# DMP-ICM20948

```c
// app.cpp

void app() {

	DMP_ICM20948 icm;
	DMP_ICM20948Settings icmSettings =
	{
	  .mode = 1,                          // 0 = low power mode, 1 = high performance mode
	  .enable_gyroscope = false,           // Enables gyroscope output
	  .enable_accelerometer = false,       // Enables accelerometer output
	  .enable_magnetometer = false,        // Enables magnetometer output // Enables quaternion output
	  .enable_gravity = false,             // Enables gravity vector output
	  .enable_linearAcceleration = false,  // Enables linear acceleration output
	  .enable_quaternion6 = true,         // Enables quaternion 6DOF output
	  .enable_quaternion9 = false,         // Enables quaternion 9DOF output
	  .enable_har = false,                 // Enables activity recognition
	  .enable_steps = false,               // Enables step counter
	  .gyroscope_frequency = 1,           // Max frequency = 225, min frequency = 1
	  .accelerometer_frequency = 1,       // Max frequency = 225, min frequency = 1
	  .magnetometer_frequency = 1,        // Max frequency = 70, min frequency = 1
	  .gravity_frequency = 1,             // Max frequency = 225, min frequency = 1
	  .linearAcceleration_frequency = 1,  // Max frequency = 225, min frequency = 1
	  .quaternion6_frequency = 50,        // Max frequency = 225, min frequency = 50
	  .quaternion9_frequency = 50,        // Max frequency = 225, min frequency = 50
	  .har_frequency = 50,                // Max frequency = 225, min frequency = 50
	  .steps_frequency = 50               // Max frequency = 225, min frequency = 50

	};

	icm.init(icmSettings);


	while(1){

		    icm.task();
		    //run_icm20948_accel_controller();
		    //run_icm20948_gyro_controller();
		    //run_icm20948_mag_controller();
		    //run_icm20948_linearAccel_controller();
		    //run_icm20948_grav_controller();
		   run_icm20948_quat6_controller(&icm, true);
		    //run_icm20948_quat9_controller(true);
		    //run_icm20948_har_controller();
		    //run_icm20948_steps_controller();

		//HAL_UART_Transmit(&huart2, (const uint8_t*)sensor_string_buff, 5, 1000);

		HAL_Delay(100);
	}

}

```