ICM20948.h

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#ifndef ICM20948_H_
#define ICM20948_H_
#define ICM20948_I2C_BUFFER 0x80
 
enum ICM20948_RANGE {
    PLUSMINUS_2G        = 0,
    PLUSMINUS_4G        = 1,
    PLUSMINUS_8G        = 2,
    PLUSMINUS_16G       = 3
};
/*
enum ICM20948_BANDWIDTH {
    BW_10HZ     = 0,
    BW_20HZ     = 1,
    BW_40HZ     = 2,
    BW_75HZ     = 3,
    BW_150HZ    = 4,
    BW_300HZ    = 5,
    BW_600HZ    = 6,
    BW_12OOHZ   = 7,
    BW_HIGHPASS = 8,
    BW_BANDPASS = 9
};
 
enum ICM20948_MODECONFIG {
    MODE_LOW_NOISE = 0,
    MODE_LOW_POWER = 3
};
*/
class ICM20948 {
 
private:
    int I2CBus, I2CAddress;
    char dataBuffer[ICM20948_I2C_BUFFER];
 
    float gyroX = 0.0f;
    float gyroY = 0.0f;
    float gyroZ = 0.0f;
 
    float accX = 0.0f;
    float accY = 0.0f;
    float accZ = 0.0f;
 
  float gyroAbs = 0.0f, accAbs = 0.0f;
 
    float convertGyro(int msb_addr, int lsb_addr);
    float convertAcc(int msb_addr, int lsb_addr);
    int  writeI2CDeviceByte(char address, char value);
    //char readI2CDeviceByte(char address);
    void calculateAbs();
 
  bool _error = false;
    
public:
    ICM20948(int bus, int address);
    void displayMode(int iterations);
 
    int  readFullSensorState();
 
    void WakeUp();
    void GetScale();
    void SetScale250();
    void SetScale2000();
    void ResetChip();
    
    float getGyroX() const { return gyroX; }
    float getGyroY() const { return gyroY; }
    float getGyroZ() const { return gyroZ; }
    
    float getGyroAbs() { return gyroAbs; }
    float getAccAbs() { return accAbs; }
 
    float getAccX() const { return accX; }
    float getAccY() const { return accY; }
    float getAccZ() const { return accZ; }
 
  bool error() const {return _error;}
  void resetError() {_error = false;}
 
};
 
#endif /* ICM20948_H_ */