File content as of revision 2:dc7840a67f77:

#ifndef LSM9DS1_h
#define LSM9DS1_h

#include "mbed.h"

// Physical constants
#define GRAVITY 9.80665f
#define PI 3.14159f

// LSM9DS1 I2C bus address
#define LSM9DS1_ADDRESS_ACC_GYR 0x6B << 1 // (0xD6) Shift 1 bit left because mbed utilizes 8-bit addresses and not 7-bit 
#define LSM9DS1_ADDRESS_MAG     0x1E << 1 // (0x3C) Shift 1 bit left because mbed utilizes 8-bit addresses and not 7-bit 

// Device identity  
#define WHO_AM_I    0x0F
#define WHO_AM_I_M  0x0F

// Gyroscope configuration registers addresses
#define CTRL_REG1_G 0x10
// Gyroscope output register addresses
#define OUT_X_L_G 0x18
#define OUT_X_H_G 0x19
#define OUT_Y_L_G 0x1A
#define OUT_Y_H_G 0x1B
#define OUT_Z_L_G 0x1C
#define OUT_Z_H_G 0x1D

// Accelerometer configuration registers addresses
#define CTRL_REG6_XL 0x20
// Accelerometer output register addresses
#define OUT_X_L_XL 0x28
#define OUT_X_H_XL 0x29
#define OUT_Y_L_XL 0x2A
#define OUT_Y_H_XL 0x2B
#define OUT_Z_L_XL 0x2C
#define OUT_Z_H_XL 0x2D

// Magnetometer configuration registers addresses
#define CTRL_REG1_M 0x20
#define CTRL_REG2_M 0x21
// Magnetometer output register addresses
#define OUT_X_L_M 0x28
#define OUT_X_H_M 0x29
#define OUT_Y_L_M 0x2A
#define OUT_Y_H_M 0x2B
#define OUT_Z_L_M 0x2C
#define OUT_Z_H_M 0x2D

// Gyroscope full-scale ranges
enum gyr_scale
{
    GYR_SCALE_245DPS = 0b00,   
    GYR_SCALE_500DPS = 0b01,  
    GYR_SCALE_2000DPS = 0b11 
};

// Accelerometer full-scale ranges
enum acc_scale
{
    ACC_SCALE_2G = 0b00, 
    ACC_SCALE_4G = 0b10,
    ACC_SCALE_8G = 0b11, 
    ACC_SCALE_16G = 0b01 
};

// Magnetometer full-scale ranges
enum mag_scale
{
    MAG_SCALE_4G = 0b00,  
    MAG_SCALE_8G = 0b01,
    MAG_SCALE_12G = 0b10,
    MAG_SCALE_16G = 0b11
};

/** LSM9DS1 (IMU sensor) class
 *
 * Example code (print accelerometer and gyroscope data on serial port every 0.2 seconds):
 * @code
 * #include "mbed.h"
 * #include "USBSerial.h"
 * #include "LSM9DS1.h"
 *
 * USBSerial pc;
 * LSM9DS1 imu(A4,A5);
 * 
 * int main() 
 * {
 *     imu.init();
 *     while(1)
 *     {
 *          imu.read();
            pc.printf("Acc [m/s^2]: %.1f | %.1f | %.1f \n", imu.ax, imu.ay, imu.az);
            pc.printf("Gyr [rad/s]: %.1f | %.1f | %.1f \n", imu.gx, imu.gy, imu.gz);
            pc.printf("Mag    [uT]: %.1f | %.1f | %.1f \n\n", imu.mx, imu.my, imu.mz);
 *          wait(0.2);
 *     }
 * }
 * @endcode
 *
 */
class LSM9DS1
{
    public:
    
        /** Class constructor */
        LSM9DS1(PinName sda, PinName scl);
        
        /** Initialize sensor */
        bool init();
        /** Read sensor data */
        void read();
        
        /** Gyroscope data in x-axis [rad/s]*/
        float gx;
        /** Gyroscope data in y-axis [rad/s]*/
        float gy;
        /** Gyroscope data in z-axis [rad/s]*/
        float gz;
        /** Accelerometer data in x-axis [m/s^2]*/
        float ax;
        /** Accelerometer data in y-axis [m/s^2]*/
        float ay;
        /** Accelerometer data in z-axis [m/s^2]*/
        float az;
        /** Magnetometer data in x-axis [??]*/
        float mx;
        /** Magnetometer data in y-axis [??]*/
        float my;
        /** Magnetometer data in z-axis [??]*/
        float mz;
        
    private:
    
        /** I2C bus */
        I2C i2c;
        
        /** Setup I2C bus */
        void setup_i2c();
        /** Test I2C bus */
        bool test_i2c();
        
        /** Setup gyroscope configurations (full-scale range) */
        void setup_gyr(gyr_scale g_scale = GYR_SCALE_2000DPS);
        /** Setup accelerometer configurations (full-scale range) */
        void setup_acc(acc_scale a_scale = ACC_SCALE_2G);
        /** Setup magnetometer configurations (full-scale range) */
        void setup_mag(mag_scale m_scale = MAG_SCALE_4G);
        
        /** Read gyroscope data */
        void read_gyr();
        /** Read accelerometer data */
        void read_acc();
        /** Read magnetometer data */
        void read_mag();
        
        /** Gyroscope resolution [rad/s / bit] */
        float g_res;
        /** Accelerometer resolution [m/s^2 / bit] */
        float a_res;
        /** Magnetometers resolution [uT / bit] */
        float m_res;
        
};

#endif