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38 #include "drv_digital_out.h"
39 #include "drv_digital_in.h"
40 #include "drv_i2c_master.h"
41 #include "drv_spi_master.h"
54 #define GYRO3_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.di2 = MIKROBUS( mikrobus, MIKROBUS_AN ); \
62 cfg.int_pin = MIKROBUS( mikrobus, MIKROBUS_INT )
69 #define GYRO3_MASTER_I2C 0
70 #define GYRO3_MASTER_SPI 1
77 #define GYRO3_RETVAL uint8_t
80 #define GYRO3_INIT_ERROR 0xFF
87 #define GYRO3_DEVICE_ADDR_SA0 0x68
88 #define GYRO3_DEVICE_ADDR_SA1 0x69
95 #define GYRO3_MODE_POWER_DOWN 0x00
96 #define GYRO3_MODE_SLEEP 0x08
97 #define GYRO3_MODE_NORMAL 0x0F
104 #define GYRO3_CTRL_REG1 0x20
105 #define GYRO3_CTRL_REG2 0x21
106 #define GYRO3_CTRL_REG3 0x22
107 #define GYRO3_CTRL_REG4 0x23
108 #define GYRO3_CTRL_REG5 0x24
115 #define GYRO3_ODR_100_CUTOFF_12p5 0x00
116 #define GYRO3_ODR_100_CUTOFF_25 0x10
117 #define GYRO3_ODR_200_CUTOFF_12p5 0x40
118 #define GYRO3_ODR_200_CUTOFF_25 0x50
119 #define GYRO3_ODR_200_CUTOFF_50 0x60
120 #define GYRO3_ODR_200_CUTOFF_70 0x70
121 #define GYRO3_ODR_400_CUTOFF_20 0x80
122 #define GYRO3_ODR_400_CUTOFF_25 0x90
123 #define GYRO3_ODR_400_CUTOFF_50 0xa0
124 #define GYRO3_ODR_400_CUTOFF_110 0xb0
125 #define GYRO3_ODR_800_CUTOFF_30 0xc0
126 #define GYRO3_ODR_800_CUTOFF_35 0xd0
127 #define GYRO3_ODR_800_CUTOFF_50 0xe0
128 #define GYRO3_ODR_800_CUTOFF_110 0xf0
135 #define GYRO3_FIFO_MODE_BYPASS 0x00
136 #define GYRO3_FIFO_EMPTY_INT_ON_INT2 0x01
137 #define GYRO3_FIFO_OVERRUN_INT_ON_INT2 0x02
138 #define GYRO3_FIFO_WATERMARK_INT_ON_INT2 0x04
139 #define GYRO3_FIFO_MODE_FIFO 0x20
140 #define GYRO3_FIFO_MODE_STREAM 0x40
141 #define GYRO3_FIFO_WTM_STATUS_MASK 0x80
142 #define GYRO3_FIFO_OVERRUN_MASK 0x40
143 #define GYRO3_FIFO_EMPTY_STATUS 0x20
150 #define GYRO3_WHO_AM_I 0x0f
151 #define GYRO3_REF_DATACAP 0x25
152 #define GYRO3_OUT_TEMP 0x26
153 #define GYRO3_STATUS_REG 0x27
154 #define GYRO3_OUT_X_L 0x28
155 #define GYRO3_OUT_X_H 0x29
156 #define GYRO3_OUT_Y_L 0x2a
157 #define GYRO3_OUT_Y_H 0x2b
158 #define GYRO3_OUT_Z_L 0x2c
159 #define GYRO3_OUT_Z_H 0x2d
160 #define GYRO3_FIFO_CTRL 0x2e
161 #define GYRO3_FIFO_SRC 0x2f
162 #define GYRO3_INT1_CFG 0x30
163 #define GYRO3_INT1_SRC 0x31
164 #define GYRO3_INT1_THS_XH 0x32
165 #define GYRO3_INT1_THS_XL 0x33
166 #define GYRO3_INT1_THS_YH 0x34
167 #define GYRO3_INT1_THS_YL 0x35
168 #define GYRO3_INT1_THS_ZH 0x36
169 #define GYRO3_INT1_THS_ZL 0x37
170 #define GYRO3_INT1_DURATION 0x38
171 #define GYRO3_HPF_MODE_NORMAL 0x00
172 #define GYRO3_HPF_MODE_REF_SIGNAL 0x10
173 #define GYRO3_HPF_MODE_AUTO_RESET_ON_INT 0x30
174 #define GYRO3_HPF_CUTOFF_FREQ_8 0x00
175 #define GYRO3_HPF_CUTOFF_FREQ_4 0x01
176 #define GYRO3_HPF_CUTOFF_FREQ_2 0x02
177 #define GYRO3_HPF_CUTOFF_FREQ_1 0x03
178 #define GYRO3_HPF_CUTOFF_FREQ_0p5 0x04
179 #define GYRO3_HPF_CUTOFF_FREQ_0p2 0x05
180 #define GYRO3_HPF_CUTOFF_FREQ_0p1 0x06
181 #define GYRO3_HPF_CUTOFF_FREQ_0p05 0x07
182 #define GYRO3_HPF_CUTOFF_FREQ_0p02 0x08
183 #define GYRO3_HPF_CUTOFF_FREQ_0p01 0x09
184 #define GYRO3_INT_ON_INT1 0x80
185 #define GYRO3_BOOT_STATUS_ON_INT1 0x40
186 #define GYRO3_INT_ACTIVE_CFG_ON_INT1 0x20
187 #define GYRO3_PUSH_PULL 0x00
188 #define GYRO3_OPEN_DRAIN 0x10
189 #define GYRO3_DRDY_ON_INT2 0x08
190 #define GYRO3_BIG_ENDIAN 0x40
191 #define GYRO3_LITTLE_ENDIAN 0x00
192 #define GYRO3_FULL_SCACLE_245 0x00
193 #define GYRO3_FULL_SCACLE_500 0x10
194 #define GYRO3_FULL_SCACLE_1000 0x20
195 #define GYRO3_FULL_SCACLE_2000 0x30
196 #define GYRO3_SELF_TEST_NORMAL 0x00
197 #define GYRO3_SELF_TEST_0 0x02
198 #define GYRO3_SELF_TEST_1 0x06
199 #define GYRO3_SPI_MODE_4_WIRE 0x00
200 #define GYRO3_SPI_MODE_3_WIRE 0x01
201 #define GYRO3_REBOOT_MEMORY 0x80
202 #define GYRO3_FIFO_EN 0x40
203 #define GYRO3_HPF_EN 0x10
204 #define GYRO3_INT_SEL_00 0x00
205 #define GYRO3_INT_SEL_01 0x40
206 #define GYRO3_INT_SEL_10 0x80
207 #define GYRO3_OUT_SEL_00 0x00
208 #define GYRO3_OUT_SEL_01 0x01
209 #define GYRO3_OUT_SEL_10 0x02
210 #define GYRO3_ZYX_OVERRUN_MASK 0x80
211 #define GYRO3_Z_MASK 0x40
212 #define GYRO3_Y_MASK 0x20
213 #define GYRO3_X_MASK 0x10
214 #define GYRO3_ZYX_NEW_DATA_MASK 0x08
215 #define GYRO3_Z_NEW_DATA_MASK 0x04
216 #define GYRO3_Y_NEW_DATA_MASK 0x02
217 #define GYRO3_X_NEW_DATA_MASK 0x01
218 #define GYRO3_INT1_AND_OR 0x80
219 #define GYRO3_INT1_LATCH 0x40
220 #define GYRO3_INT1_ON_HIGH_Z 0x20
221 #define GYRO3_INT1_ON_LOW_Z 0x10
222 #define GYRO3_INT1_ON_HIGH_Y 0x08
223 #define GYRO3_INT1_ON_LOW_Y 0x04
224 #define GYRO3_INT1_ON_HIGH_X 0x02
225 #define GYRO3_INT1_ON_LOW_X 0x01
226 #define GYRO3_INT1_INT_ACTIVE_MASK 0x40
227 #define GYRO3_INT1_Z_HIGH_INT_MASK 0x20
228 #define GYRO3_INT1_Z_LOW_INT_MASK 0x10
229 #define GYRO3_INT1_Y_HIGH_INT_MASK 0x08
230 #define GYRO3_INT1_Y_LOW_INT_MASK 0x04
231 #define GYRO3_INT1_X_HIGH_INT_MASK 0x02
232 #define GYRO3_INT1_X_LOW_INT_MASK 0x01
233 #define GYRO3_WAIT_ENABLE 0x80
234 #define GYRO3_WAIT_DISABLE 0x00
235 #define GYRO3_MEAS_RANGE_245 0x01
236 #define GYRO3_MEAS_RANGE_500 0x02
237 #define GYRO3_MEAS_RANGE_2000 0x03
414 void gyro3_read (
gyro3_t *ctx, uint8_t register_address, uint8_t * read_buffer, uint8_t n_bytes );
449 void gyro3_get_axes (
gyro3_t *ctx,
float *x_axis,
float *y_axis,
float *z_axis, uint8_t measurement_range );
uint8_t gyro3_select_t
Communication type.
Definition: gyro3.h:249
gyro3_master_io_t read_f
Definition: gyro3.h:280
pin_name_t di2
Definition: gyro3.h:300
struct gyro3_s gyro3_t
Click ctx object definition.
uint8_t i2c_address
Definition: gyro3.h:306
void gyro3_get_fifo_data_level(gyro3_t *ctx, uint8_t *fifo_data_level)
Get FIFO data level.
uint8_t gyro3_int_get(gyro3_t *ctx)
Get INT pin state.
uint32_t spi_speed
Definition: gyro3.h:308
void gyro3_get_axes(gyro3_t *ctx, float *x_axis, float *y_axis, float *z_axis, uint8_t measurement_range)
Get XYZ axes dps values.
GYRO3_RETVAL gyro3_init(gyro3_t *ctx, gyro3_cfg_t *cfg)
Initialization function.
pin_name_t miso
Definition: gyro3.h:293
uint32_t i2c_speed
Definition: gyro3.h:305
void gyro3_default_cfg(gyro3_t *ctx)
Click Default Configuration function.
void gyro3_read(gyro3_t *ctx, uint8_t register_address, uint8_t *read_buffer, uint8_t n_bytes)
Reading register(s)
pin_name_t sda
Definition: gyro3.h:292
pin_name_t sck
Definition: gyro3.h:295
void gyro3_generic_read(gyro3_t *ctx, uint8_t reg, uint8_t *data_buf, uint8_t len)
Generic read function.
gyro3_select_t sel
Definition: gyro3.h:312
pin_name_t mosi
Definition: gyro3.h:294
void gyro3_generic_write(gyro3_t *ctx, uint8_t reg, uint8_t *data_buf, uint8_t len)
Generic write function.
i2c_master_t i2c
Definition: gyro3.h:272
digital_out_t cs
Definition: gyro3.h:263
Click ctx object definition.
Definition: gyro3.h:259
uint8_t gyro3_set_int1_duration(gyro3_t *ctx, uint8_t wait_enable_bit, uint8_t duration_value)
Setting interrupt duration time on INT1 pin.
gyro3_select_t master_sel
Definition: gyro3.h:281
pin_name_t scl
Definition: gyro3.h:291
void gyro3_cfg_setup(gyro3_cfg_t *cfg)
Config Object Initialization function.
#define GYRO3_RETVAL
Definition: gyro3.h:77
pin_name_t cs
Definition: gyro3.h:296
uint8_t slave_address
Definition: gyro3.h:277
gyro3_master_io_t write_f
Definition: gyro3.h:279
digital_in_t di2
Definition: gyro3.h:267
uint8_t gyro3_di2_get(gyro3_t *ctx)
Get di2 (AN) pin state.
void(* gyro3_master_io_t)(struct gyro3_s *, uint8_t, uint8_t *, uint8_t)
Master Input/Output type.
Definition: gyro3.h:254
spi_master_t spi
Definition: gyro3.h:273
spi_master_chip_select_polarity_t cs_polarity
Definition: gyro3.h:310
void gyro3_write(gyro3_t *ctx, uint8_t register_address, uint8_t value)
Write byte to regiter.
pin_name_t chip_select
Definition: gyro3.h:278
void gyro3_get_temp(gyro3_t *ctx, uint8_t *temperature_value)
Read value from temperature register.
void gyro3_set_int1_thresholds(gyro3_t *ctx, int16_t x_threshold, int16_t y_threshold, int16_t z_threshold)
Setting values for interrupt thresholds.
pin_name_t int_pin
Definition: gyro3.h:301
spi_master_mode_t spi_mode
Definition: gyro3.h:309
Click configuration structure definition.
Definition: gyro3.h:287
digital_in_t int_pin
Definition: gyro3.h:268
void gyro3_get_status(gyro3_t *ctx, uint8_t *status_register)
Getting status register content.