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113 Kevin 1 
#include "maindefs.h"
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#include "imu.h"
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#include "i2c.h"
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void imu_init() {
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    imu_gyro_init();
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    imu_acc_init();
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}
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void imu_acc_init() {
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    unsigned char toSend[2];
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    toSend[0] = LSM303_CTRL_REG1_A;
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    toSend[1] = 0x27;
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    i2c_master_send(ACC_ADDRESS >> 1, 2, toSend);
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    while(i2c_master_busy());
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}
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void imu_gyro_init() {
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    unsigned char toSend[2];
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    toSend[0] = L3G4200D_CTRL_REG1;
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    toSend[1] = 0x0F;
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    i2c_master_send(GYR_ADDRESS >> 1, 2, toSend);
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    while(i2c_master_busy());
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}
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void imu_read_acc() {
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    unsigned char toSend[1];
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    toSend[0] = LSM303_OUT_X_L_A | 0x80;
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    i2c_master_send(ACC_ADDRESS >> 1, 1, toSend);
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    while(i2c_master_busy());
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    i2c_master_recv(ACC_ADDRESS >> 1, 6);
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    while(i2c_master_busy());
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}
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void imu_read_gyro() {
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    unsigned char toSend[1];
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    toSend[0] = L3G4200D_OUT_X_L | 0x80;
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    i2c_master_send(GYR_ADDRESS >> 1, 1, toSend);
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    while(i2c_master_busy());
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    i2c_master_recv(GYR_ADDRESS >> 1, 6);
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    while(i2c_master_busy());
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}