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/* LSM6DS0_H
*
* (C) Copyright 2008
* MediaTek <www.mediatek.com>
*
* mpu300 head file for MT65xx
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef LSM6DS0_H
#define LSM6DS0_H
#define LSM6DS0_I2C_SLAVE_ADDR 0xD4 //SD0 high--->D6 SD0 low ----->D4
#define LSM6DS0_FIXED_DEVID 0x68
/* LSM6DS0 Register Map (Please refer to LSM6DS0 Specifications) */
#define LSM6DS0_REG_DEVID 0x0F
#define LSM6DS0_REG_GYRO_XH 0x19
#define LSM6DS0_REG_GYRO_XL 0x18
#define LSM6DS0_CTL_REG1 0x10
#define LSM6DS0_CTL_REG8 0x22
#define LSM6DS0_FIFO_CTL 0x2E
#define LSM6DS0_CTL_REG4 0x23
#define LSM6DS0_FIFO_SRC_REG 0x2F
#define LSM6DS0_STATUS_REG 0x17
/*LSM6DS0 Register Bit definitions*/
#define LSM6DS0_FS_245_LSB 133 // LSB/(o/s)
#define LSM6DS0_FS_500_LSB 66
#define LSM6DS0_FS_2000_LSB 16
#define LSM6DS0_OUT_MAGNIFY 131
#define LSM6DS0_RANGE_245 0x00
#define LSM6DS0_RANGE_500 0x08
#define LSM6DS0_RANGE_2000 0x10
#define LSM6DS0_FIFO_MODE_BYPASS 0x00
#define LSM6DS0_FIFO_MODE_FIFO 0x20
#define LSM6DS0_FIFO_MODE_STREAM 0x40
#define AUTO_INCREMENT 0x80
#define LSM6DS0_SAM_RATE_MASK 0x07 //set sample rate and low padd filter configuration
#define LSM6DS0_RATE_8K_LPFB_256HZ 0x00
#define LSM6DS0_RATE_1K_LPFB_188HZ 0x01
#define LSM6DS0_RATE_1K_LPFB_98HZ 0x02
#define LSM6DS0_RATE_1K_LPFB_42HZ 0x03
#define LSM6DS0_RATE_1K_LPFB_20HZ 0x04
#define LSM6DS0_RATE_1K_LPFB_10HZ 0x05
#define LSM6DS0_RATE_1K_LPFB_5HZ 0x06
#define LSM6DS0_POWER_ON 0x60
#define LSM6DS0_100HZ 0x00
#define LSM6DS0_200HZ 0x40
#define LSM6DS0_400HZ 0x80
#define LSM6DS0_800HZ 0xC0
#define LSM6DS0_SUCCESS 0
#define LSM6DS0_ERR_I2C -1
#define LSM6DS0_ERR_STATUS -3
#define LSM6DS0_ERR_SETUP_FAILURE -4
#define LSM6DS0_ERR_GETGSENSORDATA -5
#define LSM6DS0_ERR_IDENTIFICATION -6
#define LSM6DS0_BUFSIZE 60
// 1 rad = 180/PI degree, LSM6DS0_OUT_MAGNIFY = 131,
// 180*131/PI = 7506
#define DEGREE_TO_RAD 7506
#endif //LSM6DS0_H
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