Adafruit_FXAS21002C.h

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#ifndef __FXAS21002C_H__
#define __FXAS21002C_H__

#include <Adafruit_BusIO_Register.h>
#include <Adafruit_I2CDevice.h>
#include <Adafruit_Sensor.h>
#include <Arduino.h>
#include <Wire.h>

/*=========================================================================
    I2C ADDRESS/BITS AND SETTINGS
    -----------------------------------------------------------------------*/
// #define FXAS21002C_ADDRESS (0x21) // 0100001
#define FXAS21002C_ID (0xD7) // 1101 0111

#define GYRO_SENSITIVITY_250DPS (0.0078125F) // Table 35 of datasheet

#define GYRO_SENSITIVITY_500DPS (0.015625F)

#define GYRO_SENSITIVITY_1000DPS (0.03125F)

#define GYRO_SENSITIVITY_2000DPS (0.0625F)
/*=========================================================================*/

#define GYRO_ODR_800HZ (800.0f) 
#define GYRO_ODR_400HZ (400.0f) 
#define GYRO_ODR_200HZ (200.0f) 
#define GYRO_ODR_100HZ (100.0f) 
#define GYRO_ODR_50HZ (50.0f)   
#define GYRO_ODR_25HZ (25.0f)   
#define GYRO_ODR_12_5HZ (12.5f) 
/*=========================================================================
    REGISTERS
    -----------------------------------------------------------------------*/

typedef enum {
  GYRO_REGISTER_STATUS = 0x00,    
  GYRO_REGISTER_OUT_X_MSB = 0x01, 
  GYRO_REGISTER_OUT_X_LSB = 0x02, 
  GYRO_REGISTER_OUT_Y_MSB = 0x03, 
  GYRO_REGISTER_OUT_Y_LSB = 0x04, 
  GYRO_REGISTER_OUT_Z_MSB = 0x05, 
  GYRO_REGISTER_OUT_Z_LSB = 0x06, 
  GYRO_REGISTER_WHO_AM_I =
      0x0C, 
  GYRO_REGISTER_CTRL_REG0 =
      0x0D, 
  GYRO_REGISTER_CTRL_REG1 =
      0x13, 
  GYRO_REGISTER_CTRL_REG2 =
      0x14, 
} gyroRegisters_t;
/*=========================================================================*/

/*=========================================================================
    OPTIONAL SPEED SETTINGS
    -----------------------------------------------------------------------*/
typedef enum {
  GYRO_RANGE_250DPS = 250,   
  GYRO_RANGE_500DPS = 500,   
  GYRO_RANGE_1000DPS = 1000, 
  GYRO_RANGE_2000DPS = 2000  
} gyroRange_t;
/*=========================================================================*/

/*=========================================================================
    RAW GYROSCOPE DATA TYPE
    -----------------------------------------------------------------------*/
typedef struct gyroRawData_s {
  int16_t x; 
  int16_t y; 
  int16_t z; 
} gyroRawData_t;
/*=========================================================================*/

/**************************************************************************/
/**************************************************************************/
class Adafruit_FXAS21002C : public Adafruit_Sensor {
public:
  Adafruit_FXAS21002C(int32_t sensorID = -1);
  ~Adafruit_FXAS21002C();
  bool begin(uint8_t addr = 0x21, TwoWire *wire = &Wire);
  bool getEvent(sensors_event_t *event);
  void getSensor(sensor_t *sensor);
  void standby(boolean standby);

  void setRange(gyroRange_t range);
  void setODR(float ODR);
  gyroRange_t getRange();
  float getODR();
  gyroRawData_t raw; 

protected:
  Adafruit_I2CDevice *i2c_dev = NULL; 

private:
  bool initialize();
  gyroRange_t _range;
  float _ODR;
  int32_t _sensorID;
};

#endif