compass.h

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/*
 * 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 COMPASS_H
#define COMPASS_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"
 
// -------------------------------------------------------------- PUBLIC MACROS 
#define COMPASS_CTRL_REG1           0x20
#define COMPASS_CTRL_REG2           0x21
#define COMPASS_CTRL_REG3           0x22
#define COMPASS_CTRL_REG4           0x23
#define COMPASS_CTRL_REG5           0x24
#define COMPASS_CTRL_REG6           0x25
#define COMPASS_FIFO_CTRL_REG       0x2E
#define COMPASS_STATUS_REG          0x27
#define COMPASS_INT1_CFG            0x30
#define COMPASS_INT2_CFG            0x34
 
#define COMPASS_CRA_REG             0x00
#define COMPASS_CRB_REG             0x01
#define COMPASS_MR_REG              0x02
#define COMPASS_SR_REG              0x09
 
#define COMPASS_IRA_REG             0x0A
#define COMPASS_IRB_REG             0x0B
#define COMPASS_IRC_REG             0x0C
 
#define COMPASS_OUT_MAGNET_X_HIGH   0x03
#define COMPASS_OUT_MAGNET_X_LOW    0x04
#define COMPASS_OUT_MAGNET_Z_HIGH   0x05
#define COMPASS_OUT_MAGNET_Z_LOW    0x06
#define COMPASS_OUT_MAGNET_Y_HIGH   0x07
#define COMPASS_OUT_MAGNET_Y_LOW    0x08
 
#define COMPASS_TEMP_OUT_HIGH       0x31
#define COMPASS_TEMP_OUT_LOW        0x32
 
#define COMPASS_OUT_ACCEL_X_LOW     0x28
#define COMPASS_OUT_ACCEL_X_HIGH    0x29
#define COMPASS_OUT_ACCEL_Y_LOW     0x2A
#define COMPASS_OUT_ACCEL_Y_HIGH    0x2B
#define COMPASS_OUT_ACCEL_Z_LOW     0x2C
#define COMPASS_OUT_ACCEL_Z_HIGH    0x2D
 
#define COMPASS_MAP_MIKROBUS( cfg, mikrobus ) \
  cfg.scl  = MIKROBUS( mikrobus, MIKROBUS_SCL ); \
  cfg.sda  = MIKROBUS( mikrobus, MIKROBUS_SDA ); \
  cfg.rdy  = MIKROBUS( mikrobus, MIKROBUS_RST ); \
  cfg.int_pin = MIKROBUS( mikrobus, MIKROBUS_INT )
#define COMPASS_RETVAL  uint8_t
 
#define COMPASS_OK           0x00
#define COMPASS_INIT_ERROR   0xFF
 // End group macro 
// --------------------------------------------------------------- PUBLIC TYPES
typedef struct
{
    // Input pins 
 
    digital_in_t rdy;
    digital_in_t int_pin;
    
    // Modules 
 
    i2c_master_t i2c;
 
    // ctx variable 
 
    uint8_t  accel_slave_address;
    uint8_t  magnet_slave_address;
 
} compass_t;
 
typedef struct
{
    // Communication gpio pins 
 
    pin_name_t scl;
    pin_name_t sda;
    
    // Additional gpio pins 
 
    pin_name_t rdy;
    pin_name_t int_pin;
 
    // static variable 
 
    uint32_t i2c_speed;
    uint8_t i2c_accel_address;
    uint8_t i2c_magnet_address;
 
} compass_cfg_t;
 
 // End types group
 
// ----------------------------------------------- PUBLIC FUNCTION DECLARATIONS
 
#ifdef __cplusplus
extern "C"{
#endif
 
void compass_cfg_setup ( compass_cfg_t *cfg );
 
COMPASS_RETVAL compass_init ( compass_t *ctx, compass_cfg_t *cfg );
 
void compass_accel_generic_write ( compass_t *ctx, uint8_t reg, uint8_t *data_buf, uint8_t len );
 
void compass_magnet_generic_write ( compass_t *ctx, uint8_t reg, uint8_t *data_buf, uint8_t len );
 
void compass_accel_generic_read ( compass_t *ctx, uint8_t reg, uint8_t *data_buf, uint8_t len );
 
void compass_magnet_generic_read ( compass_t *ctx, uint8_t reg, uint8_t *data_buf, uint8_t len );
 
void compass_default_config ( compass_t *ctx );
 
void compass_read_accel_axis ( compass_t *ctx, int16_t *x_axis, int16_t *y_axis, int16_t *z_axis );
 
void compass_read_magnet_axis ( compass_t *ctx, int16_t *x_axis, int16_t *y_axis, int16_t *z_axis );
 
#ifdef __cplusplus
}
#endif
#endif  // _COMPASS_H_
 
 // End public_function group
 
// ------------------------------------------------------------------------- END