problem in reading l3gd20 gyro sensor

[rajesh1987]

hi

code wrote for gyro sensor shows -1 -1 -1 in lcd, it is not changing when i change my sensor. my code is

#Include <18f4550.h>
#fuses NOWDT,HS
//#fuses HS,MCLR,NOWDT,NOPROTECT,NOLVP,USBDIV,PLL5,CPUDIV1,VREGEN
#use delay(clock=4000000)
#use i2c(Master,sda=PIN_B0,scl=PIN_B1)
#define LCD_ENABLE_PIN PIN_C2
#define LCD_RS_PIN PIN_C0
#define LCD_RW_PIN PIN_C1
#define DATA_PORT  PORTD
#include<lcd.c>

#define gyro_ADD_R 0b11010011                                         //11010111
#define gyro_ADD_W 0b11010010                                 //11010110 

// SA0 states

#define L3G_SA0_LOW  0
#define L3G_SA0_HIGH 1
#define L3G_SA0_AUTO 2

// register addresses

#define L3G_WHO_AM_I      0x0F

#define L3G_CTRL_REG1     0x20
#define L3G_CTRL_REG2     0x21
#define L3G_CTRL_REG3     0x22
#define L3G_CTRL_REG4     0x23
#define L3G_CTRL_REG5     0x24
#define L3G_REFERENCE     0x25
#define L3G_OUT_TEMP      0x26
#define L3G_STATUS_REG    0x27

#define L3G_OUT_X_L       0x28
#define L3G_OUT_X_H       0x29
#define L3G_OUT_Y_L       0x2A
#define L3G_OUT_Y_H       0x2B
#define L3G_OUT_Z_L       0x2C
#define L3G_OUT_Z_H       0x2D

#define L3G_FIFO_CTRL_REG 0x2E
#define L3G_FIFO_SRC_REG  0x2F

#define L3G_INT1_CFG      0x30
#define L3G_INT1_SRC      0x31
#define L3G_INT1_THS_XH   0x32
#define L3G_INT1_THS_XL   0x33
#define L3G_INT1_THS_YH   0x34
#define L3G_INT1_THS_YL   0x35
#define L3G_INT1_THS_ZH   0x36
#define L3G_INT1_THS_ZL   0x37
#define L3G_INT1_DURATION 0x38


int16 x=0;
int8 xM=0,xL=0;
int8 yM=0,yL=0;
int8 zM=0,zL=0;
void writeRegister(int8 reg,int8 value)
 { 	
	
    i2c_start();  
    
    i2c_write(gyro_ADD_W);
  
    i2c_write(reg); 
     
    i2c_write(value);
	       
    i2c_stop();

    //delay_ms(50);
   
 }

void init_gyro()
{    
	
	writeRegister(L3G_CTRL_REG1,0b00001111);
   
   	writeRegister(L3G_CTRL_REG2,0b00001000);

   	writeRegister(L3G_CTRL_REG3,0b00001000);

    writeRegister(L3G_CTRL_REG4,0b00110000);        //10110000

    writeRegister(L3G_CTRL_REG5,0b00000000);
}


void main()
{
 
	set_tris_d(0x00);
	set_tris_c(0x00);                      //FE
   	setup_adc_ports(NO_ANALOGS);
   	setup_adc(ADC_CLOCK_DIV_2);
   	setup_psp(PSP_DISABLED);
   	setup_timer_0(RTCC_INTERNAL|RTCC_DIV_1);
   	setup_timer_1(T1_DISABLED);
   	setup_timer_2(T2_DISABLED,0,1);
   	setup_comparator(NC_NC_NC_NC);
   	setup_vref(FALSE);
   	setup_spi(SPI_SS_DISABLED);
   	enable_interrupts(INT_SSP);
   	enable_interrupts(GLOBAL);
   	//lcd_init(); 
   
  
   	init_gyro();
   	lcd_init();
    printf(lcd_putc, "\f");
   	lcd_gotoxy(1,1);
   	printf(lcd_putc," L3GD20");   // l3g4200d
   	delay_ms(500);
   
   
while(1)
{
    i2c_start();
    i2c_write(0b11010010  );             
    i2c_write(L3G_OUT_x_H);
    i2c_start();
    i2c_write(0b11010011 );           
    xL=i2c_read();         
    xM=i2c_read(0);
    i2c_stop();
   
    i2c_start();
    i2c_write(0b11010010  );             
    i2c_write(L3G_OUT_y_H);
    i2c_start();
    i2c_write(0b11010011 );           
    yL=i2c_read();         
    yM=i2c_read(0);
    i2c_stop();
   
    i2c_start();
    i2c_write(0b11010010  );             
    i2c_write(L3G_OUT_z_H);
    i2c_start();
    i2c_write(0b11010011);           
    zL=i2c_read();         
    zM=i2c_read(0);
    i2c_stop();
    x=x+1;
   
  //  if (x=1)
   // {

   
    x=make16(xM,xL);   
    printf(lcd_putc"\f");
    //lcd_gotoxy(1,1);
    //printf(lcd_putc,"\%Ld ",x); //x=%Ld
    lcd_gotoxy(0, 2);
    printf(lcd_putc,"\%d  \%d  \%d",xm,ym,zm);
    lcd_gotoxy(5, 2);       
    printf(lcd_putc,"\%d  \%d  \%d",xl,yl,zl);
    delay_ms(500);
    x=0;
    xM=0,xL=0;
    yM=0,yL=0;
    zM=0,zL=0;
  //  }
   
}

                             
 }

kindly help to overcome this. the sensor which i got is pololu mimIMU-9v2, from which im trying to read gyro sensor.


regards