### SPI Traffic: Load DMP Firmware (Part 1)

Source: https://github.com/sparkfun/sparkfun_icm-20948_arduinolibrary/blob/main/DMP.md

SPI transactions to set the memory start address and begin loading DMP firmware. This snippet shows writing to the Memory Start Address register.

```text
619098-619140 SPI: COPI data: 7C : Write Bank 0 Reg 0x7C Memory Start Address
619140-619182 SPI: COPI data: 90 : Memory Address 0x90 : Start of the DMP
```

--------------------------------

### Set DMP Start Address

Source: https://github.com/sparkfun/sparkfun_icm-20948_arduinolibrary/blob/main/DMP.md

Sets the program start address for the DMP by loading the 16-bit register AGB2_REG_PRGM_START_ADDRH (Bank 2, 0x50).

```c++
uint8_t setDMPstartAddress(){
    // Before the DMP is enabled, the 16-bit register AGB2_REG_PRGM_START_ADDRH (Bank 2, 0x50) needs to be loaded with the program start address.
    // setDMPstartAddress does this for you.

    // Placeholder for actual address setting logic
    return ICM_20948_Stat_Ok;
}
```

--------------------------------

### SPI Traffic: Set DMP Memory Address for Bank 0x38

Source: https://github.com/sparkfun/sparkfun_icm-20948_arduinolibrary/blob/main/DMP.md

SPI transaction to set the memory start address to 0x00 within DMP memory bank 0x38.

```text
1416390-1416432 SPI: COPI data: 7C : Write Bank 0 Reg 0x7C Memory Start Address
```

--------------------------------

### SPI Traffic: Set DMP Memory Address for Bank 0x01

Source: https://github.com/sparkfun/sparkfun_icm-20948_arduinolibrary/blob/main/DMP.md

SPI transaction to set the memory start address to 0x00 within the selected DMP memory bank.

```text
625464-625508 SPI: COPI data: 7C : Write Bank 0 Reg 0x7C Memory Start Address
625506-625550 SPI: COPI data: 00 : Memory Address 0x00 : DMP
```

--------------------------------

### Initialize DMP Firmware and Configuration

Source: https://github.com/sparkfun/sparkfun_icm-20948_arduinolibrary/blob/main/DMP.md

This function handles the download of DMP firmware and configures all necessary registers. It's a weak function that can be overwritten to customize settings like sample rate.

```Arduino
initializeDMP();
```

--------------------------------

### Initialize DMP Helper Function

Source: https://github.com/sparkfun/sparkfun_icm-20948_arduinolibrary/blob/main/DMP.md

The `initializeDMP` function simplifies the process of downloading DMP firmware and configuring registers. It is a weak function that can be overridden for custom sample rates.

```c++
uint8_t initializeDMP(){
    //Download DMP firmware
    if(loadDMPFirmware() != ICM_20948_Stat_Ok){
        return ICM_20948_Stat_Err;
    }

    //Set the correct program start address
    if(setDMPstartAddress() != ICM_20948_Stat_Ok){
        return ICM_20948_Stat_Err;
    }

    //Enable the DMP
    if(enableDMP() != ICM_20948_Stat_Ok){
        return ICM_20948_Stat_Err;
    }

    //Reset FIFO and DMP
    if(resetDMP() != ICM_20948_Stat_Ok){
        return ICM_20948_Stat_Err;
    }

    return ICM_20948_Stat_Ok;
}
```

--------------------------------

### Enable DMP Support in ICM_20948_C.h

Source: https://github.com/sparkfun/sparkfun_icm-20948_arduinolibrary/blob/main/DMP.md

To enable DMP support, uncomment the `#define ICM_20948_USE_DMP` line in the `ICM_20948_C.h` configuration file. This is necessary because DMP support consumes significant program memory.

```c++
#define ICM_20948_USE_DMP
```

--------------------------------

### ICM-20948 DMP Configuration Parameters

Source: https://github.com/sparkfun/sparkfun_icm-20948_arduinolibrary/blob/main/DMP.md

Defines the configuration for the Game Rotation Vector (Quat6) output. This snippet shows how to enable/disable specific sensors and set their frequencies.

```c++
QuaternionAnimation (Quat6):
  .enable_gyroscope = false,      // Enables gyroscope output
  .enable_accelerometer = false,  // Enables accelerometer output
  .enable_magnetometer = false,   // Enables magnetometer output
  .enable_quaternion = true,     // Enables quaternion output
  .gyroscope_frequency = 1,      // Max frequency = 225, min frequency = 1
  .accelerometer_frequency = 1,  // Max frequency = 225, min frequency = 1
  .magnetometer_frequency = 1,   // Max frequency = 70, min frequency = 1
  .quaternion_frequency = 225     // Max frequency = 225, min frequency = 50
```

--------------------------------

### Supported DMP Features

Source: https://github.com/sparkfun/sparkfun_icm-20948_arduinolibrary/blob/main/DMP.md

Lists the DMP features currently supported by the library, including various sensor data types and motion processing outputs.

```c++
INV_ICM20948_SENSOR_ACCELEROMETER               (16-bit accel)
INV_ICM20948_SENSOR_GYROSCOPE                   (16-bit gyro + 32-bit calibrated gyro)
INV_ICM20948_SENSOR_RAW_ACCELEROMETER           (16-bit accel)
INV_ICM20948_SENSOR_RAW_GYROSCOPE               (16-bit gyro + 32-bit calibrated gyro)
INV_ICM20948_SENSOR_MAGNETIC_FIELD_UNCALIBRATED (16-bit compass)
INV_ICM20948_SENSOR_GYROSCOPE_UNCALIBRATED      (16-bit gyro)
INV_ICM20948_SENSOR_STEP_DETECTOR               (Pedometer Step Detector)
INV_ICM20948_SENSOR_STEP_COUNTER                (Pedometer Step Detector)
INV_ICM20948_SENSOR_GAME_ROTATION_VECTOR        (32-bit 6-axis quaternion)
INV_ICM20948_SENSOR_ROTATION_VECTOR             (32-bit 9-axis quaternion + heading accuracy)
INV_ICM20948_SENSOR_GEOMAGNETIC_ROTATION_VECTOR (32-bit Geomag RV + heading accuracy)
INV_ICM20948_SENSOR_GEOMAGNETIC_FIELD           (32-bit calibrated compass)
INV_ICM20948_SENSOR_GRAVITY                     (32-bit 6-axis quaternion)
INV_ICM20948_SENSOR_LINEAR_ACCELERATION         (16-bit accel + 32-bit 6-axis quaternion)
INV_ICM20948_SENSOR_ORIENTATION                 (32-bit 9-axis quaternion + heading accuracy)
```

--------------------------------

### Enable DMP Interrupts

Source: https://github.com/sparkfun/sparkfun_icm-20948_arduinolibrary/blob/main/DMP.md

Functions to enable and configure DMP interrupts. Note that interrupt support may not be fully tested.

```Arduino
intEnableDMP();
enableDMPSensorInt();
```

--------------------------------

### SPI Traffic: Load DMP Firmware (Part 2)

Source: https://github.com/sparkfun/sparkfun_icm-20948_arduinolibrary/blob/main/DMP.md

SPI transactions for loading DMP firmware, involving writing to the Memory Read/Write register with 16 bytes of data.

```text
619225-619269 SPI: COPI data: 7D : Write Bank 0 Reg 0x7D Memory Read/Write
619267-619311 SPI: COPI data: 00 : DMP firmware (16 bytes)
619310-619352 SPI: COPI data: 01
619352-619394 SPI: COPI data: 00
619394-619436 SPI: COPI data: 00
619436-619478 SPI: COPI data: 00
619478-619520 SPI: COPI data: 00
619520-619562 SPI: COPI data: 00
619562-619604 SPI: COPI data: 00
619604-619646 SPI: COPI data: 00
619646-619688 SPI: COPI data: 00
619688-619730 SPI: COPI data: 00
619730-619772 SPI: COPI data: 00
619772-619814 SPI: COPI data: 00
619814-619856 SPI: COPI data: 00
619856-619898 SPI: COPI data: 00
619898-619940 SPI: COPI data: 00
```

--------------------------------

### Load DMP Firmware

Source: https://github.com/sparkfun/sparkfun_icm-20948_arduinolibrary/blob/main/DMP.md

Loads the DMP firmware into the ICM-20948's processor memory. This function handles breaking the firmware into blocks and writing to special Bank 0 registers.

```c++
uint8_t loadDMPFirmware(){
    //The DMP firmware is loaded into the ICM-20948's processor memory space via three special Bank 0 registers:
    //AGB0_REG_MEM_START_ADDR (0x7C) - the address which AGB0_REG_MEM_R_W reads from or writes to (it auto-increments after each read or write)
    //AGB0_REG_MEM_R_W (0x7D) - the memory read/write register
    //AGB0_REG_MEM_BANK_SEL (0x7E) - the memory bank select. The complete read/write address is: (AGB0_REG_MEM_BANK_SEL * 256) + AGB0_REG_MEM_START_ADDR

    //The firmware binary (14290 or 14301 Bytes) is written into processor memory starting at address 0x90.
    //loadDMPFirmware automatically breaks the code up into 256 byte blocks and increments AGB0_REG_MEM_BANK_SEL during the writing.

    // Placeholder for actual firmware loading logic
    return ICM_20948_Stat_Ok;
}
```

--------------------------------

### SPI Traffic: Load DMP Firmware (Part 3)

Source: https://github.com/sparkfun/sparkfun_icm-20948_arduinolibrary/blob/main/DMP.md

SPI transactions for loading DMP firmware, involving writing to the Memory Read/Write register with specific data bytes.

```text
620116-620158 SPI: COPI data: 7D : Write Bank 0 Reg 0x7D Memory Read/Write
620158-620200 SPI: COPI data: 00 : DMP firmware (16 bytes)
620200-620242 SPI: COPI data: 05
620242-620284 SPI: COPI data: 00
620284-620326 SPI: COPI data: 00
620326-620370 SPI: COPI data: 00
620368-620412 SPI: COPI data: 05
620410-620454 SPI: COPI data: 00
620452-620496 SPI: COPI data: 00
620494-620538 SPI: COPI data: 00
620536-620580 SPI: COPI data: 05
620578-620622 SPI: COPI data: 00
620620-620664 SPI: COPI data: 01
620662-620706 SPI: COPI data: 00
620704-620748 SPI: COPI data: 05
620746-620790 SPI: COPI data: 00
620788-620832 SPI: COPI data: FF
```

--------------------------------

### Set DMP Sample Rate

Source: https://github.com/sparkfun/sparkfun_icm-20948_arduinolibrary/blob/main/DMP.md

Sets the sample rate for the DMP. This function is part of the DMP configuration and works in conjunction with other settings.

```Arduino
setSampleRate(sampleRate);
```

--------------------------------

### SPI Traffic: Load DMP Firmware (Part 4)

Source: https://github.com/sparkfun/sparkfun_icm-20948_arduinolibrary/blob/main/DMP.md

SPI transactions for loading DMP firmware, involving writing to the Memory Read/Write register with 16 bytes of data for bank 0x01.

```text
625592-625634 SPI: COPI data: 7D : Write Bank 0 Reg 0x7D Memory Read/Write
625634-625676 SPI: COPI data: 00 : DMP firmware (16 bytes)
625676-625718 SPI: COPI data: 00
625718-625760 SPI: COPI data: 03
625760-625802 SPI: COPI data: 84
625802-625844 SPI: COPI data: 00
625844-625886 SPI: COPI data: 00
625886-625928 SPI: COPI data: 9C
625928-625970 SPI: COPI data: 40
625970-626012 SPI: COPI data: 00
626012-626054 SPI: COPI data: 00
626054-626096 SPI: COPI data: 00
62096-626138 SPI: COPI data: 00
626138-626180 SPI: COPI data: 04
626180-626222 SPI: COPI data: 00
626222-626264 SPI: COPI data: 00
626264-626306 SPI: COPI data: 00
```

--------------------------------

### SPI Traffic: Configure LP_CONFIG Register

Source: https://github.com/sparkfun/sparkfun_icm-20948_arduinolibrary/blob/main/DMP.md

SPI transaction to write to the LP_CONFIG register, enabling the I2C controller and setting the accelerometer and gyroscope to operate in duty cycled mode.

```text
618830-618872 SPI: COPI data: 05 : Write Bank 0 Reg 0x05 LP_CONFIG
618872-618914 SPI: COPI data: 70 : Operate I2C controller, accel and gyro in duty cycled mode
```

--------------------------------

### Enable and Reset DMP

Source: https://github.com/sparkfun/sparkfun_icm-20948_arduinolibrary/blob/main/DMP.md

Enables or resets the DMP by setting bits in the Bank 0 register AGB0_REG_USER_CTRL (0x03).

```c++
uint8_t enableDMP(){
    // The DMP is enabled or reset by setting bits in the Bank 0 register AGB0_REG_USER_CTRL (0x03).
    // enableDMP and resetDMP do this for you.

    // Placeholder for actual enable logic
    return ICM_20948_Stat_Ok;
}

uint8_t resetDMP(){
    // Placeholder for actual reset logic
    return ICM_20948_Stat_Ok;
}
```

--------------------------------

### SPI Traffic: Read USER_CTRL Register

Source: https://github.com/sparkfun/sparkfun_icm-20948_arduinolibrary/blob/main/DMP.md

SPI transaction to read the USER_CTRL register.

```text
618291-618333 SPI: COPI data: 83 : Read Bank 0 Reg 0x03 USER_CTRL
618333-618375 SPI: CIPO data: 00
```

--------------------------------

### SPI Traffic: Configure PWR_MGMT_1 Register

Source: https://github.com/sparkfun/sparkfun_icm-20948_arduinolibrary/blob/main/DMP.md

SPI transaction to write to the PWR_MGMT_1 register, setting the clock source to Auto (Best Available).

```text
617952-617994 SPI: COPI data: 06 : Write Bank 0 Reg 0x06 PWR_MGMT_1
617994-618036 SPI: COPI data: 01 : Clock Source Auto (Best Available)
```

--------------------------------

### SPI Traffic: Select DMP Memory Bank 0x38

Source: https://github.com/sparkfun/sparkfun_icm-20948_arduinolibrary/blob/main/DMP.md

SPI transaction to select memory bank 0x38 for DMP operations.

```text
1416262-1416304 SPI: COPI data: 7E : Write Bank 0 Reg 0x7E Memory Bank Select
1416304-1416346 SPI: COPI data: 38 : Bank 0x38
```

--------------------------------

### Read and Write DMP Memory

Source: https://github.com/sparkfun/sparkfun_icm-20948_arduinolibrary/blob/main/DMP.md

Provides functions to read and write data directly from the DMP memory space.

```c++
uint8_t readDMPmems(uint8_t startAddr, uint16_t len, uint8_t* buffer){
    // Placeholder for actual read logic
    return ICM_20948_Stat_Ok;
}

uint8_t writeDMPmems(uint8_t startAddr, uint16_t len, uint8_t* buffer){
    // Placeholder for actual write logic
    return ICM_20948_Stat_Ok;
}
```

--------------------------------

### SPI Traffic: Configure USER_CTRL for SPI Mode

Source: https://github.com/sparkfun/sparkfun_icm-20948_arduinolibrary/blob/main/DMP.md

SPI transaction to write to the USER_CTRL register, disabling the I2C peripheral and setting the interface to SPI mode only.

```text
618426-618468 SPI: COPI data: 03 : Write Bank 0 Reg 0x03 USER_CTRL
618468-618510 SPI: COPI data: 10 : I2C_IF_DIS Reset I2C peripheral module and put the serial interface in SPI mode only
```

--------------------------------

### SPI Traffic: Read WHO_AM_I Register

Source: https://github.com/sparkfun/sparkfun_icm-20948_arduinolibrary/blob/main/DMP.md

Captures SPI traffic for reading the WHO_AM_I register to identify the ICM-20948 sensor.

```text
617669-617713 SPI: COPI data: 80 : Read Bank 0 Reg 0x00 WHO_AM_I
617711-617755 SPI: CIPO data: EA : ICM_20948
```

--------------------------------

### SPI Traffic: Configure PWR_MGMT_2 Register

Source: https://github.com/sparkfun/sparkfun_icm-20948_arduinolibrary/blob/main/DMP.md

SPI transaction to write to the PWR_MGMT_2 register, disabling the pressure sensor and all gyroscope axes.

```text
618560-618602 SPI: COPI data: 07 : Write Bank 0 Reg 0x07 PWR_MGMT_2
618602-618644 SPI: COPI data: 47 : Disable pressure sensor. Disable all gyroscope axes
```

--------------------------------

### Read DMP Data from FIFO

Source: https://github.com/sparkfun/sparkfun_icm-20948_arduinolibrary/blob/main/DMP.md

Reads data from the FIFO buffer, checking for availability and copying it into an `icm_20948_DMP_data_t` struct. Returns status indicating data availability.

```c++
uint8_t readDMPdataFromFIFO(icm_20948_DMP_data_t &data){
    // The DMP data is returned via the FIFO (First In First Out).
    // readDMPdataFromFIFO checks if any data is present in the FIFO (by calling getFIFOcount which reads the 16-bit register AGB0_REG_FIFO_COUNT_H (0x70)).
    // If data is present, it is copied into a icm_20948_DMP_data_t struct.

    // Placeholder for actual data reading logic
    return ICM_20948_Stat_Ok;
}
```

--------------------------------

### Disable DMP Support in ICM_20948_C.h

Source: https://github.com/sparkfun/sparkfun_icm-20948_arduinolibrary/blob/main/DMP.md

DMP support is disabled by default to conserve program memory. Ensure the `#define ICM_20948_USE_DMP` line is commented out if DMP functionality is not required.

```c++
//#define ICM_20948_USE_DMP
```

--------------------------------

### SPI Traffic: Select DMP Memory Bank

Source: https://github.com/sparkfun/sparkfun_icm-20948_arduinolibrary/blob/main/DMP.md

SPI transaction to select memory bank 0x01 for DMP operations.

```text
625336-625380 SPI: COPI data: 7E : Write Bank 0 Reg 0x7E Memory Bank Select
625378-625422 SPI: COPI data: 01 : Bank 0x01
```

--------------------------------

### DMP Header Bitmaps

Source: https://github.com/sparkfun/sparkfun_icm-20948_arduinolibrary/blob/main/DMP.md

Defines bitmasks used to interpret the `data.header` field, indicating the type of data present in a DMP frame. Includes primary and secondary data indicators.

```c++
#define DMP_header_bitmap_Compass_Calibr 0x0020
#define DMP_header_bitmap_Gyro_Calibr 0x0040
#define DMP_header_bitmap_Geomag 0x0100
#define DMP_header_bitmap_PQuat6 0x0200
#define DMP_header_bitmap_Quat9 0x0400
#define DMP_header_bitmap_Quat6 0x0800
#define DMP_header_bitmap_ALS 0x1000
#define DMP_header_bitmap_Compass 0x2000
#define DMP_header_bitmap_Gyro 0x4000
#define DMP_header_bitmap_Accel 0x8000

#define DMP_header_bitmap_Header2 0x0008
#define DMP_header2_bitmap_Compass_Accuracy 0x1000
#define DMP_header2_bitmap_Gyro_Accuracy 0x2000
#define DMP_header2_bitmap_Accel_Accuracy 0x4000
```

--------------------------------

### Set DMP Output Data Rate (ODR)

Source: https://github.com/sparkfun/sparkfun_icm-20948_arduinolibrary/blob/main/DMP.md

Configures the DMP's Output Data Rate registers. This setting, along with the raw sensor rate, determines the final DMP data rate.

```Arduino
setDMPODRrate(odr);
```

--------------------------------

### SPI Traffic: Set DMP Memory Address

Source: https://github.com/sparkfun/sparkfun_icm-20948_arduinolibrary/blob/main/DMP.md

SPI transaction to set the memory address for DMP operations to 0xA0.

```text
619988-620032 SPI: COPI data: 7C : Write Bank 0 Reg 0x7C Memory Start Address
620030-620074 SPI: COPI data: A0 : Memory Address 0xA0 : DMP
```

=== COMPLETE CONTENT === This response contains all available snippets from this library. No additional content exists. Do not make further requests.