/*#############################################################

Program Name    : ex1_F429ZI_L3GD20
Author          : Grant Phillips
Date Modified   : 18/09/2016
Compiler        : ARMmbed
Tested On       : STM32F429ZI-Discovery

Description     : Example program that demonstrates the use of
                  the L3GD20 3-axis digital gyroscope on the
                  STM32F429ZI-Discovery.

Requirements    : * STM32F429ZI-Discovery Board
              
Circuit         : * NONE

##############################################################*/

#include "mbed.h"
#include "LCD_DISCO_F429ZI.h"
#include "GYRO_DISCO_F429ZI.h"

LCD_DISCO_F429ZI lcd;       //Create a LCD_DISCO_F429ZI object
GYRO_DISCO_F429ZI gyro;     //Create a GYRO_DISCO_F429ZI object to access the L3GD20 gyroscope

DigitalOut led1(PG_13);  

int main()
{
    float GyroBuffer[3];    //array to store the results for X, Y and Z from the gyro
    char buf[20];           //temporary string variable
    
    lcd.SetFont(&Font16);
    lcd.DisplayStringAtLine(1, (uint8_t *) "Gyroscope started");
  
    while(1) {
        // Read Gyroscope values
        gyro.GetXYZ(GyroBuffer);     
                       
        // Display values
        sprintf(buf, "X = %14.3f", GyroBuffer[0]);     
        lcd.DisplayStringAtLine(2,(uint8_t *) buf); 
        
        sprintf(buf, "Y = %14.3f", GyroBuffer[1]);
        lcd.DisplayStringAtLine(3,(uint8_t *) buf);
        
        sprintf(buf, "Z = %14.3f", GyroBuffer[2]);
        lcd.DisplayStringAtLine(4,(uint8_t *) buf);

        led1 = !led1;       //toggle led to show program is running
        wait(0.1);          //delay before reading next gyro values
    }
}