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raise Program_Error;
end if;
for K in 1 .. Count loop
This.Port.Receive (Tmp_Data, Status);
if Status /= Ok then
raise Program_Error;
end if;
Buffer (Index) := Tmp_Data (Tmp_Data'First);
Index := Index + 1;
end loop;
SPI_Mode (This, Enabled => False);
end Read_UInt8s;
---------------
-- Configure --
---------------
procedure Configure
(This : in out Three_Axis_Gyroscope;
Power_Mode : Power_Mode_Selection;
Output_Data_Rate : Output_Data_Rate_Selection;
Axes_Enable : Axes_Selection;
Bandwidth : Bandwidth_Selection;
BlockData_Update : Block_Data_Update_Selection;
Endianness : Endian_Data_Selection;
Full_Scale : Full_Scale_Selection)
is
Ctrl1 : UInt8;
Ctrl4 : UInt8;
begin
Ctrl1 := As_UInt8 (Power_Mode) or
As_UInt8 (Output_Data_Rate) or
As_UInt8 (Axes_Enable) or
As_UInt8 (Bandwidth);
Ctrl4 := As_UInt8 (BlockData_Update) or
As_UInt8 (Endianness) or
As_UInt8 (Full_Scale);
Write (This, CTRL_REG1, Ctrl1);
Write (This, CTRL_REG4, Ctrl4);
end Configure;
-----------
-- Sleep --
-----------
procedure Sleep (This : in out Three_Axis_Gyroscope) is
Ctrl1 : UInt8;
Sleep_Mode : constant := 2#1000#; -- per the Datasheet, Table 22, pg 32
begin
Read (This, CTRL_REG1, Ctrl1);
Ctrl1 := Ctrl1 or Sleep_Mode;
Write (This, CTRL_REG1, Ctrl1);
end Sleep;
--------------------------------
-- Configure_High_Pass_Filter --
--------------------------------
procedure Configure_High_Pass_Filter
(This : in out Three_Axis_Gyroscope;
Mode_Selection : High_Pass_Filter_Mode;
Cutoff_Frequency : High_Pass_Cutoff_Frequency)
is
Ctrl2 : UInt8;
begin
-- note that the two high-order bits must remain zero, per the datasheet
Ctrl2 := As_UInt8 (Mode_Selection) or As_UInt8 (Cutoff_Frequency);
Write (This, CTRL_REG2, Ctrl2);
end Configure_High_Pass_Filter;
-----------------------------
-- Enable_High_Pass_Filter --
-----------------------------
procedure Enable_High_Pass_Filter (This : in out Three_Axis_Gyroscope) is
Ctrl5 : UInt8;
begin
Read (This, CTRL_REG5, Ctrl5);
-- set HPen bit
Ctrl5 := Ctrl5 or HighPass_Filter_Enable;
Write (This, CTRL_REG5, Ctrl5);
end Enable_High_Pass_Filter;
------------------------------
-- Disable_High_Pass_Filter --
------------------------------
procedure Disable_High_Pass_Filter (This : in out Three_Axis_Gyroscope) is
Ctrl5 : UInt8;
begin
Read (This, CTRL_REG5, Ctrl5);
-- clear HPen bit
Ctrl5 := Ctrl5 and (not HighPass_Filter_Enable);
Write (This, CTRL_REG5, Ctrl5);
end Disable_High_Pass_Filter;