#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;

#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);

/** 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