void f3d_gyro_getdata(float *pfData) {
uint8_t tmpbuffer[6] ={0};
int16_t RawData[3] = {0};
uint8_t tmpreg = 0;
float sensitivity = 0;
int i =0;
f3d_gyro_read(&tmpreg,0x23,1); // Read the control register (CRTL4)
f3d_gyro_read(tmpbuffer,0x28,6); // Read the data for all 4 axis
/* for (i=0;i<6;i++) { */
/* printf("%x ",tmpbuffer[i]); */
/* } */
/* printf("\n"); */
/* check in the control register 4 the data alignment (Big Endian or Little Endian)*/
if(!(tmpreg & 0x40)) {
/* printf("a\n"); */
for(i=0; i<3; i++) {
RawData[i]=(int16_t)(((uint16_t)tmpbuffer[2*i+1] << 8) + tmpbuffer[2*i]);
}
}
else {
/* printf("b\n"); */
for(i=0; i<3; i++) {
RawData[i]=(int16_t)(((uint16_t)tmpbuffer[2*i] << 8) + tmpbuffer[2*i+1]);
}
}
/* Switch the sensitivity value set in the CRTL4 */
switch(tmpreg & 0x30) {
case 0x00:
sensitivity=L3G_Sensitivity_250dps;
break;
case 0x10:
sensitivity=L3G_Sensitivity_500dps;
break;
case 0x20:
sensitivity=L3G_Sensitivity_2000dps;
break;
}
/* divide by sensitivity */
for(i=0; i<3; i++) {
pfData[i]=(float)RawData[i]/sensitivity;
}
}
/*gets the data*/
void f3d_gyro_getdata(float *pfData) {
//
//
int16_t RawData[3];
uint8_t tmpbuffer[6];
int i;
//We are going to write some data to the gyro
f3d_gyro_write(tmpbuffer,0x28,6);
//Then we are going to read it
f3d_gyro_read(tmpbuffer,0x28,6);
//casting the data retreiving from tmpbuffer to raw data
for(i=0; i<3; i++) {
RawData[i]=(int16_t)(((uint16_t)tmpbuffer[2*i+1] << 8) + tmpbuffer[2*i]);
}
//adjusting the data with the sensitivity
for(i=0; i<3; i++) {
pfData[i]=(float)RawData[i]/L3G_Sensitivity_500dps;
}
}
void f3d_gyro_getdata(float *pfData) {
uint8_t tmpbuffer[6];
int i;
int16_t RawData[3];
f3d_gyro_read(tmpbuffer,0x28,6);
for(i=0; i<3; i++)
{
RawData[i]=(int16_t)(((uint16_t)tmpbuffer[2*i+1] << 8) + tmpbuffer[2*i]);
}
#define GYRO_Sensitivity_500dps (float) 57.1429f
for(i=0; i<3; i++) {
pfData[i]=(float)RawData[i]/GYRO_Sensitivity_500dps;
//printf("in gyro %d\n", RawData[i]/GYRO_Sensitivity_500dps);
}
}