2015-02-01 16:17:06 +08:00
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/*
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2018-10-14 19:37:18 +08:00
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* Copyright (c) 2006-2018, RT-Thread Development Team
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2015-02-01 16:17:06 +08:00
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*
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2018-10-14 19:37:18 +08:00
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* SPDX-License-Identifier: Apache-2.0
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2015-02-01 16:17:06 +08:00
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*
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* Change Logs:
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* Date Author Notes
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* 2014-12-20 Bernard the first version
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* 2015-1-11 RT_learning modify the mpu6050 ID
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*/
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#ifndef MPU6050_SENSOR_H__
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#define MPU6050_SENSOR_H__
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#include <sensor.h>
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#define MPU6050_ADDRESS_AD0_LOW 0x68 // address pin low (GND), default for InvenSense evaluation board
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#define MPU6050_ADDRESS_AD0_HIGH 0x69 // address pin high (VCC)
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#define MPU6050_DEFAULT_ADDRESS MPU6050_ADDRESS_AD0_LOW
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#define MPU6050_XG_OFFS_TC 0x00
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#define MPU6050_YG_OFFS_TC 0x01
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#define MPU6050_ZG_OFFS_TC 0x02
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#define MPU6050_X_FINE_GAIN 0x03
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#define MPU6050_Y_FINE_GAIN 0x04
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#define MPU6050_Z_FINE_GAIN 0x05
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#define MPU6050_XA_OFFS_H 0x06
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#define MPU6050_XA_OFFS_L 0x07
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#define MPU6050_YA_OFFS_H 0x08
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#define MPU6050_YA_OFFS_L 0x09
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#define MPU6050_ZA_OFFS_H 0x0A
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#define MPU6050_ZA_OFFS_L 0x0B
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#define MPU6050_PRODUCT_ID 0x0C
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#define MPU6050_SELF_TEST_X 0x0D
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#define MPU6050_SELF_TEST_Y 0x0E
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#define MPU6050_SELF_TEST_Z 0x0F
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#define MPU6050_SELF_TEST_A 0x10
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#define MPU6050_XG_OFFS_USRH 0x13
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#define MPU6050_XG_OFFS_USRL 0x14
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#define MPU6050_YG_OFFS_USRH 0x15
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#define MPU6050_YG_OFFS_USRL 0x16
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#define MPU6050_ZG_OFFS_USRH 0x17
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#define MPU6050_ZG_OFFS_USRL 0x18
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#define MPU6050_SMPLRT_DIV 0x19
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#define MPU6050_CONFIG 0x1A
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#define MPU6050_GYRO_CONFIG 0x1B
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#define MPU6050_ACCEL_CONFIG 0x1C
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#define MPU6050_ACCEL_CONFIG_2 0x1D
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#define MPU6050_LP_ACCEL_ODR 0x1E
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#define MPU6050_MOT_THR 0x1F
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#define MPU6050_FIFO_EN 0x23
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#define MPU6050_I2C_MST_CTRL 0x24
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#define MPU6050_I2C_SLV0_ADDR 0x25
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#define MPU6050_I2C_SLV0_REG 0x26
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#define MPU6050_I2C_SLV0_CTRL 0x27
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#define MPU6050_I2C_SLV1_ADDR 0x28
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#define MPU6050_I2C_SLV1_REG 0x29
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#define MPU6050_I2C_SLV1_CTRL 0x2A
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#define MPU6050_I2C_SLV2_ADDR 0x2B
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#define MPU6050_I2C_SLV2_REG 0x2C
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#define MPU6050_I2C_SLV2_CTRL 0x2D
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#define MPU6050_I2C_SLV3_ADDR 0x2E
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#define MPU6050_I2C_SLV3_REG 0x2F
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#define MPU6050_I2C_SLV3_CTRL 0x30
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#define MPU6050_I2C_SLV4_ADDR 0x31
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#define MPU6050_I2C_SLV4_REG 0x32
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#define MPU6050_I2C_SLV4_DO 0x33
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#define MPU6050_I2C_SLV4_CTRL 0x34
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#define MPU6050_I2C_SLV4_DI 0x35
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#define MPU6050_I2C_MST_STATUS 0x36
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#define MPU6050_INT_PIN_CFG 0x37
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#define MPU6050_INT_ENABLE 0x38
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#define MPU6050_ACCEL_XOUT_H 0x3B
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#define MPU6050_ACCEL_XOUT_L 0x3C
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#define MPU6050_ACCEL_YOUT_H 0x3D
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#define MPU6050_ACCEL_YOUT_L 0x3E
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#define MPU6050_ACCEL_ZOUT_H 0x3F
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#define MPU6050_ACCEL_ZOUT_L 0x40
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#define MPU6050_TEMP_OUT_H 0x41
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#define MPU6050_TEMP_OUT_L 0x42
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#define MPU6050_GYRO_XOUT_H 0x43
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#define MPU6050_GYRO_XOUT_L 0x44
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#define MPU6050_GYRO_YOUT_H 0x45
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#define MPU6050_GYRO_YOUT_L 0x46
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#define MPU6050_GYRO_ZOUT_H 0x47
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#define MPU6050_GYRO_ZOUT_L 0x48
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#define MPU6050_EXT_SENS_DATA_00 0x49
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#define MPU6050_EXT_SENS_DATA_01 0x4A
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#define MPU6050_EXT_SENS_DATA_02 0x4B
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#define MPU6050_EXT_SENS_DATA_03 0x4C
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#define MPU6050_EXT_SENS_DATA_04 0x4D
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#define MPU6050_EXT_SENS_DATA_05 0x4E
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#define MPU6050_EXT_SENS_DATA_06 0x4F
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#define MPU6050_EXT_SENS_DATA_07 0x50
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#define MPU6050_EXT_SENS_DATA_08 0x51
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#define MPU6050_EXT_SENS_DATA_09 0x52
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#define MPU6050_EXT_SENS_DATA_10 0x53
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#define MPU6050_EXT_SENS_DATA_11 0x54
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#define MPU6050_EXT_SENS_DATA_12 0x55
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#define MPU6050_EXT_SENS_DATA_13 0x56
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#define MPU6050_EXT_SENS_DATA_14 0x57
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#define MPU6050_EXT_SENS_DATA_15 0x58
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#define MPU6050_EXT_SENS_DATA_16 0x59
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#define MPU6050_EXT_SENS_DATA_17 0x5A
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#define MPU6050_EXT_SENS_DATA_18 0x5B
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#define MPU6050_EXT_SENS_DATA_19 0x5C
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#define MPU6050_EXT_SENS_DATA_20 0x5D
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#define MPU6050_EXT_SENS_DATA_21 0x5E
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#define MPU6050_EXT_SENS_DATA_22 0x5F
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#define MPU6050_EXT_SENS_DATA_23 0x60
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#define MPU6050_I2C_SLV0_DO 0x63
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#define MPU6050_I2C_SLV1_DO 0x64
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#define MPU6050_I2C_SLV2_DO 0x65
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#define MPU6050_I2C_SLV3_DO 0x66
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#define MPU6050_I2C_MST_DELAY_CTRL 0x67
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#define MPU6050_SIGNAL_PATH_RESET 0x68
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#define MPU6050_MOT_DETECT_CTRL 0x69
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#define MPU6050_USER_CTRL 0x6A
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#define MPU6050_PWR_MGMT_1 0x6B
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#define MPU6050_PWR_MGMT_2 0x6C
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#define MPU6050_BANK_SEL 0x6D
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#define MPU6050_MEM_START_ADDR 0x6E
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#define MPU6050_MEM_R_W 0x6F
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#define MPU6050_DMP_CFG_1 0x70
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#define MPU6050_DMP_CFG_2 0x71
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#define MPU6050_FIFO_COUNTH 0x72
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#define MPU6050_FIFO_COUNTL 0x73
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#define MPU6050_FIFO_R_W 0x74
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#define MPU6050_WHOAMI 0x75
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#define MPU6050_XA_OFFSET_H 0x77
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#define MPU6050_XA_OFFSET_L 0x78
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#define MPU6050_YA_OFFSET_H 0x7A
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#define MPU6050_YA_OFFSET_L 0x7B
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#define MPU6050_ZA_OFFSET_H 0x7D
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#define MPU6050_ZA_OFFSET_L 0x7E
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#define MPU6050_ID 0x68
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class MPU6050 :public SensorBase
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{
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public:
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MPU6050(int sensor_type, const char* iic_bus, int addr);
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int read_reg(rt_uint8_t reg, rt_uint8_t* value);
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int write_reg(rt_uint8_t reg, rt_uint8_t value);
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int read_buffer(rt_uint8_t reg, rt_uint8_t* value, rt_size_t size);
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private:
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struct rt_i2c_bus_device *i2c_bus;
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int i2c_addr;
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};
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class MPU6050_Accelerometer:public MPU6050
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{
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public:
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MPU6050_Accelerometer(const char* iic_name, int addr);
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virtual int configure(SensorConfig *config);
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virtual int activate(int enable);
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virtual int poll(sensors_event_t *event);
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virtual void getSensor(sensor_t *sensor);
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private:
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rt_int16_t x_offset, y_offset, z_offset;
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rt_bool_t enable;
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float sensitivity;
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};
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class MPU6050_Gyroscope:public MPU6050
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{
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public:
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MPU6050_Gyroscope(const char* iic_name, int addr);
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virtual int configure(SensorConfig *config);
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virtual int activate(int enable);
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virtual int poll(sensors_event_t *event);
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virtual void getSensor(sensor_t *sensor);
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private:
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rt_int16_t x_offset, y_offset, z_offset;
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rt_bool_t enable;
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float sensitivity;
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};
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#endif
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