accel6.h

Go to the documentation of this file.

/*
 * MikroSDK - MikroE Software Development Kit
 * Copyright© 2020 MikroElektronika d.o.o.
 * 
 * Permission is hereby granted, free of charge, to any person 
 * obtaining a copy of this software and associated documentation 
 * files (the "Software"), to deal in the Software without restriction, 
 * including without limitation the rights to use, copy, modify, merge, 
 * publish, distribute, sublicense, and/or sell copies of the Software, 
 * and to permit persons to whom the Software is furnished to do so, 
 * subject to the following conditions:
 * 
 * The above copyright notice and this permission notice shall be 
 * included in all copies or substantial portions of the Software.
 * 
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, 
 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, 
 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. 
 * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
 * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, 
 * ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE 
 * OR OTHER DEALINGS IN THE SOFTWARE. 
 */
 
// ----------------------------------------------------------------------------
 
#ifndef ACCEL6_H
#define ACCEL6_H
 
#ifdef PREINIT_SUPPORTED
#include "preinit.h"
#endif
 
#ifdef MikroCCoreVersion
    #if MikroCCoreVersion >= 1
        #include "delays.h"
    #endif
#endif
 
#include "drv_digital_out.h"
#include "drv_digital_in.h"
#include "drv_i2c_master.h"
#include "drv_spi_master.h"
 
// -------------------------------------------------------------- PUBLIC MACROS 
#define ACCEL6_MAP_MIKROBUS( cfg, mikrobus ) \
   cfg.scl   = MIKROBUS( mikrobus, MIKROBUS_SCL ); \
   cfg.sda   = MIKROBUS( mikrobus, MIKROBUS_SDA ); \
   cfg.miso  = MIKROBUS( mikrobus, MIKROBUS_MISO ); \
   cfg.mosi  = MIKROBUS( mikrobus, MIKROBUS_MOSI ); \
   cfg.sck   = MIKROBUS( mikrobus, MIKROBUS_SCK ); \
   cfg.cs    = MIKROBUS( mikrobus, MIKROBUS_CS ); 
#define ACCEL6_MASTER_I2C 0
#define ACCEL6_MASTER_SPI 1
#define ACCEL6_RETVAL  uint8_t
 
#define ACCEL6_OK           0x00
#define ACCEL6_INIT_ERROR   0xFF
#define ACCEL6_CHIP_ID        0xFB
#define ACCEL6_SOFT_RESET     0xB6 
#define ACCEL6_AXIS_X        0x02 
#define ACCEL6_AXIS_Y        0x04 
#define ACCEL6_AXIS_Z        0x06 
#define ACCEL6_REG_CHIP_ID              0x00 
#define ACCEL6_REG_AXIS_X_LSB           0x02 
#define ACCEL6_REG_AXIS_X_MSB           0x03 
#define ACCEL6_REG_AXIS_Y_LSB           0x04 
#define ACCEL6_REG_AXIS_Y_MSB           0x05 
#define ACCEL6_REG_AXIS_Z_LSB           0x06 
#define ACCEL6_REG_AXIS_Z_MSB           0x07 
#define ACCEL6_REG_TEMPERATURE          0x08 
#define ACCEL6_REG_INT_STATUS_0         0x09 
#define ACCEL6_REG_INT_STATUS_1         0x0A 
#define ACCEL6_REG_INT_STATUS_2         0x0B 
#define ACCEL6_REG_INT_STATUS_3         0x0C 
#define ACCEL6_REG_FIFO_STATUS          0x0E 
#define ACCEL6_REG_PMU_RANGE            0x0F 
#define ACCEL6_REG_PMU_BW               0x10 
#define ACCEL6_REG_PMU_LPW              0x11 
#define ACCEL6_REG_PMU_LOW_POWER        0x12 
#define ACCEL6_REG_ACCD_HBW             0x13 
#define ACCEL6_REG_BGW_SOFTRESET        0x14 
#define ACCEL6_REG_INT_EN_0             0x16 
#define ACCEL6_REG_INT_EN_1             0x17 
#define ACCEL6_REG_INT_EN_2             0x18 
#define ACCEL6_REG_INT_MAP_0            0x19 
#define ACCEL6_REG_INT_MAP_1            0x1A 
#define ACCEL6_REG_INT_MAP_2            0x1B 
#define ACCEL6_REG_INT_SRC              0x1E 
#define ACCEL6_REG_INT_OUT_CTRL         0x20 
#define ACCEL6_REG_INT_RST_LATCH        0x21 
#define ACCEL6_REG_INT1                 0x23 
#define ACCEL6_REG_INT2                 0x24 
#define ACCEL6_REG_INT3                 0x25 
#define ACCEL6_REG_INT4                 0x26 
#define ACCEL6_REG_INT5                 0x27 
#define ACCEL6_REG_INT6                 0x28 
#define ACCEL6_REG_INT7                 0x29 
#define ACCEL6_REG_INT8                 0x2A 
#define ACCEL6_REG_INT9                 0x2B 
#define ACCEL6_REG_INT_A                0x2C 
#define ACCEL6_REG_INT_B                0x2D 
#define ACCEL6_REG_INT_C                0x2E 
#define ACCEL6_REG_INT_D                0x2F 
#define ACCEL6_REG_FIFO_CONFIG_0        0x30 
#define ACCEL6_REG_PMU_SELF_TEST        0x32 
#define ACCEL6_REG_TRIM_NVM_CTRL        0x33 
#define ACCEL6_REG_BGW_SPI3_WDT         0x34 
#define ACCEL6_REG_OFC_CTRL             0x36 
#define ACCEL6_REG_OFC_SETTINGS         0x37 
#define ACCEL6_REG_OFC_OFFSET_X         0x38 
#define ACCEL6_REG_OFC_OFFSET_Y         0x39 
#define ACCEL6_REG_OFC_OFFSET_Z         0x3A 
#define ACCEL6_REG_TRIM_GP_0            0x3B 
#define ACCEL6_REG_TRIM_GP_1            0x3C 
#define ACCEL6_REG_FIFO_CONFIG_1        0x3E 
#define ACCEL6_REG_FIFO_DATA            0x3F 
#define ACCEL6_STATUS_0_FLAT_INT              0x80 
#define ACCEL6_STATUS_0_ORIENT_INT            0x40 
#define ACCEL6_STATUS_0_SINGLE_TAP_INT        0x20 
#define ACCEL6_STATUS_0_DOUBLE_TAP_INT        0x10 
#define ACCEL6_STATUS_0_MOTION_INT            0x08 
#define ACCEL6_STATUS_0_SLOPE_INT             0x04 
#define ACCEL6_STATUS_0_HIGH_INT              0x02 
#define ACCEL6_STATUS_0_LOW_INT               0x01 
#define ACCEL6_STATUS_1_DATA_INT             0x80 
#define ACCEL6_STATUS_1_FIFO_WM_INT          0x40 
#define ACCEL6_STATUS_1_FIFO_FULL_INT        0x20 
#define ACCEL6_STATUS_2_TAP_SING              0x80 
#define ACCEL6_STATUS_2_TAP_FIRST_Z           0x40 
#define ACCEL6_STATUS_2_TAP_FIRST_Y           0x20 
#define ACCEL6_STATUS_2_TAP_FIRST_X           0x10 
#define ACCEL6_STATUS_2_SLOPE_SING            0x08 
#define ACCEL6_STATUS_2_SLOPE_FIRST_Z         0x04 
#define ACCEL6_STATUS_2_SLOPE_FIRST_Y         0x02 
#define ACCEL6_STATUS_2_SLOPE_FIRST_X         0x01 
#define ACCEL6_STATUS_3_FLAT_POSITION                    0x80 
#define ACCEL6_STATUS_3_ORIENT_Z_UPWARD                  0x00 
#define ACCEL6_STATUS_3_ORIENT_Z_DOWNWARD                0x40 
#define ACCEL6_STATUS_3_ORIENT_XY_UPRIGHT                0x00 
#define ACCEL6_STATUS_3_ORIENT_XY_UPSIDE                 0x10 
#define ACCEL6_STATUS_3_ORIENT_XY_LANDSCAPE_LEFT         0x20 
#define ACCEL6_STATUS_3_ORIENT_XY_LANDSCAPE_RIGHT        0x30 
#define ACCEL6_STATUS_3_HIGH_SING_POSITIVE               0x00 
#define ACCEL6_STATUS_3_HIGH_SING_NEGATIVE               0x08 
#define ACCEL6_STATUS_3_HIGH_FIRST_Z                     0x04 
#define ACCEL6_STATUS_3_HIGH_FIRST_Y                     0x02 
#define ACCEL6_STATUS_3_HIGH_FIRST_X                     0x01  
#define ACCEL6_PMU_RANGE_2g         0x03 
#define ACCEL6_PMU_RANGE_4g         0x05 
#define ACCEL6_PMU_RANGE_8g         0x08 
#define ACCEL6_PMU_RANGE_16g        0x0C 
#define ACCEL6_PMU_BW_7_81Hz         0x08 
#define ACCEL6_PMU_BW_15_63Hz        0x09 
#define ACCEL6_PMU_BW_31_25Hz        0x0A 
#define ACCEL6_PMU_BW_62_5Hz         0x0B 
#define ACCEL6_PMU_BW_125Hz          0x0C 
#define ACCEL6_PMU_BW_250Hz          0x0D 
#define ACCEL6_PMU_BW_500Hz          0x0E 
#define ACCEL6_PMU_LPW_NORMAL_MODE              0x00 
#define ACCEL6_PMU_LPW_DEEP_SUSPEND_MODE        0x20 
#define ACCEL6_PMU_LPW_LOW_POWER_MODE           0x40 
#define ACCEL6_PMU_LPW_SUSPEND_MODE             0x80 
#define ACCEL6_PMU_LPW_SLEEP_0_5ms              0x05 
#define ACCEL6_PMU_LPW_SLEEP_1ms                0x06 
#define ACCEL6_PMU_LPW_SLEEP_2ms                0x07 
#define ACCEL6_PMU_LPW_SLEEP_4ms                0x08 
#define ACCEL6_PMU_LPW_SLEEP_6ms                0x09 
#define ACCEL6_PMU_LPW_SLEEP_10ms               0x0A 
#define ACCEL6_PMU_LPW_SLEEP_25ms               0x0B 
#define ACCEL6_PMU_LPW_SLEEP_50ms               0x0C 
#define ACCEL6_PMU_LPW_SLEEP_100ms              0x0D 
#define ACCEL6_PMU_LPW_SLEEP_500ms              0x0E 
#define ACCEL6_INT_EN_0_FLAT_ENABLE               0x80 
#define ACCEL6_INT_EN_0_ORIENT_ENABLE             0x40 
#define ACCEL6_INT_EN_0_SINGLE_TAP_ENABLE         0x20 
#define ACCEL6_INT_EN_0_DOUBLE_TAP_ENABLE         0x10 
#define ACCEL6_INT_EN_0_SLOPE_Z_ENABLE            0x04 
#define ACCEL6_INT_EN_0_SLOPE_Y_ENABLE            0x02 
#define ACCEL6_INT_EN_0_SLOPE_X_ENABLE            0x01 
#define ACCEL6_INT_EN_1_FIFO_WM_ENABLE           0x40 
#define ACCEL6_INT_EN_1_FIFO_FULL_ENABLE         0x20 
#define ACCEL6_INT_EN_1_DATA_ENABLE              0x10 
#define ACCEL6_INT_EN_1_LOW_ENABLE               0x08 
#define ACCEL6_INT_EN_1_HIGH_Z_ENABLE            0x04 
#define ACCEL6_INT_EN_1_HIGH_Y_ENABLE            0x02 
#define ACCEL6_INT_EN_1_HIGH_X_ENABLE            0x01 
#define ACCEL6_INT_EN_2_MOTION_ENABLE          0x08 
#define ACCEL6_INT_EN_2_MOTION_Z_ENABLE        0x04 
#define ACCEL6_INT_EN_2_MOTION_Y_ENABLE        0x02 
#define ACCEL6_INT_EN_2_MOTION_X_ENABLE        0x01 
#define ACCEL6_INT1_MAP_FLAT_ENABLE               0x80 
#define ACCEL6_INT1_MAP_ORIENT_ENABLE             0x40 
#define ACCEL6_INT1_MAP_SINGLE_TAP_ENABLE         0x20 
#define ACCEL6_INT1_MAP_DOUBLE_TAP_ENABLE         0x10 
#define ACCEL6_INT1_MAP_MOTION_ENABLE             0x08 
#define ACCEL6_INT1_MAP_SLOPE_ENABLE              0x04 
#define ACCEL6_INT1_MAP_HIGH_ENABLE               0x02 
#define ACCEL6_INT1_MAP_LOW_ENABLE                0x01 
#define ACCEL6_INT2_MAP_DATA_ENABLE               0x80 
#define ACCEL6_INT2_MAP_FIFO_WM_ENABLE            0x40 
#define ACCEL6_INT2_MAP_FIFO_FULL_ENABLE          0x20 
#define ACCEL6_INT1_MAP_DATA_ENABLE               0x01 
#define ACCEL6_INT1_MAP_FIFO_WM_ENABLE            0x02 
#define ACCEL6_INT1_MAP_FIFO_FULL_ENABLE          0x04 
#define ACCEL6_INT2_MAP_FLAT_ENABLE               0x80 
#define ACCEL6_INT2_MAP_ORIENT_ENABLE             0x40 
#define ACCEL6_INT2_MAP_SINGLE_TAP_ENABLE         0x20 
#define ACCEL6_INT2_MAP_DOUBLE_TAP_ENABLE         0x10 
#define ACCEL6_INT2_MAP_MOTION_ENABLE             0x08 
#define ACCEL6_INT2_MAP_SLOPE_ENABLE              0x04 
#define ACCEL6_INT2_MAP_HIGH_ENABLE               0x02 
#define ACCEL6_INT2_MAP_LOW_ENABLE                0x01 
#define ACCEL6_INT_SRC_DATA          0x20 
#define ACCEL6_INT_SRC_TAP           0x10 
#define ACCEL6_INT_SRC_MOTION        0x08 
#define ACCEL6_INT_SRC_SLOPE         0x04 
#define ACCEL6_INT_SRC_HIGH          0x02 
#define ACCEL6_INT_SRC_LOW           0x01 
#define ACCEL6_INT2_CTRL_OPEN_DRAIN               0x08 
#define ACCEL6_INT1_CTRL_OPEN_DRAIN               0x02 
#define ACCEL6_INT2_CTRL_ACTIVE_HIGH_LEVEL        0x04 
#define ACCEL6_INT1_CTRL_ACTIVE_HIGH_LEVEL        0x01 
#define ACCEL6_LATCH_RESET_INT         0x80 
#define ACCEL6_LATCH_INT_250ms         0x01 
#define ACCEL6_LATCH_INT_500ms         0x02 
#define ACCEL6_LATCH_INT_1sec          0x03 
#define ACCEL6_LATCH_INT_2sec          0x04 
#define ACCEL6_LATCH_INT_4sec          0x05 
#define ACCEL6_LATCH_INT_8sec          0x06 
#define ACCEL6_LATCH_INT_250us         0x09 
#define ACCEL6_LATCH_INT_500us         0x0A 
#define ACCEL6_LATCH_INT_1ms           0x0B 
#define ACCEL6_LATCH_INT_12_5ms        0x0C 
#define ACCEL6_LATCH_INT_25ms          0x0D 
#define ACCEL6_LATCH_INT_50ms          0x0E 
#define ACCEL6_TAP_QUIET_30ms        0x00 
#define ACCEL6_TAP_QUIET_20ms        0x80 
#define ACCEL6_TAP_SHOCK_50ms        0x00 
#define ACCEL6_TAP_SHOCK_75ms        0x40 
#define ACCEL6_TAP_DUR_50ms          0x00 
#define ACCEL6_TAP_DUR_100ms         0x01 
#define ACCEL6_TAP_DUR_150ms         0x02 
#define ACCEL6_TAP_DUR_200ms         0x03 
#define ACCEL6_TAP_DUR_250ms         0x04 
#define ACCEL6_TAP_DUR_375ms         0x05 
#define ACCEL6_TAP_DUR_500ms         0x06 
#define ACCEL6_TAP_DUR_700ms         0x07 
#define ACCEL6_TAP_2_SAMPLES         0x00 
#define ACCEL6_TAP_4_SAMPLES         0x40 
#define ACCEL6_TAP_8_SAMPLES         0x80 
#define ACCEL6_TAP_16_SAMPLES        0xC0 
#define ACCEL6_SELF_TEST_SING_POSITIVE        0x40 
#define ACCEL6_SELF_TEST_SING_NEGATIVE        0x00 
#define ACCEL6_SELF_TEST_DISABLE              0x00 
#define ACCEL6_SELF_TEST_X_AXIS               0x01 
#define ACCEL6_SELF_TEST_Y_AXIS               0x02 
#define ACCEL6_SELF_TEST_Z_AXIS               0x03 
#define ACCEL6_I2C_ENABLE          0x04 
#define ACCEL6_I2C_DISABLE         0x00 
#define ACCEL6_I2C_WTD_1ms         0x00 
#define ACCEL6_I2C_WTD_50ms        0x02 
#define ACCEL6_SPI_4_WIRE          0x00 
#define ACCEL6_SPI_3_WIRE          0x01 
#define ACCEL6_OFFSET_RESET                 0x80 
#define ACCEL6_OFFSET_TRIGGER_X_AXIS        0x20 
#define ACCEL6_OFFSET_TRIGGER_Y_AXIS        0x40 
#define ACCEL6_OFFSET_TRIGGER_Z_AXIS        0x60 
#define ACCEL6_OFFSET_NOT_TRIGGER           0x00 
#define ACCEL6_OFC_HP_X_ENABLE              0x04 
#define ACCEL6_OFC_HP_Y_ENABLE              0x02 
#define ACCEL6_OFC_HP_Z_ENABLE              0x01 
#define ACCEL6_OFFSET_TARGET_Z_0g              0x00 
#define ACCEL6_OFFSET_TARGET_Z_PLUS_1g         0x20 
#define ACCEL6_OFFSET_TARGET_Z_MINUS_1g        0x40 
#define ACCEL6_OFFSET_TARGET_Y_PLUS_1g         0x08 
#define ACCEL6_OFFSET_TARGET_Y_MINUS_1g        0x10 
#define ACCEL6_OFFSET_TARGET_X_PLUS_1g         0x02 
#define ACCEL6_OFFSET_TARGET_X_MINUS_1g        0x04 
#define ACCEL6_OFFSET_CUT_OFF_1Hz              0x00 
#define ACCEL6_OFFSET_CUT_OFF_10Hz             0x01 
#define ACCEL6_FIFO_MODE_BYPASS            0x00 
#define ACCEL6_FIFO_MODE_FIFO              0x40 
#define ACCEL6_FIFO_MODE_STREAM            0x80 
#define ACCEL6_FIFO_SELECT_XYZ_AXIS        0x00 
#define ACCEL6_FIFO_SELECT_X_AXIS          0x01 
#define ACCEL6_FIFO_SELECT_Y_AXIS          0x02 
#define ACCEL6_FIFO_SELECT_Z_AXIS          0x03 
/*  */
#define DEVICE_ERROR        0x04 
#define DEVICE_OK           0x00 
#define TAP_X_NEGATIVE          0x01 
#define TAP_Y_NEGATIVE          0x02 
#define TAP_Z_NEGATIVE          0x03 
#define TAP_X_POSITIVE          0x04 
#define TAP_Y_POSITIVE          0x05 
#define TAP_Z_POSITIVE          0x06 
#define NON_TAP                 0x00 
#define SLOPE_X_NEGATIVE          0x01 
#define SLOPE_Y_NEGATIVE          0x02 
#define SLOPE_Z_NEGATIVE          0x03 
#define SLOPE_X_POSITIVE          0x04 
#define SLOPE_Y_POSITIVE          0x05 
#define SLOPE_Z_POSITIVE          0x06 
#define NON_SLOPE                 0x00 
#define Z_ORIENT_UPWARD_LOOKING          0x01 
#define Z_ORIENT_DOWNWARD_LOOKING        0x02 
#define XY_ORIENT_UPSIDE_DOWN            0x01 
#define XY_ORIENT_LANDSCAPE_LEFT         0x02 
#define XY_ORIENT_LANDSCAPE_RIGHT        0x03 
#define XY_ORIENT_UPRIGHT                0x04 
 // End group macro 
// --------------------------------------------------------------- PUBLIC TYPES
typedef uint8_t  accel6_select_t;
 
typedef void ( *accel6_master_io_t )( struct accel6_s*, uint8_t, uint8_t*, uint8_t );
 
typedef struct accel6_s
{
   digital_out_t cs;
   
    // Modules 
 
    i2c_master_t i2c;
    spi_master_t spi;
 
    // ctx variable 
 
   uint8_t slave_address;
   pin_name_t chip_select;
   accel6_master_io_t  write_f;
   accel6_master_io_t  read_f;
   accel6_select_t master_sel;
 
   float device_gaus;
   float device_freq;
 
} accel6_t;
 
typedef struct
{
    // Communication gpio pins 
 
    pin_name_t scl;
    pin_name_t sda;
    pin_name_t miso;
    pin_name_t mosi;
    pin_name_t sck;
    pin_name_t cs;
 
    // static variable 
 
    uint32_t i2c_speed;
    uint8_t  i2c_address;
    uint32_t spi_speed;
    uint8_t  spi_mode;
    spi_master_chip_select_polarity_t cs_polarity;
 
   accel6_select_t sel;
 
   float dev_gaus;
   float dev_freq;
 
} accel6_cfg_t;
 
 // End types group
// ----------------------------------------------- PUBLIC FUNCTION DECLARATIONS
#ifdef __cplusplus
extern "C"{
#endif
 
void accel6_cfg_setup ( accel6_cfg_t *cfg );
 
ACCEL6_RETVAL accel6_init ( accel6_t *ctx, accel6_cfg_t *cfg );
 
void accel6_generic_write ( accel6_t *ctx, uint8_t reg, uint8_t *data_buf, uint8_t len );
 
void accel6_generic_read ( accel6_t *ctx, uint8_t reg, uint8_t *data_buf, uint8_t len );
 
void accel6_soft_reset ( accel6_t *ctx );
 
void accel6_default_cfg ( accel6_t *ctx, uint8_t range_data, uint8_t bw_data, uint8_t lpw_data );
 
void accel6_data_offset ( accel6_t *ctx, uint8_t set_offset, float *offset_data );
 
uint8_t accel6_get_tap_status ( accel6_t *ctx );
 
uint8_t accel6_get_slope_status ( accel6_t *ctx );
 
void accel6_get_orient ( accel6_t *ctx, uint8_t *z_orient, uint8_t *xy_orient );
 
float accel6_get_axis ( accel6_t *ctx, uint8_t axis );
 
float accel6_get_temperature ( accel6_t *ctx );
 
#ifdef __cplusplus
}
#endif
#endif  // _ACCEL6_H_
 
 // End public_function group
 
// ------------------------------------------------------------------------- END