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Парни. Не могу понять как получить данные с этого гироскопа. Я не использую arduino библиотеки и пишу в AVRStudio. Проблема в том, что у меня не считываются данные. Не могу понять почему. Вот в этом примере все все работает. Не могу понять в чем разница. Помогите разобраться пожалуйста. 

I2C:

void I2C::init(){
	TWBR = (uint8_t)TWBR_val;
}

bool I2C::startTransmit(uint8_t address)
{
	// reset TWI control register
	TWCR = 0;
	// transmit START condition
	TWCR = (1<<TWINT) | (1<<TWSTA) | (1<<TWEN);
	// wait for end of transmission
	while( !(TWCR & (1<<TWINT)) );
	
	// check if the start condition was successfully transmitted
	if((TWSR & 0xF8) != TW_START){ return false; }
	
	// load slave address into data register
	TWDR = address;
	// start transmission of address
	TWCR = (1<<TWINT) | (1<<TWEN);
	// wait for end of transmission
	while( !(TWCR & (1<<TWINT)) );
	
	// check if the device has acknowledged the READ / WRITE mode
	uint8_t twst = TW_STATUS & 0xF8;
	if ( (twst != TW_MT_SLA_ACK) && (twst != TW_MR_SLA_ACK) ) return false;
	
	return true;
}

void I2C::startTransmitWait(uint8_t address)
{
	uint8_t   twst;

	while ( 1 )
	{
		// send START condition
		TWCR = (1<<TWINT) | (1<<TWSTA) | (1<<TWEN);
		
		// wait until transmission completed
		while(!(TWCR & (1<<TWINT)));
		
		// check value of TWI Status Register. Mask prescaler bits.
		twst = TW_STATUS & 0xF8;
		if ( (twst != TW_START) && (twst != TW_REP_START)) continue;
		
		// send device address
		TWDR = address;
		TWCR = (1<<TWINT) | (1<<TWEN);
		
		// wail until transmission completed
		while(!(TWCR & (1<<TWINT)));
		
		// check value of TWI Status Register. Mask prescaler bits.
		twst = TW_STATUS & 0xF8;
		if ( (twst == TW_MT_SLA_NACK )||(twst ==TW_MR_DATA_NACK) )
		{
			/* device busy, send stop condition to terminate write operation */
			TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWSTO);
			
			// wait until stop condition is executed and bus released
			while(TWCR & (1<<TWSTO));
			
			continue;
		}
		//if( twst != TW_MT_SLA_ACK) return 1;
		break;
	}

}/* i2c_start_wait */

void I2C::stopTransmit()
{
	 /* send stop condition */
	 TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWSTO);
	 // wait until stop condition is executed and bus released
	 while(TWCR & (1<<TWSTO));
}

bool I2C::write(uint8_t data)
{
	// load data into data register
	TWDR = data;
	// start transmission of data
	TWCR = (1<<TWINT) | (1<<TWEN);
	// wait for end of transmission
	while( !(TWCR & (1<<TWINT)) );
	
	if( (TWSR & 0xF8) != TW_MT_DATA_ACK ){ return false; }
	
	return true;
}

uint8_t I2C::readAck()
{
	// start TWI module and acknowledge data after reception
	TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWEA);
	// wait for end of transmission
	while( !(TWCR & (1<<TWINT)) );
	// return received data from TWDR
	return TWDR;
}

uint8_t I2C::readNAck()
{
	// start receiving without acknowledging reception
	TWCR = (1<<TWINT) | (1<<TWEN);
	// wait for end of transmission
	while( !(TWCR & (1<<TWINT)) );
	// return received data from TWDR
	return TWDR;
}

ITG32025:

#include "ITG3205.h"


void ITG3205::init(I2C *i2c, UART *uart){
	this->i2c=i2c;
	this->uart=uart;
	
	uart->writeLn("Init ITG3205");
	
	i2c->startTransmit(GYRO_ADDR);
	i2c->write(G_PWR_MGM);
	i2c->write(0x00);
	i2c->stopTransmit();
	
	i2c->startTransmit(GYRO_ADDR);
	i2c->write(G_SMPLRT_DIV);
	i2c->write(0x07);
	i2c->stopTransmit();
	
	i2c->startTransmit(GYRO_ADDR);
	i2c->write(G_DLPF_FS);
	i2c->write(0x1E);
	i2c->stopTransmit();
	
	i2c->startTransmit(GYRO_ADDR);
	i2c->write(G_INT_CFG);
	i2c->write(0x00);
	i2c->stopTransmit();
}

void ITG3205::getXdata(uint8_t *lowByte, uint8_t *hightByte){
	
	//========Получение младшего байта X====
	i2c->startTransmit(GYRO_ADDR);
	i2c->write(GYRO_XOUT_L);
	i2c->stopTransmit();
	
	i2c->startTransmit(GYRO_ADDR);
	*lowByte = i2c->readAck();
	i2c->stopTransmit();
	//======================================
	
	//========Получение старшего байта X====
	i2c->startTransmit(GYRO_ADDR);
	i2c->write(GYRO_XOUT_H);
	i2c->stopTransmit();
	
	i2c->startTransmit(GYRO_ADDR);
	*hightByte = i2c->readAck();
	i2c->stopTransmit();
	//======================================
}

Где-то в коде:

uint8_t xLow;
uint8_t xHight;
		
itg3205.getXdata(&xLow,&xHight);
		
dtostrf(xLow, 3, 5, itmp); uart.write(itmp);  uart.write(' ');
dtostrf(xHight, 3, 5, itmp);  uart.write(itmp);  uart.write(' ');
		
uart.write("\r\n");
		
_delay_ms(50);

Результат: