File content as of revision 0:d56d821617b6:

#include "mbed.h"
#include "BMX055.h"

BMX055::BMX055(PinName SDA, PinName SCL) : bmx055(SDA,SCL){
    bmx055.frequency(100000);
    bmx_init();
}

void BMX055::bmx_init(void)
{
    char buf[2]={0};
    printf("accel setting\r\n");
    buf[0]=0x14; buf[1]=0xB6;
    bmx055.write(ACC,buf,2); wait_ms(2);
    buf[0]=0x0F; buf[1]=0x05;
    buf[0]=0x10; buf[1]=0x08;
    bmx055.write(ACC,buf,2);
    buf[0]=0x11; buf[1]=0x00;
    bmx055.write(ACC,buf,2); wait_ms(2);
    
    printf("gyroscope setting\r\n");
    buf[0]=0x0F; buf[1]=0x04;
    bmx055.write(GYRO,buf,2); wait(0.1);
    buf[0]=0x10; buf[1]=0x07;
    bmx055.write(GYRO,buf,2); wait(0.1);
    buf[0]=0x11; buf[1]=0x00;
    bmx055.write(GYRO,buf,2); wait(0.1);

    printf("magnet setting\r\n");
    buf[0]=0x4B; buf[1]=0x82;
    bmx055.write(MAG,buf,2); wait(0.1);
    buf[0]=0x4B; buf[1]=0x01;
    bmx055.write(MAG,buf,2); wait(0.1);
    buf[0]=0x4C; buf[1]=0x00;
    bmx055.write(MAG,buf,2);
    buf[0]=0x4E; buf[1]=0x84;
    bmx055.write(MAG,buf,2);
    buf[0]=0x51; buf[1]=0x04;
    bmx055.write(MAG,buf,2);
    buf[0]=0x52; buf[1]=0x16;
    bmx055.write(MAG,buf,2);
    wait(0.1);

    buf[0]=0x00;
    bmx055.write(MAG,buf,1,1);
    bmx055.read(MAG,buf,1);
    printf("read:0x%02x\r\n",buf[0]);
}
 
 void BMX055::getAcc(void){
    uint8_t data[6]={0};
    char send[1], get[1];
    char temp;

    send[0]=(char)(2);
    bmx055.write(ACC,send,1,true);
    bmx055.read(ACC,(char*)data,6);

    for(int i=0;i<3;i++){
        accel[i]=(int16_t)(((int16_t)data[i*2+1]<<8) | data[i*2]) >> 4;
        if(accel[i]>2047)accel[i]-=4096;
    }
}

void BMX055::getGyro(void){
    int data[6]={0};
    char send[1],get[1];
    char temp;
    
    for(int i=0;i<6;i++){
        send[0]=(char)(2+i);
        bmx055.write(GYRO,send,1);
        bmx055.read(GYRO,get,1);
        temp=get[0];
        data[i]=temp;
    }

    for(int i=0;i<3;i++){
        gyroscope[i]=(int16_t)(((int16_t)data[i*2+1]<<8) | data[i*2]) >> 4;
        if(gyroscope[i]>32767)gyroscope[i]-=65536;
//        gyroscope[i]=gyroscope[i]*0.0038;
    }
}

void BMX055::getMag(void){
    int data[8]={0};
    char send[1],get[1];
    char temp;

    for(int i=0;i<8;i++){
        send[0]=(char)(0x42+i);
        bmx055.write(MAG,send,1);
        bmx055.read(MAG,get,1);
//        printf("%02X ",get[0]);
        temp=get[0];
        data[i]=temp;
    }

    for(int i=0;i<3;i++){
        if(i!=2)magnet[i]=(int16_t)(((int16_t)data[i*2+1]<<8) | data[i*2]) >> 3;
        else magnet[i]=(int16_t)(((int16_t)data[i*2+1]<<8) | data[i*2]) >> 1;
        if(i==2 && magnet[i]>16383)magnet[i]-=32768;
        else if(i!=2 && magnet[i]>4095)magnet[i]-=8092;
    }    
}