Diff: Sensors/Gyro/L3G4200D.cpp

Revision:

14:cf260677ecde

Parent:

11:9bf69bc6df45

Child:

15:753c5d6a63b3

--- a/Sensors/Gyro/L3G4200D.cpp	Thu Oct 25 19:27:56 2012 +0000
+++ b/Sensors/Gyro/L3G4200D.cpp	Sat Oct 27 10:53:43 2012 +0000
@@ -7,7 +7,7 @@
 
 L3G4200D::L3G4200D(PinName sda, PinName scl) : i2c(sda, scl)
 {
-    i2c.frequency(400000);
+    i2c.frequency(100000);
     // Turns on the L3G4200D's gyro and places it in normal mode.
     // Normal power mode, all axes enabled
     
@@ -77,11 +77,29 @@
     // assert the MSB of the address to get the gyro 
     // to do slave-transmit subaddress updating.
     buffer[0] = L3G4200D_OUT_X_L | (1 << 7);
-    i2c.write(L3G4200D_I2C_ADDRESS, buffer, 1); 
+    
+    //i2c.write(L3G4200D_I2C_ADDRESS, buffer, 1); 
+    
+    //i2c.read(L3G4200D_I2C_ADDRESS, buffer, 6); 
+    
+    L3G4200D_OUT_X_L
+    L3G4200D_OUT_X_H
+    L3G4200D_OUT_Y_L
+    L3G4200D_OUT_Y_H
+    L3G4200D_OUT_Z_L
+    L3G4200D_OUT_Z_H
     
-    i2c.read(L3G4200D_I2C_ADDRESS, buffer, 6); 
+    i2c.start();
+    i2c.write(L3G4200D_I2C_ADDRESS);
+    i2c.write(L3G4200D_OUT_X_L);
 
-    data[0] = (short) (buffer[1] << 8 | buffer[0]);
+    i2c.start();
+    i2c.write(L3G4200D_I2C_ADDRESS | 1);
+    buffer[1]  = i2c.read(1) << 8;
+    buffer[1] |= i2c.read(0);
+    i2c.stop();
+    
+    //data[0] = (short) (buffer[1] << 8 | buffer[0]);
     data[1] = (short) (buffer[3] << 8 | buffer[2]);
     data[2] = (short) (buffer[5] << 8 | buffer[4]);