smartdof3.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 SMARTDOF3_H
#define SMARTDOF3_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 SMARTDOF3_REG_FUNC_CFG_ACCESS             0x01
#define SMARTDOF3_REG_PIN_CTRL                    0x02
#define SMARTDOF3_REG_DRDY_PULSED_REG             0x0B
#define SMARTDOF3_REG_INT1_CTRL                   0x0D
#define SMARTDOF3_REG_INT2_CTRL                   0x0E
#define SMARTDOF3_REG_WHO_AM_I                    0x0F
#define SMARTDOF3_REG_CTRL1_XL                    0x10
#define SMARTDOF3_REG_CTRL2_G                     0x11
#define SMARTDOF3_REG_CTRL3_C                     0x12
#define SMARTDOF3_REG_CTRL4_C                     0x13
#define SMARTDOF3_REG_CTRL5_C                     0x14
#define SMARTDOF3_REG_CTRL6_C                     0x15
#define SMARTDOF3_REG_CTRL7_G                     0x16
#define SMARTDOF3_REG_CTRL9_C                     0x18
#define SMARTDOF3_REG_CTRL10_C                    0x19
#define SMARTDOF3_REG_ISPU_INT_STATUS0_MP         0x1A
#define SMARTDOF3_REG_ISPU_INT_STATUS1_MP         0x1B
#define SMARTDOF3_REG_ISPU_INT_STATUS2_MP         0x1C
#define SMARTDOF3_REG_ISPU_INT_STATUS3_MP         0x1D
#define SMARTDOF3_REG_STATUS                      0x1E
#define SMARTDOF3_REG_OUT_TEMP_L                  0x20
#define SMARTDOF3_REG_OUT_TEMP_H                  0x21
#define SMARTDOF3_REG_OUTX_L_G                    0x22
#define SMARTDOF3_REG_OUTX_H_G                    0x23
#define SMARTDOF3_REG_OUTY_L_G                    0x24
#define SMARTDOF3_REG_OUTY_H_G                    0x25
#define SMARTDOF3_REG_OUTZ_L_G                    0x26
#define SMARTDOF3_REG_OUTZ_H_G                    0x27
#define SMARTDOF3_REG_OUTX_L_A                    0x28
#define SMARTDOF3_REG_OUTX_H_A                    0x29
#define SMARTDOF3_REG_OUTY_L_A                    0x2A
#define SMARTDOF3_REG_OUTY_H_A                    0x2B
#define SMARTDOF3_REG_OUTZ_L_A                    0x2C
#define SMARTDOF3_REG_OUTZ_H_A                    0x2D
#define SMARTDOF3_REG_STATUS_MASTER_MAINPAGE      0x39
#define SMARTDOF3_REG_TIMESTAMP0                  0x40
#define SMARTDOF3_REG_TIMESTAMP1                  0x41
#define SMARTDOF3_REG_TIMESTAMP2                  0x42
#define SMARTDOF3_REG_TIMESTAMP3                  0x43
#define SMARTDOF3_REG_MD1_CFG                     0x5E
#define SMARTDOF3_REG_MD2_CFG                     0x5F
#define SMARTDOF3_REG_INTERNAL_FREQ_FINE          0x63
#define SMARTDOF3_REG_ISPU_DUMMY_CFG_1_L          0x73
#define SMARTDOF3_REG_ISPU_DUMMY_CFG_1_H          0x74
#define SMARTDOF3_REG_ISPU_DUMMY_CFG_2_L          0x75
#define SMARTDOF3_REG_ISPU_DUMMY_CFG_2_H          0x76
#define SMARTDOF3_REG_ISPU_DUMMY_CFG_3_L          0x77
#define SMARTDOF3_REG_ISPU_DUMMY_CFG_3_H          0x78
#define SMARTDOF3_REG_ISPU_DUMMY_CFG_4_L          0x79
#define SMARTDOF3_REG_ISPU_DUMMY_CFG_4_H          0x7A
 
 // smartdof3_reg
 
#define SMARTDOF3_DEVICE_ID                       0x22
 
#define SMARTDOF3_CTRL3_SOFT_RESET                0x01
#define SMARTDOF3_CTRL3_IF_INC_DISABLE            0x00
#define SMARTDOF3_CTRL3_IF_INC_ENABLE             0x04
#define SMARTDOF3_CTRL3_IF_INC_BIT_MASK           0xFB
#define SMARTDOF3_CTRL3_BDU_DISABLE               0x00
#define SMARTDOF3_CTRL3_BDU_ENABLE                0x40
#define SMARTDOF3_CTRL3_BDU_BIT_MASK              0xBF
 
#define SMARTDOF3_ODR_XL_G_OFF                    0x00
#define SMARTDOF3_ODR_XL_G_12_5_HZ                0x01
#define SMARTDOF3_ODR_XL_G_26_HZ                  0x02
#define SMARTDOF3_ODR_XL_G_52_HZ                  0x03
#define SMARTDOF3_ODR_XL_G_104_HZ                 0x04
#define SMARTDOF3_ODR_XL_G_208_HZ                 0x05
#define SMARTDOF3_ODR_XL_G_416_HZ                 0x06
#define SMARTDOF3_ODR_XL_G_833_HZ                 0x07
#define SMARTDOF3_ODR_XL_G_1667_HZ                0x08
#define SMARTDOF3_ODR_XL_G_3333_HZ                0x09
#define SMARTDOF3_ODR_XL_G_6667_HZ                0x0A
#define SMARTDOF3_ODR_XL_G_BIT_MASK               0x0F
 
#define SMARTDOF3_XL_FULL_SCALE_2G                0x00
#define SMARTDOF3_XL_FULL_SCALE_16G               0x01
#define SMARTDOF3_XL_FULL_SCALE_4G                0x02
#define SMARTDOF3_XL_FULL_SCALE_8G                0x03
#define SMARTDOF3_XL_FULL_SCALE_BIT_MASK          0x03
 
#define SMARTDOF3_OP_MODE_PERFORMANCE_LOW         0x00
#define SMARTDOF3_OP_MODE_PERFORMANCE_HIGH        0x01
 
#define SMARTDOF3_TIMESTAMP_ENABLE                0x20
 
#define SMARTDOF3_ACC_SENSITIVITY_FS_2G           0.061
#define SMARTDOF3_ACC_SENSITIVITY_FS_4G           0.122
#define SMARTDOF3_ACC_SENSITIVITY_FS_8G           0.244
#define SMARTDOF3_ACC_SENSITIVITY_FS_16G          0.488
 
#define SMARTDOF3_GY_FULL_SCALE_125DPS            0x01
#define SMARTDOF3_GY_FULL_SCALE_250DPS            0x00
#define SMARTDOF3_GY_FULL_SCALE_500DPS            0x02
#define SMARTDOF3_GY_FULL_SCALE_1000DPS           0x04
#define SMARTDOF3_GY_FULL_SCALE_2000DPS           0x06
#define SMARTDOF3_GY_FULL_SCALE_BIT_MASK          0x07
 
#define SMARTDOF3_GYRO_SENSITIVITY_FS_125DPS      0.004375
#define SMARTDOF3_GYRO_SENSITIVITY_FS_250DPS      0.00875
#define SMARTDOF3_GYRO_SENSITIVITY_FS_500DPS      0.0175
#define SMARTDOF3_GYRO_SENSITIVITY_FS_1000DPS     0.035
#define SMARTDOF3_GYRO_SENSITIVITY_FS_2000DPS     0.07
 
#define SMARTDOF3_DEVICE_ADDRESS_GND              0x6A
#define SMARTDOF3_DEVICE_ADDRESS_VCC              0x6B
 
#define SMARTDOF3_SET_DATA_SAMPLE_EDGE      SET_SPI_DATA_SAMPLE_EDGE
#define SMARTDOF3_SET_DATA_SAMPLE_MIDDLE    SET_SPI_DATA_SAMPLE_MIDDLE
 
 // smartdof3_set
 
#define SMARTDOF3_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.it2 = MIKROBUS( mikrobus, MIKROBUS_AN );    \
    cfg.it1 = MIKROBUS( mikrobus, MIKROBUS_INT )
 
 // smartdof3_map
 // smartdof3
 
typedef enum
{
    SMARTDOF3_DRV_SEL_SPI,      
    SMARTDOF3_DRV_SEL_I2C       
} smartdof3_drv_t;
 
typedef err_t ( *smartdof3_master_io_t )( struct smartdof3_s*, uint8_t, uint8_t*, uint8_t ); 
typedef struct smartdof3_s
{
    digital_in_t it2;    
    digital_in_t it1;    
    i2c_master_t i2c;    
    spi_master_t spi;    
    uint8_t      slave_address;       
    pin_name_t   chip_select;         
    smartdof3_drv_t drv_sel;          
    smartdof3_master_io_t write_f;    
    smartdof3_master_io_t read_f;     
} smartdof3_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 it2;     
    pin_name_t it1;     
    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;    
    smartdof3_drv_t drv_sel;    
} smartdof3_cfg_t;
 
typedef struct 
{
    uint8_t tda;     
    uint8_t gda;     
    uint8_t xlda;    
} smartdof3_status_t;
 
typedef struct 
{
    int16_t x;    
    int16_t y;    
    int16_t z;    
} smartdof3_axis_data_t;
 
typedef struct 
{
    float x;    
    float y;    
    float z;    
} smartdof3_axis_t;
 
typedef enum
{
    SMARTDOF3_OK = 0,
    SMARTDOF3_ERROR = -1
 
} smartdof3_return_value_t;
 
void smartdof3_cfg_setup ( smartdof3_cfg_t *cfg );
 
void smartdof3_drv_interface_selection ( smartdof3_cfg_t *cfg, smartdof3_drv_t drv_sel );
 
err_t smartdof3_init ( smartdof3_t *ctx, smartdof3_cfg_t *cfg );
 
err_t smartdof3_default_cfg ( smartdof3_t *ctx );
 
err_t smartdof3_generic_write ( smartdof3_t *ctx, uint8_t reg, uint8_t *data_in, uint8_t len );
 
err_t smartdof3_generic_read ( smartdof3_t *ctx, uint8_t reg, uint8_t *data_out, uint8_t len );
 
err_t smartdof3_get_device_id ( smartdof3_t *ctx, uint8_t *device_id );
 
err_t smartdof3_soft_reset ( smartdof3_t *ctx );
 
err_t smartdof3_en_auto_incr ( smartdof3_t *ctx );
 
err_t smartdof3_en_block_data_upd ( smartdof3_t *ctx );
 
err_t smartdof3_set_op_mode ( smartdof3_t *ctx, uint8_t acc_op_mode, uint8_t gyro_op_mode );
 
err_t smartdof3_set_acc_data_rate ( smartdof3_t *ctx, uint8_t data_rate );
 
err_t smartdof3_set_acc_full_scale ( smartdof3_t *ctx, uint8_t data_scale );
 
err_t smartdof3_get_acc_full_scale ( smartdof3_t *ctx, uint8_t *data_scale );
 
err_t smartdof3_get_acc_sensitivity ( smartdof3_t *ctx, float *sensitivity );
 
err_t smartdof3_set_gyro_data_rate ( smartdof3_t *ctx, uint8_t data_rate );
 
err_t smartdof3_set_gyro_full_scale ( smartdof3_t *ctx, uint8_t data_scale );
 
err_t smartdof3_get_gyro_full_scale ( smartdof3_t *ctx, uint8_t *data_scale );
 
err_t smartdof3_get_status ( smartdof3_t *ctx, smartdof3_status_t *status );
 
err_t smartdof3_get_gyro_sensitivity ( smartdof3_t *ctx, float *sensitivity );
 
err_t smartdof3_get_acc_axis_data ( smartdof3_t *ctx, smartdof3_axis_data_t *acc_axis );
 
err_t smartdof3_get_gyro_axis_data ( smartdof3_t *ctx, smartdof3_axis_data_t *gyro_axis );
 
err_t smartdof3_get_acc_axis ( smartdof3_t *ctx, smartdof3_axis_t *acc_axis );
 
err_t smartdof3_get_gyro_axis ( smartdof3_t *ctx, smartdof3_axis_t *gyro_axis );
 
err_t smartdof3_enable_temperature ( smartdof3_t *ctx );
 
err_t smartdof3_get_temperature_raw ( smartdof3_t *ctx, int16_t *temp_raw );
 
err_t smartdof3_get_temperature ( smartdof3_t *ctx, float *temperature );
 
uint8_t smartdof3_get_in1_pin ( smartdof3_t *ctx );
 
uint8_t smartdof3_get_in2_pin ( smartdof3_t *ctx );
 
#ifdef __cplusplus
}
#endif
#endif // SMARTDOF3_H
 
 // smartdof3
 
// ------------------------------------------------------------------------ END