#ifndef L3GD20_H
#define L3GD20_H

#include <math.h>

#include <gpio/pin.h>
#include <spi/spi.h>

class L3GD20 {
	private:
		Pin& cs;
		SPI_t& spi;
	
	public:
		float x, y, z;
		
		L3GD20(Pin& cs_pin, SPI_t& spi_bus) : cs(cs_pin), spi(spi_bus) {}
		
		void init() {
			spi.reg.CR1 = (1 << 9) | (1 << 8) | (1 << 6) | (3 << 3) | (1 << 2) | (1 << 1) | (1 << 0); // SSM, SSI, SPE, 84/16MHz, MSTR, CPOL, CPHA
			cs.off();
			spi.transfer_byte(0x40 | 0x20);
			spi.transfer_byte(0xff);
			cs.on();
		}
		
		void update() {
			int16_t raw_x, raw_y, raw_z;
			
			spi.reg.CR1 = 0x37f;
			cs.off();
			spi.transfer_byte(0xc0 | 0x28);
			raw_x  = spi.transfer_byte();
			raw_x |= spi.transfer_byte() << 8;
			raw_y  = spi.transfer_byte();
			raw_y |= spi.transfer_byte() << 8;
			raw_z  = spi.transfer_byte();
			raw_z |= spi.transfer_byte() << 8;
			cs.on();
			
			x = float(raw_x) * (2.0 * M_PI * 250.0 / 360.0 / 32768.0);
			y = float(raw_y) * (2.0 * M_PI * 250.0 / 360.0 / 32768.0);
			z = float(raw_z) * (2.0 * M_PI * 250.0 / 360.0 / 32768.0);
		}
};


#endif