LSM9DS1.h

00001 /******************************************************************************
00002 SFE_LSM9DS1.h
00003 SFE_LSM9DS1 Library Header File
00004 Jim Lindblom @ SparkFun Electronics
00005 Original Creation Date: February 27, 2015
00006 https://github.com/sparkfun/LSM9DS1_Breakout
00007 
00008 This file prototypes the LSM9DS1 class, implemented in SFE_LSM9DS1.cpp. In
00009 addition, it defines every register in the LSM9DS1 (both the Gyro and Accel/
00010 Magnetometer registers).
00011 
00012 Development environment specifics:
00013     IDE: Arduino 1.6.0
00014     Hardware Platform: Arduino Uno
00015     LSM9DS1 Breakout Version: 1.0
00016 
00017 This code is beerware; if you see me (or any other SparkFun employee) at the
00018 local, and you've found our code helpful, please buy us a round!
00019 
00020 Distributed as-is; no warranty is given.
00021 ******************************************************************************/
00022 #ifndef __SparkFunLSM9DS1_H__
00023 #define __SparkFunLSM9DS1_H__
00024 
00025 //#if defined(ARDUINO) && ARDUINO >= 100
00026 //  #include "Arduino.h"
00027 //#else
00028 //  #include "WProgram.h"
00029 //  #include "pins_arduino.h"
00030 //#endif
00031 
00032 #include "mbed.h"
00033 #include <stdint.h>
00034 #include "LSM9DS1_Registers.h"
00035 #include "LSM9DS1_Types.h"
00036 
00037 #define LSM9DS1_AG_ADDR(sa0)    ((sa0) == 0 ? 0x6A : 0x6B)
00038 #define LSM9DS1_M_ADDR(sa1)     ((sa1) == 0 ? 0x1C : 0x1E)
00039 
00040 enum lsm9ds1_axis {
00041     X_AXIS,
00042     Y_AXIS,
00043     Z_AXIS,
00044     ALL_AXIS
00045 };
00046 
00047 class LSM9DS1
00048 {
00049 public:
00050     IMUSettings settings;
00051     
00052     // We'll store the gyro, accel, and magnetometer readings in a series of
00053     // public class variables. Each sensor gets three variables -- one for each
00054     // axis. Call readGyro(), readAccel(), and readMag() first, before using
00055     // these variables!
00056     // These values are the RAW signed 16-bit readings from the sensors.
00057     int16_t gx, gy, gz; // x, y, and z axis readings of the gyroscope
00058     int16_t ax, ay, az; // x, y, and z axis readings of the accelerometer
00059     int16_t mx, my, mz; // x, y, and z axis readings of the magnetometer
00060     int16_t temperature; // Chip temperature
00061     float gBias[3], aBias[3], mBias[3];
00062     int16_t gBiasRaw[3], aBiasRaw[3], mBiasRaw[3];
00063     
00064     // LSM9DS1 -- LSM9DS1 class constructor
00065     // The constructor will set up a handful of private variables, and set the
00066     // communication mode as well.
00067     /**Input:
00068     *  - interface = Either IMU_MODE_SPI or IMU_MODE_I2C, whichever you're using
00069     *              to talk to the IC.
00070     *  - xgAddr = If IMU_MODE_I2C, this is the I2C address of the accel/gyroscope.
00071     *              If IMU_MODE_SPI, this is the chip select pin of the gyro (CS_AG)
00072     *  - mAddr = If IMU_MODE_I2C, this is the I2C address of the magnetometer.
00073     *              If IMU_MODE_SPI, this is the cs pin of the magnetometer (CS_M)
00074     
00075     */
00076     LSM9DS1(PinName sda, PinName scl, uint8_t xgAddr, uint8_t mAddr);
00077     //LSM9DS1(interface_mode interface, uint8_t xgAddr, uint8_t mAddr);
00078     //LSM9DS1();
00079        
00080     
00081     /** begin() -- Initialize the gyro, accelerometer, and magnetometer.
00082     *This will set up the scale and output rate of each sensor. The values set
00083     * in the IMUSettings struct will take effect after calling this function.
00084     */
00085     uint16_t begin();
00086     
00087     void calibrate(bool autoCalc = true);
00088     void calibrateMag(bool loadIn = true);
00089     void magOffset(uint8_t axis, int16_t offset);
00090     
00091     /** accelAvailable() -- Polls the accelerometer status register to check
00092     * if new data is available.
00093     * Output:  1 - New data available
00094     *          0 - No new data available
00095     */
00096     uint8_t accelAvailable();
00097     
00098     /** gyroAvailable() -- Polls the gyroscope status register to check
00099     * if new data is available.
00100     * Output:  1 - New data available
00101     *          0 - No new data available
00102     */
00103     uint8_t gyroAvailable();
00104     
00105     /** gyroAvailable() -- Polls the temperature status register to check
00106     * if new data is available.
00107     * Output:  1 - New data available
00108     *          0 - No new data available
00109     */
00110     uint8_t tempAvailable();
00111     
00112     /** magAvailable() -- Polls the accelerometer status register to check
00113     * if new data is available.
00114     * Input:
00115     *  - axis can be either X_AXIS, Y_AXIS, Z_AXIS, to check for new data
00116     *    on one specific axis. Or ALL_AXIS (default) to check for new data
00117     *    on all axes.
00118     * Output:  1 - New data available
00119     *          0 - No new data available
00120     */
00121     uint8_t magAvailable(lsm9ds1_axis axis = ALL_AXIS);
00122     
00123     /** readGyro() -- Read the gyroscope output registers.
00124     * This function will read all six gyroscope output registers.
00125     * The readings are stored in the class' gx, gy, and gz variables. Read
00126     * those _after_ calling readGyro().
00127     */
00128     void readGyro();
00129     
00130     /** int16_t readGyro(axis) -- Read a specific axis of the gyroscope.
00131     * [axis] can be any of X_AXIS, Y_AXIS, or Z_AXIS.
00132     * Input:
00133     *  - axis: can be either X_AXIS, Y_AXIS, or Z_AXIS.
00134     * Output:
00135     *  A 16-bit signed integer with sensor data on requested axis.
00136     */
00137     int16_t readGyro(lsm9ds1_axis axis);
00138     
00139     /** readAccel() -- Read the accelerometer output registers.
00140     * This function will read all six accelerometer output registers.
00141     * The readings are stored in the class' ax, ay, and az variables. Read
00142     * those _after_ calling readAccel().
00143     */
00144     void readAccel();
00145     
00146     /** int16_t readAccel(axis) -- Read a specific axis of the accelerometer.
00147     * [axis] can be any of X_AXIS, Y_AXIS, or Z_AXIS.
00148     * Input:
00149     *  - axis: can be either X_AXIS, Y_AXIS, or Z_AXIS.
00150     * Output:
00151     *  A 16-bit signed integer with sensor data on requested axis.
00152     */
00153     int16_t readAccel(lsm9ds1_axis axis);
00154     
00155     /** readMag() -- Read the magnetometer output registers.
00156     * This function will read all six magnetometer output registers.
00157     * The readings are stored in the class' mx, my, and mz variables. Read
00158     * those _after_ calling readMag().
00159     */
00160     void readMag();
00161     
00162     /** int16_t readMag(axis) -- Read a specific axis of the magnetometer.
00163     * [axis] can be any of X_AXIS, Y_AXIS, or Z_AXIS.
00164     * Input:
00165     *  - axis: can be either X_AXIS, Y_AXIS, or Z_AXIS.
00166     * Output:
00167     *  A 16-bit signed integer with sensor data on requested axis.
00168     */
00169     int16_t readMag(lsm9ds1_axis axis);
00170 
00171     /** readTemp() -- Read the temperature output register.
00172     * This function will read two temperature output registers.
00173     * The combined readings are stored in the class' temperature variables. Read
00174     * those _after_ calling readTemp().
00175     */
00176     void readTemp();
00177     
00178     /** calcGyro() -- Convert from RAW signed 16-bit value to degrees per second
00179     * This function reads in a signed 16-bit value and returns the scaled
00180     * DPS. This function relies on gScale and gRes being correct.
00181     * Input:
00182     *  - gyro = A signed 16-bit raw reading from the gyroscope.
00183     */
00184     float calcGyro(int16_t gyro);
00185     
00186     /** calcAccel() -- Convert from RAW signed 16-bit value to gravity (g's).
00187     * This function reads in a signed 16-bit value and returns the scaled
00188     * g's. This function relies on aScale and aRes being correct.
00189     * Input:
00190     *  - accel = A signed 16-bit raw reading from the accelerometer.
00191     */
00192     float calcAccel(int16_t accel);
00193     
00194     /** calcMag() -- Convert from RAW signed 16-bit value to Gauss (Gs)
00195     * This function reads in a signed 16-bit value and returns the scaled
00196     * Gs. This function relies on mScale and mRes being correct.
00197     * Input:
00198     *  - mag = A signed 16-bit raw reading from the magnetometer.
00199     */
00200     float calcMag(int16_t mag);
00201     
00202     /** setGyroScale() -- Set the full-scale range of the gyroscope.
00203     * This function can be called to set the scale of the gyroscope to 
00204     * 245, 500, or 200 degrees per second.
00205     * Input:
00206     *  - gScl = The desired gyroscope scale. Must be one of three possible
00207     *      values from the gyro_scale.
00208     */
00209     void setGyroScale(uint16_t gScl);
00210     
00211     /** setAccelScale() -- Set the full-scale range of the accelerometer.
00212     * This function can be called to set the scale of the accelerometer to
00213     * 2, 4, 6, 8, or 16 g's.
00214     * Input:
00215     *  - aScl = The desired accelerometer scale. Must be one of five possible
00216     *      values from the accel_scale.
00217     */
00218     void setAccelScale(uint8_t aScl);
00219     
00220     /** setMagScale() -- Set the full-scale range of the magnetometer.
00221     * This function can be called to set the scale of the magnetometer to
00222     * 2, 4, 8, or 12 Gs.
00223     * Input:
00224     *  - mScl = The desired magnetometer scale. Must be one of four possible
00225     *      values from the mag_scale.
00226     */
00227     void setMagScale(uint8_t mScl);
00228     
00229     /** setGyroODR() -- Set the output data rate and bandwidth of the gyroscope
00230     * Input:
00231     *  - gRate = The desired output rate and cutoff frequency of the gyro.
00232     */
00233     void setGyroODR(uint8_t gRate);
00234     
00235     // setAccelODR() -- Set the output data rate of the accelerometer
00236     // Input:
00237     //  - aRate = The desired output rate of the accel.
00238     void setAccelODR(uint8_t aRate);    
00239     
00240     // setMagODR() -- Set the output data rate of the magnetometer
00241     // Input:
00242     //  - mRate = The desired output rate of the mag.
00243     void setMagODR(uint8_t mRate);
00244     
00245     // configInactivity() -- Configure inactivity interrupt parameters
00246     // Input:
00247     //  - duration = Inactivity duration - actual value depends on gyro ODR
00248     //  - threshold = Activity Threshold
00249     //  - sleepOn = Gyroscope operating mode during inactivity.
00250     //    true: gyroscope in sleep mode
00251     //    false: gyroscope in power-down
00252     void configInactivity(uint8_t duration, uint8_t threshold, bool sleepOn);
00253     
00254     // configAccelInt() -- Configure Accelerometer Interrupt Generator
00255     // Input:
00256     //  - generator = Interrupt axis/high-low events
00257     //    Any OR'd combination of ZHIE_XL, ZLIE_XL, YHIE_XL, YLIE_XL, XHIE_XL, XLIE_XL
00258     //  - andInterrupts = AND/OR combination of interrupt events
00259     //    true: AND combination
00260     //    false: OR combination
00261     void configAccelInt(uint8_t generator, bool andInterrupts = false);
00262     
00263     // configAccelThs() -- Configure the threshold of an accelereomter axis
00264     // Input:
00265     //  - threshold = Interrupt threshold. Possible values: 0-255.
00266     //    Multiply by 128 to get the actual raw accel value.
00267     //  - axis = Axis to be configured. Either X_AXIS, Y_AXIS, or Z_AXIS
00268     //  - duration = Duration value must be above or below threshold to trigger interrupt
00269     //  - wait = Wait function on duration counter
00270     //    true: Wait for duration samples before exiting interrupt
00271     //    false: Wait function off
00272     void configAccelThs(uint8_t threshold, lsm9ds1_axis axis, uint8_t duration = 0, bool wait = 0);
00273     
00274     // configGyroInt() -- Configure Gyroscope Interrupt Generator
00275     // Input:
00276     //  - generator = Interrupt axis/high-low events
00277     //    Any OR'd combination of ZHIE_G, ZLIE_G, YHIE_G, YLIE_G, XHIE_G, XLIE_G
00278     //  - aoi = AND/OR combination of interrupt events
00279     //    true: AND combination
00280     //    false: OR combination
00281     //  - latch: latch gyroscope interrupt request.
00282     void configGyroInt(uint8_t generator, bool aoi, bool latch);
00283     
00284     // configGyroThs() -- Configure the threshold of a gyroscope axis
00285     // Input:
00286     //  - threshold = Interrupt threshold. Possible values: 0-0x7FF.
00287     //    Value is equivalent to raw gyroscope value.
00288     //  - axis = Axis to be configured. Either X_AXIS, Y_AXIS, or Z_AXIS
00289     //  - duration = Duration value must be above or below threshold to trigger interrupt
00290     //  - wait = Wait function on duration counter
00291     //    true: Wait for duration samples before exiting interrupt
00292     //    false: Wait function off
00293     void configGyroThs(int16_t threshold, lsm9ds1_axis axis, uint8_t duration, bool wait);
00294     
00295     // configInt() -- Configure INT1 or INT2 (Gyro and Accel Interrupts only)
00296     // Input:
00297     //  - interrupt = Select INT1 or INT2
00298     //    Possible values: XG_INT1 or XG_INT2
00299     //  - generator = Or'd combination of interrupt generators.
00300     //    Possible values: INT_DRDY_XL, INT_DRDY_G, INT1_BOOT (INT1 only), INT2_DRDY_TEMP (INT2 only)
00301     //    INT_FTH, INT_OVR, INT_FSS5, INT_IG_XL (INT1 only), INT1_IG_G (INT1 only), INT2_INACT (INT2 only)
00302     //  - activeLow = Interrupt active configuration
00303     //    Can be either INT_ACTIVE_HIGH or INT_ACTIVE_LOW
00304     //  - pushPull =  Push-pull or open drain interrupt configuration
00305     //    Can be either INT_PUSH_PULL or INT_OPEN_DRAIN
00306     void configInt(interrupt_select interupt, uint8_t generator,
00307                    h_lactive activeLow = INT_ACTIVE_LOW, pp_od pushPull = INT_PUSH_PULL);
00308                    
00309     /** configMagInt() -- Configure Magnetometer Interrupt Generator
00310     * Input:
00311     *  - generator = Interrupt axis/high-low events
00312     *    Any OR'd combination of ZIEN, YIEN, XIEN
00313     *  - activeLow = Interrupt active configuration
00314     *    Can be either INT_ACTIVE_HIGH or INT_ACTIVE_LOW
00315     *  - latch: latch gyroscope interrupt request.
00316     */
00317     void configMagInt(uint8_t generator, h_lactive activeLow, bool latch = true);
00318     
00319     /** configMagThs() -- Configure the threshold of a gyroscope axis
00320     * Input:
00321     *  - threshold = Interrupt threshold. Possible values: 0-0x7FF.
00322     *    Value is equivalent to raw magnetometer value.
00323     */
00324     void configMagThs(uint16_t threshold);
00325     
00326     //! getGyroIntSrc() -- Get contents of Gyroscope interrupt source register
00327     uint8_t getGyroIntSrc();
00328     
00329     //! getGyroIntSrc() -- Get contents of accelerometer interrupt source register
00330     uint8_t getAccelIntSrc();
00331     
00332     //! getGyroIntSrc() -- Get contents of magnetometer interrupt source register
00333     uint8_t getMagIntSrc();
00334     
00335     //! getGyroIntSrc() -- Get status of inactivity interrupt
00336     uint8_t getInactivity();
00337     
00338     /** sleepGyro() -- Sleep or wake the gyroscope
00339     * Input:
00340     *  - enable: True = sleep gyro. False = wake gyro.
00341     */
00342     void sleepGyro(bool enable = true);
00343     
00344     /** enableFIFO() - Enable or disable the FIFO
00345     * Input:
00346     *  - enable: true = enable, false = disable.
00347     */
00348     void enableFIFO(bool enable = true);
00349     
00350     /** setFIFO() - Configure FIFO mode and Threshold
00351     * Input:
00352     *  - fifoMode: Set FIFO mode to off, FIFO (stop when full), continuous, bypass
00353     *    Possible inputs: FIFO_OFF, FIFO_THS, FIFO_CONT_TRIGGER, FIFO_OFF_TRIGGER, FIFO_CONT
00354     *  - fifoThs: FIFO threshold level setting
00355     *    Any value from 0-0x1F is acceptable.
00356     */
00357     void setFIFO(fifoMode_type fifoMode, uint8_t fifoThs);
00358     
00359     //! getFIFOSamples() - Get number of FIFO samples
00360     uint8_t getFIFOSamples();
00361         
00362 
00363 protected:  
00364     // x_mAddress and gAddress store the I2C address or SPI chip select pin
00365     // for each sensor.
00366     uint8_t _mAddress, _xgAddress;
00367     
00368     // gRes, aRes, and mRes store the current resolution for each sensor. 
00369     // Units of these values would be DPS (or g's or Gs's) per ADC tick.
00370     // This value is calculated as (sensor scale) / (2^15).
00371     float gRes, aRes, mRes;
00372     
00373     // _autoCalc keeps track of whether we're automatically subtracting off
00374     // accelerometer and gyroscope bias calculated in calibrate().
00375     bool _autoCalc;
00376     
00377     // init() -- Sets up gyro, accel, and mag settings to default.
00378     // - interface - Sets the interface mode (IMU_MODE_I2C or IMU_MODE_SPI)
00379     // - xgAddr - Sets either the I2C address of the accel/gyro or SPI chip 
00380     //   select pin connected to the CS_XG pin.
00381     // - mAddr - Sets either the I2C address of the magnetometer or SPI chip 
00382     //   select pin connected to the CS_M pin.
00383     void init(interface_mode interface, uint8_t xgAddr, uint8_t mAddr);
00384     
00385     // initGyro() -- Sets up the gyroscope to begin reading.
00386     // This function steps through all five gyroscope control registers.
00387     // Upon exit, the following parameters will be set:
00388     //  - CTRL_REG1_G = 0x0F: Normal operation mode, all axes enabled. 
00389     //      95 Hz ODR, 12.5 Hz cutoff frequency.
00390     //  - CTRL_REG2_G = 0x00: HPF set to normal mode, cutoff frequency
00391     //      set to 7.2 Hz (depends on ODR).
00392     //  - CTRL_REG3_G = 0x88: Interrupt enabled on INT_G (set to push-pull and
00393     //      active high). Data-ready output enabled on DRDY_G.
00394     //  - CTRL_REG4_G = 0x00: Continuous update mode. Data LSB stored in lower
00395     //      address. Scale set to 245 DPS. SPI mode set to 4-wire.
00396     //  - CTRL_REG5_G = 0x00: FIFO disabled. HPF disabled.
00397     void initGyro();
00398     
00399     // initAccel() -- Sets up the accelerometer to begin reading.
00400     // This function steps through all accelerometer related control registers.
00401     // Upon exit these registers will be set as:
00402     //  - CTRL_REG0_XM = 0x00: FIFO disabled. HPF bypassed. Normal mode.
00403     //  - CTRL_REG1_XM = 0x57: 100 Hz data rate. Continuous update.
00404     //      all axes enabled.
00405     //  - CTRL_REG2_XM = 0x00:  2g scale. 773 Hz anti-alias filter BW.
00406     //  - CTRL_REG3_XM = 0x04: Accel data ready signal on INT1_XM pin.
00407     void initAccel();
00408     
00409     // initMag() -- Sets up the magnetometer to begin reading.
00410     // This function steps through all magnetometer-related control registers.
00411     // Upon exit these registers will be set as:
00412     //  - CTRL_REG4_XM = 0x04: Mag data ready signal on INT2_XM pin.
00413     //  - CTRL_REG5_XM = 0x14: 100 Hz update rate. Low resolution. Interrupt
00414     //      requests don't latch. Temperature sensor disabled.
00415     //  - CTRL_REG6_XM = 0x00:  2 Gs scale.
00416     //  - CTRL_REG7_XM = 0x00: Continuous conversion mode. Normal HPF mode.
00417     //  - INT_CTRL_REG_M = 0x09: Interrupt active-high. Enable interrupts.
00418     void initMag();
00419     
00420     // gReadByte() -- Reads a byte from a specified gyroscope register.
00421     // Input:
00422     //  - subAddress = Register to be read from.
00423     // Output:
00424     //  - An 8-bit value read from the requested address.
00425     uint8_t mReadByte(uint8_t subAddress);
00426     
00427     // gReadBytes() -- Reads a number of bytes -- beginning at an address
00428     // and incrementing from there -- from the gyroscope.
00429     // Input:
00430     //  - subAddress = Register to be read from.
00431     //  - * dest = A pointer to an array of uint8_t's. Values read will be
00432     //      stored in here on return.
00433     //  - count = The number of bytes to be read.
00434     // Output: No value is returned, but the `dest` array will store
00435     //  the data read upon exit.
00436     void mReadBytes(uint8_t subAddress, uint8_t * dest, uint8_t count);
00437     
00438     // gWriteByte() -- Write a byte to a register in the gyroscope.
00439     // Input:
00440     //  - subAddress = Register to be written to.
00441     //  - data = data to be written to the register.
00442     void mWriteByte(uint8_t subAddress, uint8_t data);
00443     
00444     // xmReadByte() -- Read a byte from a register in the accel/mag sensor
00445     // Input:
00446     //  - subAddress = Register to be read from.
00447     // Output:
00448     //  - An 8-bit value read from the requested register.
00449     uint8_t xgReadByte(uint8_t subAddress);
00450     
00451     // xmReadBytes() -- Reads a number of bytes -- beginning at an address
00452     // and incrementing from there -- from the accelerometer/magnetometer.
00453     // Input:
00454     //  - subAddress = Register to be read from.
00455     //  - * dest = A pointer to an array of uint8_t's. Values read will be
00456     //      stored in here on return.
00457     //  - count = The number of bytes to be read.
00458     // Output: No value is returned, but the `dest` array will store
00459     //  the data read upon exit.
00460     void xgReadBytes(uint8_t subAddress, uint8_t * dest, uint8_t count);
00461     
00462     // xmWriteByte() -- Write a byte to a register in the accel/mag sensor.
00463     // Input:
00464     //  - subAddress = Register to be written to.
00465     //  - data = data to be written to the register.
00466     void xgWriteByte(uint8_t subAddress, uint8_t data);
00467     
00468     // calcgRes() -- Calculate the resolution of the gyroscope.
00469     // This function will set the value of the gRes variable. gScale must
00470     // be set prior to calling this function.
00471     void calcgRes();
00472     
00473     // calcmRes() -- Calculate the resolution of the magnetometer.
00474     // This function will set the value of the mRes variable. mScale must
00475     // be set prior to calling this function.
00476     void calcmRes();
00477     
00478     // calcaRes() -- Calculate the resolution of the accelerometer.
00479     // This function will set the value of the aRes variable. aScale must
00480     // be set prior to calling this function.
00481     void calcaRes();
00482     
00483     //////////////////////
00484     // Helper Functions //
00485     //////////////////////
00486     void constrainScales();
00487     
00488     ///////////////////
00489     // SPI Functions //
00490     ///////////////////
00491     // initSPI() -- Initialize the SPI hardware.
00492     // This function will setup all SPI pins and related hardware.
00493     void initSPI();
00494     
00495     // SPIwriteByte() -- Write a byte out of SPI to a register in the device
00496     // Input:
00497     //  - csPin = The chip select pin of the slave device.
00498     //  - subAddress = The register to be written to.
00499     //  - data = Byte to be written to the register.
00500     void SPIwriteByte(uint8_t csPin, uint8_t subAddress, uint8_t data);
00501     
00502     // SPIreadByte() -- Read a single byte from a register over SPI.
00503     // Input:
00504     //  - csPin = The chip select pin of the slave device.
00505     //  - subAddress = The register to be read from.
00506     // Output:
00507     //  - The byte read from the requested address.
00508     uint8_t SPIreadByte(uint8_t csPin, uint8_t subAddress);
00509     
00510     // SPIreadBytes() -- Read a series of bytes, starting at a register via SPI
00511     // Input:
00512     //  - csPin = The chip select pin of a slave device.
00513     //  - subAddress = The register to begin reading.
00514     //  - * dest = Pointer to an array where we'll store the readings.
00515     //  - count = Number of registers to be read.
00516     // Output: No value is returned by the function, but the registers read are
00517     //      all stored in the *dest array given.
00518     void SPIreadBytes(uint8_t csPin, uint8_t subAddress, 
00519                             uint8_t * dest, uint8_t count);
00520     
00521     ///////////////////
00522     // I2C Functions //
00523     ///////////////////
00524     // initI2C() -- Initialize the I2C hardware.
00525     // This function will setup all I2C pins and related hardware.
00526     void initI2C();
00527     
00528     // I2CwriteByte() -- Write a byte out of I2C to a register in the device
00529     // Input:
00530     //  - address = The 7-bit I2C address of the slave device.
00531     //  - subAddress = The register to be written to.
00532     //  - data = Byte to be written to the register.
00533     void I2CwriteByte(uint8_t address, uint8_t subAddress, uint8_t data);
00534     
00535     // I2CreadByte() -- Read a single byte from a register over I2C.
00536     // Input:
00537     //  - address = The 7-bit I2C address of the slave device.
00538     //  - subAddress = The register to be read from.
00539     // Output:
00540     //  - The byte read from the requested address.
00541     uint8_t I2CreadByte(uint8_t address, uint8_t subAddress);
00542     
00543     // I2CreadBytes() -- Read a series of bytes, starting at a register via SPI
00544     // Input:
00545     //  - address = The 7-bit I2C address of the slave device.
00546     //  - subAddress = The register to begin reading.
00547     //  - * dest = Pointer to an array where we'll store the readings.
00548     //  - count = Number of registers to be read.
00549     // Output: No value is returned by the function, but the registers read are
00550     //      all stored in the *dest array given.
00551     uint8_t I2CreadBytes(uint8_t address, uint8_t subAddress, uint8_t * dest, uint8_t count);
00552     
00553 private:
00554     I2C i2c;
00555 };
00556 
00557 #endif // SFE_LSM9DS1_H //