#ifndef _icm20600_h
#define _icm20600_h

 

#include "app_util_platform.h"
#include "nrf_gpio.h"
#include "nrf_delay.h"
#include "boards.h"
#include "app_error.h"
#include <string.h>

#include "i2c_init.h"



#define ICM20602_SELF_TEST_X_ACCEL 0x0D     // 
#define ICM20602_SELF_TEST_Y_ACCEL 0x0E     //
#define ICM20602_SELF_TEST_Z_ACCEL 0x0F     // 
#define ICM20602_SMPLRT_DIV 0x19            // 
#define ICM20602_CONFIG_REG 0x1A            // 
#define ICM20602_GYRO_CONFIG_REG 0x1B       // (4:3 bit)gyroscope configuration
#define ICM20602_ACCEL_CONFIG1_REG 0x1C     // accelerometer configuration
#define ICM20602_ACCEL_CONFIG2_REG 0x1D     // accelerometer configuration
#define ICM20602_LP_MODE_CFG 0x1E           // gyroscope low-power mode or 6-axis low-power mode
#define ICM20602_LACCEL_WOM_X_THR 0x20      // 
#define ICM20602_LACCEL_WOM_Y_THR 0x21      // 
#define ICM20602_LACCEL_WOM_Z_THR 0x22      // 
#define ICM20602_FIFO_EN 0x23               // GYRO/ACCEL _FIFO_EN
#define ICM20602_FSYNC_INT 0x36
#define ICM20602_INT_PIN_CFG 0x37           // 
#define ICM20602_INT_ENABLE_REG 0x38        // interrupt enable
#define ICM20602_INT_STATUS 0x3A            // INTERRUPT STATUS
#define ICM20602_ACCEL_XOUT_H 0x3B          // accelerometer measurements
#define ICM20602_ACCEL_XOUT_L 0x3C
#define ICM20602_ACCEL_YOUT_H 0x3D
#define ICM20602_ACCEL_YOUT_L 0x3E
#define ICM20602_ACCEL_ZOUT_H 0x3F
#define ICM20602_ACCEL_ZOUT_L 0x40
#define ICM20602_TEMP_OUT_H 0x41            // TEMPERATURE MEASUREMENT,Temperature = 36.53 + regval/340
#define ICM20602_TEMP_OUT_L 0x42
#define ICM20602_GYRO_XOUT_H 0x43           // gyroscope measurements
#define ICM20602_GYRO_XOUT_L 0x44
#define ICM20602_GYRO_YOUT_H 0x45
#define ICM20602_GYRO_YOUT_L 0x46
#define ICM20602_GYRO_ZOUT_H 0x47
#define ICM20602_GYRO_ZOUT_L 0x48
#define ICM20602_SELF_TEST_X_GYRO 0x50
#define ICM20602_SELF_TEST_Y_GYRO 0x51
#define ICM20602_SELF_TEST_Z_GYRO 0x52
#define ICM20602_SIGNAL_PATH_RESET 0x68     // ACCEL_RST,TEMP_RST
#define ICM20602_ACCEL_INTEL_CTRL 0x69
#define ICM20602_USER_CTRL 0x6A             // FIFO_EN,FIFO_RST,SIG_COND_RST
#define ICM20602_PWR_MGMT1_REG 0x6B         // DEVICE_RESET,SLEEP,CYCLE,GYRO_STANDBY,TEMP_DIS,CLKSEL
#define ICM20602_PWR_MGMT2_REG 0x6C         // STBY_XA - STBY_ZG
#define ICM20602_I2C_IF 0x70                //1 -Disable I2C Slave module and put the serial interface in SPI mode only.
#define ICM20602_FIFO_COUNTH 0x72
#define ICM20602_FIFO_R_W 0x74              //FIFO READ WRITE
#define ICM20602_WHO_AM_I 0x75              //RO, default value ID = 0x12;
#define ICM20602_CONFIG 0x80
#define ICM20602_ADDR 0x69                  // Slave address, ad0 set 0


#define SPI_SCK_PIN 20
#define SPI_MOSI_PIN 19
#define SPI_MISO_PIN 18
#define CS_PIN 22

#define i2c_address 0x69  


void ICM_write(uint8_t *tx_data,uint8_t  length);
void ICM_read(uint8_t *rx_data,uint8_t  length);//uint8_t addr,
void ICM_Set_Rate(uint16_t rate) ;
uint8_t set_accelerometer_threshold(uint8_t threshold);
void ICM_init(void);

int16_t ICM_Get_X_Accelerometer(void);
void data_conversion(void);
#endif