L3G4200D_U.h

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#ifndef L3G4200D_U_H
#define L3G4200D_U_H

#if ARDUINO >= 100
#include "Arduino.h"
#include "Print.h"
#else
#include "WProgram.h"
#endif

#include <Adafruit_Sensor.h>
#include <SPI.h>

#define REG_WHO_AM_I (0x0F)

#define REG_CTRL_1 (0x20)

#define REG_CTRL_2 (0x21)

#define REG_CTRL_3 (0x22)

#define REG_CTRL_4 (0x23)

#define REG_CTRL_5 (0x24)

#define REG_OUT_X_L (0x28)

#define REG_OUT_X_H (0x29)

#define REG_OUT_Y_L (0x2a)

#define REG_OUT_Y_H (0x2b)

#define REG_OUT_Z_L (0x2c)

#define REG_OUT_Z_H (0x2d)

#define L3G4200D_CHIP_ID (0xd3)

// Bits 7:6 set the output data rate, and bits 5:4 set the "low-pass" filtering
// bandwidth.

#define CTRL1_RATE_100HZ_CUTOFF_12HZ5 (0b0000 << 4)

#define CTRL1_RATE_100HZ_CUTOFF_25HZ (0b0001 << 4)

#define CTRL1_RATE_200HZ_CUTOFF_12HZ5 (0b0100 << 4)

#define CTRL1_RATE_200HZ_CUTOFF_25HZ (0b0101 << 4)

#define CTRL1_RATE_200HZ_CUTOFF_50HZ (0b0110 << 4)

#define CTRL1_RATE_200HZ_CUTOFF_70HZ (0b0111 << 4)

#define CTRL1_RATE_400HZ_CUTOFF_20HZ (0b1000 << 4)

#define CTRL1_RATE_400HZ_CUTOFF_25HZ (0b1001 << 4)

#define CTRL1_RATE_400HZ_CUTOFF_50HZ (0b1010 << 4)

#define CTRL1_RATE_400HZ_CUTOFF_110HZ (0b1011 << 4)

#define CTRL1_RATE_800HZ_CUTOFF_30HZ (0b1100 << 4)

#define CTRL1_RATE_800HZ_CUTOFF_35HZ (0b1101 << 4)

#define CTRL1_RATE_800HZ_CUTOFF_50HZ (0b1110 << 4)

#define CTRL1_RATE_800HZ_CUTOFF_110HZ (0b1111 << 4)
 // End member group rate_filtering.

// Bit 3 sets the power mode for the chip as a whole.
// Bit 2 enables or disables the Z-axis.
// Bit 1 enables or disables the Y-axis.
// Bit 0 enables or disables the X-axis.

#define CTRL1_POWER_DOWN (0b0000 << 0)

#define CTRL1_SLEEP (0b1000 << 0)

#define CTRL1_X_ONLY (0b1001 << 0)

#define CTRL1_Y_ONLY (0b1010 << 0)

#define CTRL1_Z_ONLY (0b1100 << 0)

#define CTRL1_XY (0b1011 << 0)

#define CTRL1_YZ (0b1110 << 0)

#define CTRL1_XZ (0b1101 << 0)

#define CTRL1_XYZ (0b1111 << 0)
 // End member group power_axes. // End group CTRL1.

#define CTRL2_HIGH_PASS_DIV_12 (0b0000 << 0)

#define CTRL2_HIGH_PASS_DIV_25 (0b0001 << 0)

#define CTRL2_HIGH_PASS_DIV_50 (0b0010 << 0)

#define CTRL2_HIGH_PASS_DIV_100 (0b0011 << 0)

#define CTRL2_HIGH_PASS_DIV_200 (0b0100 << 0)

#define CTRL2_HIGH_PASS_DIV_500 (0b0101 << 0)

#define CTRL2_HIGH_PASS_DIV_1000 (0b0110 << 0)

#define CTRL2_HIGH_PASS_DIV_2000 (0b0111 << 0)

#define CTRL2_HIGH_PASS_DIV_5000 (0b1000 << 0)

#define CTRL2_HIGH_PASS_DIV_10000 (0b1001 << 0)
 // End member group high_pass_divisor // End group CTRL2

#define CTRL3_DRIVE_HIGH_AND_LOW (0b0 << 4)

#define CTRL3_USE_PULL_UP_FOR_HIGH (0b1 << 4)
 // End group CTRL3.

#define CTRL4_UPDATE_MSB_AND_LSB_TOGETHER (0b1 << 7)

#define CTRL4_LSB_AT_LOWER_ADDRESS (0b0 << 6)

#define CTRL4_MSB_AT_LOWER_ADDRESS (0b1 << 6)
 // End member group out_reg_config.

#define CTRL4_FULL_SCALE_250DPS (0b00 << 4)

#define CTRL4_FULL_SCALE_500DPS (0b01 << 4)

#define CTRL4_FULL_SCALE_2000DPS (0b10 << 4)
 // End member group gyro_range.
 // End group CTRL4.

#define CTRL5_NO_FILTERING ((0b00 << 0) | (0b0 << 4))

#define CTRL5_HIGH_PASS_FILTERING ((0b01 << 0) | (0b0 << 4))

#define CTRL5_LOW_PASS_FILTERING ((0b10 << 0) | (0b0 << 4))

#define CTRL5_BAND_PASS_FILTERING ((0b10 << 0) | (0b1 << 4))

// End group CTRL5.
// End group registers.
typedef struct rawGyroSample {
  int16_t x; 
  int16_t y; 
  int16_t z; 
} gyroSample_t;

typedef enum {
  GYRO_RANGE_4_DOT_36_RAD_PER_SEC = CTRL4_FULL_SCALE_250DPS,

  GYRO_RANGE_8_DOT_73_RAD_PER_SEC = CTRL4_FULL_SCALE_500DPS,

  GYRO_RANGE_34_DOT_91_RAD_PER_SEC = CTRL4_FULL_SCALE_2000DPS,
} gyroRange_t;

class L3G4200D_Unified : public Adafruit_Sensor {

public:
  L3G4200D_Unified(int32_t sensorId);

  // Default to the global default SPI connector, which is often brought out
  // and labeled as labeled SPI connectors on Arduino boards.
  bool begin(int spiChipSelect,
             gyroRange_t range = GYRO_RANGE_4_DOT_36_RAD_PER_SEC,
             SPIClass &spi = SPI, uint32_t spiFrequency = 5L * 1000L * 1000L);

  void enableAutoRange(bool enabled);

  void enableDebugLogging(bool enabled);

  bool getEvent(sensors_event_t *event);

  void getSensor(sensor_t *sensor);

  void setRange(gyroRange_t range);

  float rangeInRadians();

  uint8_t rawReadReg(uint8_t regAddress);

  void rawWriteReg(uint8_t regAddress, uint8_t newValue);

private:
  SPIClass *_spi;
  int _spiCS;
  int32_t _sensorId;
  bool _autoRangeEnabled;
  gyroRange_t _range;
  SPISettings _spiSettings;
  bool _debugLoggingEnabled;

  int16_t rawX();

  int16_t rawY();

  int16_t rawZ();

  rawGyroSample rawXYZ();

  void beginTransaction();

  void endTransaction();

  uint8_t spiReadReg(uint8_t regAddress);

  void spiWriteReg(uint8_t regAddress, uint8_t value);

  float sampleToRad(int16_t fullScaleSample);

  void debugLog(const char str[]);

  void debugLog(int val);

  void debugAppend(const char str[]);

  void debugAppend(int val);
};
 // End group sensor.

#endif