205 lines
6.7 KiB
C
205 lines
6.7 KiB
C
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////////////////////////////////////////////////////////////////////////////
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//
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// This file is part of RTIMULib-Arduino
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//
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// Copyright (c) 2014-2015, richards-tech
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//
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// Permission is hereby granted, free of charge, to any person obtaining a copy of
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// this software and associated documentation files (the "Software"), to deal in
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// the Software without restriction, including without limitation the rights to use,
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// copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the
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// Software, and to permit persons to whom the Software is furnished to do so,
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// subject to the following conditions:
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//
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// The above copyright notice and this permission notice shall be included in all
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// copies or substantial portions of the Software.
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//
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// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED,
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// INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
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// PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
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// HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
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// OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
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// SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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#ifndef _RTIMUGD20M303DLHC_H
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#define _RTIMUGD20M303DLHC_H
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#include "RTIMU.h"
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// I2C Slave Addresses
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// cambiado a 0x69
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#define L3GD20_ADDRESS0 0x69
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#define L3GD20_ADDRESS1 0x69
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#define L3GD20_ID 0xd4
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#define LSM303DLHC_ACCEL_ADDRESS 0x19
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#define LSM303DLHC_COMPASS_ADDRESS 0x1e
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// L3GD20 Register map
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#define L3GD20_WHO_AM_I 0x0f
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#define L3GD20_CTRL1 0x20
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#define L3GD20_CTRL2 0x21
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#define L3GD20_CTRL3 0x22
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#define L3GD20_CTRL4 0x23
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#define L3GD20_CTRL5 0x24
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#define L3GD20_OUT_TEMP 0x26
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#define L3GD20_STATUS 0x27
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#define L3GD20_OUT_X_L 0x28
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#define L3GD20_OUT_X_H 0x29
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#define L3GD20_OUT_Y_L 0x2a
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#define L3GD20_OUT_Y_H 0x2b
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#define L3GD20_OUT_Z_L 0x2c
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#define L3GD20_OUT_Z_H 0x2d
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#define L3GD20_FIFO_CTRL 0x2e
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#define L3GD20_FIFO_SRC 0x2f
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#define L3GD20_IG_CFG 0x30
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#define L3GD20_IG_SRC 0x31
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#define L3GD20_IG_THS_XH 0x32
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#define L3GD20_IG_THS_XL 0x33
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#define L3GD20_IG_THS_YH 0x34
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#define L3GD20_IG_THS_YL 0x35
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#define L3GD20_IG_THS_ZH 0x36
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#define L3GD20_IG_THS_ZL 0x37
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#define L3GD20_IG_DURATION 0x38
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// Gyro sample rate defines
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#define L3GD20_SAMPLERATE_95 0
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#define L3GD20_SAMPLERATE_190 1
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#define L3GD20_SAMPLERATE_380 2
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#define L3GD20_SAMPLERATE_760 3
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// Gyro banwidth defines
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#define L3GD20_BANDWIDTH_0 0
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#define L3GD20_BANDWIDTH_1 1
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#define L3GD20_BANDWIDTH_2 2
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#define L3GD20_BANDWIDTH_3 3
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// Gyro FSR defines
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#define L3GD20_FSR_250 0
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#define L3GD20_FSR_500 1
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#define L3GD20_FSR_2000 2
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// Gyro high pass filter defines
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#define L3GD20_HPF_0 0
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#define L3GD20_HPF_1 1
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#define L3GD20_HPF_2 2
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#define L3GD20_HPF_3 3
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#define L3GD20_HPF_4 4
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#define L3GD20_HPF_5 5
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#define L3GD20_HPF_6 6
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#define L3GD20_HPF_7 7
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#define L3GD20_HPF_8 8
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#define L3GD20_HPF_9 9
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// LSM303DLHC Accel Register Map
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#define LSM303DLHC_CTRL1_A 0x20
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#define LSM303DLHC_CTRL2_A 0x21
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#define LSM303DLHC_CTRL3_A 0x22
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#define LSM303DLHC_CTRL4_A 0x23
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#define LSM303DLHC_CTRL5_A 0x24
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#define LSM303DLHC_CTRL6_A 0x25
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#define LSM303DLHC_REF_A 0x26
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#define LSM303DLHC_STATUS_A 0x27
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#define LSM303DLHC_OUT_X_L_A 0x28
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#define LSM303DLHC_OUT_X_H_A 0x29
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#define LSM303DLHC_OUT_Y_L_A 0x2a
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#define LSM303DLHC_OUT_Y_H_A 0x2b
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#define LSM303DLHC_OUT_Z_L_A 0x2c
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#define LSM303DLHC_OUT_Z_H_A 0x2d
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#define LSM303DLHC_FIFO_CTRL_A 0x2e
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#define LSM303DLHC_FIFO_SRC_A 0x2f
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// LSM303DLHC Compass Register Map
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#define LSM303DLHC_CRA_M 0x00
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#define LSM303DLHC_CRB_M 0x01
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#define LSM303DLHC_CRM_M 0x02
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#define LSM303DLHC_OUT_X_H_M 0x03
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#define LSM303DLHC_OUT_X_L_M 0x04
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#define LSM303DLHC_OUT_Y_H_M 0x05
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#define LSM303DLHC_OUT_Y_L_M 0x06
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#define LSM303DLHC_OUT_Z_H_M 0x07
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#define LSM303DLHC_OUT_Z_L_M 0x08
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#define LSM303DLHC_STATUS_M 0x09
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#define LSM303DLHC_TEMP_OUT_L_M 0x31
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#define LSM303DLHC_TEMP_OUT_H_M 0x32
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// Accel sample rate defines
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#define LSM303DLHC_ACCEL_SAMPLERATE_1 1
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#define LSM303DLHC_ACCEL_SAMPLERATE_10 2
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#define LSM303DLHC_ACCEL_SAMPLERATE_25 3
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#define LSM303DLHC_ACCEL_SAMPLERATE_50 4
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#define LSM303DLHC_ACCEL_SAMPLERATE_100 5
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#define LSM303DLHC_ACCEL_SAMPLERATE_200 6
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#define LSM303DLHC_ACCEL_SAMPLERATE_400 7
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// Accel FSR
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#define LSM303DLHC_ACCEL_FSR_2 0
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#define LSM303DLHC_ACCEL_FSR_4 1
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#define LSM303DLHC_ACCEL_FSR_8 2
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#define LSM303DLHC_ACCEL_FSR_16 3
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// Compass sample rate defines
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#define LSM303DLHC_COMPASS_SAMPLERATE_0_75 0
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#define LSM303DLHC_COMPASS_SAMPLERATE_1_5 1
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#define LSM303DLHC_COMPASS_SAMPLERATE_3 2
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#define LSM303DLHC_COMPASS_SAMPLERATE_7_5 3
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#define LSM303DLHC_COMPASS_SAMPLERATE_15 4
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#define LSM303DLHC_COMPASS_SAMPLERATE_30 5
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#define LSM303DLHC_COMPASS_SAMPLERATE_75 6
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#define LSM303DLHC_COMPASS_SAMPLERATE_220 7
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// Compass FSR
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#define LSM303DLHC_COMPASS_FSR_1_3 1
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#define LSM303DLHC_COMPASS_FSR_1_9 2
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#define LSM303DLHC_COMPASS_FSR_2_5 3
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#define LSM303DLHC_COMPASS_FSR_4 4
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#define LSM303DLHC_COMPASS_FSR_4_7 5
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#define LSM303DLHC_COMPASS_FSR_5_6 6
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#define LSM303DLHC_COMPASS_FSR_8_1 7
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class RTIMUGD20M303DLHC : public RTIMU
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{
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public:
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RTIMUGD20M303DLHC(RTIMUSettings *settings);
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~RTIMUGD20M303DLHC();
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virtual const char *IMUName() { return "L3GD20 + LSM303DLHC"; }
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virtual int IMUType() { return RTIMU_TYPE_GD20M303DLHC; }
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virtual int IMUInit();
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virtual int IMUGetPollInterval();
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virtual bool IMURead();
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private:
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bool setGyroSampleRate();
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bool setGyroCTRL2();
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bool setGyroCTRL4();
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bool setGyroCTRL5();
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bool setAccelCTRL1();
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bool setAccelCTRL4();
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bool setCompassCRA();
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bool setCompassCRB();
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bool setCompassCRM();
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unsigned char m_gyroSlaveAddr; // I2C address of L3GD20
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unsigned char m_accelSlaveAddr; // I2C address of LSM303DLHC accel
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unsigned char m_compassSlaveAddr; // I2C address of LSM303DLHC compass
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RTFLOAT m_gyroScale;
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RTFLOAT m_accelScale;
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RTFLOAT m_compassScaleXY;
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RTFLOAT m_compassScaleZ;
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};
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#endif // _RTIMUGD20M303DLHC_H
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