harden sensor acquisition after audit

2026-08-17 09:48:05 -04:00
parent f1ac20fb4f
commit b8fe233ba6
11 changed files with 376 additions and 50 deletions
@@ -20,15 +20,21 @@ typedef struct {
    int16_t z;
 } l3g4200d_sample_t;

+#define L3G4200D_STATUS_ZYXDA 0x08
+#define L3G4200D_STATUS_ZYXOR 0x80
+
 /** Detect, identify, and configure an L3G4200D for 100 Hz, 25 Hz BW, +/-500 dps. */
 esp_err_t l3g4200d_init(l3g4200d_t *sensor, i2c_master_bus_handle_t bus, uint32_t bus_speed_hz);

-/** Read one sensor-native, uncalibrated XYZ sample. */
-esp_err_t l3g4200d_read_raw(const l3g4200d_t *sensor, l3g4200d_sample_t *sample);
+/** Remove the sensor from its I2C bus. Safe to call on an uninitialized handle. */
+esp_err_t l3g4200d_deinit(l3g4200d_t *sensor);
+
+/** Read STATUS_REG followed by one sensor-native, uncalibrated XYZ sample. */
+esp_err_t l3g4200d_read_raw(const l3g4200d_t *sensor, l3g4200d_sample_t *sample,
+                            uint8_t *status);

 uint8_t l3g4200d_address(const l3g4200d_t *sensor);

 #ifdef __cplusplus
 }
 #endif
-