iim 42652 Calibration Advice

Hello,

We have ~10,000 devices with a iim 42652 and are looking to provide a software update to our users to better utilize the IMU capabilities. Unfortunately, we are not currently calibrating the IMUs.

Our devices are communicating with the IMU directly via SPI.

We have been reading through the data sheet and the eMD documentation, but would really appreciate some guidance on a path forward for utilizing the example code to properly calibrate the gyroscope, etc. (like in 5.2 Example Algorithm or 5.9 SELF-TEST EXAMPLE)

We see Ixm42xxxSelfTest.c, as well as in the data sheet functionalities related to USER PROGRAMMABLE OFFSET, SELF_TEST_CONFIG, but would greatly appreciate guidance on how to best utilize these, or any advice on how to best move forward.

Thanks in advance!