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end if;
end SPI_Mode;
-----------
-- Write --
-----------
procedure Write (This : Three_Axis_Gyroscope; Addr : Register; Data : UInt8)
is
Status : SPI_Status;
begin
SPI_Mode (This, Enabled => True);
This.Port.Transmit (SPI_Data_8b'(1 => UInt8 (Addr)), Status);
if Status /= Ok then
raise Program_Error;
end if;
This.Port.Transmit (SPI_Data_8b'(1 => Data), Status);
if Status /= Ok then
raise Program_Error;
end if;
SPI_Mode (This, Enabled => False);
end Write;
----------
-- Read --
----------
procedure Read
(This : Three_Axis_Gyroscope;
Addr : Register;
Data : out UInt8)
is
Status : SPI_Status;
Tmp_Data : SPI_Data_8b (1 .. 1);
begin
SPI_Mode (This, Enabled => True);
This.Port.Transmit (SPI_Data_8b'(1 => UInt8 (Addr) or ReadWrite_CMD),
Status);
if Status /= Ok then
raise Program_Error;
end if;
This.Port.Receive (Tmp_Data, Status);
if Status /= Ok then
raise Program_Error;
end if;
Data := Tmp_Data (Tmp_Data'First);
SPI_Mode (This, Enabled => False);
end Read;
----------------
-- Read_UInt8s --
----------------
procedure Read_UInt8s
(This : Three_Axis_Gyroscope;
Addr : Register;
Buffer : out SPI_Data_8b;
Count : Natural)
is
Index : Natural := Buffer'First;
Status : SPI_Status;
Tmp_Data : SPI_Data_8b (1 .. 1);
begin
SPI_Mode (This, Enabled => True);
This.Port.Transmit
(SPI_Data_8b'(1 => UInt8 (Addr) or ReadWrite_CMD or MultiUInt8_CMD),
Status);
if Status /= Ok then
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;