#ifndef __ACCELEROMETER_H
#define __ACCELEROMETER_H

#include "public_data.h"
#include "filter.h"
#include "icm42688p.h"
#include "gyro.h"

#define GRAVITY_CMSS    980.665f
#define GRAVITY_MSS     9.80665f

#define CALIBRATING_ACC_CYCLES          400

extern Axis3i16 accADC;
bool ACC_Calibration(void);
void accUpdate(Axis3f *acc);
bool accInit(float accUpdateRate);


#endif