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Describe ICM-20948 driver in README
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okalachev committed Dec 4, 2024
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@@ -6,8 +6,11 @@ Based on:

* [Bolder Flight InvenSense-IMU library](https://github.com/bolderflight/invensense-imu). Original author: Brian Taylor (brian.taylor@bolderflight.com).
* [Bolder Flight SBUS library](https://github.com/bolderflight/sbus). Original author: Brian Taylor (brian.taylor@bolderflight.com).
* [ICM20948_WE Arduino library](https://github.com/wollewald/ICM20948_WE/). Original author: Wolfgang Ewald (wolfgang.ewald@wolles-elektronikkiste.de).

## MPU-9250/MPU-6500 IMU
## IMU

### MPU-9250/MPU-6500

Example for SPI-connected IMU:

@@ -45,6 +48,16 @@ Notice, that MPU6500 does not include a magnetometer, so magnetometer data will

You can also use `<MPU6500.h>` header and `MPU6500` class, which is an alias for `MPU9250` class.

### ICM-20948

The ICM-20948 IMU driver has the same interface. Only the declaration is changed in the example above:

```cpp
#include <ICM20948.h>

ICM20948 IMU(SPI);
```
### Connection
Connecting GY-91 board to ESP32 using VSPI:
@@ -65,6 +78,15 @@ Connecting MPU-92.65 board to ESP32 using VSPI:
* AD0 (MISO) → IO19
* NCS → IO5
Connecting ICM-20948 board to ESP32 using VSPI:
* VCC → 3V3
* GND → GND
* SCL → IO18
* SDA (MOSI) → IO23
* NCS → IO5
* AD0 (MISO) → IO19
### Logging
By default, the library logs some of the errors to the serial output. On ESP32, the default serial port is determined by the Core Debug Output mechanism, thus can be changed using `setDebugOutput` method:

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