File content as of revision 0:5a636973285e:

/* Atmel Inertial One IMU Library
 * File: IMU.H
 * 
 * Copyright (c) 2012 Dan Kouba
 *
 * Permission is hereby granted, free of charge, to any person obtaining a copy
 * of this software and associated documentation files (the "Software"), to deal
 * in the Software without restriction, including without limitation the rights
 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
 * copies of the Software, and to permit persons to whom the Software is
 * furnished to do so, subject to the following conditions:
 *
 * The above copyright notice and this permission notice shall be included in
 * all copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
 * THE SOFTWARE.
 *
 */

 #include "IMU.h"
 
 IMU::IMU(PinName sda, PinName scl) : _i2c(sda, scl) {
 
    _i2c.frequency(400000);     //400kHz bus speed
    
    //Initial gyro config - must set DLPF[4:3] to 0x03 for proper operation
    char poke[2];
    
    poke[0] = GYRO_DLPF_REG;
    poke[1] = FS_SEL_INIT;
    
    _i2c.write(GYRO_ADR, poke, 2, false);
    
 }
 
 int gyroX(void) {
 
    char poke = GYRO_XOUT_H_REG;
    char peek[2];
 
    _i2c.write(GYRO_ADR, &poke, 1, false);
    _i2c.read(GYRO_ADR, peek, 2, false);
    
    int result = ( peek[0] << 8 | peek[1] );
    return result;
    
 }
   
 int gyroY(void) {
 
    char poke = GYRO_YOUT_H_REG;
    char peek[2];
 
    _i2c.write(GYRO_ADR, &poke, 1, false);
    _i2c.read(GYRO_ADR, peek, 2, false);
    
    int result = ( peek[0] << 8 | peek[1] );
    return result;
    
 }
       
 int gyroZ(void){
 
    char poke = GYRO_ZOUT_H_REG;
    char peek[2];
 
    _i2c.write(GYRO_ADR, &poke, 1, false);
    _i2c.read(GYRO_ADR, peek, 2, false);
    
    int result = ( peek[0] << 8 | peek[1] );
    return result;

 }
    
 int[3] gyroXYZ(void) {
 
    char poke = GYRO_XOUT_H_REG;
    char peek[6];
 
    _i2c.write(GYRO_ADR, &poke, 1, false);
    _i2c.read(GYRO_ADR, peek, 6, false);
    
    int result[3] = [ 
        ( peek[0] << 8 | peek[1] ),     // X
        ( peek[2] << 8 | peek[3] ),     // Y
        ( peek[4] << 8 | peek[5] )      // Z
        };
    return result;
    
 }

 void gyroSetLPF(char _BW) {
 
    char poke[2] = [ GYRO_DLPF_REG, _BW };
    
    _i2c.write(GYRO_ADR, poke, 2, false);
    
 }