gyro6.h

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/****************************************************************************
** Copyright (C) 2020 MikroElektronika d.o.o.
** Contact: https://www.mikroe.com/contact
**
** 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 GYRO6_H
#define GYRO6_H
 
#ifdef __cplusplus
extern "C"{
#endif
 
#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"
#include "spi_specifics.h"
 
#define GYRO6_REG_SELF_TEST_X_GYRO          0x00
#define GYRO6_REG_SELF_TEST_Y_GYRO          0x01
#define GYRO6_REG_SELF_TEST_Z_GYRO          0x02
#define GYRO6_REG_XG_OFFS_USRH              0x13
#define GYRO6_REG_XG_OFFS_USRL              0x14
#define GYRO6_REG_YG_OFFS_USRH              0x15
#define GYRO6_REG_YG_OFFS_USRL              0x16
#define GYRO6_REG_ZG_OFFS_USRH              0x17
#define GYRO6_REG_ZG_OFFS_USRL              0x18
#define GYRO6_REG_SMPLRT_DIV                0x19
#define GYRO6_REG_CONFIG                    0x1A
#define GYRO6_REG_GYRO_CONFIG               0x1B
#define GYRO6_REG_LP_MODE_CFG               0x1E
#define GYRO6_REG_FIFO_EN                   0x23
#define GYRO6_REG_FSYNC_INT                 0x36
#define GYRO6_REG_INT_PIN_CFG               0x37
#define GYRO6_REG_INT_ENABLE                0x38
#define GYRO6_REG_INT_STATUS                0x3A
#define GYRO6_REG_TEMP_OUT_H                0x41
#define GYRO6_REG_TEMP_OUT_L                0x42
#define GYRO6_REG_GYRO_XOUT_H               0x43
#define GYRO6_REG_GYRO_XOUT_L               0x44
#define GYRO6_REG_GYRO_YOUT_H               0x45
#define GYRO6_REG_GYRO_YOUT_L               0x46
#define GYRO6_REG_GYRO_ZOUT_H               0x47
#define GYRO6_REG_GYRO_ZOUT_L               0x48
#define GYRO6_REG_SIGNAL_PATH_RESET         0x68
#define GYRO6_REG_USER_CTRL                 0x6A
#define GYRO6_REG_PWR_MGMT_1                0x6B
#define GYRO6_REG_PWR_MGMT_2                0x6C
#define GYRO6_REG_FIFO_COUNTH               0x72
#define GYRO6_REG_FIFO_COUNTL               0x73
#define GYRO6_REG_FIFO_R_W                  0x74
#define GYRO6_REG_WHO_AM_I                  0x75
 
 // gyro6_reg
 
#define GYRO6_CONFIG_FIFO_MODE              0x40
#define GYRO6_CONFIG_EXT_SYNC_DIS           0x00
#define GYRO6_CONFIG_EXT_SYNC_TEMP_OUT_L    0x08
#define GYRO6_CONFIG_EXT_SYNC_GYRO_XOUT_L   0x10
#define GYRO6_CONFIG_EXT_SYNC_GYRO_YOUT_L   0x18
#define GYRO6_CONFIG_EXT_SYNC_GYRO_ZOUT_L   0x20
#define GYRO6_CONFIG_FIFO_MODE              0x40
#define GYRO6_CONFIG_DLPF_CFG_0             0x00
#define GYRO6_CONFIG_DLPF_CFG_1             0x01
#define GYRO6_CONFIG_DLPF_CFG_2             0x02
#define GYRO6_CONFIG_DLPF_CFG_3             0x03
#define GYRO6_CONFIG_DLPF_CFG_4             0x04
#define GYRO6_CONFIG_DLPF_CFG_5             0x05
#define GYRO6_CONFIG_DLPF_CFG_6             0x06
#define GYRO6_CONFIG_DLPF_CFG_7             0x07
 
#define GYRO6_GYRO_CONFIG_XG_ST             0x80
#define GYRO6_GYRO_CONFIG_YG_ST             0x40
#define GYRO6_GYRO_CONFIG_ZG_ST             0x20
#define GYRO6_GYRO_CONFIG_FS_SEL_250DPS     0x00
#define GYRO6_GYRO_CONFIG_FS_SEL_500DPS     0x08
#define GYRO6_GYRO_CONFIG_FS_SEL_1000DPS    0x10
#define GYRO6_GYRO_CONFIG_FS_SEL_2000DPS    0x18
#define GYRO6_GYRO_CONFIG_FS_SEL_BITS_MASK  0x18
#define GYRO6_GYRO_CONFIG_FCHOICE_B_0       0x00
#define GYRO6_GYRO_CONFIG_FCHOICE_B_1       0x01
#define GYRO6_GYRO_CONFIG_FCHOICE_B_2       0x02
#define GYRO6_GYRO_CONFIG_FCHOICE_B_3       0x03
 
#define GYRO6_SAMPLE_RATE_3p9HZ             255
#define GYRO6_SAMPLE_RATE_10HZ              99
#define GYRO6_SAMPLE_RATE_15p4HZ            64
#define GYRO6_SAMPLE_RATE_30p3HZ            32
#define GYRO6_SAMPLE_RATE_50HZ              19
#define GYRO6_SAMPLE_RATE_100HZ             9
#define GYRO6_SAMPLE_RATE_125HZ             7
#define GYRO6_SAMPLE_RATE_200HZ             4
#define GYRO6_SAMPLE_RATE_250HZ             3
#define GYRO6_SAMPLE_RATE_333p3HZ           2
#define GYRO6_SAMPLE_RATE_500HZ             1
#define GYRO6_SAMPLE_RATE_1000HZ            0
 
#define GYRO6_LP_MODE_CFG_GYRO_CYCLE        0x80
#define GYRO6_LP_MODE_CFG_G_AVGCFG_1X       0x00
#define GYRO6_LP_MODE_CFG_G_AVGCFG_2X       0x10
#define GYRO6_LP_MODE_CFG_G_AVGCFG_4X       0x20
#define GYRO6_LP_MODE_CFG_G_AVGCFG_8X       0x30
#define GYRO6_LP_MODE_CFG_G_AVGCFG_16X      0x40
#define GYRO6_LP_MODE_CFG_G_AVGCFG_32X      0x50
#define GYRO6_LP_MODE_CFG_G_AVGCFG_64X      0x60
#define GYRO6_LP_MODE_CFG_G_AVGCFG_128X     0x70
 
#define GYRO6_FIFO_EN_TEMP_FIFO_EN          0x80
#define GYRO6_FIFO_EN_XG_FIFO_EN            0x40
#define GYRO6_FIFO_EN_YG_FIFO_EN            0x20
#define GYRO6_FIFO_EN_ZG_FIFO_EN            0x10
 
#define GYRO6_FSYNC_INT                     0x80
 
#define GYRO6_INT_PIN_CFG_INT_LEVEL         0x80
#define GYRO6_INT_PIN_CFG_INT_OPEN          0x40
#define GYRO6_INT_PIN_CFG_LATCH_INT_EN      0x20
#define GYRO6_INT_PIN_CFG_INT_RD_CLEAR      0x10
#define GYRO6_INT_PIN_CFG_FSYNC_INT_LEVEL   0x08
#define GYRO6_INT_PIN_CFG_FSYNC_INT_MODE_EN 0x04
 
#define GYRO6_INT_ENABLE_FIFO_OFLOW_INT_EN  0x10
#define GYRO6_INT_ENABLE_GDRIVE_INT_EN      0x04
#define GYRO6_INT_ENABLE_DATA_RDY_INT_EN    0x01
 
#define GYRO6_INT_STATUS_FIFO_OFLOW_INT     0x10
#define GYRO6_INT_STATUS_GDRIVE_INT         0x04
#define GYRO6_INT_STATUS_DATA_RDY_INT       0x01
 
#define GYRO6_ROOM_TEMP_OFFSET              0
#define GYRO6_TEMP_SENSITIVITY              326.8
#define GYRO6_TEMP_NOMINAL                  25.0
 
#define GYRO6_GYRO_SENSITIVITY_FS_SEL_0     131.0
#define GYRO6_GYRO_SENSITIVITY_FS_SEL_1     65.5
#define GYRO6_GYRO_SENSITIVITY_FS_SEL_2     32.8
#define GYRO6_GYRO_SENSITIVITY_FS_SEL_3     16.4
 
#define GYRO6_SIGNAL_PATH_RESET_TEMP_RST    0x01
 
#define GYRO6_USER_CTRL_FIFO_EN             0x40
#define GYRO6_USER_CTRL_I2C_IF_DIS          0x10
#define GYRO6_USER_CTRL_FIFO_RST            0x04
#define GYRO6_USER_CTRL_SIG_COND_RST        0x01
 
#define GYRO6_PWR_MGMT_1_DEVICE_RESET       0x80
#define GYRO6_PWR_MGMT_1_SLEEP              0x40
#define GYRO6_PWR_MGMT_1_GYRO_STANDBY       0x10
#define GYRO6_PWR_MGMT_1_INTERNAL_OSC       0x00
#define GYRO6_PWR_MGMT_1_AUTO_SEL_CLOCK     0x01
#define GYRO6_PWR_MGMT_1_STOP_CLOCK         0x07
 
#define GYRO6_PWR_MGMT_2_DISABLE_X_GYRO     0x04
#define GYRO6_PWR_MGMT_2_DISABLE_Y_GYRO     0x02
#define GYRO6_PWR_MGMT_2_DISABLE_Z_GYRO     0x01
 
#define GYRO6_DEVICE_ID                     0xB5
 
#define GYRO6_SET_DEV_ADDR_0                0x68
#define GYRO6_SET_DEV_ADDR_1                0x69
 
#define GYRO6_SET_DATA_SAMPLE_EDGE          SET_SPI_DATA_SAMPLE_EDGE
#define GYRO6_SET_DATA_SAMPLE_MIDDLE        SET_SPI_DATA_SAMPLE_MIDDLE
 
 // gyro6_set
 
#define GYRO6_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.pwm  = MIKROBUS( mikrobus, MIKROBUS_PWM ); \
    cfg.int_pin = MIKROBUS( mikrobus, MIKROBUS_INT )
 
 // gyro6_map
 // gyro6
 
typedef enum
{
    GYRO6_DRV_SEL_SPI,      
    GYRO6_DRV_SEL_I2C       
} gyro6_drv_t;
 
typedef err_t ( *gyro6_master_io_t )( struct gyro6_s*, uint8_t, uint8_t*, uint8_t ); 
typedef struct gyro6_s
{
    digital_out_t   pwm;            
    digital_in_t    int_pin;        
    i2c_master_t    i2c;            
    spi_master_t    spi;            
    uint8_t         slave_address;  
    pin_name_t      chip_select;    
    gyro6_drv_t     drv_sel;        
    gyro6_master_io_t  write_f;     
    gyro6_master_io_t  read_f;      
} gyro6_t;
 
typedef struct
{
    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  pwm;                
    pin_name_t  int_pin;            
    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;    
    gyro6_drv_t drv_sel;            
} gyro6_cfg_t;
 
typedef enum
{
    GYRO6_OK = 0,
    GYRO6_ERROR = -1
 
} gyro6_return_value_t;
 
void gyro6_cfg_setup ( gyro6_cfg_t *cfg );
 
void gyro6_drv_interface_selection ( gyro6_cfg_t *cfg, gyro6_drv_t drv_sel );
 
err_t gyro6_init ( gyro6_t *ctx, gyro6_cfg_t *cfg );
 
err_t gyro6_default_cfg ( gyro6_t *ctx );
 
err_t gyro6_generic_write ( gyro6_t *ctx, uint8_t reg, uint8_t *data_in, uint8_t len );
 
err_t gyro6_generic_read ( gyro6_t *ctx, uint8_t reg, uint8_t *data_out, uint8_t len );
 
err_t gyro6_write_register ( gyro6_t *ctx, uint8_t reg, uint8_t data_in );
 
err_t gyro6_read_register ( gyro6_t *ctx, uint8_t reg, uint8_t *data_out );
 
uint8_t gyro6_get_int_pin ( gyro6_t *ctx );
 
void gyro6_set_pwm_pin ( gyro6_t *ctx, uint8_t state );
 
err_t gyro6_check_communication ( gyro6_t *ctx );
 
err_t gyro6_read_die_temperature ( gyro6_t *ctx, float *temperature );
 
err_t gyro6_get_axis ( gyro6_t *ctx, float *x_axis, float *y_axis, float *z_axis );
 
err_t gyro6_set_low_power_mode ( gyro6_t *ctx, uint8_t sample_rate, uint8_t average );
 
#ifdef __cplusplus
}
#endif
#endif // GYRO6_H
 
 // gyro6
 
// ------------------------------------------------------------------------ END