From ebbe1f9ca4242a8f6eab4dd033ce05d2d968aa7f Mon Sep 17 00:00:00 2001
From: Niklas Jensen <niklaspj2004@gmail.com>
Date: Thu, 27 Nov 2025 18:15:57 +0100
Subject: [PATCH] Fix USE_ICM20948 checks in peripherals.cpp

---
 esp32/src/peripherals/peripherals.cpp | 14 +++++++-------
 1 file changed, 7 insertions(+), 7 deletions(-)

diff --git a/esp32/src/peripherals/peripherals.cpp b/esp32/src/peripherals/peripherals.cpp
index 06b0d0b..2c5dcb0 100644
--- a/esp32/src/peripherals/peripherals.cpp
+++ b/esp32/src/peripherals/peripherals.cpp
@@ -16,10 +16,10 @@ void Peripherals::begin() {
 
     updatePins();
 
-#if FT_ENABLED(USE_MPU6050 || USE_BNO055)
+#if FT_ENABLED(USE_MPU6050 || USE_BNO055 || USE_ICM20948)
     if (!_imu.initialize()) ESP_LOGE("IMUService", "IMU initialize failed");
 #endif
-#if FT_ENABLED(USE_HMC5883)
+#if FT_ENABLED(USE_HMC5883 || USE_ICM20948)
     if (!_mag.initialize()) ESP_LOGE("IMUService", "MAG initialize failed");
 #endif
 #if FT_ENABLED(USE_BMP180)
@@ -74,7 +74,7 @@ void Peripherals::scanI2C(uint8_t lower, uint8_t higher) {
 }
 
 void Peripherals::getIMUProto(socket_message_IMUData &data) {
-#if FT_ENABLED(USE_MPU6050 || USE_BNO055)
+#if FT_ENABLED(USE_MPU6050 || USE_BNO055 || USE_ICM20948)
     data.x = _imu.getAngleX();
     data.y = _imu.getAngleY();
     data.z = _imu.getAngleZ();
@@ -101,7 +101,7 @@ void Peripherals::getSettingsProto(socket_message_PeripheralSettingsData &data)
 /* IMU FUNCTIONS */
 bool Peripherals::readImu() {
     bool updated = false;
-#if FT_ENABLED(USE_MPU6050 || USE_BNO055)
+#if FT_ENABLED(USE_MPU6050 || USE_BNO055 || USE_ICM20948)
     beginTransaction();
     updated = _imu.update();
     endTransaction();
@@ -149,7 +149,7 @@ void Peripherals::readSonar() {
 
 float Peripherals::angleX() {
     return
-#if FT_ENABLED(USE_MPU6050 || USE_BNO055)
+#if FT_ENABLED(USE_MPU6050 || USE_BNO055 || USE_ICM20948)
         _imu.getAngleX();
 #else
         0;
@@ -158,7 +158,7 @@ float Peripherals::angleX() {
 
 float Peripherals::angleY() {
     return
-#if FT_ENABLED(USE_MPU6050 || USE_BNO055)
+#if FT_ENABLED(USE_MPU6050 || USE_BNO055 || USE_ICM20948)
         _imu.getAngleY();
 #else
         0;
@@ -167,7 +167,7 @@ float Peripherals::angleY() {
 
 float Peripherals::angleZ() {
     return
-#if FT_ENABLED(USE_MPU6050 || USE_BNO055)
+#if FT_ENABLED(USE_MPU6050 || USE_BNO055 || USE_ICM20948)
         _imu.getAngleZ();
 #else
         0;