NOT FINISHED YET!!!
My first try to get a self built fully working Quadrocopter based on an mbed, a self built frame and some other more or less cheap parts.
Dependencies:
mbed
MODI2C
Diff: Sensors/Gyro/L3G4200D.cpp
- Revision:
- 11:9bf69bc6df45
- Parent:
- 10:953afcbcebfc
- Child:
- 14:cf260677ecde
--- a/Sensors/Gyro/L3G4200D.cpp Wed Oct 17 08:37:08 2012 +0000
+++ b/Sensors/Gyro/L3G4200D.cpp Thu Oct 18 20:04:16 2012 +0000
@@ -9,7 +9,6 @@
{
i2c.frequency(400000);
// Turns on the L3G4200D's gyro and places it in normal mode.
- // 0x0F = 0b00001111
// Normal power mode, all axes enabled
//writeReg(L3G4200D_CTRL_REG2, 0x05); // control filter
@@ -79,22 +78,12 @@
// to do slave-transmit subaddress updating.
buffer[0] = L3G4200D_OUT_X_L | (1 << 7);
i2c.write(L3G4200D_I2C_ADDRESS, buffer, 1);
-
-// Wire.requestFrom(GYR_ADDRESS, 6);
-// while (Wire.available() < 6);
i2c.read(L3G4200D_I2C_ADDRESS, buffer, 6);
- uint8_t xla = buffer[0];
- uint8_t xha = buffer[1];
- uint8_t yla = buffer[2];
- uint8_t yha = buffer[3];
- uint8_t zla = buffer[4];
- uint8_t zha = buffer[5];
-
- data[0] = (short) (xha << 8 | xla);
- data[1] = (short) (yha << 8 | yla);
- data[2] = (short) (zha << 8 | zla);
+ data[0] = (short) (buffer[1] << 8 | buffer[0]);
+ data[1] = (short) (buffer[3] << 8 | buffer[2]);
+ data[2] = (short) (buffer[5] << 8 | buffer[4]);
//with offset of calibration
for (int j = 0; j < 3; j++)
Matthias Grob
