gyro9.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 GYRO9_H
#define GYRO9_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 GYRO9_REG_WHO_AM_I                 0x0F
#define GYRO9_REG_CTRL_REG1                0x20
#define GYRO9_REG_CTRL_REG2                0x21
#define GYRO9_REG_CTRL_REG3                0x22
#define GYRO9_REG_CTRL_REG4                0x23
#define GYRO9_REG_CTRL_REG5                0x24
#define GYRO9_REG_REFERENCE                0x25
#define GYRO9_REG_OUT_TEMP                 0x26
#define GYRO9_REG_STATUS_REG               0x27
#define GYRO9_REG_OUT_X_L                  0x28
#define GYRO9_REG_OUT_X_H                  0x29
#define GYRO9_REG_OUT_Y_L                  0x2A
#define GYRO9_REG_OUT_Y_H                  0x2B
#define GYRO9_REG_OUT_Z_L                  0x2C
#define GYRO9_REG_OUT_Z_H                  0x2D
#define GYRO9_REG_FIFO_CTRL_REG            0x2E
#define GYRO9_REG_FIFO_SRC_REG             0x2F
#define GYRO9_REG_INT1_CFG                 0x30
#define GYRO9_REG_INT1_SRC                 0x31
#define GYRO9_REG_INT1_TSH_XH              0x32
#define GYRO9_REG_INT1_TSH_XL              0x33
#define GYRO9_REG_INT1_TSH_YH              0x34
#define GYRO9_REG_INT1_TSH_YL              0x35
#define GYRO9_REG_INT1_TSH_ZH              0x36
#define GYRO9_REG_INT1_TSH_ZL              0x37
#define GYRO9_REG_INT1_DURATION            0x38
 
 // gyro9_reg
 
#define GYRO9_WHO_AM_I                     0xD3
 
#define GYRO9_ODR_100_HZ                   0x00
#define GYRO9_ODR_200_HZ                   0x01
#define GYRO9_ODR_400_HZ                   0x02
#define GYRO9_ODR_800_HZ                   0x03
#define GYRO9_ODR_BIT_MASK                 0xC0
 
#define GYRO9_BW_0                         0x00
#define GYRO9_BW_1                         0x01
#define GYRO9_BW_2                         0x02
#define GYRO9_BW_3                         0x03
#define GYRO9_BW_BIT_MASK                  0x30
 
#define GYRO9_PD_POWER_DOWN                0x00
#define GYRO9_PD_SLEEP                     0x08
#define GYRO9_PD_NORMAL                    0x0F
#define GYRO9_PD_BIT_MASK                  0x08
 
#define GYRO9_FIFO_CTRL_BYPASS_MODE        0x00
#define GYRO9_FIFO_CTRL_FIFO_MODE          0x01
#define GYRO9_FIFO_CTRL_STREAM_MODE        0x02
#define GYRO9_FIFO_CTRL_BIT_MASK           0xE0
 
#define GYRO9_CTRL_I1_INT1_EN              0x80
#define GYRO9_CTRL_I1_INT1_DIS             0x00
#define GYRO9_CTRL_I1_BOOT_EN              0x40
#define GYRO9_CTRL_I1_BOOT_DIS             0x00
#define GYRO9_CTRL_H_LACTIVE_EN            0x20
#define GYRO9_CTRL_H_LACTIVE_DIS           0x00
#define GYRO9_CTRL_PP_OD_EN                0x10
#define GYRO9_CTRL_PP_OD_DIS               0x00
#define GYRO9_CTRL_I2_DRDY_EN              0x08
#define GYRO9_CTRL_I2_DRDY_DIS             0x00
#define GYRO9_CTRL_I2_WTM_EN               0x04
#define GYRO9_CTRL_I2_WTM_DIS              0x00
#define GYRO9_CTRL_I2_ORUN_EN              0x02
#define GYRO9_CTRL_I2_ORUN_DIS             0x00
#define GYRO9_CTRL_I2_EMPTY_EN             0x01
#define GYRO9_CTRL_I2_EMPTY_DIS            0x00
 
#define GYRO9_SENSITIVITY_DPS              0.00875f
 
#define GYRO9_DEVICE_ADDRESS_GND           0x68
#define GYRO9_DEVICE_ADDRESS_VCC           0x69
 
#define GYRO9_SET_DATA_SAMPLE_EDGE         SET_SPI_DATA_SAMPLE_EDGE
#define GYRO9_SET_DATA_SAMPLE_MIDDLE       SET_SPI_DATA_SAMPLE_MIDDLE
 
 // gyro9_set
 
#define GYRO9_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.dr   = MIKROBUS( mikrobus, MIKROBUS_AN );   \
    cfg.int_pin = MIKROBUS( mikrobus, MIKROBUS_INT )
 
 // gyro9_map
 // gyro9
 
typedef enum
{
    GYRO9_DRV_SEL_SPI,      
    GYRO9_DRV_SEL_I2C       
} gyro9_drv_t;
 
typedef err_t ( *gyro9_master_io_t )( struct gyro9_s*, uint8_t, uint8_t*, uint8_t ); 
typedef struct gyro9_s
{
    digital_in_t dr;         
    digital_in_t int_pin;    
    i2c_master_t i2c;        
    spi_master_t spi;        
    uint8_t      slave_address;    
    pin_name_t   chip_select;      
    gyro9_drv_t drv_sel;           
    gyro9_master_io_t write_f;     
    gyro9_master_io_t read_f;      
} gyro9_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 dr;         
    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;    
    gyro9_drv_t drv_sel;    
} gyro9_cfg_t;
 
typedef struct 
{
    int16_t x;    
    int16_t y;    
    int16_t z;    
} gyro9_axis_data_t;
 
 
typedef struct 
{
    float x;    
    float y;    
    float z;    
} gyro9_axis_t;
 
typedef enum
{
    GYRO9_OK = 0,
    GYRO9_ERROR = -1
 
} gyro9_return_value_t;
 
void gyro9_cfg_setup ( gyro9_cfg_t *cfg );
 
void gyro9_drv_interface_selection ( gyro9_cfg_t *cfg, gyro9_drv_t drv_sel );
 
err_t gyro9_init ( gyro9_t *ctx, gyro9_cfg_t *cfg );
 
err_t gyro9_default_cfg ( gyro9_t *ctx );
 
err_t gyro9_generic_write ( gyro9_t *ctx, uint8_t reg, uint8_t *data_in, uint8_t len );
 
err_t gyro9_generic_read ( gyro9_t *ctx, uint8_t reg, uint8_t *data_out, uint8_t len );
 
err_t gyro9_get_device_id ( gyro9_t *ctx, uint8_t *who_am_i );
 
err_t gyro9_set_output_data_rate ( gyro9_t *ctx, uint8_t odr );
 
err_t gyro9_set_bandwidth_sel ( gyro9_t *ctx, uint8_t bandwidth );
 
err_t gyro9_set_mode_pd ( gyro9_t *ctx );
 
err_t gyro9_set_mode_sleep ( gyro9_t *ctx );
 
err_t gyro9_set_mode_normal ( gyro9_t *ctx );
 
err_t gyro9_set_fifo_mode ( gyro9_t *ctx, uint8_t fifo_mode );
 
err_t gyro9_enable_data_ready ( gyro9_t *ctx );
 
err_t gyro9_get_status ( gyro9_t *ctx, uint8_t *status );
 
err_t gyro9_get_axis_data ( gyro9_t *ctx, gyro9_axis_data_t *gyro_axis );
 
err_t gyro9_get_gyro_axis ( gyro9_t *ctx, gyro9_axis_t *gyro_axis );
 
err_t gyro9_get_temperature_raw ( gyro9_t *ctx, int8_t *temp_raw );
 
uint8_t gyro9_get_data_ready ( gyro9_t *ctx );
 
uint8_t gyro9_get_interrupt ( gyro9_t *ctx );
 
#ifdef __cplusplus
}
#endif
#endif // GYRO9_H
 
 // gyro9
 
// ------------------------------------------------------------------------ END