static void read(SENSOR* sensor){
ITG3200* device = (ITG3200*)sensor;
const I2C_DEVICE* i2c = &(device->i2cInfo);
uint8_t response[8];
if(i2cMasterReadRegisters(i2c,TMP_H,sizeof(response),response)){
int16_t tmp;
// tempC = 35.0 + ((rawVal + 13200)/280.0);
tmp = (response[0] << 8) | response[1]; // temperature
device->celsius = 35 + ((tmp + 13200)/280);
// Divide readings by 14.375 to get degrees per second
// Same as multiply by 0.069565217391304347826086956521739
// Fib series: 0, 15, 345
tmp = (response[2] << 8) | response[3]; // x
tmp -= device->x_zero;
device->gyro.x_axis_degrees_per_second = fraction32(tmp, frac);
tmp = (response[4] << 8) | response[5]; // y
tmp -= device->y_zero;
device->gyro.y_axis_degrees_per_second = fraction32(tmp, frac);
tmp = (response[6] << 8) | response[7]; // z
tmp -= device->z_zero;
device->gyro.z_axis_degrees_per_second = fraction32(tmp, frac);
}
}
// Make the class, 50ms on startup, 0ms between readings
GYRO_CLASS const c_ITG3200 = MAKE_GYRO_CLASS(&init,&read,50,0);
device->x_zero = 0;
device->y_zero = 0;
device->z_zero = 0;
// Read 8 times
for(uint8_t i=0; i<8; i++){
device->x_zero += a2dReadMv(device->x_pin);
device->y_zero += a2dReadMv(device->y_pin);
device->z_zero += a2dReadMv(device->z_pin);
}
// Get average
device->x_zero /= 8;
device->y_zero /= 8;
device->z_zero /= 8;
}
// Read all the values and store into the device
static void read(SENSOR* sensor){
LPRY530AL* device = (LPRY530AL*)sensor;
device->gyro.x_axis_degrees_per_second = __read_channel(device->x_pin, device->slow, device->x_zero);
device->gyro.y_axis_degrees_per_second = __read_channel(device->y_pin, device->slow, device->y_zero);
device->gyro.z_axis_degrees_per_second = __read_channel(device->z_pin, device->slow, device->z_zero);
}
// 200ms startup time
const GYRO_CLASS PROGMEM c_LPRY530AL = MAKE_GYRO_CLASS(&init,&read,200,0);
}
return rtn;
}
static void __ly530alh_init(SENSOR* sensor){
LY530ALH* device = (LY530ALH*)sensor;
// The default is that device should be outputing 1.23v ie ADC10 of 251
device->z_zero = 0;
// Read 8 times
for(uint8_t i=0; i<8; i++){
device->z_zero += a2dReadMv(device->z_pin);
}
// Get average
device->z_zero /= 8;
}
// Read all the values and store into the device
static void __ly530alh_read(SENSOR* sensor){
LY530ALH* device = (LY530ALH*)sensor;
device->gyro.z_axis_degrees_per_second = __read_channel(device->z_pin, device->slow, device->z_zero);
}
// 200ms startup time
GYRO_CLASS c_LY530ALH = MAKE_GYRO_CLASS(&__ly530alh_init,&__ly530alh_read,200,0);
static void __idg300_init(SENSOR* sensor){
IDG300* device = (IDG300*)sensor;
// The default is that device should be outputing 1.5v ie ADC10 = 307
device->x_zero = 0;
device->y_zero = 0;
// Read 8 times
for(uint8_t i=0; i<8; i++){
device->x_zero += a2dReadMv(device->x_pin);
device->y_zero += a2dReadMv(device->y_pin);
}
// Get average
device->x_zero /= 8;
device->y_zero /= 8;
}
// Read all the values and store into the device
static void __idg300_read(SENSOR* sensor){
IDG300* device = (IDG300*)sensor;
device->gyro.x_axis_degrees_per_second = __read_channel(device->x_pin, device->x_zero);
device->gyro.y_axis_degrees_per_second = __read_channel(device->y_pin, device->y_zero);
}
// 200ms startup time, 20ms between readings
const GYRO_CLASS PROGMEM c_IDG300 = MAKE_GYRO_CLASS(&__idg300_init,&__idg300_read,200,20);
