| 12 | } |
| 13 | |
| 14 | bool HalTiltSensor::readReg(uint8_t reg, uint8_t* val) const { |
| 15 | Wire.beginTransmission(_i2cAddr); |
| 16 | Wire.write(reg); |
| 17 | if (Wire.endTransmission(false) != 0) { |
| 18 | return false; |
| 19 | } |
| 20 | Wire.requestFrom(_i2cAddr, (uint8_t)1); |
| 21 | if (Wire.available() < 1) { |
| 22 | return false; |
| 23 | } |
| 24 | *val = Wire.read(); |
| 25 | return true; |
| 26 | } |
| 27 | |
| 28 | bool HalTiltSensor::readGyro(float& gx, float& gy, float& gz) const { |
| 29 | Wire.beginTransmission(_i2cAddr); |