#ifndef LSM303DLM_H
#define LSM303DLM_H

#include <i2c/i2c.h>

class LSM303DLM_A {
	private:
		I2C& i2c;
	
	public:
		int16_t x, y, z;
		
		LSM303DLM_A(I2C& i2c_bus) : i2c(i2c_bus) {}
		
		void init() {
			i2c.write_reg(0x19, 0x20, 0x27); // Normal mode, 50 Hz.
		}
		
		void update() {
			uint8_t buf[6];
			i2c.read_reg(0x19, 0xa8, 6, buf);
			
			x = (buf[1] << 8 | buf[0]) - 0;
			y = (buf[3] << 8 | buf[2]) - 0;
			z = (buf[5] << 8 | buf[4]) - 0;
		}
};

class LSM303DLM_M {
	private:
		I2C& i2c;
	
	public:
		int16_t x, y, z;
		
		LSM303DLM_M(I2C& i2c_bus) : i2c(i2c_bus) {}
		
		void init() {
			i2c.write_reg(0x1e, 0x02, 0x00); // Continous operation mode.
		}
		
		void update() {
			uint8_t buf[6];
			i2c.read_reg(0x1e, 0x03, 6, buf);
			
			x = (buf[0] << 8 | buf[1]) - 0;
			y = (buf[2] << 8 | buf[3]) - 0;
			z = (buf[4] << 8 | buf[5]) - 0;
		}
};

#endif