checkpoint: working sensor acquisition and axis validation

2026-08-17 09:38:18 -04:00
commit f1ac20fb4f
16 changed files with 721 additions and 0 deletions
@@ -0,0 +1,34 @@
+#pragma once
+
+#include <stdint.h>
+
+#include "driver/i2c_master.h"
+#include "esp_err.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+typedef struct {
+    i2c_master_dev_handle_t device;
+    uint8_t address;
+} l3g4200d_t;
+
+typedef struct {
+    int16_t x;
+    int16_t y;
+    int16_t z;
+} l3g4200d_sample_t;
+
+/** 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);
+
+uint8_t l3g4200d_address(const l3g4200d_t *sensor);
+
+#ifdef __cplusplus
+}
+#endif
+