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Dependencies: sMotor LIS3MDL X_NUCLEO_53L0A1
L3G4200D_my.cpp
- Committer:
- simens
- Date:
- 2019-05-23
- Revision:
- 0:ed3e71232bc7
File content as of revision 0:ed3e71232bc7:
#include "L3G4200D_my.h" void GyroL3G4200D_Ini(DevI2C *gyro) { char data_write[2]; wait(0.02); data_write[0]=CTRL_REG1; // DR1 DR0 BW1 BW0 PD Zen Yen Xen data_write[1]=0x1f; // 0 0 0 1 1 1 1 1 dr=100Hz, BW=25 gyro->write(I2C_ADDR_GYRO,data_write, 2,0); // 1-no stop } //----------------------------------------------- void GyroL3G4200D_GetAxis(DevI2C *gyro,int16_t* g) { char data_write[2]; char buffer[6]; data_write[0]=OUT_X_L|0x80; gyro->write(I2C_ADDR_GYRO,data_write, 1,1); // 1-no stop gyro->read(I2C_ADDR_GYRO,buffer, 6,0); g[0]=*((int16_t*)&buffer[0]); g[1]=*((int16_t*)&buffer[2]); g[2]=*((int16_t*)&buffer[4]); }