| 0,0 → 1,35 |
|---|
| #include <xc.h> |
| #include "main.h" |
| #include "L3G.h" |
| #include "I2C.h" |
| |
| void L3G_Init(void) { |
| char c[2] = {L3G_CTRL_REG1, 0x0F}; |
| I2C_Master_Send(ADDRESS_GYRO, &c, 2); |
| while (!I2C_Get_Status()); |
| } |
| |
| void L3G_Read_Gyro(char *x_L, char *x_H, |
| char *y_L, char *y_H, |
| char *z_L, char *z_H) { |
| char result, length, buffer[10]; |
| |
| // Assert the MSB to autoincrement address |
| char c = L3G_OUT_X_L | (1 << 7); |
| |
| I2C_Master_Restart(ADDRESS_GYRO, c, 6); |
| do { |
| result = I2C_Get_Status(); |
| } while (!result); |
| |
| // Read received data |
| length = I2C_Read_Buffer(buffer); |
| |
| // Data is received in low-high byte order |
| *x_L = buffer[0]; |
| *x_H = buffer[1]; |
| *y_L = buffer[2]; |
| *y_H = buffer[3]; |
| *z_L = buffer[4]; |
| *z_H = buffer[5]; |
| } |