#include <Adafruit_ICM20X.h>
#include <Adafruit_ICM20948.h>
#include <Adafruit_Sensor.h>
#include <Wire.h>

Adafruit_ICM20948 icm;
uint16_t measurement_delay_us = 65535; // Delay between measurements for testing
// // For SPI mode, we need a CS pin
// #define ICM_CS 10
// // For software-SPI mode we need SCK/MOSI/MISO pins
// #define ICM_SCK 13
// #define ICM_MISO 12
// #define ICM_MOSI 11

void setup(void) {
  Serial.begin(115200);
  while (!Serial)
    delay(10); // will pause Zero, Leonardo, etc until serial console opens
  // Try to initialize!
  if (!icm.begin_I2C()) {
    // if (!icm.begin_SPI(ICM_CS)) {
    // if (!icm.begin_SPI(ICM_CS, ICM_SCK, ICM_MISO, ICM_MOSI)) {

    Serial.println("Failed to find ICM20948 chip");
    while (1) {
      delay(10);
    }
  }
}

void loop() {

  //  /* Get a new normalized sensor event */
  sensors_event_t accel;
  sensors_event_t gyro;
  sensors_event_t mag;
  sensors_event_t temp;
  icm.getEvent(&accel, &gyro, &temp, &mag);

  double mag_x = mag.magnetic.x;
  double mag_y = mag.magnetic.y;
  double mag_z = mag.magnetic.z;
  
  if(mag_z > -2000 && mag_z < 2000) {
    Serial.print(mag.magnetic.x);
    Serial.print(";");
    Serial.print(mag.magnetic.y);
    Serial.print(";");
    Serial.println(mag.magnetic.z);
  }
  delay(11);
}