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@@ -1,2 +1,48 @@
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# ICM 20948 driver for STM32
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+
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+```c
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+
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+#include "icm20948.h"
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+
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+
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+Device_TypeDef *module;
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+
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+void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
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+{
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+ if(GPIO_Pin == ICM_INT_Pin){
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+ module->Read();
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+ }
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+}
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+
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+
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+int main(void)
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+{
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+
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+ // HAL_Init, etc...
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+
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+ axises *my_gyro2 = NULL;
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+ axises *my_accel2 = NULL;
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+
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+ module = &icmModule;
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+
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+ McuPin_typeDef pinCS; // CS for SPI
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+ McuPin_typeDef pinINT; // INT pin from ICM
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+
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+ pinCS.port = SPI2_CS_GPIO_Port;
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+ pinCS.pin = SPI2_CS_Pin;
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+
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+ pinINT.port = ICM_INT_GPIO_Port;
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+ pinINT.pin = ICM_INT_Pin;
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+
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+ // initialization of module
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+ module->Init(&hspi2, &pinCS, &pinINT);
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+
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+ while (1)
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+ {
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+ my_accel2 = module->acc->Get();
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+ my_gyro2 = module->gyro->Get();
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+ }
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+}
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+
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+```
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