File content as of revision 1:45447b012eea:

#include "mbed.h"
#include "LSM9DS1.h"
#include "LSM9DS1_RegVals.h"
#include "acd52832_bsp.h"

LSM9DS1::LSM9DS1(I2C i2c) : _i2c(i2c){
    startAcc();
    startGyro();
    startMag();
} 

void LSM9DS1::startMag(){
    char data[2];

    data[0] = (char)CTRL_REG1_M;          // Target register
    data[1] = (char)0x7C;                 // Data to write
    _i2c.write(TWI_MAG_ADDR, data, 0x02,0);

    data[0] = (char)CTRL_REG2_M;          // Target register
    data[1] = (char)0x00;                 // Data to write
    _i2c.write(TWI_MAG_ADDR, data, 0x02,0); 

    data[0] = (char)CTRL_REG3_M;          // Target register
    data[1] = (char)0x00;                 // Data to write
    _i2c.write(TWI_MAG_ADDR, data, 0x02,0);

    data[0] = (char)CTRL_REG4_M;          // Target register
    data[1] = (char)(3<<3);                 // Data to write
    _i2c.write(TWI_MAG_ADDR, data, 0x02,0);

    data[0] = (char)CTRL_REG5_M;          // Target register
    data[1] = (char)0x00;                 // Data to write
    _i2c.write(TWI_MAG_ADDR, data, 0x02,0);
}

void LSM9DS1::readMag(int16_t *results){
    char results_[6];
    int16_t res_final[3];
    char out_x_l_m = OUT_X_L_M;
    
    _i2c.write(TWI_MAG_ADDR, &out_x_l_m, 1, true);
    _i2c.read(TWI_MAG_ADDR, results_, 6, 0);
    res_final[0] = ((results_[1]<<8) | results_[0]);
    res_final[1] = ((results_[3]<<8) | results_[2]);
    res_final[2] = ((results_[5]<<8) | results_[4]);
    
    *(results) = res_final[0];
    *(results + 1) = res_final[1];
    *(results + 2) = res_final[2];
}

void LSM9DS1::startAcc(){
    char data[2];
    
    data[0] = (char)CTRL_REG5_XL;          // Target register
    data[1] = (char)0x38;                 // Data to write
    _i2c.write(TWI_AG_ADDR, data, 0x02,0);
     
    
    data[0] = (char)CTRL_REG6_XL;          // Target register
    data[1] = (char)0xC7;                 // Data to write
    _i2c.write(TWI_AG_ADDR, data, 0x02,0);
}

void LSM9DS1::readAcc(int16_t *results){
    char results_[6];
    int16_t res_final[3];
    char out_x_l_xl = OUT_X_L_XL;
    
    _i2c.write(TWI_AG_ADDR, &out_x_l_xl, 1, true);
    _i2c.read(TWI_AG_ADDR, results_, 6, 0);
    res_final[0] = ((results_[1]<<8) | results_[0]);
    res_final[1] = ((results_[3]<<8) | results_[2]);
    res_final[2] = ((results_[5]<<8) | results_[4]);
    
    *(results) = res_final[0];
    *(results + 1) = res_final[1];
    *(results + 2) = res_final[2];
}

void LSM9DS1::startGyro(){
    char data[2];
    
    data[0] = (char)CTRL_REG6_XL;                  // Target register
    data[1] = (char)0xC7 & (char)0x1F;             // Data to write
    _i2c.write(TWI_AG_ADDR, data, 0x02,0);
    
    data[0] = (char)CTRL_REG1_G;          // Target register
    data[1] = (char)0xC0;                 // Data to write
    _i2c.write(TWI_AG_ADDR, data, 0x02,0);
     
    
    data[0] = (char)CTRL_REG2_G;          // Target register
    data[1] = (char)0x00;                 // Data to write
    _i2c.write(TWI_AG_ADDR, data, 0x02,0);
     
    
    data[0] = (char)CTRL_REG3_G;          // Target register
    data[1] = (char)0x00;                 // Data to write
    _i2c.write(TWI_AG_ADDR, data, 0x02,0);
     
    
    data[0] = (char)CTRL_REG4;            // Target register
    data[1] = (char)0x3A;                 // Data to write
    _i2c.write(TWI_AG_ADDR, data, 0x02,0);
     
    
    data[0] = (char)ORIENT_CFG_G;          // Target register
    data[1] = (char)0x00;                 // Data to write
    _i2c.write(TWI_AG_ADDR, data, 0x02,0);
     
}

void LSM9DS1::readGyro(int16_t *results){
    char results_[6];
    int16_t res_final[3];
    char out_x_l_g = OUT_X_L_G;
    
    _i2c.write(TWI_AG_ADDR, &out_x_l_g, 1, true);
    _i2c.read(TWI_AG_ADDR, results_, 6, 0);
    res_final[0] = ((results_[1]<<8) | results_[0]);
    res_final[1] = ((results_[3]<<8) | results_[2]);
    res_final[2] = ((results_[5]<<8) | results_[4]);
    
    *(results) = res_final[0];
    *(results + 1) = res_final[1];
    *(results + 2) = res_final[2];
}