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#ifndef L3GD20_H
#define L3GD20_H
#include <gpio/pin.h>
#include <spi/spi.h>
class L3GD20 {
private:
Pin& cs;
SPI_t& spi;
public:
int16_t 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.reg.DR = 0x40 | 0x20; while(!(spi.reg.SR & 0x01)); (void)spi.reg.DR;
spi.reg.DR = 0x0f; while(!(spi.reg.SR & 0x01)); (void)spi.reg.DR;
cs.on();
}
void update() {
spi.reg.CR1 = 0x37f;
cs.off();
spi.reg.DR = 0xc0 | 0x28; while(!(spi.reg.SR & 0x01)); (void)spi.reg.DR;
spi.reg.DR = 0; while(!(spi.reg.SR & 0x01)); x = spi.reg.DR;
spi.reg.DR = 0; while(!(spi.reg.SR & 0x01)); x |= spi.reg.DR << 8;
spi.reg.DR = 0; while(!(spi.reg.SR & 0x01)); y = spi.reg.DR;
spi.reg.DR = 0; while(!(spi.reg.SR & 0x01)); y |= spi.reg.DR << 8;
spi.reg.DR = 0; while(!(spi.reg.SR & 0x01)); z = spi.reg.DR;
spi.reg.DR = 0; while(!(spi.reg.SR & 0x01)); z |= spi.reg.DR << 8;
cs.on();
}
};
#endif
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