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/****************************************************************************
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* ITG3200.h - ITG-3200/I2C library v0.5 for Arduino                         *
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* Copyright 2010-2011 Filipe Vieira & various contributors                  *
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* http://code.google.com/p/itg-3200driver                                   *
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* This file is part of ITG-3200 Arduino library.                            *
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*                                                                           *
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* This library is free software: you can redistribute it and/or modify      *
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* it under the terms of the GNU Lesser General Public License as published  *
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* by the Free Software Foundation, either version 3 of the License, or      *
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* (at your option) any later version.                                       *
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*                                                                           *
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* This program is distributed in the hope that it will be useful,           *
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* but WITHOUT ANY WARRANTY; without even the implied warranty of            *
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the             *
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* GNU Lesser General Public License for more details.                       *
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*                                                                           *
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* You should have received a copy of the GNU Lesser General Public License  *
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* along with this program.  If not, see <http://www.gnu.org/licenses/>.     *
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****************************************************************************/
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/****************************************************************************
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* Tested on Arduino Mega with ITG-3200 Breakout                             *
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* SCL     -> pin 21     (no pull up resistors)                              *
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* SDA     -> pin 20     (no pull up resistors)                              *
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* CLK & GND -> pin GND                                                    *
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* INT       -> not connected  (but can be used)                             *
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* VIO & VDD -> pin 3.3V                                                     *
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*****************************************************************************/
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#ifndef ITG3200_h
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#define ITG3200_h
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#include "WProgram.h"
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#define ITG3200_ADDR_AD0_HIGH  0x69   //AD0=1 0x69 I2C address when AD0 is connected to HIGH (VCC) - default for sparkfun breakout
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#define ITG3200_ADDR_AD0_LOW   0x68   //AD0=0 0x68 I2C address when AD0 is connected to LOW (GND)
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// "The LSB bit of the 7 bit address is determined by the logic level on pin 9. 
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// This allows two ITG-3200 devices to be connected to the same I2C bus.
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// One device should have pin9 (or bit0) LOW and the other should be HIGH." source: ITG3200 datasheet
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// Note that pin9 (AD0 - I2C Slave Address LSB) may not be available on some breakout boards so check 
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// the schematics of your breakout board for the correct address to use.
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#define GYROSTART_UP_DELAY  70    // 50ms from gyro startup + 20ms register r/w startup
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/* ---- Registers ---- */
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#define WHO_AM_I           0x00  // RW   SETUP: I2C address   
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#define SMPLRT_DIV         0x15  // RW   SETUP: Sample Rate Divider       
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#define DLPF_FS            0x16  // RW   SETUP: Digital Low Pass Filter/ Full Scale range
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#define INT_CFG            0x17  // RW   Interrupt: Configuration
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#define INT_STATUS         0x1A  // R   Interrupt: Status
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#define TEMP_OUT           0x1B  // R   SENSOR: Temperature 2bytes
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#define GYRO_XOUT          0x1D  // R   SENSOR: Gyro X 2bytes  
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#define GYRO_YOUT          0x1F  // R   SENSOR: Gyro Y 2bytes
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#define GYRO_ZOUT          0x21  // R   SENSOR: Gyro Z 2bytes
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#define PWR_MGM            0x3E  // RW  Power Management
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/* ---- bit maps ---- */
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#define DLPFFS_FS_SEL             0x18  // 00011000
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#define DLPFFS_DLPF_CFG           0x07  // 00000111
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#define INTCFG_ACTL               0x80  // 10000000
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#define INTCFG_OPEN               0x40  // 01000000
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#define INTCFG_LATCH_INT_EN       0x20  // 00100000
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#define INTCFG_INT_ANYRD_2CLEAR   0x10  // 00010000
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#define INTCFG_ITG_RDY_EN         0x04  // 00000100
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#define INTCFG_RAW_RDY_EN         0x01  // 00000001
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#define INTSTATUS_ITG_RDY         0x04  // 00000100
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#define INTSTATUS_RAW_DATA_RDY    0x01  // 00000001
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#define PWRMGM_HRESET             0x80  // 10000000
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#define PWRMGM_SLEEP              0x40  // 01000000
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#define PWRMGM_STBY_XG            0x20  // 00100000
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#define PWRMGM_STBY_YG            0x10  // 00010000
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#define PWRMGM_STBY_ZG            0x08  // 00001000
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#define PWRMGM_CLK_SEL            0x07  // 00000111
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/************************************/
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/*    REGISTERS PARAMETERS    */
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/************************************/
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// Sample Rate Divider
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#define NOSRDIVIDER         0 // default    FsampleHz=SampleRateHz/(divider+1)
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// Gyro Full Scale Range
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#define RANGE2000           3   // default
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// Digital Low Pass Filter BandWidth and SampleRate
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#define BW256_SR8           0   // default    256Khz BW and 8Khz SR
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#define BW188_SR1           1
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#define BW098_SR1           2
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#define BW042_SR1           3
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#define BW020_SR1           4
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#define BW010_SR1           5
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#define BW005_SR1           6
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// Interrupt Active logic lvl
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#define ACTIVE_ONHIGH       0 // default
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#define ACTIVE_ONLOW        1
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// Interrupt drive type
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#define PUSH_PULL           0 // default
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#define OPEN_DRAIN          1
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// Interrupt Latch mode
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#define PULSE_50US          0 // default
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#define UNTIL_INT_CLEARED   1
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// Interrupt Latch clear method
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#define READ_STATUSREG      0 // default
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#define READ_ANYREG         1
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// Power management
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#define NORMAL              0 // default
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#define STANDBY             1
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// Clock Source - user parameters
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#define INTERNALOSC         0   // default
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#define PLL_XGYRO_REF       1
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#define PLL_YGYRO_REF       2
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#define PLL_ZGYRO_REF       3
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#define PLL_EXTERNAL32      4   // 32.768 kHz
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#define PLL_EXTERNAL19      5   // 19.2 Mhz
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class ITG3200 {
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public:
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  float gains[3];
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  int offsets[3];
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  float polarities[3];
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  ITG3200();
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  // Gyro initialization
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  void init(unsigned int address);
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  void init(unsigned int address, byte _SRateDiv, byte _Range, byte _filterBW, byte _ClockSrc, bool _ITGReady, bool _INTRawDataReady);      
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  // Who Am I
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  byte getDevAddr();
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  void setDevAddr(unsigned int _addr);
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  // Sample Rate Divider
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  byte getSampleRateDiv();          
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  void setSampleRateDiv(byte _SampleRate);
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  // Digital Low Pass Filter BandWidth and SampleRate 
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  byte getFSRange();
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  void setFSRange(byte _Range); // RANGE2000
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  byte getFilterBW();
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  void setFilterBW(byte _BW); // see register parameters above
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  // Interrupt Configuration
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  bool isINTActiveOnLow();
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  void setINTLogiclvl(bool _State); //ACTIVE_ONHIGH, ACTIVE_ONLOW
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  // Interrupt drive type
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  bool isINTOpenDrain();
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  void setINTDriveType(bool _State); //OPEN_DRAIN, PUSH_PULL
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  // Interrupt Latch mode
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  bool isLatchUntilCleared();
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  void setLatchMode(bool _State); //UNTIL_INT_CLEARED, PULSE_50US
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  // Interrupt Latch clear method
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  bool isAnyRegClrMode();
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  void setLatchClearMode(bool _State); //READ_ANYREG, READ_STATUSREG
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  // INT pin triggers
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  bool isITGReadyOn();          
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  void setITGReady(bool _State);
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  bool isRawDataReadyOn();
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  void setRawDataReady(bool _State);      
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  // Trigger Status
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  bool isITGReady();
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  bool isRawDataReady();
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  // Gyro Sensors
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  void readTemp(float *_Temp);
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  void readGyroRaw(int  *_GyroXYZ);
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  void readGyroRaw(int *_GyroX, int *_GyroY, int *_GyroZ);
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  void setRevPolarity(bool _Xpol, bool _Ypol, bool _Zpol);      // true = Reversed  false = default
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  void setGains(float _Xgain, float _Ygain, float _Zgain);
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  void setOffsets(int _Xoffset, int _Yoffset, int _Zoffset);
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  void zeroCalibrate(unsigned int totSamples, unsigned int sampleDelayMS);      // assuming gyroscope is stationary (updates XYZ offsets for zero)
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  void readGyroRawCal(int *_GyroX, int *_GyroY, int *_GyroZ);
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  void readGyroRawCal(int *_GyroXYZ);
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  void readGyro(float *_GyroXYZ); // includes gain and offset
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  void readGyro(float *_GyroX, float *_GyroY, float *_GyroZ); // includes gain and offset    
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  // Power management
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  void reset(); // after reset all registers have default values
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  bool isLowPower();
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  void setPowerMode(bool _State); // NORMAL, STANDBY
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  bool isXgyroStandby();            
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  bool isYgyroStandby();
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  bool isZgyroStandby();
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  void setXgyroStandby(bool _Status); // NORMAL, STANDBY
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  void setYgyroStandby(bool _Status);
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  void setZgyroStandby(bool _Status);
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  byte getClockSource();
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  void setClockSource(byte _CLKsource); // see register parameters above
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  void writemem(uint8_t _addr, uint8_t _val);
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  void readmem(uint8_t _addr, uint8_t _nbytes, uint8_t __buff[]);
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private:
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  uint8_t _dev_address;
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  uint8_t _buff[6];      
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};
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#endif