a3g4250d.h

 
#ifndef _A3G4250D_H
#define _A3G4250D_H
 
#include "stm32f439xx.h"
#include "string.h"
 
#include "devices.h"
#include "spi.h"
 
#define A3G4250D_SENSITIVITY           (0.00875f)
#define A3G4250D_CTRL_REG1             0x20
#define A3G4250D_CTRL_REG1_ODR_800Hz   0xC0
#define A3G4250D_CTRL_REG1_PD_ENABLE   0x08
#define A3G4250D_CTRL_REG1_AXIS_ENABLE 0x07
#define A3G4250D_OUT_X_L               0x28
#define A3G4250D_OUT_X_H               0x29
#define A3G4250D_OUT_Y_L               0x2A
#define A3G4250D_OUT_Y_H               0x2B
#define A3G4250D_OUT_Z_L               0x2C
#define A3G4250D_OUT_Z_H               0x2D
 
#define A3G4250D_DATA_SIZE             2 // Two bytes per axis
#define A3G4250D_DATA_COUNT            3 // Three axes - X Y Z
#define A3G4250D_DATA_TOTAL            (A3G4250D_DATA_COUNT * A3G4250D_DATA_SIZE)


typedef struct A3G4250D {
  SPI base;                                                       
  float sensitivity;                                              
  void (*update)(struct A3G4250D *);                              
  void (*readGyro)(struct A3G4250D *, float *);                   
  void (*readRawBytes)(struct A3G4250D *, uint8_t *);             
  void (*processRawBytes)(struct A3G4250D *, uint8_t *, float *); 
  uint8_t axes[A3G4250D_DATA_COUNT];                              
  int8_t sign[A3G4250D_DATA_COUNT];                               
  uint8_t rawGyroData[A3G4250D_DATA_TOTAL];                       
  float gyroData[A3G4250D_DATA_COUNT];                            
} A3G4250D;
 
DeviceHandle_t A3G4250D_init(A3G4250D *, char[DEVICE_NAME_LENGTH], GPIO_TypeDef *, unsigned long, const float, const uint8_t *, const int8_t *);
void A3G4250D_update(A3G4250D *);
void A3G4250D_readGyro(A3G4250D *, float *);
void A3G4250D_readRawBytes(A3G4250D *, uint8_t *);
void A3G4250D_processRawBytes(A3G4250D *, uint8_t *, float *);
 
uint8_t A3G4250D_readRegister(A3G4250D *, uint8_t);
void A3G4250D_writeRegister(A3G4250D *, uint8_t, uint8_t);

#endif