File content as of revision 2:0d90c0436797:

#include "mbed.h"
#include "LSM9DS0_SH.h"
#define pi 3.141592
#define constrain(amt,low,high) ((amt)<(low)?(low):((amt)>(high)?(high):(amt)))


//↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓GPIO registor↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓//
//~~~structure~~~//
DigitalOut  led(D13);           //detection
DigitalOut  TT_ext(D12);

//~~~IMU_SPI~~~//
DigitalOut  SPI_CSG(D7,1);      //low for GYRO enable
DigitalOut  SPI_CSXM(D6,1);     //low for ACC/MAG enable
SPI spi(D4, D5, D3);            //MOSI MISO SCLK

//~~~Serial~~~//
Serial      pc(D1, D0);         //Serial reg(TX RX)
//↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑end of GPIO registor↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑//



//↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓Varible registor↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓//
//~~~globle~~~//
Ticker  TT;                         //call a timer
int     count = 0;                  //one second counter for extrenal led blink

//~~~IMU_SPI~~~//
short low_byte = 0x00;               //buffer
short high_byte = 0x00;

short Wx = 0x00;
short Wy = 0x00;
short Wz = 0x00;

short Ax = 0x00;
short Ay = 0x00;
short Az = 0x00;
//↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑end of Varible registor↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑//



//↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓Function registor↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓//
void init_IO();             //initialize IO state
void init_IMU();            //initialize IMU
void init_TIMER();          //set TT_main() rate
void TT_main();             //timebase function rated by TT
//↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑end of Function registor↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑//



//↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓main funtion↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓//
int main()
{
    init_IO();                      //initialized value
    init_IMU();                     //initialize IMU
    init_TIMER();                   //start TT_main
    pc.baud(115200);                //set baud rate

    while(1) {                      //main() loop
        if(count >= 200) {          //check if main working
            count=0;
            led = !led;
        }
    }

}
//↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑end of main funtion↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑//



//↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓init_IO funtion↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓//
void init_IO(void)                  //initialize
{
    TT_ext = 0;
    led = 1;
}
//↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑end of init_IO funtion↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑//



//↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓init_IMU funtion↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓//
void init_IMU(void)                  //initialize
{
    SPI_CSXM = 1;                   //high as init for disable SPI
    SPI_CSG = 1;
    spi.format(8, 0);               //byte width, spi mode
    spi.frequency(4000000);         //8MHz

//for GYRO config
    SPI_CSG = 0;                    //start spi talking
    spi.write(CTRL_REG1_G);
    spi.write(0x9F);                //data rate 380 Hz/ cut off 25 Hz
    SPI_CSG = 1;                    //end spi talking

    SPI_CSG = 0;                    //start spi talking
    spi.write(CTRL_REG4_G);
    spi.write(0x10);                //Scle 500dps
    SPI_CSG = 1;                    //end spi talking

//for ACC config
    SPI_CSXM = 0;                   //start spi talking
    spi.write(CTRL_REG1_XM);
    spi.write(0x87);                //data rate 400 Hz/ Enable
    SPI_CSXM = 1;                   //end spi talking

    SPI_CSXM = 0;                   //start spi talking
    spi.write(CTRL_REG2_XM);
    spi.write(0xC0);                //cut off 50 Hz/ Scale +-2g
    SPI_CSXM = 1;                   //end spi talking
}
//↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑end of init_IMU funtion↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑//



//↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓Timebase funtion↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓//
void init_TIMER()                   //set TT_main{} rate
{
    TT.attach_us(&TT_main, 5000);
}
void TT_main()                      //interrupt function by TT
{
    TT_ext = !TT_ext;               //indicate TT_main() function working
    count = count+1;                //one second counter

    SPI_CSG = 0;                    //start spi talking
    spi.write(0xE8);                //read B11101000 read/multi/address
    low_byte = spi.write(0);
    high_byte = spi.write(0);
    Wx = high_byte << 8 |low_byte;
    SPI_CSG = 1;                    //end spi talking


    SPI_CSXM = 0;                   //start spi talking
    spi.write(0xE8);                //read B11101000 read/multi/address
    low_byte = spi.write(0);
    high_byte = spi.write(0);
    Ax = high_byte << 8 |low_byte;
    SPI_CSXM = 1;                   //end spi talking

    pc.printf("%d\t%d\n", Wx, Ax);
}
//↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑end of Timebase funtion↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑//