File content as of revision 2:85214374e094:

#ifndef L3G4200D_h
#define L3G4200D_h

#include "mbed.h"
// register addresses

#define L3G4200D_WHO_AM_I      0x0F

#define L3G4200D_CTRL_REG1     0x20
#define L3G4200D_CTRL_REG2     0x21
#define L3G4200D_CTRL_REG3     0x22
#define L3G4200D_CTRL_REG4     0x23
#define L3G4200D_CTRL_REG5     0x24
#define L3G4200D_REFERENCE     0x25
#define L3G4200D_OUT_TEMP      0x26
#define L3G4200D_STATUS_REG    0x27

#define L3G4200D_OUT_X_L       0x28
#define L3G4200D_OUT_X_H       0x29
#define L3G4200D_OUT_Y_L       0x2A
#define L3G4200D_OUT_Y_H       0x2B
#define L3G4200D_OUT_Z_L       0x2C
#define L3G4200D_OUT_Z_H       0x2D

#define L3G4200D_FIFO_CTRL_REG 0x2E
#define L3G4200D_FIFO_SRC_REG  0x2F

#define L3G4200D_INT1_CFG      0x30
#define L3G4200D_INT1_SRC      0x31
#define L3G4200D_INT1_THS_XH   0x32
#define L3G4200D_INT1_THS_XL   0x33
#define L3G4200D_INT1_THS_YH   0x34
#define L3G4200D_INT1_THS_YL   0x35
#define L3G4200D_INT1_THS_ZH   0x36
#define L3G4200D_INT1_THS_ZL   0x37
#define L3G4200D_INT1_DURATION 0x38
#define GYR_ADDRESS ( 0xD2 >> 1 )

typedef unsigned char byte;

class L3G4200D {
public:
    typedef struct Plane {
        float x, y, z;
    } Plane;

    Plane g; // gyro angular velocity readings
    I2C i2c;
    L3G4200D(PinName, PinName);

    void writeReg(byte reg, byte value);
    char readReg(byte reg);

    void read(void);

    // vector functions
    static void vector_cross(const Plane *a, const Plane *b, Plane *out);
    static float vector_dot(const Plane *a,const Plane *b);
    static void vector_normalize(Plane *a);
};

#endif