How to use
===========

.. toctree::
   :maxdepth: 3
   :caption: Contents:

Platform support
----------------

Framework:

- Arduino

This library is made to be used with:

- All

Necessary inclusions
--------------------

Only the header has to be included to you project

.. code-block:: c++

   #include "libDM_icm42688.hpp"

Object creation
---------------

The library supports only SPI reading. The following example shows how to create the object:

.. important::
   API ref: :cpp:class:`ICM42688_SPI`

.. code-block:: c++

    ICM42688_SPI icm(generalConf.icmSpiClock,
                 pinConf.pinSS,
                 &SPI,
                 ABSTRACT_SENSOR_SPI::SPI_CONF(),
                 true,
                 true);

Object configuration
--------------------

The best way to use to the sensor is with the Fifo activated. The following example shows how to configure the sensor to use it:

.. important::
   API ref: :cpp:func:`ICM42688_SPI::softResetSensor`, :cpp:func:`ICM42688_SPI::setGyroOdrRange`, :cpp:func:`ICM42688_SPI::setAccOdrRange`, :cpp:func:`ICM42688_SPI::setGyroAccelFilter`, :cpp:func:`ICM42688_SPI::flushFifo`

.. code-block:: c++
    :linenos:

        icm.softResetSensor();
        icm.begin();
        icm.setGyroOdrRange(ICM42688_ENUM::ODR::_1kHz, ICM42688_ENUM::GYRO_RANGE::_2000dps);
        icm.setAccOdrRange(ICM42688_ENUM::ODR::_1kHz, ICM42688_ENUM::ACC_RANGE::_16g);
        icm.setGyroAccelFilter(ICM42688_ENUM::FILTER_BW::ODR_DIV_4,
                               ICM42688_ENUM::FILTER_BW::ODR_DIV_4,
                               ICM42688_ENUM::FILTER_ORDER::_2nd_ORDER,
                               ICM42688_ENUM::FILTER_ORDER::_2nd_ORDER);
        delay(100);
        if (icm.checkImmobility(0.3F, 200U, 1U, 1000U))
            icm.calibGyro(2000);
        icm.flushFifo(true);
        delay(100);

Get data
--------

The following example shows how to get the data from the sensor:

.. important::
   API ref: :cpp:func:`ICM42688_SPI::readFifo`

.. code-block:: c++
    :linenos:

        ABSTRACT_IMU::IMU_OUTPUT resIMU;

        icm.readFifo();
        resIMU = icm.getOutput();