ICM20948 DMP代码详解（24）

标签：ICM20948 icm20948 inv 0x00 DMP write result 24 size

接前一篇文章：ICM20948 DMP代码详解（23）

上一回解析完了inv_icm20948_set_lowpower_or_highperformance函数，本回回到inv_icm20948_initialize_lower_driver函数中，继续往下解析。为了便于理解和回顾，再次贴出inv_icm20948_initialize_lower_driver函数源码，在EMD-Core\sources\Invn\Devices\Drivers\ICM20948\Icm20948DataBaseDriver.c中，如下：

/** Should be called once on power up. Loads DMP3, initializes internal variables needed 
*   for other lower driver functions.
*/
int inv_icm20948_initialize_lower_driver(struct inv_icm20948 * s, enum SMARTSENSOR_SERIAL_INTERFACE type, 
	const uint8_t *dmp3_image, uint32_t dmp3_image_size)
{
	int result = 0;
	static unsigned char data;
	// set static variable
	s->sAllowLpEn = 1;
	s->s_compass_available = 0;
	// ICM20948 do not support the proximity sensor for the moment.
	// s_proximity_available variable is nerver changes
	s->s_proximity_available = 0;
 
	// Set varialbes to default values
	memset(&s->base_state, 0, sizeof(s->base_state));
	s->base_state.pwr_mgmt_1 = BIT_CLK_PLL;
	s->base_state.pwr_mgmt_2 = BIT_PWR_ACCEL_STBY | BIT_PWR_GYRO_STBY | BIT_PWR_PRESSURE_STBY;
	s->base_state.serial_interface = type;
	result |= inv_icm20948_read_mems_reg(s, REG_USER_CTRL, 1, &s->base_state.user_ctrl);
 
	result |= inv_icm20948_wakeup_mems(s);
 
	result |= inv_icm20948_read_mems_reg(s, REG_WHO_AM_I, 1, &data);
 
	/* secondary cycle mode should be set all the time */
	data = BIT_I2C_MST_CYCLE|BIT_ACCEL_CYCLE|BIT_GYRO_CYCLE;
 
	// Set default mode to low power mode
	result |= inv_icm20948_set_lowpower_or_highperformance(s, 0);
	
	// Disable Ivory DMP.
	if(s->base_state.serial_interface == SERIAL_INTERFACE_SPI)   
		s->base_state.user_ctrl = BIT_I2C_IF_DIS;
	else
		s->base_state.user_ctrl = 0;
 
	result |= inv_icm20948_write_single_mems_reg(s, REG_USER_CTRL, s->base_state.user_ctrl);
 
	//Setup Ivory DMP.
	result |= inv_icm20948_load_firmware(s, dmp3_image, dmp3_image_size);
	if(result)
		return result;
	else
		s->base_state.firmware_loaded = 1;
	result |= inv_icm20948_set_dmp_address(s);
	// Turn off all sensors on DMP by default.
	//result |= dmp_set_data_output_control1(0);   // FIXME in DMP, these should be off by default.
	result |= dmp_icm20948_reset_control_registers(s);
	
	// set FIFO watermark to 80% of actual FIFO size
	result |= dmp_icm20948_set_FIFO_watermark(s, 800);
 
	// Enable Interrupts.
	data = 0x2;
	result |= inv_icm20948_write_mems_reg(s, REG_INT_ENABLE, 1, &data); // Enable DMP Interrupt
	data = 0x1;
	result |= inv_icm20948_write_mems_reg(s, REG_INT_ENABLE_2, 1, &data); // Enable FIFO Overflow Interrupt
 
	// TRACKING : To have accelerometers datas and the interrupt without gyro enables.
	data = 0XE4;
	result |= inv_icm20948_write_mems_reg(s, REG_SINGLE_FIFO_PRIORITY_SEL, 1, &data);
 
	// Disable HW temp fix
	inv_icm20948_read_mems_reg(s, REG_HW_FIX_DISABLE,1,&data);
	data |= 0x08;
	inv_icm20948_write_mems_reg(s, REG_HW_FIX_DISABLE,1,&data);
 
	// Setup MEMs properties.
	s->base_state.accel_averaging = 1; //Change this value if higher sensor sample avergaing is required.
	s->base_state.gyro_averaging = 1;  //Change this value if higher sensor sample avergaing is required.
	inv_icm20948_set_gyro_divider(s, FIFO_DIVIDER);       //Initial sampling rate 1125Hz/19+1 = 56Hz.
	inv_icm20948_set_accel_divider(s, FIFO_DIVIDER);      //Initial sampling rate 1125Hz/19+1 = 56Hz.
 
	// Init the sample rate to 56 Hz for BAC,STEPC and B2S
	dmp_icm20948_set_bac_rate(s, DMP_ALGO_FREQ_56);
	dmp_icm20948_set_b2s_rate(s, DMP_ALGO_FREQ_56);
 
	// FIFO Setup.
	result |= inv_icm20948_write_single_mems_reg(s, REG_FIFO_CFG, BIT_SINGLE_FIFO_CFG); // FIFO Config. fixme do once? burst write?
	result |= inv_icm20948_write_single_mems_reg(s, REG_FIFO_RST, 0x1f); // Reset all FIFOs.
	result |= inv_icm20948_write_single_mems_reg(s, REG_FIFO_RST, 0x1e); // Keep all but Gyro FIFO in reset.
	result |= inv_icm20948_write_single_mems_reg(s, REG_FIFO_EN, 0x0); // Slave FIFO turned off.
	result |= inv_icm20948_write_single_mems_reg(s, REG_FIFO_EN_2, 0x0); // Hardware FIFO turned off.
    
	s->base_state.lp_en_support = 1;
	
	if(s->base_state.lp_en_support == 1)
		inv_icm20948_set_chip_power_state(s, CHIP_LP_ENABLE, 1);
 
	result |= inv_icm20948_sleep_mems(s);   
        
	return result;
}

当前来到以下代码片段：

	// Disable Ivory DMP.
	if(s->base_state.serial_interface == SERIAL_INTERFACE_SPI)   
		s->base_state.user_ctrl = BIT_I2C_IF_DIS;
	else
		s->base_state.user_ctrl = 0;

	result |= inv_icm20948_write_single_mems_reg(s, REG_USER_CTRL, s->base_state.user_ctrl);

这段代码前文讲过（参见https://phmatthaus.blog.csdn.net/article/details/142164687），是在inv_icm20948_wakeup_mems函数中：

这里又来了一遍。不过inv_icm20948_wakeup_mems函数中的代码只是针对于USER_CTRL寄存器中BIT_I2C_IF_DIS这一位的，其它位并未改变；而此处则是把其它位都清零了。

再来回顾一下USER_CTRL寄存器的内容：

但是这样一来，之前在inv_icm20948_wakeup_mems函数中设置的DMP_EN位和FIFO_EN位就又清零了，不过之前倒也没有置位。

接下来就来到了以下代码片段：

	//Setup Ivory DMP.
	result |= inv_icm20948_load_firmware(s, dmp3_image, dmp3_image_size);
	if(result)
		return result;
	else
		s->base_state.firmware_loaded = 1;

inv_icm20948_load_firmware函数在EMD-Core\sources\Invn\Devices\Drivers\ICM20948\Icm20948Dmp3Driver.c中，代码如下：

/** Loads the dmp firmware for the icm20948 part.
* @param[in] dmp_image_sram Load DMP3 image from SRAM.
*/
int inv_icm20948_load_firmware(struct inv_icm20948 * s, const unsigned char *dmp3_image, unsigned int dmp3_image_size)
{
	return inv_icm20948_firmware_load(s, dmp3_image, dmp3_image_size, DMP_LOAD_START);
}

inv_icm20948_firmware_load函数在EMD-Core\sources\Invn\Devices\Drivers\ICM20948\Icm20948LoadFirmware.c中，代码如下：

int inv_icm20948_firmware_load(struct inv_icm20948 *s, const unsigned char *data_start, unsigned short size_start, unsigned short load_addr)
{ 
    int write_size;
    int result;
    unsigned short memaddr;
    const unsigned char *data;
    unsigned short size;
    unsigned char data_cmp[INV_MAX_SERIAL_READ];
    int flag = 0;

	if(s->base_state.firmware_loaded)
		return 0;
		
    // Write DMP memory
    data = data_start;
    size = size_start;
    memaddr = load_addr;
    while (size > 0) {
        write_size = min(size, INV_MAX_SERIAL_WRITE);
        if ((memaddr & 0xff) + write_size > 0x100) {
            // Moved across a bank
            write_size = (memaddr & 0xff) + write_size - 0x100;
        }
        result = inv_icm20948_write_mems(s, memaddr, write_size, (unsigned char *)data);
        if (result)  
            return result;
        data += write_size;
        size -= write_size;
        memaddr += write_size;
    }

    // Verify DMP memory

    data = data_start;
    size = size_start;
    memaddr = load_addr;
    while (size > 0) {
        write_size = min(size, INV_MAX_SERIAL_READ);
        if ((memaddr & 0xff) + write_size > 0x100) {
            // Moved across a bank
            write_size = (memaddr & 0xff) + write_size - 0x100;
        }
        result = inv_icm20948_read_mems(s, memaddr, write_size, data_cmp);
        if (result)
            flag++; // Error, DMP not written correctly
        if (memcmp(data_cmp, data, write_size))
            return -1;
        data += write_size;
        size -= write_size;
        memaddr += write_size;
    }

#if defined(WIN32)   
    //if(!flag)
      // inv_log("DMP Firmware was updated successfully..\r\n");
#endif

    return 0;
}

Icm20948LoadFirmware.c文件只有这一个函数，功能很专一。inv_icm20948_firmware_load函数比较长，一段一段来看。

首先来到以下代码片段：

	if(s->base_state.firmware_loaded)
		return 0;

如果s->base_state.firmware_loaded已经设置过、即固件已经加载，则不再重复加载，直接返回0。

接下来根据传入的函数参数设置各变量，代码片段如下：

int inv_icm20948_firmware_load(struct inv_icm20948 *s, const unsigned char *data_start, unsigned short size_start, unsigned short load_addr)
{
    ……
    data = data_start;
    size = size_start;
    memaddr = load_addr;
    ……
}

函数参数对应的实参是在inv_icm20948_load_firmware函数中传入的：

int inv_icm20948_load_firmware(struct inv_icm20948 * s, const unsigned char *dmp3_image, unsigned int dmp3_image_size)
{
	return inv_icm20948_firmware_load(s, dmp3_image, dmp3_image_size, DMP_LOAD_START);
}

而inv_icm20948_load_firmware函数对应的实参又是在inv_icm20948_initialize_lower_driver函数中传入的：

    result |= inv_icm20948_load_firmware(s, dmp3_image, dmp3_image_size);

还要再往上追……一直追到icm20948_sensor_setup函数中调用inv_icm20948_initialize函数的片段：

	rc = inv_icm20948_initialize(&icm_device, dmp3_image, sizeof(dmp3_image));

可以看到，最终的实参也还就是dmp3_image。其在EMD-App\src\ICM20948\sensor.c中定义，代码如下：

static const uint8_t dmp3_image[] = {
#include "icm20948_img.dmp3a.h"
};

EMD-App\src\ICM20948\icm20948_img.dmp3a.h文件的内容如下（完整内容太长，容易引起网页打开响应慢，因此后改为只截取部分代码）：

    /* bank # 0 */
    0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 
    0x00, 0x05, 0x00, 0x00, 0x00, 0x05, 0x00, 0x00, 0x00, 0x05, 0x00, 0x01, 0x00, 0x05, 0x00, 0xff, 
    0xff, 0xf7, 0x00, 0x05, 0x00, 0x05, 0x00, 0x05, 0x00, 0x05, 0x00, 0x05, 0x00, 0x05, 0x00, 0x05, 
    0x80, 0x00, 0x80, 0x00, 0x40, 0x00, 0x40, 0x00, 0x20, 0x00, 0x20, 0x00, 0x10, 0x00, 0x10, 0x00, 
    0x08, 0x00, 0x08, 0x00, 0x04, 0x00, 0x04, 0x00, 0x02, 0x00, 0x02, 0x00, 0x01, 0x00, 0x01, 0x00, 
    0x00, 0x80, 0x00, 0x80, 0x00, 0x40, 0x00, 0x40, 0x00, 0x20, 0x00, 0x20, 0x00, 0x10, 0x00, 0x10, 
    0x00, 0x08, 0x00, 0x08, 0x00, 0x04, 0x00, 0x04, 0x00, 0x02, 0x00, 0x02, 0x00, 0x01, 0x00, 0x01, 
    /* bank # 1 */
    0x00, 0x00, 0x03, 0x84, 0x00, 0x00, 0x9c, 0x40, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, 
    0x36, 0x66, 0x66, 0x66, 0x00, 0x0f, 0x00, 0x00, 0x13, 0x5c, 0x28, 0xf6, 0x0c, 0xf5, 0xc2, 0x8f, 
    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xff, 0xf8, 0x00, 0x38, 
    0x09, 0xed, 0xd1, 0xe8, 0x00, 0x00, 0x68, 0x00, 0x00, 0x01, 0xff, 0xc7, 0x00, 0x00, 0x00, 0x00, 
    0x00, 0x00, 0x00, 0x00, 0x01, 0x47, 0xae, 0x14, 0x3e, 0xb8, 0x51, 0xec, 0x00, 0x0f, 0x00, 0x00, 
    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 
    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 
    0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 
    0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 
    0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x01, 0x0c, 0x00, 
    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 
    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x15, 0x55, 0x55, 0x55, 0x0a, 0xaa, 0xaa, 0xaa, 
    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xe1, 0x00, 0x00, 0x00, 0x01, 0x00, 0x06, 0x00, 0x01, 
    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x48, 0xd1, 0x59, 0x3f, 0xb7, 0x2e, 0xa7, 
    0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 
    0x8e, 0x17, 0x00, 0x07, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x03, 0x20, 
    /* bank # 2 */
    0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x7f, 0xff, 0x00, 0x00, 0x00, 0x05, 0x21, 0xe9, 
    0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 
    0x00, 0x3e, 0x03, 0x30, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 
    0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 
    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 
    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 
    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x60, 0x00, 0x00, 0x00, 
    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 
    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 
    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 
    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 
    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x03, 0x00, 0x0a, 0x01, 0x2b, 0x4a, 0xee, 
    0x06, 0x54, 0xad, 0x11, 0xe3, 0x07, 0x5c, 0x15, 0x36, 0x2b, 0xd0, 0x26, 0xd0, 0x8c, 0x49, 0xa4, 
    0x06, 0x54, 0xad, 0x11, 0x1e, 0x0b, 0xb5, 0x55, 0x38, 0xee, 0x17, 0x50, 0x31, 0x36, 0x3f, 0x03, 
    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 
    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 
    /* bank # 3 */
    ……

    /* bank # 55 */
    0xd9, 0xa9, 0xf2, 0xf8, 0xd8, 0xf5, 0xaf, 0x24, 0xd9, 0xa9, 0xf3, 0xf8, 0xd8, 0xf0, 0xaf, 0xb3, 
    0x89, 0xc4, 0xc7, 0x8f, 0xd0, 0xd4, 0xfd, 0x40, 0xd5, 0xfd, 0x40, 0xb1, 0x88, 0xd0, 0xf5, 0x44, 
    0xd9, 0xa9, 0xf2, 0xf8, 0xd8, 0xaf, 0xf5, 0x6c, 0xd9, 0xa9, 0xf3, 0xf8, 0xd8, 0xb3, 0x8f, 0xb5, 
    0x99, 0xf5, 0xaf, 0x60, 0xd9, 0xaa, 0xf8, 0xf4, 0x37, 0x45, 0xd8, 0xf1, 0xb1, 0x8a, 0xb7, 0x9f, 
    0xaf, 0x59, 0xd9, 0xaa, 0xde, 0xd8, 0xf5, 0xb3, 0x8f, 0xb5, 0x99, 0xaf, 0x68, 0xd9, 0xaa, 0xfa, 
    0xda, 0xaa, 0xdf, 0xd8, 0xf1, 0x8a, 0xaf, 0xd4, 0xfd, 0x00, 0xd5, 0xfd, 0x40, 0x8f, 0xd0, 0xf5, 
    0x14, 0xa9, 0xd0, 0xd9, 0xde, 0xda, 0xf8, 0xd8, 0xaf, 0x3c, 0xa9, 0xd0, 0xd9, 0xdf, 0xda, 0xfa, 
    0xd8, 0xf1, 0x8a, 0xaf, 0xd6, 0xfd, 0x00, 0xd7, 0xfd, 0x40, 0x8f, 0x9a, 0xd0, 0xf5, 0x04, 0xa9, 
    0xd9, 0xf2, 0xf8, 0xd8, 0xaf, 0xf5, 0x2c, 0xa9, 0xd9, 0xf3, 0xf8, 0xd8, 0x8c, 0xaf, 0xf2, 0xc0, 
    0xf1, 0x8f, 0xd4, 0xfd, 0x30, 0xb7, 0x9f, 0x02, 0xfd, 0x1e, 0xd0, 0x10, 0xaf, 0xde, 0xf8, 0xf8, 
    0xf8, 0xf8, 0xf8, 0xf8, 0xbd, 0xbd, 0xbd, 0x93, 0xf5, 0x02, 0xf1, 0xbd, 0xf8, 0xf9, 0xd1, 0xda, 
    0xf4, 0x37, 0xbd, 0xd8, 0xf1, 0xb1, 0x8a, 0x9f, 0x59, 0xda, 0xf4, 0x37, 0xd3, 0xd8, 0xf1, 0xb1, 
    0x8b, 0x9f, 0xaf, 0x51, 0xda, 0xf4, 0x37, 0xd3, 0xd8, 0xf1, 0xb5, 0x9b, 0xb3, 0x8f, 0x41, 0xd9, 
    0xa9, 0xf2, 0xf8, 0xd8, 0xf1, 0xaf, 0xb7, 0x9f, 0xb1, 0x8a, 0x79, 0xda, 0xf4, 0x37, 0xf2, 0xd8, 
    0xf1, 0x8b, 0x71, 0xda, 0xf4, 0x37, 0xf2, 0xd8, 0xf1, 0xb5, 0x9b, 0xb3, 0x8f, 0x49, 0xd9, 0xa9, 
    0xf3, 0xf8, 0xd8, 0xf0, 0xa9, 0xf2, 0xf9, 0xf9, 0xf9, 0xf9, 0xf9, 0xf9, 0xf9, 0xaa, 0xd0, 0xf0, 
    /* bank # 56 */
    0xda, 0xde, 0xf5, 0xe2, 0xf0, 0xd9, 0xf8, 0xd8, 0xa9, 0xf3, 0xf9, 0xf9, 0xf9, 0xf9, 0xf9, 0xf9, 
    0xf9, 0xaa, 0xd0, 0xf0, 0xda, 0xdf, 0xf6, 0xe2, 0xf0, 0xd9, 0xfa, 0xd8, 0xd8, 0xf0, 0xbc, 0xb0, 
    0x80, 0xbd, 0xb4, 0x90, 0xbe, 0xb8, 0xa0, 0xe0, 0xf0, 0xaf, 0xf2, 0x11, 0x3d, 0xf3, 0x15, 0x3d, 
    0xf2, 0xb2, 0x8f, 0xd0, 0xcd, 0xcf, 0xf3, 0xdf, 0xdf, 0xdf, 0xdf, 0xf1, 0xd4, 0xfd, 0x70, 0xd5, 
    0xfd, 0x70, 0xd6, 0xfd, 0x70, 0xd7, 0xfd, 0x70, 0xb6, 0x9f, 0x0c, 0x10, 0x18, 0xf5, 0x00, 0xb5, 
    0x96, 0xf5, 0x18, 0xbb, 0xaf, 0xd0, 0xb7, 0x9f, 0xe0, 0xf0, 0xd0, 0xf3, 0xcf, 0xf2, 0xcc, 0xd0, 
    0xf3, 0xcd, 0xf2, 0xca, 0xd0, 0xf3, 0xcb, 0xf2, 0xc8, 0xd0, 0xf3, 0xc9, 0xe0

这实际上就是DMP的固件二进制代码。

dmp3_image_size实际上就是sizeof(dmp3_image)，即dmp3_image数组的长度（大小）。

现在就能够基本知道inv_icm20948_firmware_load函数的作用了，正如其名，是加载DMP固件到ICM20948的寄存器中。

具体的代码实现细节的解析，请看下回。

标签：ICM20948,icm20948,inv,0x00,DMP,write,result,24,size
From： https://blog.csdn.net/phmatthaus/article/details/142197918

ICM20948 DMP代码详解（24）

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