accel8  2.0.0.0
accel8.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 ACCEL8_H
36 #define ACCEL8_H
37 
38 #include "drv_digital_out.h"
39 #include "drv_digital_in.h"
40 #include "drv_i2c_master.h"
41 
42 // -------------------------------------------------------------- PUBLIC MACROS
52 #define ACCEL8_MAP_MIKROBUS( cfg, mikrobus ) \
53  cfg.scl = MIKROBUS( mikrobus, MIKROBUS_SCL ); \
54  cfg.sda = MIKROBUS( mikrobus, MIKROBUS_SDA ); \
55  cfg.da = MIKROBUS( mikrobus, MIKROBUS_AN ); \
56  cfg.cl = MIKROBUS( mikrobus, MIKROBUS_RST ); \
57  cfg.int_pin = MIKROBUS( mikrobus, MIKROBUS_INT )
58 
64 #define ACCEL8_RETVAL uint8_t
65 
66 #define ACCEL8_OK 0x00
67 #define ACCEL8_INIT_ERROR 0xFF
68 
74 #define ACCEL8_REG_SELF_TEST_X 0x0D
75 #define ACCEL8_REG_SELF_TEST_Y 0x0E
76 #define ACCEL8_REG_SELF_TEST_Z 0x0F
77 #define ACCEL8_REG_SELF_TEST_A 0x10
78 #define ACCEL8_REG_SMPLRT_DIV 0x19
79 #define ACCEL8_REG_CONFIG 0x1A
80 #define ACCEL8_REG_GYRO_CONFIG 0x1B
81 #define ACCEL8_REG_ACCEL_CONFIG 0x1C
82 #define ACCEL8_REG_FIFO_EN 0x23
83 #define ACCEL8_REG_I2C_MST_CTRL 0x24
84 #define ACCEL8_REG_I2C_SLV0_ADDR 0x25
85 #define ACCEL8_REG_I2C_SLV0_REG 0x26
86 #define ACCEL8_REG_I2C_SLV0_CTRL 0x27
87 #define ACCEL8_REG_I2C_SLV1_ADDR 0x28
88 #define ACCEL8_REG_I2C_SLV1_REG 0x29
89 #define ACCEL8_REG_I2C_SLV1_CTRL 0x2A
90 #define ACCEL8_REG_I2C_SLV2_ADDR 0x2B
91 #define ACCEL8_REG_I2C_SLV2_REG 0x2C
92 #define ACCEL8_REG_I2C_SLV2_CTRL 0x2D
93 #define ACCEL8_REG_I2C_SLV3_ADDR 0x2E
94 #define ACCEL8_REG_I2C_SLV3_REG 0x2F
95 #define ACCEL8_REG_I2C_SLV3_CTRL 0x30
96 #define ACCEL8_REG_I2C_SLV4_ADDR 0x31
97 #define ACCEL8_REG_I2C_SLV4_REG 0x32
98 #define ACCEL8_REG_I2C_SLV4_DO 0x33
99 #define ACCEL8_REG_I2C_SLV4_CTRL 0x34
100 #define ACCEL8_REG_I2C_SLV4_DI 0x35
101 #define ACCEL8_REG_I2C_MST_STATUS 0x36
102 #define ACCEL8_REG_INT_PIN_CFG 0x37
103 #define ACCEL8_REG_INT_ENABLE 0x38
104 #define ACCEL8_REG_INT_STATUS 0x3A
105 #define ACCEL8_REG_ACCEL_XOUT_H 0x3B
106 #define ACCEL8_REG_ACCEL_XOUT_L 0x3C
107 #define ACCEL8_REG_ACCEL_YOUT_H 0x3D
108 #define ACCEL8_REG_ACCEL_YOUT_L 0x3E
109 #define ACCEL8_REG_ACCEL_ZOUT_H 0x3F
110 #define ACCEL8_REG_ACCEL_ZOUT_L 0x40
111 #define ACCEL8_REG_TEMP_OUT_H 0x41
112 #define ACCEL8_REG_TEMP_OUT_L 0x42
113 #define ACCEL8_REG_GYRO_XOUT_H 0x43
114 #define ACCEL8_REG_GYRO_XOUT_L 0x44
115 #define ACCEL8_REG_GYRO_YOUT_H 0x45
116 #define ACCEL8_REG_GYRO_YOUT_L 0x46
117 #define ACCEL8_REG_GYRO_ZOUT_H 0x47
118 #define ACCEL8_REG_GYRO_ZOUT_L 0x48
119 #define ACCEL8_REG_EXT_SENS_DATA_00 0x49
120 #define ACCEL8_REG_EXT_SENS_DATA_01 0x4A
121 #define ACCEL8_REG_EXT_SENS_DATA_02 0x4B
122 #define ACCEL8_REG_EXT_SENS_DATA_03 0x4C
123 #define ACCEL8_REG_EXT_SENS_DATA_04 0x4D
124 #define ACCEL8_REG_EXT_SENS_DATA_05 0x4E
125 #define ACCEL8_REG_EXT_SENS_DATA_06 0x4F
126 #define ACCEL8_REG_EXT_SENS_DATA_07 0x50
127 #define ACCEL8_REG_EXT_SENS_DATA_08 0x51
128 #define ACCEL8_REG_EXT_SENS_DATA_09 0x52
129 #define ACCEL8_REG_EXT_SENS_DATA_10 0x53
130 #define ACCEL8_REG_EXT_SENS_DATA_11 0x54
131 #define ACCEL8_REG_EXT_SENS_DATA_12 0x55
132 #define ACCEL8_REG_EXT_SENS_DATA_13 0x56
133 #define ACCEL8_REG_EXT_SENS_DATA_14 0x57
134 #define ACCEL8_REG_EXT_SENS_DATA_15 0x58
135 #define ACCEL8_REG_EXT_SENS_DATA_16 0x59
136 #define ACCEL8_REG_EXT_SENS_DATA_17 0x5A
137 #define ACCEL8_REG_EXT_SENS_DATA_18 0x5B
138 #define ACCEL8_REG_EXT_SENS_DATA_19 0x5C
139 #define ACCEL8_REG_EXT_SENS_DATA_20 0x5D
140 #define ACCEL8_REG_EXT_SENS_DATA_21 0x5E
141 #define ACCEL8_REG_EXT_SENS_DATA_22 0x5F
142 #define ACCEL8_REG_EXT_SENS_DATA_23 0x60
143 #define ACCEL8_REG_I2C_SLV0_DO 0x63
144 #define ACCEL8_REG_I2C_SLV1_DO 0x64
145 #define ACCEL8_REG_I2C_SLV2_DO 0x65
146 #define ACCEL8_REG_I2C_SLV3_DO 0x66
147 #define ACCEL8_REG_I2C_MST_DELAY_CTRL 0x67
148 #define ACCEL8_REG_SIGNAL_PATH_RESET 0x68
149 #define ACCEL8_REG_USER_CTRL 0x6A
150 #define ACCEL8_REG_PWR_MGMT_1 0x6B
151 #define ACCEL8_REG_PWR_MGMT_2 0x6C
152 #define ACCEL8_REG_FIFO_COUNTH 0x72
153 #define ACCEL8_REG_FIFO_COUNTL 0x73
154 #define ACCEL8_REG_FIFO_R_W 0x74
155 #define ACCEL8_REG_WHO_AM_I 0x75
156 
162 #define ACCEL8_CFG_EXT_SYNC_INPUT_DISABLED 0x00 << 3
163 #define ACCEL8_CFG_EXT_SYNC_TEMP_OUTPUT 0x01 << 3
164 #define ACCEL8_CFG_EXT_SYNC_GYRO_X_OUTPUT 0x02 << 3
165 #define ACCEL8_CFG_EXT_SYNC_GYRO_Y_OUTPUT 0x03 << 3
166 #define ACCEL8_CFG_EXT_SYNC_GYRO_Z_OUTPUT 0x04 << 3
167 #define ACCEL8_CFG_EXT_SYNC_ACCEL_X_OUTPUT 0x05 << 3
168 #define ACCEL8_CFG_EXT_SYNC_ACCEL_Y_OUTPUT 0x06 << 3
169 #define ACCEL8_CFG_EXT_SYNC_ACCEL_Z_OUTPUT 0x07 << 3
170 #define ACCEL8_CFG_DLPF_CFG_BW_A260_G256 0x00
171 #define ACCEL8_CFG_DLPF_CFG_BW_A184_G188 0x01
172 #define ACCEL8_CFG_DLPF_CFG_BW_A94_G98 0x02
173 #define ACCEL8_CFG_DLPF_CFG_BW_A44_G42 0x03
174 #define ACCEL8_CFG_DLPF_CFG_BW_A21_G20 0x04
175 #define ACCEL8_CFG_DLPF_CFG_BW_A10_G10 0x05
176 #define ACCEL8_CFG_DLPF_CFG_BW_A5_G5 0x06
177 
183 #define ACCEL8_GYRO_CFG_X_SELF_TEST 0x80
184 #define ACCEL8_GYRO_CFG_Y_SELF_TEST 0x40
185 #define ACCEL8_GYRO_CFG_Z_SELF_TEST 0x20
186 #define ACCEL8_GYRO_CFG_FULL_SCALE_RANGE_250dbs 0x00
187 #define ACCEL8_GYRO_CFG_FULL_SCALE_RANGE_500dbs 0x08
188 #define ACCEL8_GYRO_CFG_FULL_SCALE_RANGE_1000dbs 0x10
189 #define ACCEL8_GYRO_CFG_FULL_SCALE_RANGE_2000dbs 0x18
190 
196 #define ACCEL8_ACCEL_CFG_X_SELF_TEST 0x80
197 #define ACCEL8_ACCEL_CFG_Y_SELF_TEST 0x40
198 #define ACCEL8_ACCEL_CFG_Z_SELF_TEST 0x20
199 #define ACCEL8_ACCEL_CFG_FULL_SCALE_RANGE_2g 0x00
200 #define ACCEL8_ACCEL_CFG_FULL_SCALE_RANGE_4g 0x08
201 #define ACCEL8_ACCEL_CFG_FULL_SCALE_RANGE_8g 0x10
202 #define ACCEL8_ACCEL_CFG_FULL_SCALE_RANGE_16g 0x18
203 
209 #define ACCEL8_FIFO_ENABLE_TEMP 0x80
210 #define ACCEL8_FIFO_ENABLE_X_AXIS_GYRO 0x40
211 #define ACCEL8_FIFO_ENABLE_Y_AXIS_GYRO 0x20
212 #define ACCEL8_FIFO_ENABLE_Z_AXIS_GYRO 0x10
213 #define ACCEL8_FIFO_ENABLE_ACCEL 0x08
214 #define ACCEL8_FIFO_ENABLE_EXT_SENS_DATA_SLV2 0x04
215 #define ACCEL8_FIFO_ENABLE_EXT_SENS_DATA_SLV1 0x02
216 #define ACCEL8_FIFO_ENABLE_EXT_SENS_DATA_SLV0 0x01
217 
223 #define ACCEL8_I2C_MST_CTRL_MUL_MST_ENABLE 0x80
224 #define ACCEL8_I2C_MST_CTRL_WAIT_FOR_ES 0x40
225 #define ACCEL8_I2C_MST_CTRL_EXT_SENS_DATA_SLV3 0x20
226 #define ACCEL8_I2C_MST_CTRL_I2C_RESTART_BETWEEN_READS 0x00
227 #define ACCEL8_I2C_MST_CTRL_I2C_STOP_AND_START 0x10
228 #define ACCEL8_I2C_MST_CTRL_I2C_CLOCK_348kHz 0x00
229 #define ACCEL8_I2C_MST_CTRL_I2C_CLOCK_333kHz 0x01
230 #define ACCEL8_I2C_MST_CTRL_I2C_CLOCK_320kHz 0x02
231 #define ACCEL8_I2C_MST_CTRL_I2C_CLOCK_308kHz 0x03
232 #define ACCEL8_I2C_MST_CTRL_I2C_CLOCK_296kHz 0x04
233 #define ACCEL8_I2C_MST_CTRL_I2C_CLOCK_286kHz 0x05
234 #define ACCEL8_I2C_MST_CTRL_I2C_CLOCK_276kHz 0x06
235 #define ACCEL8_I2C_MST_CTRL_I2C_CLOCK_367kHz 0x07
236 #define ACCEL8_I2C_MST_CTRL_I2C_CLOCK_358kHz 0x08
237 #define ACCEL8_I2C_MST_CTRL_I2C_CLOCK_500kHz 0x09
238 #define ACCEL8_I2C_MST_CTRL_I2C_CLOCK_471kHz 0x0A
239 #define ACCEL8_I2C_MST_CTRL_I2C_CLOCK_444kHz 0x0B
240 #define ACCEL8_I2C_MST_CTRL_I2C_CLOCK_421kHz 0x0C
241 #define ACCEL8_I2C_MST_CTRL_I2C_CLOCK_400kHz 0x0D
242 #define ACCEL8_I2C_MST_CTRL_I2C_CLOCK_381kHz 0x0E
243 #define ACCEL8_I2C_MST_CTRL_I2C_CLOCK_364kHz 0x0F
244 
250 #define ACCEL8_INTC_INT_PIN_IS_ACTIVE_HIGH 0x00
251 #define ACCEL8_INTC_INT_PIN_IS_ACTIVE_LOW 0x80
252 #define ACCEL8_INTC_INT_PIN_IS_CONFIGURED_AS_PUSH_PULL 0x00
253 #define ACCEL8_INTC_INT_PIN_IS_CONFIGURED_AS_OPEN_DRAIN 0x40
254 #define ACCEL8_INTC_LATCH_INT_ENABLE 0x20
255 #define ACCEL8_INTC_INT_READ_CLEAR 0x10
256 #define ACCEL8_INTC_FSYNC_INT_LEVEL_ACTIVE_HIGH 0x00
257 #define ACCEL8_INTC_FSYNC_INT_LEVEL_ACTIVE_LOW 0x08
258 #define ACCEL8_INTC_FSYNC_INT_ENABLE 0x04
259 #define ACCEL8_INTC_I2C_BYPASS_ENABLE 0x02
260 #define ACCEL8_INTC_I2C_BYPASS_DISABLE 0x00
261 
267 #define ACCEL8_INTE_FIFO_OFLOW_ENABLE 0x10
268 #define ACCEL8_INTE_I2C_MST_INT_ENABLE 0x08
269 #define ACCEL8_INTE_DATA_RDY_ENABLE 0x01
270 
276 #define ACCEL8_INTS_FIFO_OFLOW 0x10
277 #define ACCEL8_INTS_I2C_MST_INT 0x08
278 #define ACCEL8_INTS_DATA_RDY 0x01
279 
285 #define ACCEL8_ACCEL_X_AXIS_DATA 0x3B
286 #define ACCEL8_ACCEL_Y_AXIS_DATA 0x3D
287 #define ACCEL8_ACCEL_Z_AXIS_DATA 0x3F
288 #define ACCEL8_TEMP_DATA 0x41
289 #define ACCEL8_GYRO_X_AXIS_DATA 0x43
290 #define ACCEL8_GYRO_Y_AXIS_DATA 0x45
291 #define ACCEL8_GYRO_Z_AXIS_DATA 0x47
292 
298 #define ACCEL8_GYRO_RESET 0x04
299 #define ACCEL8_ACCEL_RESET 0x02
300 #define ACCEL8_TEMP_RESET 0x01
301 
307 #define ACCEL8_UC_FIFO_ENABLE 0x40
308 #define ACCEL8_UC_I2C_MASTER_MODE 0x20
309 #define ACCEL8_UC_FIFO_RESET 0x04
310 #define ACCEL8_UC_I2C_MASTER_RESET 0x02
311 #define ACCEL8_UC_SIG_COND_RESET 0x01
312 
318 #define ACCEL8_PM1_DEVICE_RESET 0x80
319 #define ACCEL8_PM1_GO_TO_SLEEP 0x40
320 #define ACCEL8_PM1_CYCLE 0x20
321 #define ACCEL8_PM1_TEMP_DISABLE 0x08
322 #define ACCEL8_PM1_CLKSEL_INTERNAL_8MHZ_OSCILLATOR 0x00
323 #define ACCEL8_PM1_CLKSEL_PLL_WITH_X_AXIS_GYROSCOPE 0x01
324 #define ACCEL8_PM1_CLKSEL_PLL_WITH_Y_AXIS_GYROSCOPE 0x02
325 #define ACCEL8_PM1_CLKSEL_PLL_WITH_Z_AXIS_GYROSCOPE 0x03
326 #define ACCEL8_PM1_CLKSEL_PLL_WITH_EXTERNAL_32_768kHz 0x04
327 #define ACCEL8_PM1_CLKSEL_PLL_WITH_EXTERNAL_19_2kHz 0x05
328 #define ACCEL8_PM1_CLKSEL_STOPS_THE_CLOCK 0x07
329 
335 #define ACCEL8_PM2_LP_WAKE_CTRL_WAKE_UP_FREQ_1_25Hz 0x00
336 #define ACCEL8_PM2_LP_WAKE_CTRL_WAKE_UP_FREQ_5Hz 0x40
337 #define ACCEL8_PM2_LP_WAKE_CTRL_WAKE_UP_FREQ_20Hz 0x80
338 #define ACCEL8_PM2_LP_WAKE_CTRL_WAKE_UP_FREQ_40Hz 0xC0
339 #define ACCEL8_PM2_LP_WAKE_CTRL_X_AXIS_ACCEL_STANDBY_MODE 0x20
340 #define ACCEL8_PM2_LP_WAKE_CTRL_Y_AXIS_ACCEL_STANDBY_MODE 0x10
341 #define ACCEL8_PM2_LP_WAKE_CTRL_Z_AXIS_ACCEL_STANDBY_MODE 0x08
342 #define ACCEL8_PM2_LP_WAKE_CTRL_X_AXIS_GYRO_STANDBY_MODE 0x04
343 #define ACCEL8_PM2_LP_WAKE_CTRL_Y_AXIS_GYRO_STANDBY_MODE 0x02
344 #define ACCEL8_PM2_LP_WAKE_CTRL_Z_AXIS_GYRO_STANDBY_MODE 0x01
345 
351 #define ACCEL8_DEVICE_SLAVE_ADDRESS_ADD 0x69
352 #define ACCEL8_DEVICE_SLAVE_ADDRESS_SEL 0x68
353  // End group macro
356 // --------------------------------------------------------------- PUBLIC TYPES
365 typedef struct
366 {
367  // Input pins
368 
369  digital_in_t da;
370  digital_in_t cl;
371  digital_in_t int_pin;
372 
373  // Modules
374 
375  i2c_master_t i2c;
376 
377  // ctx variable
378 
379  uint8_t slave_address;
380 
381 } accel8_t;
382 
386 typedef struct
387 {
388  // Communication gpio pins
389 
390  pin_name_t scl;
391  pin_name_t sda;
392 
393  // Additional gpio pins
394 
395  pin_name_t da;
396  pin_name_t cl;
397  pin_name_t int_pin;
398 
399  // static variable
400 
401  uint32_t i2c_speed;
402  uint8_t i2c_address;
403 
404 } accel8_cfg_t;
405 
409 typedef struct
410 {
411  //ranges
412 
413  uint8_t accel_range;
414  uint16_t gyro_range;
415 
417  // End types group
419 // ----------------------------------------------- PUBLIC FUNCTION DECLARATIONS
420 
426 #ifdef __cplusplus
427 extern "C"{
428 #endif
429 
439 
449 
460 void accel8_default_cfg ( accel8_t *ctx, uint8_t accel_cfg, uint8_t gyro_cfg, range_retval_t *rng );
461 
472 void accel8_generic_write ( accel8_t *ctx, uint8_t reg, uint8_t *data_buf, uint8_t len );
473 
484 void accel8_generic_read ( accel8_t *ctx, uint8_t reg, uint8_t *data_buf, uint8_t len );
485 
496 uint16_t accel8_read_data ( accel8_t *ctx, uint8_t reg );
497 
513 
524 void accel8_get_accel_axis ( accel8_t *ctx, int16_t *x_axis, int16_t *y_axis, int16_t *z_axis );
525 
536 void accel8_get_gyro_axis ( accel8_t *ctx, int16_t *x_axis, int16_t *y_axis, int16_t *z_axis );
537 
548 
549 #ifdef __cplusplus
550 }
551 #endif
552 #endif // _ACCEL8_H_
553  // End public_function group
556 
557 // ------------------------------------------------------------------------- END
accel8_cfg_t::sda
pin_name_t sda
Definition: accel8.h:391
accel8_get_interrupt
uint8_t accel8_get_interrupt(accel8_t *ctx)
Functions for read INT pin state.
accel8_t::cl
digital_in_t cl
Definition: accel8.h:370
range_retval_t
Click range structure definition.
Definition: accel8.h:410
accel8_get_accel_axis
void accel8_get_accel_axis(accel8_t *ctx, int16_t *x_axis, int16_t *y_axis, int16_t *z_axis)
Functions for read Accel axis data.
accel8_cfg_t
Click configuration structure definition.
Definition: accel8.h:387
accel8_cfg_t::da
pin_name_t da
Definition: accel8.h:395
accel8_cfg_t::scl
pin_name_t scl
Definition: accel8.h:390
accel8_cfg_t::int_pin
pin_name_t int_pin
Definition: accel8.h:397
accel8_get_gyro_axis
void accel8_get_gyro_axis(accel8_t *ctx, int16_t *x_axis, int16_t *y_axis, int16_t *z_axis)
Functions for read Gyro axis data.
accel8_t::i2c
i2c_master_t i2c
Definition: accel8.h:375
accel8_cfg_t::cl
pin_name_t cl
Definition: accel8.h:396
accel8_t::int_pin
digital_in_t int_pin
Definition: accel8.h:371
accel8_read_data
uint16_t accel8_read_data(accel8_t *ctx, uint8_t reg)
Generic read function.
accel8_t
Click ctx object definition.
Definition: accel8.h:366
ACCEL8_RETVAL
#define ACCEL8_RETVAL
Definition: accel8.h:64
accel8_cfg_t::i2c_speed
uint32_t i2c_speed
Definition: accel8.h:401
accel8_cfg_t::i2c_address
uint8_t i2c_address
Definition: accel8.h:402
accel8_generic_read
void accel8_generic_read(accel8_t *ctx, uint8_t reg, uint8_t *data_buf, uint8_t len)
Generic read function.
accel8_t::da
digital_in_t da
Definition: accel8.h:369
accel8_t::slave_address
uint8_t slave_address
Definition: accel8.h:379
accel8_get_temperature
float accel8_get_temperature(accel8_t *ctx)
Functions for read Temperature data in C.
accel8_default_cfg
void accel8_default_cfg(accel8_t *ctx, uint8_t accel_cfg, uint8_t gyro_cfg, range_retval_t *rng)
Click Default Configuration function.
accel8_cfg_setup
void accel8_cfg_setup(accel8_cfg_t *cfg)
Config Object Initialization function.
range_retval_t::gyro_range
uint16_t gyro_range
Definition: accel8.h:414
accel8_init
ACCEL8_RETVAL accel8_init(accel8_t *ctx, accel8_cfg_t *cfg)
Initialization function.
accel8_generic_write
void accel8_generic_write(accel8_t *ctx, uint8_t reg, uint8_t *data_buf, uint8_t len)
Generic write function.
range_retval_t::accel_range
uint8_t accel_range
Definition: accel8.h:413