Adafruit_ICM20X.h

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#ifndef _ADAFRUIT_ICM20X_H
#define _ADAFRUIT_ICM20X_H

#include "Arduino.h"
#include <Adafruit_BusIO_Register.h>
#include <Adafruit_I2CDevice.h>
#include <Adafruit_Sensor.h>
#include <Wire.h>

// Misc configuration macros
#define I2C_MASTER_RESETS_BEFORE_FAIL                                          \
  5 
#define NUM_FINISHED_CHECKS                                                    \
  100 

// Bank 0
#define ICM20X_B0_WHOAMI 0x00         
#define ICM20X_B0_USER_CTRL 0x03      
#define ICM20X_B0_LP_CONFIG 0x05      
#define ICM20X_B0_REG_INT_PIN_CFG 0xF 
#define ICM20X_B0_REG_INT_ENABLE 0x10 
#define ICM20X_B0_REG_INT_ENABLE_1 0x11 
#define ICM20X_B0_I2C_MST_STATUS                                               \
  0x17 
#define ICM20X_B0_REG_BANK_SEL 0x7F 
#define ICM20X_B0_PWR_MGMT_1 0x06   
#define ICM20X_B0_ACCEL_XOUT_H 0x2D 
#define ICM20X_B0_GYRO_XOUT_H 0x33  

// Bank 2
#define ICM20X_B2_GYRO_SMPLRT_DIV 0x00    
#define ICM20X_B2_GYRO_CONFIG_1 0x01      
#define ICM20X_B2_ACCEL_SMPLRT_DIV_1 0x10 
#define ICM20X_B2_ACCEL_SMPLRT_DIV_2 0x11 
#define ICM20X_B2_ACCEL_CONFIG_1 0x14     

// Bank 3
#define ICM20X_B3_I2C_MST_ODR_CONFIG 0x0 
#define ICM20X_B3_I2C_MST_CTRL 0x1       
#define ICM20X_B3_I2C_MST_DELAY_CTRL 0x2 
#define ICM20X_B3_I2C_SLV0_ADDR                                                \
  0x3 
#define ICM20X_B3_I2C_SLV0_REG                                                 \
  0x4 
#define ICM20X_B3_I2C_SLV0_CTRL 0x5 
#define ICM20X_B3_I2C_SLV0_DO 0x6   

#define ICM20X_B3_I2C_SLV4_ADDR                                                \
  0x13 
#define ICM20X_B3_I2C_SLV4_REG                                                 \
  0x14 
#define ICM20X_B3_I2C_SLV4_CTRL 0x15 
#define ICM20X_B3_I2C_SLV4_DO 0x16   
#define ICM20X_B3_I2C_SLV4_DI 0x17   

#define ICM20948_CHIP_ID 0xEA 
#define ICM20649_CHIP_ID 0xE1 


typedef enum {
  ICM20X_ACCEL_FREQ_246_0_HZ = 0x1,
  ICM20X_ACCEL_FREQ_111_4_HZ = 0x2,
  ICM20X_ACCEL_FREQ_50_4_HZ = 0x3,
  ICM20X_ACCEL_FREQ_23_9_HZ = 0x4,
  ICM20X_ACCEL_FREQ_11_5_HZ = 0x5,
  ICM20X_ACCEL_FREQ_5_7_HZ = 0x6,
  ICM20X_ACCEL_FREQ_473_HZ = 0x7,
} icm20x_accel_cutoff_t;

typedef enum {
  ICM20X_GYRO_FREQ_196_6_HZ = 0x0,
  ICM20X_GYRO_FREQ_151_8_HZ = 0x1,
  ICM20X_GYRO_FREQ_119_5_HZ = 0x2,
  ICM20X_GYRO_FREQ_51_2_HZ = 0x3,
  ICM20X_GYRO_FREQ_23_9_HZ = 0x4,
  ICM20X_GYRO_FREQ_11_6_HZ = 0x5,
  ICM20X_GYRO_FREQ_5_7_HZ = 0x6,
  ICM20X_GYRO_FREQ_361_4_HZ = 0x7,

} icm20x_gyro_cutoff_t;

class Adafruit_ICM20X;

class Adafruit_ICM20X_Accelerometer : public Adafruit_Sensor {
public:
  Adafruit_ICM20X_Accelerometer(Adafruit_ICM20X *parent) {
    _theICM20X = parent;
  }
  bool getEvent(sensors_event_t *);
  void getSensor(sensor_t *);

private:
  int _sensorID = 0x20A;
  Adafruit_ICM20X *_theICM20X = NULL;
};

class Adafruit_ICM20X_Gyro : public Adafruit_Sensor {
public:
  Adafruit_ICM20X_Gyro(Adafruit_ICM20X *parent) { _theICM20X = parent; }
  bool getEvent(sensors_event_t *);
  void getSensor(sensor_t *);

private:
  int _sensorID = 0x20B;
  Adafruit_ICM20X *_theICM20X = NULL;
};

class Adafruit_ICM20X_Magnetometer : public Adafruit_Sensor {
public:
  Adafruit_ICM20X_Magnetometer(Adafruit_ICM20X *parent) { _theICM20X = parent; }
  bool getEvent(sensors_event_t *);
  void getSensor(sensor_t *);

private:
  int _sensorID = 0x20C;
  Adafruit_ICM20X *_theICM20X = NULL;
};

class Adafruit_ICM20X_Temp : public Adafruit_Sensor {
public:
  Adafruit_ICM20X_Temp(Adafruit_ICM20X *parent) { _theICM20X = parent; }
  bool getEvent(sensors_event_t *);
  void getSensor(sensor_t *);

private:
  int _sensorID = 0x20D;
  Adafruit_ICM20X *_theICM20X = NULL;
};

class Adafruit_ICM20X {
public:
  Adafruit_ICM20X();
  ~Adafruit_ICM20X();

  bool begin_SPI(uint8_t cs_pin, SPIClass *theSPI = &SPI,
                 int32_t sensor_id = 0);
  bool begin_SPI(int8_t cs_pin, int8_t sck_pin, int8_t miso_pin,
                 int8_t mosi_pin, int32_t sensor_id = 0);

  uint8_t getGyroRateDivisor(void);
  void setGyroRateDivisor(uint8_t new_gyro_divisor);

  uint16_t getAccelRateDivisor(void);
  void setAccelRateDivisor(uint16_t new_accel_divisor);

  bool enableAccelDLPF(bool enable, icm20x_accel_cutoff_t cutoff_freq);
  bool enableGyrolDLPF(bool enable, icm20x_gyro_cutoff_t cutoff_freq);

  void reset(void);

  // TODO: bool-ify
  void setInt1ActiveLow(bool active_low);
  void setInt2ActiveLow(bool active_low);

  Adafruit_Sensor *getAccelerometerSensor(void);
  Adafruit_Sensor *getGyroSensor(void);
  Adafruit_Sensor *getMagnetometerSensor(void);
  Adafruit_Sensor *getTemperatureSensor(void);

  bool getEvent(sensors_event_t *accel, sensors_event_t *gyro,
                sensors_event_t *temp, sensors_event_t *mag = NULL);

  uint8_t readExternalRegister(uint8_t slv_addr, uint8_t reg_addr);
  bool writeExternalRegister(uint8_t slv_addr, uint8_t reg_addr, uint8_t value);
  bool configureI2CMaster(void);
  bool enableI2CMaster(bool enable_i2c_master);
  void resetI2CMaster(void);
  void setI2CBypass(bool bypass_i2c);

protected:
  float temperature, 
      accX,          
      accY,          
      accZ,          
      gyroX,         
      gyroY,         
      gyroZ,         
      magX,          
      magY,          
      magZ;          

  Adafruit_I2CDevice *i2c_dev = NULL; 
  Adafruit_SPIDevice *spi_dev = NULL; 

  Adafruit_ICM20X_Accelerometer *accel_sensor =
      NULL;                                 
  Adafruit_ICM20X_Gyro *gyro_sensor = NULL; 
  Adafruit_ICM20X_Magnetometer *mag_sensor =
      NULL;                                 
  Adafruit_ICM20X_Temp *temp_sensor = NULL; 
  uint16_t _sensorid_accel,                 
      _sensorid_gyro,                       
      _sensorid_mag,                        
      _sensorid_temp;                       

  void _read(void);
  virtual void scaleValues(void);
  virtual bool begin_I2C(uint8_t i2c_add, TwoWire *wire, int32_t sensor_id);
  // virtual bool _init(int32_t sensor_id);
  bool _init(int32_t sensor_id);
  int16_t rawAccX, 
      rawAccY,     
      rawAccZ,     
      rawTemp,     
      rawGyroX,    
      rawGyroY,    
      rawGyroZ,    
      rawMagX,     
      rawMagY,     
      rawMagZ;     

  uint8_t current_accel_range; 
  uint8_t current_gyro_range;  
  // virtual void _setBank(uint8_t bank_number);
  void _setBank(uint8_t bank_number);

  uint8_t readAccelRange(void);
  void writeAccelRange(uint8_t new_accel_range);

  uint8_t readGyroRange(void);
  void writeGyroRange(uint8_t new_gyro_range);

private:
  friend class Adafruit_ICM20X_Accelerometer; 
  friend class Adafruit_ICM20X_Gyro; 
  friend class Adafruit_ICM20X_Magnetometer; 

  friend class Adafruit_ICM20X_Temp; 

  void fillAccelEvent(sensors_event_t *accel, uint32_t timestamp);
  void fillGyroEvent(sensors_event_t *gyro, uint32_t timestamp);
  void fillTempEvent(sensors_event_t *temp, uint32_t timestamp);
  void fillMagEvent(sensors_event_t *mag, uint32_t timestamp);
  uint8_t auxillaryRegisterTransaction(bool read, uint8_t slv_addr,
                                       uint8_t reg_addr, uint8_t value = -1);
};

#endif