Diff: ITG3200.h

Revision:

4:155c44407af5

Parent:

3:eea9733ca427

Child:

5:0a0315f0f34e

--- a/ITG3200.h	Wed Sep 12 14:37:34 2012 +0000
+++ b/ITG3200.h	Wed Sep 12 15:23:29 2012 +0000
@@ -242,7 +242,7 @@
      *
      * @return The temperature in raw 16bit integer.
      */
-    int getRawTemperature(void);
+    int getRawTemperature(void){ return getWord(TEMP_OUT_H_REG); }
 
     /**
      * Get the temperature of the device.
@@ -258,7 +258,7 @@
      *
      * @return The output on the x-axis in raw ADC counts.
      */
-    int getGyroX(void);
+    int getGyroX(void){ return getWord(GYRO_XOUT_H_REG); }
 
     /**
      * Get the output for the y-axis gyroscope.
@@ -267,7 +267,7 @@
      *
      * @return The output on the y-axis in raw ADC counts.
      */
-    int getGyroY(void);
+    int getGyroY(void){ return getWord(GYRO_YOUT_H_REG); }
 
     /**
      * Get the output on the z-axis gyroscope.
@@ -276,7 +276,7 @@
      * 
      * @return The output on the z-axis in raw ADC counts.
      */
-    int getGyroZ(void);
+    int getGyroZ(void){ return getWord(GYRO_ZOUT_H_REG); }
 
     /**
      * Burst read the outputs on the x,y,z-axis gyroscope.
@@ -393,6 +393,19 @@
     void calibrate(double time);
 
 protected:
+
+    /**
+     * Reads a word (2 bytes) from the sensor via I2C bus.
+     *
+     * The queried value is assumed big-endian, 2's complement value.
+     *
+     * This protected function is added because we shouldn't write getGyroX(), getGyroY() and getGyroZ()
+     * independently, but collect common codes.
+     *
+     * @param regi Register address to be read.
+     */
+    int getWord(int regi);
+
     /**
      * An internal method to acquire gyro sensor readings before calibration correction.
      *