Modified comments

chrisdearman · Jun 27, 2013 · 829ab68 · 829ab68
1 parent 728fc5a
commit 829ab68
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Showing 2 changed files with 13 additions and 27 deletions.
diff --git a/Arduino/L3G4200D/L3G4200D.cpp b/Arduino/L3G4200D/L3G4200D.cpp
@@ -79,7 +79,7 @@ uint8_t L3G4200D::getDeviceID() {
 
 // CTRL_REG1 register, r/w
 
-/** Set the data output rate
+/** Set the output data rate
  * @param rate The new data output rate (can be 100, 200, 400, or 800)
  * @see L3G4200D_RA_CTRL_REG1
  * @see L3G4200D_ODR_BIT
@@ -89,7 +89,7 @@ uint8_t L3G4200D::getDeviceID() {
  * @see L3G4200D_RATE_400
  * @see L3G4200D_RATE_800
  */
-void L3G4200D::setDataOutputRate(uint16_t rate) {
+void L3G4200D::setOutputDataRate(uint16_t rate) {
 	uint8_t writeVal;
 
 	if (rate == 100) {
@@ -107,7 +107,7 @@ void L3G4200D::setDataOutputRate(uint16_t rate) {
 		L3G4200D_ODR_LENGTH, writeVal); 
 }
 
-/** Get the current data output rate
+/** Get the current output data rate
  * @return the current data output rate
  * @see L3G4200D_RA_CTRL_REG1
  * @see L3G4200D_ODR_BIT
@@ -117,7 +117,7 @@ void L3G4200D::setDataOutputRate(uint16_t rate) {
  * @see L3G4200D_RATE_400
  * @see L3G4200D_RATE_800
  */
-uint16_t L3G4200D::getDataOutputRate() {
+uint16_t L3G4200D::getOutputDataRate() {
 	// Get rate from device
 	uint8_t rate = I2Cdev::readBits(devAddr, L3G4200D_RA_CTRL_REG1,
 		L3G4200D_ODR_BIT, L3G4200D_ODR_LENGTH, buffer);
@@ -898,18 +898,20 @@ bool L3G4200D::getXDataAvailable() {
 // OUT_* registers, read-only
 
 /** Get the angular velocity for all 3 axes
+ * Due to the fact that this device support two difference Endian modes, both 
+ * must be accounted for when reading data. In Little Endian mode, the first 
+ * byte (lowest address) is the least significant and in Big Endian mode the 
+ * first byte is the most significant.
  * @param x the 16-bit integer container for the X-axis angular velocity
  * @param y the 16-bit integer container for the Y-axis angular velocity
  * @param z the 16-bit integer container for the Z-axis angular velocity
  */
 void L3G4200D::getAngularVelocity(int16_t* x, int16_t* y, int16_t* z) {
 	I2Cdev::readBytes(devAddr, L3G4200D_RA_OUT_X_L, 6, buffer);
-
-	// Endianness decides which byte is the most significant
 	if (getEndianMode() == L3G4200D_LITTLE_ENDIAN) {
 		*x = (((int16_t)buffer[1]) << 8) | buffer[0];
-		*y = (((int16_t)buffer[3]) << 8) | buffer[2];
-		*z = (((int16_t)buffer[5]) << 8) | buffer[4];
+    	*y = (((int16_t)buffer[3]) << 8) | buffer[2];
+    	*z = (((int16_t)buffer[5]) << 8) | buffer[4];
 	} else {
 		*x = (((int16_t)buffer[0]) << 8) | buffer[1];
 		*y = (((int16_t)buffer[2]) << 8) | buffer[3];
@@ -924,8 +926,6 @@ void L3G4200D::getAngularVelocity(int16_t* x, int16_t* y, int16_t* z) {
  */
 int16_t L3G4200D::getAngularVelocityX() {
 	I2Cdev::readBytes(devAddr, L3G4200D_RA_OUT_X_L, 2, buffer);
-
-	// Endianness decides which byte is the most significant
 	if (getEndianMode() == L3G4200D_LITTLE_ENDIAN) {
 		return (((int16_t)buffer[1]) << 8) | buffer[0];
 	} else {
@@ -940,8 +940,6 @@ int16_t L3G4200D::getAngularVelocityX() {
  */
 int16_t L3G4200D::getAngularVelocityY() {
 	I2Cdev::readBytes(devAddr, L3G4200D_RA_OUT_Y_L, 2, buffer);
-
-	// Endianness decides which byte is the most significant
 	if (getEndianMode() == L3G4200D_LITTLE_ENDIAN) {
 		return (((int16_t)buffer[1]) << 8) | buffer[0];
 	} else {
@@ -956,8 +954,6 @@ int16_t L3G4200D::getAngularVelocityY() {
  */
 int16_t L3G4200D::getAngularVelocityZ() {
 	I2Cdev::readBytes(devAddr, L3G4200D_RA_OUT_Z_L, 2, buffer);
-
-	// Endianness decides which byte is the most significant
 	if (getEndianMode() == L3G4200D_LITTLE_ENDIAN) {
 		return (((int16_t)buffer[1]) << 8) | buffer[0];
 	} else {

diff --git a/Arduino/L3G4200D/L3G4200D.h b/Arduino/L3G4200D/L3G4200D.h
@@ -211,8 +211,8 @@ class L3G4200D {
         uint8_t getDeviceID();
 
 		// CTRL_REG1 register, r/w
-		void setDataOutputRate(uint16_t rate);
-		uint16_t getDataOutputRate();
+		void setOutputDataRate(uint16_t rate);
+		uint16_t getOutputDataRate();
 		void setBandwidthCutOffMode(uint8_t mode);
 		uint8_t getBandwidthCutOffMode();
 		float getBandwidthCutOff();
@@ -331,27 +331,17 @@ class L3G4200D {
 		bool getXHigh();
 		bool getXLow();
 
-		// INT1_THS_XH register, r/w
+		// INT1_THS_* registers, r/w
 		void setXHighThreshold(uint8_t threshold);
 		uint8_t getXHighThreshold();
-
-		// INT1_THS_XL register, r/w
 		void setXLowThreshold(uint8_t threshold);
 		uint8_t getXLowThreshold();
-
-		// INT1_THS_YH register, r/w
 		void setYHighThreshold(uint8_t threshold);
 		uint8_t getYHighThreshold();
-
-		// INT1_THS_YL register, r/w
 		void setYLowThreshold(uint8_t threshold);
 		uint8_t getYLowThreshold();
-
-		// INT1_THS_ZH register, r/w
 		void setZHighThreshold(uint8_t threshold);
 		uint8_t getZHighThreshold();
-
-		// INT1_THS_ZL register, r/w
 		void setZLowThreshold(uint8_t threshold);
 		uint8_t getZLowThreshold();