1 #ifndef LIBPROPELLER_L3GD20_H_
2 #define LIBPROPELLER_L3GD20_H_
58 status_ = bus_->
Ping(device_address);
59 if (status_ ==
false) {
63 bus_->
Put(device_address, kCTRL_REG1, 0b11111111);
64 bus_->
Put(device_address, kCTRL_REG4, 0b00110000);
82 if (status_ ==
false) {
87 if (bus_->
Get(device_address, kOUT_X_L, data, 6) ==
false) {
91 x = ((data[0] | (data[1] << 8)) << 16) >> 16;
92 y = ((data[2] | (data[3] << 8)) << 16) >> 16;
93 z = ((data[4] | (data[5] << 8)) << 16) >> 16;
104 const static unsigned char kCTRL_REG1 = 0x20;
105 const static unsigned char kCTRL_REG4 = 0x23;
106 const static unsigned char kOUT_X_L = 0x28 | 0x80;
108 unsigned char device_address;
111 if (address ==
LSB_0) {
112 device_address = 0b11010100;
113 }
else if (address ==
LSB_1) {
114 device_address = 0b11010110;
120 #endif // LIBPROPELLER_L3GD20_H_