# icm20948 **Repository Path**: juzhango/icm20948 ## Basic Information - **Project Name**: icm20948 - **Description**: No description available - **Primary Language**: C - **License**: Apache-2.0 - **Default Branch**: master - **Homepage**: None - **GVP Project**: No ## Statistics - **Stars**: 0 - **Forks**: 0 - **Created**: 2025-06-03 - **Last Updated**: 2025-06-03 ## Categories & Tags **Categories**: Uncategorized **Tags**: None ## README # ICM20948 ## 1、介绍 LSM6DSM 是RT-Thread传感器驱动包，适配RT-Thread传感器驱动框架，开发者可以通过RT-Thread传感器驱动框架提供的上层API直接访问LSM6DSM，读取和配置LSM6DSM相关参数。 RT-Thread传感器驱动框架相关文档参考：[https://www.rt-thread.org/document/site/development-guide/sensor/sensor_driver/](https://www.rt-thread.org/document/site/development-guide/sensor/sensor_driver/) ### 1.1 ICM20948传感器简介 LSM6DSM是STMicroelectronics推出的iNEMO 6DoF惯性测量单元（IMU），用于具有OIS / EIS和AR/VR系统的智能手机。超低功耗、高精度和稳定性，配备 3D 数字加速度计和 3D 数字陀螺仪，在高性能模式下以 0.65 mA 的速度工作，并始终启用低功耗功能，为消费者提供最佳的运动体验。 详细参考：[https://www.st.com/zh/mems-and-sensors/lsm6dsm.html](https://www.st.com/zh/mems-and-sensors/lsm6dsm.html) ### 1.2 功能介绍 - 通讯接口 - [x] I2C - [ ] SPI - 支持的功能 - [x] 加速度计 - [x] 陀螺仪 - [x] 计步 - [x] 温度 **适配情况** | 功能 | 加速度计 | 陀螺仪 | 计步 | 温度 | | ------ | ---- | --- | --- | --- | | **工作模式** | | | | | | 轮询 | √ | √ | | | | 中断 | | | | | | FIFO | | | | | | **电源模式** | | | | | | 掉电 | | | | | | 低功耗 | | | | | | 普通 | | | | | | 高性能 | | | | | | **数据输出速率** | | | | | | 测量范围 | √ | √ | | | ~~**注意：当开启计步后，加速计数据输出速率被强制到26Hz**~~ ### 1.3 目录结构 | 名称 | 说明 | | ------- | ------- | | drivers | 底层寄存器操作 | | example | 例程 | ### 1.4 许可证 遵循 Apache license v2.0 许可，详见 `LICENSE` 文件。 ### 1.5 依赖 - RT-Thread 4.0+ - I2C驱动 - RT-Thread传感器驱动框架 ## 2、如何开启 需要在 RT-Thread 的包管理器中选择它，具体路径如下： ``` RT-Thread online packages peripheral libraries and drivers ---> [*] sensors drivers ---> [*] icm20948 sensor driver package, support: accelerometer, gyroscope. ---> ``` ``` --- icm20948 sensor driver package, support: accelerometer, gyroscope. [*] Enable icm20948 sample I2C device address type (I2C address low. if SA0 pad connect to GND, select me) ---> Version (latest) ---> ``` 然后让 RT-Thread 的包管理器自动更新，或者使用 `pkgs --update` 命令更新包到 BSP 中。 **注意：你需要明确你所用的icm20948的SA0的连接方式，如果接到地，需要选择`I2C device address type`为`I2C address low`，否则选择`I2C address high`** ## 3、如何使用 ```c #include #include int icm20948_example(void) { struct rt_sensor_config cfg; cfg.intf.dev_name = "i2c1"; rt_hw_icm20948_init("icm20948", &cfg); return RT_EOK; } INIT_APP_EXPORT(icm20948_example); ``` **示例** ```bash [I/I2C] I2C bus [i2c1] registered \ | / - RT - Thread Operating System / | \ 4.1.0 build Jun 3 2025 16:46:01 2006 - 2022 Copyright by RT-Thread team [I/sensor] rt_sensor[acce_icm20948] init success [I/sensor] rt_sensor[gyro_icm20948] init success [I/sensor.icm20948] icm20948_init 213: ICM20948 ID: 0xEA [I/sensor.icm20948] rt_hw_icm20948_init 312: sensor init success msh >sensor probe acce_icm [I/sensor.cmd] device id: 0xea! msh >sensor read 5 [I/sensor.cmd] num: 0, x: -49, y: 22, z: 998 mg, timestamp:749787 [I/sensor.cmd] num: 1, x: -50, y: 21, z: 998 mg, timestamp:749897 [I/sensor.cmd] num: 2, x: -50, y: 21, z: 999 mg, timestamp:750007 [I/sensor.cmd] num: 3, x: -50, y: 23, z: 999 mg, timestamp:750117 [I/sensor.cmd] num: 4, x: -50, y: 23, z: 999 mg, timestamp:750227 msh >sensor probe gyro_icm [I/sensor.cmd] device id: 0xea! msh >sensor read 5 [I/sensor.cmd] num: 0, x: 0, y: 0, z: 0 dps, timestamp:775434 [I/sensor.cmd] num: 1, x: 1, y: 0, z: 0 dps, timestamp:775545 [I/sensor.cmd] num: 2, x: 0, y: 0, z: 0 dps, timestamp:775656 [I/sensor.cmd] num: 3, x: 0, y: 0, z: 0 dps, timestamp:775767 [I/sensor.cmd] num: 4, x: 0, y: 0, z: 0 dps, timestamp:775878 ``` ## 4、注意事项 ## 5、联系方式 & 感谢 * 维护：juzhango * 主页：[https://gitee.com/juzhango](https://gitee.com/juzhango)