Added SPI Communication for LSM9DS0.

Using the 2 chip select lines we now have a object that can handle all the SPI communication at a low level.

Features added :
 - write safety features
 - read safety features

Development/Software/Controller API/LSM9DS0.cpp

+/* 
+ * @author Branden Sammons
+ */
+ 
+#include "LSM9DS0.h"
+
+
+/**
+ * Constructor for the LSM9DS0 class.
+ * Sets up the right SPI channels, frequency, mode, and registers.
+ */
+LSM9DS0::LSM9DS0() {
+	
+	// set up the mraa library
+	mraa_init();
+	
+	// set the SPI channels
+	SPI_1 = mraa_spi_init(1);
+	SPI_2 = mraa_spi_init(0);
+	
+	// set the frequency ( 10Mhz )
+	mraa_spi_frequency(SPI_1, 10000000);
+	mraa_spi_frequency(SPI_2, 10000000);
+	
+	// set the mode
+	mraa_spi_mode(SPI_1, MRAA_SPI_MODE1);
+	mraa_spi_mode(SPI_2, MRAA_SPI_MODE1);
+	
+	// set up registers
+	// place holder
+	
+}
+
+/**
+ * Deconstructor for the LSM9DS0 class.
+ * Realeases the SPI channels.
+ */
+LSM9DS0::~LSM9DS0() {
+	// place holder
+}
+
+/**
+ * Read command for the gyro on board the LSM9DS0
+ *
+ * Input	: Address to read from
+ * Returns	: Results from chip
+ */
+uint8_t LSM9DS0::read_G(uint8_t address) {
+	
+	// lets set the first two bits to 0
+	address = address & 0x3F;
+	
+	// lets not read reserved or write only registers
+	if(	address <= 0x1F || 
+		address == 0x26 || 
+		address >= 0x39) {
+		
+		// Note: register 0x0F is read only so we will just use it
+		// WHO_AM_I_G
+		address = 0x0F;
+	}
+	
+	return this::read(SPI_1, address);
+}
+
+/**
+ * Write command for the gyro on board the LSM9DS0
+ * WARNING	: Writing to a reserved register can cause harm to the device. 
+ * 			  Please read documentation before proceeding.
+ *
+ * Input	: Address to write to, data to write
+ */
+void LSM9DS0::write_G(uint8_t address, uint8_t data) {
+	
+	// lets set the first two bits to 0
+	address = address & 0x3F;
+	
+	// definently not allowing writing to read only or reserved registers.
+	if(	address <= 0x1F || 
+		( address >= 0x26 && address <= 0x2D ) || 
+		address == 0x2F ||
+		address == 0x31 ||
+		address >= 0x39) {
+			
+		return;
+	}
+	
+	this::write(SPI_1, address, data);
+}
+
+/**
+ * Read command for the accelerometer and magnetometer on board the LSM9DS0
+ *
+ * Input	: Address to read from
+ * Returns	: Results from chip
+ */
+uint8_t read_XM(uint8_t address) {
+	
+	// lets set the first two bits to 0
+	address = address & 0x3F;
+	
+	// lets not read reserved or write only registers
+	if(	address <= 0x04 || 
+		address == 0x0E || 
+		address == 0x10 ||
+		address == 0x11) {
+		
+		// Note: register 0x0F is read only so we will just use it
+		// WHO_AM_I_XM
+		address = 0x0F;
+	}
+	
+	return this::read(SPI_2, address);
+}
+
+/**
+ * Write command for the accelerometer and magnetometer on board the LSM9DS0
+ * WARNING	: Writing to a reserved register can cause harm to the device. 
+ * 			  Please read documentation before proceeding.
+ *
+ * Input	: Address to write to, data to write
+ */
+void write_XM(uint8_t address, uint8_t data) {
+	
+	// lets set the first two bits to 0
+	address = address & 0x3F;
+	
+	// definently not allowing writing to read only or reserved registers.
+	if(	address <= 0x11 || 
+		address == 0x13 || 
+		( address >= 0x27 && address <= 0x2D ) ||
+		address == 0x2F ||
+		address == 0x31 ||
+		address == 0x35 ||
+		address == 0x39) {
+		
+		return;		
+	}
+	
+	this::write(SPI_2, address, data);
+}
+
+
+/* Private methods below */
+
+/**
+ * Read command for the LSM9DS0
+ * Note		: First two bits need to be 10
+ *
+ * Input	: SPI context, address to read from
+ * Returns	: Results from chip
+ */
+uint8_t LSM9DS0::read(mraa_spi_context SPI, uint8_t address) {
+	
+	uint16_t send_data = address << 8;
+	
+	// need start to be bits 10
+	send_data = send_data | 0x8000;
+	send_data = send_data & 0xBFFF;
+	
+	// send the data down the channel and get the result
+	uint8_t result = mraa_spi_write_word(SPI, send_data);
+	
+	return result;
+}
+
+/**
+ * Write command for the LSM9DS0
+ * WARNING	: Writing to a reserved register can cause harm to the device. 
+ * 			  Please read documentation before proceeding.
+ *
+ * Input	: SPI context, address to write to, data to write
+ */
+void LSM9DS0::write(mraa_spi_context SPI, uint8_t address, uint8_t data) {
+	
+	uint16_t send_data = address << 8;
+	
+	// need start to be bits 00
+	send_data = send_data & 0x3FFF;
+	
+	// add the data to be sent
+	send_data = send_data | data;
+	
+	// send the data down the channel
+	mraa_spi_write_word(SPI, send_data);
+}

Development/Software/Controller API/LSM9DS0.h

+/* 
+ * @author Branden Sammons
+ */
+ 
+#include "mraa.h"
+#include <unistd.h>
+#include <stdint.h>
+
+class LSM9DS0 {
+	
+	public:
+		LSM9DS0();
+		~LSM9DS0();
+		uint8_t read_G(uint8_t address);
+		void write_G(uint8_t address, uint8_t data);
+		uint8_t read_XM(uint8_t address);
+		void write_XM(uint8_t address, uint8_t data);
+	
+	private:
+		mraa_spi_context SPI_1;
+		mraa_spi_context SPI_2;
+		uint8_t read(mraa_spi_context SPI, uint8_t address);
+		void write(mraa_spi_context SPI, uint8_t address, uint8_t data);
+		
+}
+	
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