gyro5  2.0.0.0
gyro5.h
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1 /*
2  * MikroSDK - MikroE Software Development Kit
3  * Copyright (c) 2019, MikroElektronika - www.mikroe.com
4  * All rights reserved.
5  *
6  * Permission is hereby granted, free of charge, to any person obtaining a copy
7  * of this software and associated documentation files (the "Software"), to deal
8  * in the Software without restriction, including without limitation the rights
9  * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
10  * copies of the Software, and to permit persons to whom the Software is
11  * furnished to do so, subject to the following conditions:
12  *
13  * The above copyright notice and this permission notice shall be included in
14  * all copies or substantial portions of the Software.
15  *
16  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
17  * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
18  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
19  * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
20  * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
21  * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
22  * SOFTWARE.
23  */
24 
33 // ----------------------------------------------------------------------------
34 
35 #ifndef GYRO5_H
36 #define GYRO5_H
37 
38 #include "drv_digital_out.h"
39 #include "drv_digital_in.h"
40 #include "drv_i2c_master.h"
41 #include "drv_spi_master.h"
42 
43 // -------------------------------------------------------------- PUBLIC MACROS
54 #define GYRO5_MAP_MIKROBUS( cfg, mikrobus ) \
55  cfg.scl = MIKROBUS( mikrobus, MIKROBUS_SCL ); \
56  cfg.sda = MIKROBUS( mikrobus, MIKROBUS_SDA ); \
57  cfg.miso = MIKROBUS( mikrobus, MIKROBUS_MISO ); \
58  cfg.mosi = MIKROBUS( mikrobus, MIKROBUS_MOSI ); \
59  cfg.sck = MIKROBUS( mikrobus, MIKROBUS_SCK ); \
60  cfg.cs = MIKROBUS( mikrobus, MIKROBUS_CS ); \
61  cfg.int_pin = MIKROBUS( mikrobus, MIKROBUS_INT );
62 
68 #define GYRO5_MASTER_I2C 0
69 #define GYRO5_MASTER_SPI 1
70 #define GYRO5_COM_I2C 0x01
71 #define GYRO5_COM_SPI 0x02
72 
78 #define GYRO5_RETVAL uint8_t
79 
80 #define GYRO5_OK 0x00
81 #define GYRO5_INIT_ERROR 0xFF
82 
88 #define GYRO5_I2C_DEV_ADR_GND 0x68
89 #define GYRO5_I2C_DEV_ADR_VCC 0x69
90 
96 #define GYRO5_SLEEP_DISABLE 0x00
97 #define GYRO5_SLEEP_ENABLE 0x01
98 
104 #define GYRO5_INT_DATA_RDY 0x00
105 #define GYRO5_INT_FSYNC 0x01
106 #define GYRO5_INT_FIFO_OVF 0x02
107 
113 #define GYRO5_REG_XG_OFFS_TC_H 0x04
114 #define GYRO5_REG_XG_OFFS_TC_L 0x05
115 #define GYRO5_REG_YG_OFFS_TC_H 0x07
116 #define GYRO5_REG_YG_OFFS_TC_L 0x08
117 #define GYRO5_REG_ZG_OFFS_TC_H 0x0A
118 #define GYRO5_REG_ZG_OFFS_TC_L 0x0B
119 #define GYRO5_REG_XG_OFFS_USRH 0x13
120 #define GYRO5_REG_XG_OFFS_USRL 0x14
121 #define GYRO5_REG_YG_OFFS_USRH 0x15
122 #define GYRO5_REG_YG_OFFS_USRL 0x16
123 #define GYRO5_REG_ZG_OFFS_USRH 0x17
124 #define GYRO5_REG_G_OFFS_USRL 0x18
125 #define GYRO5_REG_SMPLRT_DIV 0x19
126 #define GYRO5_REG_CONFIG 0x1A
127 #define GYRO5_REG_GYRO_CONFIG 0x1B
128 #define GYRO5_REG_FIFO_EN 0x23
129 #define GYRO5_REG_INT_PIN_CFG 0x37
130 #define GYRO5_REG_INT_ENABLE 0x38
131 #define GYRO5_REG_INT_STATUS 0x3A
132 #define GYRO5_REG_TEMP_OUT_H 0x41
133 #define GYRO5_REG_TEMP_OUT_L 0x42
134 #define GYRO5_REG_GYRO_XOUT_H 0x43
135 #define GYRO5_REG_GYRO_XOUT_L 0x44
136 #define GYRO5_REG_GYRO_YOUT_H 0x45
137 #define GYRO5_REG_GYRO_YOUT_L 0x46
138 #define GYRO5_REG_GYRO_ZOUT_H 0x47
139 #define GYRO5_REG_GYRO_ZOUT_L 0x48
140 #define GYRO5_REG_USER_CTRL 0x6A
141 #define GYRO5_REG_PWR_MGMT_1 0x6B
142 #define GYRO5_REG_PWR_MGMT_2 0x6C
143 #define GYRO5_REG_FIFO_COUNTH 0x72
144 #define GYRO5_REG_FIFO_COUNTL 0x73
145 #define GYRO5_REG_FIFO_R_W 0x74
146 #define GYRO5_REG_WHO_AM_I 0x75
147 
153 #define GYRO5_CFG_PWR_MGMT_1_DEV_RST 0x80
154 #define GYRO5_CFG_PWR_MGMT_1_SLEEP 0x40
155 #define GYRO5_CFG_PWR_MGMT_1_TEMP_DIS 0x10
156 #define GYRO5_CFG_PWR_MGMT_1_CLKSEL_EXT_OSC 0x06
157 #define GYRO5_CFG_PWR_MGMT_1_CLKSEL_PLL 0x01
158 #define GYRO5_CFG_PWR_MGMT_1_CLKSEL_INT_OSC 0x00
159 
165 #define GYRO5_CFG_PWR_MGMT_2_STBY_XG 0x04
166 #define GYRO5_CFG_PWR_MGMT_2_STBY_YG 0x02
167 #define GYRO5_CFG_PWR_MGMT_2_STBY_ZG 0x01
168 #define GYRO5_CFG_PWR_MGMT_2_DIS_ALL 0x00
169 
175 #define GYRO5_CFG_USER_CTRL_FIFO_EN 0x40
176 #define GYRO5_CFG_USER_CTRL_I2C_IF_DIS 0x10
177 #define GYRO5_CFG_USER_CTRL_FIFO_RESET 0x08
178 #define GYRO5_CFG_USER_CTRL_SIG_COND_RST 0x01
179 
185 #define GYRO5_CFG_SMPLRT_DIV_DEF 0x00
186 
192 #define GYRO5_CFG_CONFIG_EXT_SYNC_SET_GYRO_ZOUT_L 0x20
193 #define GYRO5_CFG_CONFIG_EXT_SYNC_SET_GYRO_YOUT_L 0x18
194 #define GYRO5_CFG_CONFIG_EXT_SYNC_SET_GYRO_XOUT_L 0x10
195 #define GYRO5_CFG_CONFIG_EXT_SYNC_SET_TEMP_OUT_L 0x08
196 #define GYRO5_CFG_CONFIG_EXT_SYNC_SET_IN_DIS 0x00
197 #define GYRO5_CFG_CONFIG_DEF 0x00
198 
204 #define GYRO5_CFG_GYRO_CONFIG_FS_SEL_4000 0x18
205 #define GYRO5_CFG_GYRO_CONFIG_FS_SEL_2000 0x10
206 #define GYRO5_CFG_GYRO_CONFIG_FS_SEL_1000 0x08
207 #define GYRO5_CFG_GYRO_CONFIG_FS_SEL_500 0x00
208 
214 #define GYRO5_CFG_FIFO_EN_TEMP 0x80
215 #define GYRO5_CFG_FIFO_EN_GYRO_X 0x40
216 #define GYRO5_CFG_FIFO_EN_GYRO_Y 0x20
217 #define GYRO5_CFG_FIFO_EN_GYRO_Z 0x10
218 #define GYRO5_CFG_FIFO_EN_DIS_ALL 0x00
219 
225 #define GYRO5_CFG_INT_PIN_CFG_INT_LEVEL 0x80
226 #define GYRO5_CFG_INT_PIN_CFG_INT_OPEN 0x40
227 #define GYRO5_CFG_INT_PIN_CFG_LATCH_INT_EN 0x20
228 #define GYRO5_CFG_INT_PIN_CFG_INT_RD_CLEAR 0x10
229 #define GYRO5_CFG_INT_PIN_CFG_FSYNC_INT_LEVEL 0x08
230 #define GYRO5_CFG_INT_PIN_CFG_FSYNC_INT_MODE_EN 0x04
231 #define GYRO5_CFG_INT_PIN_CFG_DIS_ALL 0x00
232 
238 #define GYRO5_CFG_INT_ENABLE_FIFO_OFLOW_EN 0x10
239 #define GYRO5_CFG_INT_ENABLE_FSYNC_INT_EN 0x08
240 #define GYRO5_CFG_INT_ENABLE_DATA_RDY_EN 0x01
241 
247 #define GYRO5_STATUS_INT_FIFO_OFLOW 0x10
248 #define GYRO5_STATUS_INT_FSYNC 0x08
249 #define GYRO5_STATUS_INT_DATA_RDY 0x01
250 #define GYRO5_STATUS_INT_NOT_DATA_RDY 0x00
251 
257 #define GYRO5_STATUS_INT_TYPES_SEL_FIFO_OFLOW 0x02
258 #define GYRO5_STATUS_INT_TYPES_INT_FSYNC 0x01
259 #define GYRO5_STATUS_INT_TYPES_INT_DATA_RDY 0x00
260 
266 #define GYRO5_SLEEP_STATUS_EN 0x01
267 #define GYRO5_SLEEP_STATUS_DIS 0x00
268  // End group macro
271 // --------------------------------------------------------------- PUBLIC TYPES
280 typedef uint8_t gyro5_select_t;
281 
285 typedef void ( *gyro5_master_io_t )( struct gyro5_s*, uint8_t, uint8_t*, uint8_t );
286 
290 typedef struct gyro5_s
291 {
292 
293  digital_in_t int_pin;
294 
295  // Modules
296 
297  i2c_master_t i2c;
298  spi_master_t spi;
299 
300  // ctx variable
301 
302  hal_i2c_address_t slave_address;
306 
307 } gyro5_t;
308 
312 typedef struct
313 {
314  // Communication gpio pins
315 
316  pin_name_t scl;
317  pin_name_t sda;
318  pin_name_t miso;
319  pin_name_t mosi;
320  pin_name_t sck;
321  pin_name_t cs;
322 
323  pin_name_t int_pin;
324 
325  // static variable
326 
327  hal_i2c_speed_t i2c_speed;
328  hal_i2c_address_t i2c_address;
329  hal_spi_speed_t spi_speed;
330  hal_spi_mode_t spi_mode;
331 
333 
334 } gyro5_cfg_t;
335  // End types group
337 
338 // ----------------------------------------------- PUBLIC FUNCTION DECLARATIONS
344 #ifdef __cplusplus
345 extern "C"{
346 #endif
347 
356 void gyro5_cfg_setup ( gyro5_cfg_t *cfg );
357 
366 
374 void gyro5_default_cfg ( gyro5_t *ctx );
375 
386 void gyro5_generic_write ( gyro5_t *ctx, uint8_t reg, uint8_t *data_buf, uint8_t len );
387 
398 void gyro5_generic_read ( gyro5_t *ctx, uint8_t reg, uint8_t *data_buf, uint8_t len );
399 
411 uint8_t gyro5_get_int ( gyro5_t *ctx );
412 
425 uint8_t gyro5_int_status ( gyro5_t *ctx, uint8_t int_type );
426 
436 void gyro5_get_temperature ( gyro5_t *ctx, float *temperature );
437 
449 void gyro5_get_axes ( gyro5_t *ctx, float *x_axis, float *y_axis, float *z_axis );
450 
461 void gyro5_sleep ( gyro5_t *ctx, uint8_t en_sleep );
462 
463 #ifdef __cplusplus
464 }
465 #endif
466 #endif // _GYRO5_H_
467  // End public_function group
470 
471 // ------------------------------------------------------------------------- END
void gyro5_cfg_setup(gyro5_cfg_t *cfg)
Config Object Initialization function.
Click configuration structure definition.
Definition: gyro5.h:312
digital_in_t int_pin
Definition: gyro5.h:293
gyro5_master_io_t read_f
Definition: gyro5.h:304
hal_spi_mode_t spi_mode
Definition: gyro5.h:330
hal_i2c_address_t slave_address
Definition: gyro5.h:302
pin_name_t miso
Definition: gyro5.h:318
void gyro5_sleep(gyro5_t *ctx, uint8_t en_sleep)
Set sleep mode.
pin_name_t int_pin
Definition: gyro5.h:323
hal_spi_speed_t spi_speed
Definition: gyro5.h:329
#define GYRO5_RETVAL
Definition: gyro5.h:78
Click ctx object definition.
Definition: gyro5.h:290
struct gyro5_s gyro5_t
Click ctx object definition.
pin_name_t mosi
Definition: gyro5.h:319
uint8_t gyro5_int_status(gyro5_t *ctx, uint8_t int_type)
Getting interrupt status.
void gyro5_get_axes(gyro5_t *ctx, float *x_axis, float *y_axis, float *z_axis)
Getting gyroscope axes values.
gyro5_select_t master_sel
Definition: gyro5.h:305
pin_name_t sda
Definition: gyro5.h:317
pin_name_t sck
Definition: gyro5.h:320
gyro5_master_io_t write_f
Definition: gyro5.h:303
void(* gyro5_master_io_t)(struct gyro5_s *, uint8_t, uint8_t *, uint8_t)
Master Input/Output type.
Definition: gyro5.h:285
void gyro5_generic_write(gyro5_t *ctx, uint8_t reg, uint8_t *data_buf, uint8_t len)
Generic write function.
pin_name_t scl
Definition: gyro5.h:316
i2c_master_t i2c
Definition: gyro5.h:297
hal_i2c_address_t i2c_address
Definition: gyro5.h:328
void gyro5_generic_read(gyro5_t *ctx, uint8_t reg, uint8_t *data_buf, uint8_t len)
Generic read function.
spi_master_t spi
Definition: gyro5.h:298
gyro5_select_t sel
Definition: gyro5.h:332
uint8_t gyro5_select_t
Communication type.
Definition: gyro5.h:280
uint8_t gyro5_get_int(gyro5_t *ctx)
Getting INT pin state.
pin_name_t cs
Definition: gyro5.h:321
void gyro5_get_temperature(gyro5_t *ctx, float *temperature)
Getting temperature value.
GYRO5_RETVAL gyro5_init(gyro5_t *ctx, gyro5_cfg_t *cfg)
Initialization function.
hal_i2c_speed_t i2c_speed
Definition: gyro5.h:327
void gyro5_default_cfg(gyro5_t *ctx)
Click Default Configuration function.