This is a library for LSM9DS1 9 DOF IMU Breakout. I have basically took the sparkfun library whick written for arduino (here) and I rewritten it for STM32. I have used it with stm32f407vg discovery board, but this should be working in other versions to.
I didn't have time for coding the SPI side so this has only I2C.
Use CubeMX to init the code with i2c
Add lsm9ds1.c , lsm9ds1.h, LSM9DS1_Registers.h and LSM9DS1_Types.h files to your project.
Above main(), define variables:
float ax, ay, az, gx, gy, gz, mx, my, mz;
In main(), call this functions to initialize the sensor and set scales:
begin(0x6B,0x1E,&hi2c1); // 0x6B I2C Address of accelerometer and gyroscope // 0x1E I2C Address of magnetometer
setMagScale(16);
setAccelScale(16);
setGyroScale(2000);
Than use read functions to read the scaled sensor values into our variables:
readAccel(&ax,&ay,&az);
readGyro(&gx,&gy,&gz);
readMag(&mx,&my,&mz);
Thats all, have fun :)