l3g.h

#pragma once

#include "i2c_bus.h"

namespace l3g
{
  enum device_type
  {
    L3G4200D = 0xD3,
    L3GD20 = 0xD4,
    L3GD20H = 0xD7,
  };

  enum i2c_addr
  {
    L3GD20_SA0_LOW_ADDR = 0x6B,
    L3GD20_SA0_HIGH_ADDR = 0x6A,
    L3G4200D_SA0_LOW_ADDR = 0x68,
    L3G4200D_SA0_HIGH_ADDR = 0x69,
  };

  // For now, we use the old register names instead of the new ones that the
  // L3GD20H has.
  enum reg_addr
  {
    WHO_AM_I = 0x0F,
    CTRL_REG1 = 0x20,
    CTRL_REG2 = 0x21,
    CTRL_REG3 = 0x22,
    CTRL_REG4 = 0x23,
    CTRL_REG5 = 0x24,
    REFERENCE = 0x25,
    OUT_TEMP = 0x26,
    STATUS_REG = 0x27,
    OUT_X_L = 0x28,
    OUT_X_H = 0x29,
    OUT_Y_L = 0x2A,
    OUT_Y_H = 0x2B,
    OUT_Z_L = 0x2C,
    OUT_Z_H = 0x2D,
    FIFO_CTRL_REG = 0x2E,
    FIFO_SRC_REG = 0x2F,
    INT1_CFG = 0x30,
    INT1_SRC = 0x31,
    INT1_THS_XH = 0x32,
    INT1_THS_XL = 0x33,
    INT1_THS_YH = 0x34,
    INT1_THS_YL = 0x35,
    INT1_THS_ZH = 0x36,
    INT1_THS_ZL = 0x37,
    INT1_DURATION = 0x38,
    LOW_ODR = 0x39,
  };

  struct comm_config {
    bool use_sensor = false;
    device_type device;
    std::string i2c_bus_name;
    i2c_addr i2c_address;
  };

  class handle
  {
  public:
    void open(const comm_config &);

    // gyro angular velocity readings
    int32_t g[3];

    void enable();

    void write_reg(uint8_t reg, uint8_t value);
    uint8_t read_reg(uint8_t reg);
    void read();

  protected:
    i2c_bus i2c;
    comm_config config;
  };
};