File content as of revision 0:cc9489570dd1:

// Linear Acceleration: mg per LSB
#define LSM9DS1_ACCEL_MG_LSB_2G (0.061F)
#define LSM9DS1_ACCEL_MG_LSB_4G (0.122F)
#define LSM9DS1_ACCEL_MG_LSB_8G (0.244F)
#define LSM9DS1_ACCEL_MG_LSB_16G (0.732F) 

// Magnetic Field Strength: gauss range
#define LSM9DS1_MAG_MGAUSS_4GAUSS      (0.14F)
#define LSM9DS1_MAG_MGAUSS_8GAUSS      (0.29F)
#define LSM9DS1_MAG_MGAUSS_12GAUSS     (0.43F)
#define LSM9DS1_MAG_MGAUSS_16GAUSS     (0.58F)

// Angular Rate: dps per LSB
#define LSM9DS1_GYRO_DPS_DIGIT_245DPS      (0.00875F)
#define LSM9DS1_GYRO_DPS_DIGIT_500DPS      (0.01750F)
#define LSM9DS1_GYRO_DPS_DIGIT_2000DPS     (0.07000F)

#include "mbed.h"

class LSM9DS1
{
    SPI spi8;
    DigitalOut cs_AG;
    DigitalOut cs_M;

    public:

        LSM9DS1(PinName _mosi, PinName _miso, PinName _sclk, PinName _cs_AG, PinName _cs_M);
        float gyro_x;
        float gyro_y;
        float gyro_z;
        float accel_x;
        float accel_y;
        float accel_z;
        float mag_x;
        float mag_y;
        float mag_z;

        typedef enum
        {
            LSM9DS1_cs_AG  = 0,
            LSM9DS1_cs_M   = 1,

        } lsm9ds1ChipSelect_t;

        typedef enum
        {
            LSM9DS1_REGISTER_WHO_AM_I_XG         = 0x0F,
            LSM9DS1_REGISTER_CTRL_REG1_G         = 0x10,
            LSM9DS1_REGISTER_CTRL_REG2_G         = 0x11,
            LSM9DS1_REGISTER_CTRL_REG3_G         = 0x12,
            LSM9DS1_REGISTER_TEMP_OUT_L          = 0x15,
            LSM9DS1_REGISTER_TEMP_OUT_H          = 0x16,
            LSM9DS1_REGISTER_STATUS_REG          = 0x17,
            LSM9DS1_REGISTER_OUT_X_L_G           = 0x18,
            LSM9DS1_REGISTER_OUT_X_H_G           = 0x19,
            LSM9DS1_REGISTER_OUT_Y_L_G           = 0x1A,
            LSM9DS1_REGISTER_OUT_Y_H_G           = 0x1B,
            LSM9DS1_REGISTER_OUT_Z_L_G           = 0x1C,
            LSM9DS1_REGISTER_OUT_Z_H_G           = 0x1D,
            LSM9DS1_REGISTER_CTRL_REG4           = 0x1E,
            LSM9DS1_REGISTER_CTRL_REG5_XL        = 0x1F,
            LSM9DS1_REGISTER_CTRL_REG6_XL        = 0x20,
            LSM9DS1_REGISTER_CTRL_REG7_XL        = 0x21,
            LSM9DS1_REGISTER_CTRL_REG8           = 0x22,
            LSM9DS1_REGISTER_CTRL_REG9           = 0x23,
            LSM9DS1_REGISTER_CTRL_REG10          = 0x24,

            LSM9DS1_REGISTER_OUT_X_L_XL          = 0x28,
            LSM9DS1_REGISTER_OUT_X_H_XL          = 0x29,
            LSM9DS1_REGISTER_OUT_Y_L_XL          = 0x2A,
            LSM9DS1_REGISTER_OUT_Y_H_XL          = 0x2B,
            LSM9DS1_REGISTER_OUT_Z_L_XL          = 0x2C,
            LSM9DS1_REGISTER_OUT_Z_H_XL          = 0x2D,

        } lsm9ds1AccGyroRegisters_t;
        
        typedef enum
        {
            LSM9DS1_REGISTER_WHO_AM_I_M         = 0x0F,
            LSM9DS1_REGISTER_CTRL_REG1_M        = 0x20,
            LSM9DS1_REGISTER_CTRL_REG2_M        = 0x21,
            LSM9DS1_REGISTER_CTRL_REG3_M        = 0x22,
            LSM9DS1_REGISTER_CTRL_REG4_M        = 0x23,
            LSM9DS1_REGISTER_CTRL_REG5_M        = 0x24,
            LSM9DS1_REGISTER_STATUS_REG_M       = 0x27,
            LSM9DS1_REGISTER_OUT_X_L_M          = 0x28,
            LSM9DS1_REGISTER_OUT_X_H_M          = 0x29,
            LSM9DS1_REGISTER_OUT_Y_L_M          = 0x2A,
            LSM9DS1_REGISTER_OUT_Y_H_M          = 0x2B,
            LSM9DS1_REGISTER_OUT_Z_L_M          = 0x2C,
            LSM9DS1_REGISTER_OUT_Z_H_M          = 0x2D,
            LSM9DS1_REGISTER_CFG_M              = 0x30,
            LSM9DS1_REGISTER_INT_SRC_M          = 0x31,
        } lsm9ds1MagRegisters_t;

        typedef enum
        {
            LSM9DS1_ACCELRANGE_2G                = (0b00 << 3),
            LSM9DS1_ACCELRANGE_16G               = (0b01 << 3),
            LSM9DS1_ACCELRANGE_4G                = (0b10 << 3),
            LSM9DS1_ACCELRANGE_8G                = (0b11 << 3),
        } lsm9ds1AccelRange_t;
        
        typedef enum
        {
            LSM9DS1_ACCELDATARATE_POWERDOWN      = (0b0000 << 4),
            LSM9DS1_ACCELDATARATE_3_125HZ        = (0b0001 << 4),
            LSM9DS1_ACCELDATARATE_6_25HZ         = (0b0010 << 4),
            LSM9DS1_ACCELDATARATE_12_5HZ         = (0b0011 << 4),
            LSM9DS1_ACCELDATARATE_25HZ           = (0b0100 << 4),
            LSM9DS1_ACCELDATARATE_50HZ           = (0b0101 << 4),
            LSM9DS1_ACCELDATARATE_100HZ          = (0b0110 << 4),
            LSM9DS1_ACCELDATARATE_200HZ          = (0b0111 << 4),
            LSM9DS1_ACCELDATARATE_400HZ          = (0b1000 << 4),
            LSM9DS1_ACCELDATARATE_800HZ          = (0b1001 << 4),
            LSM9DS1_ACCELDATARATE_1600HZ         = (0b1010 << 4)
        } lm9ds1AccelDataRate_t;
        
        typedef enum
        {
            LSM9DS1_MAGGAIN_4GAUSS               = (0b00 << 5),  // +/- 4 gauss
            LSM9DS1_MAGGAIN_8GAUSS               = (0b01 << 5),  // +/- 8 gauss
            LSM9DS1_MAGGAIN_12GAUSS              = (0b10 << 5),  // +/- 12 gauss
            LSM9DS1_MAGGAIN_16GAUSS              = (0b11 << 5)   // +/- 16 gauss
        } lsm9ds1MagGain_t;
        
        typedef enum
        {
            LSM9DS1_MAGDATARATE_3_125HZ          = (0b000 << 2),
            LSM9DS1_MAGDATARATE_6_25HZ           = (0b001 << 2),
            LSM9DS1_MAGDATARATE_12_5HZ           = (0b010 << 2),
            LSM9DS1_MAGDATARATE_25HZ             = (0b011 << 2),
            LSM9DS1_MAGDATARATE_50HZ             = (0b100 << 2),
            LSM9DS1_MAGDATARATE_100HZ            = (0b101 << 2)
        } lsm9ds1MagDataRate_t;

        typedef enum
        {
            LSM9DS1_GYROSCALE_245DPS             = (0b00 << 3),  // +/- 245 degrees per second rotation
            LSM9DS1_GYROSCALE_500DPS             = (0b01 << 3),  // +/- 500 degrees per second rotation
            LSM9DS1_GYROSCALE_2000DPS            = (0b11 << 3)   // +/- 2000 degrees per second rotation
        } lsm9ds1GyroScale_t;
        
        typedef struct vector_s
        {
            float x;
            float y;
            float z;
        } lsm9ds1Vector_t;   

        void initSPI(void);
        void initAccel(lsm9ds1AccelRange_t scale);
        void initGyro(lsm9ds1GyroScale_t scale);
        void initMag(lsm9ds1MagGain_t scale);
        void readAccel();
        void readGyro();
        void readMag();
        uint8_t whoami();
        uint8_t read8(lsm9ds1ChipSelect_t cs,uint8_t address);
        void write8(lsm9ds1ChipSelect_t cs,uint8_t address,uint8_t data);

    private:
        float   _accel_mg_lsb;
        float   _mag_mgauss_lsb;
        float   _gyro_dps_digit;
};