Merge branch 'master' of github.com:adafruit/Adafruit_L3GD20

Adafruit_L3GD20.cpp

@@ -114,6 +114,9 @@ bool Adafruit_L3GD20::begin(l3gd20Range_t rng, byte addr)
   /* Adjust resolution if requested */
   switch(range)
   {
+    case L3DS20_RANGE_250DPS:
+      write8(L3GD20_REGISTER_CTRL_REG4, 0x00);
+      break;
     case L3DS20_RANGE_500DPS:
       write8(L3GD20_REGISTER_CTRL_REG4, 0x10);
       break;
@@ -182,6 +185,26 @@ void Adafruit_L3GD20::read()
   data.x = (xlo | (xhi << 8));
   data.y = (ylo | (yhi << 8));
   data.z = (zlo | (zhi << 8));
+
+  // Compensate values depending on the resolution
+  switch(range)
+  {
+    case L3DS20_RANGE_250DPS:
+      data.x *= L3GD20_SENSITIVITY_250DPS;
+      data.y *= L3GD20_SENSITIVITY_250DPS;
+      data.z *= L3GD20_SENSITIVITY_250DPS;
+      break;
+    case L3DS20_RANGE_500DPS:
+      data.x *= L3GD20_SENSITIVITY_500DPS;
+      data.y *= L3GD20_SENSITIVITY_500DPS;
+      data.z *= L3GD20_SENSITIVITY_500DPS;
+      break;
+    case L3DS20_RANGE_2000DPS:
+      data.x *= L3GD20_SENSITIVITY_2000DPS;
+      data.y *= L3GD20_SENSITIVITY_2000DPS;
+      data.z *= L3GD20_SENSITIVITY_2000DPS;
+      break;
+  }
 }
 
 /***************************************************************************

Adafruit_L3GD20.h

@@ -24,11 +24,16 @@
 #endif
 #include "Wire.h"
 
-#define L3GD20_ADDRESS                (0x6B)        // 1101001
+#define L3GD20_ADDRESS                (0x6B)        // 1101011
 #define L3GD20_POLL_TIMEOUT           (100)         // Maximum number of read attempts
 #define L3GD20_ID                     0xD4
 #define L3GD20H_ID                    0xD7
 
+#define L3GD20_SENSITIVITY_250DPS  (0.00875F)      // Roughly 22/256 for fixed point match
+#define L3GD20_SENSITIVITY_500DPS  (0.0175F)       // Roughly 45/256
+#define L3GD20_SENSITIVITY_2000DPS (0.070F)        // Roughly 18/256
+#define L3GD20_DPS_TO_RADS         (0.017453293F)  // degress/s to rad/s multiplier
+
 class Adafruit_L3GD20
 {
   public:

examples/Adafruit_L3GD20_test/Adafruit_L3GD20_test.ino

@@ -18,14 +18,20 @@
 #include <Wire.h> 
 #include <Adafruit_L3GD20.h>
 
-// By default, uses I2C
-//Adafruit_L3GD20 gyro;
-// Alternately, you can use SPI, but you have to define the pins
-#define GYRO_CS 4 // labeled CS
-#define GYRO_DO 5 // labeled SA0
-#define GYRO_DI 6  // labeled SDA
-#define GYRO_CLK 7 // labeled SCL
-Adafruit_L3GD20 gyro(GYRO_CS, GYRO_DO, GYRO_DI, GYRO_CLK);
+// Comment this next line to use SPI
+//#define USE_I2C
+
+#ifdef USE_I2C
+  // The default constructor uses I2C
+  Adafruit_L3GD20 gyro;
+#else
+  // To use SPI, you have to define the pins
+  #define GYRO_CS 4 // labeled CS
+  #define GYRO_DO 5 // labeled SA0
+  #define GYRO_DI 6  // labeled SDA
+  #define GYRO_CLK 7 // labeled SCL
+  Adafruit_L3GD20 gyro(GYRO_CS, GYRO_DO, GYRO_DI, GYRO_CLK);
+#endif
 
 void setup() 
 {
@@ -48,4 +54,4 @@ void loop()
   Serial.print("Y: "); Serial.print((int)gyro.data.y);   Serial.print(" ");
   Serial.print("Z: "); Serial.println((int)gyro.data.z); Serial.print(" ");
   delay(100);
-}
+}