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amiro-os / include / amiro / accel / lis331dlh.hpp @ 58fe0e0b

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#ifndef LIS331DLH_HPP_
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#define LIS331DLH_HPP_
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#include <ch.hpp>
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namespace amiro {
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  class HWSPIDriver;
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  class LIS331DLH : public chibios_rt::BaseStaticThread<256> {
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  public:
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  struct InterruptConfig {
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    uint8_t config;
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    uint8_t ths;
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    uint8_t duration;
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  } __attribute__((packed));
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  struct LIS331DLHConfig {
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    uint8_t         ctrl1;
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    uint8_t         ctrl2;
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    uint8_t         ctrl3;
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    uint8_t         ctrl4;
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    uint8_t         ctrl5;
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    InterruptConfig int1_cfg;
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    InterruptConfig int2_cfg;
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  };
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  enum {
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    AOI_OR_INT  = 0x00u,
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    AOI_6MOVE   = 0x40u,
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    AOI_AND_INT = 0x80u,
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    AOI_6POS    = 0xC0u,
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    ZHIE        = 0x20u,
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    ZLIE        = 0x10u,
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    YHIE        = 0x08u,
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    YLIE        = 0x04u,
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    XHIE        = 0x02u,
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    XLIE        = 0x01u,
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  };
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  enum {
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    IA          = 0x40u,
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    ZH          = 0x20u,
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    ZL          = 0x10u,
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    YH          = 0x08u,
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    YL          = 0x04u,
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    XH          = 0x02u,
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    XL          = 0x01u,
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  };
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  enum {
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    THS_MASK      = 0x7Fu,
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  };
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  enum {
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    DURATION_MASK = 0x7Fu,
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  };
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  enum {
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    PM_OFF          = 0x00u,
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    PM_ODR          = 0x20u,
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    PM_0_5_HZ       = 0x40u,
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    PM_1_HZ         = 0x60u,
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    PM_2_HZ         = 0x80u,
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    PM_5_HZ         = 0xA0u,
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    PM_10_HZ        = 0xC0u,
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    DR_50HZ_37LP    = 0x00u,
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    DR_100HZ_74LP   = 0x08u,
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    DR_400HZ_292LP  = 0x10u,
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    DR_1000HZ_780LP = 0x18u,
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    ZEN             = 0x04u,
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    YEN             = 0x02u,
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    XEN             = 0x01u,
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  };
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  enum {
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    BOOT_REBOOT  = 0x80u,
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    HPM_NORMAL0  = 0x00u,
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    HPM_REF      = 0x20u,
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    HPM_NORMAL1  = 0x40u,
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    FDS_FILTER   = 0x10u,
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    HPEN_INT2    = 0x08u,
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    HPEN_INT1    = 0x04u,
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    HPCF_8       = 0x00u,
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    HPCF_16      = 0x01u,
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    HPCF_32      = 0x02u,
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    HPCF_64      = 0x03u,
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  };
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  enum {
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    INT_HIGH     = 0x00u,
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    INT_LOW      = 0x80u,
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    PUSH_PULL    = 0x00u,
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    OPEN_DRAIN   = 0x40u,
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    LIR2_LATCH   = 0x20u,
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    I2_CFG_I2    = 0x00u,
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    I2_CFG_I1_I2 = 0x08u,
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    I2_CFG_DRY   = 0x10u,
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    I2_CFG_BOOT  = 0x18u,
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    LIR1_LATCH   = 0x04u,
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    I1_CFG_I1    = 0x00u,
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    I1_CFG_I1_I2 = 0x01u,
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    I1_CFG_DRY   = 0x02u,
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    I1_CFG_BOOT  = 0x03u,
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  };
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  enum {
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    BDU_CONT = 0x00u,
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    BDU_STOP = 0x80u,
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    BLE_LE   = 0x00u,
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    BLE_BE   = 0x40u,
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    FS_2G    = 0x00u,
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    FS_4G    = 0x10u,
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    FS_8G    = 0x30u,
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    STSIGN_POS = 0x00u,
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    STSIGN_NEG = 0x08u,
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    ST_DISABLE = 0x00u,
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    ST_ENABLE  = 0x02u,
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    SIM_4WI    = 0x00u,
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    SIM_3WI    = 0x01u,
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  };
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  enum {
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    SLEEP_TO_WAKE_OFF = 0x00u,
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    SLEEP_TO_WAKE_ON  = 0x03u,
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  };
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  /**
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   * Return types of getCheck()
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   */
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  enum {
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    CHECK_OK   = 0x00,
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    CHECK_FAIL = 0x01,
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  };
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  /**
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  * Top view of the AMiRo with charger in the back (F:Front, B:Back).
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  * Z is pointing into the ground (Apply right-hand-rule):
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  *    ___________
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  *   /    F      \
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  *  /     X       \
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  * |      |        |
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  * |      Z---Y    |
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  * |               |
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  *  \             /
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  *   \____B______/
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  */
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  enum {
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    AXIS_X   = 0x00u,
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    AXIS_Y   = 0x01u,
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    AXIS_Z   = 0x02u,
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  };
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  //private:
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  struct registers {
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    uint8_t  reserved_0x00_0x0E[0x0Fu];
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    uint8_t  who_am_i;
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    uint8_t  reserved_0x10_0x1F[0x10u];
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    uint8_t  ctrl_reg1;
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    uint8_t  ctrl_reg2;
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    uint8_t  ctrl_reg3;
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    uint8_t  ctrl_reg4;
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    uint8_t  ctrl_reg5;
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    uint8_t  hp_filter_reset;
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    uint8_t  reference;
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    uint8_t  status_reg;
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    uint16_t out_x; /* LE */
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    uint16_t out_y; /* LE */
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    uint16_t out_z; /* LE */
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    uint8_t  reserved_0x2E_0x2F[0x02u];
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    uint8_t  int1_cfg;
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    uint8_t  int1_src;
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    uint8_t  int1_ths;
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    uint8_t  int1_duration;
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    uint8_t  int2_cfg;
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    uint8_t  int2_src;
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    uint8_t  int2_ths;
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    uint8_t  int2_duration;
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    uint8_t  reserved_0x38_0x3F[0x08u];
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  } __attribute__((packed));
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  enum {
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    LIS331DLH_ID = 0x32u
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  };
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  enum {
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    ZYXOR = 0x80,
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    ZOR   = 0x40,
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    YOR   = 0x20,
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    XOR   = 0x10,
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    ZYXDA = 0x08,
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    ZDA   = 0x04,
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    YDA   = 0x02,
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    XDA   = 0x01,
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  };
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  enum {
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    SPI_MULT  = 0x40u,
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    SPI_READ  = 0x80u,
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    SPI_WRITE = 0x00u,
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  };
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  public:
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    LIS331DLH(HWSPIDriver* driver);
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    virtual ~LIS331DLH();
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    chibios_rt::EvtSource* getEventSource();
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    msg_t configure(LIS331DLHConfig* config);
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    /**
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    * Return the accelaration in LSB for the given axis.
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    *
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    * @param axis can be one of the axis [AXIS_X | AXIS_Y | AXIS_Z]
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    *
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    * @return Measured accelaration in in LSB for the given axis
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    */
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    int16_t getAcceleration(const uint8_t axis);
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    /**
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    * Return the accelaration in milli g for the given axis
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    *
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    * @param axis can be one of the axis [AXIS_X | AXIS_Y | AXIS_Z]
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    *
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    * @return Measured accelaration in in milli g for the given axis
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    */
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    int16_t getAccelerationForce(const uint8_t axis);
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    /**
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     * Check the presence of the accelerometer by reading
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     * the identifier register and comparing it to the standard
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     * value
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     *
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     * @return [CHECK_OK | CHECK_FAIL]
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     */
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    uint8_t getCheck();
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    /**
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     * Do the build in self-test of the device by applying
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     * an electrostatic force and measuring the amplitude.
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     * The result is then checked against the standard values
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     * of the manual
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     * TODO Check if it works correct
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     *
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     * @param config A working config as template (if NULL, predefined config is taken)
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     */
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    void printSelfTest(LIS331DLHConfig* config);
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  protected:
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    virtual msg_t main();
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  private:
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    inline void updateSensorData();
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  private:
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    HWSPIDriver* driver;
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    chibios_rt::EvtSource eventSource;
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    int16_t accelerations[AXIS_Z - AXIS_X + 1];
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    /**
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    * Stores the configuration [FS_2G | FS_4G | FS_8G] of
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    * the current setup
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    */
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    uint8_t currentFullScaleConfiguration;
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  };
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} /* amiro */
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#endif /* LIS331DLH_HPP_ */