Fixed LSM9DS0.

Used to send the words in the order bottom byte then top byte. Fixes were made in the software to fix the issues.

Fixes:
 - write has top and bottom byte swapping
 - read has top and bottom byte swapping

Development/Software/Controller API/LSM9DS0.cpp

@@ -15,8 +15,8 @@ LSM9DS0::LSM9DS0() {
 	mraa_init();
 	
 	// set the SPI channels
-	SPI_1 = mraa_spi_init(1);
-	SPI_2 = mraa_spi_init(0);
+	SPI_1 = mraa_spi_init(0);
+	SPI_2 = mraa_spi_init(1);
 
 	// set the frequency ( 10Mhz )
 	mraa_spi_frequency(SPI_1, 10000000);
@@ -111,7 +111,7 @@ void LSM9DS0::write_G(uint8_t address, uint8_t data) {
  * Input	: Address to read from
  * Returns	: Results from chip
  */
-uint8_t read_XM(uint8_t address) {
+uint8_t LSM9DS0::read_XM(uint8_t address) {
 	
 	// lets set the first two bits to 0
 	address = address & 0x3F;
@@ -137,7 +137,7 @@ uint8_t read_XM(uint8_t address) {
  *
  * Input	: Address to write to, data to write
  */
-void write_XM(uint8_t address, uint8_t data) {
+void LSM9DS0::write_XM(uint8_t address, uint8_t data) {
 	
 	// lets set the first two bits to 0
 	address = address & 0x3F;
@@ -175,6 +175,10 @@ uint8_t LSM9DS0::read(mraa_spi_context SPI, uint8_t address) {
 	send_data = send_data | 0x8000;
 	send_data = send_data & 0xBFFF;
 	
+	// spi_write_word causes us to need to swap the top and bottom bytes
+	send_data = ( send_data >> 8 ) & 0x00FF;
+    send_data = send_data | ( ( send_data << 8 ) & 0xFF00 );
+	
 	// send the data down the channel and get the result
 	uint8_t result = mraa_spi_write_word(SPI, send_data);
 	
@@ -198,6 +202,10 @@ void LSM9DS0::write(mraa_spi_context SPI, uint8_t address, uint8_t data) {
 	// add the data to be sent
 	send_data = send_data | data;
 	
+	// spi_write_word causes us to need to swap the top and bottom bytes
+	send_data = ( send_data >> 8 ) & 0x00FF;
+    send_data = send_data | ( ( send_data << 8 ) & 0xFF00 );
+	
 	// send the data down the channel
 	mraa_spi_write_word(SPI, send_data);
 }