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前言

本文采用开发板为STM32L475VET6(潘多拉开发板),使用RT_Thread Studio基于芯片开发模式，系统版本为4.0.3，完成icm20608传感器实验，实现加速度和陀螺仪数据的采集

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一、板载资源

icm20608传感器采用I2C协议，本文采用软件模拟I2C
查阅数据手册：开发板使用的是 PC0 模拟时钟线SCL、PC1 模拟数据线 SDA，

二、具体步骤

1.打开CubeMX进行配置

1.1 使用外部高速时钟，并修改时钟树

1.2 打开I2C3，参数默认即可(I2C根据自己需求调整）

1.3 打开串口

1.4 生成工程

2. 添加icm20608软件包

3. 使能传感器，打开动态链接库

4. 配置I2C

打开borad.h，按照官方步骤配置

4.1 使能I2C

4.2 声明I2C

4.3 添加I2C对应引脚

5. 烧录，下载

测试代码

#include <rtthread.h>
#include <rtdevice.h>
#include <board.h>
#include <icm20608.h>int main(void)
{icm20608_device_t dev;rt_err_t result;dev=icm20608_init("i2c3");if(dev!=RT_NULL){rt_kprintf("icm20608 init success!");}else {rt_kprintf("icm20608 init fialure!");}// icm20608较准result=icm20608_calib_level(dev, 10);if(result==RT_EOK) //较准成功{rt_kprintf("calibation success!\r\n");rt_kprintf("accel_offset: X%6d  Y%6d  Z%6d\r\n", dev->accel_offset.x, dev->accel_offset.y, dev->accel_offset.z);rt_kprintf("gyro_offset : X%6d  Y%6d  Z%6d\r\n", dev->gyro_offset.x, dev->gyro_offset.y, dev->gyro_offset.z);}else{rt_kprintf("cablibation failure!\r\n");}//icm20608开始采集数据while (1){rt_int16_t accel_x, accel_y, accel_z;rt_int16_t gyros_x, gyros_y, gyros_z;/* 读取三轴加速度 */result = icm20608_get_accel(dev, &accel_x, &accel_y, &accel_z);if (result == RT_EOK){rt_kprintf("current accelerometer: accel_x%6d, accel_y%6d, accel_z%6d\r\n", accel_x, accel_y, accel_z);}else{rt_kprintf("The sensor does not work\r\n");break;}/* 读取三轴陀螺仪 */result = icm20608_get_gyro(dev, &gyros_x, &gyros_y, &gyros_z);if (result == RT_EOK){rt_kprintf("current gyroscope    : gyros_x%6d, gyros_y%6d, gyros_z%6d\r\n", gyros_x, gyros_y, gyros_z);}else{rt_kprintf("The sensor does not work\r\n");break;}rt_thread_mdelay(1000);}return RT_EOK;
}

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