sensor lsm9DS

void LSM9DS0::setUpGyroscope(void)
{
    // Set Up the Configuration for the Gyroscope Control Register 1
    /*
    // Set the Output Data Rate
    uint8_t config1 = lsm_gyrodatarate;
    
    // Set the Power Down Mode Enable
    config1 |= lsm_gyromode;
    
    // Set the Gyroscpe Z-Axis Enable
    config1 |= lsm_gyrozen;
    
    // Set the Gyroscpe Y-Axis Enable
    config1 |= lsm_gyroyen;
    
    // Set the Gyroscpe X-Axis Enable
    config1 |= lsm_gyroxen;
    */
    
    uint8_t config1 =   LSM9DS0_REG_GYRO_CTRL_REG1_PD_NORMAL    |   // Normal Mode
                        LSM9DS0_REG_GYRO_CTRL_REG1_ZEN_ENABLE   |   // Gyroscope Z-Axis Enabled
                        LSM9DS0_REG_GYRO_CTRL_REG1_YEN_ENABLE   |   // Gyroscope Y-Axis Enabled
                        LSM9DS0_REG_GYRO_CTRL_REG1_XEN_ENABLE;      // Gyroscope X-Axis Enabled
    
    config1 |= lsm_gyrodatarate;       // Output Data Rate and Bandwidth Selection
    
    // Write the configuration to the Gyroscope Control Register 1
    writeRegister(lsm_i2cAddressG, LSM9DS0_REG_GYRO_CTRL_REG1, config1);
    
    // Wait for the configuration to complete
    delay(lsm_conversionDelay);
    
    // Set Up the Configuration for the Gyroscope Control Register 4
    /*
    // Set the Block Data Update
    uint8_t config4 = lsm_gyroblockdata;
    
    // Set the Big/Little Endian Data Selection
    config4 |= lsm_gyroendiandata;
    
    // Set the Full Scale Selection
    config4 |= lsm_gyroscale;
    
    // Set the Self-Test Enable
    config4 |= lsm_gyroselftest;
    
    // Set the SPI Serial Interface Mode Selection
    config4 |= lsm_gyrospiwire;
    */
    
    uint8_t config4 =   LSM9DS0_REG_GYRO_CTRL_REG4_BDU_CONTINUOUS   |   // Continuous Update
                        LSM9DS0_REG_GYRO_CTRL_REG4_BLE_LSB          |   // Data LSB @ Lower Address
                        LSM9DS0_REG_GYRO_CTRL_REG4_ST_NORMAL        |   // Normal Mode
                        LSM9DS0_REG_GYRO_CTRL_REG4_SIM_4WIRE;           // 4-Wire Interface
    
    config4 |= lsm_gyroscale;      // Full-Scale Selection
    
    // Write the configuration to the Gyroscope Control Register 4
    writeRegister(lsm_i2cAddressG, LSM9DS0_REG_GYRO_CTRL_REG4, config4);
    
    // Wait for the configuration to complete
    delay(lsm_conversionDelay);
}

/**************************************************************************/
/*
        Sets up the Accelerometer
*/
/**************************************************************************/
void LSM9DS0::setUpAccelerometer(void)
{
    // Set Up the Configuration for the Accelerometer/Magnetometer Control Register 1
    /*
    // Set the Acceleration Output Data Rate
    uint8_t config1 = lsm_acceldatarate;
    
    // Set the Block Data Update for Acceleration and Magnetic Data
    config1 |= lsm_accelmagblockdata;
    
    // Set the Acceleration Z-Axis Enable
    config1 |= lsm_accelzen;
    
    // Set the Acceleration Y-Axis Enable
    config1 |= lsm_accelyen;
    
    // Set the Acceleration X-Axis Enable
    config1 |= lsm_accelxen;
    */
    
    uint8_t config1 =   LSM9DS0_REG_ACCELMAG_CTRL_REG1_BDU_CONTINUOUS   |   // Continuous Update
                        LSM9DS0_REG_ACCELMAG_CTRL_REG1_AZEN_ENABLE      |   // Acceleration Z-Axis Enabled
                        LSM9DS0_REG_ACCELMAG_CTRL_REG1_AYEN_ENABLE      |   // Acceleration Y-Axis Enabled
                        LSM9DS0_REG_ACCELMAG_CTRL_REG1_AXEN_ENABLE;         // Acceleration X-Axis Enabled
    
    config1 |= lsm_acceldatarate;      // Acceleration Data Rate Configuration
    
    // Write the configuration to the Accelerometer/Magnetometer Control Register 1
    writeRegister(lsm_i2cAddressXM, LSM9DS0_REG_ACCELMAG_CTRL_REG1, config1);
    
    // Wait for the configuration to complete
    delay(lsm_conversionDelay);
    
    // Set Up the Configuration for the Accelerometer/Magnetometer Control Register 2
    /*
    // Set the Accelerometer Anti-Alias Filter Bandwidth
    uint8_t config2 = lsm_accelbandwidth;
    
    // Set the Acceleration Full-Scale Selection
    config2 |= lsm_accelrange;
    
    // Set the Acceleration Self-Test Enable
    config2 |= lsm_sccelselftest;
    
    // Set the SPI Serial Interface Mode Selection
    config2 |= lsm_accelmagspiwire;
    */
    
    uint8_t config2 =   LSM9DS0_REG_ACCELMAG_CTRL_REG2_ABW_773      |   // 773 Hz, Accelerometer Anti-Alias Filter Bandwidth
                        LSM9DS0_REG_ACCELMAG_CTRL_REG2_AST_NORMAL   |   // Normal Mode
                        LSM9DS0_REG_ACCELMAG_CTRL_REG2_SIM_4WIRE;       // 4-Wire Interface
    
    config2 |= lsm_accelrange;     // Acceleration Full-Scale Selection
    
    // Write the configuration to the Accelerometer/Magnetometer Control Register 2
    writeRegister(lsm_i2cAddressXM, LSM9DS0_REG_ACCELMAG_CTRL_REG2, config2);
        
    // Wait for the configuration to complete
    delay(lsm_conversionDelay);
}

/**************************************************************************/
/*
        Sets up the Magnetometer
*/
/**************************************************************************/
void LSM9DS0::setUpMagnetometer(void)
{
    // Set Up the Configuration for the Accelerometer/Magnetometer Control Register 5
    /*
    // Set the Temperature Sensor Enable
    uint8_t config5 = lsm_tempsensor;
    
    // Set the Magnetic Resolution Selection
    config5 |= lsm_magresolution;
    
    // Set the Magnetic Data Rate Selection
    config5 |= lsm_magdatarate;
    
    // Set the Latch Interrupt Request on INT2_SRC Register
    config5 |= lsm_magintr2latch;
    
    // Set the Latch Interrupt Request on INT1_SRC Register
    config5 |= lsm_magintr1latch;
    */
    
    uint8_t config5 =   LSM9DS0_REG_ACCELMAG_CTRL_REG5_TEMP_ENABLED     |   // Temperature Sensor Enabled
                        LSM9DS0_REG_ACCELMAG_CTRL_REG5_M_RES_HIGH;          // Magnetic Resolution High
    
    config5 |= lsm_magdatarate;     // Magnetic Data Rate Selection
    
    // Write the configuration to the Accelerometer/Magnetometer Control Register 5
    writeRegister(lsm_i2cAddressXM, LSM9DS0_REG_ACCELMAG_CTRL_REG5, config5);
    
    // Wait for the configuration to complete
    delay(lsm_conversionDelay);
    
    // Set Up the Configuration for the Accelerometer/Magnetometer Control Register 6
    // Set the Magnetic Full-Scale Selection
    uint8_t config6 = lsm_maggain;
        
    // Write the configuration to the Accelerometer/Magnetometer Control Register 6
    writeRegister(lsm_i2cAddressXM, LSM9DS0_REG_ACCELMAG_CTRL_REG6, config6);
    
    // Wait for the configuration to complete
    delay(lsm_conversionDelay);
    
    // Set Up the Configuration for the Accelerometer/Magnetometer Control Register 7
    
    uint8_t config7 =   LSM9DS0_REG_ACCELMAG_CTRL_REG7_AHPM_NORMAL  |   // Normal Mode
                        LSM9DS0_REG_ACCELMAG_CTRL_REG7_AFDS_BYPASS  |   // Internal Filter Bypassed
                        LSM9DS0_REG_ACCELMAG_CTRL_REG7_MLP_MODR     |   // Magnetic Data Rate is Configured by MODR Bits
                        LSM9DS0_REG_ACCELMAG_CTRL_REG7_MD_CONTINUOUS;   // Continuous-Conversion Mode
    
    // Set the Magnetic Sensor Mode
    config7 |= lsm_magmode;
    
    // Write the configuration to the Accelerometer/Magnetometer Control Register 7
    writeRegister(lsm_i2cAddressXM, LSM9DS0_REG_ACCELMAG_CTRL_REG7, config7);
    
    // Wait for the configuration to complete
    delay(lsm_conversionDelay);
}