brian claus / LSM6DS33

LSM6DS33 Library

Dependents:   teensyIMU LSM6DS33 ALTIMU_v6

Fork of LSM6DS3 by Sherry Yang

LSM6DS33.h@4:4e7d663e26bd, 2016-10-06 (annotated)

Committer:
bclaus
Date:
Thu Oct 06 23:28:32 2016 +0000
Revision:
4:4e7d663e26bd
Parent:
3:b1d064895178 
functional;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
5hel2l2y 0:46630122dec9 1 // Based on Eugene Gonzalez's version of LSM9DS1_Demo
5hel2l2y 0:46630122dec9 2 // Modified by Sherry Yang for LSM6DS3 sensor
bclaus 3:b1d064895178 3 // Modified by Brian Claus for LSM6DS33 sensor
bclaus 3:b1d064895178 4 #ifndef _LSM6DS33_H__
bclaus 3:b1d064895178 5 #define _LSM6DS33_H__
5hel2l2y 0:46630122dec9 6
5hel2l2y 0:46630122dec9 7 #include "mbed.h"
5hel2l2y 0:46630122dec9 8
5hel2l2y 0:46630122dec9 9 /////////////////////////////////////////
bclaus 3:b1d064895178 10 // LSM6DS33 Accel/Gyro (XL/G) Registers //
5hel2l2y 0:46630122dec9 11 /////////////////////////////////////////
5hel2l2y 0:46630122dec9 12 #define RAM_ACCESS 0x01
5hel2l2y 0:46630122dec9 13 #define FIFO_CTRL1 0x06
5hel2l2y 0:46630122dec9 14 #define FIFO_CTRL2 0x07
5hel2l2y 0:46630122dec9 15 #define FIFO_CTRL3 0x08
5hel2l2y 0:46630122dec9 16 #define FIFO_CTRL4 0x09
5hel2l2y 0:46630122dec9 17 #define FIFO_CTRL5 0x0A
5hel2l2y 0:46630122dec9 18 #define ORIENT_CFG_G 0x0B
5hel2l2y 0:46630122dec9 19 #define INT1_CTRL 0x0D
5hel2l2y 0:46630122dec9 20 #define INT2_CTRL 0x0E
5hel2l2y 0:46630122dec9 21 #define WHO_AM_I_REG 0X0F
5hel2l2y 0:46630122dec9 22 #define CTRL1_XL 0x10
5hel2l2y 0:46630122dec9 23 #define CTRL2_G 0x11
5hel2l2y 0:46630122dec9 24 #define CTRL3_C 0x12
5hel2l2y 0:46630122dec9 25 #define CTRL4_C 0x13
5hel2l2y 0:46630122dec9 26 #define CTRL5_C 0x14
5hel2l2y 1:924c7dea286e 27 #define CTRL6_C 0x15
5hel2l2y 0:46630122dec9 28 #define CTRL7_G 0x16
5hel2l2y 0:46630122dec9 29 #define CTRL8_XL 0x17
5hel2l2y 0:46630122dec9 30 #define CTRL9_XL 0x18
5hel2l2y 0:46630122dec9 31 #define CTRL10_C 0x19
5hel2l2y 0:46630122dec9 32 #define WAKE_UP_SRC 0x1B
5hel2l2y 0:46630122dec9 33 #define TAP_SRC 0x1C
5hel2l2y 0:46630122dec9 34 #define D6D_SRC 0x1D
5hel2l2y 0:46630122dec9 35 #define STATUS_REG 0x1E
5hel2l2y 0:46630122dec9 36 #define OUT_TEMP_L 0x20
5hel2l2y 0:46630122dec9 37 #define OUT_TEMP_H 0x21
5hel2l2y 0:46630122dec9 38 #define OUTX_L_G 0x22
5hel2l2y 0:46630122dec9 39 #define OUTX_H_G 0x23
5hel2l2y 0:46630122dec9 40 #define OUTY_L_G 0x24
5hel2l2y 0:46630122dec9 41 #define OUTY_H_G 0x25
5hel2l2y 0:46630122dec9 42 #define OUTZ_L_G 0x26
5hel2l2y 0:46630122dec9 43 #define OUTZ_H_G 0x27
5hel2l2y 0:46630122dec9 44 #define OUTX_L_XL 0x28
5hel2l2y 0:46630122dec9 45 #define OUTX_H_XL 0x29
5hel2l2y 0:46630122dec9 46 #define OUTY_L_XL 0x2A
5hel2l2y 0:46630122dec9 47 #define OUTY_H_XL 0x2B
5hel2l2y 0:46630122dec9 48 #define OUTZ_L_XL 0x2C
5hel2l2y 0:46630122dec9 49 #define OUTZ_H_XL 0x2D
5hel2l2y 0:46630122dec9 50 #define FIFO_STATUS1 0x3A
5hel2l2y 0:46630122dec9 51 #define FIFO_STATUS2 0x3B
5hel2l2y 0:46630122dec9 52 #define FIFO_STATUS3 0x3C
5hel2l2y 0:46630122dec9 53 #define FIFO_STATUS4 0x3D
5hel2l2y 0:46630122dec9 54 #define FIFO_DATA_OUT_L 0x3E
5hel2l2y 0:46630122dec9 55 #define FIFO_DATA_OUT_H 0x3F
5hel2l2y 0:46630122dec9 56 #define TIMESTAMP0_REG 0x40
5hel2l2y 0:46630122dec9 57 #define TIMESTAMP1_REG 0x41
5hel2l2y 0:46630122dec9 58 #define TIMESTAMP2_REG 0x42
bclaus 3:b1d064895178 59 #define STEP_TIMESTAMP_L 0x49
bclaus 3:b1d064895178 60 #define STEP_TIMESTAMP_H 0x4A
5hel2l2y 0:46630122dec9 61 #define STEP_COUNTER_L 0x4B
5hel2l2y 0:46630122dec9 62 #define STEP_COUNTER_H 0x4C
5hel2l2y 0:46630122dec9 63 #define FUNC_SR 0x53
5hel2l2y 0:46630122dec9 64 #define TAP_CFG 0x58
5hel2l2y 0:46630122dec9 65 #define TAP_THS_6D 0x59
5hel2l2y 0:46630122dec9 66 #define INT_DUR2 0x5A
5hel2l2y 0:46630122dec9 67 #define WAKE_UP_THS 0x5B
5hel2l2y 0:46630122dec9 68 #define WAKE_UP_DUR 0x5C
5hel2l2y 0:46630122dec9 69 #define FREE_FALL 0x5D
5hel2l2y 0:46630122dec9 70 #define MD1_CFG 0x5E
5hel2l2y 0:46630122dec9 71 #define MD2_CFG 0x5F
5hel2l2y 0:46630122dec9 72
5hel2l2y 0:46630122dec9 73 // Possible I2C addresses for the accel/gyro
bclaus 3:b1d064895178 74 #define LSM6DS33_AG_I2C_ADDR(sa0) ((sa0) ? 0xD6 : 0xD4)
5hel2l2y 0:46630122dec9 75
5hel2l2y 0:46630122dec9 76 /**
bclaus 3:b1d064895178 77 * LSM6DS33 Class - driver for the 6 DoF IMU
5hel2l2y 0:46630122dec9 78 */
bclaus 3:b1d064895178 79 class LSM6DS33
5hel2l2y 0:46630122dec9 80 {
5hel2l2y 0:46630122dec9 81 public:
5hel2l2y 0:46630122dec9 82
5hel2l2y 0:46630122dec9 83 /// gyro_scale defines the possible full-scale ranges of the gyroscope:
5hel2l2y 0:46630122dec9 84 enum gyro_scale
5hel2l2y 0:46630122dec9 85 {
5hel2l2y 0:46630122dec9 86 G_SCALE_245DPS = 0x0 << 3, // 00 << 3: +/- 245 degrees per second
5hel2l2y 0:46630122dec9 87 G_SCALE_500DPS = 0x1 << 3, // 01 << 3: +/- 500 dps
5hel2l2y 1:924c7dea286e 88 G_SCALE_1000DPS = 0x2 << 3, // 10 << 3: +/- 1000 dps
5hel2l2y 0:46630122dec9 89 G_SCALE_2000DPS = 0x3 << 3 // 11 << 3: +/- 2000 dps
5hel2l2y 0:46630122dec9 90 };
5hel2l2y 0:46630122dec9 91
5hel2l2y 0:46630122dec9 92 /// gyro_odr defines all possible data rate/bandwidth combos of the gyro:
5hel2l2y 0:46630122dec9 93 enum gyro_odr
5hel2l2y 0:46630122dec9 94 { // ODR (Hz) --- Cutoff
5hel2l2y 0:46630122dec9 95 G_POWER_DOWN = 0x00, // 0 0
5hel2l2y 1:924c7dea286e 96 G_ODR_13_BW_0 = 0x10, // 12.5 0.0081 low power
5hel2l2y 1:924c7dea286e 97 G_ODR_26_BW_2 = 0x20, // 26 2.07 low power
5hel2l2y 1:924c7dea286e 98 G_ODR_52_BW_16 = 0x30, // 52 16.32 low power
5hel2l2y 1:924c7dea286e 99 G_ODR_104 = 0x40, // 104
5hel2l2y 1:924c7dea286e 100 G_ODR_208 = 0x50, // 208
5hel2l2y 1:924c7dea286e 101 G_ODR_416 = 0x60, // 416
5hel2l2y 1:924c7dea286e 102 G_ODR_833 = 0x70, // 833
5hel2l2y 1:924c7dea286e 103 G_ODR_1660 = 0x80 // 1660
5hel2l2y 0:46630122dec9 104 };
5hel2l2y 0:46630122dec9 105
5hel2l2y 0:46630122dec9 106 /// accel_scale defines all possible FSR's of the accelerometer:
5hel2l2y 0:46630122dec9 107 enum accel_scale
5hel2l2y 0:46630122dec9 108 {
5hel2l2y 0:46630122dec9 109 A_SCALE_2G, // 00: +/- 2g
5hel2l2y 0:46630122dec9 110 A_SCALE_16G,// 01: +/- 16g
5hel2l2y 0:46630122dec9 111 A_SCALE_4G, // 10: +/- 4g
5hel2l2y 0:46630122dec9 112 A_SCALE_8G // 11: +/- 8g
5hel2l2y 0:46630122dec9 113 };
5hel2l2y 0:46630122dec9 114
5hel2l2y 0:46630122dec9 115 /// accel_oder defines all possible output data rates of the accelerometer:
5hel2l2y 0:46630122dec9 116 enum accel_odr
5hel2l2y 0:46630122dec9 117 {
5hel2l2y 0:46630122dec9 118 A_POWER_DOWN, // Power-down mode (0x0)
5hel2l2y 1:924c7dea286e 119 A_ODR_13, // 12.5 Hz (0x1) low power
5hel2l2y 1:924c7dea286e 120 A_ODR_26, // 26 Hz (0x2) low power
5hel2l2y 1:924c7dea286e 121 A_ODR_52, // 52 Hz (0x3) low power
5hel2l2y 1:924c7dea286e 122 A_ODR_104, // 104 Hz (0x4) normal mode
5hel2l2y 1:924c7dea286e 123 A_ODR_208, // 208 Hz (0x5) normal mode
5hel2l2y 1:924c7dea286e 124 A_ODR_416, // 416 Hz (0x6) high performance
5hel2l2y 1:924c7dea286e 125 A_ODR_833, // 833 Hz (0x7) high performance
5hel2l2y 1:924c7dea286e 126 A_ODR_1660, // 1.66 kHz (0x8) high performance
5hel2l2y 1:924c7dea286e 127 A_ODR_3330, // 3.33 kHz (0x9) high performance
5hel2l2y 1:924c7dea286e 128 A_ODR_6660, // 6.66 kHz (0xA) high performance
5hel2l2y 0:46630122dec9 129 };
5hel2l2y 0:46630122dec9 130
5hel2l2y 0:46630122dec9 131 // accel_bw defines all possible bandwiths for low-pass filter of the accelerometer:
5hel2l2y 0:46630122dec9 132 enum accel_bw
5hel2l2y 0:46630122dec9 133 {
bclaus 3:b1d064895178 134
bclaus 3:b1d064895178 135 A_BW_400 = 0x0, // 400 Hz
bclaus 3:b1d064895178 136 A_BW_200 = 0x1, // 200 Hz
bclaus 3:b1d064895178 137 A_BW_100 = 0x2, // 100 Hz
bclaus 3:b1d064895178 138 A_BW_50 = 0x3 // 50 Hz
5hel2l2y 0:46630122dec9 139 };
5hel2l2y 2:ed14e6196255 140
5hel2l2y 2:ed14e6196255 141
5hel2l2y 0:46630122dec9 142
5hel2l2y 0:46630122dec9 143 // We'll store the gyro, and accel, readings in a series of
5hel2l2y 0:46630122dec9 144 // public class variables. Each sensor gets three variables -- one for each
5hel2l2y 0:46630122dec9 145 // axis. Call readGyro(), and readAccel() first, before using
5hel2l2y 0:46630122dec9 146 // these variables!
5hel2l2y 0:46630122dec9 147 // These values are the RAW signed 16-bit readings from the sensors.
5hel2l2y 0:46630122dec9 148 int16_t gx_raw, gy_raw, gz_raw; // x, y, and z axis readings of the gyroscope
5hel2l2y 0:46630122dec9 149 int16_t ax_raw, ay_raw, az_raw; // x, y, and z axis readings of the accelerometer
5hel2l2y 0:46630122dec9 150 int16_t temperature_raw;
bclaus 3:b1d064895178 151 int32_t time_raw;
5hel2l2y 0:46630122dec9 152
5hel2l2y 0:46630122dec9 153 // floating-point values of scaled data in real-world units
5hel2l2y 0:46630122dec9 154 float gx, gy, gz;
5hel2l2y 0:46630122dec9 155 float ax, ay, az;
5hel2l2y 0:46630122dec9 156 float temperature_c, temperature_f; // temperature in celcius and fahrenheit
5hel2l2y 2:ed14e6196255 157 float intr;
bclaus 3:b1d064895178 158 float time;
5hel2l2y 0:46630122dec9 159
5hel2l2y 0:46630122dec9 160
bclaus 3:b1d064895178 161 /** LSM6DS33 -- LSM6DS33 class constructor
5hel2l2y 0:46630122dec9 162 * The constructor will set up a handful of private variables, and set the
5hel2l2y 0:46630122dec9 163 * communication mode as well.
5hel2l2y 0:46630122dec9 164 * Input:
5hel2l2y 0:46630122dec9 165 * - interface = Either MODE_SPI or MODE_I2C, whichever you're using
5hel2l2y 0:46630122dec9 166 * to talk to the IC.
5hel2l2y 0:46630122dec9 167 * - xgAddr = If MODE_I2C, this is the I2C address of the accel/gyro.
5hel2l2y 0:46630122dec9 168 * If MODE_SPI, this is the chip select pin of the accel/gyro (CS_A/G)
5hel2l2y 0:46630122dec9 169 */
bclaus 3:b1d064895178 170 LSM6DS33(PinName sda, PinName scl, uint8_t xgAddr = LSM6DS33_AG_I2C_ADDR(1));
5hel2l2y 0:46630122dec9 171
5hel2l2y 0:46630122dec9 172 /** begin() -- Initialize the gyro, and accelerometer.
5hel2l2y 0:46630122dec9 173 * This will set up the scale and output rate of each sensor. It'll also
5hel2l2y 0:46630122dec9 174 * "turn on" every sensor and every axis of every sensor.
5hel2l2y 0:46630122dec9 175 * Input:
5hel2l2y 0:46630122dec9 176 * - gScl = The scale of the gyroscope. This should be a gyro_scale value.
5hel2l2y 0:46630122dec9 177 * - aScl = The scale of the accelerometer. Should be a accel_scale value.
5hel2l2y 0:46630122dec9 178 * - gODR = Output data rate of the gyroscope. gyro_odr value.
5hel2l2y 0:46630122dec9 179 * - aODR = Output data rate of the accelerometer. accel_odr value.
5hel2l2y 0:46630122dec9 180 * Output: The function will return an unsigned 16-bit value. The most-sig
5hel2l2y 0:46630122dec9 181 * bytes of the output are the WHO_AM_I reading of the accel/gyro.
5hel2l2y 0:46630122dec9 182 * All parameters have a defaulted value, so you can call just "begin()".
5hel2l2y 0:46630122dec9 183 * Default values are FSR's of: +/- 245DPS, 4g, 2Gs; ODRs of 119 Hz for
5hel2l2y 0:46630122dec9 184 * gyro, 119 Hz for accelerometer.
5hel2l2y 0:46630122dec9 185 * Use the return value of this function to verify communication.
5hel2l2y 0:46630122dec9 186 */
5hel2l2y 0:46630122dec9 187 uint16_t begin(gyro_scale gScl = G_SCALE_245DPS,
5hel2l2y 1:924c7dea286e 188 accel_scale aScl = A_SCALE_2G, gyro_odr gODR = G_ODR_104,
5hel2l2y 1:924c7dea286e 189 accel_odr aODR = A_ODR_104);
5hel2l2y 0:46630122dec9 190
bclaus 4:4e7d663e26bd 191 void readAll();
bclaus 4:4e7d663e26bd 192
5hel2l2y 0:46630122dec9 193 /** readGyro() -- Read the gyroscope output registers.
5hel2l2y 0:46630122dec9 194 * This function will read all six gyroscope output registers.
5hel2l2y 0:46630122dec9 195 * The readings are stored in the class' gx_raw, gy_raw, and gz_raw variables. Read
5hel2l2y 0:46630122dec9 196 * those _after_ calling readGyro().
5hel2l2y 0:46630122dec9 197 */
5hel2l2y 0:46630122dec9 198 void readGyro();
5hel2l2y 0:46630122dec9 199
5hel2l2y 0:46630122dec9 200 /** readAccel() -- Read the accelerometer output registers.
5hel2l2y 0:46630122dec9 201 * This function will read all six accelerometer output registers.
5hel2l2y 0:46630122dec9 202 * The readings are stored in the class' ax_raw, ay_raw, and az_raw variables. Read
5hel2l2y 0:46630122dec9 203 * those _after_ calling readAccel().
5hel2l2y 0:46630122dec9 204 */
5hel2l2y 0:46630122dec9 205 void readAccel();
5hel2l2y 0:46630122dec9 206
5hel2l2y 0:46630122dec9 207 /** readTemp() -- Read the temperature output register.
5hel2l2y 0:46630122dec9 208 * This function will read two temperature output registers.
5hel2l2y 0:46630122dec9 209 * The combined readings are stored in the class' temperature variables. Read
5hel2l2y 0:46630122dec9 210 * those _after_ calling readTemp().
5hel2l2y 0:46630122dec9 211 */
5hel2l2y 0:46630122dec9 212 void readTemp();
5hel2l2y 0:46630122dec9 213
5hel2l2y 2:ed14e6196255 214 /** Read Interrupt **/
5hel2l2y 2:ed14e6196255 215 void readIntr();
5hel2l2y 2:ed14e6196255 216
5hel2l2y 0:46630122dec9 217 /** setGyroScale() -- Set the full-scale range of the gyroscope.
5hel2l2y 0:46630122dec9 218 * This function can be called to set the scale of the gyroscope to
5hel2l2y 0:46630122dec9 219 * 245, 500, or 2000 degrees per second.
5hel2l2y 0:46630122dec9 220 * Input:
5hel2l2y 0:46630122dec9 221 * - gScl = The desired gyroscope scale. Must be one of three possible
5hel2l2y 0:46630122dec9 222 * values from the gyro_scale enum.
5hel2l2y 0:46630122dec9 223 */
5hel2l2y 0:46630122dec9 224 void setGyroScale(gyro_scale gScl);
5hel2l2y 0:46630122dec9 225
5hel2l2y 0:46630122dec9 226 /** setAccelScale() -- Set the full-scale range of the accelerometer.
5hel2l2y 0:46630122dec9 227 * This function can be called to set the scale of the accelerometer to
5hel2l2y 0:46630122dec9 228 * 2, 4, 8, or 16 g's.
5hel2l2y 0:46630122dec9 229 * Input:
5hel2l2y 0:46630122dec9 230 * - aScl = The desired accelerometer scale. Must be one of five possible
5hel2l2y 0:46630122dec9 231 * values from the accel_scale enum.
5hel2l2y 0:46630122dec9 232 */
5hel2l2y 0:46630122dec9 233 void setAccelScale(accel_scale aScl);
5hel2l2y 0:46630122dec9 234
5hel2l2y 0:46630122dec9 235 /** setGyroODR() -- Set the output data rate and bandwidth of the gyroscope
5hel2l2y 0:46630122dec9 236 * Input:
5hel2l2y 0:46630122dec9 237 * - gRate = The desired output rate and cutoff frequency of the gyro.
5hel2l2y 0:46630122dec9 238 * Must be a value from the gyro_odr enum (check above).
5hel2l2y 0:46630122dec9 239 */
5hel2l2y 0:46630122dec9 240 void setGyroODR(gyro_odr gRate);
5hel2l2y 0:46630122dec9 241
5hel2l2y 0:46630122dec9 242 /** setAccelODR() -- Set the output data rate of the accelerometer
5hel2l2y 0:46630122dec9 243 * Input:
5hel2l2y 0:46630122dec9 244 * - aRate = The desired output rate of the accel.
5hel2l2y 0:46630122dec9 245 * Must be a value from the accel_odr enum (check above).
5hel2l2y 0:46630122dec9 246 */
5hel2l2y 0:46630122dec9 247 void setAccelODR(accel_odr aRate);
5hel2l2y 0:46630122dec9 248
5hel2l2y 0:46630122dec9 249
5hel2l2y 0:46630122dec9 250 private:
5hel2l2y 0:46630122dec9 251 /** xgAddress store the I2C address
5hel2l2y 0:46630122dec9 252 * for each sensor.
5hel2l2y 0:46630122dec9 253 */
5hel2l2y 0:46630122dec9 254 uint8_t xgAddress;
5hel2l2y 0:46630122dec9 255
5hel2l2y 0:46630122dec9 256 // I2C bus
5hel2l2y 0:46630122dec9 257 I2C i2c;
5hel2l2y 0:46630122dec9 258
5hel2l2y 0:46630122dec9 259 /** gScale, and aScale store the current scale range for each
5hel2l2y 0:46630122dec9 260 * sensor. Should be updated whenever that value changes.
5hel2l2y 0:46630122dec9 261 */
5hel2l2y 0:46630122dec9 262 gyro_scale gScale;
5hel2l2y 0:46630122dec9 263 accel_scale aScale;
5hel2l2y 0:46630122dec9 264
5hel2l2y 0:46630122dec9 265 /** gRes, and aRes store the current resolution for each sensor.
5hel2l2y 0:46630122dec9 266 * Units of these values would be DPS (or g's or Gs's) per ADC tick.
5hel2l2y 0:46630122dec9 267 * This value is calculated as (sensor scale) / (2^15).
5hel2l2y 0:46630122dec9 268 */
5hel2l2y 0:46630122dec9 269 float gRes, aRes;
5hel2l2y 0:46630122dec9 270
5hel2l2y 0:46630122dec9 271 /** initGyro() -- Sets up the gyroscope to begin reading.
5hel2l2y 0:46630122dec9 272 * This function steps through all three gyroscope control registers.
5hel2l2y 0:46630122dec9 273 */
5hel2l2y 0:46630122dec9 274 void initGyro();
5hel2l2y 0:46630122dec9 275
5hel2l2y 0:46630122dec9 276 /** initAccel() -- Sets up the accelerometer to begin reading.
5hel2l2y 0:46630122dec9 277 * This function steps through all accelerometer related control registers.
5hel2l2y 0:46630122dec9 278 */
5hel2l2y 0:46630122dec9 279 void initAccel();
5hel2l2y 0:46630122dec9 280
5hel2l2y 2:ed14e6196255 281 /** Setup Interrupt **/
5hel2l2y 2:ed14e6196255 282 void initIntr();
5hel2l2y 2:ed14e6196255 283
5hel2l2y 0:46630122dec9 284 /** calcgRes() -- Calculate the resolution of the gyroscope.
5hel2l2y 0:46630122dec9 285 * This function will set the value of the gRes variable. gScale must
5hel2l2y 0:46630122dec9 286 * be set prior to calling this function.
5hel2l2y 0:46630122dec9 287 */
5hel2l2y 0:46630122dec9 288 void calcgRes();
5hel2l2y 0:46630122dec9 289
5hel2l2y 0:46630122dec9 290 /** calcaRes() -- Calculate the resolution of the accelerometer.
5hel2l2y 0:46630122dec9 291 * This function will set the value of the aRes variable. aScale must
5hel2l2y 0:46630122dec9 292 * be set prior to calling this function.
5hel2l2y 0:46630122dec9 293 */
5hel2l2y 0:46630122dec9 294 void calcaRes();
bclaus 4:4e7d663e26bd 295
5hel2l2y 0:46630122dec9 296 };
5hel2l2y 0:46630122dec9 297
bclaus 3:b1d064895178 298 #endif // _LSM6DS33_H //