Merge pull request #83 from sparkfun/release_candidate

v1.2.8

Author: PaulZC

examples/PortableC/Example999_Portable/Example999_Portable.ino

@@ -72,6 +72,9 @@ void setup()
   WIRE_PORT.setClock(400000);
 #endif
 
+  // Initialize myICM
+  ICM_20948_init_struct(&myICM);
+
   // Link the serif
   ICM_20948_link_serif(&myICM, &mySerif);
 
@@ -202,7 +205,6 @@ ICM_20948_Status_e my_read_i2c(uint8_t reg, uint8_t *buff, uint32_t len, void *u
       buff[i] = WIRE_PORT.read();
     }
   }
-  WIRE_PORT.endTransmission();
 
   return ICM_20948_Stat_Ok;
 }

library.properties

@@ -1,5 +1,5 @@
 name=SparkFun 9DoF IMU Breakout - ICM 20948 - Arduino Library
-version=1.2.7
+version=1.2.8
 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™).

src/ICM_20948.cpp

@@ -12,6 +12,7 @@ ICM_20948_Status_e ICM_20948_read_SPI(uint8_t reg, uint8_t *buff, uint32_t len,
 // Base
 ICM_20948::ICM_20948()
 {
+  status = ICM_20948_init_struct(&_device);
 }
 
 void ICM_20948::enableDebugging(Stream &debugPort)

src/util/ICM_20948_C.c

@@ -8,7 +8,9 @@
 */
 #if defined(ICM_20948_USE_DMP) // Only include the 14301 Bytes of DMP if ICM_20948_USE_DMP is defined
 
-#if defined(__AVR__) || defined(__arm__) || defined(__ARDUINO_ARC__) // Store the DMP firmware in PROGMEM on older AVR (ATmega) platforms
+#if defined(ARDUINO_ARCH_MBED) // ARDUINO_ARCH_MBED (APOLLO3 v2) does not support or require pgmspace.h / PROGMEM
+const uint8_t dmp3_image[] = {
+#elif (defined(__AVR__) || defined(__arm__) || defined(__ARDUINO_ARC__)) && !defined(__linux__) // Store the DMP firmware in PROGMEM on older AVR (ATmega) platforms
 #define ICM_20948_USE_PROGMEM_FOR_DMP
 #include <avr/pgmspace.h>
 const uint8_t dmp3_image[] PROGMEM = {
@@ -120,6 +122,16 @@ const ICM_20948_Serif_t NullSerif = {
 // Private function prototypes
 
 // Function definitions
+ICM_20948_Status_e ICM_20948_init_struct(ICM_20948_Device_t *pdev)
+{
+  // Initialize all elements by 0 except for _last_bank
+  // Initialize _last_bank to 4 (invalid bank number)
+  // so ICM_20948_set_bank function does not skip issuing bank change operation
+  static const ICM_20948_Device_t init_device = { ._last_bank = 4 };
+  *pdev = init_device;
+  return ICM_20948_Stat_Ok;
+}
+
 ICM_20948_Status_e ICM_20948_link_serif(ICM_20948_Device_t *pdev, const ICM_20948_Serif_t *s)
 {
   if (s == NULL)

src/util/ICM_20948_C.h

@@ -184,6 +184,8 @@ extern int memcmp(const void *, const void *, size_t); // Avoid compiler warning
     uint16_t _dataIntrCtl;            // Diagnostics: record the setting of DATA_INTR_CTL
   } ICM_20948_Device_t;               // Definition of device struct type
 
+  ICM_20948_Status_e ICM_20948_init_struct(ICM_20948_Device_t *pdev); // Initialize ICM_20948_Device_t
+
   // ICM_20948_Status_e ICM_20948_Startup( ICM_20948_Device_t* pdev ); // For the time being this performs a standardized startup routine
 
   ICM_20948_Status_e ICM_20948_link_serif(ICM_20948_Device_t *pdev, const ICM_20948_Serif_t *s); // Links a SERIF structure to the device