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#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 = 0x37f;
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
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