blob: b57eafa65cf771d83e0fc9e7537ef39f67ceed88 (
plain)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
|
#ifndef GYROSCOPE_H
#define GYROSCOPE_H
namespace Addresses
{
const int ID_HIGH = 0b1101011;
const int ID_LOW = 0b1101010;
const int WHO_ID = 0xD7;
}
namespace RegisterAddresses
{
const int WHO_AM_I = 0x0F;
const int LOW_ODR = 0x39;
const int CTRL4 = 0x23;
const int CTRL1 = 0x20;
const int OUT_X_L = 0x28;
}
class Gyroscope
{
public:
void setup(int id);
void readCoordinates(int16_t *x, int16_t *y, int16_t *z);
void writeRegistry(int8_t registry, int8_t value);
static int initialize();
static int testRegistry(int gyroscope_id, int8_t registry);
private:
int _gyroscope_id;
int16_t _read_next_coordinate();
};
#endif
|
