File content as of revision 0:e5337522df6f:

#include "mbed.h"
#include "MAG3110.h"
#include "MPL3115A2.h"
#include "FXOS8700Q.h"
#include "MMA8652.h"
#include "FXLS8471Q.h"
#include "FXAS21000.h"

#define MPL3115A2_I2C_ADDRESS (0x60<<1)


DigitalOut  red(LED_RED);

MAG3110   mag1(A4, A5);
MAG3110   mag2(PTE25, PTE24); // Magnetometer on KL46 board

FXLS8471Q acc1(D11, D12, D13, D10);
MMA8652   acc2( A4, A5);
MPL3115A2 alt( A4, A5, MPL3115A2_I2C_ADDRESS);
FXOS8700Q combo( A4, A5, FXOS8700CQ_SLAVE_ADDR0);
FXAS21000 gyro( A4, A5);

Serial pc(USBTX, USBRX);



float print_AltimiterValue( unsigned char *dt)
{
    unsigned short altm;
    float faltm;

    /*
    * dt[0] = Bits 12-19 of 20-bit real-time Altitude sample. (b7-b0)
    * dt[1] = Bits 4-11 of 20-bit real-time Altitude sample. (b7-b0)
    * dt[2] = Bits 0-3 of 20-bit real-time Altitude sample (b7-b4)
    */    
    altm = (dt[0]<<8) | dt[1];
    //
    if ( dt[0] > 0x7F) {
        altm = ~altm + 1;
        faltm = (float)altm * -1.0f;
    } else {
        faltm = (float)altm * 1.0f;
    }
    //
    faltm = faltm+((float)(dt[2]>>4) * 0.0625f);
    return faltm;
}

float print_TemperatureValue( unsigned char *dt)
{
    unsigned short temp;
    float ftemp;
    
    /*
    * dt[0] = Bits 4-11 of 16-bit real-time temperature sample. (b7-b0)
    * dt[1] = Bits 0-3 of 16-bit real-time temperature sample. (b7-b4)
    */
    temp = dt[0];
    //
    if ( dt[0] > 0x7F) {
        temp = ~temp + 1;
        ftemp = (float)temp * -1.0f;
    } else {
        ftemp = (float)temp * 1.0f;
    }
    //
    ftemp = ftemp+((float)(dt[1]>>4) * 0.0625f);
    return ftemp;

}


int main() {
    //int who;
    float acc_data[3], mag_data[3], gyro_data[3];
    int16_t acc_raw[3];
    unsigned char raw_data[8];
    pc.baud(115200);
    red = 1;
    printf("\r\n\r\n\r\n");
    alt.Altimeter_Mode();
    printf("MMA8652   Who Am I= %X\r\n", acc2.getWhoAmI());
    printf("FXOS8700  Who Am I= %X\r\n", combo.getWhoAmI());
    printf("FXLS8471  Who Am I= %X\r\n", acc1.getWhoAmI());
    printf("FXAS21000 Who Am I= %X\r\n", gyro.getWhoAmI());
    wait(5.0);
    while(1) {

        acc1.ReadXYZ(acc_data);
        printf("FXLS8471      X=%1.5f Y=%1.5f Z=%1.5f\r\n", acc_data[0], acc_data[1], acc_data[2]);
        acc2.ReadXYZ(acc_data);
        printf("MMA8652       X=%1.5f Y=%1.5f Z=%1.5f\r\n", acc_data[0], acc_data[1], acc_data[2]);        
        combo.getAccAllAxis( acc_data);
        combo.getMagAllAxis( mag_data);
        printf("FXOS8700 Acc: X=%1.5f Y=%1.5f Z=%1.5f", acc_data[0], acc_data[1], acc_data[2]);
        printf(" Mag: X=%4.1f Y=%4.1f Z=%4.1f\r\n", mag_data[0], mag_data[1], mag_data[2]);
        mag1.ReadXYZ(mag_data);
        printf("                                            ");
        printf(" Mag1: X=%4.1f Y=%4.1f Z=%4.1f\r\n", mag_data[0], mag_data[1], mag_data[2]);
        mag2.ReadXYZ(mag_data);
        printf("                                            ");
        printf(" Mag2: X=%4.1f Y=%4.1f Z=%4.1f\r\n", mag_data[0], mag_data[1], mag_data[2]);
        alt.getAllDataRaw( &raw_data[0]);
        printf("\r\nAlt: %5.1f\tT: %3.1f\r\n", print_AltimiterValue( &raw_data[0]), print_TemperatureValue( &raw_data[3]));
        gyro.ReadXYZ(gyro_data);
        printf("FXAS21000      X=%4.2f Y=%4.2f Z=%4.1f\r\n", gyro_data[0], gyro_data[1], gyro_data[2]);
        acc1.ReadXYZraw(acc_raw);
        printf("FXLS8471: X= %d Y= %d Z= %d\r\n\n\n", acc_raw[0], acc_raw[1], acc_raw[2]);
        acc2.ReadXYZraw(acc_raw);
        printf("MMA8652: X= %d Y= %d Z= %d\r\n\n\n", acc_raw[0], acc_raw[1], acc_raw[2]);
        red = 1;
        wait(0.5);
        red = 0;
        wait(0.5);
        }
}