#ifndef __ICM20600_H
#define __ICM20600_H

#include "SPIDevice.h"
#include "GPIO_EXTI.h"

typedef struct Imu_ICM20600{
    const char *name;
    SPI_DEV_t *_dev;
    GPIO_EXIT_t *exti;

    float    Accx;        //从ICM20600读出来的Ax
    float    Accy;        //从ICM20600读出来的Ay
    float    Accz;        //从ICM20600读出来的Az

    float    Gyrox;       //从ICM20600读出来的Ax
    float    Gyroy;       //从ICM20600读出来的Ay
    float    Gyroz;       //从ICM20600读出来的Az

    int32_t  At;          //从ICM20600读出来的温度
    int read_cnt;

    float gyro_lsb_per_deg_sec;
    float acc_lsb_per_g;

    // statics
    int cnt;
    int last_cnt;
    int pps;
} Imu_ICM20600_t;

int Imu_ICM20600_init(Imu_ICM20600_t *Acc, const char *name, SPI_DEV_t *dev, GPIO_EXIT_t *exti);
bool Imu_ICM20600_update(Imu_ICM20600_t *Acc);
void Imu_ICM20600_stats(Imu_ICM20600_t *Acc);


#endif