int RPI_Sensor::read_Sensor()
{
int messwert = 0;
switch (m_verwendeter_bus)
{
case I2C:
messwert = read_I2C(); break;
case ONEWIRE:
messwert = read_ONEWIRE(); break;
}
return messwert;
}
void read_Gyro(unsigned char *data){
/*Reads all three gyroscope values. Returns all six bytes (high and low
bytes for all three axes) in an array.*/
read_I2C(data,GYRO_XOUT_L,1);
read_I2C(data+1,GYRO_XOUT_H,1);
read_I2C(data+2,GYRO_YOUT_L,1);
read_I2C(data+3,GYRO_YOUT_H,1);
read_I2C(data+4,GYRO_ZOUT_L,1);
read_I2C(data+5,GYRO_ZOUT_H,1);
}
void read_Accel(unsigned char *data){
/*Reads all three accelerometer values. Returns all six bytes (high and low
bytes for all three axes) in an array.*/
read_I2C(data,ACCEL_XOUT_L,1);
read_I2C(data+1,ACCEL_XOUT_H,1);
read_I2C(data+2,ACCEL_YOUT_L,1);
read_I2C(data+3,ACCEL_YOUT_H,1);
read_I2C(data+4,ACCEL_ZOUT_L,1);
read_I2C(data+5,ACCEL_ZOUT_H,1);
}
void read_MPU_test(unsigned char *data){
read_I2C(data,WHO_AM_I,1); // use to verify identity of IMU to make sure communication is working. Should return 0x68.
printf("%x\n",data[0]);
}
