Merge remote-tracking branch 'origin/main'

.gitlab-ci.yml

@@ -27,6 +27,10 @@ build_release:
         - (if [ -f changelog.md ]; then scp -r -P 90 ./changelog.md $DEST_IP:$DEST_PATH/$CI_PROJECT_NAME/ ; fi);
         - (if [ -f LICENSE ]; then scp -r -P 90 ./LICENSE $DEST_IP:$DEST_PATH/$CI_PROJECT_NAME/ ; fi);
 
+        # automatic update project
+        - RQ=$(curl --location --request PUT $APOLLO_API/$CI_PROJECT_NAME --header "apiKey:$APOLLO_KEY")
+        - curl --location $APOLLO_API/$CI_PROJECT_NAME/status --header "apiKey:$APOLLO_KEY" --header Content-Type:application/json --data "$RQ"
+
 #doxy_stage:
 #    stage: doxy_stage
 #    image: hrektts/doxygen

readme.md

@@ -1,4 +1,5 @@
 
+
 # ICM 20948 driver for STM32
 
 Basic driver for TDK InvenSense ICM-20948. It support 2 modes:
@@ -6,45 +7,73 @@ Basic driver for TDK InvenSense ICM-20948. It support 2 modes:
 - pooling
 - interrupt
 
-# working modes
+## Public API
+
+Class `Icm20948`
+- `void Stop(void)` - stop the continuous measuring
+- `void Start(void)` - start the automatic/continuous measure
+- `void Sleep() / void Wakeup()`  put to sleep/wakeup sensor
+- `void Reset()` reinitialise sensor
+- `uint8_t GetDataStatus(void)` return 1, when data is ready to read
+- `bool IsReady()` get status information. The state can be changed by Start/Stop methods
+- `uint8_t IsSleep()` return 1, is device is in sleep mode
+- `void Read()` perform data read from device; from all sensors: accelerometer, gyroscope and Magnetometer (if is enabled)
+- `void Calibrate(*config)`  - perform calibration and put configuration (Low pass filter, sample rate, scale) fo sensors, if `config` is not NULL
+- `void SetInterruptSource(source)` Source can be: interrupt_disable, interrupt_DMP_INT1_EN, interrupt_PLL_RDY_EN, interrupt_WOM_INT_EN, interrupt_REG_WOF_EN, interrupt_RAW_DATA_0_RDY_EN
+- public members:
+-- `SensorAccel` - accelerometer
+-- `SensorGyro` - gyroscope
+-- `SensorMag` - magneometer
+
+Public methods in class for sensor representation `Sensor`:
+- `void SetScaleFactor(float sf)`
+- `void SetRange(range) / uint8_t GetRange()`
+- `void SetLowPassFilter(filter) / uint8_t GetLowPassFilter()`
+- `uint8_t SetSampleRate(value) / uint8_t GetSampleRate()`
+- `void Calibrate(void)`
+- `uint8_t GetDataStatus(void)`  return 1 whed data are ready to read
+- `axisesI *GetData(void)` - return pointer to measured data. Data have to be previously read by ICM20948::Read method
+- `bool Read(axisesI *)` peform local read from single sensor
+- `bool ReadUnit(axisesF*)`peform local read from single sensor, make recalculation to real values (acceleration, angular speed) as floats
+
+# Working modes
 
 ## Pooling
 ```c
-
+#include <stdlib.h>
 #include "icm20948.h"
 
-
 int main(void)
 {
   // HAL_Init, etc...
 
   SpiManager manager(&hspi2);
 
-  icm20948_Config config2;
-  config2.pinCS = &pinCS;
-  config2.gyro.low_pass_filter = GYRO_lpf_196_6Hz;
-  config2.gyro.sample_rate = GYRO_samplerate_281_3Hz;
-  config2.accel.low_pass_filter = ACCEL_lpf_246Hz;
-  config2.accel.sample_rate = ACCEL_samplerate_281_3Hz;
+  icm20948_Config config;
+  config.pinCS = &pinCS;
+  config.gyro.low_pass_filter = GYRO_lpf_196_6Hz;
+  config.gyro.sample_rate = GYRO_samplerate_281_3Hz;
+  config.accel.low_pass_filter = ACCEL_lpf_246Hz;
+  config.accel.sample_rate = ACCEL_samplerate_281_3Hz;
 
-  Icm20948 sensor2(&manager, &config2);
+  Icm20948 sensor(&manager, &config2);
 
-  axises *my_gyro2 = NULL;
-  axises *my_accel2 = NULL;
+ axisesF sensor_dataF;  // float values
+ axisesI sensor_dataI;  // int16 values
 
   while (1)
   {
     // read raw values
-    if(sensor2.GetDataStatus() == 1 ){
-      //read data
-      my_accel2 = sensor2.accSensor->Read();
-      my_gyro2 = sensor2.gyroSensor->Read();
-      my_mag2 = sensor2.magSensor->Read();
+    if(sensor.GetDataStatus() == 1 ){
+      //read raw data
+      sensor.accSensor->Read(&sensor_dataI);
+      sensor.gyroSensor->Read(&sensor_dataI);
+      sensor.magSensor->Read(&sensor_dataI);
 
       // or unit conversion
-      my_accel2 = sensor2.accSensor->ReadUnit();
-      my_gyro2 = sensor2.gyroSensor->ReadUnit();
-      my_mag2 = sensor2.magSensor->ReadUnit();
+      sensor.accSensor->ReadUnit(&sensor_dataF);
+      sensor.gyroSensor->ReadUnit(&sensor_dataF);
+      sensor.magSensor->ReadUnit(&sensor_dataF);
     }
 
   }
@@ -105,4 +134,4 @@ int main(void)
   }
 }
 
-```
+```

src/SpiManager.cpp → src/IcmSpiManager.cpp

@@ -1,7 +1,7 @@
 
-#include "SpiManager.h"
+#include "IcmSpiManager.h"
 
-SpiManager::SpiManager(SPI_HandleTypeDef *hspi)
+IcmSpiManager::IcmSpiManager(SPI_HandleTypeDef *hspi)
 {
 	_numDevices = 0;
 	_activeDevice = -1;
@@ -10,27 +10,27 @@ SpiManager::SpiManager(SPI_HandleTypeDef *hspi)
 }
 
 
-uint8_t SpiManager::addSlave(McuPin_typeDef *pin)
+uint8_t IcmSpiManager::addSlave(McuPin_typeDef *pin)
 {
 	_pinCS[_numDevices] = pin;
 	_numDevices++;
 	return _numDevices-1;
 }
 
-void SpiManager::cs_low(uint8_t index)
+void IcmSpiManager::cs_low(uint8_t index)
 {
 	_pinCS[index]->port->BRR = (uint32_t)_pinCS[index]->pin;
 }
 
 
-void SpiManager::cs_high(uint8_t index)
+void IcmSpiManager::cs_high(uint8_t index)
 {
 	_pinCS[index]->port->BSRR = _pinCS[index]->pin;
 }
 
 
 
-void SpiManager::select_user_bank(uint8_t sensorNum, userbank ub)
+void IcmSpiManager::select_user_bank(uint8_t sensorNum, userbank ub)
 {
 	// toto je v poriadku iba pri pouziti jedneho senzora
 	// treba osetrit situaciu, ked je viacero senzorov.
@@ -51,7 +51,7 @@ void SpiManager::select_user_bank(uint8_t sensorNum, userbank ub)
 	cs_high(sensorNum);
 }
 
-void SpiManager::takeBus(uint8_t index)
+void IcmSpiManager::takeBus(uint8_t index)
 {
 	while(_activeDevice >= 0){
 		; // wait
@@ -59,12 +59,12 @@ void SpiManager::takeBus(uint8_t index)
 	_activeDevice = index;
 }
 
-void SpiManager::releaseBus()
+void IcmSpiManager::releaseBus()
 {
 	_activeDevice = -1;
 }
 
-uint8_t* SpiManager::read_multiple_reg(uint8_t sensorNum, userbank ub, uint8_t reg, uint8_t len)
+uint8_t* IcmSpiManager::read_multiple_reg(uint8_t sensorNum, userbank ub, uint8_t reg, uint8_t len)
 {
 	uint8_t read_reg = READ | reg;
 	this->select_user_bank(sensorNum, ub);
@@ -79,7 +79,7 @@ uint8_t* SpiManager::read_multiple_reg(uint8_t sensorNum, userbank ub, uint8_t r
 
 
 
-uint8_t SpiManager::read_single_reg(uint8_t sensorNum, userbank ub, uint8_t reg)
+uint8_t IcmSpiManager::read_single_reg(uint8_t sensorNum, userbank ub, uint8_t reg)
 {
 	uint8_t read_reg = READ | reg;
 	uint8_t reg_val;
@@ -94,7 +94,7 @@ uint8_t SpiManager::read_single_reg(uint8_t sensorNum, userbank ub, uint8_t reg)
 }
 
 
-void SpiManager::write_single_reg(uint8_t sensorNum, userbank ub, uint8_t reg, uint8_t val)
+void IcmSpiManager::write_single_reg(uint8_t sensorNum, userbank ub, uint8_t reg, uint8_t val)
 {
 	uint8_t write_reg[2];
 	write_reg[0] = WRITE | reg;
@@ -108,7 +108,7 @@ void SpiManager::write_single_reg(uint8_t sensorNum, userbank ub, uint8_t reg, u
 }
 
 
-void SpiManager::write_multiple_reg(uint8_t sensorNum, userbank ub, uint8_t reg, uint8_t* val, uint8_t len)
+void IcmSpiManager::write_multiple_reg(uint8_t sensorNum, userbank ub, uint8_t reg, uint8_t* val, uint8_t len)
 {
 	uint8_t write_reg = WRITE | reg;
 	select_user_bank(sensorNum, ub);
@@ -120,7 +120,7 @@ void SpiManager::write_multiple_reg(uint8_t sensorNum, userbank ub, uint8_t reg,
 }
 
 
-uint8_t SpiManager::read_single_external_reg(uint8_t sensorNum, uint8_t reg)
+uint8_t IcmSpiManager::read_single_external_reg(uint8_t sensorNum, uint8_t reg)
 {
 
 	this->write_single_reg(sensorNum, ub_3, B3_I2C_SLV0_ADDR, READ | MAG_SLAVE_ADDR);
@@ -131,7 +131,7 @@ uint8_t SpiManager::read_single_external_reg(uint8_t sensorNum, uint8_t reg)
 	return this->read_single_reg(sensorNum, ub_0, B0_EXT_SLV_SENS_DATA_00);
 }
 
-void SpiManager::write_single_external_reg(uint8_t sensorNum, uint8_t reg, uint8_t val)
+void IcmSpiManager::write_single_external_reg(uint8_t sensorNum, uint8_t reg, uint8_t val)
 {
 	this->write_single_reg(sensorNum, ub_3, B3_I2C_SLV0_ADDR, WRITE | MAG_SLAVE_ADDR);
 	this->write_single_reg(sensorNum, ub_3, B3_I2C_SLV0_REG, reg);
@@ -139,7 +139,7 @@ void SpiManager::write_single_external_reg(uint8_t sensorNum, uint8_t reg, uint8
 	this->write_single_reg(sensorNum, ub_3, B3_I2C_SLV0_CTRL, 0x81);
 }
 
-uint8_t* SpiManager::read_multiple_external_reg(uint8_t sensorNum, uint8_t reg, uint8_t len)
+uint8_t* IcmSpiManager::read_multiple_external_reg(uint8_t sensorNum, uint8_t reg, uint8_t len)
 {
 	this->write_single_reg(sensorNum, ub_3, B3_I2C_SLV0_ADDR, READ | MAG_SLAVE_ADDR);
 	this->write_single_reg(sensorNum, ub_3, B3_I2C_SLV0_REG, reg);

src/SpiManager.h → src/IcmSpiManager.h

@@ -193,7 +193,7 @@ typedef enum
 
 
 
-class SpiManager{
+class IcmSpiManager{
 
 private:
 	uint8_t _numDevices;
@@ -212,7 +212,7 @@ private:
 
 
 public:
-    SpiManager(SPI_HandleTypeDef* hspi);
+    IcmSpiManager(SPI_HandleTypeDef* hspi);
     uint8_t addSlave(McuPin_typeDef *pin);
 
     uint8_t* read_multiple_reg(uint8_t index, userbank ub, uint8_t reg, uint8_t len);

src/icm20948.cpp

@@ -30,7 +30,7 @@ uint16_t ACCEL_SampleRate_Table[15] = {
 };
 
 
-Icm20948::Icm20948(SpiManager *spi, icm20948_Config *config){
+Icm20948::Icm20948(IcmSpiManager *spi, icm20948_Config *config){
 
 	_activeDevice = spi->addSlave(config->pinCS);
 	_spi = spi;
@@ -81,16 +81,19 @@ void Icm20948::Calibrate(icm20948_Config *config)
 	this->accSensor->Calibrate();
 	this->gyroSensor->Calibrate();
 
-	this->gyroSensor->SetLowPassFilter(config->gyro.low_pass_filter);
-	this->accSensor->SetLowPassFilter(config->accel.low_pass_filter);
+	if (config != NULL)
+	{
+		this->gyroSensor->SetLowPassFilter(config->gyro.low_pass_filter);
+		this->accSensor->SetLowPassFilter(config->accel.low_pass_filter);
 
-	this->gyroSensor->SetSampleRate(config->gyro.sample_rate);
-	this->accSensor->SetSampleRate(config->accel.sample_rate);
+		this->gyroSensor->SetSampleRate(config->gyro.sample_rate);
+		this->accSensor->SetSampleRate(config->accel.sample_rate);
 
-	this->accSensor->SetRange(config->accel.full_scale);
-	this->gyroSensor->SetRange(config->gyro.full_scale);
+		this->accSensor->SetRange(config->accel.full_scale);
+		this->gyroSensor->SetRange(config->gyro.full_scale);
 
-	this->ak09916_init(&config->mag);
+		this->ak09916_init(&config->mag);
+	}
 }
 
 bool Icm20948::icm20948_who_am_i()
@@ -317,7 +320,7 @@ uint8_t Icm20948::GetIndex(void)
  * 3) Sensor Mag
  * ---------------------------------------------- */
 
-Sensor::Sensor(SpiManager *spi, int8_t activeDevice){
+Sensor::Sensor(IcmSpiManager *spi, int8_t activeDevice){
 	_spi = spi;
 	_activeDevice = activeDevice;
 	_scaleFactor = 1.0f;
@@ -336,20 +339,20 @@ uint8_t Sensor::GetDataStatus(void)
 	return new_val & 0x01;
 }
 
-bool Sensor::_read_without_scale_factor(axises* data)
+bool Sensor::_read_without_scale_factor(axisesI* data)
 {
 	return this->Read(data);
 }
 
-SensorGyro::SensorGyro(SpiManager *spi, int8_t activeDevice):Sensor(spi, activeDevice){
+SensorGyro::SensorGyro(IcmSpiManager *spi, int8_t activeDevice):Sensor(spi, activeDevice){
 
 }
 
-SensorAccel::SensorAccel(SpiManager *spi, int8_t activeDevice):Sensor(spi, activeDevice){
+SensorAccel::SensorAccel(IcmSpiManager *spi, int8_t activeDevice):Sensor(spi, activeDevice){
 
 }
 
-SensorMag::SensorMag(SpiManager *spi, int8_t activeDevice):Sensor(spi, activeDevice){
+SensorMag::SensorMag(IcmSpiManager *spi, int8_t activeDevice):Sensor(spi, activeDevice){
 
 }
 
@@ -370,26 +373,27 @@ uint8_t Sensor::GetRange(void){
 	return 0;
 }
 
-bool SensorGyro::Read(axises* data)
+//bool SensorGyro::Read(axisesI* data)
+bool SensorGyro::Read(axisesI* localData)
 {
 
 	uint8_t* temp = this->_spi->read_multiple_reg(this->_activeDevice, ub_0, B0_GYRO_XOUT_H, 6);
 
-	data->x = (int16_t)(temp[0] << 8 | temp[1]);
-	data->y = (int16_t)(temp[2] << 8 | temp[3]);
-	data->z = (int16_t)(temp[4] << 8 | temp[5]);
+	localData->x = (int16_t)(temp[0] << 8 | temp[1]);
+	localData->y = (int16_t)(temp[2] << 8 | temp[3]);
+	localData->z = (int16_t)(temp[4] << 8 | temp[5]);
 
 	return true;
 }
 
 
-bool SensorAccel::Read(axises* data)
+bool SensorAccel::Read(axisesI* localData)
 {
 	uint8_t* temp = this->_spi->read_multiple_reg(this->_activeDevice, ub_0, B0_ACCEL_XOUT_H, 6);
 
-	data->x = (int16_t)(temp[0] << 8 | temp[1]);
-	data->y = (int16_t)(temp[2] << 8 | temp[3]);
-	data->z = (int16_t)(temp[4] << 8 | temp[5]) + this->_scaleFactor;
+	localData->x = (int16_t)(temp[0] << 8 | temp[1]);
+	localData->y = (int16_t)(temp[2] << 8 | temp[3]);
+	localData->z = (int16_t)(temp[4] << 8 | temp[5]) + this->_scaleFactor;
 	// Add scale factor because calibraiton function offset gravity acceleration.
 
 	return true;
@@ -398,20 +402,20 @@ bool SensorAccel::Read(axises* data)
 /**
  * Do not use this function to read final data. It is only for calibration of sensor.
  */
-bool SensorAccel::_read_without_scale_factor(axises* data)
+bool SensorAccel::_read_without_scale_factor(axisesI* localData)
 {
 	uint8_t* temp = this->_spi->read_multiple_reg(this->_activeDevice, ub_0, B0_ACCEL_XOUT_H, 6);
 
-	data->x = (int16_t)(temp[0] << 8 | temp[1]);
-	data->y = (int16_t)(temp[2] << 8 | temp[3]);
-	data->z = (int16_t)(temp[4] << 8 | temp[5]);
+	localData->x = (int16_t)(temp[0] << 8 | temp[1]);
+	localData->y = (int16_t)(temp[2] << 8 | temp[3]);
+	localData->z = (int16_t)(temp[4] << 8 | temp[5]);
 	// Add scale factor because calibraiton function offset gravity acceleration.
 
 	return true;
 }
 
 
-bool SensorMag::Read(axises* data)
+bool SensorMag::Read(axisesI* localData)
 {
 	uint8_t* temp;
 	uint8_t drdy;	// data ready
@@ -425,60 +429,60 @@ bool SensorMag::Read(axises* data)
 	hofl = this->_spi->read_single_external_reg(this->_activeDevice, MAG_ST2) & 0x08;
 	if(hofl)	return false;
 
-	data->x = (int16_t)(temp[1] << 8 | temp[0]);
-	data->y = (int16_t)(temp[3] << 8 | temp[2]);
-	data->z = (int16_t)(temp[5] << 8 | temp[4]);
+	localData->x = (int16_t)(temp[1] << 8 | temp[0]);
+	localData->y = (int16_t)(temp[3] << 8 | temp[2]);
+	localData->z = (int16_t)(temp[5] << 8 | temp[4]);
 
 	return true;
 }
 
-bool SensorGyro::ReadUnit(axises* data)
+bool SensorGyro::ReadUnit(axisesF *result)
 {
-	this->Read(data);
+	this->Read(&this->data);
 
-	data->x /= this->_scaleFactor;
-	data->y /= this->_scaleFactor;
-	data->z /= this->_scaleFactor;
+	result->x = this->data.x / this->_scaleFactor;
+	result->y = this->data.y / this->_scaleFactor;
+	result->z = this->data.z / this->_scaleFactor;
 
 	return true;
 }
 
-bool SensorAccel::ReadUnit(axises* data)
+bool SensorAccel::ReadUnit(axisesF *result)
 {
-	this->Read(data);
+	this->Read(&this->data);
 
-	data->x /= this->_scaleFactor;
-	data->y /= this->_scaleFactor;
-	data->z /= this->_scaleFactor;
+	result->x = this->data.x / this->_scaleFactor;
+	result->y = this->data.y / this->_scaleFactor;
+	result->z = this->data.z / this->_scaleFactor;
 
 	return true;
 }
 
-bool SensorMag::ReadUnit(axises* data)
+bool SensorMag::ReadUnit(axisesF *result)
 {
-	axises temp;
-	bool new_data = this->Read(&temp);
+	bool new_data = this->Read(&this->data);
 	if(!new_data)	return false;
 
-	data->x = (float)(temp.x * 0.15);
-	data->y = (float)(temp.y * 0.15);
-	data->z = (float)(temp.z * 0.15);
+	result->x = (float)(data.x * 0.15);
+	result->y = (float)(data.y * 0.15);
+	result->z = (float)(data.z * 0.15);
 
 	return true;
 }
 
 
-axises *SensorAccel::GetData()
+axisesI *SensorAccel::GetData()
 {
 	return &this->data;
 }
 
-axises *SensorGyro::GetData()
+
+axisesI *SensorGyro::GetData()
 {
 	return &this->data;
 }
 
-axises *SensorMag::GetData()
+axisesI *SensorMag::GetData()
 {
 	return &this->data;
 }
@@ -709,7 +713,7 @@ uint8_t SensorGyro::GetRange(void){
 
 void SensorGyro::Calibrate(void)
 {
-	axises temp;
+	axisesI temp;
 	int32_t gyro_bias[3] = {0};
 
 	for(int i = 0; i < 100; i++)
@@ -754,7 +758,7 @@ void SensorGyro::SaveOffset(void)
 
 void SensorAccel::Calibrate()
 {
-	axises temp;
+	axisesI temp;
 	uint8_t* temp2;
 	uint8_t* temp3;
 	uint8_t* temp4;

src/icm20948.h

@@ -12,7 +12,7 @@
 #ifndef __ICM20948_H__
 #define	__ICM20948_H__
 
-#include "SpiManager.h"
+#include "IcmSpiManager.h"
 #include "icm_datatypes.h"
 #include <stdbool.h>
 
@@ -20,15 +20,15 @@
 class Sensor{
 protected:
 	int8_t _activeDevice;
-	SpiManager *_spi;
+	IcmSpiManager *_spi;
 public:
 	float _scaleFactor;
-	axises data;
+	axisesI data;
 	int16_t offset_x;
 	int16_t offset_y;
 	int16_t offset_z;
 
-	Sensor(SpiManager *spi, int8_t _activeDevice);
+	Sensor(IcmSpiManager *spi, int8_t _activeDevice);
 	void SetScaleFactor(float sf);
 	void SetRange();
 	void SetLowPassFilter();
@@ -39,29 +39,29 @@ public:
 	uint8_t CheckLowPassInputValue(uint8_t);
 	void Calibrate(void);
 	uint8_t GetDataStatus(void);
-	bool _read_without_scale_factor(axises* data);
+	bool _read_without_scale_factor(axisesI* data);
 	void SaveOffset(void);
 
 
-	virtual axises *GetData(void) = 0;
-	virtual bool Read(axises *) = 0;
-	virtual bool ReadUnit(axises *) = 0;
+	virtual axisesI *GetData(void) = 0;
+	virtual bool Read(axisesI *) = 0;
+	virtual bool ReadUnit(axisesF *)= 0;
 
 };
 
 class SensorAccel : public Sensor {
 public:
-	SensorAccel(SpiManager *spi, int8_t _activeDevice);
-	axises *GetData(void);
-	bool Read(axises *);
-	bool ReadUnit(axises *);
+	SensorAccel(IcmSpiManager *spi, int8_t _activeDevice);
+	axisesI *GetData(void);
+	bool Read(axisesI *);
+	bool ReadUnit(axisesF*);
 
 	void SetRange(accel_full_scale r);
 	void SetLowPassFilter(accel_dlp_cfg config);
 	uint8_t SetSampleRate(accel_samplerate divider);
 	uint8_t CheckLowPassInputValue(uint8_t);
 	void Calibrate(void);
-	bool _read_without_scale_factor(axises* data);
+	bool _read_without_scale_factor(axisesI* data);
 	void SaveOffset(void);
 
 	uint8_t GetLowPassFilter(void);
@@ -72,10 +72,10 @@ public:
 
 class SensorGyro: public Sensor {
 public:
-	SensorGyro(SpiManager *spi, int8_t _activeDevice);
-	axises *GetData(void);
-	bool Read(axises *);
-	bool ReadUnit(axises *);
+	SensorGyro(IcmSpiManager *spi, int8_t _activeDevice);
+	axisesI *GetData(void);
+	bool Read(axisesI *);
+	bool ReadUnit(axisesF*);
 
 	void SetRange(gyro_full_scale r);
 	void SetLowPassFilter(gyro_dlp_cfg config);
@@ -91,10 +91,10 @@ public:
 
 class SensorMag: public Sensor {
 public:
-	SensorMag(SpiManager *spi, int8_t _activeDevice);
-	axises *GetData(void);
-	bool Read(axises *);
-	bool ReadUnit(axises *);
+	SensorMag(IcmSpiManager *spi, int8_t _activeDevice);
+	axisesI *GetData(void);
+	bool Read(axisesI *);
+	bool ReadUnit(axisesF*);
 };
 
 
@@ -102,7 +102,7 @@ class Icm20948{
 private:
 	uint8_t _numDevices;
 	int8_t _activeDevice;
-	SpiManager *_spi;
+	IcmSpiManager *_spi;
 	McuPin_typeDef *_pinINT;
 	bool _ak09916_enable;
 	bool _sensor_ready;
@@ -126,7 +126,7 @@ public:
 	SensorGyro *gyroSensor;
 	SensorMag *magSensor;
 
-    Icm20948(SpiManager *spi, icm20948_Config *config);
+    Icm20948(IcmSpiManager *spi, icm20948_Config *config);
     void SetInterruptSource(interrupt_source_enum int_source);
     void Calibrate(icm20948_Config *config);
     void Read(void);

src/icm_datatypes.h

@@ -29,7 +29,15 @@ typedef struct
 	float x;
 	float y;
 	float z;
-} axises;
+} axisesF;
+
+typedef struct
+{
+	uint8_t type;
+	int16_t x;
+	int16_t y;
+	int16_t z;
+} axisesI;
 
 
 typedef enum