پروژه ICM20948 با میکروکنترلر STM32F303

typedef enum bank_sel
{
BANK_0 = 0 ,
BANK_1     ,
BANK_2     ,
BANK_3
} ICM20948_Bank_Sel;

typedef enum  interface
{
 NOT_SPI = 0,
 IS_SPI
}ICM20948_Interface;

typedef enum accel_fs_sel
{
FULL_SCALE_2g = 0  ,
FULL_SCALE_4g      ,
FULL_SCALE_8g      ,
FULL_SCALE_16g
}ICM20948_Accel_Fs_Sel;

typedef enum Accel_Scale_Factor
{
SCALE_FACTOR_16384_LSB_g = 16384,
SCALE_FACTOR_8192_LSB_g  = 8192 ,
SCALE_FACTOR_4096_LSB_g  = 4096 ,
SCALE_FACTOR_2048_LSB_g  = 2048
}ICM20948_Accel_Scale_Factor;

typedef enum gyro_fs_sel
{
 FS_250_DPS ,
 FS_500_DPS ,
 FS_1000_DPS,
 FS_2000_DPS
}ICM20948_Gyro_Fs_Sel;

typedef enum Gyro_Scale_Factor
{
SCALE_FACTOR_131_LSB_DPS   = 131 ,
SCALE_FACTOR_65p5_LSB_DPS  = 65  ,
SCALE_FACTOR_32p8_LSB_DPS  = 32  ,
SCALE_FACTOR_16p4_LSB_DPS  = 16
}ICM20948_Gyro_Scale_Factor;

typedef enum FIFO_Mode
{
STREAM_TO_FIFO      ,
STOP_ON_FULL_FIFO_SNAPSHOT = 31
}ICM20948_FIFO_MODE ;

typedef enum Ability
{
Disable = 0,
Enable
}ICM20948_Ability;

typedef enum Power_Mode
{
ICM20948_LOW_NOISE = 0,
ICM20948_LOW_POWER = 1,
ICM20948_SLEEP_OFF = 2
} ICM20948_Power_Mode;

typedef enum
{
 GYRO_AVERAGE_1_SAMPLES_FILTER  = 0 ,
 GYRO_AVERAGE_2_SAMPLES_FILTER  = 1 ,
 GYRO_AVERAGE_4_SAMPLES_FILTER  = 2 ,
 GYRO_AVERAGE_8_SAMPLES_FILTER  = 3 ,
 GYRO_AVERAGE_16_SAMPLES_FILTER = 4 ,
 GYRO_AVERAGE_32_SAMPLES_FILTER = 5	,
 GYRO_AVERAGE_64_SAMPLES_FILTER = 6	,
 GYRO_AVERAGE_128_SAMPLES_FILTER= 7
} ICM20948_GYRO_Averaging_Filter;

typedef enum ACCEL_Averaging_Filter
{
 ACCEL_AVERAGE_1_4_SAMPLES_FILTER  = 0 ,
 ACCEL_AVERAGE_8_SAMPLES_FILTER    = 1 ,
 ACCEL_AVERAGE_16_SAMPLES_FILTER   = 2 ,
 ACCEL_AVERAGE_32_SAMPLES_FILTER   = 3
} ICM20948_ACCEL_Averaging_Filter;

typedef enum Preparation
{
IS_NOT_Ready = 0,
IS_Ready
}ICM20948_Preparation;

typedef enum Reset_Status
{
DONE = 0,
FAILED
}ICM20948_Reset_Status;

typedef enum FIFO_Ability
{
FIFO_DISABLE = 0,
FIFO_ENABLE
} ICM20948_FIFO_Ability;

typedef enum Get_DATA
{
FROM_REGISTER = 0,
FROM_FIFO
} ICM20948_Get_DATA;

typedef enum Interrupt_Pin
{
INTERRUPT_ON_PIN_1 = 0,
INTERRUPT_ON_PIN_2
} ICM20948_Interrupt_Pin;

typedef enum DMP_LP
{
NOT_DMP_LOW_POWER = 0,
DMP_LOW_POWER
} ICM20948_DMP_LP;

typedef enum Sleep
{
ICM20948_AWAKE   = 0 ,
ICM20948_SLEEP
}ICM20948_Sleep ;

typedef enum Clock_Source
{
INTERNAL_20MHZ_OSCILLATOR = 0 ,
AUTO_SELECT               = 1 ,
CLOCK_STOP                = 7
}ICM20948_Clock_Source ;

typedef enum Sensor
{
SENSOR_ENABLE   = 0 ,
SENSOR_DISABLE  = 7
}ICM20948_Sensor ;

typedef enum int_level
{
ACTIVE_HIGH = 0 ,
ACTIVE_LOW
} ICM20948_INT_Level;

typedef enum latch_type
{
_50_US = 0,
HELD_STATUS_CLEAR
} ICM20948_Latch_Type;

typedef enum int_type
{
PUSH_PULL = 0 ,
OPEN_DRAIN
}ICM20948_INT_Type;

typedef enum FIFO_Reset
{
FIFO_DE_ASSERT = 0 ,
FIFO_ASSERT    = 31
} ICM20948_FIFO_Reset;

typedef enum FIFO_Overflow
{
NOT_OVERFLOW   = 0 ,
FIFO_OVERFLOW  = 1
} ICM20948_FIFO_Overflow;

typedef enum sample_rate
{
_1_25_KHz   = 1125 ,
_4_5_KHz    = 4500 ,
_9_KHz      = 9000
}ICM20948_Sample_Rate ;

typedef enum Data_Copy_FIFO
{
NOT_COPY_FIFO = 0 ,
COPY_TO_FIFO  = 3
} ICM20948_Data_Copy_FIFO;

typedef enum FCHOICEB
{
ENABLE_DLPF_FCHOICEB = 1 ,
BYPASS_DLPF_FCHOICEB = 0 ,
}ICM20948_FCHOICEB;

typedef enum Gyro_DLPF_CFG
{
ICM20948_GYRO_DLPF_196    = 0,
ICM20948_GYRO_DLPF_152	  = 1,
ICM20948_GYRO_DLPF_119	  = 2,
ICM20948_GYRO_DLPF_51	  = 3,
ICM20948_GYRO_DLPF_24	  = 4,
ICM20948_GYRO_DLPF_12	  = 5,
ICM20948_GYRO_DLPF_6	  = 6,
ICM20948_GYRO_DLPF_361	  = 7
}ICM20948_GYRO_DLPF ;

typedef enum Accel_DLPF_CFG
{
ICM20948_ACCEL_DLPF_246	        = 1,
ICM20948_ACCEL_DLPF_111	        = 2,
ICM20948_ACCEL_DLPF_50	        = 3,
ICM20948_ACCEL_DLPF_24	        = 4,
ICM20948_ACCEL_DLPF_11	        = 5,
ICM20948_ACCEL_DLPF_6	        = 6,
ICM20948_ACCEL_DLPF_473         = 7
}ICM20948_ACCEL_DLPF ;

typedef enum Temp_DLPF_CFG
{
ICM20948_TEMP_DLPF_7932 = 0,
ICM20948_TEMP_DLPF_218	= 1,
ICM20948_TEMP_DLPF_123	= 2,
ICM20948_TEMP_DLPF_66	= 3,
ICM20948_TEMP_DLPF_34	= 4,
ICM20948_TEMP_DLPF_17 	= 5,
ICM20948_TEMP_DLPF_9	= 6,
}ICM20948_TEMP_DLPF ;

typedef enum Aux_Between
{
	RESTART = 0 ,
	STOP
} ICM20948_Aux_Between;

typedef enum I2C_Slave
{
 SLAVE_0 = 0 ,
 SLAVE_1 = 1 ,
 SLAVE_2 = 2 ,
 SLAVE_3 = 3 ,
 SLAVE_4
} ICM20948_I2C_Slave;

typedef enum AK09916_Power
{
AK09916_POWER_DOWN             = 0 ,
AK09916_SINGLE_MEASUREMENT     = 1 ,
AK09916_CONTINUOUS_MEASUREMENT = 2 ,
AK09916_SELF_TEST              = 65536
} AK09916_Power_Mode;

/********************************************************
 *Declare Read&Write ICM20948 Register Values Functions *
 ********************************************************/
extern	uint8_t	GB_ICM20948_Read_Reg_Data ( uint8_t regAddr, ICM20948_Bank_Sel regBank, uint8_t* data);
extern	uint8_t GB_ICM20948_Read_Reg_Bits (uint8_t regAddr, ICM20948_Bank_Sel regBank, uint8_t start_bit, uint8_t len, uint8_t* data);
extern	uint8_t GB_ICM20948_Burst_Read(uint8_t regAddr, ICM20948_Bank_Sel regBank, uint8_t *data, uint16_t byteQuantity);
extern	uint8_t GB_ICM20948_Write_Reg_Data(uint8_t regAddr, ICM20948_Bank_Sel regBank, uint8_t data);
extern	uint8_t	GB_ICM20948_Write_Reg_Bits(uint8_t regAddr, ICM20948_Bank_Sel regBank, uint8_t start_bit, uint8_t len, uint8_t data);
extern	uint8_t GB_ICM20948_Burst_Write		( uint8_t regAddr, ICM20948_Bank_Sel regBank, uint8_t *data, 	uint16_t byteQuantity);
/********************************************************
 *       Declare ICM20948 Configuration Functions       *
 ********************************************************/
extern void GB_ICM20948_Soft_Reset ( GebraBit_ICM20948 * ICM20948 );
extern void GB_ICM20948_Bank_Selection( ICM20948_Bank_Sel bsel);
extern void GB_ICM20948_Who_am_I(GebraBit_ICM20948 * ICM20948);
extern void GB_ICM20948_Select_SPI4_Interface(GebraBit_ICM20948 * ICM20948 , ICM20948_Interface spisel);
extern void GB_ICM20948_DMP(GebraBit_ICM20948* ICM20948 ,ICM20948_Ability dmp,ICM20948_DMP_LP dmp_lp);
extern void GB_ICM20948_DMP_Reset(GebraBit_ICM20948* ICM20948 ,ICM20948_Ability rst);
extern void GB_ICM20948_DMP_Interrupt( ICM20948_Ability interrupt);
extern void GB_ICM20948_Sleep_Awake (GebraBit_ICM20948 * ICM20948, ICM20948_Sleep  working  ) ;
extern void GB_ICM20948_ACCEL_Power_Mode(GebraBit_ICM20948* ICM20948 ,ICM20948_Power_Mode pmode);
extern void GB_ICM20948_GYRO_Power_Mode(GebraBit_ICM20948* ICM20948 ,ICM20948_Power_Mode pmode);
extern void GB_ICM20948_Set_Clock_Source(GebraBit_ICM20948 * ICM20948 , ICM20948_CLK clk) ;
extern void GB_ICM20948_Temperature(GebraBit_ICM20948* ICM20948 ,ICM20948_Ability temp);
extern void GB_ICM20948_Accelerometer(GebraBit_ICM20948 * ICM20948 , ICM20948_Sensor accel);
extern void GB_ICM20948_Gyroscope(GebraBit_ICM20948 * ICM20948 , ICM20948_Sensor gyro) ;
extern void GB_ICM20948_Set_INT1_Pin(GebraBit_ICM20948 * ICM20948 , ICM20948_INT_Level level ,ICM20948_INT_Type type , ICM20948_Latch_Type latch );
extern void Interrupt_Status_Enable(GebraBit_ICM20948 * ICM20948 , ICM20948_Ability interrupt );
extern ICM20948_Preparation GB_ICM20948_Check_Data_Preparation(GebraBit_ICM20948 * ICM20948);
extern void GB_ICM20948_GYRO_Full_Scale ( GebraBit_ICM20948 * ICM20948 , ICM20948_Gyro_Fs_Sel fs ) ;
extern void GB_ICM20948_GYRO_Low_Pass_Filter  (GebraBit_ICM20948 * ICM20948 ,  ICM20948_FCHOICEB bypass ) ;
extern void GB_ICM20948_GYRO_Low_Pass_Filter_Value  (GebraBit_ICM20948 * ICM20948 , ICM20948_GYRO_DLPF dlpf );
extern void GB_ICM20948_GYRO_LP_Averaging_Filter  (GebraBit_ICM20948 * ICM20948 , ICM20948_GYRO_Averaging_Filter avg );
extern void GB_ICM20948_GYRO_Output_Sample_Rate (GebraBit_ICM20948 * ICM20948 , uint16_t rate_hz);
extern void GB_ICM20948_ACCEL_Full_Scale ( GebraBit_ICM20948 * ICM20948 , ICM20948_Accel_Fs_Sel fs );
extern void GB_ICM20948_ACCEL_Low_Pass_Filter  (GebraBit_ICM20948 * ICM20948 ,  ICM20948_FCHOICEB bypass );
extern void GB_ICM20948_ACCEL_Low_Pass_Filter_Value  (GebraBit_ICM20948 * ICM20948 , ICM20948_ACCEL_DLPF dlpf );
extern void GB_ICM20948_ACCEL_LP_Averaging_Filter  (GebraBit_ICM20948 * ICM20948 , ICM20948_ACCEL_Averaging_Filter avg );
extern void GB_ICM20948_ACCEL_Output_Sample_Rate (GebraBit_ICM20948 * ICM20948 , uint16_t rate_hz);
extern void GB_ICM20948_TEMP_Low_Pass_Filter_Value  (GebraBit_ICM20948 * ICM20948 , ICM20948_TEMP_DLPF tdlpf );
/********************************************************
 *          Declare ICM20948 FIFO Functions             *
 ********************************************************/
extern void GB_ICM20948_Access_Serial_Interface_To_FIFO(GebraBit_ICM20948 * ICM20948 , ICM20948_Ability interface_access_fifo);
extern ICM20948_FIFO_Overflow GB_ICM20948_Check_FIFO_Overflow(GebraBit_ICM20948 * ICM20948) ;
extern void GB_ICM20948_Write_ACCEL_FIFO(GebraBit_ICM20948 * ICM20948 , ICM20948_Ability accel_fifo ) ;
extern void GB_ICM20948_Write_GYRO_FIFO(GebraBit_ICM20948 * ICM20948 , ICM20948_Ability gyro_fifo ) ;
extern void GB_ICM20948_Write_TEMP_FIFO(GebraBit_ICM20948 * ICM20948 , ICM20948_Ability temp_fifo );
extern void GB_ICM20948_Write_Slave_FIFO(GebraBit_ICM20948 * ICM20948 ,ICM20948_I2C_Slave slave , ICM20948_Ability slv_fifo );
extern void GB_ICM20948_FIFO_Mode(GebraBit_ICM20948 * ICM20948 , ICM20948_FIFO_Mode fifo_mode );
extern void GB_ICM20948_FIFO_Reset(void) ;
extern void GB_ICM20948_GET_FIFO_Count (GebraBit_ICM20948 * ICM20948 ) ;
extern void GB_ICM20948_Read_FIFO(GebraBit_ICM20948 * ICM20948 , uint16_t qty);
extern ICM20948_Data_Copy_FIFO GB_ICM20948_Check_Data_Copy_TO_FIFO(GebraBit_ICM20948 * ICM20948) ;
/********************************************************
 *          Declare ICM20948 DATA Functions             *
 ********************************************************/
extern void GB_ICM20948_Get_Temp_Register_Raw_Data(GebraBit_ICM20948 * ICM20948);
extern void GB_ICM20948_Get_Temp_Valid_Data(GebraBit_ICM20948 * ICM20948);
extern void GB_ICM20948_Get_GYRO_X_Register_Raw_DATA(GebraBit_ICM20948 * ICM20948);
extern void GB_ICM20948_Get_GYRO_Y_Register_Raw_DATA(GebraBit_ICM20948 * ICM20948);
extern void GB_ICM20948_Get_GYRO_Z_Register_Raw_DATA(GebraBit_ICM20948 * ICM20948);
extern void GB_ICM20948_Get_GYRO_DATA_X_Valid_Data(GebraBit_ICM20948 * ICM20948);
extern void GB_ICM20948_Get_GYRO_DATA_Y_Valid_Data(GebraBit_ICM20948 * ICM20948);
extern void GB_ICM20948_Get_GYRO_DATA_Z_Valid_Data(GebraBit_ICM20948 * ICM20948);
extern void GB_ICM20948_Get_ACCEL_X_Register_Raw_DATA(GebraBit_ICM20948 * ICM20948);
extern void GB_ICM20948_Get_ACCEL_Y_Register_Raw_DATA(GebraBit_ICM20948 * ICM20948);
extern void GB_ICM20948_Get_ACCEL_Z_Register_Raw_DATA(GebraBit_ICM20948 * ICM20948);
extern void GB_ICM20948_Get_ACCEL_DATA_X_Valid_Data(GebraBit_ICM20948 * ICM20948);
extern void GB_ICM20948_Get_ACCEL_DATA_Y_Valid_Data(GebraBit_ICM20948 * ICM20948);
extern void GB_ICM20948_Get_ACCEL_DATA_Z_Valid_Data(GebraBit_ICM20948 * ICM20948);
extern void GB_ICM20948_Get_Temperature(GebraBit_ICM20948 * ICM20948);
extern void GB_ICM20948_Get_XYZ_GYROSCOPE(GebraBit_ICM20948 * ICM20948);
extern void GB_ICM20948_Get_XYZ_ACCELERATION(GebraBit_ICM20948 * ICM20948);
extern void GB_ICM20948_Get_ACCEL_GYRO_TEMP_MAG_From_Registers(GebraBit_ICM20948 * ICM20948);
extern void GB_ICM20948_FIFO_Data_Partition_ACCEL_GYRO_MAG_XYZ_TEMP(GebraBit_ICM20948 * ICM20948);
extern void GB_ICM20948_Get_ACCEL_GYRO_MAG_TEMP_From_FIFO(GebraBit_ICM20948 * ICM20948);
extern void GB_ICM20948_Get_Data(GebraBit_ICM20948 * ICM20948 , ICM20948_Get_DATA get_data);
extern void GB_ICM20948_Get_XYZ_AK09916_Magnetometer(GebraBit_ICM20948 * ICM20948);
/********************************************************
 *          Declare ICM20948 HIGH LEVEL Functions       *
 ********************************************************/
extern void GB_ICM20948_FIFO_Configuration ( GebraBit_ICM20948 * ICM20948 , ICM20948_FIFO_Ability fifo );
extern void GB_ICM20948_Set_Power_Management(GebraBit_ICM20948 * ICM20948 , ICM20948_Power_Mode pmode) ;
extern void GB_ICM20948_initialize( GebraBit_ICM20948 * ICM20948 );
extern void GB_ICM20948_Configuration(GebraBit_ICM20948 * ICM20948, ICM20948_FIFO_Ability fifo);
/********************************************************
 *   Declare ICM20948 AUX I2C and AK09916  Functions    *
 ********************************************************/
extern void GB_ICM20948_AUX_I2C_Between_Reads(GebraBit_ICM20948 * ICM20948,ICM20948_Aux_Between bet );
extern void GB_ICM20948_External_Sensor_ODR(GebraBit_ICM20948 * ICM20948,uint8_t devider);
extern void GB_ICM20948_AUX_Initialize(GebraBit_ICM20948 * ICM20948);
extern void GB_ICM20948_AUX_I2C(GebraBit_ICM20948 * ICM20948,ICM20948_Ability aux);
extern void GB_ICM20948_Stop_AUX_I2C(GebraBit_ICM20948 * ICM20948,ICM20948_I2C_Slave slave);
extern void GB_ICM20948_Set_AUX_I2C_Read(GebraBit_ICM20948 * ICM20948, ICM20948_I2C_Slave slave, uint8_t slave_addr, uint8_t slave_reg, uint8_t data_len);
extern void GB_ICM20948_AUX_I2C_Read_Data(GebraBit_ICM20948 * ICM20948, ICM20948_I2C_Slave slave, uint8_t slave_addr, uint8_t slave_reg, uint8_t data_len, uint8_t * data);
extern void GB_ICM20948_Set_AUX_I2C_Write(GebraBit_ICM20948 * ICM20948, ICM20948_I2C_Slave slave, uint8_t slave_addr, uint8_t slave_reg, uint8_t data);
extern void GB_ICM20948_AUX_I2C_Write_Data(GebraBit_ICM20948 * ICM20948, ICM20948_I2C_Slave slave, uint8_t slave_addr, uint8_t slave_reg, uint8_t  data);
extern void GB_ICM20948_Get_AK09916_Device_ID(GebraBit_ICM20948 * ICM20948)  ;
extern ICM20948_Preparation GB_ICM20948_Check_AK09916_Data_Preparation(GebraBit_ICM20948 * ICM20948)  ;
extern void GB_ICM20948_Set_AK09916_Magnetometer_Power_Mode(GebraBit_ICM20948 * ICM20948 , AK09916_Power_Mode pmode)  ;
extern void GB_ICM20948_Set_AK09916_Soft_Reset(GebraBit_ICM20948 * ICM20948)   ;
extern void GB_ICM20948_Config_AK09916_Magnetometer(GebraBit_ICM20948 * ICM20948) ;
extern void GB_ICM20948_Read_AK09916_Status_2(GebraBit_ICM20948 * ICM20948) ;

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */
GebraBit_ICM20948 ICM20948_Module;
/* USER CODE END PTD */

GB_ICM20948_initialize( &ICM20948_Module );
	GB_ICM20948_Configuration(&ICM20948_Module ,FIFO_ENABLE);
//GB_ICM20948_Configuration(&ICM20948_Module , FIFO_DISABLE );
	GB_ICM20948_Config_AK09916_Magnetometer(&ICM20948_Module);

GB_ICM20948_Get_Data( &ICM20948_Module , FROM_REGISTER);
//GB_ICM20948_Get_Data(  &ICM20948_Module , FROM_FIFO);

/* USER CODE BEGIN Header */
/*
 * ________________________________________________________________________________________________________
 * Copyright (c) 2020 GebraBit Inc. All rights reserved.
 *
 * This software, related documentation and any modifications thereto (collectively “Software”) is subject
 * to GebraBit and its licensors' intellectual property rights under U.S. and international copyright
 * and other intellectual property rights laws.
 *
 * GebraBit and its licensors retain all intellectual property and proprietary rights in and to the Software
 * and any use, reproduction, disclosure or distribution of the Software without an express license agreement
 * from GebraBit is strictly prohibited.

 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT
 * NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT IN
 * NO EVENT SHALL GebraBit BE LIABLE FOR ANY DIRECT, SPECIAL, INDIRECT, INCIDENTAL, OR CONSEQUENTIAL DAMAGES,
 * OR ANY DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT,
 * NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR PERFORMANCE
 * OF THE SOFTWARE.
 * ________________________________________________________________________________________________________
 */
/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
	* @Author       	: Mehrdad Zeinali
  ******************************************************************************
  * @attention
  *
  * Copyright (c) 2022 STMicroelectronics.
  * All rights reserved.
  *
  * This software is licensed under terms that can be found in the LICENSE file
  * in the root directory of this software component.
  * If no LICENSE file comes with this software, it is provided AS-IS.
  *
  ******************************************************************************
  *//* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
//#include "i2c.h"
#include "spi.h"
#include "gpio.h"
#include "GebraBit_ICM20948.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */

/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */
GebraBit_ICM20948 ICM20948_Module;
/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/

/* USER CODE BEGIN PV */
/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */

/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
int main(void)
{
  /* USER CODE BEGIN 1 */
  /* USER CODE END 1 */

  /* MCU Configuration--------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* Configure the system clock */
  SystemClock_Config();

  /* USER CODE BEGIN SysInit */

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  //MX_I2C1_Init();
  MX_SPI1_Init();
  /* USER CODE END 2 */
  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
	GB_ICM20948_initialize( &ICM20948_Module );
	//GB_ICM20948_Configuration(&ICM20948_Module ,FIFO_ENABLE );
	GB_ICM20948_Configuration(&ICM20948_Module , FIFO_DISABLE );
	GB_ICM20948_Config_AK09916_Magnetometer(&ICM20948_Module);
  while (1)
  {

    /* USER CODE END WHILE */
    /* USER CODE BEGIN 3 */
		GB_ICM20948_Get_Data(  &ICM20948_Module , FROM_REGISTER  );
		//GB_ICM20948_Get_Data(  &ICM20948_Module , FROM_FIFO  );

  }
  /* USER CODE END 3 */
}

/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
  RCC_PeriphCLKInitTypeDef PeriphClkInit = {0};

  /** Initializes the RCC Oscillators according to the specified parameters
  * in the RCC_OscInitTypeDef structure.
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
  RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
  RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL7;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }

  /** Initializes the CPU, AHB and APB buses clocks
  */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
  {
    Error_Handler();
  }
  PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_I2C1;
  PeriphClkInit.I2c1ClockSelection = RCC_I2C1CLKSOURCE_SYSCLK;
  if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK)
  {
    Error_Handler();
  }
}

/* USER CODE BEGIN 4 */

/* USER CODE END 4 */

/**
  * @brief  This function is executed in case of error occurrence.
  * @retval None
  */
void Error_Handler(void)
{
  /* USER CODE BEGIN Error_Handler_Debug */
  /* User can add his own implementation to report the HAL error return state */
  __disable_irq();
  while (1)
  {
  }
  /* USER CODE END Error_Handler_Debug */
}

#ifdef  USE_FULL_ASSERT
/**
  * @brief  Reports the name of the source file and the source line number
  *         where the assert_param error has occurred.
  * @param  file: pointer to the source file name
  * @param  line: assert_param error line source number
  * @retval None
  */
void assert_failed(uint8_t *file, uint32_t line)
{
  /* USER CODE BEGIN 6 */
  /* User can add his own implementation to report the file name and line number,
     ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */