ bypass\ to\ aux\ devices\ */}\textcolor{preprocessor}{}}
\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00072}00072\ }
\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00073}\doxymbox{\hyperlink{ICM20948__regs_8h_abf7a56466fd6203663685a04448c9185}{00073}}\ \textcolor{preprocessor}{\#define\ INT\_ENABLE\ 0x10\ }\textcolor{comment}{/*\ REG\_WOF\_EN\ -\/\ WOM\_INT\_EN\ PLL\_RDY\_EN\ DMP\_INT1\_EN\ I2C\_MST\_INT\_EN\ */}\textcolor{preprocessor}{}}
\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00074}\doxymbox{\hyperlink{ICM20948__regs_8h_a77189a75d2c70d5d492d3cf074f23f4d}{00074}}\ \textcolor{preprocessor}{\#define\ INT\_REG\_WOF\_EN\ BIT(7)}}
\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00075}\doxymbox{\hyperlink{ICM20948__regs_8h_a112d99669ad650a0ae65f050322c04ff}{00075}}\ \textcolor{preprocessor}{\#define\ INT\_WOM\_INT\_EN\ BIT(3)}}
\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00076}\doxymbox{\hyperlink{ICM20948__regs_8h_abbb457e1e59f886039e50e5cf0d1f2c5}{00076}}\ \textcolor{preprocessor}{\#define\ INT\_PLL\_RDY\_EN\ BIT(2)}}
\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00077}\doxymbox{\hyperlink{ICM20948__regs_8h_ad4593f49550c870571712139b01543d9}{00077}}\ \textcolor{preprocessor}{\#define\ INT\_DMP\_INT1\_EN\ BIT(1)}}
\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00078}\doxymbox{\hyperlink{ICM20948__regs_8h_a6301fb7bf5a4c5f2dbc9bce7407587d1}{00078}}\ \textcolor{preprocessor}{\#define\ INT\_I2C\_MST\_INT\_EN\ BIT(0)}}
\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00079}00079\ }
\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00080}\doxymbox{\hyperlink{ICM20948__regs_8h_ae8c6c6e4a060f62ce0e923d80a0ccffe}{00080}}\ \textcolor{preprocessor}{\#define\ INT\_ENABLE\_1\ 0x11\ }\textcolor{comment}{/*\ RAW\_DATA\_0\_RDY\_EN\ */}\textcolor{preprocessor}{}}
\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00081}\doxymbox{\hyperlink{ICM20948__regs_8h_a6cd6e474a587614756688223f4e7cfcb}{00081}}\ \textcolor{preprocessor}{\#define\ INT\_RAW\_DATA\_0\_RDY\_EN\ BIT(0)}}
\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00082}00082\ }
\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00083}\doxymbox{\hyperlink{ICM20948__regs_8h_a37397c9ab1b56abddfadfa044fec7371}{00083}}\ \textcolor{preprocessor}{\#define\ INT\_ENABLE\_2\ 0x12\ }\textcolor{comment}{/*\ FIFO\_OVERFLOW\_EN[4:0]\ */}\textcolor{preprocessor}{}}
\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00084}\doxymbox{\hyperlink{ICM20948__regs_8h_a3d88b66994665f81b4be05f71a6bf721}{00084}}\ \textcolor{preprocessor}{\#define\ INT\_ENABLE\_3\ 0x13\ }\textcolor{comment}{/*\ FIFO\_WM\_EN[4:0]\ */}\textcolor{preprocessor}{}}
\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00085}00085\ }
\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00086}\doxymbox{\hyperlink{ICM20948__regs_8h_a8498e646190e00d95ddd95af4d6a093a}{00086}}\ \textcolor{preprocessor}{\#define\ I2C\_MST\_STATUS\ 0x17\ }\textcolor{comment}{/*\ PASS\_THROUGH,\ *\_DONE,\ *\_NACK,\ LOST\_ARB\ */}\textcolor{preprocessor}{}}
\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00087}\doxymbox{\hyperlink{ICM20948__regs_8h_ab15b060d8a66f970576b1529cbd04986}{00087}}\ \textcolor{preprocessor}{\#define\ MST\_PASS\_THROUGH\ BIT(7)}}
\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00088}\doxymbox{\hyperlink{ICM20948__regs_8h_ad2aa22121a98f94134f273fe12e269be}{00088}}\ \textcolor{preprocessor}{\#define\ MST\_SLV4\_DONE\ BIT(6)}}
\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00089}\doxymbox{\hyperlink{ICM20948__regs_8h_af1476004e2a217f3ecb5b447200d7125}{00089}}\ \textcolor{preprocessor}{\#define\ MST\_LOST\_ARB\ BIT(5)}}
\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00090}\doxymbox{\hyperlink{ICM20948__regs_8h_add44eaeeb32d78a1dbfb3a01a98471b3}{00090}}\ \textcolor{preprocessor}{\#define\ MST\_SLV4\_NACK\ BIT(4)}}
\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00091}\doxymbox{\hyperlink{ICM20948__regs_8h_a66d21eb6c6901cefaee5e7ac4971c33c}{00091}}\ \textcolor{preprocessor}{\#define\ MST\_SLV3\_NACK\ BIT(3)}}
\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00092}\doxymbox{\hyperlink{ICM20948__regs_8h_aca322bd59e54ce5e50581211880e87df}{00092}}\ \textcolor{preprocessor}{\#define\ MST\_SLV2\_NACK\ BIT(2)}}
\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00093}\doxymbox{\hyperlink{ICM20948__regs_8h_a7e92ec3ef8f2b4acc3bf9a5b0bd2bbb7}{00093}}\ \textcolor{preprocessor}{\#define\ MST\_SLV1\_NACK\ BIT(1)}}
\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00094}\doxymbox{\hyperlink{ICM20948__regs_8h_a26fd14c789b7da8785cd2e3ad0f906bb}{00094}}\ \textcolor{preprocessor}{\#define\ MST\_SLV0\_NACK\ BIT(0)}}
\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00095}00095\ }
\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00096}\doxymbox{\hyperlink{ICM20948__regs_8h_a62cba161837810295654c3cc2de959a6}{00096}}\ \textcolor{preprocessor}{\#define\ INT\_STATUS\ 0x19\ }\textcolor{comment}{/*\ WOM\_INT\ PLL\_RDY\_INT\ DMP\_INT1\ I2C\_MST\_INT\ */}\textcolor{preprocessor}{}}
\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00097}\doxymbox{\hyperlink{ICM20948__regs_8h_a1da7a39a86332022ad6cc968d9bb2fe6}{00097}}\ \textcolor{preprocessor}{\#define\ STS\_WOM\_INT\ BIT(3)}}
\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00098}\doxymbox{\hyperlink{ICM20948__regs_8h_a307d55fede8f7bed60f2820f10b4a37c}{00098}}\ \textcolor{preprocessor}{\#define\ STS\_PLL\_RDY\_INT\ BIT(2)}}
\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00099}\doxymbox{\hyperlink{ICM20948__regs_8h_a7bdf0e8f1f8ce9ac0b6c3416e94de186}{00099}}\ \textcolor{preprocessor}{\#define\ STS\_DMP\_INT1\ BIT(1)}}
\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00100}\doxymbox{\hyperlink{ICM20948__regs_8h_a02e7e0bda15647950f785937f772c0d3}{00100}}\ \textcolor{preprocessor}{\#define\ STS\_I2C\_MST\_INT\ BIT(0)}}
\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00101}00101\ }
\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00102}\doxymbox{\hyperlink{ICM20948__regs_8h_a9db7925a1fc15589aaecd38ff1adb286}{00102}}\ \textcolor{preprocessor}{\#define\ INT\_STATUS\_1\ 0x1A\ }\textcolor{comment}{/*\ RAW\_DATA\_0\_RDY\_INT\ */}\textcolor{preprocessor}{}}
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\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00227}\doxymbox{\hyperlink{ICM20948__regs_8h_aac564d01e4d70555d9d5d5cc9d8dcbb1}{00227}}\ \textcolor{preprocessor}{\#define\ FSYNC\_CONFIG\ 0x52\ }\textcolor{comment}{/*\ DELAY\_TIME\_EN\ WOF\_DEGLITCH\_EN\ WOF\_EDGE\_INT\ EXT\_SYNC\_SET[3:0]\ */}\textcolor{preprocessor}{}}
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\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00242}00242\ \textcolor{comment}{/*\ ==========================================================================\ */}}
\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00243}00243\ \textcolor{comment}{/*\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ BANK\ 3\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ */}}
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\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00246}00246\ \textcolor{comment}{/**\ -\/\ I2C\ master\ (aux)\ interface\ and\ slave\ windows\ */}}
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\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00263}\doxymbox{\hyperlink{ICM20948__regs_8h_a614db921c27f375c632960a7f34999a4}{00263}}\ \textcolor{preprocessor}{\#define\ I2C\_SLV0\_ADDR\ 0x03\ }\textcolor{comment}{/*\ RNW\ +\ ID[6:0]\ */}\textcolor{preprocessor}{}}
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\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00298}00298\ \textcolor{comment}{/*\ ==========================================================================\ */}}
\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00299}00299\ \textcolor{comment}{/*\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ REG\_BANK\_SEL\ (all\ banks)\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ */}}
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\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00309}00309\ \textcolor{comment}{/*\ AK09916\ magnetometer\ registers\ (connected\ internally)\ */}}
\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00310}\doxymbox{\hyperlink{ICM20948__regs_8h_a5bb4b636373b265ea8f5a44eb9c3de71}{00310}}\ \textcolor{preprocessor}{\#define\ AK09916\_I2C\_ADDR\ 0x0C}}
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\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00324}00324\ \textcolor{comment}{/*\ -\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/\ Accelerometer\ Range\ -\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/\ */}\textcolor{comment}{}}
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\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00331}00331\ \textcolor{comment}{/*\ -\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/\ Accelerometer\ Filter\ Path\ (FCHOICE)\ -\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/\ */}\textcolor{comment}{}}
\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00332}00332\ \textcolor{comment}{/**}}
\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00333}00333\ \textcolor{comment}{\ *\ Path\ select\ for\ accel:}}
\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00334}00334\ \textcolor{comment}{\ *\ -\/\ ACCEL\_FCHOICE\_BYPASS\ :\ DLPF\ bypassed\ (very\ wide\ BW,\ fastest)}}
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\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00340}00340\ \textcolor{comment}{/*\ -\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/\ Accelerometer\ DLPF\ Config\ (CFG)\ -\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/\ */}\textcolor{comment}{}}
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\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00343}00343\ \textcolor{comment}{\ *\ Tip:\ start\ with\ ACCEL\_DLPFCFG\_3\ for\ a\ good\ noise/latency\ tradeoff.}}
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\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00359}00359\ \textcolor{comment}{/*\ -\/-\/-\/-\/\ Accel\ DLPF\ ODR\ helper\ (Hz)\ :\ base\ 1125\ Hz,\ DIV\ 0..4095\ -\/-\/-\/-\/\ */}}
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\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00365}00365\ \textcolor{comment}{/*\ -\/-\/-\/-\/\ Accel\ BYPASS\ quick\ reference\ (FCHOICE=0)\ -\/-\/-\/-\/}}
\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00366}00366\ \textcolor{comment}{\ *\ 3dB\ ≈\ 1209\ Hz,\ NBW\ ≈\ 1248\ Hz,\ output\ rate\ ≈\ 4500\ Hz}}
\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00367}00367\ \textcolor{comment}{\ *\ (No\ divider/ODR\ control\ in\ bypass\ path.)}}
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\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00369}\doxymbox{\hyperlink{ICM20948__regs_8h_a9cd9bc43817708af4e5204b31b6f5992}{00369}}\ \textcolor{preprocessor}{\#define\ ACCEL\_BYPASS\_3DB\_BW\_HZ\ \ \ 1209.0f}}
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\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00373}00373\ \textcolor{comment}{/*\ (Optional)\ Accel\ DLPF\ nominal\ bandwidth\ references\ (FCHOICE=1)}}
\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00374}00374\ \textcolor{comment}{\ *\ Keep\ here\ for\ quick\ docs;\ exact\ values\ depend\ on\ datasheet\ rev.}}
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\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00376}\doxymbox{\hyperlink{ICM20948__regs_8h_a65eeecae434b76a72362c553dfde7127}{00376}}\ \textcolor{preprocessor}{\#define\ ACCEL\_DLPF0\_3DB\_BW\_HZ\ \ \ \ 246.0f}}
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\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00393}00393\ }
\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00394}00394\ \textcolor{comment}{/*\ -\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/\ Gyroscope\ Range\ -\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/\ */}\textcolor{comment}{}}
\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00395}00395\ \textcolor{comment}{/**\ -\/\ ±250/±500/±1000/±2000\ dps\ (maps\ to\ FS\_SEL\ 0..3)\ */}}
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\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00401}00401\ \textcolor{comment}{/*\ -\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/\ Gyroscope\ Filter\ Path\ (FCHOICE)\ -\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/\ */}\textcolor{comment}{}}
\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00402}00402\ \textcolor{comment}{/**}}
\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00403}00403\ \textcolor{comment}{\ *\ Path\ select\ for\ gyro:}}
\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00404}00404\ \textcolor{comment}{\ *\ -\/\ GYRO\_FCHOICE\_BYPASS\ :\ DLPF\ bypassed\ (widest\ BW,\ fastest)}}
\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00405}00405\ \textcolor{comment}{\ *\ -\/\ GYRO\_FCHOICE\_DLPF\ \ \ :\ DLPF\ enabled\ (use\ GYRO\_DLPFCFG\ +\ SMPLRT\_DIV)}}
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\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00407}\doxymbox{\hyperlink{ICM20948__regs_8h_a0396beac4a2d807b39927cbfb4f74cd9}{00407}}\ \textcolor{preprocessor}{\#define\ GYRO\_FCHOICE\_BYPASS\ \ \ 0}}
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\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00410}00410\ \textcolor{comment}{/*\ -\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/\ Gyroscope\ DLPF\ Config\ (CFG)\ -\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/\ */}\textcolor{comment}{}}
\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00411}00411\ \textcolor{comment}{/**}}
\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00412}00412\ \textcolor{comment}{\ *\ GYRO\_DLPFCFG\ (0..7)\ —\ choose\ cutoff/noise\ BW\ set\ (when\ DLPF\ is\ ON).}}
\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00413}00413\ \textcolor{comment}{\ *\ Tip:\ start\ with\ GYRO\_DLPFCFG\_3\ or\ \_2\ for\ balanced\ noise/latency.}}
\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00414}00414\ \textcolor{comment}{\ */}}
\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00415}\doxymbox{\hyperlink{ICM20948__regs_8h_a7bfe35171ac2f30509ab3427ec79c163}{00415}}\ \textcolor{preprocessor}{\#define\ GYRO\_DLPFCFG\_0\ \ \ \ \ \ \ \ 0}}
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\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00424}00424\ \textcolor{comment}{/*\ -\/-\/-\/-\/\ Gyro\ DLPF\ ODR\ helper\ (Hz)\ :\ base\ 1100\ Hz,\ guard\ ≥\string~4.3\ Hz\ -\/-\/-\/-\/\ */}}
\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00425}\doxymbox{\hyperlink{ICM20948__regs_8h_a93d4027041b7c7234bf614b599d8a140}{00425}}\ \textcolor{preprocessor}{\#define\ GYRO\_SMPLRT\_MIN\_HZ\ \ \ \ \ \ 4.3f}}
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\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00428}00428\ }
\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00429}00429\ \textcolor{comment}{/*\ (Optional)\ Gyro\ BW\ “buckets”\ to\ tag\ configs\ in\ UI/logs\ (symbolic)}}
\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00430}00430\ \textcolor{comment}{\ *\ Use\ these\ if\ you\ want\ a\ quick\ human-\/readable\ label\ for\ NBW\ tiers.}}
\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00431}00431\ \textcolor{comment}{\ *\ Exact\ Hz\ depend\ on\ datasheet\ table;\ map\ per\ your\ implementation.}}
\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00432}00432\ \textcolor{comment}{\ */}}
\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00433}\doxymbox{\hyperlink{ICM20948__regs_8h_a4a9b40e615f496a1c3171cf017c2f69e}{00433}}\ \textcolor{preprocessor}{\#define\ GYRO\_BW\_ULTRA\_WIDE\ \ \ 0\ \ \ }\textcolor{comment}{/*\ bypass\ path\ */}\textcolor{preprocessor}{}}
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\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00438}00438\ \textcolor{comment}{/*\ -\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/\ Convenience:\ presets\ (symbolic)\ -\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/\ */}\textcolor{comment}{}}
\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00439}00439\ \textcolor{comment}{/**\ -\/\ Friendly\ ODR\ presets\ you\ can\ map\ to\ dividers\ */}}
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\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00449}00449\ \textcolor{comment}{/*\ -\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/\ Power\ /\ Fusion\ Modes\ -\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/\ */}\textcolor{comment}{}}
\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00450}00450\ \textcolor{comment}{/**}}
\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00451}00451\ \textcolor{comment}{\ *\ Generic\ power\ or\ fusion\ quality\ modes\ (BNO-\/style).}}
\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00452}00452\ \textcolor{comment}{\ *\ Map\ to\ sensor-\/specific\ sequences\ inside\ your\ driver.}}
\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00453}00453\ \textcolor{comment}{\ */}}
\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00454}\doxymbox{\hyperlink{ICM20948__regs_8h_a9f6835b9f3334745e8a9a8a2d327ad2f}{00454}}\ \textcolor{preprocessor}{\#define\ LowPower\ \ \ \ \ \ \ \ \ \ 0}}
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\DoxyCodeLine{\Hypertarget{ICM20948__regs_8h_source_l00459}00459\ \textcolor{preprocessor}{\#endif\ }\textcolor{comment}{/*\ ICM20948\_REGS\_H\ */}\textcolor{preprocessor}{}}

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