gyro2  2.0.0.0
gyro2.h
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1 /*
2  * MikroSDK - MikroE Software Development Kit
3  * Copyright© 2020 MikroElektronika d.o.o.
4  *
5  * Permission is hereby granted, free of charge, to any person
6  * obtaining a copy of this software and associated documentation
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10  * and to permit persons to whom the Software is furnished to do so,
11  * subject to the following conditions:
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18  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
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24 
33 // ----------------------------------------------------------------------------
34 
35 #ifndef GYRO2_H
36 #define GYRO2_H
37 
42 #ifdef PREINIT_SUPPORTED
43 #include "preinit.h"
44 #endif
45 
46 #ifdef MikroCCoreVersion
47  #if MikroCCoreVersion >= 1
48  #include "delays.h"
49  #endif
50 #endif
51 
52 #include "drv_digital_out.h"
53 #include "drv_digital_in.h"
54 #include "drv_i2c_master.h"
55 
56 // -------------------------------------------------------------- PUBLIC MACROS
66 #define GYRO2_ADDR0 0x20
67 #define GYRO2_ADDR1 0x21
68 
73 #define GYRO2_STATUS 0x00
74 #define GYRO2_OUT_X_MSB 0x01
75 #define GYRO2_OUT_X_LSB 0x02
76 #define GYRO2_OUT_Y_MSB 0x03
77 #define GYRO2_OUT_Y_LSB 0x04
78 #define GYRO2_OUT_Z_MSB 0x05
79 #define GYRO2_OUT_Z_LSB 0x06
80 #define GYRO2_DR_STATUS 0x07
81 #define GYRO2_F_STATUS 0x08
82 #define GYRO2_F_SETUP 0x09
83 #define GYRO2_F_EVENT 0x0A
84 #define GYRO2_INT_SRC_FLAG 0x0B
85 #define GYRO2_WHO_AM_I 0x0C
86 #define GYRO2_CTRL_REG0 0x0D
87 #define GYRO2_CTRL_REG1 0x13
88 
93 #define GYRO2_SCALE_0 0
94 #define GYRO2_SCALE_1 1
95 #define GYRO2_SCALE_2 2
96 #define GYRO2_SCALE_3 3
97 
98 #define GYRO2_HI_PASS_OFF 0x00
99 #define GYRO2_HI_PASS_MOD0 0x04
100 #define GYRO2_HI_PASS_MOD1 0x0C
101 #define GYRO2_HI_PASS_MOD2 0x14
102 #define GYRO2_HI_PASS_MOD3 0x1C
103 
104 #define GYRO2_LO_PASS_OFF 0x00
105 #define GYRO2_LO_PASS_MOD0 0x20
106 #define GYRO2_LO_PASS_MOD1 0x60
107 #define GYRO2_LO_PASS_MOD2 0xE0
108 
113 #define GYRO2_RT_CFG 0x0E
114 
119 #define GYRO2_RT_CFG_ELE 0x08
120 #define GYRO2_RT_CFG_ZTEFE 0x04
121 #define GYRO2_RT_CFG_YTEFE 0x02
122 #define GYRO2_RT_CFG_XTEFE 0x01
123 
128 #define GYRO2_RT_SRC 0x0F
129 #define GYRO2_RT_THS 0x10
130 #define GYRO2_RT_COUNT 0x11
131 #define GYRO2_TEMP 0x12
132 
137 #define GYRO2_DR_800Hz 0
138 #define GYRO2_DR_400Hz 1
139 #define GYRO2_DR_200Hz 2
140 #define GYRO2_DR_100Hz 3
141 #define GYRO2_DR_50Hz 4
142 #define GYRO2_DR_25Hz 5
143 #define GYRO2_DR_12_5Hz 6
144 #define GYRO2_STANDBY 0
145 #define GYRO2_READY 1
146 #define GYRO2_ACTIVE 3
147 
152 #define GYRO2_CTRL_REG2 0x14
153 
158 #define GYRO2_INT_CFG_FIFO_INT1 0x80
159 #define GYRO2_INT_CFG_FIFO_INT2 0x00
160 #define GYRO2_INT_EN_FIFO 0x40
161 #define GYRO2_INT_DIS_FIFO 0x00
162 #define GYRO2_INT_CFG_RT_INT1 0x20
163 #define GYRO2_INT_CFG_RT_INT2 0x00
164 #define GYRO2_INT_EN_RT 0x10
165 #define GYRO2_DIS_EN_RT 0x00
166 #define GYRO2_INT_CFG_DRDY_INT1 0x08
167 #define GYRO2_INT_CFG_DRDY_INT2 0x00
168 #define GYRO2_INT_EN_DRDY 0x04
169 #define GYRO2_INT_DIS_DRDY 0x00
170 #define GYRO2_IPOL_ACTIVE_HI 0x02
171 #define GYRO2_IPOL_ACTIVE_LO 0x00
172 #define GYRO2_PP_OD_OS 0x01
173 #define GYRO2_PP_OD_PUSH_PULL 0x00
174 
179 #define GYRO2_CTRL_REG3 0x15
180 
186 #define GYRO2_MAP_MIKROBUS( cfg, mikrobus ) \
187  cfg.scl = MIKROBUS( mikrobus, MIKROBUS_SCL ); \
188  cfg.sda = MIKROBUS( mikrobus, MIKROBUS_SDA ); \
189  cfg.cs = MIKROBUS( mikrobus, MIKROBUS_CS ); \
190  cfg.scs = MIKROBUS( mikrobus, MIKROBUS_AN ); \
191  cfg.rst = MIKROBUS( mikrobus, MIKROBUS_RST ); \
192  cfg.rdy = MIKROBUS( mikrobus, MIKROBUS_PWM ); \
193  cfg.int_pin = MIKROBUS( mikrobus, MIKROBUS_INT )
194 
200 #define GYRO2_RETVAL uint8_t
201 
202 #define GYRO2_OK 0x00
203 #define GYRO2_INIT_ERROR 0xFF
204  // End group macro
207 // --------------------------------------------------------------- PUBLIC TYPES
216 typedef void ( *gyro2_master_io_t )( struct gyro2_s*, uint8_t, uint8_t*, uint8_t );
217 
218 typedef struct
219 {
220  uint8_t tmp_ctrl_reg0;
221  uint8_t tmp_ctrl_reg1;
222  uint8_t tmp_ctrl_reg2;
223  uint8_t tmp_ctrl_reg3;
224 
225 } ctrl_reg_t;
226 
227 
231 typedef struct gyro2_s
232 {
233  // Output pins
234 
235  digital_out_t scs;
236  digital_out_t rst;
237  digital_out_t rdy_pin;
238  digital_out_t cs;
239 
240  // Input pins
241 
242  digital_in_t rdy;
243  digital_in_t int_pin;
244 
245  // Modules
246 
247  i2c_master_t i2c;
248 
249  // ctx variable
250 
251  uint8_t slave_address;
252 
253  //ctrl register variables
254 
256 
258 
262 typedef struct
263 {
264  // Communication gpio pins
265 
266  pin_name_t scl;
267  pin_name_t sda;
268  pin_name_t cs;
269 
270  // Additional gpio pins
271 
272  pin_name_t scs;
273  pin_name_t rst;
274  pin_name_t rdy;
275  pin_name_t int_pin;
276  pin_name_t rdy_pin;
277 
278  // static variable
279 
280  uint32_t i2c_speed;
281  uint8_t i2c_address;
282 
283 } gyro2_cfg_t;
284  // End types group
286 // ----------------------------------------------- PUBLIC FUNCTION DECLARATIONS
292 #ifdef __cplusplus
293 extern "C"{
294 #endif
295 
305 
314 
322 uint8_t gyro2_default_cfg ( gyro2_t *ctx );
323 
334 void gyro2_generic_write ( gyro2_t *ctx, uint8_t reg, uint8_t *data_buf, uint8_t len );
335 
346 void gyro2_generic_read ( gyro2_t *ctx, uint8_t reg, uint8_t *data_buf, uint8_t len );
347 
356 void gyro2_scs_set ( gyro2_t *ctx, uint8_t val );
357 
366 void gyro2_rst_set ( gyro2_t *ctx, uint8_t val );
367 
380 void gyro2_cs_set ( gyro2_t *ctx, uint8_t val );
381 
390 void gyro2_rdy_set ( gyro2_t *ctx, uint8_t val );
391 
399 uint8_t gyro2_rdy_get ( gyro2_t *ctx );
400 
408 uint8_t gyro2_int_get ( gyro2_t *ctx );
409 
417 void gyro2_hw_reset ( gyro2_t *ctx );
418 
426 uint8_t gyro2_get_id ( gyro2_t *ctx );
427 
437 void gyro2_get_axisraw ( gyro2_t *ctx, int16_t *axis_data );
438 
446 void gyro2_calc_axis ( int16_t *axis_data );
447 
456 
464 void gyro2_sw_reset ( gyro2_t *ctx );
465 
474 void gyro2_set_dr ( gyro2_t *ctx, uint8_t rate );
475 
476 void gyro2_set_opmode ( gyro2_t *ctx, uint8_t opmode );
477 
488 void gyro2_interrupt_cfg ( gyro2_t *ctx, uint8_t int_route, uint8_t int_en, uint8_t polarity_outdrvsetting );
489 
498 void gyro2_interrupt_event_generation ( gyro2_t *ctx, uint8_t cfg );
499 
508 void gyro2_sensitivity ( gyro2_t *ctx, uint8_t s_setting );
509 
520 void gyro2_fr_setup ( gyro2_t *ctx, uint8_t low_pass, uint8_t hi_pass, uint8_t scale_set );
521 
522 #ifdef __cplusplu
523 
524 #endif
525 #endif // GYRO2_H
526  // End public_function group
529 
530 // ------------------------------------------------------------------------ END
gyro2_fr_setup
void gyro2_fr_setup(gyro2_t *ctx, uint8_t low_pass, uint8_t hi_pass, uint8_t scale_set)
Filter and scale of measurement functio.
gyro2_rdy_set
void gyro2_rdy_set(gyro2_t *ctx, uint8_t val)
Set ready pin function.
gyro2_rdy_get
uint8_t gyro2_rdy_get(gyro2_t *ctx)
Get ready pin function.
gyro2_scs_set
void gyro2_scs_set(gyro2_t *ctx, uint8_t val)
Set cs pin function.
gyro2_cfg_t::rdy
pin_name_t rdy
Definition: gyro2.h:274
gyro2_get_id
uint8_t gyro2_get_id(gyro2_t *ctx)
ID return function.
gyro2_master_io_t
void(* gyro2_master_io_t)(struct gyro2_s *, uint8_t, uint8_t *, uint8_t)
Master Input/Output type.
Definition: gyro2.h:216
gyro2_hw_reset
void gyro2_hw_reset(gyro2_t *ctx)
Hardware reset function.
gyro2_cfg_t::i2c_address
uint8_t i2c_address
Definition: gyro2.h:281
gyro2_s::slave_address
uint8_t slave_address
Definition: gyro2.h:251
gyro2_t
struct gyro2_s gyro2_t
Click ctx object definition.
gyro2_s
Click ctx object definition.
Definition: gyro2.h:232
gyro2_cs_set
void gyro2_cs_set(gyro2_t *ctx, uint8_t val)
Comm interface function.
ctrl_reg_t::tmp_ctrl_reg0
uint8_t tmp_ctrl_reg0
Definition: gyro2.h:220
gyro2_cfg_t::rdy_pin
pin_name_t rdy_pin
Definition: gyro2.h:276
gyro2_cfg_t::int_pin
pin_name_t int_pin
Definition: gyro2.h:275
gyro2_sw_reset
void gyro2_sw_reset(gyro2_t *ctx)
Soft reset function.
gyro2_interrupt_cfg
void gyro2_interrupt_cfg(gyro2_t *ctx, uint8_t int_route, uint8_t int_en, uint8_t polarity_outdrvsetting)
Interrupt cfg function.
gyro2_generic_read
void gyro2_generic_read(gyro2_t *ctx, uint8_t reg, uint8_t *data_buf, uint8_t len)
Generic read function.
ctrl_reg_t::tmp_ctrl_reg1
uint8_t tmp_ctrl_reg1
Definition: gyro2.h:221
gyro2_cfg_setup
void gyro2_cfg_setup(gyro2_cfg_t *cfg)
Config Object Initialization function.
gyro2_calc_axis
void gyro2_calc_axis(int16_t *axis_data)
Calc axis funtion.
gyro2_read_temperature
uint8_t gyro2_read_temperature(gyro2_t *ctx)
Temperature read function.
gyro2_s::rdy
digital_in_t rdy
Definition: gyro2.h:242
gyro2_init
GYRO2_RETVAL gyro2_init(gyro2_t *ctx, gyro2_cfg_t *cfg)
Initialization function.
gyro2_cfg_t::rst
pin_name_t rst
Definition: gyro2.h:273
gyro2_s::i2c
i2c_master_t i2c
Definition: gyro2.h:247
gyro2_s::rst
digital_out_t rst
Definition: gyro2.h:236
gyro2_set_opmode
void gyro2_set_opmode(gyro2_t *ctx, uint8_t opmode)
gyro2_int_get
uint8_t gyro2_int_get(gyro2_t *ctx)
Get int pin function.
gyro2_cfg_t::i2c_speed
uint32_t i2c_speed
Definition: gyro2.h:280
gyro2_interrupt_event_generation
void gyro2_interrupt_event_generation(gyro2_t *ctx, uint8_t cfg)
Int event generation function.
gyro2_s::int_pin
digital_in_t int_pin
Definition: gyro2.h:243
gyro2_default_cfg
uint8_t gyro2_default_cfg(gyro2_t *ctx)
Click Default Configuration function.
gyro2_s::rdy_pin
digital_out_t rdy_pin
Definition: gyro2.h:237
gyro2_generic_write
void gyro2_generic_write(gyro2_t *ctx, uint8_t reg, uint8_t *data_buf, uint8_t len)
Generic write function.
gyro2_cfg_t::cs
pin_name_t cs
Definition: gyro2.h:268
gyro2_cfg_t::scs
pin_name_t scs
Definition: gyro2.h:272
ctrl_reg_t::tmp_ctrl_reg3
uint8_t tmp_ctrl_reg3
Definition: gyro2.h:223
gyro2_set_dr
void gyro2_set_dr(gyro2_t *ctx, uint8_t rate)
Data rate function.
ctrl_reg_t::tmp_ctrl_reg2
uint8_t tmp_ctrl_reg2
Definition: gyro2.h:222
GYRO2_RETVAL
#define GYRO2_RETVAL
Definition: gyro2.h:200
ctrl_reg_t
Definition: gyro2.h:219
gyro2_sensitivity
void gyro2_sensitivity(gyro2_t *ctx, uint8_t s_setting)
Sensitivity function.
gyro2_s::cs
digital_out_t cs
Definition: gyro2.h:238
gyro2_get_axisraw
void gyro2_get_axisraw(gyro2_t *ctx, int16_t *axis_data)
Axis read function.
gyro2_rst_set
void gyro2_rst_set(gyro2_t *ctx, uint8_t val)
Set rst pin function.
gyro2_s::scs
digital_out_t scs
Definition: gyro2.h:235
gyro2_cfg_t::scl
pin_name_t scl
Definition: gyro2.h:266
gyro2_cfg_t::sda
pin_name_t sda
Definition: gyro2.h:267
gyro2_cfg_t
Click configuration structure definition.
Definition: gyro2.h:263
gyro2_s::tmp_ctrl_reg
ctrl_reg_t tmp_ctrl_reg
Definition: gyro2.h:255