94 lines
2.5 KiB
C
94 lines
2.5 KiB
C
#ifndef __L3GD20_H_
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#define __L3DG20_H_
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#define GYRO_FLAG_READ 0x80
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#define GYRO_FLAG_WRITE 0x00
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#define GYRO_FLAG_SEQ 0x40
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#define GYRO_FLAG_NOSEQ 0x00
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#define GYRO_REG_WHO_AM_I 0x0F
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#define GYRO_REG_CTRL_REG1 0x20
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#define GYRO_REG_CTRL_REG2 0x21
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#define GYRO_REG_CTRL_REG3 0x22
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#define GYRO_REG_CTRL_REG4 0x23
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#define GYRO_REG_CTRL_REG5 0x24
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#define GYRO_REG_REF_DATACAP 0x25
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#define GYRO_REG_OUT_TEMP 0x26
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#define GYRO_REG_STATUS 0x27
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#define GYRO_REG_OUT_X_L 0x28
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#define GYRO_REG_OUT_X_H 0x29
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#define GYRO_REG_OUT_Y_L 0x2A
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#define GYRO_REG_OUT_Y_H 0x2B
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#define GYRO_REG_OUT_Z_L 0x2C
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#define GYRO_REG_OUT_Z_H 0x2D
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#define GYRO_REG_FIFO_CTRL 0x2E
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#define GYRO_REG_FIFO_SRC 0x2F
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#define GYRO_REG_INT1_CFG 0x30
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#define GYRO_REG_INT1_SRC 0x31
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#define GYRO_REG_INT1_THS_XH 0x32
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#define GYRO_REG_INT1_THS_XL 0x33
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#define GYRO_REG_INT1_THS_YH 0x34
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#define GYRO_REG_INT1_THS_YL 0x35
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#define GYRO_REG_INT1_THS_ZH 0x36
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#define GYRO_REG_INT1_THS_ZL 0x37
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#define GYRO_REG_INT1_DURA 0x38
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#define GYRO_ODR_95 0x00
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#define GYRO_ODR_190 0b01000000
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#define GYRO_ODR_380 0b10000000
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#define GYRO_ODR_760 0b11000000
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#define GYRO_LP_BW1 0b00000000
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#define GYRO_LP_BW2 0b00010000
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#define GYRO_LP_BW3 0b00100000
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#define GYRO_LP_BW4 0b00110000
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#define GYRO_ENABLE 0b00001111
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#define GYRO_HP_MODE_MASK 0b00110000
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#define GYRO_BDU 0b10000000
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#define GYRO_BLE 0b01000000
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#define GYRO_FULL_SCALE_250 0b00000000
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#define GYRO_FULL_SCALE_500 0b00010000
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#define GYRO_FULL_SCALE_1000 0b00100000
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#define GYRO_FULL_SCALE_2000 0b00110000
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#define GYRO_SPI_MODE 0b00000001
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//CTRL_REG4
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#define GYRO_I1_INT1 0b10000000
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#define GYRO_I1_BOOT 0b01000000
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#define GYRO_H_LACTIVE 0b00100000
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#define GYRO_PP_OD 0b00010000
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#define GYRO_I2_EN 0b00001000
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#define GYRO_I2_WTM 0b00000100
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#define GYRO_I2_OVERRUN 0b00000010
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#define GYRO_I2_EMPTY 0b00000001
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//CTRL_REG5
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#define GYRO_FIFO_ENABLE 0b01000000
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#define GYRO_HP_ENABLE 0b00010000
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#define GYRO_INT1_SEL_MASK 0b00001100
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#define GYRO_OUT_SELECT0 0b00000000
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#define GYRO_OUT_SELECT1 0b00000001
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#define GYRO_OUT_SELECT2 0b00000010
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//FIFO_CTRL_REG
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#define GYRO_FIFO_MODE_BYPASS 0b00000000
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#define GYRO_FIFO_MODE_FIFO 0b00100000
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#define GYRO_FIFO_MODE_STREAM 0b01000000
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#define GYRO_FIFO_MODE_STREAM_TO_FIFO 0b01100000
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#define GYRO_FIFO_MODE_BYPASS_TO_STREAM 0b10000000
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#define GYRO_FIFO_WATERMARK_MASK 0b00011111
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#endif
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