Merge pull request #25 from jgromes/master

Added option to use non-default I2C interface

Author: Pete Lewis

examples/LSM9DS1_Basic_I2C/LSM9DS1_Basic_I2C.ino

@@ -1,54 +1,54 @@
 /*****************************************************************
-LSM9DS1_Basic_I2C.ino
-SFE_LSM9DS1 Library Simple Example Code - I2C Interface
-Jim Lindblom @ SparkFun Electronics
-Original Creation Date: April 30, 2015
-https://github.com/sparkfun/LSM9DS1_Breakout
+  LSM9DS1_Basic_I2C.ino
+  SFE_LSM9DS1 Library Simple Example Code - I2C Interface
+  Jim Lindblom @ SparkFun Electronics
+  Original Creation Date: April 30, 2015
+  https://github.com/sparkfun/LSM9DS1_Breakout
 
-The LSM9DS1 is a versatile 9DOF sensor. It has a built-in
-accelerometer, gyroscope, and magnetometer. Very cool! Plus it
-functions over either SPI or I2C.
+  The LSM9DS1 is a versatile 9DOF sensor. It has a built-in
+  accelerometer, gyroscope, and magnetometer. Very cool! Plus it
+  functions over either SPI or I2C.
 
-This Arduino sketch is a demo of the simple side of the
-SFE_LSM9DS1 library. It'll demo the following:
-* How to create a LSM9DS1 object, using a constructor (global
+  This Arduino sketch is a demo of the simple side of the
+  SFE_LSM9DS1 library. It'll demo the following:
+  How to create a LSM9DS1 object, using a constructor (global
   variables section).
-* How to use the begin() function of the LSM9DS1 class.
-* How to read the gyroscope, accelerometer, and magnetometer
-  using the readGryo(), readAccel(), readMag() functions and 
+  How to use the begin() function of the LSM9DS1 class.
+  How to read the gyroscope, accelerometer, and magnetometer
+  using the readGryo(), readAccel(), readMag() functions and
   the gx, gy, gz, ax, ay, az, mx, my, and mz variables.
-* How to calculate actual acceleration, rotation speed, 
-  magnetic field strength using the calcAccel(), calcGyro() 
+  How to calculate actual acceleration, rotation speed,
+  magnetic field strength using the calcAccel(), calcGyro()
   and calcMag() functions.
-* How to use the data from the LSM9DS1 to calculate 
+  How to use the data from the LSM9DS1 to calculate
   orientation and heading.
 
-Hardware setup: This library supports communicating with the
-LSM9DS1 over either I2C or SPI. This example demonstrates how
-to use I2C. The pin-out is as follows:
+  Hardware setup: This library supports communicating with the
+  LSM9DS1 over either I2C or SPI. This example demonstrates how
+  to use I2C. The pin-out is as follows:
 	LSM9DS1 --------- Arduino
 	 SCL ---------- SCL (A5 on older 'Duinos')
 	 SDA ---------- SDA (A4 on older 'Duinos')
 	 VDD ------------- 3.3V
 	 GND ------------- GND
-(CSG, CSXM, SDOG, and SDOXM should all be pulled high. 
-Jumpers on the breakout board will do this for you.)
+  (CSG, CSXM, SDOG, and SDOXM should all be pulled high.
+  Jumpers on the breakout board will do this for you.)
 
-The LSM9DS1 has a maximum voltage of 3.6V. Make sure you power it
-off the 3.3V rail! I2C pins are open-drain, so you'll be 
-(mostly) safe connecting the LSM9DS1's SCL and SDA pins 
-directly to the Arduino.
+  The LSM9DS1 has a maximum voltage of 3.6V. Make sure you power it
+  off the 3.3V rail! I2C pins are open-drain, so you'll be
+  (mostly) safe connecting the LSM9DS1's SCL and SDA pins
+  directly to the Arduino.
 
-Development environment specifics:
+  Development environment specifics:
 	IDE: Arduino 1.6.3
 	Hardware Platform: SparkFun Redboard
 	LSM9DS1 Breakout Version: 1.0
 
-This code is beerware. If you see me (or any other SparkFun 
-employee) at the local, and you've found our code helpful, 
-please buy us a round!
+  This code is beerware. If you see me (or any other SparkFun
+  employee) at the local, and you've found our code helpful,
+  please buy us a round!
 
-Distributed as-is; no warranty is given.
+  Distributed as-is; no warranty is given.
 *****************************************************************/
 // The SFE_LSM9DS1 library requires both Wire and SPI be
 // included BEFORE including the 9DS1 library.
@@ -67,8 +67,8 @@ LSM9DS1 imu;
 // Example I2C Setup //
 ///////////////////////
 // SDO_XM and SDO_G are both pulled high, so our addresses are:
-#define LSM9DS1_M	0x1E // Would be 0x1C if SDO_M is LOW
-#define LSM9DS1_AG	0x6B // Would be 0x6A if SDO_AG is LOW
+// #define LSM9DS1_M	0x1E // Would be 0x1C if SDO_M is LOW
+// #define LSM9DS1_AG	0x6B // Would be 0x6A if SDO_AG is LOW
 
 ////////////////////////////
 // Sketch Output Settings //
@@ -78,42 +78,33 @@ LSM9DS1 imu;
 #define PRINT_SPEED 250 // 250 ms between prints
 static unsigned long lastPrint = 0; // Keep track of print time
 
-// Earth's magnetic field varies by location. Add or subtract 
-// a declination to get a more accurate heading. Calculate 
+// Earth's magnetic field varies by location. Add or subtract
+// a declination to get a more accurate heading. Calculate
 // your's here:
 // http://www.ngdc.noaa.gov/geomag-web/#declination
 #define DECLINATION -8.58 // Declination (degrees) in Boulder, CO.
 
 //Function definitions
-void printGyro();  
-void printAccel(); 
-void printMag();   
+void printGyro();
+void printAccel();
+void printMag();
 void printAttitude(float ax, float ay, float az, float mx, float my, float mz);
 
-void setup() 
+void setup()
 {
-  
   Serial.begin(115200);
-  
-  // Before initializing the IMU, there are a few settings
-  // we may need to adjust. Use the settings struct to set
-  // the device's communication mode and addresses:
-  imu.settings.device.commInterface = IMU_MODE_I2C;
-  imu.settings.device.mAddress = LSM9DS1_M;
-  imu.settings.device.agAddress = LSM9DS1_AG;
-  // The above lines will only take effect AFTER calling
-  // imu.begin(), which verifies communication with the IMU
-  // and turns it on.
-  if (!imu.begin())
+
+  Wire.begin();
+
+  if (!imu.begin()) // with no arguments, this uses default addresses (AG:0x6B, M:0x1E) and i2c port (Wire).
   {
     Serial.println("Failed to communicate with LSM9DS1.");
     Serial.println("Double-check wiring.");
     Serial.println("Default settings in this sketch will " \
-                  "work for an out of the box LSM9DS1 " \
-                  "Breakout, but may need to be modified " \
-                  "if the board jumpers are.");
-    while (1)
-      ;
+                   "work for an out of the box LSM9DS1 " \
+                   "Breakout, but may need to be modified " \
+                   "if the board jumpers are.");
+    while (1);
   }
 }
 
@@ -141,7 +132,7 @@ void loop()
     // mx, my, and mz variables with the most current data.
     imu.readMag();
   }
-  
+
   if ((lastPrint + PRINT_SPEED) < millis())
   {
     printGyro();  // Print "G: gx, gy, gz"
@@ -151,10 +142,10 @@ void loop()
     // Call print attitude. The LSM9DS1's mag x and y
     // axes are opposite to the accelerometer, so my, mx are
     // substituted for each other.
-    printAttitude(imu.ax, imu.ay, imu.az, 
-                 -imu.my, -imu.mx, imu.mz);
+    printAttitude(imu.ax, imu.ay, imu.az,
+                  -imu.my, -imu.mx, imu.mz);
     Serial.println();
-    
+
     lastPrint = millis(); // Update lastPrint time
   }
 }
@@ -184,7 +175,7 @@ void printGyro()
 }
 
 void printAccel()
-{  
+{
   // Now we can use the ax, ay, and az variables as we please.
   // Either print them as raw ADC values, or calculated in g's.
   Serial.print("A: ");
@@ -198,7 +189,7 @@ void printAccel()
   Serial.print(", ");
   Serial.print(imu.calcAccel(imu.az), 2);
   Serial.println(" g");
-#elif defined PRINT_RAW 
+#elif defined PRINT_RAW
   Serial.print(imu.ax);
   Serial.print(", ");
   Serial.print(imu.ay);
@@ -209,7 +200,7 @@ void printAccel()
 }
 
 void printMag()
-{  
+{
   // Now we can use the mx, my, and mz variables as we please.
   // Either print them as raw ADC values, or calculated in Gauss.
   Serial.print("M: ");
@@ -241,26 +232,26 @@ void printAttitude(float ax, float ay, float az, float mx, float my, float mz)
 {
   float roll = atan2(ay, az);
   float pitch = atan2(-ax, sqrt(ay * ay + az * az));
-  
+
   float heading;
   if (my == 0)
     heading = (mx < 0) ? PI : 0;
   else
     heading = atan2(mx, my);
-    
+
   heading -= DECLINATION * PI / 180;
-  
+
   if (heading > PI) heading -= (2 * PI);
   else if (heading < -PI) heading += (2 * PI);
-  
+
   // Convert everything from radians to degrees:
   heading *= 180.0 / PI;
   pitch *= 180.0 / PI;
   roll  *= 180.0 / PI;
-  
+
   Serial.print("Pitch, Roll: ");
   Serial.print(pitch, 2);
   Serial.print(", ");
   Serial.println(roll, 2);
   Serial.print("Heading: "); Serial.println(heading, 2);
-}
+}

examples/LSM9DS1_Basic_SPI/LSM9DS1_Basic_SPI.ino

@@ -96,17 +96,10 @@ void printAttitude(float ax, float ay, float az, float mx, float my, float mz);
 void setup() 
 {
   Serial.begin(115200);
-  
-  // Before initializing the IMU, there are a few settings
-  // we may need to adjust. Use the settings struct to set
-  // the device's communication mode and addresses:
-  imu.settings.device.commInterface = IMU_MODE_SPI;
-  imu.settings.device.mAddress = LSM9DS1_M_CS;
-  imu.settings.device.agAddress = LSM9DS1_AG_CS;
-  // The above lines will only take effect AFTER calling
-  // imu.begin(), which verifies communication with the IMU
+ 
+  // imu.beginSPI(), which verifies communication with the IMU
   // and turns it on.
-  if (!imu.begin())
+  if (!imu.beginSPI(LSM9DS1_AG_CS, LSM9DS1_M_CS)) // note, we need to sent this our CS pins (defined above)
   {
     Serial.println("Failed to communicate with LSM9DS1.");
     Serial.println("Double-check wiring.");
@@ -251,4 +244,4 @@ void printAttitude(float ax, float ay, float az, float mx, float my, float mz)
   Serial.print(", ");
   Serial.println(roll, 2);
   Serial.print("Heading: "); Serial.println(heading, 2);
-}
+}

examples/LSM9DS1_Interrupts/LSM9DS1_Interrupts.ino

@@ -40,6 +40,7 @@ to use I2C. The pin-out is as follows:
    INT2 ------------- D4
    INT1 ------------- D3
    INTM ------------- D5
+   RDY -------------- D6
 (CSG, CSXM, SDOG, and SDOXM should all be pulled high. 
 Jumpers on the breakout board will do this for you.)
 
@@ -86,11 +87,6 @@ void printStats();
 // and sample rates.
 uint16_t configureIMU()
 {
-  // Set up Device Mode (I2C) and I2C addresses:
-  imu.settings.device.commInterface = IMU_MODE_I2C;
-  imu.settings.device.agAddress = LSM9DS1_AG_ADDR(1);
-  imu.settings.device.mAddress = LSM9DS1_M_ADDR(1);
-
   // gyro.latchInterrupt controls the latching of the
   // gyro and accelerometer interrupts (INT1 and INT2).
   // false = no latching
@@ -106,10 +102,10 @@ uint16_t configureIMU()
   imu.settings.mag.scale = 4;
   // Set magnetometer sample rate to 0.625 Hz
   imu.settings.mag.sampleRate = 0;
-
+  
   // Call imu.begin() to initialize the sensor and instill
   // it with our new settings.
-  return imu.begin();
+  return imu.begin(LSM9DS1_AG_ADDR(1), LSM9DS1_M_ADDR(1), Wire); // set addresses and wire port
 }
 
 void configureLSM9DS1Interrupts()
@@ -194,6 +190,8 @@ void setup()
   // It is active high and always turned on.
   pinMode(RDYM_PIN, INPUT);
 
+  Wire.begin();
+
   // Turn on the IMU with configureIMU() (defined above)
   // check the return status of imu.begin() to make sure
   // it's connected.
@@ -312,4 +310,3 @@ void printStats()
   Serial.print(imu.my); Serial.print(", ");
   Serial.println(imu.mz);
 }
-

examples/LSM9DS1_Settings/LSM9DS1_Settings.ino

@@ -49,6 +49,10 @@ Distributed as-is; no warranty is given.
 
 LSM9DS1 imu;  // Create an LSM9DS1 object
 
+// SDO_XM and SDO_G are both pulled high, so our addresses are:
+#define LSM9DS1_M  0x1E // Would be 0x1C if SDO_M is LOW
+#define LSM9DS1_AG 0x6B // Would be 0x6A if SDO_AG is LOW
+
 // Global variables to keep track of update rates
 unsigned long startTime;
 unsigned int accelReadCounter = 0;
@@ -63,20 +67,6 @@ const unsigned int PRINT_RATE = 500;
 //Function definitions
 void printSensorReadings();
 
-void setupDevice()
-{
-  // [commInterface] determines whether we'll use I2C or SPI
-  // to communicate with the LSM9DS1.
-  // Use either IMU_MODE_I2C or IMU_MODE_SPI
-  imu.settings.device.commInterface = IMU_MODE_I2C;
-  // [mAddress] sets the I2C address or SPI CS pin of the
-  // LSM9DS1's magnetometer.
-  imu.settings.device.mAddress = 0x1E; // Use I2C addres 0x1E
-  // [agAddress] sets the I2C address or SPI CS pin of the
-  // LSM9DS1's accelerometer/gyroscope.
-  imu.settings.device.agAddress = 0x6B; // I2C address 0x6B
-}
-
 void setupGyro()
 {
   // [enabled] turns the gyro on or off.
@@ -192,18 +182,19 @@ void setupTemperature()
 
 uint16_t initLSM9DS1()
 {
-  setupDevice(); // Setup general device parameters
   setupGyro(); // Set up gyroscope parameters
   setupAccel(); // Set up accelerometer parameters
   setupMag(); // Set up magnetometer parameters
   setupTemperature(); // Set up temp sensor parameter
 
-  return imu.begin();
+  return imu.begin(LSM9DS1_AG, LSM9DS1_M, Wire); // for SPI use beginSPI()
 }
 
 void setup() 
 {
   Serial.begin(115200);
+
+  Wire.begin();
 
   Serial.println("Initializing the LSM9DS1");
   uint16_t status = initLSM9DS1();
@@ -300,4 +291,3 @@ void printSensorReadings()
   Serial.println(" Hz");  
   Serial.println();
 }
-

keywords.txt

@@ -28,6 +28,7 @@ gBiasRaw	KEYWORD2
 aBiasRaw	KEYWORD2
 mBiasRaw	KEYWORD2
 begin	KEYWORD2
+beginSPI	KEYWORD2
 calibrate	KEYWORD2
 calibrateMag	KEYWORD2
 magOffset	KEYWORD2