\doxysection{Dev\+Lab\+\_\+\+ICM20948.\+h}
\hypertarget{DevLab__ICM20948_8h_source}{}\label{DevLab__ICM20948_8h_source}\index{src/DevLab\_ICM20948.h@{src/DevLab\_ICM20948.h}}
\mbox{\hyperlink{DevLab__ICM20948_8h}{Go to the documentation of this file.}}
\begin{DoxyCode}{0}
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\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00015}00015\ \{}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00016}00016\ \ \ \mbox{\hyperlink{DevLab__ICM20948_8h_ad14b8d7e0be37ca0ccaf45ccc31c18bbaeb5ecad776b2d1994801f86a1046bdd4}{MODE\_POWER\_DOWN}}\ =\ 0x00,}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00017}00017\ \ \ \mbox{\hyperlink{DevLab__ICM20948_8h_ad14b8d7e0be37ca0ccaf45ccc31c18bba7974d706e59ca8d22b8782dfdabce86e}{MODE\_SINGLE\_MEASUREMENT}}\ =\ 0x01,}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00018}00018\ \ \ \mbox{\hyperlink{DevLab__ICM20948_8h_ad14b8d7e0be37ca0ccaf45ccc31c18bbaf2654418af9eab4757668f4339177c53}{MODE\_CONTINUOUS\_1}}\ =\ 0x02,}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00019}00019\ \ \ \mbox{\hyperlink{DevLab__ICM20948_8h_ad14b8d7e0be37ca0ccaf45ccc31c18bba2e879cf4786e911224250d6b0194a582}{MODE\_CONTINUOUS\_2}}\ =\ 0x04,}
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\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00022}00022\ \ \ \mbox{\hyperlink{DevLab__ICM20948_8h_ad14b8d7e0be37ca0ccaf45ccc31c18bba6c83671c670b651f57b5b009b6a2229b}{MODE\_SELF\_TEST}}\ =\ 0x10}
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\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00024}00024\ }
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00025}\mbox{\hyperlink{DevLab__ICM20948_8h_a4f34ad1572aec922143a5ffa9420879a}{00025}}\ \textcolor{keyword}{enum\ class}\ \mbox{\hyperlink{DevLab__ICM20948_8h_a4f34ad1572aec922143a5ffa9420879a}{ICM20948\_Clock\_Source}}\ :\ uint8\_t}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00026}00026\ \{}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00027}00027\ \ \ \mbox{\hyperlink{DevLab__ICM20948_8h_a4f34ad1572aec922143a5ffa9420879aa59e0b75b3c047b4b832b0200d782ddb2}{INTERNAL\_20MHZ\_0}}\ =\ 0x00,\ \textcolor{comment}{//\ Internal\ oscillator}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00028}00028\ \ \ \mbox{\hyperlink{DevLab__ICM20948_8h_a4f34ad1572aec922143a5ffa9420879aaca6f1905f220d913cfd3c5769e94178d}{AUTO\_PLL\_1}}\ =\ 0x01,\ \ \ \ \ \ \ \textcolor{comment}{//\ Auto\ select\ (PLL\ if\ ready)}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00029}00029\ \ \ \mbox{\hyperlink{DevLab__ICM20948_8h_a4f34ad1572aec922143a5ffa9420879aa8156f3cf9e11a725117e88d4883a803f}{AUTO\_PLL\_2}}\ =\ 0x02,}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00030}00030\ \ \ \mbox{\hyperlink{DevLab__ICM20948_8h_a4f34ad1572aec922143a5ffa9420879aa16768ce535258a7ee3506f317048add4}{AUTO\_PLL\_3}}\ =\ 0x03,}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00031}00031\ \ \ \mbox{\hyperlink{DevLab__ICM20948_8h_a4f34ad1572aec922143a5ffa9420879aabf1e35c8f4cd0c9f0809e187db8d24b7}{AUTO\_PLL\_4}}\ =\ 0x04,}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00032}00032\ \ \ \mbox{\hyperlink{DevLab__ICM20948_8h_a4f34ad1572aec922143a5ffa9420879aa808a0d936ba42cccdd8646ff2f3fc181}{AUTO\_PLL\_5}}\ =\ 0x05,}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00033}00033\ \ \ \mbox{\hyperlink{DevLab__ICM20948_8h_a4f34ad1572aec922143a5ffa9420879aa366429873bd2a3e635e2f5e9444e8c65}{INTERNAL\_20MHZ\_6}}\ =\ 0x06,\ \textcolor{comment}{//\ Internal\ oscillator}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00034}00034\ \ \ \mbox{\hyperlink{DevLab__ICM20948_8h_a4f34ad1572aec922143a5ffa9420879aaa00d9d4605cdcd9e604bdcc6b43188e7}{STOP\_CLOCK}}\ =\ 0x07\ \ \ \ \ \ \ \ \textcolor{comment}{//\ Stops\ clock,\ timing\ generator\ reset}}
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\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00036}00036\ }
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00037}\mbox{\hyperlink{DevLab__ICM20948_8h_a9f4d08566440cf9c577724b075c59aa1}{00037}}\ \textcolor{keyword}{enum\ class}\ \mbox{\hyperlink{DevLab__ICM20948_8h_a9f4d08566440cf9c577724b075c59aa1}{ICM20948\_Gyro\_DLPF}}\ :\ uint8\_t}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00038}00038\ \{}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00039}00039\ \ \ \mbox{\hyperlink{DevLab__ICM20948_8h_a9f4d08566440cf9c577724b075c59aa1a662ccb78ed3b42f60e60feeb4152f02d}{DLPF\_196HZ}}\ =\ 0x00,\ \textcolor{comment}{//\ BW\ ≈\ 196.6\ Hz,\ NBW\ ≈\ 229.8\ Hz}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00040}00040\ \ \ \mbox{\hyperlink{DevLab__ICM20948_8h_a9f4d08566440cf9c577724b075c59aa1a28104648b3e4be8f7935c4e33a93f86d}{DLPF\_151HZ}}\ =\ 0x01,\ \textcolor{comment}{//\ BW\ ≈\ 151.8\ Hz,\ NBW\ ≈\ 187.6\ Hz}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00041}00041\ \ \ \mbox{\hyperlink{DevLab__ICM20948_8h_a9f4d08566440cf9c577724b075c59aa1a743e10bbb0a9ee5ed323e4730038d0ea}{DLPF\_119HZ}}\ =\ 0x02,\ \textcolor{comment}{//\ BW\ ≈\ 119.5\ Hz,\ NBW\ ≈\ 154.3\ Hz}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00042}00042\ \ \ \mbox{\hyperlink{DevLab__ICM20948_8h_a9f4d08566440cf9c577724b075c59aa1aacd670919f63d087c79b5d1768c5f790}{DLPF\_51HZ}}\ =\ 0x03,\ \ \textcolor{comment}{//\ BW\ ≈\ 51.2\ Hz,\ \ NBW\ ≈\ 73.3\ Hz}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00043}00043\ \ \ \mbox{\hyperlink{DevLab__ICM20948_8h_a9f4d08566440cf9c577724b075c59aa1af0563928829b8e022a67761651b4ccd3}{DLPF\_23HZ}}\ =\ 0x04,\ \ \textcolor{comment}{//\ BW\ ≈\ 23.9\ Hz,\ \ NBW\ ≈\ 35.9\ Hz}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00044}00044\ \ \ \mbox{\hyperlink{DevLab__ICM20948_8h_a9f4d08566440cf9c577724b075c59aa1a42f1efcd8f9af5f24fecd31ca9a61dee}{DLPF\_11HZ}}\ =\ 0x05,\ \ \textcolor{comment}{//\ BW\ ≈\ 11.6\ Hz,\ \ NBW\ ≈\ 17.8\ Hz}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00045}00045\ \ \ \mbox{\hyperlink{DevLab__ICM20948_8h_a9f4d08566440cf9c577724b075c59aa1a0a652e865481fdc15eb7b725dec06c16}{DLPF\_5HZ}}\ =\ 0x06,\ \ \ \textcolor{comment}{//\ BW\ ≈\ 5.7\ Hz,\ \ \ NBW\ ≈\ 8.9\ Hz}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00046}00046\ \ \ \mbox{\hyperlink{DevLab__ICM20948_8h_a9f4d08566440cf9c577724b075c59aa1ad73ac78850a4c2472ecf9b9d4352193a}{DLPF\_361HZ}}\ =\ 0x07\ \ \textcolor{comment}{//\ BW\ ≈\ 361.4\ Hz,\ NBW\ ≈\ 376.5\ Hz}}
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\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00048}00048\ }
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00049}\mbox{\hyperlink{DevLab__ICM20948_8h_a6b88764d5f92bd1ed524fdc1f8b87088}{00049}}\ \textcolor{keyword}{enum\ class}\ \mbox{\hyperlink{DevLab__ICM20948_8h_a6b88764d5f92bd1ed524fdc1f8b87088}{ICM20948\_Gyro\_Average}}\ :\ uint8\_t}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00050}00050\ \{}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00051}00051\ \ \ \mbox{\hyperlink{DevLab__ICM20948_8h_a6b88764d5f92bd1ed524fdc1f8b87088a0e1dad64ff226da838c42ef470c44130}{AVG\_1}}\ =\ 0x00,\ \ \ \ \ \ \textcolor{comment}{//\ 1x\ Average\ (no\ averaging)}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00052}00052\ \ \ \mbox{\hyperlink{DevLab__ICM20948_8h_a6b88764d5f92bd1ed524fdc1f8b87088a88daf0edb8c43762591eb529182359a3}{AVG\_2}}\ =\ 0x01,\ \ \ \ \ \ \textcolor{comment}{//\ 2x\ Average}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00053}00053\ \ \ \mbox{\hyperlink{DevLab__ICM20948_8h_a6b88764d5f92bd1ed524fdc1f8b87088a4f91b71e175d17b54f72111f8a2f448f}{AVG\_4}}\ =\ 0x02,\ \ \ \ \ \ \textcolor{comment}{//\ 4x\ Average}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00054}00054\ \ \ \mbox{\hyperlink{DevLab__ICM20948_8h_a6b88764d5f92bd1ed524fdc1f8b87088a682b1e1305b78c070fc0d38523969924}{AVG\_8}}\ =\ 0x03,\ \ \ \ \ \ \textcolor{comment}{//\ 8x\ Average\ }}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00055}00055\ \ \ \mbox{\hyperlink{DevLab__ICM20948_8h_a6b88764d5f92bd1ed524fdc1f8b87088ad52a23a3a06614aefd7b8c55510f95f6}{AVG\_16}}\ =\ 0x04,\ \ \ \ \ \textcolor{comment}{//\ Average\ 16\ samples}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00056}00056\ \ \ \mbox{\hyperlink{DevLab__ICM20948_8h_a6b88764d5f92bd1ed524fdc1f8b87088a5a625254a69fb541caa23fed503c1e2b}{AVG\_32}}\ =\ 0x05,\ \ \ \ \ \ \textcolor{comment}{//\ Average\ 32\ samples}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00057}00057\ \ \ \mbox{\hyperlink{DevLab__ICM20948_8h_a6b88764d5f92bd1ed524fdc1f8b87088ac36b80b074a6c01ebbb930bce9b15f93}{AVG\_64}}\ =\ 0x06,\ \ \ \ \ \textcolor{comment}{//\ Average\ 64\ samples}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00058}00058\ \ \ \mbox{\hyperlink{DevLab__ICM20948_8h_a6b88764d5f92bd1ed524fdc1f8b87088a42196be320909c8dda602c04785329d4}{AVG\_128}}\ =\ 0x07\ \ \ \ \ \textcolor{comment}{//\ Average\ 128\ samples}}
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\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00060}\mbox{\hyperlink{DevLab__ICM20948_8h_a409a608f5c864bb503bf1a65b164de7d}{00060}}\ \textcolor{keyword}{enum\ class}\ \mbox{\hyperlink{DevLab__ICM20948_8h_a409a608f5c864bb503bf1a65b164de7d}{ICM20948\_Gyro\_FullScale}}\ :\ uint8\_t}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00061}00061\ \{}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00062}00062\ \ \ \mbox{\hyperlink{DevLab__ICM20948_8h_a409a608f5c864bb503bf1a65b164de7da280ca4444fdadaea21eee0318f1058cd}{DPS\_250}}\ =\ 0x00,\ \ \textcolor{comment}{//\ ±250\ dps}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00063}00063\ \ \ \mbox{\hyperlink{DevLab__ICM20948_8h_a409a608f5c864bb503bf1a65b164de7daa6c595a11edc7bce59747f5b079f2c4e}{DPS\_500}}\ =\ 0x01,\ \ \textcolor{comment}{//\ ±500\ dps}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00064}00064\ \ \ \mbox{\hyperlink{DevLab__ICM20948_8h_a409a608f5c864bb503bf1a65b164de7dafb97ded09a3f4b47d17ccccb847fbe63}{DPS\_1000}}\ =\ 0x02,\ \textcolor{comment}{//\ ±1000\ dps}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00065}00065\ \ \ \mbox{\hyperlink{DevLab__ICM20948_8h_a409a608f5c864bb503bf1a65b164de7da7a03fe4c8dae7b2cc724db90de97f53f}{DPS\_2000}}\ =\ 0x03\ \ \textcolor{comment}{//\ ±2000\ dps}}
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\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00067}00067\ }
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00068}\mbox{\hyperlink{DevLab__ICM20948_8h_a7d56bdd11158e2d05da5c9317fadee05}{00068}}\ \textcolor{keyword}{enum\ class}\ \mbox{\hyperlink{DevLab__ICM20948_8h_a7d56bdd11158e2d05da5c9317fadee05}{ICM20948\_Accel\_FullScale}}\ :\ uint8\_t}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00069}00069\ \{}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00070}00070\ \ \ \mbox{\hyperlink{DevLab__ICM20948_8h_a7d56bdd11158e2d05da5c9317fadee05aade318cc7367b7f1b4127eddc5f4899f}{G\_2}}\ =\ 0x00,\ \textcolor{comment}{//\ ±2g}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00071}00071\ \ \ \mbox{\hyperlink{DevLab__ICM20948_8h_a7d56bdd11158e2d05da5c9317fadee05abda3c606e1ce64e3bda86c1fe6232693}{G\_4}}\ =\ 0x01,\ \textcolor{comment}{//\ ±4g}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00072}00072\ \ \ \mbox{\hyperlink{DevLab__ICM20948_8h_a7d56bdd11158e2d05da5c9317fadee05a7526fbbb8f59b17de642323ac8f156aa}{G\_8}}\ =\ 0x02,\ \textcolor{comment}{//\ ±8g}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00073}00073\ \ \ \mbox{\hyperlink{DevLab__ICM20948_8h_a7d56bdd11158e2d05da5c9317fadee05a0ab58ba0a5550a73055a08e4c20ee549}{G\_16}}\ =\ 0x03\ \textcolor{comment}{//\ ±16g}}
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\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00075}00075\ }
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00076}\mbox{\hyperlink{DevLab__ICM20948_8h_a792c56c75cabcab23c273bd9a48aefa9}{00076}}\ \textcolor{keyword}{enum\ class}\ \mbox{\hyperlink{DevLab__ICM20948_8h_a792c56c75cabcab23c273bd9a48aefa9}{ICM20948\_Accel\_Average}}\ :\ uint8\_t}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00077}00077\ \{}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00078}00078\ \ \ \mbox{\hyperlink{DevLab__ICM20948_8h_a792c56c75cabcab23c273bd9a48aefa9aebd0ae3f26f35e0266d46e0b767eeadc}{AVG\_1\_OR\_4}}\ =\ 0x00,\ \textcolor{comment}{//\ Depends\ on\ ACCEL\_FCHOICE}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00079}00079\ \ \ \mbox{\hyperlink{DevLab__ICM20948_8h_a6b88764d5f92bd1ed524fdc1f8b87088a682b1e1305b78c070fc0d38523969924}{AVG\_8}}\ =\ 0x01,\ \ \ \ \ \ \textcolor{comment}{//\ Average\ 8\ samples}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00080}00080\ \ \ \mbox{\hyperlink{DevLab__ICM20948_8h_a6b88764d5f92bd1ed524fdc1f8b87088ad52a23a3a06614aefd7b8c55510f95f6}{AVG\_16}}\ =\ 0x02,\ \ \ \ \ \textcolor{comment}{//\ Average\ 16\ samples}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00081}00081\ \ \ \mbox{\hyperlink{DevLab__ICM20948_8h_a6b88764d5f92bd1ed524fdc1f8b87088a5a625254a69fb541caa23fed503c1e2b}{AVG\_32}}\ =\ 0x03\ \ \ \ \ \ \textcolor{comment}{//\ Average\ 32\ samples}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00082}00082\ \};}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00083}00083\ }
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00084}\mbox{\hyperlink{DevLab__ICM20948_8h_a62506f4660c8cca0e4f2d55cc6cea833}{00084}}\ \textcolor{keyword}{enum\ class}\ \mbox{\hyperlink{DevLab__ICM20948_8h_a62506f4660c8cca0e4f2d55cc6cea833}{ICM20948\_Accel\_DLPFCFG}}\ :\ uint8\_t}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00085}00085\ \{}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00086}00086\ \ \ \mbox{\hyperlink{DevLab__ICM20948_8h_a62506f4660c8cca0e4f2d55cc6cea833a13cbb7979b56e04b08ae1fce52de8920}{DLPF0\_246HZ}}\ =\ 0x00,\ \textcolor{comment}{//\ BW\ ≈\ 246\ Hz,\ NBW\ ≈\ 265\ Hz}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00087}00087\ \ \ \mbox{\hyperlink{DevLab__ICM20948_8h_a62506f4660c8cca0e4f2d55cc6cea833aeeb64eacdc3d03767db5a3801123bfb4}{DLPF\_246HZ}}\ =\ 0x01,\ \textcolor{comment}{//\ BW\ ≈\ 246\ Hz,\ NBW\ ≈\ 265\ Hz}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00088}00088\ \ \ \mbox{\hyperlink{DevLab__ICM20948_8h_a62506f4660c8cca0e4f2d55cc6cea833afe0dbe8c5c9de890080dc391ebe993c9}{DLPF\_111HZ}}\ =\ 0x02,\ \textcolor{comment}{//\ BW\ ≈\ 111\ Hz,\ NBW\ ≈\ 136\ Hz}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00089}00089\ \ \ \mbox{\hyperlink{DevLab__ICM20948_8h_a62506f4660c8cca0e4f2d55cc6cea833a1b0dedc13cdfd5d62bb48c2ad2fa704b}{DLPF\_50HZ}}\ =\ 0x03,\ \ \textcolor{comment}{//\ BW\ ≈\ 50\ Hz,\ \ NBW\ ≈\ 68.8\ Hz}}
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\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00091}00091\ \ \ \mbox{\hyperlink{DevLab__ICM20948_8h_a62506f4660c8cca0e4f2d55cc6cea833aa94e8735e478a9c88792525ccbcc679a}{DLPF\_12HZ}}\ =\ 0x05,\ \ \textcolor{comment}{//\ BW\ ≈\ 12\ Hz,\ \ NBW\ ≈\ 17\ Hz}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00092}00092\ \ \ \mbox{\hyperlink{DevLab__ICM20948_8h_a62506f4660c8cca0e4f2d55cc6cea833afc7f83a30afbfee6d61610e4089ac326}{DLPF\_6HZ}}\ =\ 0x06,\ \ \ \textcolor{comment}{//\ BW\ ≈\ 6\ Hz,\ \ \ NBW\ ≈\ 8.3\ Hz}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00093}00093\ \ \ \mbox{\hyperlink{DevLab__ICM20948_8h_a62506f4660c8cca0e4f2d55cc6cea833af80e05f16aaf83801216cef7d6a5446f}{DLPF\_473HZ}}\ =\ 0x07,\ \textcolor{comment}{//\ BW\ ≈\ 473\ Hz,\ NBW\ ≈\ 499\ Hz}}
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\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00095}00095\ \textcolor{comment}{}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00096}00096\ \textcolor{comment}{/**}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00097}00097\ \textcolor{comment}{\ *\ ICM20948\_IntPinConfig}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00098}00098\ \textcolor{comment}{\ *}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00099}00099\ \textcolor{comment}{\ *\ -\/\ Physical\ configuration\ of\ the\ INT\ pin\ (INT\_PIN\_CFG\ register,\ BANK\ 0)}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00100}00100\ \textcolor{comment}{\ *\ -\/\ Controls\ electrical\ behavior\ and\ clear\ condition\ of\ the\ interrupt\ line}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00101}00101\ \textcolor{comment}{\ *\ -\/\ Pass\ to\ intInit()\ to\ apply\ settings}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00102}00102\ \textcolor{comment}{\ */}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00103}\mbox{\hyperlink{structICM20948__IntPinConfig}{00103}}\ \textcolor{keyword}{struct\ }\mbox{\hyperlink{structICM20948__IntPinConfig}{ICM20948\_IntPinConfig}}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00104}00104\ \{}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00105}\mbox{\hyperlink{structICM20948__IntPinConfig_a5bab37898a5ad12279ae46748d5400cf}{00105}}\ \ \ uint8\_t\ \mbox{\hyperlink{structICM20948__IntPinConfig_a5bab37898a5ad12279ae46748d5400cf}{activeLevel}}\ \ \ \ :\ 1;\ \ \textcolor{comment}{//\ bit\ 7\ |\ 0\ =\ active\ high,\ \ \ \ \ \ \ 1\ =\ active\ low}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00106}\mbox{\hyperlink{structICM20948__IntPinConfig_af8cd3194154cbe96ee8042e0feebbc39}{00106}}\ \ \ uint8\_t\ \mbox{\hyperlink{structICM20948__IntPinConfig_af8cd3194154cbe96ee8042e0feebbc39}{driveMode}}\ \ \ \ \ \ :\ 1;\ \ \textcolor{comment}{//\ bit\ 6\ |\ 0\ =\ push-\/pull,\ \ \ \ \ \ \ \ \ 1\ =\ open-\/drain}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00107}\mbox{\hyperlink{structICM20948__IntPinConfig_ae1451bd05cabcea7fcada08028553753}{00107}}\ \ \ uint8\_t\ \mbox{\hyperlink{structICM20948__IntPinConfig_ae1451bd05cabcea7fcada08028553753}{latchMode}}\ \ \ \ \ \ :\ 1;\ \ \textcolor{comment}{//\ bit\ 5\ |\ 0\ =\ pulse\ 50µs,\ \ \ \ \ \ \ \ 1\ =\ latch\ held}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00108}\mbox{\hyperlink{structICM20948__IntPinConfig_a6dd7d0d00d7f06c42cf51752d57e13dd}{00108}}\ \ \ uint8\_t\ \mbox{\hyperlink{structICM20948__IntPinConfig_a6dd7d0d00d7f06c42cf51752d57e13dd}{clearMode}}\ \ \ \ \ \ :\ 1;\ \ \textcolor{comment}{//\ bit\ 4\ |\ 0\ =\ read\ INT\_STATUS,\ \ \ 1\ =\ any\ read}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00109}\mbox{\hyperlink{structICM20948__IntPinConfig_a31e303e6779d760cab50e5302930d1a2}{00109}}\ \ \ uint8\_t\ \mbox{\hyperlink{structICM20948__IntPinConfig_a31e303e6779d760cab50e5302930d1a2}{fsyncActLevel}}\ \ :\ 1;\ \ \textcolor{comment}{//\ bit\ 3\ |\ 0\ =\ FSYNC\ active\ high,\ 1\ =\ FSYNC\ active\ low}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00110}\mbox{\hyperlink{structICM20948__IntPinConfig_a6eb25bd804e5571506469674bf924323}{00110}}\ \ \ uint8\_t\ \mbox{\hyperlink{structICM20948__IntPinConfig_a6eb25bd804e5571506469674bf924323}{fsyncIntEn}}\ \ \ \ \ :\ 1;\ \ \textcolor{comment}{//\ bit\ 2\ |\ 0\ =\ FSYNC\ disabled,\ \ \ \ 1\ =\ FSYNC\ as\ interrupt}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00111}\mbox{\hyperlink{structICM20948__IntPinConfig_a395907b185a1d0bfe2526f4931c7138e}{00111}}\ \ \ uint8\_t\ \mbox{\hyperlink{structICM20948__IntPinConfig_a395907b185a1d0bfe2526f4931c7138e}{bypassEn}}\ \ \ \ \ \ \ :\ 1;\ \ \textcolor{comment}{//\ bit\ 1\ |\ 0\ =\ normal,\ \ \ \ \ \ \ \ \ \ \ \ 1\ =\ I2C\ bypass\ mode}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00112}00112\ \};}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00113}00113\ \textcolor{comment}{}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00114}00114\ \textcolor{comment}{/**}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00115}00115\ \textcolor{comment}{\ *\ ICM20948\_IntEnableConfig}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00116}00116\ \textcolor{comment}{\ *}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00117}00117\ \textcolor{comment}{\ *\ -\/\ Selects\ which\ interrupt\ sources\ are\ routed\ to\ the\ INT\ pin}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00118}00118\ \textcolor{comment}{\ *\ -\/\ Covers\ INT\_ENABLE\ (0x10),\ INT\_ENABLE\_1\ (0x11),\ INT\_ENABLE\_2\ (0x12),\ INT\_ENABLE\_3\ (0x13)}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00119}00119\ \textcolor{comment}{\ *\ -\/\ FIFO\ overflow\ and\ watermark\ fields\ are\ per-\/channel\ arrays\ [0]–[4]}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00120}00120\ \textcolor{comment}{\ *\ -\/\ Pass\ to\ intEnableConfig()\ to\ write\ all\ four\ registers\ in\ one\ call}}
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\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00122}\mbox{\hyperlink{structICM20948__IntEnableConfig}{00122}}\ \textcolor{keyword}{struct\ }\mbox{\hyperlink{structICM20948__IntEnableConfig}{ICM20948\_IntEnableConfig}}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00123}00123\ \{}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00124}00124\ \ \ \textcolor{comment}{//\ -\/-\/-\/\ INT\_ENABLE\ (0x10)\ -\/-\/-\/}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00125}\mbox{\hyperlink{structICM20948__IntEnableConfig_ad8e41ee5fb54f5f168e2429d09ea900e}{00125}}\ \ \ uint8\_t\ \mbox{\hyperlink{structICM20948__IntEnableConfig_ad8e41ee5fb54f5f168e2429d09ea900e}{wofEn}}\ \ \ \ \ \ \ \ :\ 1;\ \ \textcolor{comment}{//\ Wake\ on\ FSYNC}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00126}\mbox{\hyperlink{structICM20948__IntEnableConfig_a2c13cfee0f9e9e73a152599540dc8e0f}{00126}}\ \ \ uint8\_t\ \mbox{\hyperlink{structICM20948__IntEnableConfig_a2c13cfee0f9e9e73a152599540dc8e0f}{womIntEn}}\ \ \ \ \ :\ 1;\ \ \textcolor{comment}{//\ Wake\ on\ motion}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00127}\mbox{\hyperlink{structICM20948__IntEnableConfig_ad5823eddb88b1463692d7fe5363ca6f9}{00127}}\ \ \ uint8\_t\ \mbox{\hyperlink{structICM20948__IntEnableConfig_ad5823eddb88b1463692d7fe5363ca6f9}{pllRdyEn}}\ \ \ \ \ :\ 1;\ \ \textcolor{comment}{//\ PLL\ ready}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00128}\mbox{\hyperlink{structICM20948__IntEnableConfig_a5640acb7eedb2bf36876d7b3651988da}{00128}}\ \ \ uint8\_t\ \mbox{\hyperlink{structICM20948__IntEnableConfig_a5640acb7eedb2bf36876d7b3651988da}{dmpInt1En}}\ \ \ \ :\ 1;\ \ \textcolor{comment}{//\ DMP\ interrupt}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00129}\mbox{\hyperlink{structICM20948__IntEnableConfig_aff622326c928640c8f9576a7c9834be7}{00129}}\ \ \ uint8\_t\ \mbox{\hyperlink{structICM20948__IntEnableConfig_aff622326c928640c8f9576a7c9834be7}{i2cMstIntEn}}\ \ :\ 1;\ \ \textcolor{comment}{//\ I2C\ master\ interrupt}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00130}00130\ }
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00131}00131\ \ \ \textcolor{comment}{//\ -\/-\/-\/\ INT\_ENABLE\_1\ (0x11)\ -\/-\/-\/}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00132}\mbox{\hyperlink{structICM20948__IntEnableConfig_a6764938aee3f8d6c6e070851872cc388}{00132}}\ \ \ uint8\_t\ \mbox{\hyperlink{structICM20948__IntEnableConfig_a6764938aee3f8d6c6e070851872cc388}{rawDataRdyEn}}\ :\ 1;\ \ \textcolor{comment}{//\ Raw\ data\ ready}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00133}00133\ }
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00134}00134\ \ \ \textcolor{comment}{//\ -\/-\/-\/\ INT\_ENABLE\_2\ (0x12)\ -\/-\/-\/\ canal\ por\ canal}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00135}\mbox{\hyperlink{structICM20948__IntEnableConfig_a1254a7bd92a17da57b81a91338c145bc}{00135}}\ \ \ uint8\_t\ \mbox{\hyperlink{structICM20948__IntEnableConfig_a1254a7bd92a17da57b81a91338c145bc}{fifoOvfEn}}[5];\ \ \ \ \ \ \textcolor{comment}{//\ [0]–[4]:\ 1\ =\ overflow\ interrupt\ ON\ para\ ese\ canal}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00136}00136\ }
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00137}00137\ \ \ \textcolor{comment}{//\ -\/-\/-\/\ INT\_ENABLE\_3\ (0x13)\ -\/-\/-\/\ canal\ por\ canal}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00138}\mbox{\hyperlink{structICM20948__IntEnableConfig_aaac07304191025a3f3da9b0a619b3f6f}{00138}}\ \ \ uint8\_t\ \mbox{\hyperlink{structICM20948__IntEnableConfig_aaac07304191025a3f3da9b0a619b3f6f}{fifoWmEn}}[5];\ \ \ \ \ \ \ \textcolor{comment}{//\ [0]–[4]:\ 1\ =\ watermark\ interrupt\ ON\ para\ ese\ canal}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00139}00139\ \};}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00140}00140\ \textcolor{comment}{}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00141}00141\ \textcolor{comment}{/**}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00142}00142\ \textcolor{comment}{\ *\ ICM20948\_IntStatus}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00143}00143\ \textcolor{comment}{\ *}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00144}00144\ \textcolor{comment}{\ *\ -\/\ Holds\ the\ parsed\ state\ of\ the\ four\ interrupt\ status\ registers}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00145}00145\ \textcolor{comment}{\ *\ -\/\ Covers\ INT\_STATUS\ (0x19),\ INT\_STATUS\_1\ (0x1A),\ INT\_STATUS\_2\ (0x1B),\ INT\_STATUS\_3\ (0x1C)}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00146}00146\ \textcolor{comment}{\ *\ -\/\ Populated\ by\ checkIntStatus()\ via\ a\ single\ 4-\/byte\ burst\ read}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00147}00147\ \textcolor{comment}{\ *\ -\/\ Reading\ these\ registers\ clears\ the\ interrupt\ flags\ (when\ clearMode\ =\ 0\ in\ IntPinConfig)}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00148}00148\ \textcolor{comment}{\ */}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00149}\mbox{\hyperlink{structICM20948__IntStatus}{00149}}\ \textcolor{keyword}{struct\ }\mbox{\hyperlink{structICM20948__IntStatus}{ICM20948\_IntStatus}}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00150}00150\ \{}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00151}00151\ \ \ \textcolor{comment}{//\ -\/-\/-\/\ INT\_STATUS\ (0x19)\ -\/-\/-\/}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00152}\mbox{\hyperlink{structICM20948__IntStatus_a2438eb5d73069cbb931b12879679c756}{00152}}\ \ \ uint8\_t\ \mbox{\hyperlink{structICM20948__IntStatus_a2438eb5d73069cbb931b12879679c756}{womInt}}\ \ \ \ \ :\ 1;\ \ \textcolor{comment}{//\ Wake\ on\ motion\ ocurrió}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00153}\mbox{\hyperlink{structICM20948__IntStatus_a0e14602a7e105da494b79056fc1a6ac4}{00153}}\ \ \ uint8\_t\ \mbox{\hyperlink{structICM20948__IntStatus_a0e14602a7e105da494b79056fc1a6ac4}{pllRdyInt}}\ \ :\ 1;\ \ \textcolor{comment}{//\ PLL\ listo}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00154}\mbox{\hyperlink{structICM20948__IntStatus_a0b7a43a154fb62938d5b72f6c4e7589b}{00154}}\ \ \ uint8\_t\ \mbox{\hyperlink{structICM20948__IntStatus_a0b7a43a154fb62938d5b72f6c4e7589b}{dmpInt1}}\ \ \ \ :\ 1;\ \ \textcolor{comment}{//\ DMP\ generó\ interrupción}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00155}\mbox{\hyperlink{structICM20948__IntStatus_a76967ffcc1f2f78af326ec5997c4e46e}{00155}}\ \ \ uint8\_t\ \mbox{\hyperlink{structICM20948__IntStatus_a76967ffcc1f2f78af326ec5997c4e46e}{i2cMstInt}}\ \ :\ 1;\ \ \textcolor{comment}{//\ I2C\ master\ generó\ interrupción}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00156}00156\ }
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00157}00157\ \ \ \textcolor{comment}{//\ -\/-\/-\/\ INT\_STATUS\_1\ (0x1A)\ -\/-\/-\/}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00158}\mbox{\hyperlink{structICM20948__IntStatus_a8662cbb6f261e560d0571467f4957bf0}{00158}}\ \ \ uint8\_t\ \mbox{\hyperlink{structICM20948__IntStatus_a8662cbb6f261e560d0571467f4957bf0}{rawDataRdy}}\ :\ 1;\ \ \textcolor{comment}{//\ Datos\ de\ sensores\ listos\ para\ leer}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00159}00159\ }
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00160}00160\ \ \ \textcolor{comment}{//\ -\/-\/-\/\ INT\_STATUS\_2\ (0x1B)\ -\/-\/-\/}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00161}\mbox{\hyperlink{structICM20948__IntStatus_a91ea9622426177697ad95043338f2096}{00161}}\ \ \ uint8\_t\ \mbox{\hyperlink{structICM20948__IntStatus_a91ea9622426177697ad95043338f2096}{fifoOvf}}[5];\ \ \ \ \ \ \textcolor{comment}{//\ [0]–[4]:\ FIFO\ overflow\ por\ canal}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00162}00162\ }
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00163}00163\ \ \ \textcolor{comment}{//\ -\/-\/-\/\ INT\_STATUS\_3\ (0x1C)\ -\/-\/-\/}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00164}\mbox{\hyperlink{structICM20948__IntStatus_ac11c6bb5cb949a957d5ae12de13039bf}{00164}}\ \ \ uint8\_t\ \mbox{\hyperlink{structICM20948__IntStatus_ac11c6bb5cb949a957d5ae12de13039bf}{fifoWm}}[5];\ \ \ \ \ \ \ \textcolor{comment}{//\ [0]–[4]:\ FIFO\ watermark\ por\ canal}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00165}00165\ \};}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00166}00166\ \textcolor{comment}{}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00167}00167\ \textcolor{comment}{/**}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00168}00168\ \textcolor{comment}{\ *\ Class}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00169}00169\ \textcolor{comment}{\ *\ -\/\ Manages\ ICM-\/20948\ over\ I2C\ (SPI\ path\ disabled\ in\ this\ cut)}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00170}00170\ \textcolor{comment}{\ *\ -\/\ Caches\ scale\ factors\ for\ LSB-\/>physical\ conversions}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00171}00171\ \textcolor{comment}{\ */}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00172}\mbox{\hyperlink{classDevLab__ICM20948}{00172}}\ \textcolor{keyword}{class\ }\mbox{\hyperlink{classDevLab__ICM20948}{DevLab\_ICM20948}}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00173}00173\ \{}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00174}00174\ \textcolor{keyword}{public}:}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00175}00175\ }
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00176}00176\ \ \ \mbox{\hyperlink{classDevLab__ICM20948_ad71f3c89c3edb515b8cfb3f4b3073e95}{DevLab\_ICM20948}}();}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00177}00177\ \textcolor{comment}{}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00178}00178\ \textcolor{comment}{\ \ /**}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00179}00179\ \textcolor{comment}{\ \ \ *\ beginI2C}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00180}00180\ \textcolor{comment}{\ \ \ *}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00181}00181\ \textcolor{comment}{\ \ \ *\ -\/\ Initialize\ ICM20948\ using\ I2C\ interface}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00182}00182\ \textcolor{comment}{\ \ \ *\ -\/\ Sets\ up\ communication\ layer\ (Interface\ +\ BusIO)}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00183}00183\ \textcolor{comment}{\ \ \ *\ -\/\ Verifies\ device\ identity\ (WHO\_AM\_I)}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00184}00184\ \textcolor{comment}{\ \ \ *\ -\/\ Configures\ basic\ power\ and\ clock\ settings}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00185}00185\ \textcolor{comment}{\ \ \ *}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00186}00186\ \textcolor{comment}{\ \ \ *\ Returns:}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00187}00187\ \textcolor{comment}{\ \ \ *\ -\/\ true\ \ →\ Device\ initialized\ successfully}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00188}00188\ \textcolor{comment}{\ \ \ *\ -\/\ false\ →\ Communication\ or\ configuration\ failed}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00189}00189\ \textcolor{comment}{\ \ \ */}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00190}00190\ \ \ \textcolor{keywordtype}{bool}\ \mbox{\hyperlink{classDevLab__ICM20948_a91147b3cd4c45bffc8e024f985be7b21}{beginI2C}}(uint8\_t\ address\ =\ 0x69,\ TwoWire\ \&i2cPort\ =\ Wire,\ uint32\_t\ i2cSpeed\ =\ 400000);}
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\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00192}00192\ \ \ \textcolor{keywordtype}{bool}\ \mbox{\hyperlink{classDevLab__ICM20948_a4386f310503153f3e28935cbdda75b18}{beginSPI}}(uint8\_t\ csPin,\ SPIClass\ \&spiPort\ =\ SPI,\ uint32\_t\ spiSpeed\ =\ 1000000);}
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\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00662}00662\ \textcolor{comment}{\ \ \ *\ -\/\ Read\ offset\ registers}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00663}00663\ \textcolor{comment}{\ \ \ *\ -\/\ Convert\ to\ signed\ values}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00664}00664\ \textcolor{comment}{\ \ \ *}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00665}00665\ \textcolor{comment}{\ \ \ *\ Returns:}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00666}00666\ \textcolor{comment}{\ \ \ *\ -\/\ true\ \ →\ Read\ successful}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00667}00667\ \textcolor{comment}{\ \ \ *\ -\/\ false\ →\ Operation\ failed}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00668}00668\ \textcolor{comment}{\ \ \ */}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00669}00669\ \ \ \textcolor{keywordtype}{bool}\ \mbox{\hyperlink{classDevLab__ICM20948_a3d407a299b73a9d6da88f724bcca0a36}{getGyroOffset}}(int16\_t\ \&offsetX,\ int16\_t\ \&offsetY,\ int16\_t\ \&offsetZ);}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00670}00670\ \textcolor{comment}{}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00671}00671\ \textcolor{comment}{\ \ /**}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00672}00672\ \textcolor{comment}{\ \ \ *\ setAccelOffset}}
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\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00674}00674\ \textcolor{comment}{\ \ \ *\ -\/\ Set\ accelerometer\ offset\ values\ for\ X,\ Y,\ Z\ axes}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00675}00675\ \textcolor{comment}{\ \ \ *\ -\/\ Writes\ offset\ registers\ in\ USER\ BANK\ 1}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00676}00676\ \textcolor{comment}{\ \ \ *}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00677}00677\ \textcolor{comment}{\ \ \ *\ Flow:}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00678}00678\ \textcolor{comment}{\ \ \ *\ -\/\ Validate\ bus\ pointer}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00679}00679\ \textcolor{comment}{\ \ \ *\ -\/\ Select\ USER\ BANK\ 1}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00680}00680\ \textcolor{comment}{\ \ \ *\ -\/\ Pack\ offsets\ into\ byte\ array}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00681}00681\ \textcolor{comment}{\ \ \ *\ -\/\ Write\ to\ offset\ registers}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00682}00682\ \textcolor{comment}{\ \ \ *}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00683}00683\ \textcolor{comment}{\ \ \ *\ Returns:}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00684}00684\ \textcolor{comment}{\ \ \ *\ -\/\ true\ \ →\ Operation\ successful}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00685}00685\ \textcolor{comment}{\ \ \ *\ -\/\ false\ →\ Operation\ failed}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00686}00686\ \textcolor{comment}{\ \ \ */}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00687}00687\ \ \ \textcolor{keywordtype}{bool}\ \mbox{\hyperlink{classDevLab__ICM20948_a7c150c665140086d7937fa4b2f39cd45}{setAccelOffset}}(int16\_t\ offsetX,\ int16\_t\ offsetY,\ int16\_t\ offsetZ);}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00688}00688\ \textcolor{comment}{}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00689}00689\ \textcolor{comment}{\ \ /**}}
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\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00691}00691\ \textcolor{comment}{\ \ \ *}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00692}00692\ \textcolor{comment}{\ \ \ *\ -\/\ Read\ accelerometer\ offset\ values\ for\ X,\ Y,\ Z\ axes}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00693}00693\ \textcolor{comment}{\ \ \ *\ -\/\ Reads\ offset\ registers\ from\ USER\ BANK\ 1}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00694}00694\ \textcolor{comment}{\ \ \ *}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00695}00695\ \textcolor{comment}{\ \ \ *\ Flow:}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00696}00696\ \textcolor{comment}{\ \ \ *\ -\/\ Validate\ bus\ pointer}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00697}00697\ \textcolor{comment}{\ \ \ *\ -\/\ Select\ USER\ BANK\ 1}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00698}00698\ \textcolor{comment}{\ \ \ *\ -\/\ Read\ offset\ registers}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00699}00699\ \textcolor{comment}{\ \ \ *\ -\/\ Convert\ to\ signed\ values}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00700}00700\ \textcolor{comment}{\ \ \ *}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00701}00701\ \textcolor{comment}{\ \ \ *\ Returns:}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00702}00702\ \textcolor{comment}{\ \ \ *\ -\/\ true\ \ →\ Read\ successful}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00703}00703\ \textcolor{comment}{\ \ \ *\ -\/\ false\ →\ Operation\ failed}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00704}00704\ \textcolor{comment}{\ \ \ */}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00705}00705\ \ \ \textcolor{keywordtype}{bool}\ \mbox{\hyperlink{classDevLab__ICM20948_ae4beff71dc469940c9ba561d57f04ec7}{getAccelOffset}}(int16\_t\ \&offsetX,\ int16\_t\ \&offsetY,\ int16\_t\ \&offsetZ);}
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\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00707}00707\ \textcolor{comment}{\ \ /**}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00708}00708\ \textcolor{comment}{\ \ \ *\ intInit}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00709}00709\ \textcolor{comment}{\ \ \ *}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00710}00710\ \textcolor{comment}{\ \ \ *\ -\/\ Configure\ the\ physical\ behavior\ of\ the\ INT\ pin\ (INT\_PIN\_CFG\ register,\ BANK\ 0)}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00711}00711\ \textcolor{comment}{\ \ \ *\ -\/\ Sets\ active\ level,\ drive\ mode\ (push-\/pull\ /\ open-\/drain),\ latch\ vs\ pulse\ mode,}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00712}00712\ \textcolor{comment}{\ \ \ *\ \ \ clear\ condition,\ FSYNC\ level,\ FSYNC\ interrupt\ enable,\ and\ I2C\ bypass}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00713}00713\ \textcolor{comment}{\ \ \ *}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00714}00714\ \textcolor{comment}{\ \ \ *\ Parameters:}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00715}00715\ \textcolor{comment}{\ \ \ *\ -\/\ cfg:\ ICM20948\_IntPinConfig\ struct\ with\ the\ desired\ pin\ settings}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00716}00716\ \textcolor{comment}{\ \ \ *}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00717}00717\ \textcolor{comment}{\ \ \ *\ Returns:}}
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\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00720}00720\ \textcolor{comment}{\ \ \ */}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00721}00721\ \ \ \textcolor{keywordtype}{bool}\ \mbox{\hyperlink{classDevLab__ICM20948_ab011f71e9466a0e1e8245638f81b0f43}{intInit}}(\textcolor{keyword}{const}\ \mbox{\hyperlink{structICM20948__IntPinConfig}{ICM20948\_IntPinConfig}}\ \&cfg);}
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\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00723}00723\ \textcolor{comment}{\ \ /**}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00724}00724\ \textcolor{comment}{\ \ \ *\ intEnableConfig}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00725}00725\ \textcolor{comment}{\ \ \ *}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00726}00726\ \textcolor{comment}{\ \ \ *\ -\/\ Enable\ or\ disable\ individual\ interrupt\ sources\ routed\ to\ the\ INT\ pin}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00727}00727\ \textcolor{comment}{\ \ \ *\ -\/\ Writes\ INT\_ENABLE\ (0x10),\ INT\_ENABLE\_1\ (0x11),\ INT\_ENABLE\_2\ (0x12),}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00728}00728\ \textcolor{comment}{\ \ \ *\ \ \ and\ INT\_ENABLE\_3\ (0x13)\ in\ BANK\ 0}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00729}00729\ \textcolor{comment}{\ \ \ *\ -\/\ Must\ call\ intInit()\ first\ to\ configure\ the\ pin\ electrical\ behavior}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00730}00730\ \textcolor{comment}{\ \ \ *}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00731}00731\ \textcolor{comment}{\ \ \ *\ Parameters:}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00732}00732\ \textcolor{comment}{\ \ \ *\ -\/\ cfg:\ ICM20948\_IntEnableConfig\ struct\ with\ the\ desired\ interrupt\ sources\ enabled}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00733}00733\ \textcolor{comment}{\ \ \ *}}
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\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00735}00735\ \textcolor{comment}{\ \ \ *\ -\/\ true\ \ →\ All\ four\ registers\ written\ successfully}}
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\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00737}00737\ \textcolor{comment}{\ \ \ */}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00738}00738\ \ \ \textcolor{keywordtype}{bool}\ \mbox{\hyperlink{classDevLab__ICM20948_a3c5db22058479806072167f2c15319c7}{intEnableConfig}}(\textcolor{keyword}{const}\ \mbox{\hyperlink{structICM20948__IntEnableConfig}{ICM20948\_IntEnableConfig}}\ \&cfg);}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00739}00739\ \textcolor{comment}{}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00740}00740\ \textcolor{comment}{\ \ /**}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00741}00741\ \textcolor{comment}{\ \ \ *\ checkIntStatus}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00742}00742\ \textcolor{comment}{\ \ \ *}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00743}00743\ \textcolor{comment}{\ \ \ *\ -\/\ Read\ and\ parse\ all\ four\ interrupt\ status\ registers\ in\ a\ single\ burst\ read}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00744}00744\ \textcolor{comment}{\ \ \ *\ -\/\ Covers\ INT\_STATUS\ (0x19),\ INT\_STATUS\_1\ (0x1A),\ INT\_STATUS\_2\ (0x1B),}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00745}00745\ \textcolor{comment}{\ \ \ *\ \ \ INT\_STATUS\_3\ (0x1C)\ from\ BANK\ 0}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00746}00746\ \textcolor{comment}{\ \ \ *\ -\/\ Reading\ clears\ the\ interrupt\ flags\ when\ clearMode\ =\ 0\ in\ ICM20948\_IntPinConfig}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00747}00747\ \textcolor{comment}{\ \ \ *\ -\/\ Typically\ called\ inside\ the\ INT\ pin\ ISR\ or\ polled\ in\ the\ main\ loop}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00748}00748\ \textcolor{comment}{\ \ \ *}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00749}00749\ \textcolor{comment}{\ \ \ *\ Parameters:}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00750}00750\ \textcolor{comment}{\ \ \ *\ -\/\ status:\ ICM20948\_IntStatus\ struct\ populated\ with\ the\ current\ interrupt\ flags}}
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\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00752}00752\ \textcolor{comment}{\ \ \ *\ Returns:}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00753}00753\ \textcolor{comment}{\ \ \ *\ -\/\ true\ \ →\ Status\ read\ successfully}}
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\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00755}00755\ \textcolor{comment}{\ \ \ */}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00756}00756\ \ \ \textcolor{keywordtype}{bool}\ \mbox{\hyperlink{classDevLab__ICM20948_a61f65c00baf13e2cd69eee7cb6688720}{checkIntStatus}}(\mbox{\hyperlink{structICM20948__IntStatus}{ICM20948\_IntStatus}}\ \&status);}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00757}00757\ \textcolor{comment}{}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00758}00758\ \textcolor{comment}{\ \ /**}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00759}00759\ \textcolor{comment}{\ \ \ *\ auxMasterEnable}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00760}00760\ \textcolor{comment}{\ \ \ *}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00761}00761\ \textcolor{comment}{\ \ \ *\ -\/\ Enable\ the\ ICM20948\ internal\ I2C\ master\ for\ auxiliary\ bus}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00762}00762\ \textcolor{comment}{\ \ \ *\ -\/\ Clears\ BYPASS\_EN\ so\ the\ aux\ bus\ is\ controlled\ by\ the\ ICM}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00763}00763\ \textcolor{comment}{\ \ \ *\ -\/\ Sets\ I2C\_MST\_EN\ in\ USER\_CTRL}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00764}00764\ \textcolor{comment}{\ \ \ *\ -\/\ Configures\ auxiliary\ master\ clock\ frequency}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00765}00765\ \textcolor{comment}{\ \ \ *}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00766}00766\ \textcolor{comment}{\ \ \ *\ Parameters:}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00767}00767\ \textcolor{comment}{\ \ \ *\ -\/\ clkFreq:\ clock\ divider\ value\ (e.g.\ 0x07\ ≈\ 345.6\ kHz,\ 0x0D\ ≈\ 400\ kHz)}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00768}00768\ \textcolor{comment}{\ \ \ *}}
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\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00770}00770\ \textcolor{comment}{\ \ \ *\ -\/\ true\ \ →\ Master\ enabled\ successfully}}
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\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00772}00772\ \textcolor{comment}{\ \ \ */}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00773}00773\ \ \ \textcolor{keywordtype}{bool}\ \mbox{\hyperlink{classDevLab__ICM20948_aab027c72832d1c7ec722187e6a64796a}{auxMasterEnable}}(uint8\_t\ clkFreq);}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00774}00774\ \textcolor{comment}{}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00775}00775\ \textcolor{comment}{\ \ /**}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00776}00776\ \textcolor{comment}{\ \ \ *\ auxWriteByte}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00777}00777\ \textcolor{comment}{\ \ \ *}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00778}00778\ \textcolor{comment}{\ \ \ *\ -\/\ Write\ a\ single\ byte\ to\ a\ register\ of\ an\ auxiliary\ I2C\ slave\ via\ SLV4}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00779}00779\ \textcolor{comment}{\ \ \ *\ -\/\ Uses\ one-\/shot\ SLV4\ transaction:\ polls\ SLV4\_DONE,\ checks\ for\ NACK}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00780}00780\ \textcolor{comment}{\ \ \ *\ -\/\ Suitable\ for\ configuration\ writes\ (not\ continuous\ streaming)}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00781}00781\ \textcolor{comment}{\ \ \ *}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00782}00782\ \textcolor{comment}{\ \ \ *\ Parameters:}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00783}00783\ \textcolor{comment}{\ \ \ *\ -\/\ slaveAddr:\ 7-\/bit\ I2C\ address\ of\ the\ auxiliary\ slave}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00784}00784\ \textcolor{comment}{\ \ \ *\ -\/\ reg:\ \ \ \ \ \ \ target\ register\ address\ on\ the\ slave}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00785}00785\ \textcolor{comment}{\ \ \ *\ -\/\ data:\ \ \ \ \ \ byte\ to\ write}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00786}00786\ \textcolor{comment}{\ \ \ *}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00787}00787\ \textcolor{comment}{\ \ \ *\ Returns:}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00788}00788\ \textcolor{comment}{\ \ \ *\ -\/\ true\ \ →\ Write\ acknowledged\ by\ slave}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00789}00789\ \textcolor{comment}{\ \ \ *\ -\/\ false\ →\ Timeout\ or\ NACK}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00790}00790\ \textcolor{comment}{\ \ \ */}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00791}00791\ \ \ \textcolor{keywordtype}{bool}\ \mbox{\hyperlink{classDevLab__ICM20948_a1079d6d89e4bda1f496cce90a820e102}{auxWriteByte}}(uint8\_t\ slaveAddr,\ uint8\_t\ reg,\ uint8\_t\ data);}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00792}00792\ \textcolor{comment}{}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00793}00793\ \textcolor{comment}{\ \ /**}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00794}00794\ \textcolor{comment}{\ \ \ *\ auxReadByte}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00795}00795\ \textcolor{comment}{\ \ \ *}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00796}00796\ \textcolor{comment}{\ \ \ *\ -\/\ Read\ a\ single\ byte\ from\ a\ register\ of\ an\ auxiliary\ I2C\ slave\ via\ SLV4}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00797}00797\ \textcolor{comment}{\ \ \ *\ -\/\ Generates\ a\ combined\ write-\/then-\/read\ transaction\ (reg\ byte\ +\ repeated\ START)}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00798}00798\ \textcolor{comment}{\ \ \ *\ -\/\ Suitable\ for\ slaves\ that\ follow\ standard\ I2C\ register-\/read\ protocol}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00799}00799\ \textcolor{comment}{\ \ \ *}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00800}00800\ \textcolor{comment}{\ \ \ *\ Note:\ slaves\ that\ need\ separate\ write/read\ transactions\ (e.g.\ command-\/response}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00801}00801\ \textcolor{comment}{\ \ \ *\ firmware)\ should\ use\ auxWriteCommand\ +\ auxReadResponse\ instead.}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00802}00802\ \textcolor{comment}{\ \ \ *}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00803}00803\ \textcolor{comment}{\ \ \ *\ Parameters:}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00804}00804\ \textcolor{comment}{\ \ \ *\ -\/\ slaveAddr:\ 7-\/bit\ I2C\ address\ of\ the\ auxiliary\ slave}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00805}00805\ \textcolor{comment}{\ \ \ *\ -\/\ reg:\ \ \ \ \ \ \ register\ address\ to\ read\ from}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00806}00806\ \textcolor{comment}{\ \ \ *\ -\/\ data:\ \ \ \ \ \ output\ byte\ received\ from\ slave}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00807}00807\ \textcolor{comment}{\ \ \ *}}
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\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00809}00809\ \textcolor{comment}{\ \ \ *\ -\/\ true\ \ →\ Read\ successful}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00810}00810\ \textcolor{comment}{\ \ \ *\ -\/\ false\ →\ Timeout\ or\ NACK}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00811}00811\ \textcolor{comment}{\ \ \ */}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00812}00812\ \ \ \textcolor{keywordtype}{bool}\ \mbox{\hyperlink{classDevLab__ICM20948_a1b8cce13fe757b1b3a61f8437766d7eb}{auxReadByte}}(uint8\_t\ slaveAddr,\ uint8\_t\ reg,\ uint8\_t\ \&data);}
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\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00814}00814\ \textcolor{comment}{\ \ /**}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00815}00815\ \textcolor{comment}{\ \ \ *\ auxWriteCommand}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00816}00816\ \textcolor{comment}{\ \ \ *}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00817}00817\ \textcolor{comment}{\ \ \ *\ -\/\ Send\ a\ single\ command\ byte\ to\ an\ auxiliary\ I2C\ slave\ via\ SLV4}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00818}00818\ \textcolor{comment}{\ \ \ *\ -\/\ Uses\ REG\_DIS:\ generates\ [START,\ addr+W,\ cmd\_byte,\ STOP]\ with\ no\ register\ prefix}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00819}00819\ \textcolor{comment}{\ \ \ *\ -\/\ Designed\ for\ slaves\ that\ use\ a\ command-\/response\ protocol\ (no\ register\ addressing)}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00820}00820\ \textcolor{comment}{\ \ \ *}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00821}00821\ \textcolor{comment}{\ \ \ *\ Parameters:}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00822}00822\ \textcolor{comment}{\ \ \ *\ -\/\ slaveAddr:\ 7-\/bit\ I2C\ address\ of\ the\ auxiliary\ slave}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00823}00823\ \textcolor{comment}{\ \ \ *\ -\/\ cmd:\ \ \ \ \ \ \ command\ byte\ to\ send}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00824}00824\ \textcolor{comment}{\ \ \ *}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00825}00825\ \textcolor{comment}{\ \ \ *\ Returns:}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00826}00826\ \textcolor{comment}{\ \ \ *\ -\/\ true\ \ →\ Command\ acknowledged\ by\ slave}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00827}00827\ \textcolor{comment}{\ \ \ *\ -\/\ false\ →\ Timeout\ or\ NACK}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00828}00828\ \textcolor{comment}{\ \ \ */}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00829}00829\ \ \ \textcolor{keywordtype}{bool}\ \mbox{\hyperlink{classDevLab__ICM20948_ac2a1cdaf078cac71e14e0629925a7808}{auxWriteCommand}}(uint8\_t\ slaveAddr,\ uint8\_t\ cmd);}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00830}00830\ \textcolor{comment}{}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00831}00831\ \textcolor{comment}{\ \ /**}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00832}00832\ \textcolor{comment}{\ \ \ *\ auxConfigSlave}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00833}00833\ \textcolor{comment}{\ \ \ *}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00834}00834\ \textcolor{comment}{\ \ \ *\ -\/\ Configure\ SLV0\ for\ automatic\ periodic\ reads\ from\ an\ auxiliary\ I2C\ slave}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00835}00835\ \textcolor{comment}{\ \ \ *\ -\/\ The\ ICM20948\ master\ will\ read\ numBytes\ starting\ at\ reg\ on\ every\ ODR\ cycle}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00836}00836\ \textcolor{comment}{\ \ \ *\ -\/\ Data\ is\ deposited\ into\ EXT\_SLV\_SENS\_DATA\_00\ and\ subsequent\ registers}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00837}00837\ \textcolor{comment}{\ \ \ *\ -\/\ Call\ once\ during\ initialization;\ read\ results\ with\ auxReadSensorData}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00838}00838\ \textcolor{comment}{\ \ \ *}}
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\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00840}00840\ \textcolor{comment}{\ \ \ *\ -\/\ slaveAddr:\ 7-\/bit\ I2C\ address\ of\ the\ auxiliary\ slave}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00841}00841\ \textcolor{comment}{\ \ \ *\ -\/\ reg:\ \ \ \ \ \ \ starting\ register\ address\ to\ read\ from\ on\ the\ slave}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00842}00842\ \textcolor{comment}{\ \ \ *\ -\/\ numBytes:\ \ number\ of\ bytes\ to\ read\ per\ cycle\ (1–15)}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00843}00843\ \textcolor{comment}{\ \ \ *}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00844}00844\ \textcolor{comment}{\ \ \ *\ Returns:}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00845}00845\ \textcolor{comment}{\ \ \ *\ -\/\ true\ \ →\ SLV0\ configured\ successfully}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00846}00846\ \textcolor{comment}{\ \ \ *\ -\/\ false\ →\ Operation\ failed}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00847}00847\ \textcolor{comment}{\ \ \ */}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00848}00848\ \ \ \textcolor{keywordtype}{bool}\ \mbox{\hyperlink{classDevLab__ICM20948_ab8336307b4096237d701d989d1f5e619}{auxConfigSlave}}(uint8\_t\ slaveAddr,\ uint8\_t\ reg,\ uint8\_t\ numBytes);}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00849}00849\ \textcolor{comment}{}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00850}00850\ \textcolor{comment}{\ \ /**}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00851}00851\ \textcolor{comment}{\ \ \ *\ auxReadSensorData}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00852}00852\ \textcolor{comment}{\ \ \ *}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00853}00853\ \textcolor{comment}{\ \ \ *\ -\/\ Read\ bytes\ from\ EXT\_SLV\_SENS\_DATA\ registers\ (BANK\ 0)}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00854}00854\ \textcolor{comment}{\ \ \ *\ -\/\ Returns\ data\ collected\ by\ the\ ICM20948\ master\ from\ SLV0–SLV3\ on\ the\ last\ cycle}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00855}00855\ \textcolor{comment}{\ \ \ *\ -\/\ Must\ call\ auxConfigSlave\ first\ to\ set\ up\ the\ automatic\ read}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00856}00856\ \textcolor{comment}{\ \ \ *}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00857}00857\ \textcolor{comment}{\ \ \ *\ Parameters:}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00858}00858\ \textcolor{comment}{\ \ \ *\ -\/\ buf:\ output\ buffer\ to\ store\ the\ received\ bytes}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00859}00859\ \textcolor{comment}{\ \ \ *\ -\/\ len:\ number\ of\ bytes\ to\ read\ (must\ match\ numBytes\ configured\ in\ auxConfigSlave)}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00860}00860\ \textcolor{comment}{\ \ \ *}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00861}00861\ \textcolor{comment}{\ \ \ *\ Returns:}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00862}00862\ \textcolor{comment}{\ \ \ *\ -\/\ true\ \ →\ Read\ successful}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00863}00863\ \textcolor{comment}{\ \ \ *\ -\/\ false\ →\ Bus\ error}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00864}00864\ \textcolor{comment}{\ \ \ */}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00865}00865\ \ \ \textcolor{keywordtype}{bool}\ \mbox{\hyperlink{classDevLab__ICM20948_a8f47c9f63642c35e5b5656e720667566}{auxReadSensorData}}(uint8\_t\ *buf,\ uint8\_t\ len);}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00866}00866\ \textcolor{comment}{}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00867}00867\ \textcolor{comment}{\ \ /**}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00868}00868\ \textcolor{comment}{\ \ \ *\ auxReadResponse}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00869}00869\ \textcolor{comment}{\ \ \ *}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00870}00870\ \textcolor{comment}{\ \ \ *\ -\/\ Read\ a\ single\ response\ byte\ from\ an\ auxiliary\ I2C\ slave\ via\ SLV4}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00871}00871\ \textcolor{comment}{\ \ \ *\ -\/\ Generates\ a\ pure\ read\ transaction:\ [START,\ addr+R,\ 1\ byte,\ STOP]}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00872}00872\ \textcolor{comment}{\ \ \ *\ -\/\ No\ register\ byte\ is\ sent\ (REG\_DIS);\ slave\ must\ already\ be\ ready\ to\ transmit}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00873}00873\ \textcolor{comment}{\ \ \ *\ -\/\ Use\ after\ auxWriteCommand\ to\ complete\ a\ command-\/response\ exchange\ with\ slaves}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00874}00874\ \textcolor{comment}{\ \ \ *\ \ \ that\ require\ separate\ write\ and\ read\ transactions\ (e.g.\ PY32F0\ firmware\ slaves)}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00875}00875\ \textcolor{comment}{\ \ \ *}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00876}00876\ \textcolor{comment}{\ \ \ *\ Parameters:}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00877}00877\ \textcolor{comment}{\ \ \ *\ -\/\ slaveAddr:\ 7-\/bit\ I2C\ address\ of\ the\ auxiliary\ slave}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00878}00878\ \textcolor{comment}{\ \ \ *\ -\/\ data:\ \ \ \ \ \ output\ byte\ received\ from\ slave}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00879}00879\ \textcolor{comment}{\ \ \ *}}
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\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00881}00881\ \textcolor{comment}{\ \ \ *\ -\/\ true\ \ →\ Response\ received\ successfully}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00882}00882\ \textcolor{comment}{\ \ \ *\ -\/\ false\ →\ Timeout\ or\ NACK}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00883}00883\ \textcolor{comment}{\ \ \ */}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00884}00884\ \ \ \textcolor{keywordtype}{bool}\ \mbox{\hyperlink{classDevLab__ICM20948_a57d37173d6d5c54ab4c7027dfdd3a78f}{auxReadResponse}}(uint8\_t\ slaveAddr,\ uint8\_t\ \&data);}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00885}00885\ \textcolor{comment}{}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00886}00886\ \textcolor{comment}{\ \ /**}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00887}00887\ \textcolor{comment}{\ \ \ *\ auxRead12bit}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00888}00888\ \textcolor{comment}{\ \ \ *}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00889}00889\ \textcolor{comment}{\ \ \ *\ -\/\ Read\ a\ 12-\/bit\ value\ previously\ configured\ via\ auxConfigSlave\ (SLV0,\ numBytes\ =\ 2)}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00890}00890\ \textcolor{comment}{\ \ \ *\ -\/\ Assumes\ little-\/endian\ packing:\ first\ byte\ =\ LSB,\ second\ byte\ =\ MSB}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00891}00891\ \textcolor{comment}{\ \ \ *\ -\/\ Result\ is\ masked\ to\ 12\ bits\ (0-\/4095)}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00892}00892\ \textcolor{comment}{\ \ \ *}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00893}00893\ \textcolor{comment}{\ \ \ *\ Returns:}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00894}00894\ \textcolor{comment}{\ \ \ *\ -\/\ true\ \ →\ Read\ successful}}
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\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00896}00896\ \textcolor{comment}{\ \ \ */}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00897}00897\ \ \ \textcolor{keywordtype}{bool}\ \mbox{\hyperlink{classDevLab__ICM20948_a357d1315ecc5a649ac4ce6b31cb47e7a}{auxRead12bit}}(uint16\_t\ \&raw);}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00898}00898\ \textcolor{keyword}{private}:}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00899}00899\ \ \ \mbox{\hyperlink{classI2C__Interface}{I2C\_Interface}}\ i2c;}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00900}00900\ \ \ \mbox{\hyperlink{classSPI__Interface}{SPI\_Interface}}\ spi;}
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\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00902}00902\ \ \ \mbox{\hyperlink{classInterface__7Semi}{Interface\_7Semi}}\ *iface\ =\ \textcolor{keyword}{nullptr};}
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\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00904}00904\ \ \ \mbox{\hyperlink{classBusIO__7Semi}{BusIO\_7Semi<Interface\_7Semi>}}\ *bus\ =\ \textcolor{keyword}{nullptr};}
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\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00906}00906\ \ \ \textcolor{keywordtype}{float}\ mg\_per\_lsb\ =\ 16384.0f;\ \ \ \ \ \ \ \ \textcolor{comment}{//\ LSB/g\ at\ ±16g}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00907}00907\ \ \ \textcolor{keywordtype}{float}\ degree\_per\_second\ =\ 131.072f;\ \textcolor{comment}{//\ LSB/dps\ at\ ±2000\ dps}}
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00908}00908\ }
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00909}00909\ \ \ \textcolor{keywordtype}{bool}\ writeSlave4(uint8\_t\ reg,\ uint8\_t\ value);\ }
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00910}00910\ \ \ \textcolor{keywordtype}{bool}\ readSlave4(uint8\_t\ reg,\ uint8\_t\ \&value);}
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\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00912}00912\ }
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00913}00913\ }
\DoxyCodeLine{\Hypertarget{DevLab__ICM20948_8h_source_l00914}00914\ \textcolor{preprocessor}{\#endif\ }\textcolor{comment}{/*\ ICM20948\_DEVLAB\_H\ */}\textcolor{preprocessor}{}}

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