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Diff: LSM9DS1.h
- Revision:
- 5:802a7c5a4b27
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/LSM9DS1.h Fri Apr 29 06:59:56 2016 +0000
@@ -0,0 +1,557 @@
+/******************************************************************************
+SFE_LSM9DS1.h
+SFE_LSM9DS1 Library Header File
+Jim Lindblom @ SparkFun Electronics
+Original Creation Date: February 27, 2015
+https://github.com/sparkfun/LSM9DS1_Breakout
+
+This file prototypes the LSM9DS1 class, implemented in SFE_LSM9DS1.cpp. In
+addition, it defines every register in the LSM9DS1 (both the Gyro and Accel/
+Magnetometer registers).
+
+Development environment specifics:
+ IDE: Arduino 1.6.0
+ Hardware Platform: Arduino Uno
+ 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!
+
+Distributed as-is; no warranty is given.
+******************************************************************************/
+#ifndef __SparkFunLSM9DS1_H__
+#define __SparkFunLSM9DS1_H__
+
+//#if defined(ARDUINO) && ARDUINO >= 100
+// #include "Arduino.h"
+//#else
+// #include "WProgram.h"
+// #include "pins_arduino.h"
+//#endif
+
+#include "mbed.h"
+#include <stdint.h>
+#include "LSM9DS1_Registers.h"
+#include "LSM9DS1_Types.h"
+
+#define LSM9DS1_AG_ADDR(sa0) ((sa0) == 0 ? 0x6A : 0x6B)
+#define LSM9DS1_M_ADDR(sa1) ((sa1) == 0 ? 0x1C : 0x1E)
+
+enum lsm9ds1_axis {
+ X_AXIS,
+ Y_AXIS,
+ Z_AXIS,
+ ALL_AXIS
+};
+
+class LSM9DS1
+{
+public:
+ IMUSettings settings;
+
+ // We'll store the gyro, accel, and magnetometer readings in a series of
+ // public class variables. Each sensor gets three variables -- one for each
+ // axis. Call readGyro(), readAccel(), and readMag() first, before using
+ // these variables!
+ // These values are the RAW signed 16-bit readings from the sensors.
+ int16_t gx, gy, gz; // x, y, and z axis readings of the gyroscope
+ int16_t ax, ay, az; // x, y, and z axis readings of the accelerometer
+ int16_t mx, my, mz; // x, y, and z axis readings of the magnetometer
+ int16_t temperature; // Chip temperature
+ float gBias[3], aBias[3], mBias[3];
+ int16_t gBiasRaw[3], aBiasRaw[3], mBiasRaw[3];
+
+ // LSM9DS1 -- LSM9DS1 class constructor
+ // The constructor will set up a handful of private variables, and set the
+ // communication mode as well.
+ /**Input:
+ * - interface = Either IMU_MODE_SPI or IMU_MODE_I2C, whichever you're using
+ * to talk to the IC.
+ * - xgAddr = If IMU_MODE_I2C, this is the I2C address of the accel/gyroscope.
+ * If IMU_MODE_SPI, this is the chip select pin of the gyro (CS_AG)
+ * - mAddr = If IMU_MODE_I2C, this is the I2C address of the magnetometer.
+ * If IMU_MODE_SPI, this is the cs pin of the magnetometer (CS_M)
+
+ */
+ LSM9DS1(PinName sda, PinName scl, uint8_t xgAddr, uint8_t mAddr);
+ //LSM9DS1(interface_mode interface, uint8_t xgAddr, uint8_t mAddr);
+ //LSM9DS1();
+
+
+ /** begin() -- Initialize the gyro, accelerometer, and magnetometer.
+ *This will set up the scale and output rate of each sensor. The values set
+ * in the IMUSettings struct will take effect after calling this function.
+ */
+ uint16_t begin();
+
+ void calibrate(bool autoCalc = true);
+ void calibrateMag(bool loadIn = true);
+ void magOffset(uint8_t axis, int16_t offset);
+
+ /** accelAvailable() -- Polls the accelerometer status register to check
+ * if new data is available.
+ * Output: 1 - New data available
+ * 0 - No new data available
+ */
+ uint8_t accelAvailable();
+
+ /** gyroAvailable() -- Polls the gyroscope status register to check
+ * if new data is available.
+ * Output: 1 - New data available
+ * 0 - No new data available
+ */
+ uint8_t gyroAvailable();
+
+ /** gyroAvailable() -- Polls the temperature status register to check
+ * if new data is available.
+ * Output: 1 - New data available
+ * 0 - No new data available
+ */
+ uint8_t tempAvailable();
+
+ /** magAvailable() -- Polls the accelerometer status register to check
+ * if new data is available.
+ * Input:
+ * - axis can be either X_AXIS, Y_AXIS, Z_AXIS, to check for new data
+ * on one specific axis. Or ALL_AXIS (default) to check for new data
+ * on all axes.
+ * Output: 1 - New data available
+ * 0 - No new data available
+ */
+ uint8_t magAvailable(lsm9ds1_axis axis = ALL_AXIS);
+
+ /** readGyro() -- Read the gyroscope output registers.
+ * This function will read all six gyroscope output registers.
+ * The readings are stored in the class' gx, gy, and gz variables. Read
+ * those _after_ calling readGyro().
+ */
+ void readGyro();
+
+ /** int16_t readGyro(axis) -- Read a specific axis of the gyroscope.
+ * [axis] can be any of X_AXIS, Y_AXIS, or Z_AXIS.
+ * Input:
+ * - axis: can be either X_AXIS, Y_AXIS, or Z_AXIS.
+ * Output:
+ * A 16-bit signed integer with sensor data on requested axis.
+ */
+ int16_t readGyro(lsm9ds1_axis axis);
+
+ /** readAccel() -- Read the accelerometer output registers.
+ * This function will read all six accelerometer output registers.
+ * The readings are stored in the class' ax, ay, and az variables. Read
+ * those _after_ calling readAccel().
+ */
+ void readAccel();
+
+ /** int16_t readAccel(axis) -- Read a specific axis of the accelerometer.
+ * [axis] can be any of X_AXIS, Y_AXIS, or Z_AXIS.
+ * Input:
+ * - axis: can be either X_AXIS, Y_AXIS, or Z_AXIS.
+ * Output:
+ * A 16-bit signed integer with sensor data on requested axis.
+ */
+ int16_t readAccel(lsm9ds1_axis axis);
+
+ /** readMag() -- Read the magnetometer output registers.
+ * This function will read all six magnetometer output registers.
+ * The readings are stored in the class' mx, my, and mz variables. Read
+ * those _after_ calling readMag().
+ */
+ void readMag();
+
+ /** int16_t readMag(axis) -- Read a specific axis of the magnetometer.
+ * [axis] can be any of X_AXIS, Y_AXIS, or Z_AXIS.
+ * Input:
+ * - axis: can be either X_AXIS, Y_AXIS, or Z_AXIS.
+ * Output:
+ * A 16-bit signed integer with sensor data on requested axis.
+ */
+ int16_t readMag(lsm9ds1_axis axis);
+
+ /** readTemp() -- Read the temperature output register.
+ * This function will read two temperature output registers.
+ * The combined readings are stored in the class' temperature variables. Read
+ * those _after_ calling readTemp().
+ */
+ void readTemp();
+
+ /** calcGyro() -- Convert from RAW signed 16-bit value to degrees per second
+ * This function reads in a signed 16-bit value and returns the scaled
+ * DPS. This function relies on gScale and gRes being correct.
+ * Input:
+ * - gyro = A signed 16-bit raw reading from the gyroscope.
+ */
+ float calcGyro(int16_t gyro);
+
+ /** calcAccel() -- Convert from RAW signed 16-bit value to gravity (g's).
+ * This function reads in a signed 16-bit value and returns the scaled
+ * g's. This function relies on aScale and aRes being correct.
+ * Input:
+ * - accel = A signed 16-bit raw reading from the accelerometer.
+ */
+ float calcAccel(int16_t accel);
+
+ /** calcMag() -- Convert from RAW signed 16-bit value to Gauss (Gs)
+ * This function reads in a signed 16-bit value and returns the scaled
+ * Gs. This function relies on mScale and mRes being correct.
+ * Input:
+ * - mag = A signed 16-bit raw reading from the magnetometer.
+ */
+ float calcMag(int16_t mag);
+
+ /** setGyroScale() -- Set the full-scale range of the gyroscope.
+ * This function can be called to set the scale of the gyroscope to
+ * 245, 500, or 200 degrees per second.
+ * Input:
+ * - gScl = The desired gyroscope scale. Must be one of three possible
+ * values from the gyro_scale.
+ */
+ void setGyroScale(uint16_t gScl);
+
+ /** setAccelScale() -- Set the full-scale range of the accelerometer.
+ * This function can be called to set the scale of the accelerometer to
+ * 2, 4, 6, 8, or 16 g's.
+ * Input:
+ * - aScl = The desired accelerometer scale. Must be one of five possible
+ * values from the accel_scale.
+ */
+ void setAccelScale(uint8_t aScl);
+
+ /** setMagScale() -- Set the full-scale range of the magnetometer.
+ * This function can be called to set the scale of the magnetometer to
+ * 2, 4, 8, or 12 Gs.
+ * Input:
+ * - mScl = The desired magnetometer scale. Must be one of four possible
+ * values from the mag_scale.
+ */
+ void setMagScale(uint8_t mScl);
+
+ /** setGyroODR() -- Set the output data rate and bandwidth of the gyroscope
+ * Input:
+ * - gRate = The desired output rate and cutoff frequency of the gyro.
+ */
+ void setGyroODR(uint8_t gRate);
+
+ // setAccelODR() -- Set the output data rate of the accelerometer
+ // Input:
+ // - aRate = The desired output rate of the accel.
+ void setAccelODR(uint8_t aRate);
+
+ // setMagODR() -- Set the output data rate of the magnetometer
+ // Input:
+ // - mRate = The desired output rate of the mag.
+ void setMagODR(uint8_t mRate);
+
+ // configInactivity() -- Configure inactivity interrupt parameters
+ // Input:
+ // - duration = Inactivity duration - actual value depends on gyro ODR
+ // - threshold = Activity Threshold
+ // - sleepOn = Gyroscope operating mode during inactivity.
+ // true: gyroscope in sleep mode
+ // false: gyroscope in power-down
+ void configInactivity(uint8_t duration, uint8_t threshold, bool sleepOn);
+
+ // configAccelInt() -- Configure Accelerometer Interrupt Generator
+ // Input:
+ // - generator = Interrupt axis/high-low events
+ // Any OR'd combination of ZHIE_XL, ZLIE_XL, YHIE_XL, YLIE_XL, XHIE_XL, XLIE_XL
+ // - andInterrupts = AND/OR combination of interrupt events
+ // true: AND combination
+ // false: OR combination
+ void configAccelInt(uint8_t generator, bool andInterrupts = false);
+
+ // configAccelThs() -- Configure the threshold of an accelereomter axis
+ // Input:
+ // - threshold = Interrupt threshold. Possible values: 0-255.
+ // Multiply by 128 to get the actual raw accel value.
+ // - axis = Axis to be configured. Either X_AXIS, Y_AXIS, or Z_AXIS
+ // - duration = Duration value must be above or below threshold to trigger interrupt
+ // - wait = Wait function on duration counter
+ // true: Wait for duration samples before exiting interrupt
+ // false: Wait function off
+ void configAccelThs(uint8_t threshold, lsm9ds1_axis axis, uint8_t duration = 0, bool wait = 0);
+
+ // configGyroInt() -- Configure Gyroscope Interrupt Generator
+ // Input:
+ // - generator = Interrupt axis/high-low events
+ // Any OR'd combination of ZHIE_G, ZLIE_G, YHIE_G, YLIE_G, XHIE_G, XLIE_G
+ // - aoi = AND/OR combination of interrupt events
+ // true: AND combination
+ // false: OR combination
+ // - latch: latch gyroscope interrupt request.
+ void configGyroInt(uint8_t generator, bool aoi, bool latch);
+
+ // configGyroThs() -- Configure the threshold of a gyroscope axis
+ // Input:
+ // - threshold = Interrupt threshold. Possible values: 0-0x7FF.
+ // Value is equivalent to raw gyroscope value.
+ // - axis = Axis to be configured. Either X_AXIS, Y_AXIS, or Z_AXIS
+ // - duration = Duration value must be above or below threshold to trigger interrupt
+ // - wait = Wait function on duration counter
+ // true: Wait for duration samples before exiting interrupt
+ // false: Wait function off
+ void configGyroThs(int16_t threshold, lsm9ds1_axis axis, uint8_t duration, bool wait);
+
+ // configInt() -- Configure INT1 or INT2 (Gyro and Accel Interrupts only)
+ // Input:
+ // - interrupt = Select INT1 or INT2
+ // Possible values: XG_INT1 or XG_INT2
+ // - generator = Or'd combination of interrupt generators.
+ // Possible values: INT_DRDY_XL, INT_DRDY_G, INT1_BOOT (INT1 only), INT2_DRDY_TEMP (INT2 only)
+ // INT_FTH, INT_OVR, INT_FSS5, INT_IG_XL (INT1 only), INT1_IG_G (INT1 only), INT2_INACT (INT2 only)
+ // - activeLow = Interrupt active configuration
+ // Can be either INT_ACTIVE_HIGH or INT_ACTIVE_LOW
+ // - pushPull = Push-pull or open drain interrupt configuration
+ // Can be either INT_PUSH_PULL or INT_OPEN_DRAIN
+ void configInt(interrupt_select interupt, uint8_t generator,
+ h_lactive activeLow = INT_ACTIVE_LOW, pp_od pushPull = INT_PUSH_PULL);
+
+ /** configMagInt() -- Configure Magnetometer Interrupt Generator
+ * Input:
+ * - generator = Interrupt axis/high-low events
+ * Any OR'd combination of ZIEN, YIEN, XIEN
+ * - activeLow = Interrupt active configuration
+ * Can be either INT_ACTIVE_HIGH or INT_ACTIVE_LOW
+ * - latch: latch gyroscope interrupt request.
+ */
+ void configMagInt(uint8_t generator, h_lactive activeLow, bool latch = true);
+
+ /** configMagThs() -- Configure the threshold of a gyroscope axis
+ * Input:
+ * - threshold = Interrupt threshold. Possible values: 0-0x7FF.
+ * Value is equivalent to raw magnetometer value.
+ */
+ void configMagThs(uint16_t threshold);
+
+ //! getGyroIntSrc() -- Get contents of Gyroscope interrupt source register
+ uint8_t getGyroIntSrc();
+
+ //! getGyroIntSrc() -- Get contents of accelerometer interrupt source register
+ uint8_t getAccelIntSrc();
+
+ //! getGyroIntSrc() -- Get contents of magnetometer interrupt source register
+ uint8_t getMagIntSrc();
+
+ //! getGyroIntSrc() -- Get status of inactivity interrupt
+ uint8_t getInactivity();
+
+ /** sleepGyro() -- Sleep or wake the gyroscope
+ * Input:
+ * - enable: True = sleep gyro. False = wake gyro.
+ */
+ void sleepGyro(bool enable = true);
+
+ /** enableFIFO() - Enable or disable the FIFO
+ * Input:
+ * - enable: true = enable, false = disable.
+ */
+ void enableFIFO(bool enable = true);
+
+ /** setFIFO() - Configure FIFO mode and Threshold
+ * Input:
+ * - fifoMode: Set FIFO mode to off, FIFO (stop when full), continuous, bypass
+ * Possible inputs: FIFO_OFF, FIFO_THS, FIFO_CONT_TRIGGER, FIFO_OFF_TRIGGER, FIFO_CONT
+ * - fifoThs: FIFO threshold level setting
+ * Any value from 0-0x1F is acceptable.
+ */
+ void setFIFO(fifoMode_type fifoMode, uint8_t fifoThs);
+
+ //! getFIFOSamples() - Get number of FIFO samples
+ uint8_t getFIFOSamples();
+
+
+protected:
+ // x_mAddress and gAddress store the I2C address or SPI chip select pin
+ // for each sensor.
+ uint8_t _mAddress, _xgAddress;
+
+ // gRes, aRes, and mRes store the current resolution for each sensor.
+ // Units of these values would be DPS (or g's or Gs's) per ADC tick.
+ // This value is calculated as (sensor scale) / (2^15).
+ float gRes, aRes, mRes;
+
+ // _autoCalc keeps track of whether we're automatically subtracting off
+ // accelerometer and gyroscope bias calculated in calibrate().
+ bool _autoCalc;
+
+ // init() -- Sets up gyro, accel, and mag settings to default.
+ // - interface - Sets the interface mode (IMU_MODE_I2C or IMU_MODE_SPI)
+ // - xgAddr - Sets either the I2C address of the accel/gyro or SPI chip
+ // select pin connected to the CS_XG pin.
+ // - mAddr - Sets either the I2C address of the magnetometer or SPI chip
+ // select pin connected to the CS_M pin.
+ void init(interface_mode interface, uint8_t xgAddr, uint8_t mAddr);
+
+ // initGyro() -- Sets up the gyroscope to begin reading.
+ // This function steps through all five gyroscope control registers.
+ // Upon exit, the following parameters will be set:
+ // - CTRL_REG1_G = 0x0F: Normal operation mode, all axes enabled.
+ // 95 Hz ODR, 12.5 Hz cutoff frequency.
+ // - CTRL_REG2_G = 0x00: HPF set to normal mode, cutoff frequency
+ // set to 7.2 Hz (depends on ODR).
+ // - CTRL_REG3_G = 0x88: Interrupt enabled on INT_G (set to push-pull and
+ // active high). Data-ready output enabled on DRDY_G.
+ // - CTRL_REG4_G = 0x00: Continuous update mode. Data LSB stored in lower
+ // address. Scale set to 245 DPS. SPI mode set to 4-wire.
+ // - CTRL_REG5_G = 0x00: FIFO disabled. HPF disabled.
+ void initGyro();
+
+ // initAccel() -- Sets up the accelerometer to begin reading.
+ // This function steps through all accelerometer related control registers.
+ // Upon exit these registers will be set as:
+ // - CTRL_REG0_XM = 0x00: FIFO disabled. HPF bypassed. Normal mode.
+ // - CTRL_REG1_XM = 0x57: 100 Hz data rate. Continuous update.
+ // all axes enabled.
+ // - CTRL_REG2_XM = 0x00: 2g scale. 773 Hz anti-alias filter BW.
+ // - CTRL_REG3_XM = 0x04: Accel data ready signal on INT1_XM pin.
+ void initAccel();
+
+ // initMag() -- Sets up the magnetometer to begin reading.
+ // This function steps through all magnetometer-related control registers.
+ // Upon exit these registers will be set as:
+ // - CTRL_REG4_XM = 0x04: Mag data ready signal on INT2_XM pin.
+ // - CTRL_REG5_XM = 0x14: 100 Hz update rate. Low resolution. Interrupt
+ // requests don't latch. Temperature sensor disabled.
+ // - CTRL_REG6_XM = 0x00: 2 Gs scale.
+ // - CTRL_REG7_XM = 0x00: Continuous conversion mode. Normal HPF mode.
+ // - INT_CTRL_REG_M = 0x09: Interrupt active-high. Enable interrupts.
+ void initMag();
+
+ // gReadByte() -- Reads a byte from a specified gyroscope register.
+ // Input:
+ // - subAddress = Register to be read from.
+ // Output:
+ // - An 8-bit value read from the requested address.
+ uint8_t mReadByte(uint8_t subAddress);
+
+ // gReadBytes() -- Reads a number of bytes -- beginning at an address
+ // and incrementing from there -- from the gyroscope.
+ // Input:
+ // - subAddress = Register to be read from.
+ // - * dest = A pointer to an array of uint8_t's. Values read will be
+ // stored in here on return.
+ // - count = The number of bytes to be read.
+ // Output: No value is returned, but the `dest` array will store
+ // the data read upon exit.
+ void mReadBytes(uint8_t subAddress, uint8_t * dest, uint8_t count);
+
+ // gWriteByte() -- Write a byte to a register in the gyroscope.
+ // Input:
+ // - subAddress = Register to be written to.
+ // - data = data to be written to the register.
+ void mWriteByte(uint8_t subAddress, uint8_t data);
+
+ // xmReadByte() -- Read a byte from a register in the accel/mag sensor
+ // Input:
+ // - subAddress = Register to be read from.
+ // Output:
+ // - An 8-bit value read from the requested register.
+ uint8_t xgReadByte(uint8_t subAddress);
+
+ // xmReadBytes() -- Reads a number of bytes -- beginning at an address
+ // and incrementing from there -- from the accelerometer/magnetometer.
+ // Input:
+ // - subAddress = Register to be read from.
+ // - * dest = A pointer to an array of uint8_t's. Values read will be
+ // stored in here on return.
+ // - count = The number of bytes to be read.
+ // Output: No value is returned, but the `dest` array will store
+ // the data read upon exit.
+ void xgReadBytes(uint8_t subAddress, uint8_t * dest, uint8_t count);
+
+ // xmWriteByte() -- Write a byte to a register in the accel/mag sensor.
+ // Input:
+ // - subAddress = Register to be written to.
+ // - data = data to be written to the register.
+ void xgWriteByte(uint8_t subAddress, uint8_t data);
+
+ // calcgRes() -- Calculate the resolution of the gyroscope.
+ // This function will set the value of the gRes variable. gScale must
+ // be set prior to calling this function.
+ void calcgRes();
+
+ // calcmRes() -- Calculate the resolution of the magnetometer.
+ // This function will set the value of the mRes variable. mScale must
+ // be set prior to calling this function.
+ void calcmRes();
+
+ // calcaRes() -- Calculate the resolution of the accelerometer.
+ // This function will set the value of the aRes variable. aScale must
+ // be set prior to calling this function.
+ void calcaRes();
+
+ //////////////////////
+ // Helper Functions //
+ //////////////////////
+ void constrainScales();
+
+ ///////////////////
+ // SPI Functions //
+ ///////////////////
+ // initSPI() -- Initialize the SPI hardware.
+ // This function will setup all SPI pins and related hardware.
+ void initSPI();
+
+ // SPIwriteByte() -- Write a byte out of SPI to a register in the device
+ // Input:
+ // - csPin = The chip select pin of the slave device.
+ // - subAddress = The register to be written to.
+ // - data = Byte to be written to the register.
+ void SPIwriteByte(uint8_t csPin, uint8_t subAddress, uint8_t data);
+
+ // SPIreadByte() -- Read a single byte from a register over SPI.
+ // Input:
+ // - csPin = The chip select pin of the slave device.
+ // - subAddress = The register to be read from.
+ // Output:
+ // - The byte read from the requested address.
+ uint8_t SPIreadByte(uint8_t csPin, uint8_t subAddress);
+
+ // SPIreadBytes() -- Read a series of bytes, starting at a register via SPI
+ // Input:
+ // - csPin = The chip select pin of a slave device.
+ // - subAddress = The register to begin reading.
+ // - * dest = Pointer to an array where we'll store the readings.
+ // - count = Number of registers to be read.
+ // Output: No value is returned by the function, but the registers read are
+ // all stored in the *dest array given.
+ void SPIreadBytes(uint8_t csPin, uint8_t subAddress,
+ uint8_t * dest, uint8_t count);
+
+ ///////////////////
+ // I2C Functions //
+ ///////////////////
+ // initI2C() -- Initialize the I2C hardware.
+ // This function will setup all I2C pins and related hardware.
+ void initI2C();
+
+ // I2CwriteByte() -- Write a byte out of I2C to a register in the device
+ // Input:
+ // - address = The 7-bit I2C address of the slave device.
+ // - subAddress = The register to be written to.
+ // - data = Byte to be written to the register.
+ void I2CwriteByte(uint8_t address, uint8_t subAddress, uint8_t data);
+
+ // I2CreadByte() -- Read a single byte from a register over I2C.
+ // Input:
+ // - address = The 7-bit I2C address of the slave device.
+ // - subAddress = The register to be read from.
+ // Output:
+ // - The byte read from the requested address.
+ uint8_t I2CreadByte(uint8_t address, uint8_t subAddress);
+
+ // I2CreadBytes() -- Read a series of bytes, starting at a register via SPI
+ // Input:
+ // - address = The 7-bit I2C address of the slave device.
+ // - subAddress = The register to begin reading.
+ // - * dest = Pointer to an array where we'll store the readings.
+ // - count = Number of registers to be read.
+ // Output: No value is returned by the function, but the registers read are
+ // all stored in the *dest array given.
+ uint8_t I2CreadBytes(uint8_t address, uint8_t subAddress, uint8_t * dest, uint8_t count);
+
+private:
+ I2C i2c;
+};
+
+#endif // SFE_LSM9DS1_H //