At present, we are using ICM20602 to debug the SELF-TEST function. Refer to the official demo driver to realize self-test, but the threshold range inside is very large. We have a sensor damaged by ultrasonic waves. The three-axis acceleration outputs half of the range when it is stationary. , can still pass the self-test, can there be a more suitable threshold to judge whether the sensor is normal? At the same time, there are many delays in the self-check program, and the total time is about 1s, which is a bit too long. Can it be reduced to the ms level? Also, is the self-test done every time the power is turned on, or can it be done once at the factory?