void f3d_gyro_init(void) {
uint8_t ctrl1 = 0x00;
uint8_t ctrl4 = 0x00;
f3d_gyro_interface_init();
// CTRL1 Register
// Bit 7:6 Data Rate: Datarate 0
// Bit 5:4 Bandwidth: Bandwidth 3
// Bit 3: Power Mode: Active
// Bit 2:0 Axes Enable: X,Y,Z enabled
ctrl1 |= (uint8_t) (((uint8_t)0x00) |\
((uint8_t)0x30) |\
((uint8_t)0x08) |\
((uint8_t)0x07));
// CTRL4 Register
// Bit 7 Block Update: Continuous */
// Bit 6 Endianess: LSB first */
// Bit 5:4 Full Scale: 500 dps */
ctrl4 |= (uint8_t) (((uint8_t)0x00) |\
((uint8_t)0x00) |\
((uint8_t)0x10));
f3d_gyro_write(&ctrl1, 0x20, 1);
f3d_gyro_write(&ctrl4, 0x23, 1);
}
//the init function to be called in your main.c
void f3d_gyro_init(void) {
//
//SETTING THE CONTROL REGISTERS
f3d_gyro_interface_init();
// CTRL1 Register
// Bit 7:6 Data Rate: Datarate 0
// Bit 5:4 Bandwidth: Bandwidth 3
// Bit 3: Power Mode: Active
// Bit 2:0 Axes Enable: X,Y,Z enabled
uint8_t ctrl1;
uint8_t ctrl4;
ctrl1 |= (uint8_t) (((uint8_t)0x00)|
((uint8_t)0x30)|
((uint8_t)0x08)|
((uint8_t)0x07));
// CTRL4 Register
// Bit 7 Block Update: Continuous */
// Bit 6 Endianess: LSB first */
// Bit 5:4 Full Scale: 500 dps */
ctrl4 |= (uint8_t) (((uint8_t)0x00)|
((uint8_t)0x00)|
((uint8_t)0x10));
f3d_gyro_write(&ctrl1, 0x20, 1);
f3d_gyro_write(&ctrl4, 0x23, 1);
GPIO_SetBits(GPIOE, GPIO_Pin_3);
}
/*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;
}
}
