From 2fdf703486082be790930328c534fdb48a20c560 Mon Sep 17 00:00:00 2001
From: PaulZC <pc235603@gmail.com>
Date: Mon, 11 Nov 2024 08:42:01 +0000
Subject: [PATCH] v1.3.0 - resolve issue #150

---
 library.properties     |  2 +-
 src/util/ICM_20948_C.c | 10 +++++++---
 2 files changed, 8 insertions(+), 4 deletions(-)

diff --git a/library.properties b/library.properties
index e659375..02c745d 100644
--- a/library.properties
+++ b/library.properties
@@ -1,5 +1,5 @@
 name=SparkFun 9DoF IMU Breakout - ICM 20948 - Arduino Library
-version=1.2.13
+version=1.3.0
 author=SparkFun Electronics <techsupport@sparkfun.com>
 maintainer=SparkFun Electronics <sparkfun.com>
 sentence=Use the low-power high-resolution ICM 20948 9 DoF IMU from Invensense with I2C or SPI. Version 1.2 of the library includes support for the InvenSense Digital Motion Processor (DMP™).
diff --git a/src/util/ICM_20948_C.c b/src/util/ICM_20948_C.c
index 6a98a51..969e144 100644
--- a/src/util/ICM_20948_C.c
+++ b/src/util/ICM_20948_C.c
@@ -1793,17 +1793,21 @@ ICM_20948_Status_e inv_icm20948_enable_dmp_sensor(ICM_20948_Device_t *pdev, enum
     }
     // Also check which bits need to be set in the Data Ready Status and Motion Event Control registers
     // Compare to INV_NEEDS_ACCEL_MASK, INV_NEEDS_GYRO_MASK and INV_NEEDS_COMPASS_MASK
-    if (((androidSensorAsBitMask & INV_NEEDS_ACCEL_MASK) > 0) || ((androidSensorAsBitMask & INV_NEEDS_ACCEL_MASK1) > 0))
+    // See issue #150 - thank you @dobodu
+    if (((pdev->_enabled_Android_0 & androidSensorAsBitMask & INV_NEEDS_ACCEL_MASK) > 0)
+    || ((pdev->_enabled_Android_1 & androidSensorAsBitMask & INV_NEEDS_ACCEL_MASK1) > 0))
     {
       data_rdy_status |= DMP_Data_ready_Accel;
       inv_event_control |= DMP_Motion_Event_Control_Accel_Calibr;
     }
-    if (((androidSensorAsBitMask & INV_NEEDS_GYRO_MASK) > 0) || ((androidSensorAsBitMask & INV_NEEDS_GYRO_MASK1) > 0))
+    if (((pdev->_enabled_Android_0 & androidSensorAsBitMask & INV_NEEDS_GYRO_MASK) > 0)
+    || ((pdev->_enabled_Android_1 & androidSensorAsBitMask & INV_NEEDS_GYRO_MASK1) > 0))
     {
       data_rdy_status |= DMP_Data_ready_Gyro;
       inv_event_control |= DMP_Motion_Event_Control_Gyro_Calibr;
     }
-    if (((androidSensorAsBitMask & INV_NEEDS_COMPASS_MASK) > 0) || ((androidSensorAsBitMask & INV_NEEDS_COMPASS_MASK1) > 0))
+    if (((pdev->_enabled_Android_0 & androidSensorAsBitMask & INV_NEEDS_COMPASS_MASK) > 0)
+    || ((pdev->_enabled_Android_1 & androidSensorAsBitMask & INV_NEEDS_COMPASS_MASK1) > 0))
     {
       data_rdy_status |= DMP_Data_ready_Secondary_Compass;
       inv_event_control |= DMP_Motion_Event_Control_Compass_Calibr;