gyro5  2.0.0.0
gyro5.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
7  * files (the "Software"), to deal in the Software without restriction,
8  * including without limitation the rights to use, copy, modify, merge,
9  * publish, distribute, sublicense, and/or sell copies of the Software,
10  * and to permit persons to whom the Software is furnished to do so,
11  * subject to the following conditions:
12  *
13  * The above copyright notice and this permission notice shall be
14  * included in all copies or substantial portions of the Software.
15  *
16  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
17  * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
18  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
19  * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
20  * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE,
21  * ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE
22  * OR OTHER DEALINGS IN THE SOFTWARE.
23  */
24 
33 // ----------------------------------------------------------------------------
34 
35 #ifndef GYRO5_H
36 #define GYRO5_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 #include "drv_spi_master.h"
56 
57 // -------------------------------------------------------------- PUBLIC MACROS
68 #define GYRO5_MAP_MIKROBUS( cfg, mikrobus ) \
69  cfg.scl = MIKROBUS( mikrobus, MIKROBUS_SCL ); \
70  cfg.sda = MIKROBUS( mikrobus, MIKROBUS_SDA ); \
71  cfg.miso = MIKROBUS( mikrobus, MIKROBUS_MISO ); \
72  cfg.mosi = MIKROBUS( mikrobus, MIKROBUS_MOSI ); \
73  cfg.sck = MIKROBUS( mikrobus, MIKROBUS_SCK ); \
74  cfg.cs = MIKROBUS( mikrobus, MIKROBUS_CS ); \
75  cfg.int_pin = MIKROBUS( mikrobus, MIKROBUS_INT )
76 
82 #define GYRO5_MASTER_I2C 0
83 #define GYRO5_MASTER_SPI 1
84 #define GYRO5_COM_I2C 0x01
85 #define GYRO5_COM_SPI 0x02
86 
92 #define GYRO5_RETVAL uint8_t
93 
94 #define GYRO5_OK 0x00
95 #define GYRO5_INIT_ERROR 0xFF
96 
102 #define GYRO5_I2C_DEV_ADR_GND 0x68
103 #define GYRO5_I2C_DEV_ADR_VCC 0x69
104 
110 #define GYRO5_SLEEP_DISABLE 0x00
111 #define GYRO5_SLEEP_ENABLE 0x01
112 
118 #define GYRO5_INT_DATA_RDY 0x00
119 #define GYRO5_INT_FSYNC 0x01
120 #define GYRO5_INT_FIFO_OVF 0x02
121 
127 #define GYRO5_REG_XG_OFFS_TC_H 0x04
128 #define GYRO5_REG_XG_OFFS_TC_L 0x05
129 #define GYRO5_REG_YG_OFFS_TC_H 0x07
130 #define GYRO5_REG_YG_OFFS_TC_L 0x08
131 #define GYRO5_REG_ZG_OFFS_TC_H 0x0A
132 #define GYRO5_REG_ZG_OFFS_TC_L 0x0B
133 #define GYRO5_REG_XG_OFFS_USRH 0x13
134 #define GYRO5_REG_XG_OFFS_USRL 0x14
135 #define GYRO5_REG_YG_OFFS_USRH 0x15
136 #define GYRO5_REG_YG_OFFS_USRL 0x16
137 #define GYRO5_REG_ZG_OFFS_USRH 0x17
138 #define GYRO5_REG_G_OFFS_USRL 0x18
139 #define GYRO5_REG_SMPLRT_DIV 0x19
140 #define GYRO5_REG_CONFIG 0x1A
141 #define GYRO5_REG_GYRO_CONFIG 0x1B
142 #define GYRO5_REG_FIFO_EN 0x23
143 #define GYRO5_REG_INT_PIN_CFG 0x37
144 #define GYRO5_REG_INT_ENABLE 0x38
145 #define GYRO5_REG_INT_STATUS 0x3A
146 #define GYRO5_REG_TEMP_OUT_H 0x41
147 #define GYRO5_REG_TEMP_OUT_L 0x42
148 #define GYRO5_REG_GYRO_XOUT_H 0x43
149 #define GYRO5_REG_GYRO_XOUT_L 0x44
150 #define GYRO5_REG_GYRO_YOUT_H 0x45
151 #define GYRO5_REG_GYRO_YOUT_L 0x46
152 #define GYRO5_REG_GYRO_ZOUT_H 0x47
153 #define GYRO5_REG_GYRO_ZOUT_L 0x48
154 #define GYRO5_REG_USER_CTRL 0x6A
155 #define GYRO5_REG_PWR_MGMT_1 0x6B
156 #define GYRO5_REG_PWR_MGMT_2 0x6C
157 #define GYRO5_REG_FIFO_COUNTH 0x72
158 #define GYRO5_REG_FIFO_COUNTL 0x73
159 #define GYRO5_REG_FIFO_R_W 0x74
160 #define GYRO5_REG_WHO_AM_I 0x75
161 
167 #define GYRO5_CFG_PWR_MGMT_1_DEV_RST 0x80
168 #define GYRO5_CFG_PWR_MGMT_1_SLEEP 0x40
169 #define GYRO5_CFG_PWR_MGMT_1_TEMP_DIS 0x10
170 #define GYRO5_CFG_PWR_MGMT_1_CLKSEL_EXT_OSC 0x06
171 #define GYRO5_CFG_PWR_MGMT_1_CLKSEL_PLL 0x01
172 #define GYRO5_CFG_PWR_MGMT_1_CLKSEL_INT_OSC 0x00
173 
179 #define GYRO5_CFG_PWR_MGMT_2_STBY_XG 0x04
180 #define GYRO5_CFG_PWR_MGMT_2_STBY_YG 0x02
181 #define GYRO5_CFG_PWR_MGMT_2_STBY_ZG 0x01
182 #define GYRO5_CFG_PWR_MGMT_2_DIS_ALL 0x00
183 
189 #define GYRO5_CFG_USER_CTRL_FIFO_EN 0x40
190 #define GYRO5_CFG_USER_CTRL_I2C_IF_DIS 0x10
191 #define GYRO5_CFG_USER_CTRL_FIFO_RESET 0x08
192 #define GYRO5_CFG_USER_CTRL_SIG_COND_RST 0x01
193 
199 #define GYRO5_CFG_SMPLRT_DIV_DEF 0x00
200 
206 #define GYRO5_CFG_CONFIG_EXT_SYNC_SET_GYRO_ZOUT_L 0x20
207 #define GYRO5_CFG_CONFIG_EXT_SYNC_SET_GYRO_YOUT_L 0x18
208 #define GYRO5_CFG_CONFIG_EXT_SYNC_SET_GYRO_XOUT_L 0x10
209 #define GYRO5_CFG_CONFIG_EXT_SYNC_SET_TEMP_OUT_L 0x08
210 #define GYRO5_CFG_CONFIG_EXT_SYNC_SET_IN_DIS 0x00
211 #define GYRO5_CFG_CONFIG_DEF 0x00
212 
218 #define GYRO5_CFG_GYRO_CONFIG_FS_SEL_4000 0x18
219 #define GYRO5_CFG_GYRO_CONFIG_FS_SEL_2000 0x10
220 #define GYRO5_CFG_GYRO_CONFIG_FS_SEL_1000 0x08
221 #define GYRO5_CFG_GYRO_CONFIG_FS_SEL_500 0x00
222 
228 #define GYRO5_CFG_FIFO_EN_TEMP 0x80
229 #define GYRO5_CFG_FIFO_EN_GYRO_X 0x40
230 #define GYRO5_CFG_FIFO_EN_GYRO_Y 0x20
231 #define GYRO5_CFG_FIFO_EN_GYRO_Z 0x10
232 #define GYRO5_CFG_FIFO_EN_DIS_ALL 0x00
233 
239 #define GYRO5_CFG_INT_PIN_CFG_INT_LEVEL 0x80
240 #define GYRO5_CFG_INT_PIN_CFG_INT_OPEN 0x40
241 #define GYRO5_CFG_INT_PIN_CFG_LATCH_INT_EN 0x20
242 #define GYRO5_CFG_INT_PIN_CFG_INT_RD_CLEAR 0x10
243 #define GYRO5_CFG_INT_PIN_CFG_FSYNC_INT_LEVEL 0x08
244 #define GYRO5_CFG_INT_PIN_CFG_FSYNC_INT_MODE_EN 0x04
245 #define GYRO5_CFG_INT_PIN_CFG_DIS_ALL 0x00
246 
252 #define GYRO5_CFG_INT_ENABLE_FIFO_OFLOW_EN 0x10
253 #define GYRO5_CFG_INT_ENABLE_FSYNC_INT_EN 0x08
254 #define GYRO5_CFG_INT_ENABLE_DATA_RDY_EN 0x01
255 
261 #define GYRO5_STATUS_INT_FIFO_OFLOW 0x10
262 #define GYRO5_STATUS_INT_FSYNC 0x08
263 #define GYRO5_STATUS_INT_DATA_RDY 0x01
264 #define GYRO5_STATUS_INT_NOT_DATA_RDY 0x00
265 
271 #define GYRO5_STATUS_INT_TYPES_SEL_FIFO_OFLOW 0x02
272 #define GYRO5_STATUS_INT_TYPES_INT_FSYNC 0x01
273 #define GYRO5_STATUS_INT_TYPES_INT_DATA_RDY 0x00
274 
280 #define GYRO5_SLEEP_STATUS_EN 0x01
281 #define GYRO5_SLEEP_STATUS_DIS 0x00
282  // End group macro
285 // --------------------------------------------------------------- PUBLIC TYPES
294 typedef uint8_t gyro5_select_t;
295 
299 typedef void ( *gyro5_master_io_t )( struct gyro5_s*, uint8_t, uint8_t*, uint8_t );
300 
304 typedef struct gyro5_s
305 {
306  // Output pins
307 
308  digital_out_t cs;
309 
310  // Input pins
311 
312  digital_in_t int_pin;
313 
314  // Modules
315 
316  i2c_master_t i2c;
317  spi_master_t spi;
318 
319  // ctx variable
320 
321  uint8_t slave_address;
322  pin_name_t chip_select;
326 
328 
332 typedef struct
333 {
334  // Communication gpio pins
335 
336  pin_name_t scl;
337  pin_name_t sda;
338  pin_name_t miso;
339  pin_name_t mosi;
340  pin_name_t sck;
341  pin_name_t cs;
342 
343  pin_name_t int_pin;
344 
345  // static variable
346 
347  uint32_t i2c_speed;
348  uint8_t i2c_address;
349 
350  uint32_t spi_speed;
351  spi_master_mode_t spi_mode;
352  spi_master_chip_select_polarity_t cs_polarity;
353 
355 
356 } gyro5_cfg_t;
357  // End types group
359 
360 // ----------------------------------------------- PUBLIC FUNCTION DECLARATIONS
366 #ifdef __cplusplus
367 extern "C"{
368 #endif
369 
379 
389 
398 
409 void gyro5_generic_write ( gyro5_t *ctx, uint8_t reg, uint8_t *data_buf, uint8_t len );
410 
421 void gyro5_generic_read ( gyro5_t *ctx, uint8_t reg, uint8_t *data_buf, uint8_t len );
422 
434 uint8_t gyro5_get_int ( gyro5_t *ctx );
435 
448 uint8_t gyro5_int_status ( gyro5_t *ctx, uint8_t int_type );
449 
459 void gyro5_get_temperature ( gyro5_t *ctx, float *temperature );
460 
472 void gyro5_get_axes ( gyro5_t *ctx, float *x_axis, float *y_axis, float *z_axis );
473 
484 void gyro5_sleep ( gyro5_t *ctx, uint8_t en_sleep );
485 
486 #ifdef __cplusplus
487 }
488 #endif
489 #endif // _GYRO5_H_
490  // End public_function group
493 
494 // ------------------------------------------------------------------------- END
gyro5_t
struct gyro5_s gyro5_t
Click ctx object definition.
gyro5_cfg_t::mosi
pin_name_t mosi
Definition: gyro5.h:339
gyro5_cfg_t::miso
pin_name_t miso
Definition: gyro5.h:338
gyro5_s::slave_address
uint8_t slave_address
Definition: gyro5.h:321
gyro5_cfg_t::spi_mode
spi_master_mode_t spi_mode
Definition: gyro5.h:351
gyro5_generic_write
void gyro5_generic_write(gyro5_t *ctx, uint8_t reg, uint8_t *data_buf, uint8_t len)
Generic write function.
GYRO5_RETVAL
#define GYRO5_RETVAL
Definition: gyro5.h:92
gyro5_get_int
uint8_t gyro5_get_int(gyro5_t *ctx)
Getting INT pin state.
gyro5_s::spi
spi_master_t spi
Definition: gyro5.h:317
gyro5_default_cfg
void gyro5_default_cfg(gyro5_t *ctx)
Click Default Configuration function.
gyro5_get_temperature
void gyro5_get_temperature(gyro5_t *ctx, float *temperature)
Getting temperature value.
gyro5_int_status
uint8_t gyro5_int_status(gyro5_t *ctx, uint8_t int_type)
Getting interrupt status.
gyro5_s::chip_select
pin_name_t chip_select
Definition: gyro5.h:322
gyro5_master_io_t
void(* gyro5_master_io_t)(struct gyro5_s *, uint8_t, uint8_t *, uint8_t)
Master Input/Output type.
Definition: gyro5.h:299
gyro5_s
Click ctx object definition.
Definition: gyro5.h:305
gyro5_cfg_t::sda
pin_name_t sda
Definition: gyro5.h:337
gyro5_cfg_t::sck
pin_name_t sck
Definition: gyro5.h:340
gyro5_cfg_t::cs_polarity
spi_master_chip_select_polarity_t cs_polarity
Definition: gyro5.h:352
gyro5_cfg_setup
void gyro5_cfg_setup(gyro5_cfg_t *cfg)
Config Object Initialization function.
gyro5_s::write_f
gyro5_master_io_t write_f
Definition: gyro5.h:323
gyro5_get_axes
void gyro5_get_axes(gyro5_t *ctx, float *x_axis, float *y_axis, float *z_axis)
Getting gyroscope axes values.
gyro5_s::master_sel
gyro5_select_t master_sel
Definition: gyro5.h:325
gyro5_generic_read
void gyro5_generic_read(gyro5_t *ctx, uint8_t reg, uint8_t *data_buf, uint8_t len)
Generic read function.
gyro5_s::read_f
gyro5_master_io_t read_f
Definition: gyro5.h:324
gyro5_s::int_pin
digital_in_t int_pin
Definition: gyro5.h:312
gyro5_cfg_t::scl
pin_name_t scl
Definition: gyro5.h:336
gyro5_select_t
uint8_t gyro5_select_t
Communication type.
Definition: gyro5.h:294
gyro5_sleep
void gyro5_sleep(gyro5_t *ctx, uint8_t en_sleep)
Set sleep mode.
gyro5_init
GYRO5_RETVAL gyro5_init(gyro5_t *ctx, gyro5_cfg_t *cfg)
Initialization function.
gyro5_cfg_t::int_pin
pin_name_t int_pin
Definition: gyro5.h:343
gyro5_s::cs
digital_out_t cs
Definition: gyro5.h:308
gyro5_s::i2c
i2c_master_t i2c
Definition: gyro5.h:316
gyro5_cfg_t::cs
pin_name_t cs
Definition: gyro5.h:341
gyro5_cfg_t::i2c_address
uint8_t i2c_address
Definition: gyro5.h:348
gyro5_cfg_t::i2c_speed
uint32_t i2c_speed
Definition: gyro5.h:347
gyro5_cfg_t::sel
gyro5_select_t sel
Definition: gyro5.h:354
gyro5_cfg_t::spi_speed
uint32_t spi_speed
Definition: gyro5.h:350
gyro5_cfg_t
Click configuration structure definition.
Definition: gyro5.h:333