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Working with L3GD20

Question asked by du_toit.brandon on Oct 5, 2016
Latest reply on Nov 18, 2016 by Marian L@ST
I want to use my STM32F429 Discovery's on board L3GD20 to measure an angle from the horizontal, so I only need one axis. I am able to read the acceleration data but I am unsure about a few things:

1. What do I do with the sensitivity factor? I have it set to 500dps.
2. The datasheet says the value is given in 2's compliment, so do I have to reverse 2's compliment it to get sensible data? My high byte is always FF or FE?
3. How do I get an angle from the acceleration data? I've seen people say you need to  add all the angles together measured in a specific time, a discrete approximation to integration over time?

Thank you