L3G.h

#ifndef _L3G_h
#define _L3G_h

#include "I2CBus.h"

#define L3G_WHO_AM_I      0x0F

#define L3G_CTRL_REG1     0x20
#define L3G_CTRL_REG2     0x21
#define L3G_CTRL_REG3     0x22
#define L3G_CTRL_REG4     0x23
#define L3G_CTRL_REG5     0x24
#define L3G_REFERENCE     0x25
#define L3G_OUT_TEMP      0x26
#define L3G_STATUS_REG    0x27

#define L3G_OUT_X_L       0x28
#define L3G_OUT_X_H       0x29
#define L3G_OUT_Y_L       0x2A
#define L3G_OUT_Y_H       0x2B
#define L3G_OUT_Z_L       0x2C
#define L3G_OUT_Z_H       0x2D

#define L3G_FIFO_CTRL_REG 0x2E
#define L3G_FIFO_SRC_REG  0x2F

#define L3G_INT1_CFG      0x30
#define L3G_INT1_SRC      0x31
#define L3G_INT1_THS_XH   0x32
#define L3G_INT1_THS_XL   0x33
#define L3G_INT1_THS_YH   0x34
#define L3G_INT1_THS_YL   0x35
#define L3G_INT1_THS_ZH   0x36
#define L3G_INT1_THS_ZL   0x37
#define L3G_INT1_DURATION 0x38
#define L3G_LOW_ODR       0x39

class L3G
{
public:
    L3G(const char * i2cDeviceName);

    // gyro angular velocity readings
    int g[3];

    void enable(void);

    void writeReg(uint8_t reg, uint8_t value);
    uint8_t readReg(uint8_t reg);
    void read();

private:
    void detectAddress();
    I2CBus i2c;
};

#endif