C++ (Cpp) init_l3g4200d Examples

Example #1

File: l3g4200d.c Project: openrobots-dev/R2P_IMU_module

Thread *gyroRun(SPIDriver *spip, tprio_t prio) {
  Thread *tp;

  init_l3g4200d(spip);
  tp = chThdCreateFromHeap(NULL, GYRO_WA_SIZE, prio, l3g4200d_update_thread,
                           (void*)spip);
  extChannelEnable(&EXTD1, GYRO_INT2);
  l3g4200d_update(spip);

  return tp;
}

Example #2

File: gyroscope.c Project: eugmes/rtems-test

void gyroscope_init(int spi_bus_num)
{
  printf("Initializing gyroscope...\n");

  lm3s69xx_gpio_set_pin(SSI_SS_PIN, true);
  lm3s69xx_gpio_digital_enable(SSI_SS_PIN, true);

  rtems_device_minor_number minor = RTEMS_LIBI2C_MAKE_MINOR(spi_bus_num, SSI_SS_PIN);

  check_whoami(minor);
  init_l3g4200d(minor);

  measure_offset(minor, &gyro_data.offset);
  printf("Gyroscope offset: %"PRId16", %"PRId16", %"PRId16"\n",
      gyro_data.offset.x, gyro_data.offset.y, gyro_data.offset.z);

  rtems_id task_id;

  rtems_task_create(rtems_build_name('G', 'Y', 'R', 'O'), 1,
      RTEMS_MINIMUM_STACK_SIZE, RTEMS_DEFAULT_MODES,
      RTEMS_DEFAULT_ATTRIBUTES, &task_id);

  rtems_task_start(task_id, gyroscope_task, 0);
}