MeGyro.h

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/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef MeGyro_H
#define MeGyro_H
 
/* Includes ------------------------------------------------------------------*/
#include <stdint.h>
#include <stdbool.h>
#include <Arduino.h>
#include "MeConfig.h"
#ifdef ME_PORT_DEFINED
#include "MePort.h"
#endif // ME_PORT_DEFINED
 
/* Exported macro ------------------------------------------------------------*/
#define I2C_ERROR                  (-1)
 
#define GYRO_DEFAULT_ADDRESS       (0x68)
 
#ifndef ME_PORT_DEFINED
class MeGyro
#else // !ME_PORT_DEFINED
class MeGyro : public MePort
#endif // !ME_PORT_DEFINED
{
public:
#ifdef ME_PORT_DEFINED
  MeGyro(void);
 
  MeGyro(uint8_t port);
 
  MeGyro(uint8_t port, uint8_t address);
#else
  MeGyro(uint8_t AD0, uint8_t INT);
 
  MeGyro(uint8_t AD0, uint8_t INT, uint8_t address);
#endif  //  ME_PORT_DEFINED
  void setpin(uint8_t AD0, uint8_t INT);
 
  void begin();
 
  void update(void);
 
  void fast_update(void);
 
  uint8_t getDevAddr(void) const;
 
  double getAngleX(void) const;
 
  double getAngleY(void) const;
 
  double getAngleZ(void) const;
 
  double getGyroX(void) const;
 
  double getGyroY(void) const;
 
  double getGyroZ(void) const;
 
  double getAngle(uint8_t index) const;
 
  void resetData(void);
 
private:
  volatile uint8_t  _AD0;
  volatile uint8_t  _INT;
  double  gSensitivity; /* for 500 deg/s, check data sheet */
  double  gx, gy, gz;
  double  gyrX, gyrY, gyrZ;
  int16_t accX, accY, accZ;
  double  gyrXoffs, gyrYoffs, gyrZoffs;
  uint8_t i2cData[14];
  uint8_t Device_Address;
  
  void deviceCalibration(void);
 
  int8_t writeReg(int16_t reg, uint8_t data);
 
  int8_t readData(uint8_t start, uint8_t *buffer, uint8_t size);
 
  int8_t writeData(uint8_t start, const uint8_t *pData, uint8_t size);
};
#endif //  MeGyro_H