File content as of revision 0:9fcb3bf5c231:

//In here be functions related to Sensors

//
void setupaccel() {
    i2c.start();
    i2c.write(ACCADDRESS << 1 | 0);
    i2c.write(7);
    i2c.write(1);
    i2c.stop();
}

//
void getaccel(signed char returnbuff[3]) {
    i2c.start();
    i2c.write(ACCADDRESS << 1 | 0);
    i2c.write(0);
    i2c.stop();

    //Read the axis data
    i2c.read(ACCADDRESS << 1 | 1, (char*)returnbuff, 3);

    for (int i = 0; i < 3; i++) {
        returnbuff[i] = returnbuff[i] << 2;
        returnbuff[i] /= 4;
    }

}

void calibgyro() {

    //i2c.frequency(9600);

    //activating the wiimotion +
    i2c.start();
    //device address | write
    i2c.write(0x53 << 1 | 0);
    //register address
    i2c.write(0xfe);
    //data
    i2c.write(0x04);
    i2c.stop();

    for (int i = 0; i < 10; i++) {
        //sending a 0x00 to flag that we want data
        i2c.start();
        //device address | write (note new address)
        i2c.write(0x52 << 1 | 0);
        //send 0x00
        i2c.write(0x00);
        i2c.stop();

        //reading the data
        char wmpdata[6];
        i2c.read(0x52 << 1 | 1, wmpdata, 6);
        pc.printf("%x %x %x %x %x %x\r\n",  wmpdata[0], wmpdata[1], wmpdata[2], wmpdata[3], wmpdata[4], wmpdata[5]);

        gyrcalib[0] += (((wmpdata[3] >> 2) << 8) + wmpdata[0]) / 10;
        gyrcalib[1] += (((wmpdata[4] >> 2) << 8) + wmpdata[1]) / 10;
        gyrcalib[2] += (((wmpdata[5] >> 2) << 8) + wmpdata[2]) / 10;

        wait(0.05);

    }

}

void getgyros(float gyrodata[3]) {
    //sending a 0x00 to flag that we want data
    i2c.start();
    //device address | write (note new address)
    i2c.write(0x52 << 1 | 0);
    //send 0x00
    i2c.write(0x00);
    i2c.stop();

    //reading the data
    char wmpdata[6];
    i2c.read(0x52 << 1 | 1, wmpdata, 6);

    gyrodata[0] = RPSPUNIT * -(((wmpdata[3] >> 2) << 8) + wmpdata[0] - gyrcalib[0]);
    gyrodata[1] = RPSPUNIT * (((wmpdata[4] >> 2) << 8) + wmpdata[1] - gyrcalib[1]);
    gyrodata[2] = RPSPUNIT * (((wmpdata[5] >> 2) << 8) + wmpdata[2] - gyrcalib[2]);

    //detect if we ever went into fast mode
    if (!(wmpdata[3] & 0x02 && wmpdata[4] & 0x02 && wmpdata[5] & 0x02)) myled = 1;

    //pc.printf("yaw: %f, pitch: %f, roll: %f\r\n", gyrodata[0], gyrodata[1], gyrodata[2]);

    //wait(0.05);

}

#ifdef ALTSENSOR
float getaltsensor() {
    return altsensor * 
}
#endif