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PaulZCPaulZC
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Merge pull request #46 from sparkfun/release_candidate
v1.2.3
2 parents d09ffc0 + 8da40f6 commit 508e609

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9 files changed

+582
-168
lines changed

9 files changed

+582
-168
lines changed

‎examples/Arduino/Example10_DMP_FastMultipleSensors/Example10_DMP_FastMultipleSensors.ino

Lines changed: 415 additions & 0 deletions
Large diffs are not rendered by default.

‎examples/Arduino/Example6_DMP_Quat9_Orientation/Example6_DMP_Quat9_Orientation.ino

Lines changed: 13 additions & 13 deletions
Original file line numberDiff line numberDiff line change
@@ -24,7 +24,7 @@
2424
* Distributed as-is; no warranty is given.
2525
***************************************************************/
2626

27-
#define QUAT_ANIMATION // Uncomment this line to output data in the correct format for ZaneL's Node.js Quaternion animation tool: https://github.com/ZaneL/quaternion_sensor_3d_nodejs
27+
//#define QUAT_ANIMATION // Uncomment this line to output data in the correct format for ZaneL's Node.js Quaternion animation tool: https://github.com/ZaneL/quaternion_sensor_3d_nodejs
2828

2929
#include "ICM_20948.h" // Click here to get the library: http://librarymanager/All#SparkFun_ICM_20948_IMU
3030

@@ -223,19 +223,17 @@ void setup() {
223223
// Configure the B2S Mounting Matrix
224224
const unsigned char b2sMountMultiplierZero[4] = {0x00, 0x00, 0x00, 0x00};
225225
const unsigned char b2sMountMultiplierPlus[4] = {0x40, 0x00, 0x00, 0x00}; // Value taken from InvenSense Nucleo example
226-
success &= (myICM.writeDMPmems(B2S_MTX_00, 4, &mountMultiplierPlus[0]) == ICM_20948_Stat_Ok);
227-
success &= (myICM.writeDMPmems(B2S_MTX_01, 4, &mountMultiplierZero[0]) == ICM_20948_Stat_Ok);
228-
success &= (myICM.writeDMPmems(B2S_MTX_02, 4, &mountMultiplierZero[0]) == ICM_20948_Stat_Ok);
229-
success &= (myICM.writeDMPmems(B2S_MTX_10, 4, &mountMultiplierZero[0]) == ICM_20948_Stat_Ok);
230-
success &= (myICM.writeDMPmems(B2S_MTX_11, 4, &mountMultiplierPlus[0]) == ICM_20948_Stat_Ok);
231-
success &= (myICM.writeDMPmems(B2S_MTX_12, 4, &mountMultiplierZero[0]) == ICM_20948_Stat_Ok);
232-
success &= (myICM.writeDMPmems(B2S_MTX_20, 4, &mountMultiplierZero[0]) == ICM_20948_Stat_Ok);
233-
success &= (myICM.writeDMPmems(B2S_MTX_21, 4, &mountMultiplierZero[0]) == ICM_20948_Stat_Ok);
234-
success &= (myICM.writeDMPmems(B2S_MTX_22, 4, &mountMultiplierPlus[0]) == ICM_20948_Stat_Ok);
226+
success &= (myICM.writeDMPmems(B2S_MTX_00, 4, &b2sMountMultiplierPlus[0]) == ICM_20948_Stat_Ok);
227+
success &= (myICM.writeDMPmems(B2S_MTX_01, 4, &b2sMountMultiplierZero[0]) == ICM_20948_Stat_Ok);
228+
success &= (myICM.writeDMPmems(B2S_MTX_02, 4, &b2sMountMultiplierZero[0]) == ICM_20948_Stat_Ok);
229+
success &= (myICM.writeDMPmems(B2S_MTX_10, 4, &b2sMountMultiplierZero[0]) == ICM_20948_Stat_Ok);
230+
success &= (myICM.writeDMPmems(B2S_MTX_11, 4, &b2sMountMultiplierPlus[0]) == ICM_20948_Stat_Ok);
231+
success &= (myICM.writeDMPmems(B2S_MTX_12, 4, &b2sMountMultiplierZero[0]) == ICM_20948_Stat_Ok);
232+
success &= (myICM.writeDMPmems(B2S_MTX_20, 4, &b2sMountMultiplierZero[0]) == ICM_20948_Stat_Ok);
233+
success &= (myICM.writeDMPmems(B2S_MTX_21, 4, &b2sMountMultiplierZero[0]) == ICM_20948_Stat_Ok);
234+
success &= (myICM.writeDMPmems(B2S_MTX_22, 4, &b2sMountMultiplierPlus[0]) == ICM_20948_Stat_Ok);
235235

236236
// Configure the DMP Gyro Scaling Factor
237-
//const unsigned char gyroScalingFactor[4] = {0x26, 0xFA, 0xB4, 0xB1}; // Value taken from InvenSense Nucleo example
238-
//success &= (myICM.writeDMPmems(GYRO_SF, 4, &gyroScalingFactor[0]) == ICM_20948_Stat_Ok);
239237
// @param[in] gyro_div Value written to GYRO_SMPLRT_DIV register, where
240238
// 0=1125Hz sample rate, 1=562.5Hz sample rate, ... 4=225Hz sample rate, ...
241239
// 10=102.2727Hz sample rate, ... etc.
@@ -263,7 +261,7 @@ void setup() {
263261
// Configure the Accel A Var: 47721859 (225Hz) 95869806 (112Hz) 191739611 (56Hz)
264262
const unsigned char accelAVar[4] = {0x0B, 0x6D, 0xB6, 0xDB}; // 56Hz
265263
//const unsigned char accelAVar[4] = {0x39, 0x99, 0x99, 0x9A}; // Value taken from InvenSense Nucleo example
266-
success &= (myICM.writeDMPmems(ACCEL_A_VAR, 4, &accelAlphaVar[0]) == ICM_20948_Stat_Ok);
264+
success &= (myICM.writeDMPmems(ACCEL_A_VAR, 4, &accelAVar[0]) == ICM_20948_Stat_Ok);
267265

268266
// Configure the Accel Cal Rate
269267
const unsigned char accelCalRate[4] = {0x00, 0x00}; // Value taken from InvenSense Nucleo example
@@ -338,6 +336,8 @@ void setup() {
338336
{
339337
SERIAL_PORT.println(F("Enable DMP failed!"));
340338
SERIAL_PORT.println(F("Please check that you have uncommented line 29 (#define ICM_20948_USE_DMP) in ICM_20948_C.h..."));
339+
while (1)
340+
; // Do nothing more
341341
}
342342
}
343343

‎examples/Arduino/Example7_DMP_Quat6_EulerAngles/Example7_DMP_Quat6_EulerAngles.ino

Lines changed: 12 additions & 12 deletions
Original file line numberDiff line numberDiff line change
@@ -223,19 +223,17 @@ void setup() {
223223
// Configure the B2S Mounting Matrix
224224
const unsigned char b2sMountMultiplierZero[4] = {0x00, 0x00, 0x00, 0x00};
225225
const unsigned char b2sMountMultiplierPlus[4] = {0x40, 0x00, 0x00, 0x00}; // Value taken from InvenSense Nucleo example
226-
success &= (myICM.writeDMPmems(B2S_MTX_00, 4, &mountMultiplierPlus[0]) == ICM_20948_Stat_Ok);
227-
success &= (myICM.writeDMPmems(B2S_MTX_01, 4, &mountMultiplierZero[0]) == ICM_20948_Stat_Ok);
228-
success &= (myICM.writeDMPmems(B2S_MTX_02, 4, &mountMultiplierZero[0]) == ICM_20948_Stat_Ok);
229-
success &= (myICM.writeDMPmems(B2S_MTX_10, 4, &mountMultiplierZero[0]) == ICM_20948_Stat_Ok);
230-
success &= (myICM.writeDMPmems(B2S_MTX_11, 4, &mountMultiplierPlus[0]) == ICM_20948_Stat_Ok);
231-
success &= (myICM.writeDMPmems(B2S_MTX_12, 4, &mountMultiplierZero[0]) == ICM_20948_Stat_Ok);
232-
success &= (myICM.writeDMPmems(B2S_MTX_20, 4, &mountMultiplierZero[0]) == ICM_20948_Stat_Ok);
233-
success &= (myICM.writeDMPmems(B2S_MTX_21, 4, &mountMultiplierZero[0]) == ICM_20948_Stat_Ok);
234-
success &= (myICM.writeDMPmems(B2S_MTX_22, 4, &mountMultiplierPlus[0]) == ICM_20948_Stat_Ok);
226+
success &= (myICM.writeDMPmems(B2S_MTX_00, 4, &b2sMountMultiplierPlus[0]) == ICM_20948_Stat_Ok);
227+
success &= (myICM.writeDMPmems(B2S_MTX_01, 4, &b2sMountMultiplierZero[0]) == ICM_20948_Stat_Ok);
228+
success &= (myICM.writeDMPmems(B2S_MTX_02, 4, &b2sMountMultiplierZero[0]) == ICM_20948_Stat_Ok);
229+
success &= (myICM.writeDMPmems(B2S_MTX_10, 4, &b2sMountMultiplierZero[0]) == ICM_20948_Stat_Ok);
230+
success &= (myICM.writeDMPmems(B2S_MTX_11, 4, &b2sMountMultiplierPlus[0]) == ICM_20948_Stat_Ok);
231+
success &= (myICM.writeDMPmems(B2S_MTX_12, 4, &b2sMountMultiplierZero[0]) == ICM_20948_Stat_Ok);
232+
success &= (myICM.writeDMPmems(B2S_MTX_20, 4, &b2sMountMultiplierZero[0]) == ICM_20948_Stat_Ok);
233+
success &= (myICM.writeDMPmems(B2S_MTX_21, 4, &b2sMountMultiplierZero[0]) == ICM_20948_Stat_Ok);
234+
success &= (myICM.writeDMPmems(B2S_MTX_22, 4, &b2sMountMultiplierPlus[0]) == ICM_20948_Stat_Ok);
235235

236236
// Configure the DMP Gyro Scaling Factor
237-
//const unsigned char gyroScalingFactor[4] = {0x26, 0xFA, 0xB4, 0xB1}; // Value taken from InvenSense Nucleo example
238-
//success &= (myICM.writeDMPmems(GYRO_SF, 4, &gyroScalingFactor[0]) == ICM_20948_Stat_Ok);
239237
// @param[in] gyro_div Value written to GYRO_SMPLRT_DIV register, where
240238
// 0=1125Hz sample rate, 1=562.5Hz sample rate, ... 4=225Hz sample rate, ...
241239
// 10=102.2727Hz sample rate, ... etc.
@@ -263,7 +261,7 @@ void setup() {
263261
// Configure the Accel A Var: 47721859 (225Hz) 95869806 (112Hz) 191739611 (56Hz)
264262
const unsigned char accelAVar[4] = {0x0B, 0x6D, 0xB6, 0xDB}; // 56Hz
265263
//const unsigned char accelAVar[4] = {0x39, 0x99, 0x99, 0x9A}; // Value taken from InvenSense Nucleo example
266-
success &= (myICM.writeDMPmems(ACCEL_A_VAR, 4, &accelAlphaVar[0]) == ICM_20948_Stat_Ok);
264+
success &= (myICM.writeDMPmems(ACCEL_A_VAR, 4, &accelAVar[0]) == ICM_20948_Stat_Ok);
267265

268266
// Configure the Accel Cal Rate
269267
const unsigned char accelCalRate[4] = {0x00, 0x00}; // Value taken from InvenSense Nucleo example
@@ -338,6 +336,8 @@ void setup() {
338336
{
339337
SERIAL_PORT.println(F("Enable DMP failed!"));
340338
SERIAL_PORT.println(F("Please check that you have uncommented line 29 (#define ICM_20948_USE_DMP) in ICM_20948_C.h..."));
339+
while (1)
340+
; // Do nothing more
341341
}
342342
}
343343

‎examples/Arduino/Example8_DMP_RawAccel/Example8_DMP_RawAccel.ino

Lines changed: 12 additions & 12 deletions
Original file line numberDiff line numberDiff line change
@@ -209,19 +209,17 @@ void setup() {
209209
// Configure the B2S Mounting Matrix
210210
const unsigned char b2sMountMultiplierZero[4] = {0x00, 0x00, 0x00, 0x00};
211211
const unsigned char b2sMountMultiplierPlus[4] = {0x40, 0x00, 0x00, 0x00}; // Value taken from InvenSense Nucleo example
212-
success &= (myICM.writeDMPmems(B2S_MTX_00, 4, &mountMultiplierPlus[0]) == ICM_20948_Stat_Ok);
213-
success &= (myICM.writeDMPmems(B2S_MTX_01, 4, &mountMultiplierZero[0]) == ICM_20948_Stat_Ok);
214-
success &= (myICM.writeDMPmems(B2S_MTX_02, 4, &mountMultiplierZero[0]) == ICM_20948_Stat_Ok);
215-
success &= (myICM.writeDMPmems(B2S_MTX_10, 4, &mountMultiplierZero[0]) == ICM_20948_Stat_Ok);
216-
success &= (myICM.writeDMPmems(B2S_MTX_11, 4, &mountMultiplierPlus[0]) == ICM_20948_Stat_Ok);
217-
success &= (myICM.writeDMPmems(B2S_MTX_12, 4, &mountMultiplierZero[0]) == ICM_20948_Stat_Ok);
218-
success &= (myICM.writeDMPmems(B2S_MTX_20, 4, &mountMultiplierZero[0]) == ICM_20948_Stat_Ok);
219-
success &= (myICM.writeDMPmems(B2S_MTX_21, 4, &mountMultiplierZero[0]) == ICM_20948_Stat_Ok);
220-
success &= (myICM.writeDMPmems(B2S_MTX_22, 4, &mountMultiplierPlus[0]) == ICM_20948_Stat_Ok);
212+
success &= (myICM.writeDMPmems(B2S_MTX_00, 4, &b2sMountMultiplierPlus[0]) == ICM_20948_Stat_Ok);
213+
success &= (myICM.writeDMPmems(B2S_MTX_01, 4, &b2sMountMultiplierZero[0]) == ICM_20948_Stat_Ok);
214+
success &= (myICM.writeDMPmems(B2S_MTX_02, 4, &b2sMountMultiplierZero[0]) == ICM_20948_Stat_Ok);
215+
success &= (myICM.writeDMPmems(B2S_MTX_10, 4, &b2sMountMultiplierZero[0]) == ICM_20948_Stat_Ok);
216+
success &= (myICM.writeDMPmems(B2S_MTX_11, 4, &b2sMountMultiplierPlus[0]) == ICM_20948_Stat_Ok);
217+
success &= (myICM.writeDMPmems(B2S_MTX_12, 4, &b2sMountMultiplierZero[0]) == ICM_20948_Stat_Ok);
218+
success &= (myICM.writeDMPmems(B2S_MTX_20, 4, &b2sMountMultiplierZero[0]) == ICM_20948_Stat_Ok);
219+
success &= (myICM.writeDMPmems(B2S_MTX_21, 4, &b2sMountMultiplierZero[0]) == ICM_20948_Stat_Ok);
220+
success &= (myICM.writeDMPmems(B2S_MTX_22, 4, &b2sMountMultiplierPlus[0]) == ICM_20948_Stat_Ok);
221221

222222
// Configure the DMP Gyro Scaling Factor
223-
//const unsigned char gyroScalingFactor[4] = {0x26, 0xFA, 0xB4, 0xB1}; // Value taken from InvenSense Nucleo example
224-
//success &= (myICM.writeDMPmems(GYRO_SF, 4, &gyroScalingFactor[0]) == ICM_20948_Stat_Ok);
225223
// @param[in] gyro_div Value written to GYRO_SMPLRT_DIV register, where
226224
// 0=1125Hz sample rate, 1=562.5Hz sample rate, ... 4=225Hz sample rate, ...
227225
// 10=102.2727Hz sample rate, ... etc.
@@ -249,7 +247,7 @@ void setup() {
249247
// Configure the Accel A Var: 47721859 (225Hz) 95869806 (112Hz) 191739611 (56Hz)
250248
const unsigned char accelAVar[4] = {0x0B, 0x6D, 0xB6, 0xDB}; // 56Hz
251249
//const unsigned char accelAVar[4] = {0x39, 0x99, 0x99, 0x9A}; // Value taken from InvenSense Nucleo example
252-
success &= (myICM.writeDMPmems(ACCEL_A_VAR, 4, &accelAlphaVar[0]) == ICM_20948_Stat_Ok);
250+
success &= (myICM.writeDMPmems(ACCEL_A_VAR, 4, &accelAVar[0]) == ICM_20948_Stat_Ok);
253251

254252
// Configure the Accel Cal Rate
255253
const unsigned char accelCalRate[4] = {0x00, 0x00}; // Value taken from InvenSense Nucleo example
@@ -312,6 +310,8 @@ void setup() {
312310
{
313311
SERIAL_PORT.println(F("Enable DMP failed!"));
314312
SERIAL_PORT.println(F("Please check that you have uncommented line 29 (#define ICM_20948_USE_DMP) in ICM_20948_C.h..."));
313+
while (1)
314+
; // Do nothing more
315315
}
316316
}
317317

‎examples/Arduino/Example9_DMP_MultipleSensors/Example9_DMP_MultipleSensors.ino

Lines changed: 18 additions & 18 deletions
Original file line numberDiff line numberDiff line change
@@ -209,19 +209,17 @@ void setup() {
209209
// Configure the B2S Mounting Matrix
210210
const unsigned char b2sMountMultiplierZero[4] = {0x00, 0x00, 0x00, 0x00};
211211
const unsigned char b2sMountMultiplierPlus[4] = {0x40, 0x00, 0x00, 0x00}; // Value taken from InvenSense Nucleo example
212-
success &= (myICM.writeDMPmems(B2S_MTX_00, 4, &mountMultiplierPlus[0]) == ICM_20948_Stat_Ok);
213-
success &= (myICM.writeDMPmems(B2S_MTX_01, 4, &mountMultiplierZero[0]) == ICM_20948_Stat_Ok);
214-
success &= (myICM.writeDMPmems(B2S_MTX_02, 4, &mountMultiplierZero[0]) == ICM_20948_Stat_Ok);
215-
success &= (myICM.writeDMPmems(B2S_MTX_10, 4, &mountMultiplierZero[0]) == ICM_20948_Stat_Ok);
216-
success &= (myICM.writeDMPmems(B2S_MTX_11, 4, &mountMultiplierPlus[0]) == ICM_20948_Stat_Ok);
217-
success &= (myICM.writeDMPmems(B2S_MTX_12, 4, &mountMultiplierZero[0]) == ICM_20948_Stat_Ok);
218-
success &= (myICM.writeDMPmems(B2S_MTX_20, 4, &mountMultiplierZero[0]) == ICM_20948_Stat_Ok);
219-
success &= (myICM.writeDMPmems(B2S_MTX_21, 4, &mountMultiplierZero[0]) == ICM_20948_Stat_Ok);
220-
success &= (myICM.writeDMPmems(B2S_MTX_22, 4, &mountMultiplierPlus[0]) == ICM_20948_Stat_Ok);
212+
success &= (myICM.writeDMPmems(B2S_MTX_00, 4, &b2sMountMultiplierPlus[0]) == ICM_20948_Stat_Ok);
213+
success &= (myICM.writeDMPmems(B2S_MTX_01, 4, &b2sMountMultiplierZero[0]) == ICM_20948_Stat_Ok);
214+
success &= (myICM.writeDMPmems(B2S_MTX_02, 4, &b2sMountMultiplierZero[0]) == ICM_20948_Stat_Ok);
215+
success &= (myICM.writeDMPmems(B2S_MTX_10, 4, &b2sMountMultiplierZero[0]) == ICM_20948_Stat_Ok);
216+
success &= (myICM.writeDMPmems(B2S_MTX_11, 4, &b2sMountMultiplierPlus[0]) == ICM_20948_Stat_Ok);
217+
success &= (myICM.writeDMPmems(B2S_MTX_12, 4, &b2sMountMultiplierZero[0]) == ICM_20948_Stat_Ok);
218+
success &= (myICM.writeDMPmems(B2S_MTX_20, 4, &b2sMountMultiplierZero[0]) == ICM_20948_Stat_Ok);
219+
success &= (myICM.writeDMPmems(B2S_MTX_21, 4, &b2sMountMultiplierZero[0]) == ICM_20948_Stat_Ok);
220+
success &= (myICM.writeDMPmems(B2S_MTX_22, 4, &b2sMountMultiplierPlus[0]) == ICM_20948_Stat_Ok);
221221

222222
// Configure the DMP Gyro Scaling Factor
223-
//const unsigned char gyroScalingFactor[4] = {0x26, 0xFA, 0xB4, 0xB1}; // Value taken from InvenSense Nucleo example
224-
//success &= (myICM.writeDMPmems(GYRO_SF, 4, &gyroScalingFactor[0]) == ICM_20948_Stat_Ok);
225223
// @param[in] gyro_div Value written to GYRO_SMPLRT_DIV register, where
226224
// 0=1125Hz sample rate, 1=562.5Hz sample rate, ... 4=225Hz sample rate, ...
227225
// 10=102.2727Hz sample rate, ... etc.
@@ -249,7 +247,7 @@ void setup() {
249247
// Configure the Accel A Var: 47721859 (225Hz) 95869806 (112Hz) 191739611 (56Hz)
250248
const unsigned char accelAVar[4] = {0x0B, 0x6D, 0xB6, 0xDB}; // 56Hz
251249
//const unsigned char accelAVar[4] = {0x39, 0x99, 0x99, 0x9A}; // Value taken from InvenSense Nucleo example
252-
success &= (myICM.writeDMPmems(ACCEL_A_VAR, 4, &accelAlphaVar[0]) == ICM_20948_Stat_Ok);
250+
success &= (myICM.writeDMPmems(ACCEL_A_VAR, 4, &accelAVar[0]) == ICM_20948_Stat_Ok);
253251

254252
// Configure the Accel Cal Rate
255253
const unsigned char accelCalRate[4] = {0x00, 0x00}; // Value taken from InvenSense Nucleo example
@@ -281,7 +279,7 @@ void setup() {
281279
// INV_ICM20948_SENSOR_LINEAR_ACCELERATION (16-bit accel + 32-bit 6-axis quaternion)
282280
// INV_ICM20948_SENSOR_ORIENTATION (32-bit 9-axis quaternion + heading accuracy)
283281

284-
// Enable the DMP Game Rotation Vector sensor
282+
// Enable the DMP Game Rotation Vector sensor (Quat6)
285283
success &= (myICM.enableDMPSensor(INV_ICM20948_SENSOR_GAME_ROTATION_VECTOR) == ICM_20948_Stat_Ok);
286284

287285
// Enable additional sensors / features
@@ -322,6 +320,8 @@ void setup() {
322320
{
323321
SERIAL_PORT.println(F("Enable DMP failed!"));
324322
SERIAL_PORT.println(F("Please check that you have uncommented line 29 (#define ICM_20948_USE_DMP) in ICM_20948_C.h..."));
323+
while (1)
324+
; // Do nothing more
325325
}
326326
}
327327

@@ -345,18 +345,18 @@ void loop()
345345
//if ( data.header < 0x10) SERIAL_PORT.print( "0" );
346346
//SERIAL_PORT.println( data.header, HEX );
347347

348-
if ( (data.header & DMP_header_bitmap_Quat9) > 0 ) // Check for orientation data (Quat9)
348+
if ( (data.header & DMP_header_bitmap_Quat6) > 0 ) // Check for orientation data (Quat9)
349349
{
350350
// Q0 value is computed from this equation: Q0^2 + Q1^2 + Q2^2 + Q3^2 = 1.
351351
// In case of drift, the sum will not add to 1, therefore, quaternion data need to be corrected with right bias values.
352352
// The quaternion data is scaled by 2^30.
353353

354-
//SERIAL_PORT.printf("Quat9 data is: Q1:%ld Q2:%ld Q3:%ld Accuracy:%d\r\n", data.Quat9.Data.Q1, data.Quat9.Data.Q2, data.Quat9.Data.Q3, data.Quat9.Data.Accuracy);
354+
//SERIAL_PORT.printf("Quat9 data is: Q1:%ld Q2:%ld Q3:%ld Accuracy:%d\r\n", data.Quat6.Data.Q1, data.Quat6.Data.Q2, data.Quat9.Data.Q3, data.Quat6.Data.Accuracy);
355355

356356
// Scale to +/- 1
357-
double q1 = ((double)data.Quat9.Data.Q1) / 1073741824.0; // Convert to double. Divide by 2^30
358-
double q2 = ((double)data.Quat9.Data.Q2) / 1073741824.0; // Convert to double. Divide by 2^30
359-
double q3 = ((double)data.Quat9.Data.Q3) / 1073741824.0; // Convert to double. Divide by 2^30
357+
double q1 = ((double)data.Quat6.Data.Q1) / 1073741824.0; // Convert to double. Divide by 2^30
358+
double q2 = ((double)data.Quat6.Data.Q2) / 1073741824.0; // Convert to double. Divide by 2^30
359+
double q3 = ((double)data.Quat6.Data.Q3) / 1073741824.0; // Convert to double. Divide by 2^30
360360

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SERIAL_PORT.print(F("Q1:"));
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SERIAL_PORT.print(q1, 3);

‎library.properties

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name=SparkFun 9DoF IMU Breakout - ICM 20948 - Arduino Library
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version=1.2.2
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version=1.2.3
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author=SparkFun Electronics <[email protected]>
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maintainer=SparkFun Electronics <sparkfun.com>
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sentence=Use the low-power high-resolution ICM 20948 9 DoF IMU from Invensense with I2C or SPI. Version 1.2 of the library includes support for the InvenSense Digital Motion Processor (DMP™).

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