gyro5.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 GYRO5_H
#define GYRO5_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 GYRO5_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 ); \
   cfg.int_pin    = MIKROBUS( mikrobus, MIKROBUS_INT )
#define GYRO5_MASTER_I2C            0
#define GYRO5_MASTER_SPI            1
#define GYRO5_COM_I2C               0x01
#define GYRO5_COM_SPI               0x02
#define GYRO5_RETVAL  uint8_t
 
#define GYRO5_OK                    0x00
#define GYRO5_INIT_ERROR            0xFF
#define GYRO5_I2C_DEV_ADR_GND      0x68
#define GYRO5_I2C_DEV_ADR_VCC      0x69
#define GYRO5_SLEEP_DISABLE        0x00
#define GYRO5_SLEEP_ENABLE         0x01
#define GYRO5_INT_DATA_RDY         0x00
#define GYRO5_INT_FSYNC            0x01
#define GYRO5_INT_FIFO_OVF         0x02
#define GYRO5_REG_XG_OFFS_TC_H     0x04
#define GYRO5_REG_XG_OFFS_TC_L     0x05
#define GYRO5_REG_YG_OFFS_TC_H     0x07
#define GYRO5_REG_YG_OFFS_TC_L     0x08
#define GYRO5_REG_ZG_OFFS_TC_H     0x0A
#define GYRO5_REG_ZG_OFFS_TC_L     0x0B
#define GYRO5_REG_XG_OFFS_USRH     0x13
#define GYRO5_REG_XG_OFFS_USRL     0x14
#define GYRO5_REG_YG_OFFS_USRH     0x15
#define GYRO5_REG_YG_OFFS_USRL     0x16
#define GYRO5_REG_ZG_OFFS_USRH     0x17
#define GYRO5_REG_G_OFFS_USRL      0x18
#define GYRO5_REG_SMPLRT_DIV       0x19
#define GYRO5_REG_CONFIG           0x1A
#define GYRO5_REG_GYRO_CONFIG      0x1B
#define GYRO5_REG_FIFO_EN          0x23
#define GYRO5_REG_INT_PIN_CFG      0x37
#define GYRO5_REG_INT_ENABLE       0x38
#define GYRO5_REG_INT_STATUS       0x3A
#define GYRO5_REG_TEMP_OUT_H       0x41
#define GYRO5_REG_TEMP_OUT_L       0x42
#define GYRO5_REG_GYRO_XOUT_H      0x43
#define GYRO5_REG_GYRO_XOUT_L      0x44
#define GYRO5_REG_GYRO_YOUT_H      0x45
#define GYRO5_REG_GYRO_YOUT_L      0x46
#define GYRO5_REG_GYRO_ZOUT_H      0x47
#define GYRO5_REG_GYRO_ZOUT_L      0x48
#define GYRO5_REG_USER_CTRL        0x6A
#define GYRO5_REG_PWR_MGMT_1       0x6B
#define GYRO5_REG_PWR_MGMT_2       0x6C
#define GYRO5_REG_FIFO_COUNTH      0x72
#define GYRO5_REG_FIFO_COUNTL      0x73
#define GYRO5_REG_FIFO_R_W         0x74
#define GYRO5_REG_WHO_AM_I         0x75
#define GYRO5_CFG_PWR_MGMT_1_DEV_RST          0x80
#define GYRO5_CFG_PWR_MGMT_1_SLEEP            0x40
#define GYRO5_CFG_PWR_MGMT_1_TEMP_DIS         0x10
#define GYRO5_CFG_PWR_MGMT_1_CLKSEL_EXT_OSC   0x06
#define GYRO5_CFG_PWR_MGMT_1_CLKSEL_PLL       0x01
#define GYRO5_CFG_PWR_MGMT_1_CLKSEL_INT_OSC   0x00
#define GYRO5_CFG_PWR_MGMT_2_STBY_XG          0x04
#define GYRO5_CFG_PWR_MGMT_2_STBY_YG          0x02
#define GYRO5_CFG_PWR_MGMT_2_STBY_ZG          0x01
#define GYRO5_CFG_PWR_MGMT_2_DIS_ALL          0x00
#define GYRO5_CFG_USER_CTRL_FIFO_EN          0x40
#define GYRO5_CFG_USER_CTRL_I2C_IF_DIS       0x10
#define GYRO5_CFG_USER_CTRL_FIFO_RESET       0x08
#define GYRO5_CFG_USER_CTRL_SIG_COND_RST     0x01
#define GYRO5_CFG_SMPLRT_DIV_DEF             0x00
#define GYRO5_CFG_CONFIG_EXT_SYNC_SET_GYRO_ZOUT_L   0x20 
#define GYRO5_CFG_CONFIG_EXT_SYNC_SET_GYRO_YOUT_L   0x18 
#define GYRO5_CFG_CONFIG_EXT_SYNC_SET_GYRO_XOUT_L   0x10
#define GYRO5_CFG_CONFIG_EXT_SYNC_SET_TEMP_OUT_L    0x08
#define GYRO5_CFG_CONFIG_EXT_SYNC_SET_IN_DIS        0x00
#define GYRO5_CFG_CONFIG_DEF                        0x00
#define GYRO5_CFG_GYRO_CONFIG_FS_SEL_4000           0x18
#define GYRO5_CFG_GYRO_CONFIG_FS_SEL_2000           0x10
#define GYRO5_CFG_GYRO_CONFIG_FS_SEL_1000           0x08
#define GYRO5_CFG_GYRO_CONFIG_FS_SEL_500            0x00
#define GYRO5_CFG_FIFO_EN_TEMP                      0x80
#define GYRO5_CFG_FIFO_EN_GYRO_X                    0x40
#define GYRO5_CFG_FIFO_EN_GYRO_Y                    0x20
#define GYRO5_CFG_FIFO_EN_GYRO_Z                    0x10
#define GYRO5_CFG_FIFO_EN_DIS_ALL                   0x00
#define GYRO5_CFG_INT_PIN_CFG_INT_LEVEL             0x80
#define GYRO5_CFG_INT_PIN_CFG_INT_OPEN              0x40
#define GYRO5_CFG_INT_PIN_CFG_LATCH_INT_EN          0x20
#define GYRO5_CFG_INT_PIN_CFG_INT_RD_CLEAR          0x10
#define GYRO5_CFG_INT_PIN_CFG_FSYNC_INT_LEVEL       0x08
#define GYRO5_CFG_INT_PIN_CFG_FSYNC_INT_MODE_EN     0x04
#define GYRO5_CFG_INT_PIN_CFG_DIS_ALL               0x00
#define GYRO5_CFG_INT_ENABLE_FIFO_OFLOW_EN          0x10
#define GYRO5_CFG_INT_ENABLE_FSYNC_INT_EN           0x08
#define GYRO5_CFG_INT_ENABLE_DATA_RDY_EN            0x01
#define GYRO5_STATUS_INT_FIFO_OFLOW                 0x10
#define GYRO5_STATUS_INT_FSYNC                      0x08
#define GYRO5_STATUS_INT_DATA_RDY                   0x01
#define GYRO5_STATUS_INT_NOT_DATA_RDY               0x00
#define GYRO5_STATUS_INT_TYPES_SEL_FIFO_OFLOW       0x02
#define GYRO5_STATUS_INT_TYPES_INT_FSYNC            0x01
#define GYRO5_STATUS_INT_TYPES_INT_DATA_RDY         0x00
#define GYRO5_SLEEP_STATUS_EN                       0x01
#define GYRO5_SLEEP_STATUS_DIS                      0x00
 // End group macro 
// --------------------------------------------------------------- PUBLIC TYPES
typedef uint8_t  gyro5_select_t;
 
typedef void ( *gyro5_master_io_t )( struct gyro5_s*, uint8_t, uint8_t*, uint8_t );
 
typedef struct gyro5_s
{   
   // Output pins
   
   digital_out_t cs;
 
   // Input pins 
 
   digital_in_t int_pin;
 
    // Modules 
 
    i2c_master_t i2c;
    spi_master_t spi;
 
    // ctx variable 
 
   uint8_t slave_address;
   pin_name_t chip_select;
   gyro5_master_io_t  write_f;
   gyro5_master_io_t  read_f;
   gyro5_select_t master_sel;
 
} gyro5_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;
 
    pin_name_t int_pin;
 
    // static variable 
 
   uint32_t i2c_speed;
   uint8_t  i2c_address;
 
   uint32_t spi_speed;
   spi_master_mode_t  spi_mode;
   spi_master_chip_select_polarity_t cs_polarity;
 
   gyro5_select_t sel;
 
} gyro5_cfg_t;
 
 // End types group
 
// ----------------------------------------------- PUBLIC FUNCTION DECLARATIONS
#ifdef __cplusplus
extern "C"{
#endif
 
void gyro5_cfg_setup ( gyro5_cfg_t *cfg );
 
GYRO5_RETVAL gyro5_init ( gyro5_t *ctx, gyro5_cfg_t *cfg );
 
void gyro5_default_cfg ( gyro5_t *ctx );
 
void gyro5_generic_write ( gyro5_t *ctx, uint8_t reg, uint8_t *data_buf, uint8_t len );
 
void gyro5_generic_read ( gyro5_t *ctx, uint8_t reg, uint8_t *data_buf, uint8_t len );
 
uint8_t gyro5_get_int ( gyro5_t *ctx );
 
uint8_t gyro5_int_status ( gyro5_t *ctx, uint8_t int_type );
 
void gyro5_get_temperature ( gyro5_t *ctx, float *temperature );
 
void gyro5_get_axes ( gyro5_t *ctx, float *x_axis, float *y_axis, float *z_axis );
 
void gyro5_sleep ( gyro5_t *ctx, uint8_t en_sleep );
 
#ifdef __cplusplus
}
#endif
#endif  // _GYRO5_H_
 
 // End public_function group
 
// ------------------------------------------------------------------------- END