This project outputs X, Y, and Z data for the accelerometer, magnetometer, and gyroscope on the Invensense ICM-20948 and is optimized for use with the FTI ProMotion Module.

Minimal effort is needed to port this library to another STM32 MCU. Please place new ports in an appropriately named folder inside 'Examples' folder. (e.g. Examples/F405RGxx). The following peripheral settings are important to note.

• SPI Settings

  Frame Format: Motorola
  Data Size:    8 bits
  First Bit:    MSB First
  Baud Rate:    4.5 Mbits/s
  Clk Polarity: HIGH
  Clk Phase:    2nd Edge
  CRC Calc:     Disabled
  NSS Signal:   Software
  
  DMA Requests must be enabled bidirectionally using the following settings
  Mode:         Normal
  Data Width:   Byte
  

• GPIO Settings

  All GPIO's should be Output Push / Pull with low default output levels except for ICM_INT, which should be held low and triggered high.
  

• UART Settings

  I have been using UART in Asynchronous mode with a baud rate of 115200 with success.  Use what you please :)  It's UART...
  

• Files needed

  You only need to include ICM20948.h/c in your project.  Be sure to change the section labeled SPI Abstraction and I2C Abstraction to match your platform.