Diff: Source/Adafruit_L3GD20_U.cpp

Revision:

1:8c4f93e10af3

Parent:

0:772bf4786416

Child:

3:bd353b8184cc

--- a/Source/Adafruit_L3GD20_U.cpp	Sat Mar 21 12:33:05 2015 +0000
+++ b/Source/Adafruit_L3GD20_U.cpp	Thu Oct 19 11:50:04 2017 +0000
@@ -73,13 +73,15 @@
 {
 
 
-  /* Set the range the an appropriate value */  
+  /* Set the range to an appropriate value */  
   _range = rng;
 
   /* Make sure we have the correct chip ID since this checks
      for correct address and that the IC is properly connected */
-  uint8_t id = read8(GYRO_REGISTER_WHO_AM_I);
-  //Serial.println(id, HEX);
+  uint8_t id = 0;
+  id = read8(GYRO_REGISTER_WHO_AM_I);
+  Serial serial( USBTX, USBRX);
+  serial.printf("WHOAMI Gyro %d \r\n", id);
   if ((id != L3GD20_ID) && (id != L3GD20H_ID))
   {
     return false;
@@ -97,8 +99,8 @@
      0  XEN       X-axis enable (0 = disabled, 1 = enabled)           1 */
 
   /* Reset then switch to normal mode and enable all three channels */
-  write8(GYRO_REGISTER_CTRL_REG1, 0x00);
-  write8(GYRO_REGISTER_CTRL_REG1, 0x0F);
+  write8(GYRO_REGISTER_CTRL_REG1, 0x80); 
+  write8(GYRO_REGISTER_CTRL_REG1, 0xBF);// 380 Hz; 100 Hz cutoff LPF1
   /* ------------------------------------------------------------------ */
 
   /* Set CTRL_REG2 (0x21)
@@ -107,10 +109,10 @@
    ---  ------    --------------------------------------------- -------
    5-4  HPM1/0    High-pass filter mode selection                    00
    3-0  HPCF3..0  High-pass filter cutoff frequency selection      0000 */
-
+   
   /* Nothing to do ... keep default values */
   /* ------------------------------------------------------------------ */
-
+  // -> High-pass cutoff frequency: 27 Hz
   /* Set CTRL_REG3 (0x22)
    ====================================================================
    BIT  Symbol    Description                                   Default
@@ -210,8 +212,13 @@
  
     /* Shift values to create properly formed integer (low byte first) */
     event->gyro.x = (int16_t)(data[0] | (data[1] << 8));
+    raw.x =         (int16_t)(data[0] | (data[1] << 8));
+    
     event->gyro.y = (int16_t)(data[2] | (data[3] << 8));
+    raw.y         = (int16_t)(data[2] | (data[3] << 8));
+    
     event->gyro.z = (int16_t)(data[4] | (data[5] << 8));
+    raw.y         = (int16_t)(data[4] | (data[5] << 8));
     
     /* Make sure the sensor isn't saturating if auto-ranging is enabled */
     if (!_autoRangeEnabled)