#include <Wire.h>
#include <ICM20948_WE.h>
#define ICM20948_ADDR 0x68

ICM20948_WE myIMU = ICM20948_WE(ICM20948_ADDR);

void setup() {
  Wire.begin();
  Serial.begin(115200);
  while(!Serial) {}
  
  if(!myIMU.init()){
    //Serial.println("ICM20948 does not respond");
  }
  else{
    //Serial.println("ICM20948 is connected");
  }

  //Serial.println("Position your ICM20948 flat and don't move it - calibrating...");
  delay(1000);
  myIMU.autoOffsets();
  //Serial.println("Done!"); 
  
  myIMU.setAccRange(ICM20948_ACC_RANGE_16G);
  myIMU.setAccDLPF(ICM20948_DLPF_6);    
  myIMU.setAccSampleRateDivider(10);
  
  Serial.println("X, Y, Z");
}

void loop() {
  myIMU.readSensor();
  xyzFloat gVal = myIMU.getGValues();

  Serial.print(gVal.z*9.81-9.81); Serial.print(",");
  Serial.print(gVal.y*9.81); Serial.print(",");
  Serial.print(gVal.x*9.81); Serial.print(",");
  Serial.println();
}