Changed LSM9DS0 to follow a singleton pattern,.

Development/Software/Controller API/LSM9DS0.cpp

 /* 
- * @author Branden Sammons
+ * @author Branden Sammons & Jonathan Krueger
  */
  
 #include "LSM9DS0.h"
 
+bool LSM9DS0::initialized = false;
 
 /**
  * Constructor for the LSM9DS0 class.
  * Sets up the right SPI channels, frequency, mode, and registers.
  */
 LSM9DS0::LSM9DS0() {
-	
+
 	// set up the mraa library
 	mraa_init();
 	
@@ -28,9 +29,21 @@ LSM9DS0::LSM9DS0() {
 	
 	// set up registers
 	// place holder
+
+
 	
 }
 
+LSM9DS0 LSM9DS0::instance()
+{
+	if (!initialized)
+	{
+		myInstance = LSM9DS0();
+		initialized = true;
+	}
+	return myInstance;
+}
+
 /**
  * Deconstructor for the LSM9DS0 class.
  * Realeases the SPI channels.

Development/Software/Controller API/LSM9DS0.h

@@ -5,18 +5,27 @@
 #include "mraa.h"
 #include <unistd.h>
 #include <stdint.h>
+#include "Service.h"
 
-class LSM9DS0 {
+class LSM9DS0{
 	
 	public:
-		LSM9DS0();
 		~LSM9DS0();
+
+		static LSM9DS0 instance();
+		void run();
+
 		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:
+		static bool initialized;
+		static LSM9DS0 myInstance;
+
+		LSM9DS0();
+
 		mraa_spi_context SPI_1;
 		mraa_spi_context SPI_2;
 		uint8_t read(mraa_spi_context SPI, uint8_t address);