sygsp-icm20948_aux_serif.hpp

/*
Copyright 2023 Travis J. West, https://traviswest.ca, Input Devices and Music
Interaction Laboratory (IDMIL), Centre for Interdisciplinary Research in Music
Media and Technology (CIRMMT), McGill University, Montréal, Canada, and Univ.
Lille, Inria, CNRS, Centrale Lille, UMR 9189 CRIStAL, F-59000 Lille, France
 
SPDX-License-Identifier: MIT
*/
#pragma once
#include <cstdint>
#include "sygsp-delay.hpp"
#include "sygsp-icm20948_registers.hpp"
 
namespace sygaldry { namespace sygsp {
 
template<typename Serif, uint8_t i2c_address>
struct ICM20948AuxSerif
{
    using Registers = ICM20948Registers<Serif>;
 
    [[nodiscard]] static uint8_t read(uint8_t register_address)
    {
        Registers::I2C_SLV4_ADDR::write(1<<8 | i2c_address);
        Registers::I2C_SLV4_REG::write(register_address);
        Registers::I2C_SLV4_CTRL::I2C_SLV4_EN::trigger();
        delay(1);
        return Registers::I2C_SLV4_DI::read();
    }
 
    static void write(uint8_t register_address, uint8_t value)
    {
        Registers::I2C_SLV4_ADDR::write(1<<8 | i2c_address);
        Registers::I2C_SLV4_REG::write(register_address);
        Registers::I2C_SLV4_DO::write(value);
        Registers::I2C_SLV4_CTRL::I2C_SLV4_EN::trigger();
    }
};
 
} }