#include <Wire.h>
#define CTRL_REG1 0x20
#define CTRL_REG2 0x21
#define CTRL_REG3 0x22
#define CTRL_REG4 0x23
#define CTRL_REG5 0x24
int L3G4200D_Address =
105;
//I2C address of the L3G4200D
int x;
int y;
int z;
void setup(){
Wire.begin();
Serial.begin(
9600);
Serial.println(
"starting up L3G4200D");
setupL3G4200D(
2000);
// Configure L3G4200 - 250, 500 or 2000 deg/sec
delay(
1500);
//wait for the sensor to be ready
}
void loop(){
getGyroValues();
// This will update x, y, and z with new values
Serial.print(
"X:");
Serial.print(x);
Serial.print(
" Y:");
Serial.print(y);
Serial.print(
" Z:");
Serial.println(z);
delay(
100);
//Just here to slow down the serial to make it more readable
}
void getGyroValues(){
byte xMSB = readRegister(L3G4200D_Address,
0x29);
byte xLSB = readRegister(L3G4200D_Address,
0x28);
x = ((xMSB <<
8) | xLSB);
byte yMSB = readRegister(L3G4200D_Address,
0x2B);
byte yLSB = readRegister(L3G4200D_Address,
0x2A);
y = ((yMSB <<
8) | yLSB);
byte zMSB = readRegister(L3G4200D_Address,
0x2D);
byte zLSB = readRegister(L3G4200D_Address,
0x2C);
z = ((zMSB <<
8) | zLSB);
}
int setupL3G4200D(
int scale){
//From Jim Lindblom of Sparkfun's code
// Enable x, y, z and turn off power down:
writeRegister(L3G4200D_Address, CTRL_REG1, 0b00001111);
// If you'd like to adjust/use the HPF, you can edit the line below to configure CTRL_REG2:
writeRegister(L3G4200D_Address, CTRL_REG2, 0b00000000);
// Configure CTRL_REG3 to generate data ready interrupt on INT2
// No interrupts used on INT1, if you'd like to configure INT1
// or INT2 otherwise, consult the datasheet:
writeRegister(L3G4200D_Address, CTRL_REG3, 0b00001000);
// CTRL_REG4 controls the full-scale range, among other things:
if(scale ==
250){
writeRegister(L3G4200D_Address, CTRL_REG4, 0b00000000);
}
else if(scale ==
500){
writeRegister(L3G4200D_Address, CTRL_REG4, 0b00010000);
}
else{
writeRegister(L3G4200D_Address, CTRL_REG4, 0b00110000);
}
// CTRL_REG5 controls high-pass filtering of outputs, use it
// if you'd like:
writeRegister(L3G4200D_Address, CTRL_REG5, 0b00000000);
}
void writeRegister(
int deviceAddress,
byte address,
byte val) {
Wire.beginTransmission(deviceAddress);
// start transmission to device
Wire.write(address);
// send register address
Wire.write(val);
// send value to write
Wire.endTransmission();
// end transmission
}
int readRegister(
int deviceAddress,
byte address){
int v;
Wire.beginTransmission(deviceAddress);
Wire.write(address);
// register to read
Wire.endTransmission();
Wire.requestFrom(deviceAddress,
1);
// read a byte
while(!Wire.available()) {
// waiting
}
v = Wire.read();
return v;
}
