#include "mraa.hpp"

#include <iostream>

#include <unistd.h>

#include "SFE_LSM9DS0.h"

using namespace std;

int main()

{

LSM9DS0 *imu;

imu = new LSM9DS0(0x6B, 0x1D);

// The begin() function sets up some basic parameters and tu

rns the device

//

on; you may not need to do more than call it. It also re

turns the "whoami"

//

registers from the chip. If all is good, the return valu

e here should be

//

0x49d4. Here are the initial settings from this functio

n:

//

Gyro scale:

245 deg/sec max

//

Xl scale:

4g max

//

Mag scale:

2 Gauss max

//

Gyro sample rate:

95Hz

//

Xl sample rate:

100Hz

//

Mag sample rate:

100Hz

// These can be changed either by calling appropriate functi

ons or by

//

pasing parameters to the begin() function. There are nam

ed constants in

//

the .h file for all scales and data rates; I won't repro

duce them here.

//

Here's the list of fuctions to set the rates/scale:

//

setMagScale(mag_scale mScl)

setMagODR(mag_odr mRat

e)

//

setGyroScale(gyro_scale gScl)

setGyroODR(gyro_odr gRa

te)

//

setAccelScale(accel_scale aScl)

setGyroODR(accel_odr aR

ate)

// If you want to make these changes at the point of callin

g begin, here's

//

the prototype for that function showing the order to pas

s things:

//

begin(gyro_scale gScl, accel_scale aScl, mag_scale mSc

l,

//

gyro_odr gODR, accel_odr aODR, mag_odr mOD

R)

uint16_t imuResult = imu­>begin();

cout<<hex<<"Chip ID: 0x"<<imuResult<<dec<<" (should be 0x49d

4)"<<endl;

bool newAccelData = false;

bool newMagData = false;

bool newGyroData = false;

bool overflow = false;

// Loop and report data

while (1)

{

// First, let's make sure we're collecting up­to­date info

rmation. The

//

sensors are sampling at 100Hz (for the accelerometer,

magnetometer, and

//

temp) and 95Hz (for the gyro), and we could easily do

a bunch of

//

crap within that ~10ms sampling period.

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