ICM-20600 auto-test

Hello,

For our ICM-20600 we want to perform auto-test. However, the spec (https://invensense.tdk.com/wp-content/uploads/2015/12/DS-000184-ICM-20600-v1.0.pdf) only mentions:

When the value of the self-test response is within the specified min/max limits of the product specification, the part has passed self-
test.

Moreover, I found some examples for ICM-20602 in DK-20602 eMD-SmartMotion 1.0.5 (https://www.invensense.com/developers/download/dk-20602-emd-smartmotion-1-0-5/?wpdmdl=36816) or Embedded MotionDriver (eMD) ICM-20602 v1.7 for Nucleo board (https://www.invensense.com/developers/download/emd-icm-20602-v1-7-for-nucleo-board/?wpdmdl=36264)

However, it targets ICM-20602 (or 20603 or 20601…) but not 20600.

My question, is how should I define execute self-test ?
- Reuse ICM-20602 code found above with 20602 "board" ?
- implement it myself, but with which values for min/max ? The code example seems to run test multiple times (magic value 200) without explanation from the data-sheet.

Subsidiary question: why could otp_value_zero be zero (in SelfTtest.c::check_{gyro,accel}_self_test()) ?

Thanks,

Marc.