gyro2.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 GYRO2_H
#define GYRO2_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 GYRO2_ADDR0    0x20
#define GYRO2_ADDR1    0x21
 
#define GYRO2_STATUS           0x00
#define GYRO2_OUT_X_MSB        0x01
#define GYRO2_OUT_X_LSB        0x02
#define GYRO2_OUT_Y_MSB        0x03
#define GYRO2_OUT_Y_LSB        0x04
#define GYRO2_OUT_Z_MSB        0x05
#define GYRO2_OUT_Z_LSB        0x06
#define GYRO2_DR_STATUS        0x07
#define GYRO2_F_STATUS         0x08
#define GYRO2_F_SETUP          0x09
#define GYRO2_F_EVENT          0x0A
#define GYRO2_INT_SRC_FLAG     0x0B
#define GYRO2_WHO_AM_I         0x0C
#define GYRO2_CTRL_REG0        0x0D
#define GYRO2_CTRL_REG1        0x13
 
#define  GYRO2_SCALE_0    0
#define  GYRO2_SCALE_1    1
#define  GYRO2_SCALE_2    2
#define  GYRO2_SCALE_3    3
 
#define  GYRO2_HI_PASS_OFF     0x00
#define  GYRO2_HI_PASS_MOD0    0x04
#define  GYRO2_HI_PASS_MOD1    0x0C
#define  GYRO2_HI_PASS_MOD2    0x14
#define  GYRO2_HI_PASS_MOD3    0x1C
 
#define  GYRO2_LO_PASS_OFF     0x00
#define  GYRO2_LO_PASS_MOD0    0x20
#define  GYRO2_LO_PASS_MOD1    0x60
#define  GYRO2_LO_PASS_MOD2    0xE0
 
#define GYRO2_RT_CFG     0x0E
 
#define GYRO2_RT_CFG_ELE      0x08
#define GYRO2_RT_CFG_ZTEFE    0x04
#define GYRO2_RT_CFG_YTEFE    0x02
#define GYRO2_RT_CFG_XTEFE    0x01
 
#define GYRO2_RT_SRC          0x0F
#define GYRO2_RT_THS          0x10
#define GYRO2_RT_COUNT        0x11
#define GYRO2_TEMP            0x12
 
#define  GYRO2_DR_800Hz          0
#define  GYRO2_DR_400Hz          1
#define  GYRO2_DR_200Hz          2
#define  GYRO2_DR_100Hz          3
#define  GYRO2_DR_50Hz           4
#define  GYRO2_DR_25Hz           5
#define  GYRO2_DR_12_5Hz         6
#define  GYRO2_STANDBY           0
#define  GYRO2_READY             1
#define  GYRO2_ACTIVE            3
 
#define GYRO2_CTRL_REG2       0x14
 
#define GYRO2_INT_CFG_FIFO_INT1    0x80
#define GYRO2_INT_CFG_FIFO_INT2    0x00
#define GYRO2_INT_EN_FIFO          0x40
#define GYRO2_INT_DIS_FIFO         0x00
#define GYRO2_INT_CFG_RT_INT1      0x20
#define GYRO2_INT_CFG_RT_INT2      0x00
#define GYRO2_INT_EN_RT            0x10
#define GYRO2_DIS_EN_RT            0x00
#define GYRO2_INT_CFG_DRDY_INT1    0x08
#define GYRO2_INT_CFG_DRDY_INT2    0x00
#define GYRO2_INT_EN_DRDY          0x04
#define GYRO2_INT_DIS_DRDY         0x00
#define GYRO2_IPOL_ACTIVE_HI       0x02
#define GYRO2_IPOL_ACTIVE_LO       0x00
#define GYRO2_PP_OD_OS             0x01
#define GYRO2_PP_OD_PUSH_PULL      0x00
 
#define GYRO2_CTRL_REG3            0x15
 
#define GYRO2_MAP_MIKROBUS( cfg, mikrobus ) \
   cfg.scl     = MIKROBUS( mikrobus, MIKROBUS_SCL ); \
   cfg.sda     = MIKROBUS( mikrobus, MIKROBUS_SDA ); \
   cfg.cs      = MIKROBUS( mikrobus, MIKROBUS_CS ); \
   cfg.scs     = MIKROBUS( mikrobus, MIKROBUS_AN ); \
   cfg.rst     = MIKROBUS( mikrobus, MIKROBUS_RST ); \
   cfg.rdy     = MIKROBUS( mikrobus, MIKROBUS_PWM ); \
   cfg.int_pin = MIKROBUS( mikrobus, MIKROBUS_INT ) 
#define GYRO2_RETVAL  uint8_t
 
#define GYRO2_OK           0x00
#define GYRO2_INIT_ERROR   0xFF
 // End group macro 
// --------------------------------------------------------------- PUBLIC TYPES
typedef void ( *gyro2_master_io_t )( struct gyro2_s*, uint8_t, uint8_t*, uint8_t );
 
typedef struct 
{
   uint8_t tmp_ctrl_reg0;
   uint8_t tmp_ctrl_reg1;
   uint8_t tmp_ctrl_reg2;
   uint8_t tmp_ctrl_reg3;
 
} ctrl_reg_t;
 
 
typedef struct gyro2_s
{
    // Output pins 
 
    digital_out_t scs;
    digital_out_t rst;
    digital_out_t rdy_pin;
    digital_out_t cs;
 
    // Input pins 
 
    digital_in_t rdy;
    digital_in_t int_pin;
 
    // Modules 
 
    i2c_master_t i2c;
 
    // ctx variable 
 
    uint8_t slave_address;
 
    //ctrl register variables
 
    ctrl_reg_t tmp_ctrl_reg;
 
} gyro2_t;
 
typedef struct
{
    // Communication gpio pins 
 
    pin_name_t scl;
    pin_name_t sda;
    pin_name_t cs;
    
    // Additional gpio pins 
 
    pin_name_t scs;
    pin_name_t rst;
    pin_name_t rdy;
    pin_name_t int_pin;
    pin_name_t rdy_pin;
 
    // static variable 
 
    uint32_t i2c_speed;
    uint8_t i2c_address;
 
} gyro2_cfg_t;
 
 // End types group
// ----------------------------------------------- PUBLIC FUNCTION DECLARATIONS
#ifdef __cplusplus
extern "C"{
#endif
 
void gyro2_cfg_setup ( gyro2_cfg_t *cfg );
 
GYRO2_RETVAL gyro2_init ( gyro2_t *ctx, gyro2_cfg_t *cfg );
 
uint8_t gyro2_default_cfg ( gyro2_t *ctx );
 
void gyro2_generic_write ( gyro2_t *ctx, uint8_t reg, uint8_t *data_buf, uint8_t len );
 
void gyro2_generic_read ( gyro2_t *ctx, uint8_t reg, uint8_t *data_buf, uint8_t len );
 
void gyro2_scs_set ( gyro2_t *ctx, uint8_t val );
 
void gyro2_rst_set ( gyro2_t *ctx, uint8_t val );
 
void gyro2_cs_set ( gyro2_t *ctx, uint8_t val );
 
void gyro2_rdy_set ( gyro2_t *ctx, uint8_t val );
 
uint8_t gyro2_rdy_get ( gyro2_t *ctx );
 
uint8_t gyro2_int_get ( gyro2_t *ctx );
 
void gyro2_hw_reset ( gyro2_t *ctx );
 
uint8_t gyro2_get_id ( gyro2_t *ctx );
 
void gyro2_get_axisraw ( gyro2_t *ctx, int16_t *axis_data );
 
void gyro2_calc_axis ( int16_t *axis_data );
 
uint8_t gyro2_read_temperature ( gyro2_t *ctx );
 
void gyro2_sw_reset ( gyro2_t *ctx );
 
void gyro2_set_dr ( gyro2_t *ctx, uint8_t rate );
 
void gyro2_set_opmode ( gyro2_t *ctx, uint8_t opmode );
 
void gyro2_interrupt_cfg ( gyro2_t *ctx, uint8_t int_route, uint8_t int_en, uint8_t polarity_outdrvsetting );
 
void gyro2_interrupt_event_generation ( gyro2_t *ctx, uint8_t cfg );
 
void gyro2_sensitivity ( gyro2_t *ctx, uint8_t s_setting );
 
void gyro2_fr_setup ( gyro2_t *ctx, uint8_t low_pass, uint8_t hi_pass, uint8_t scale_set );
 
#ifdef __cplusplu
 
#endif
#endif  // GYRO2_H
 
 // End public_function group
 
// ------------------------------------------------------------------------ END