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@@ -1,2 +1,87 @@
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# DMP-ICM20948
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+```c
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+// app.cpp
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+
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+extern SPI_HandleTypeDef hspi1;
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+
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+
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+void app(){
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+
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+ DMP_ICM20948 icm;
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+ DMP_ICM20948Settings icmSettings =
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+ {
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+ .i2c_speed = 400000, // i2c clock speed
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+ .is_SPI = false, // Enable SPI, if disable use i2c
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+ .cs_pin = 10, // SPI chip select pin
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+ .spi_speed = 7000000, // SPI clock speed in Hz, max speed is 7MHz
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+ .mode = 1, // 0 = low power mode, 1 = high performance mode
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+ .enable_gyroscope = true, // Enables gyroscope output
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+ .enable_accelerometer = true, // Enables accelerometer output
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+ .enable_magnetometer = true, // Enables magnetometer output // Enables quaternion output
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+ .enable_gravity = true, // Enables gravity vector output
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+ .enable_linearAcceleration = true, // Enables linear acceleration output
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+ .enable_quaternion6 = true, // Enables quaternion 6DOF output
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+ .enable_quaternion9 = true, // Enables quaternion 9DOF output
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+ .enable_har = true, // Enables activity recognition
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+ .enable_steps = true, // Enables step counter
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+ .gyroscope_frequency = 1, // Max frequency = 225, min frequency = 1
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+ .accelerometer_frequency = 1, // Max frequency = 225, min frequency = 1
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+ .magnetometer_frequency = 1, // Max frequency = 70, min frequency = 1
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+ .gravity_frequency = 1, // Max frequency = 225, min frequency = 1
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+ .linearAcceleration_frequency = 1, // Max frequency = 225, min frequency = 1
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+ .quaternion6_frequency = 50, // Max frequency = 225, min frequency = 50
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+ .quaternion9_frequency = 50, // Max frequency = 225, min frequency = 50
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+ .har_frequency = 50, // Max frequency = 225, min frequency = 50
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+ .steps_frequency = 50 // Max frequency = 225, min frequency = 50
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+
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+ };
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+
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+ icm.init(icmSettings);
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+
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+ while(1){
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+
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+ icm.task();
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+ //run_icm20948_accel_controller();
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+ //run_icm20948_gyro_controller();
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+ //run_icm20948_mag_controller();
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+ //run_icm20948_linearAccel_controller();
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+ //run_icm20948_grav_controller();
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+ run_icm20948_quat6_controller(&icm, true);
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+ //run_icm20948_quat9_controller(true);
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+ //run_icm20948_har_controller();
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+ //run_icm20948_steps_controller();
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+ HAL_Delay(100);
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+ }
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+
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+}
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+
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+
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+void run_icm20948_quat6_controller(DMP_ICM20948 *icm20948, uint8_t inEuler)
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+{
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+ float quat_w, quat_x, quat_y, quat_z;
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+ float roll, pitch, yaw;
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+ //char sensor_string_buff[128];
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+ if (inEuler)
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+ {
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+ if (icm20948->euler6DataIsReady())
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+ {
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+ icm20948->readEuler6Data(&roll, &pitch, &yaw);
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+ //sprintf(sensor_string_buff, "Euler6 roll, pitch, yaw(deg): [%f,%f,%f]", roll, pitch, yaw);
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+ //Serial.println(sensor_string_buff);
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+ }
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+ }
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+ else
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+ {
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+ if (icm20948->quat6DataIsReady())
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+ {
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+ icm20948->readQuat6Data(&quat_w, &quat_x, &quat_y, &quat_z);
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+ //sprintf(sensor_string_buff, "Quat6 w, x, y, z (deg): [%f,%f,%f,%f]", quat_w, quat_x, quat_y, quat_z);
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+ //Serial.println(sensor_string_buff);
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+ }
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+ }
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+
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+}
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+
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+
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+```
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