#pragma once

#ifndef ICM20948_H
#define ICM20948_H

#include "IIMU.h"

#define ACCEL_FCHOICE_OFF 0
#define ACCEL_FCHOICE_ON  1

#define ACCEL_FS_SEL_2  0<<1
#define ACCEL_FS_SEL_4  1<<1
#define ACCEL_FS_SEL_8  2<<1
#define ACCEL_FS_SEL_16 3<<1

#define ACCEL_DLPFCFG_265 0<<3
#define ACCEL_DLPFCFG_136 2<<3
#define ACCEL_DLPFCFG_69  3<<3
#define ACCEL_DLPFCFG_34  4<<3
#define ACCEL_DLPFCFG_17  5<<3
#define ACCEL_DLPFCFG_8   6<<3
#define ACCEL_DLPFCFG_500 7<<3

#define GYRO_FCHOICE_OFF 0
#define GYRO_FCHOICE_ON  1

#define GYRO_FS_SEL_250  0<<1
#define GYRO_FS_SEL_500  1<<1
#define GYRO_FS_SEL_1000 2<<1
#define GYRO_FS_SEL_2000 3<<1

#define GYRO_DLPFCFG_230 0<<3
#define GYRO_DLPFCFG_188 1<<3
#define GYRO_DLPFCFG_154 2<<3
#define GYRO_DLPFCFG_73  3<<3
#define GYRO_DLPFCFG_36  4<<3
#define GYRO_DLPFCFG_18  5<<3
#define GYRO_DLPFCFG_9   6<<3
#define GYRO_DLPFCFG_377 7<<3

#define MAG_DATARATE_10_HZ 0x02
#define MAG_DATARATE_20_HZ 0x04
#define MAG_DATARATE_50_HZ 0x06
#define MAG_DATARATE_100_HZ 0x08

class ICM20948 : IIMU
{
public:
  ICM20948(){};
  ~ICM20948(){};
  
  unsigned char IMU_Addr = 0x68;
  unsigned char IMU_Read_Reg = 0x2D;
  
  void Init();  
  void IMU_SetBank(unsigned char Bank);
  void Get(IMU_Data& Data);
  void GetAsync(const IMU_Proc& DoneProc);
};

#endif