amiro-lld / drivers / L3G4200D / v1 / alld_L3G4200D.h @ 72369edc
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| 1 | d6728c5b | Thomas Schöpping | /*
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| 2 | AMiRo-LLD is a compilation of low-level hardware drivers for the Autonomous Mini Robot (AMiRo) platform.
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| 3 | f125ae07 | Thomas Schöpping | Copyright (C) 2016..2019 Thomas Schöpping et al.
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| 4 | d6728c5b | Thomas Schöpping | |
| 5 | This program is free software: you can redistribute it and/or modify
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| 6 | f0ca400f | Thomas Schöpping | it under the terms of the GNU Lesser General Public License as published by
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| 7 | d6728c5b | Thomas Schöpping | the Free Software Foundation, either version 3 of the License, or
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| 8 | (at your option) any later version.
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| 9 | |||
| 10 | This program is distributed in the hope that it will be useful,
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| 11 | but WITHOUT ANY WARRANTY; without even the implied warranty of
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| 12 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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| 13 | f0ca400f | Thomas Schöpping | GNU Lesser General Public License for more details.
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| 14 | d6728c5b | Thomas Schöpping | |
| 15 | f0ca400f | Thomas Schöpping | You should have received a copy of the GNU Lesser General Public License
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| 16 | d6728c5b | Thomas Schöpping | along with this program. If not, see <http://www.gnu.org/licenses/>.
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| 17 | */
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| 18 | |||
| 19 | 5e2f673b | Marc Rothmann | /**
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| 20 | 9466e34d | Thomas Schöpping | * @file alld_L3G4200D.h
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| 21 | 5e2f673b | Marc Rothmann | * @brief Gyroscope macros and structures.
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| 22 | *
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| 23 | * @addtogroup lld_gyroscope
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| 24 | * @{
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| 25 | */
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| 26 | |||
| 27 | 9466e34d | Thomas Schöpping | #ifndef AMIROLLD_L3G4200D_H
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| 28 | #define AMIROLLD_L3G4200D_H
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| 29 | d6728c5b | Thomas Schöpping | |
| 30 | #include <amiro-lld.h> |
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| 31 | |||
| 32 | ef078306 | Thomas Schöpping | /******************************************************************************/
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| 33 | /* CONSTANTS */
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| 34 | /******************************************************************************/
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| 35 | |||
| 36 | d6728c5b | Thomas Schöpping | /**
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| 37 | * @brief A rising edge indicates an interrupt.
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| 38 | */
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| 39 | #define L3G4200D_LLD_INT_EDGE APAL_GPIO_EDGE_RISING
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| 40 | |||
| 41 | ef078306 | Thomas Schöpping | /******************************************************************************/
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| 42 | /* SETTINGS */
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| 43 | /******************************************************************************/
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| 44 | |||
| 45 | /******************************************************************************/
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| 46 | /* CHECKS */
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| 47 | /******************************************************************************/
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| 48 | |||
| 49 | /******************************************************************************/
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| 50 | /* DATA STRUCTURES AND TYPES */
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| 51 | /******************************************************************************/
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| 52 | |||
| 53 | d6728c5b | Thomas Schöpping | /**
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| 54 | * @brief The L3G4200D driver struct
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| 55 | */
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| 56 | typedef struct { |
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| 57 | apalSPIDriver_t* spid; /**< @brief The SPI Driver */
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| 58 | } L3G4200DDriver; |
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| 59 | |||
| 60 | /**
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| 61 | * @brief SPI access modes.
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| 62 | */
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| 63 | typedef enum { |
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| 64 | L3G4200D_LLD_SPI_MULT = 0x40u,
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| 65 | L3G4200D_LLD_SPI_READ = 0x80u,
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| 66 | L3G4200D_LLD_SPI_WRITE = 0x00u,
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| 67 | } l3g4200d_lld_SPI_mode_t; |
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| 68 | |||
| 69 | /**
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| 70 | * @brief Registers.
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| 71 | */
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| 72 | typedef enum { |
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| 73 | L3G4200D_LLD_REGISTER_WHO_AM_I = 0x0F,
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| 74 | L3G4200D_LLD_REGISTER_CTRL_REG1 = 0x20,
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| 75 | L3G4200D_LLD_REGISTER_CTRL_REG2 = 0x21,
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| 76 | L3G4200D_LLD_REGISTER_CTRL_REG3 = 0x22,
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| 77 | L3G4200D_LLD_REGISTER_CTRL_REG4 = 0x23,
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| 78 | L3G4200D_LLD_REGISTER_CTRL_REG5 = 0x24,
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| 79 | L3G4200D_LLD_REGISTER_REFERECE = 0x25,
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| 80 | L3G4200D_LLD_REGISTER_OUT_TEMP = 0x26,
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| 81 | L3G4200D_LLD_REGISTER_STATUS_REG = 0x27,
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| 82 | L3G4200D_LLD_REGISTER_OUT_X_L = 0x28,
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| 83 | L3G4200D_LLD_REGISTER_OUT_X_H = 0x29,
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| 84 | L3G4200D_LLD_REGISTER_OUT_Y_L = 0x2A,
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| 85 | L3G4200D_LLD_REGISTER_OUT_Y_H = 0x2B,
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| 86 | L3G4200D_LLD_REGISTER_OUT_Z_L = 0x2C,
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| 87 | L3G4200D_LLD_REGISTER_OUT_Z_H = 0x2D,
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| 88 | L3G4200D_LLD_REGISTER_FIFO_CTRL_REG = 0x2E,
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| 89 | L3G4200D_LLD_REGISTER_FIFO_SRC_REG = 0x2F,
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| 90 | L3G4200D_LLD_REGISTER_INT1_CFG = 0x30,
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| 91 | L3G4200D_LLD_REGISTER_INT1_SRC = 0x31,
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| 92 | L3G4200D_LLD_REGISTER_INT1_TSH_XH = 0x32,
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| 93 | L3G4200D_LLD_REGISTER_INT1_TSH_XL = 0x33,
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| 94 | L3G4200D_LLD_REGISTER_INT1_TSH_YH = 0x34,
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| 95 | L3G4200D_LLD_REGISTER_INT1_TSH_YL = 0x35,
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| 96 | L3G4200D_LLD_REGISTER_INT1_TSH_ZH = 0x36,
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| 97 | L3G4200D_LLD_REGISTER_INT1_TSH_ZL = 0x37,
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| 98 | L3G4200D_LLD_REGISTER_INT1_DURATION = 0x38,
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| 99 | } l3g4200d_lld_register_t; |
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| 100 | |||
| 101 | /**
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| 102 | * @brief WHO_AM_I register constant content.
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| 103 | */
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| 104 | typedef enum { |
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| 105 | L3G4200D_LLD_WHO_AM_I = 0xD3,
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| 106 | } l3g4200d_lld_whoami_t; |
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| 107 | |||
| 108 | /**
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| 109 | * @brief Control register 1 flags.
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| 110 | */
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| 111 | typedef enum { |
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| 112 | L3G4200D_LLD_DR_100_HZ = 0x00,
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| 113 | L3G4200D_LLD_DR_200_HZ = 0x40,
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| 114 | L3G4200D_LLD_DR_400_HZ = 0x80,
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| 115 | L3G4200D_LLD_DR_800_HZ = 0xC0,
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| 116 | L3G4200D_LLD_BW_12_5 = 0x00,
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| 117 | L3G4200D_LLD_BW_20 = 0x00,
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| 118 | L3G4200D_LLD_BW_25 = 0x10,
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| 119 | L3G4200D_LLD_BW_30 = 0x00,
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| 120 | L3G4200D_LLD_BW_35 = 0x10,
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| 121 | L3G4200D_LLD_BW_50 = 0x20,
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| 122 | L3G4200D_LLD_BW_70 = 0x30,
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| 123 | L3G4200D_LLD_BW_110 = 0x30,
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| 124 | L3G4200D_LLD_PD = 0x08,
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| 125 | L3G4200D_LLD_ZEN = 0x04,
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| 126 | L3G4200D_LLD_YEN = 0x02,
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| 127 | L3G4200D_LLD_XEN = 0x01,
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| 128 | } l3g4200d_lld_ctrl_reg1_t; |
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| 129 | |||
| 130 | /**
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| 131 | * @brief Control register 2 flags.
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| 132 | */
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| 133 | typedef enum { |
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| 134 | L3G4200D_LLD_HPM_NORMAL_RST = 0x00,
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| 135 | L3G4200D_LLD_HPM_REFERENCE = 0x10,
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| 136 | L3G4200D_LLD_HPM_NORMAL = 0x20,
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| 137 | L3G4200D_LLD_HPM_AUTO_RST = 0x30,
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| 138 | L3G4200D_LLD_HPCF_2 = 0x00,
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| 139 | L3G4200D_LLD_HPCF_4 = 0x01,
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| 140 | L3G4200D_LLD_HPCF_8 = 0x02,
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| 141 | L3G4200D_LLD_HPCF_16 = 0x03,
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| 142 | L3G4200D_LLD_HPCF_32 = 0x04,
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| 143 | L3G4200D_LLD_HPCF_64 = 0x05,
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| 144 | L3G4200D_LLD_HPCF_128 = 0x06,
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| 145 | L3G4200D_LLD_HPCF_256 = 0x07,
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| 146 | L3G4200D_LLD_HPCF_512 = 0x08,
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| 147 | L3G4200D_LLD_HPCF_1024 = 0x09,
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| 148 | } l3g4200d_lld_ctrl_reg2_t; |
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| 149 | |||
| 150 | /**
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| 151 | * @brief Control register 3 flags.
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| 152 | */
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| 153 | typedef enum { |
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| 154 | L3G4200D_LLD_I1_INT1 = 0x80,
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| 155 | L3G4200D_LLD_I1_BOOT = 0x40,
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| 156 | L3G4200D_LLD_H_IACTIVE = 0x20,
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| 157 | L3G4200D_LLD_PP_OD = 0x10,
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| 158 | L3G4200D_LLD_I2_DRDY = 0x08,
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| 159 | L3G4200D_LLD_I2_WTM = 0x04,
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| 160 | L3G4200D_LLD_I2_ORUN = 0x02,
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| 161 | L3G4200D_LLD_I2_EMPTY = 0x01,
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| 162 | } l3g4200d_lld_ctrl_reg3_t; |
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| 163 | |||
| 164 | /**
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| 165 | * @brief Control register 4 flags.
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| 166 | */
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| 167 | typedef enum { |
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| 168 | L3G4200D_LLD_BDU_CONT = 0x00,
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| 169 | L3G4200D_LLD_BDU_SINGLE = 0x80,
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| 170 | L3G4200D_LLD_BLE_MSB = 0x40,
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| 171 | L3G4200D_LLD_BLE_LSB = 0x00,
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| 172 | L3G4200D_LLD_FS_250_DPS = 0x00,
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| 173 | L3G4200D_LLD_FS_500_DPS = 0x10,
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| 174 | L3G4200D_LLD_FS_2000_DPS = 0x20,
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| 175 | L3G4200D_LLD_ST_SIGN_M = 0x04,
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| 176 | L3G4200D_LLD_ST_SIGN_P = 0x00,
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| 177 | L3G4200D_LLD_ST_EN = 0x02,
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| 178 | L3G4200D_LLD_SIM_3W = 0x01,
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| 179 | L3G4200D_LLD_SIM_4W = 0x00,
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| 180 | } l3g4200d_lld_ctrl_reg4_t; |
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| 181 | |||
| 182 | /**
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| 183 | * @brief Control register 5 flags.
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| 184 | */
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| 185 | typedef enum { |
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| 186 | L3G4200D_LLD_BOOT = 0x80,
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| 187 | L3G4200D_LLD_FIFO_EN = 0x40,
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| 188 | L3G4200D_LLD_HP_EN = 0x10,
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| 189 | L3G4200D_LLD_INT1_SEL_NOHP = 0x00,
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| 190 | L3G4200D_LLD_INT1_SEL_HP = 0x04,
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| 191 | L3G4200D_LLD_INT1_SEL_LP = 0x08,
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| 192 | L3G4200D_LLD_OUT_SEL_NOHP = 0x00,
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| 193 | L3G4200D_LLD_OUT_SEL_HP = 0x01,
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| 194 | L3G4200D_LLD_OUT_SEL_LP = 0x02,
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| 195 | } l3g4200d_lld_ctrl_reg5_t; |
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| 196 | |||
| 197 | /**
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| 198 | * @brief Status register flags.
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| 199 | */
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| 200 | typedef enum { |
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| 201 | L3G4200D_LLD_ZYXOR = 0x80,
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| 202 | L3G4200D_LLD_ZOR = 0x40,
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| 203 | L3G4200D_LLD_YOR = 0x20,
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| 204 | L3G4200D_LLD_XOR = 0x10,
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| 205 | L3G4200D_LLD_ZYXDA = 0x08,
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| 206 | L3G4200D_LLD_ZDA = 0x04,
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| 207 | L3G4200D_LLD_YDA = 0x02,
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| 208 | L3G4200D_LLD_XDA = 0x01,
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| 209 | } l3g4200d_lld_status_reg_t; |
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| 210 | |||
| 211 | /**
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| 212 | * @brief Fifo control register masks.
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| 213 | */
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| 214 | typedef enum { |
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| 215 | L3G4200D_LLD_FM_BYPASS = 0x00,
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| 216 | L3G4200D_LLD_FM_FMMODE = 0x20,
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| 217 | L3G4200D_LLD_FM_STREAM = 0x40,
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| 218 | L3G4200D_LLD_FM_STREAM2FIFO = 0x60,
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| 219 | L3G4200D_LLD_FM_BYPASS2STREAM = 0x80,
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| 220 | L3G4200D_LLD_WTM_MASK = 0x1F,
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| 221 | } l3g4200d_lld_fifo_ctrl_reg_t; |
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| 222 | |||
| 223 | /**
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| 224 | * @brief FIFO source register masks.
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| 225 | */
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| 226 | typedef enum { |
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| 227 | L3G4200D_LLD_WTM = 0x80,
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| 228 | L3G4200D_LLD_OVRN = 0x40,
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| 229 | L3G4200D_LLD_EMPTY = 0x20,
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| 230 | L3G4200D_LLD_FSS_MASK = 0x1F,
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| 231 | } l3g4200d_lld_fifo_src_reg_t; |
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| 232 | |||
| 233 | /**
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| 234 | * @brief Interrupt 1 config register flags.
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| 235 | */
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| 236 | typedef enum { |
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| 237 | L3G4200D_LLD_ANDOR = 0x80,
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| 238 | L3G4200D_LLD_LIR = 0x40,
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| 239 | L3G4200D_LLD_ZHIE = 0x20,
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| 240 | L3G4200D_LLD_ZLIE = 0x10,
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| 241 | L3G4200D_LLD_YHIE = 0x08,
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| 242 | L3G4200D_LLD_YLIE = 0x04,
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| 243 | L3G4200D_LLD_XHIE = 0x02,
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| 244 | L3G4200D_LLD_XLIE = 0x01,
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| 245 | } l3g4200d_lld_int1_cfg_reg_t; |
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| 246 | |||
| 247 | /**
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| 248 | * @brief Interrupt 1 source register flags.
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| 249 | */
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| 250 | typedef enum { |
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| 251 | L3G4200D_LLD_IA = 0x40,
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| 252 | L3G4200D_LLD_ZH = 0x20,
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| 253 | L3G4200D_LLD_ZL = 0x10,
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| 254 | L3G4200D_LLD_YH = 0x08,
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| 255 | L3G4200D_LLD_YL = 0x04,
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| 256 | L3G4200D_LLD_XH = 0x02,
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| 257 | L3G4200D_LLD_XL = 0x01,
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| 258 | } l3g4200d_lld_int1_src_t; |
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| 259 | |||
| 260 | /**
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| 261 | * @brief Threshold mask.
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| 262 | */
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| 263 | enum {
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| 264 | L3G4200D_LLD_THS_L_MASK = 0x7F
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| 265 | }; |
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| 266 | |||
| 267 | /**
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| 268 | * @brief Interrupt duration register masks.
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| 269 | */
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| 270 | typedef enum { |
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| 271 | L3G4200D_LLD_INT1_WAIT = 0x80,
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| 272 | L3G4200D_LLD_INT1_DURATION_MASK = 0x7F,
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| 273 | } l3g4200d_lld_int1_duration_reg_t; |
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| 274 | |||
| 275 | /**
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| 276 | * @brief Axis enum.
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| 277 | */
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| 278 | typedef enum { |
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| 279 | L3G4200D_LLD_X_AXIS = 0x00,
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| 280 | L3G4200D_LLD_Y_AXIS = 0x01,
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| 281 | L3G4200D_LLD_Z_AXIS = 0x02,
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| 282 | } l3g4200d_lld_axis_t; |
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| 283 | |||
| 284 | /**
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| 285 | * @brief Config register struct.
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| 286 | */
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| 287 | typedef union { |
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| 288 | uint8_t data[5];
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| 289 | struct {
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| 290 | uint8_t ctrl_reg1; |
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| 291 | uint8_t ctrl_reg2; |
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| 292 | uint8_t ctrl_reg3; |
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| 293 | uint8_t ctrl_reg4; |
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| 294 | uint8_t ctrl_reg5; |
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| 295 | } registers; |
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| 296 | } l3g4200d_lld_cfg_t; |
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| 297 | |||
| 298 | /**
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| 299 | * @brief Interrupt config struct.
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| 300 | */
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| 301 | typedef union { |
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| 302 | uint8_t data[9];
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| 303 | struct {
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| 304 | uint8_t int1_cfg; |
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| 305 | uint8_t int1_src; |
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| 306 | uint8_t int1_tsh_xh; |
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| 307 | uint8_t int1_tsh_xl; |
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| 308 | uint8_t int1_tsh_yh; |
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| 309 | uint8_t int1_tsh_yl; |
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| 310 | uint8_t int1_tsh_zh; |
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| 311 | uint8_t int1_tsh_zl; |
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| 312 | uint8_t int1_duration; |
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| 313 | } registers; |
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| 314 | } l3g4200d_lld_int_cfg_t; |
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| 315 | |||
| 316 | ef078306 | Thomas Schöpping | /******************************************************************************/
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| 317 | /* MACROS */
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| 318 | /******************************************************************************/
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| 319 | |||
| 320 | /******************************************************************************/
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| 321 | /* EXTERN DECLARATIONS */
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| 322 | /******************************************************************************/
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| 323 | |||
| 324 | d6728c5b | Thomas Schöpping | #ifdef __cplusplus
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| 325 | extern "C" { |
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| 326 | #endif
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| 327 | apalExitStatus_t l3g4200d_lld_read_register(const L3G4200DDriver* const l3gd, const l3g4200d_lld_register_t regaddr, uint8_t* const data, const uint8_t length); |
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| 328 | apalExitStatus_t l3g4200d_lld_write_register(const L3G4200DDriver* const l3gd, const l3g4200d_lld_register_t regaddr, const uint8_t* const data, const uint8_t length); |
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| 329 | apalExitStatus_t l3g4200d_lld_read_all_data(const L3G4200DDriver* const l3gd, int16_t* const data, const l3g4200d_lld_cfg_t* const cfg); |
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| 330 | apalExitStatus_t l3g4200d_lld_read_data(const L3G4200DDriver* const l3gd, int16_t* const data, const l3g4200d_lld_axis_t axis, const l3g4200d_lld_cfg_t* const cfg); |
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| 331 | apalExitStatus_t l3g4200d_lld_read_config(const L3G4200DDriver* const l3gd, l3g4200d_lld_cfg_t* const cfg); |
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| 332 | apalExitStatus_t l3g4200d_lld_write_config(const L3G4200DDriver* const l3gd, const l3g4200d_lld_cfg_t cfg); |
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| 333 | apalExitStatus_t l3g4200d_lld_read_int_config(const L3G4200DDriver* const l3gd, l3g4200d_lld_int_cfg_t* const cfg); |
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| 334 | apalExitStatus_t l3g4200d_lld_write_int_config(const L3G4200DDriver* const l3gd, const l3g4200d_lld_int_cfg_t cfg); |
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| 335 | apalExitStatus_t l3g4200d_lld_read_int_src(const L3G4200DDriver* const l3gd, uint8_t* const cfg); |
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| 336 | apalExitStatus_t l3g4200d_lld_read_status_register(const L3G4200DDriver* const l3gd, uint8_t* const status); |
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| 337 | apalExitStatus_t l3g4200d_lld_read_fifo_ctrl_register(const L3G4200DDriver* const l3gd, uint8_t* const fifo); |
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| 338 | apalExitStatus_t l3g4200d_lld_write_fifo_ctrl_register(const L3G4200DDriver* const l3gd, const uint8_t fifo); |
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| 339 | apalExitStatus_t l3g4200d_lld_read_fifo_src_register(const L3G4200DDriver* const l3gdd, uint8_t* const fifo); |
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| 340 | #ifdef __cplusplus
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| 341 | } |
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| 342 | #endif
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| 343 | |||
| 344 | ef078306 | Thomas Schöpping | /******************************************************************************/
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| 345 | /* INLINE FUNCTIONS */
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| 346 | /******************************************************************************/
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| 347 | |||
| 348 | 9466e34d | Thomas Schöpping | #endif /* AMIROLLD_L3G4200D_H */ |
| 349 | 5e2f673b | Marc Rothmann | |
| 350 | /** @} */
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