start.cpp

void ReefwingLSM9DS1::start() {
  // Initialise the Gyro - assumes configuration is done
  //  Control Register 4 - enable gyro axis output bits (5, 4 & 3)
  //  The other bits default to 0. CTRL_REG4 = 0b00111000 = 0x38
  writeByte(LSM9DS1AG_ADDRESS, LSM9DS1AG_CTRL_REG4, 0x38);

  //  Initialise the Accelerometer
  //  Control Register 5 XL - enable accel axis output bits (5, 4 & 3)
  //  The other bits default to 0. CTRL_REG5_XL = 0b00111000 = 0x38
  writeByte(LSM9DS1AG_ADDRESS, LSM9DS1AG_CTRL_REG5_XL, 0x38);
  
  //  Enable block data update, allow auto-increment during multiple byte read, 
  //  data LSB @ lower address. CTRL_REG8 = 0b01000100 = 0x44
  writeByte(LSM9DS1AG_ADDRESS, LSM9DS1AG_CTRL_REG8, 0x44);

  //  Initialise the Magnetometer
  //  Enable block data update
  writeByte(LSM9DS1M_ADDRESS, LSM9DS1M_CTRL_REG5_M, 0x40 );
}