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#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 ReadGyroscopeData
{
public:
int16_t x, y, z;
};
class Gyroscope
{
public:
int gyroscope_id;
Gyroscope(int gyroscope_id);
ReadGyroscopeData read();
void writeRegistry(uint8_t registry, uint8_t value);
static int initialize();
static int testRegistry(int gyroscope_id, uint8_t registry);
};
#endif
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