Merge pull request #106 from sparkfun/release_candidate

PaulZC · web-flow · commit fd948fbc5dbe · 2022-11-14T13:06:48.000Z
v1.2.10 - Add get and set bias methods plus a new example
diff --git a/examples/Arduino/Example10_DMP_FastMultipleSensors/Example10_DMP_FastMultipleSensors.ino b/examples/Arduino/Example10_DMP_FastMultipleSensors/Example10_DMP_FastMultipleSensors.ino
@@ -34,9 +34,9 @@
 #define CS_PIN 2     // Which pin you connect CS to. Used only when "USE_SPI" is defined
 
 #define WIRE_PORT Wire // Your desired Wire port.      Used when "USE_SPI" is not defined
-#define AD0_VAL 1      // The value of the last bit of the I2C address.                \
-                       // On the SparkFun 9DoF IMU breakout the default is 1, and when \
-                       // the ADR jumper is closed the value becomes 0
+// The value of the last bit of the I2C address.
+// On the SparkFun 9DoF IMU breakout the default is 1, and when the ADR jumper is closed the value becomes 0
+#define AD0_VAL 1
 
 #ifdef USE_SPI
 ICM_20948_SPI myICM; // If using SPI create an ICM_20948_SPI object
diff --git a/examples/Arduino/Example11_DMP_Bias_Save_Restore_ESP32/Example11_DMP_Bias_Save_Restore_ESP32.ino b/examples/Arduino/Example11_DMP_Bias_Save_Restore_ESP32/Example11_DMP_Bias_Save_Restore_ESP32.ino
diff --git a/examples/Arduino/Example1_Basics/Example1_Basics.ino b/examples/Arduino/Example1_Basics/Example1_Basics.ino
@@ -19,9 +19,9 @@
 #define CS_PIN 2     // Which pin you connect CS to. Used only when "USE_SPI" is defined
 
 #define WIRE_PORT Wire // Your desired Wire port.      Used when "USE_SPI" is not defined
-#define AD0_VAL 1      // The value of the last bit of the I2C address.                \
-                       // On the SparkFun 9DoF IMU breakout the default is 1, and when \
-                       // the ADR jumper is closed the value becomes 0
+// The value of the last bit of the I2C address.
+// On the SparkFun 9DoF IMU breakout the default is 1, and when the ADR jumper is closed the value becomes 0
+#define AD0_VAL 1
 
 #ifdef USE_SPI
 ICM_20948_SPI myICM; // If using SPI create an ICM_20948_SPI object
diff --git a/examples/Arduino/Example2_Advanced/Example2_Advanced.ino b/examples/Arduino/Example2_Advanced/Example2_Advanced.ino
@@ -20,9 +20,9 @@
 #define CS_PIN 2         // Which pin you connect CS to. Used only when "USE_SPI" is defined
 
 #define WIRE_PORT Wire // Your desired Wire port.      Used when "USE_SPI" is not defined
-#define AD0_VAL 1      // The value of the last bit of the I2C address.                \
-                       // On the SparkFun 9DoF IMU breakout the default is 1, and when \
-                       // the ADR jumper is closed the value becomes 0
+// The value of the last bit of the I2C address.
+// On the SparkFun 9DoF IMU breakout the default is 1, and when the ADR jumper is closed the value becomes 0
+#define AD0_VAL 1
 
 #ifdef USE_SPI
 ICM_20948_SPI myICM; // If using SPI create an ICM_20948_SPI object
diff --git a/examples/Arduino/Example3_Interrupts/Example3_Interrupts.ino b/examples/Arduino/Example3_Interrupts/Example3_Interrupts.ino
@@ -28,9 +28,9 @@
 #define CS_PIN 2         // Which pin you connect CS to. Used only when "USE_SPI" is defined
 
 #define WIRE_PORT Wire // Your desired Wire port.      Used when "USE_SPI" is not defined
-#define AD0_VAL 1      // The value of the last bit of the I2C address.                \
-                       // On the SparkFun 9DoF IMU breakout the default is 1, and when \
-                       // the ADR jumper is closed the value becomes 0
+// The value of the last bit of the I2C address.
+// On the SparkFun 9DoF IMU breakout the default is 1, and when the ADR jumper is closed the value becomes 0
+#define AD0_VAL 1
 
 #ifdef USE_SPI
 ICM_20948_SPI myICM; // If using SPI create an ICM_20948_SPI object
diff --git a/examples/Arduino/Example4_WakeOnMotion/Example4_WakeOnMotion.ino b/examples/Arduino/Example4_WakeOnMotion/Example4_WakeOnMotion.ino
@@ -28,9 +28,9 @@
 #define CS_PIN 2         // Which pin you connect CS to. Used only when "USE_SPI" is defined
 
 #define WIRE_PORT Wire // Your desired Wire port.      Used when "USE_SPI" is not defined
-#define AD0_VAL 1      // The value of the last bit of the I2C address.                \
-                       // On the SparkFun 9DoF IMU breakout the default is 1, and when \
-                       // the ADR jumper is closed the value becomes 0
+// The value of the last bit of the I2C address.
+// On the SparkFun 9DoF IMU breakout the default is 1, and when the ADR jumper is closed the value becomes 0
+#define AD0_VAL 1
 
 #ifdef USE_SPI
 ICM_20948_SPI myICM; // If using SPI create an ICM_20948_SPI object
diff --git a/examples/Arduino/Example6_DMP_Quat9_Orientation/Example6_DMP_Quat9_Orientation.ino b/examples/Arduino/Example6_DMP_Quat9_Orientation/Example6_DMP_Quat9_Orientation.ino
@@ -36,9 +36,9 @@
 #define CS_PIN 2     // Which pin you connect CS to. Used only when "USE_SPI" is defined
 
 #define WIRE_PORT Wire // Your desired Wire port.      Used when "USE_SPI" is not defined
-#define AD0_VAL 1      // The value of the last bit of the I2C address.                \
-                       // On the SparkFun 9DoF IMU breakout the default is 1, and when \
-                       // the ADR jumper is closed the value becomes 0
+// The value of the last bit of the I2C address.
+// On the SparkFun 9DoF IMU breakout the default is 1, and when the ADR jumper is closed the value becomes 0
+#define AD0_VAL 1
 
 #ifdef USE_SPI
 ICM_20948_SPI myICM; // If using SPI create an ICM_20948_SPI object
diff --git a/examples/Arduino/Example7_DMP_Quat6_EulerAngles/Example7_DMP_Quat6_EulerAngles.ino b/examples/Arduino/Example7_DMP_Quat6_EulerAngles/Example7_DMP_Quat6_EulerAngles.ino
@@ -36,9 +36,9 @@
 #define CS_PIN 2     // Which pin you connect CS to. Used only when "USE_SPI" is defined
 
 #define WIRE_PORT Wire // Your desired Wire port.      Used when "USE_SPI" is not defined
-#define AD0_VAL 1      // The value of the last bit of the I2C address.                \
-                       // On the SparkFun 9DoF IMU breakout the default is 1, and when \
-                       // the ADR jumper is closed the value becomes 0
+// The value of the last bit of the I2C address.
+// On the SparkFun 9DoF IMU breakout the default is 1, and when the ADR jumper is closed the value becomes 0
+#define AD0_VAL 1
 
 #ifdef USE_SPI
 ICM_20948_SPI myICM; // If using SPI create an ICM_20948_SPI object
diff --git a/examples/Arduino/Example8_DMP_RawAccel/Example8_DMP_RawAccel.ino b/examples/Arduino/Example8_DMP_RawAccel/Example8_DMP_RawAccel.ino
@@ -34,9 +34,9 @@
 #define CS_PIN 2     // Which pin you connect CS to. Used only when "USE_SPI" is defined
 
 #define WIRE_PORT Wire // Your desired Wire port.      Used when "USE_SPI" is not defined
-#define AD0_VAL 1      // The value of the last bit of the I2C address.                \
-                       // On the SparkFun 9DoF IMU breakout the default is 1, and when \
-                       // the ADR jumper is closed the value becomes 0
+// The value of the last bit of the I2C address.
+// On the SparkFun 9DoF IMU breakout the default is 1, and when the ADR jumper is closed the value becomes 0
+#define AD0_VAL 1
 
 #ifdef USE_SPI
 ICM_20948_SPI myICM; // If using SPI create an ICM_20948_SPI object
diff --git a/examples/Arduino/Example9_DMP_MultipleSensors/Example9_DMP_MultipleSensors.ino b/examples/Arduino/Example9_DMP_MultipleSensors/Example9_DMP_MultipleSensors.ino
@@ -34,9 +34,9 @@
 #define CS_PIN 2     // Which pin you connect CS to. Used only when "USE_SPI" is defined
 
 #define WIRE_PORT Wire // Your desired Wire port.      Used when "USE_SPI" is not defined
-#define AD0_VAL 1      // The value of the last bit of the I2C address.                \
-                       // On the SparkFun 9DoF IMU breakout the default is 1, and when \
-                       // the ADR jumper is closed the value becomes 0
+// The value of the last bit of the I2C address.
+// On the SparkFun 9DoF IMU breakout the default is 1, and when the ADR jumper is closed the value becomes 0
+#define AD0_VAL 1
 
 #ifdef USE_SPI
 ICM_20948_SPI myICM; // If using SPI create an ICM_20948_SPI object
diff --git a/keywords.txt b/keywords.txt
@@ -98,6 +98,24 @@ readDMPdataFromFIFO	KEYWORD2
 setGyroSF	KEYWORD2
 initializeDMP	KEYWORD2
 begin	KEYWORD2
+setBiasGyroX	KEYWORD2
+setBiasGyroY	KEYWORD2
+setBiasGyroZ	KEYWORD2
+setBiasAccelX	KEYWORD2
+setBiasAccelY	KEYWORD2
+setBiasAccelZ	KEYWORD2
+setBiasCPassX	KEYWORD2
+setBiasCPassY	KEYWORD2
+setBiasCPassZ	KEYWORD2
+getBiasGyroX	KEYWORD2
+getBiasGyroY	KEYWORD2
+getBiasGyroZ	KEYWORD2
+getBiasAccelX	KEYWORD2
+getBiasAccelY	KEYWORD2
+getBiasAccelZ	KEYWORD2
+getBiasCPassX	KEYWORD2
+getBiasCPassY	KEYWORD2
+getBiasCPassZ	KEYWORD2
 
 #######################################
 # Constants (LITERAL1)
diff --git a/library.properties b/library.properties
@@ -1,5 +1,5 @@
 name=SparkFun 9DoF IMU Breakout - ICM 20948 - Arduino Library
-version=1.2.9
+version=1.2.10
 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/ICM_20948.cpp b/src/ICM_20948.cpp
diff --git a/src/ICM_20948.h b/src/ICM_20948.h
diff --git a/src/util/ICM_20948_C.c b/src/util/ICM_20948_C.c
