王达业

ICM20948 Ten-axis sensor (magnetometer, gyroscope, accelerometer)

Overview

根据微雪电子的【10轴传感器 ICM20948 3轴加速度/陀螺仪/磁力计】设计
使用I2C总线通信最高400KHz
ICM20948 巨贵无比（115一颗）请谨慎购买、焊接
另有低成本版本可供选择：MPU9250 低成本十轴传感器（磁力计陀螺仪加速度计） - 嘉立创EDA开源硬件平台 (oshwhub.com)
链接：原装正品 ICM-20948 I2948 封装QFN-24 9轴加速度陀螺仪 ic 芯片 (1688.com)
微雪官方售价：￥370.67
本工程成本价：￥164.51
供电范围：3.3V~5V(内部低压差稳压)
加速度计特性：
分辨率：16位
量程(可选)：±2、±4、±8、±16g
工作电流：68.9uA

陀螺仪特性：
分辨率：16位
量程(可选)：±250、±500、 ±1000、±2000°/sec
工作电流：1.23mA

磁力计特性：
分辨率：16位
量程：±4900µT
工作电流：90uA

气压高度计特性：
气压分辨率：0.0016hPa
温度分辨率：0.01°C
量程：300~1100hPa(海拔高度：+9000m ~ -500m)
气压相对精度(700hPa~900hPa，25°C~40°C)：±0.12hPa(±1m)
工作电流(1Hz更新速率，超低功耗模式)：2.8uA

接口说明
引脚号
标识
描述
1
VCC
3.3V~5.5v电源
2
GND
电源地
3
SDA
I2C 数据线
4
SCL
I2C 时钟线
5
INT
ICM20948数字中断输出
6
FSYNC
ICM20948帧同步信号

ICM20948支持多种量程，包括±2g、±4g、±8g、±16g，在示例程序中采用的是±2g，如果需要更改量程，可以通过修改寄存器，下图为datasheet中寄存器取值与量程的对应关系：
10 DOF IMU Sensor Range.png

以STM32示例代码为例，±2g在代码中设置方法如下：
I2C_WriteOneByte( I2C_ADD_ICM20948, REG_ADD_ACCEL_CONFIG,
REG_VAL_BIT_ACCEL_DLPCFG_6 | REG_VAL_BIT_ACCEL_FS_2g | REG_VAL_BIT_ACCEL_DLPF);

如果需要修改为±8g，做如下修改即可：
I2C_WriteOneByte( I2C_ADD_ICM20948, REG_ADD_ACCEL_CONFIG,
REG_VAL_BIT_ACCEL_DLPCFG_6 | REG_VAL_BIT_ACCEL_FS_8g | REG_VAL_BIT_ACCEL_DLPF);
不同量程时，从传感器寄存器读出的原始值，需要除以相应的转换系数，即可转换为单位为g的加速度，下表各量程对应的系数值：
10 DOF IMU Unit conversion.png

当量程为±2g，传感器原始值/16384即可得到单位为g的加速度值。
角速度传感器
角速度传感器得到的数值为绕各坐标轴旋转的角速度，当旋转方向与坐标轴标注方向相同时为正，旋转方向与坐标轴标注方向相反时为负。角速度同样存在零偏误差，一般可采用静止放置取均值的方法进行去除。
ICM20948角速度量程设置
ICM20948支持多种量程，包括±250、±500、 ±1000、±2000°/sec，在示例程序中采用的是±1000°/sec，如果需要更改量程，可以通过修改寄存器，下图为datasheet中寄存器取值与量程的对应关系：
10 DOF IMU Angular velocity range.png

以STM32示例代码为例，±1000°/sec在代码中设置方法如下：
I2C_WriteOneByte( I2C_ADD_ICM20948, REG_ADD_GYRO_CONFIG_1,
REG_VAL_BIT_GYRO_DLPCFG_6 | REG_VAL_BIT_GYRO_FS_1000DPS | REG_VAL_BIT_GYRO_DLPF);

如果需要修改为±2000°/sec，做如下修改即可：
I2C_WriteOneByte( I2C_ADD_ICM20948, REG_ADD_GYRO_CONFIG_1,
REG_VAL_BIT_GYRO_DLPCFG_6 | REG_VAL_BIT_GYRO_FS_2000DPS | REG_VAL_BIT_GYRO_DLPF);

ICM20948角速度单位转换
不同量程时，从传感器寄存器读出的原始值，需要除以相应的转换系数，即可转换为单位为°/sec的角速度，下表为各量程对应的系数值：
10 DOF IMU Angular velocity unit conversion.png

10 DOF IMU Angular velocity unit conversion.png

磁力计传感器
磁力计传感器测量的是传感器周边磁场大小，当附近没有较强磁场（电机等）时，磁力计传感器输出的数值为地磁场在三个坐标轴的分量。
ICM20948磁力计
从传感器寄存器读出的原始值，需要乘以转换系数，即可转换为单位为μT（$10^-6$特斯拉）的磁场强度，下表为ICM20948中磁力计的转换系数：
10 DOF IMU Magnetometer conversion coefficient.png

10 DOF IMU Magnetometer conversion coefficient.png

Design Files

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Update:2025-05-15 00:29:45

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