# ICM 20948 driver for STM32

Basic driver for TDK InvenSense ICM-20948. It support 2 modes:

- pooling
- interrupt

# working modes

## Pooling
```c

#include "icm20948.h"


Device_TypeDef *module;

void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
{
	if(GPIO_Pin == ICM_INT_Pin){
		module->Read();
	}
}


int main(void)
{
  // HAL_Init, etc...

  axises *my_gyro2 = NULL;
  axises *my_accel2 = NULL;

  module = &icmModule;

  McuPin_typeDef pinCS;   // CS for SPI
  McuPin_typeDef pinINT;  // INT pin from ICM

  pinCS.port = SPI2_CS_GPIO_Port;
  pinCS.pin = SPI2_CS_Pin;

  // initialization of module
  module->Init(&hspi2, &pinCS, NULL);

  while (1)
  {
    // read raw values
    module->acc->Read(&my_accel);
    module->gyro->Read(my_gyro2);
    module->mag->Read(&my_mag);

    // or unit conversion
    module->acc->ReadUnit(&my_accel);
    module->gyro->ReadUnit(&my_gyro);
    module->mag->ReadUnit(&my_mag);

    HAL_Delay(10);  // waint 10 ms
  }
}

```

## Interrupt

```c

#include "icm20948.h"


Device_TypeDef *module;
volatile uint8_t icm_ready;


void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
{
  if(GPIO_Pin == ICM_INT_Pin){
    icm_ready = 1;
  }
}


int main(void)
{

  // HAL_Init, etc...

  axises *my_gyro2 = NULL;
  axises *my_accel2 = NULL;

  module = &icmModule;

  McuPin_typeDef pinCS;   // CS for SPI
  McuPin_typeDef pinINT;  // INT pin from ICM

  pinCS.port = SPI2_CS_GPIO_Port;
  pinCS.pin = SPI2_CS_Pin;

  pinINT.port = ICM_INT_GPIO_Port;
  pinINT.pin = ICM_INT_Pin;

  // initialization of module
  module->Init(&hspi2, &pinCS, &pinINT);

  while (1)
  {
    if(icm_ready == 1){
      module->Read();
      icm_ready = 0;

      my_accel2 = module->acc->GetData();
      my_gyro2 = module->gyro->GetData();

      // ....
    }
  }
}

```