freematics-traccar-encrypted/esp32/libraries/FreematicsPlus/utility/ICM_20948_REGISTERS.h

/*

This file contains a useful c translation of the datasheet register map

*/

#ifndef _ICM_20948_REGISTERS_H_
#define _ICM_20948_REGISTERS_H_

#include <stdint.h>

#ifdef __cplusplus
extern "C" {
#endif	/* __cplusplus */

typedef enum{
	// Generalized
	REG_BANK_SEL = 0x7F,

	// Gyroscope and Accelerometer
	// User Bank 0
	AGB0_REG_WHO_AM_I = 0x00,
		// Break
	AGB0_REG_USER_CTRL = 0x03,
		// Break
	AGB0_REG_LP_CONFIG = 0x05,
	AGB0_REG_PWR_MGMT_1,
	AGB0_REG_PWR_MGMT_2,
		// Break
	AGB0_REG_INT_PIN_CONFIG = 0x0F,
	AGB0_REG_INT_ENABLE,
	AGB0_REG_INT_ENABLE_1,
	AGB0_REG_INT_ENABLE_2,
	AGB0_REG_INT_ENABLE_3,
		// Break
	AGB0_REG_I2C_MST_STATUS = 0x17,
		// Break
	AGB0_REG_INT_STATUS = 0x19,
	AGB0_REG_INT_STATUS_1,
	AGB0_REG_INT_STATUS_2,
	AGB0_REG_INT_STATUS_3,
		// Break
	AGB0_REG_DELAY_TIMEH = 0x28,
	AGB0_REG_DELAY_TIMEL,
		// Break
	AGB0_REG_ACCEL_XOUT_H = 0x2D,
	AGB0_REG_ACCEL_XOUT_L,
	AGB0_REG_ACCEL_YOUT_H,
	AGB0_REG_ACCEL_YOUT_L,
	AGB0_REG_ACCEL_ZOUT_H,
	AGB0_REG_ACCEL_ZOUT_L,
	AGB0_REG_GYRO_XOUT_H,
	AGB0_REG_GYRO_XOUT_L,
	AGB0_REG_GYRO_YOUT_H,
	AGB0_REG_GYRO_YOUT_L,
	AGB0_REG_GYRO_ZOUT_H,
	AGB0_REG_GYRO_ZOUT_L,
	AGB0_REG_TEMP_OUT_H, 
	AGB0_REG_TEMP_OUT_L,
	AGB0_REG_EXT_SLV_SENS_DATA_00,
	AGB0_REG_EXT_SLV_SENS_DATA_01,
	AGB0_REG_EXT_SLV_SENS_DATA_02,
	AGB0_REG_EXT_SLV_SENS_DATA_03,
	AGB0_REG_EXT_SLV_SENS_DATA_04,
	AGB0_REG_EXT_SLV_SENS_DATA_05,
	AGB0_REG_EXT_SLV_SENS_DATA_06,
	AGB0_REG_EXT_SLV_SENS_DATA_07,
	AGB0_REG_EXT_SLV_SENS_DATA_08,
	AGB0_REG_EXT_SLV_SENS_DATA_09,
	AGB0_REG_EXT_SLV_SENS_DATA_10,
	AGB0_REG_EXT_SLV_SENS_DATA_11,
	AGB0_REG_EXT_SLV_SENS_DATA_12,
	AGB0_REG_EXT_SLV_SENS_DATA_13,
	AGB0_REG_EXT_SLV_SENS_DATA_14,
	AGB0_REG_EXT_SLV_SENS_DATA_15,
	AGB0_REG_EXT_SLV_SENS_DATA_16,
	AGB0_REG_EXT_SLV_SENS_DATA_17,
	AGB0_REG_EXT_SLV_SENS_DATA_18,
	AGB0_REG_EXT_SLV_SENS_DATA_19,
	AGB0_REG_EXT_SLV_SENS_DATA_20,
	AGB0_REG_EXT_SLV_SENS_DATA_21,
	AGB0_REG_EXT_SLV_SENS_DATA_22,
	AGB0_REG_EXT_SLV_SENS_DATA_23,
		// Break
	AGB0_REG_FIFO_EN_1 = 0x66,
	AGB0_REG_FIFO_EN_2,
	AGB0_REG_FIFO_MODE,
		// Break
	AGB0_REG_FIFO_COUNT_H = 0x70,
	AGB0_REG_FIFO_COUNT_L,
	AGB0_REG_FIFO_R_W,
		// Break
	AGB0_REG_DATA_RDY_STATUS = 0x74,
		// Break
	AGB0_REG_FIFO_CFG = 0x76,
		// Break
	AGB0_REG_MEM_START_ADDR 	= 0x7C,		// Hmm, Invensense thought they were sneaky not listing these locations on the datasheet...
	AGB0_REG_MEM_R_W 			= 0x7D,		// These three locations seem to be able to access some memory within the device
	AGB0_REG_MEM_BANK_SEL 		= 0x7E,		// And that location is also where the DMP image gets loaded
	AGB0_REG_REG_BANK_SEL = 0x7F,

	// Bank 1
	AGB1_REG_SELF_TEST_X_GYRO = 0x02,
	AGB1_REG_SELF_TEST_Y_GYRO,
	AGB1_REG_SELF_TEST_Z_GYRO,
		// Break
	AGB1_REG_SELF_TEST_X_ACCEL = 0x0E,
	AGB1_REG_SELF_TEST_Y_ACCEL,
	AGB1_REG_SELF_TEST_Z_ACCEL,
		// Break
	AGB1_REG_XA_OFFS_H = 0x14,
	AGB1_REG_XA_OFFS_L,
		// Break
	AGB1_REG_YA_OFFS_H = 0x17,
	AGB1_REG_YA_OFFS_L,
		// Break
	AGB1_REG_ZA_OFFS_H = 0x1A,
	AGB1_REG_ZA_OFFS_L,
		// Break
	AGB1_REG_TIMEBASE_CORRECTION_PLL = 0x28,
		// Break
	AGB1_REG_REG_BANK_SEL = 0x7F,

	// Bank 2
	AGB2_REG_GYRO_SMPLRT_DIV = 0x00,
	AGB2_REG_GYRO_CONFIG_1,
	AGB2_REG_GYRO_CONFIG_2,
	AGB2_REG_XG_OFFS_USRH,
	AGB2_REG_XG_OFFS_USRL,
	AGB2_REG_YG_OFFS_USRH,
	AGB2_REG_YG_OFFS_USRL,
	AGB2_REG_ZG_OFFS_USRH,
	AGB2_REG_ZG_OFFS_USRL,
	AGB2_REG_ODR_ALIGN_EN,
		// Break
	AGB2_REG_ACCEL_SMPLRT_DIV_1 = 0x10,
	AGB2_REG_ACCEL_SMPLRT_DIV_2,
	AGB2_REG_ACCEL_INTEL_CTRL,
	AGB2_REG_ACCEL_WOM_THR,
	AGB2_REG_ACCEL_CONFIG,
	AGB2_REG_ACCEL_CONFIG_2,
		// Break
	AGB2_REG_FSYNC_CONFIG = 0x52,
	AGB2_REG_TEMP_CONFIG,
	AGB2_REG_MOD_CTRL_USR,
		// Break
	AGB2_REG_REG_BANK_SEL = 0x7F,

	// Bank 3
	AGB3_REG_I2C_MST_ODR_CONFIG = 0x00,
	AGB3_REG_I2C_MST_CTRL,
	AGB3_REG_I2C_MST_DELAY_CTRL,
	AGB3_REG_I2C_SLV0_ADDR,
	AGB3_REG_I2C_SLV0_REG,
	AGB3_REG_I2C_SLV0_CTRL,
	AGB3_REG_I2C_SLV0_DO,
	AGB3_REG_I2C_SLV1_ADDR,
	AGB3_REG_I2C_SLV1_REG,
	AGB3_REG_I2C_SLV1_CTRL,
	AGB3_REG_I2C_SLV1_DO,
	AGB3_REG_I2C_SLV2_ADDR,
	AGB3_REG_I2C_SLV2_REG,
	AGB3_REG_I2C_SLV2_CTRL,
	AGB3_REG_I2C_SLV2_DO,
	AGB3_REG_I2C_SLV3_ADDR,
	AGB3_REG_I2C_SLV3_REG,
	AGB3_REG_I2C_SLV3_CTRL,
	AGB3_REG_I2C_SLV3_DO,
	AGB3_REG_I2C_SLV4_ADDR,
	AGB3_REG_I2C_SLV4_REG,
	AGB3_REG_I2C_SLV4_CTRL,
	AGB3_REG_I2C_SLV4_DO,
	AGB3_REG_I2C_SLV4_DI,
		// Break
	AGB3_REG_REG_BANK_SEL = 0x7F,
	
	// Magnetometer
	M_REG_WIA2 = 0x01,
		// Break
	M_REG_ST1 = 0x10,
	M_REG_HXL,
	M_REG_HXH,
	M_REG_HYL,
	M_REG_HYH,
	M_REG_HZL,
	M_REG_HZH,
	M_REG_ST2,
		// Break
	M_REG_CNTL2 = 0x31,
	M_REG_CNTL3,
	M_REG_TS1,
	M_REG_TS2,
}ICM_20948_Reg_Addr_e;	// These enums are not needed for the user, so they stay in this scope (simplifies naming among other things)



// Type definitions for the registers
typedef struct{
	uint8_t WHO_AM_I;
}ICM_20948_WHO_AM_I_t;

typedef struct{
	uint8_t reserved_0 					: 1;
	uint8_t I2C_MST_RST					: 1;
	uint8_t SRAM_RST					: 1;
	uint8_t DMP_RST						: 1;
	uint8_t	I2C_IF_DIS					: 1;
	uint8_t I2C_MST_EN					: 1;
	uint8_t FIFO_EN 					: 1;
	uint8_t DMP_EN 						: 1;
}ICM_20948_USER_CTRL_t;

typedef struct{
	uint8_t reserved_0 					: 4;
	uint8_t GYRO_CYCLE					: 1;
	uint8_t ACCEL_CYCLE					: 1;
	uint8_t I2C_MST_CYCLE				: 1;
	uint8_t reserved_1					: 1;
}ICM_20948_LP_CONFIG_t;

typedef struct{
	uint8_t CLKSEL						: 3;
	uint8_t TEMP_DIS					: 1;
	uint8_t reserved_0					: 1;
	uint8_t LP_EN						: 1;
	uint8_t SLEEP						: 1;
	uint8_t DEVICE_RESET				: 1;
}ICM_20948_PWR_MGMT_1_t;

typedef struct{
	uint8_t DISABLE_GYRO				: 3;
	uint8_t DIABLE_ACCEL				: 3;
	uint8_t reserved_0					: 2;
}ICM_20948_PWR_MGMT_2_t;

typedef struct{
	uint8_t reserved_0					: 1;
	uint8_t BYPASS_EN					: 1;
	uint8_t FSYNC_INT_MODE_EN			: 1;
	uint8_t ACTL_FSYNC					: 1;
	uint8_t INT_ANYRD_2CLEAR 			: 1;
	uint8_t INT1_LATCH_EN				: 1;
	uint8_t INT1_OPEN					: 1;
	uint8_t INT1_ACTL					: 1;
}ICM_20948_INT_PIN_CFG_t;

typedef struct{
	uint8_t I2C_MST_INT_EN				: 1;
	uint8_t DMP_INT1_EN					: 1;
	uint8_t PLL_READY_EN				: 1;
	uint8_t WOM_INT_EN					: 1;
	uint8_t reserved_0					: 3;
	uint8_t REG_WOF_EN					: 1;
}ICM_20948_INT_ENABLE_t;

typedef struct{
	uint8_t RAW_DATA_0_RDY_EN			: 1;
	uint8_t reserved_0					: 7;
}ICM_20948_INT_ENABLE_1_t;

typedef union{
	struct{
		uint8_t FIFO_OVERFLOW_EN_40		: 5;
		uint8_t reserved_0				: 3;
	}grouped;
	struct{
		uint8_t FIFO_OVERFLOW_EN_0 		: 1;
		uint8_t FIFO_OVERFLOW_EN_1		: 1;
		uint8_t FIFO_OVERFLOW_EN_2		: 1;
		uint8_t FIFO_OVERFLOW_EN_3		: 1;
		uint8_t FIFO_OVERFLOW_EN_4		: 1;
		uint8_t reserved_0				: 3;
	}individual;
}ICM_20948_INT_ENABLE_2_t;

// typedef struct{
// 	uint8_t FIFO_OVERFLOW_EN_40		: 5;
// 	uint8_t reserved_0				: 3;
// }ICM_20948_INT_ENABLE_2_t;

typedef union{
	struct{
		uint8_t FIFO_WM_EN_40			: 5;
		uint8_t reserved_0				: 3;
	}grouped;
	struct{
		uint8_t FIFO_WM_EN_0 			: 1;
		uint8_t	FIFO_WM_EN_1			: 1;
		uint8_t FIFO_WM_EN_2			: 1;
		uint8_t FIFO_WM_EN_3			: 1;
		uint8_t FIFO_WM_EN_4			: 1;
		uint8_t reserved_0				: 3;
	}individual;
}ICM_20948_INT_ENABLE_3_t;

// typedef struct{
// 	uint8_t FIFO_WM_EN_40			: 5;
// 	uint8_t reserved_0				: 3;
// }ICM_20948_INT_ENABLE_3_t;

typedef struct{
	uint8_t I2C_SLV0_NACK				: 1;
	uint8_t I2C_SLV1_NACK 				: 1;
	uint8_t I2C_SLV2_NACK				: 1;
	uint8_t I2C_SLV3_NACK				: 1;
	uint8_t I2C_SLV4_NACK				: 1;
	uint8_t I2C_LOST_ARB				: 1;
	uint8_t I2C_SLV4_DONE				: 1;
	uint8_t PASS_THROUGH				: 1;
}ICM_20948_I2C_MST_STATUS_t;

typedef struct{
	uint8_t I2C_MST_INT 				: 1;
	uint8_t DMP_INT1					: 1;
	uint8_t PLL_RDY_INT					: 1;
	uint8_t WOM_INT						: 1;
	uint8_t reserved_0					: 4;
}ICM_20948_INT_STATUS_t;

typedef struct{
	uint8_t RAW_DATA_0_RDY_INT			: 1;
	uint8_t reserved_0					: 7;
}ICM_20948_INT_STATUS_1_t;

// typedef union{
// 	struct{
// 		uint8_t FIFO_OVERFLOW_INT_40	: 5;
// 		uint8_t reserved_0				: 3;
// 	}grouped;
// 	struct{
// 		uint8_t FIFO_OVERFLOW_INT_0 	: 1;
// 		uint8_t FIFO_OVERFLOW_INT_1 	: 1;
// 		uint8_t FIFO_OVERFLOW_INT_2 	: 1;
// 		uint8_t FIFO_OVERFLOW_INT_3 	: 1;
// 		uint8_t FIFO_OVERFLOW_INT_4 	: 1;
// 		uint8_t reserved_0				: 3;
// 	}individual;
// }ICM_20948_INT_STATUS_2_t;

typedef struct{
	uint8_t FIFO_OVERFLOW_INT_40		: 5;
	uint8_t reserved_0					: 3;
}ICM_20948_INT_STATUS_2_t;

// typedef union{
// 	struct{
// 		uint8_t FIFO_WM_INT_40	: 5;
// 		uint8_t reserved_0				: 3;
// 	}grouped;
// 	struct{
// 		uint8_t FIFO_WM_INT_0 	: 1;
// 		uint8_t FIFO_WM_INT_1 	: 1;
// 		uint8_t FIFO_WM_INT_2 	: 1;
// 		uint8_t FIFO_WM_INT_3 	: 1;
// 		uint8_t FIFO_WM_INT_4 	: 1;
// 		uint8_t reserved_0				: 3;
// 	}individual;
// }ICM_20948_INT_STATUS_3_t;

typedef struct{
	uint8_t FIFO_WM_INT40				: 5;
	uint8_t reserved_0					: 3;
}ICM_20948_INT_STATUS_3_t;

typedef struct{
	uint8_t DELAY_TIMEH;
}ICM_20948_DELAY_TIMEH_t;

typedef struct{
	uint8_t DELAY_TIMEL;
}ICM_20948_DELAY_TIMEL_t;

typedef struct{
	uint8_t ACCEL_XOUT_H;
}ICM_20948_ACCEL_XOUT_H_t;

typedef struct{
	uint8_t ACCEL_XOUT_L;
}ICM_20948_ACCEL_XOUT_L_t;

typedef struct{
	uint8_t ACCEL_YOUT_H;
}ICM_20948_ACCEL_YOUT_H_t;

typedef struct{
	uint8_t ACCEL_YOUT_L;
}ICM_20948_ACCEL_YOUT_L_t;

typedef struct{
	uint8_t ACCEL_ZOUT_H;
}ICM_20948_ACCEL_ZOUT_H_t;

typedef struct{
	uint8_t ACCEL_ZOUT_L;
}ICM_20948_ACCEL_ZOUT_L_t;

typedef struct{
	uint8_t GYRO_XOUT_H;
}ICM_20948_GYRO_XOUT_H_t;

typedef struct{
	uint8_t GYRO_XOUT_L;
}ICM_20948_GYRO_XOUT_L_t;

typedef struct{
	uint8_t GYRO_YOUT_H;
}ICM_20948_GYRO_YOUT_H_t;

typedef struct{
	uint8_t GYRO_YOUT_L;
}ICM_20948_GYRO_YOUT_L_t;

typedef struct{
	uint8_t GYRO_ZOUT_H;
}ICM_20948_GYRO_ZOUT_H_t;

typedef struct{
	uint8_t GYRO_ZOUT_L;
}ICM_20948_GYRO_ZOUT_L_t;

typedef struct{
	uint8_t TEMP_OUT_H;
}ICM_20948_TEMP_OUT_H_t;

typedef struct{
	uint8_t TEMP_OUT_L;
}ICM_20948_TEMP_OUT_L_t;

typedef struct{
	uint8_t DATA;				// Note: this is not worth copying 24 times, despite there being 24 registers like this one
}ICM_20948_EXT_SLV_SENS_DATA_t;

typedef struct{
	uint8_t SLV_0_FIFO_EN			: 1;
	uint8_t SLV_1_FIFO_EN			: 1;
	uint8_t SLV_2_FIFO_EN			: 1;
	uint8_t SLV_3_FIFO_EN			: 1;
	uint8_t reserved_0				: 4;
}ICM_20948_FIFO_EN_1_t;

typedef struct{
	uint8_t TEMP_FIFO_EN			: 1;
	uint8_t GYRO_X_FIFO_EN			: 1;
	uint8_t GYRO_Y_FIFO_EN			: 1;
	uint8_t GYRO_Z_FIFO_EN			: 1;
	uint8_t ACCEL_FIFO_EN			: 1;
	uint8_t reserved_0				: 3;
}ICM_20948_FIFO_EN_2_t;

typedef struct{
	uint8_t FIFO_RESET				: 5;
	uint8_t reserved_0				: 3;
}ICM_20948_FIFO_RST_t;

typedef struct{
	uint8_t FIFO_MODE				: 5;
	uint8_t reserved_0				: 3;
}ICM_20948_FIFO_MODE_t;

typedef struct{
	uint8_t FIFO_COUNTH;
}ICM_20948_FIFO_COUNTH_t;

typedef struct{
	uint8_t FIFO_COUNTL;
}ICM_20948_FIFO_COUNTL_t;

typedef struct{
	uint8_t FIFO_R_W;	// Reading from or writing to this register actually reads from or writes to the FIFO
}ICM_20948_FIFO_R_W_t;

typedef struct{
	uint8_t RAW_DATA_RDY 			: 4;
	uint8_t reserved_0				: 3;
	uint8_t WOF_STATUS				: 1;
}ICM_20948_DATA_RDY_STATUS_t;

typedef struct{
	uint8_t FIFO_CFG 				: 1;
	uint8_t reserved_0				: 7;
}ICM_20948_FIFO_CFG_t;



// User bank 1 Types

typedef struct{
	uint8_t XG_ST_DATA;
}ICM_20948_SELF_TEST_X_GYRO_t;

typedef struct{
	uint8_t YG_ST_DATA;
}ICM_20948_SELF_TEST_Y_GYRO_t;

typedef struct{
	uint8_t ZG_ST_DATA;
}ICM_20948_SELF_TEST_Z_GYRO_t;

typedef struct{
	uint8_t XA_ST_DATA;
}ICM_20948_SELF_TEST_X_ACCEL_t;

typedef struct{
	uint8_t YA_ST_DATA;
}ICM_20948_SELF_TEST_Y_ACCEL_t;

typedef struct{
	uint8_t ZA_ST_DATA;
}ICM_20948_SELF_TEST_Z_ACCEL_t;

typedef struct{
	uint8_t XA_OFFS_14_7;
}ICM_20948_XA_OFFS_H_t;

typedef struct{
	uint8_t reserved_0			: 1;
	uint8_t XA_OFFS_6_0			: 7;
}ICM_20948_XA_OFFS_L_t;

typedef struct{
	uint8_t YA_OFFS_14_7;
}ICM_20948_YA_OFFS_H_t;

typedef struct{
	uint8_t reserved_0			: 1;
	uint8_t YA_OFFS_6_0			: 7;
}ICM_20948_YA_OFFS_L_t;

typedef struct{
	uint8_t ZA_OFFS_14_7;
}ICM_20948_ZA_OFFS_H_t;

typedef struct{
	uint8_t reserved_0			: 1;
	uint8_t ZA_OFFS_6_0			: 7;
}ICM_20948_ZA_OFFS_L_t;

typedef struct{
	uint8_t TBC_PLL;
}ICM_20948_TIMEBASE_CORRECTION_PLL_t;



// User Bank 2 Types
typedef struct{
	uint8_t GYRO_SMPLRT_DIV;
}ICM_20948_GYRO_SMPLRT_DIV_t;

typedef struct{
	uint8_t GYRO_FCHOICE			: 1;
	uint8_t GYRO_FS_SEL				: 2;
	uint8_t GYRO_DLPFCFG			: 3;
	uint8_t reserved_0				: 2;
}ICM_20948_GYRO_CONFIG_1_t;

typedef struct{
	uint8_t GYRO_AVGCFG				: 3;
	uint8_t ZGYRO_CTEN				: 1;
	uint8_t YGYRO_CTEN				: 1;
	uint8_t XGYRO_CTEN				: 1;
	uint8_t reserved_0				: 2;
}ICM_20948_GYRO_CONFIG_2_t;

typedef struct{
	uint8_t XG_OFFS_USER_H;
}ICM_20948_XG_OFFS_USRH_t;

typedef struct{
	uint8_t XG_OFFS_USER_L;
}ICM_20948_XG_OFFS_USRL_t;

typedef struct{
	uint8_t YG_OFFS_USER_H;
}ICM_20948_YG_OFFS_USRH_t;

typedef struct{
	uint8_t YG_OFFS_USER_L;
}ICM_20948_YG_OFFS_USRL_t;

typedef struct{
	uint8_t ZG_OFFS_USER_H;
}ICM_20948_ZG_OFFS_USRH_t;

typedef struct{
	uint8_t ZG_OFFS_USER_L;
}ICM_20948_ZG_OFFS_USRL_t;

typedef struct{
	uint8_t ODR_ALIGN_EN 			: 1;
	uint8_t reserved_0				: 7;
}ICM_20948_ODR_ALIGN_EN_t;

typedef struct{
	uint8_t ACCEL_SMPLRT_DIV_11_8	: 4;
	uint8_t reserved_0				: 4;
}ICM_20948_ACCEL_SMPLRT_DIV_1_t;

typedef struct{
	uint8_t ACCEL_SMPLRT_DIV_7_0;
}ICM_20948_ACCEL_SMPLRT_DIV_2_t;

typedef struct{
	uint8_t ACCEL_INTEL_MODE_INT	: 1;
	uint8_t ACCEL_INTEL_EN			: 1;
	uint8_t reserved_0				: 6;
}ICM_20948_ACCEL_INTEL_CTRL_t;

typedef struct{
	uint8_t WOM_THRESHOLD;
}ICM_20948_ACCEL_WOM_THR_t;

typedef struct{
	uint8_t ACCEL_FCHOICE 			: 1;
	uint8_t ACCEL_FS_SEL			: 2;
	uint8_t ACCEL_DLPFCFG 			: 3;
	uint8_t reserved_0				: 2;
}ICM_20948_ACCEL_CONFIG_t;

typedef struct{
	uint8_t DEC3_CFG				: 2;
	uint8_t AZ_ST_EN				: 1;
	uint8_t AY_ST_EN				: 1;
	uint8_t AX_ST_EN				: 1;
	uint8_t reserved_0				: 3;
}ICM_20948_ACCEL_CONFIG_2_t;

typedef struct{
	uint8_t EXT_SYNC_SET 			: 4;
	uint8_t WOF_EDGE_INT			: 1;
	uint8_t WOF_DEGLITCH_EN			: 1;
	uint8_t reserved_0				: 1;
	uint8_t DELAY_TIME_EN			: 1;
}ICM_20948_FSYNC_CONFIG_t;

typedef struct{
	uint8_t TEMP_DLPFCFG			: 3;
	uint8_t reserved_0				: 5;
}ICM_20948_TEMP_CONFIG_t;

typedef struct{
	uint8_t REG_LP_DMP_EN			: 1;
	uint8_t reserved_0				: 7;
}ICM_20948_MOD_CTRL_USR_t;



// Bank 3 Types

typedef struct{
	uint8_t I2C_MST_ODR_CONFIG 		: 4;
	uint8_t reserved_0				: 4;
}ICM_20948_I2C_MST_ODR_CONFIG_t;

typedef struct{
	uint8_t I2C_MST_CLK 			: 4;
	uint8_t I2C_MST_P_NSR			: 1;
	uint8_t reserved_0 				: 2;
	uint8_t MULT_MST_EN 			: 1;
}ICM_20948_I2C_MST_CTRL_t;

typedef struct{
	uint8_t I2C_SLV0_DELAY_EN 		: 1;
	uint8_t I2C_SLV1_DELAY_EN 		: 1;
	uint8_t I2C_SLV2_DELAY_EN 		: 1;
	uint8_t I2C_SLV3_DELAY_EN 		: 1;
	uint8_t I2C_SLV4_DELAY_EN 		: 1;
	uint8_t reserved_0 				: 2;
	uint8_t DELAY_ES_SHADOW 		: 1;
}ICM_20948_I2C_MST_DELAY_CTRL_t;

typedef struct{
	uint8_t ID 						: 7;
	uint8_t RNW 					: 1;
}ICM_20948_I2C_SLVX_ADDR_t;

typedef struct{
	uint8_t REG;	
}ICM_20948_I2C_SLVX_REG_t;

typedef struct{
	uint8_t LENG					: 4;
	uint8_t GRP 					: 1;
	uint8_t REG_DIS					: 1;
	uint8_t BYTE_SW 				: 1;
	uint8_t EN 						: 1;
}ICM_20948_I2C_SLVX_CTRL_t;

typedef struct{
	uint8_t DO;
}ICM_20948_I2C_SLVX_DO_t;

typedef struct{
	uint8_t DLY 					: 5;
	uint8_t REG_DIS 				: 1;
	uint8_t INT_EN 					: 1;
	uint8_t EN 						: 1;
}ICM_20948_I2C_SLV4_CTRL_t;

typedef struct{
	uint8_t DI;
}ICM_20948_I2C_SLV4_DI_t;


// Bank select register!

typedef struct{
	uint8_t reserved_0				: 4;
	uint8_t USER_BANK				: 2;
	uint8_t reserved_1				: 2;
}ICM_20948_REG_BANK_SEL_t;




#ifdef __cplusplus
}
#endif	/* __cplusplus */

#endif /* _ICM_20948_REGISTERS_H_ */