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float ReefwingLSM9DS1::readTemp(TempScale scale) {
  uint8_t OUT_TEMP_L = readByte(LSM9DS1AG_ADDRESS, LSM9DS1AG_OUT_TEMP_L);
  uint8_t OUT_TEMP_H = readByte(LSM9DS1AG_ADDRESS, LSM9DS1AG_OUT_TEMP_H);

  uint16_t count = (OUT_TEMP_H << 8) | (OUT_TEMP_L & 0xff); 
  int16_t val = (int16_t)count;

  float result = ((float)val)/16.0f + _config.temp.offset;   // In Celsius

  switch(scale) {

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bool ReefwingLSM9DS1::gyroAvailable() {
	uint8_t STATUS_REG = readByte(LSM9DS1AG_ADDRESS, LSM9DS1AG_STATUS_REG);
	
	return (STATUS_REG & 0x02);
}

bool ReefwingLSM9DS1::accelAvailable() {
	uint8_t STATUS_REG = readByte(LSM9DS1AG_ADDRESS, LSM9DS1AG_STATUS_REG);
	
	return (STATUS_REG & 0x01);

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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);

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void ReefwingLSM9DS1::setAccelBandwidth(AccelBW bandwidth) {
  if (!_config.accel.autoBandwidthEnable) {
    uint8_t CTRL_REG6_XL = readByte(LSM9DS1AG_ADDRESS, LSM9DS1AG_CTRL_REG6_XL);

    //  Clear the BW_XL bits (1 & 0), maintain the rest
    //  0xFC = 0b11111100, BW_XL = 00, bandwidth = 408 Hz (default)
    CTRL_REG6_XL &= 0xFC;

    switch(bandwidth) {
      case AccelBW::BW_50Hz:    //  BW_XL = 11

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void ReefwingLSM9DS1::setGyroBandwidth(GyroBW bandwidth) {
  uint8_t CTRL_REG1_G = readByte(LSM9DS1AG_ADDRESS, LSM9DS1AG_CTRL_REG1_G);

  //  Clear the BW_G bits (0 & 1), maintain the rest
  //  0xFC = 0b11111100, BW_G = 00, bandwidth = LOW (default)
  CTRL_REG1_G &= 0xFC;

  switch(bandwidth) {
    case GyroBW::MIDDLE:    //  BW_G = 01
      CTRL_REG1_G |= 0x01;

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void ReefwingLSM9DS1::setMagODR(MagODR rate) {

  if (rate > ODR_80Hz) {
    enableFastODR(true);

    switch(rate) {
      case MagODR::ODR_155Hz:       //  OM = 11, mode = ULTRA
        setMagOperatingMode(ULTRA);
        break;
      case MagODR::ODR_300Hz:       //  OM = 10, mode = HIGH

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void ReefwingLSM9DS1::setGyroODR(GyroODR rate) {
  uint8_t CTRL_REG1_G = readByte(LSM9DS1AG_ADDRESS, LSM9DS1AG_CTRL_REG1_G);

  //  Clear the ODR_G bits (7, 6 & 5), maintain the rest
  //  0x1F = 0b00011111, ODR_G = 000, mode = power-down
  CTRL_REG1_G &= 0x1F;

  _config.gyro.powerDown = false;
  _config.gyroAccelOpMode = NORMAL;

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void ReefwingLSM9DS1::setGyroScale(GyroScale scale) {
  uint8_t CTRL_REG1_G = readByte(LSM9DS1AG_ADDRESS, LSM9DS1AG_CTRL_REG1_G);

  //  Clear the FS bits (3 & 4), maintain the rest
  //  0xE7 = 0b11100111, FS = 00, scale = 245 DPS
  CTRL_REG1_G &= 0xE7;

  switch(scale) {
    case GyroScale::FS_500DPS:
      CTRL_REG1_G |= (0x01 << 3);

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void ReefwingLSM9DS1::reset() {
  writeByte(LSM9DS1AG_ADDRESS, LSM9DS1AG_CTRL_REG8, 0x05);
  writeByte(LSM9DS1M_ADDRESS, LSM9DS1M_CTRL_REG2_M, 0x0c);
  delay(20);

  //  Check that chip boot up is complete - bit 3 is BOOT_STATUS
  //  Mask the STATUS_REG with 0b00001000 = 0x08
  while ((readByte(LSM9DS1AG_ADDRESS, LSM9DS1AG_STATUS_REG) & 0x08) != 0) {
    yield();
  }

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#include <Wire.h>
#include <Adafruit_Sensor.h>
#include <Adafruit_LSM9DS1.h>

Adafruit_LSM9DS1 lsm;

void setup() {
  Serial.begin(9600);
  if (!lsm.begin()) {
    Serial.println("Failed to initialize LSM9DS1!");