ICM42670.h

#ifndef ICM42670_H
#define ICM42670_H
 
#include <Arduino.h>
#include <Wire.h>

 
class ICM42670 {
public:

    ICM42670();                // default uses Wire
    ICM42670(TwoWire& w);      // optional I2C bus

    bool begin();
 
    bool detectAddress();

    bool reset();
 
    bool readWhoAmI(uint8_t& who);
 
    void calibrateAccel(float *dest1);
    void calibrateGyro(float *dest2);

    bool startAccel(uint16_t odr_hz, uint16_t fsr_g);

    bool startGyro(uint16_t odr_hz, uint16_t fsr_dps);

    bool readSensorData(float& ax, float& ay, float& az,
        float& gx, float& gy, float& gz, float& t);

    bool enableAccelGyroLnMode(void);

    bool startWithDefaultValues(void);
 
private:
    TwoWire* wire;
    uint8_t address;
    float aRes;
    float gRes;
 
    bool readByte(uint8_t reg, uint8_t& value);
    bool readBytes(uint8_t reg, uint8_t* buffer, size_t len);
    bool writeByte(uint8_t reg, uint8_t value);
};

 
#endif