Revision 4:155c44407af5, committed 2012-09-12

Comitter:

gltest26

Date:

Wed Sep 12 15:23:29 2012 +0000

Parent:

3:eea9733ca427

Child:

5:0a0315f0f34e

Commit message:

Collected common codes into a function getWord() to reduce duplicate codes.

Changed in this revision

--- a/ITG3200.cpp	Wed Sep 12 14:37:34 2012 +0000
+++ b/ITG3200.cpp	Wed Sep 12 15:23:29 2012 +0000
@@ -1,4 +1,5 @@
 /**
+ * @file ITG3200.cpp
  * @author Aaron Berk
  *
  * @section LICENSE
@@ -195,9 +196,9 @@
     
 }
 
-int ITG3200::getRawTemperature(void){
+int ITG3200::getWord(int regi){
 
-    char tx = TEMP_OUT_H_REG;
+    char tx = regi;
     char rx[2];
     
     i2c_.write(I2C_ADDRESS, &tx, 1);
@@ -220,51 +221,6 @@
     
 }
 
-int ITG3200::getGyroX(void){
-
-    char tx = GYRO_XOUT_H_REG;
-    char rx[2];
-    
-    i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
-    
-    i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, rx, 2);
-    
-    int16_t output = ((int) rx[0] << 8) | ((int) rx[1]);
-
-    return output;
-
-}
-
-int ITG3200::getGyroY(void){
-
-    char tx = GYRO_YOUT_H_REG;
-    char rx[2];
-    
-    i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
-    
-    i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, rx, 2);
-    
-    int16_t output = ((int) rx[0] << 8) | ((int) rx[1]);
-
-    return output;
-
-}
-
-int ITG3200::getGyroZ(void){
-
-    char tx = GYRO_ZOUT_H_REG;
-    char rx[2];
-    
-    i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
-    
-    i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, rx, 2);
-    
-    int16_t output = ((int) rx[0] << 8) | ((int) rx[1]);
-
-    return output;
-    
-}
-
 void ITG3200::getRawGyroXYZ(int readings[3]){
 
     char tx = GYRO_XOUT_H_REG;

--- a/ITG3200.h	Wed Sep 12 14:37:34 2012 +0000
+++ b/ITG3200.h	Wed Sep 12 15:23:29 2012 +0000
@@ -242,7 +242,7 @@
      *
      * @return The temperature in raw 16bit integer.
      */
-    int getRawTemperature(void);
+    int getRawTemperature(void){ return getWord(TEMP_OUT_H_REG); }
 
     /**
      * Get the temperature of the device.
@@ -258,7 +258,7 @@
      *
      * @return The output on the x-axis in raw ADC counts.
      */
-    int getGyroX(void);
+    int getGyroX(void){ return getWord(GYRO_XOUT_H_REG); }
 
     /**
      * Get the output for the y-axis gyroscope.
@@ -267,7 +267,7 @@
      *
      * @return The output on the y-axis in raw ADC counts.
      */
-    int getGyroY(void);
+    int getGyroY(void){ return getWord(GYRO_YOUT_H_REG); }
 
     /**
      * Get the output on the z-axis gyroscope.
@@ -276,7 +276,7 @@
      * 
      * @return The output on the z-axis in raw ADC counts.
      */
-    int getGyroZ(void);
+    int getGyroZ(void){ return getWord(GYRO_ZOUT_H_REG); }
 
     /**
      * Burst read the outputs on the x,y,z-axis gyroscope.
@@ -393,6 +393,19 @@
     void calibrate(double time);
 
 protected:
+
+    /**
+     * Reads a word (2 bytes) from the sensor via I2C bus.
+     *
+     * The queried value is assumed big-endian, 2's complement value.
+     *
+     * This protected function is added because we shouldn't write getGyroX(), getGyroY() and getGyroZ()
+     * independently, but collect common codes.
+     *
+     * @param regi Register address to be read.
+     */
+    int getWord(int regi);
+
     /**
      * An internal method to acquire gyro sensor readings before calibration correction.
      *