bool L3G4200D::begin(l3g4200d_dps_t scale, l3g4200d_odrbw_t odrbw)
{
// Reset calibrate values
d.XAxis = 0;
d.YAxis = 0;
d.ZAxis = 0;
useCalibrate = false;
// Reset threshold values
t.XAxis = 0;
t.YAxis = 0;
t.ZAxis = 0;
actualThreshold = 0;
Wire.begin();
// Check L3G4200D Who Am I Register
if (fastRegister8(L3G4200D_REG_WHO_AM_I) != 0xD3)
{
return false;
}
// Enable all axis and setup normal mode + Output Data Range & Bandwidth
uint8_t reg1 = 0x00;
reg1 |= 0x0F; // Enable all axis and setup normal mode
reg1 |= (odrbw << 4); // Set output data rate & bandwidh
writeRegister8(L3G4200D_REG_CTRL_REG1, reg1);
// Disable high pass filter
writeRegister8(L3G4200D_REG_CTRL_REG2, 0x00);
// Generata data ready interrupt on INT2
writeRegister8(L3G4200D_REG_CTRL_REG3, 0x08);
// Set full scale selection in continous mode
writeRegister8(L3G4200D_REG_CTRL_REG4, scale << 4);
switch(scale)
{
case L3G4200D_SCALE_250DPS:
dpsPerDigit = .00875f;
break;
case L3G4200D_SCALE_500DPS:
dpsPerDigit = .0175f;
break;
case L3G4200D_SCALE_2000DPS:
dpsPerDigit = .07f;
break;
default:
break;
}
// Boot in normal mode, disable FIFO, HPF disabled
writeRegister8(L3G4200D_REG_CTRL_REG5, 0x00);
return true;
}
bool HMC5883L::begin()
{
Wire.begin();
if ((fastRegister8(HMC5883L_REG_IDENT_A) != 0x48)
|| (fastRegister8(HMC5883L_REG_IDENT_B) != 0x34)
|| (fastRegister8(HMC5883L_REG_IDENT_C) != 0x33))
{
return false;
}
setRange(HMC5883L_RANGE_1_3GA);
setMeasurementMode(HMC5883L_CONTINOUS);
setDataRate(HMC5883L_DATARATE_15HZ);
setSamples(HMC5883L_SAMPLES_1);
mgPerDigit = 0.92f;
return true;
}
bool ADXL345::begin()
{
f.XAxis = 0;
f.YAxis = 0;
f.ZAxis = 0;
Wire.begin();
// Check ADXL345 REG DEVID
if (fastRegister8(ADXL345_REG_DEVID) != 0xE5)
{
return false;
}
// Enable measurement mode (0b00001000)
writeRegister8(ADXL345_REG_POWER_CTL, 0x08);
clearSettings();
return true;
}