use bmi270::*;
use linux_embedded_hal::spidev::{SpiModeFlags, SpidevOptions};

pub fn main() {
    let spi_conf = SpidevOptions::new()
        .bits_per_word(8)
        .max_speed_hz(10_000_000)
        .mode(SpiModeFlags::SPI_MODE_0)
        .build();
    let mut spi = Spidev::open("/dev/spidev0.0").unwrap();
    spi.configure(&spi_conf).unwrap();
    
    let imu_conf = Bmi270Config::new()
        .acc(
            Bmi270AccOdr::Odr200Hz,
            Bmi270AccBwp::NormAvg4,
            Bmi270AccRange::Range8g,
        )
        .gyr(
            Bmi270GyrOdr::Odr200Hz,
            Bmi270GyrBwp::Norm,
            Bmi270GyrRange::Range2000Dps,
        );
    let mut imu = Bmi270::new(spi, imu_conf);
    loop {
        println!("{:?}", imu.acc_gyr());
    }
}