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#ifndef GYRO_L3G_H

#define	GYRO_L3G_H

// Device Types

#define L3G4200D_DEVICE 0

#define L3GD20_DEVICE   1

// SA0 States

#define L3G_SA0_LOW  0

#define L3G_SA0_HIGH 1

// Slave Addresses

#define L3G4200D_ADDRESS_SA0_LOW  (0xD0 >> 1)

#define L3G4200D_ADDRESS_SA0_HIGH (0xD2 >> 1)

#define L3GD20_ADDRESS_SA0_LOW    (0xD4 >> 1)

#define L3GD20_ADDRESS_SA0_HIGH   (0xD6 >> 1)

// Register Addresses

#define L3G_WHO_AM_I      0x0F

#define L3G_CTRL_REG1     0x20

#define L3G_CTRL_REG2     0x21

#define L3G_CTRL_REG3     0x22

#define L3G_CTRL_REG4     0x23

#define L3G_CTRL_REG5     0x24

#define L3G_REFERENCE     0x25

#define L3G_OUT_TEMP      0x26

#define L3G_STATUS_REG    0x27

#define L3G_OUT_X_L       0x28

#define L3G_OUT_X_H       0x29

#define L3G_OUT_Y_L       0x2A

#define L3G_OUT_Y_H       0x2B

#define L3G_OUT_Z_L       0x2C

#define L3G_OUT_Z_H       0x2D

#define L3G_FIFO_CTRL_REG 0x2E

#define L3G_FIFO_SRC_REG  0x2F

#define L3G_INT1_CFG      0x30

#define L3G_INT1_SRC      0x31

#define L3G_INT1_THS_XH   0x32

#define L3G_INT1_THS_XL   0x33

#define L3G_INT1_THS_YH   0x34

#define L3G_INT1_THS_YL   0x35

#define L3G_INT1_THS_ZH   0x36

#define L3G_INT1_THS_ZL   0x37

#define L3G_INT1_DURATION 0x38

typedef struct {

    char address;

} L3G_DATA;

void L3G_Init(L3G_DATA *data, char device, char sa0);

void L3G_Begin(void);

void L3G_Read(int *x, int *y, int *z);

#endif