ICM42670
https://forum.arduino.cc/t/what-imu-to-use-for-a-3d-mouse-project/1018315/13
- This thread has this “Exactly. Described here in detail: Library | CH Robotics Scroll down to “Using Accelerometers to Estimate Velocity and Position""
- if you scroll, you will find this https://web.archive.org/web/20201111202735/http://www.chrobotics.com/library/accel-position-velocity
https://invensense.tdk.com/wp-content/uploads/2021/07/DS-000451-ICM-42670-P-v1.0.pdf
- See SPI interface section
https://github.com/SlimeVR/SlimeVR-Tracker-ESP
Axes
Sensitivities
/* Sensitivity of the gyroscope */
#define GYRO_FS_2000_SENSITIVITY (16.4)
#define GYRO_FS_1000_SENSITIVITY (32.8)
#define GYRO_FS_500_SENSITIVITY (65.5)
#define GYRO_FS_250_SENSITIVITY (131.0)
/* Sensitivity of the accelerometer */
#define ACCE_FS_16G_SENSITIVITY (2048)
#define ACCE_FS_8G_SENSITIVITY (4096)
#define ACCE_FS_4G_SENSITIVITY (8192)
#define ACCE_FS_2G_SENSITIVITY (16384)
Given in page 11 of the datasheet “ACCELEROMETER SPECIFICATIONS”