gyro3  2.0.0.0
gyro3.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 GYRO3_H
36 #define GYRO3_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 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 )
63 
69 #define GYRO3_MASTER_I2C 0
70 #define GYRO3_MASTER_SPI 1
71 
77 #define GYRO3_RETVAL uint8_t
78 
79 #define GYRO3_OK 0x00
80 #define GYRO3_INIT_ERROR 0xFF
81 
87 #define GYRO3_DEVICE_ADDR_SA0 0x68
88 #define GYRO3_DEVICE_ADDR_SA1 0x69
89 
95 #define GYRO3_MODE_POWER_DOWN 0x00
96 #define GYRO3_MODE_SLEEP 0x08
97 #define GYRO3_MODE_NORMAL 0x0F
98 
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
109 
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
129 
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
144 
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
238  // End group macro
240 // --------------------------------------------------------------- PUBLIC TYPES
249 typedef uint8_t gyro3_select_t;
250 
254 typedef void ( *gyro3_master_io_t )( struct gyro3_s*, uint8_t, uint8_t*, uint8_t );
255 
259 typedef struct gyro3_s
260 {
261  // Output pins
262 
263  digital_out_t cs;
264 
265  // Input pins
266 
267  digital_in_t di2;
268  digital_in_t int_pin;
269 
270  // Modules
271 
272  i2c_master_t i2c;
273  spi_master_t spi;
274 
275  // ctx variable
276 
277  uint8_t slave_address;
278  pin_name_t chip_select;
283 
287 typedef struct
288 {
289  // Communication gpio pins
290 
291  pin_name_t scl;
292  pin_name_t sda;
293  pin_name_t miso;
294  pin_name_t mosi;
295  pin_name_t sck;
296  pin_name_t cs;
297 
298  // Additional gpio pins
299 
300  pin_name_t di2;
301  pin_name_t int_pin;
302 
303  // static variable
304 
305  uint32_t i2c_speed;
306  uint8_t i2c_address;
307 
308  uint32_t spi_speed;
309  spi_master_mode_t spi_mode;
310  spi_master_chip_select_polarity_t cs_polarity;
311 
313 
314 } gyro3_cfg_t;
315  // End types group
317 
318 // ----------------------------------------------- PUBLIC FUNCTION DECLARATIONS
324 #ifdef __cplusplus
325 extern "C"{
326 #endif
327 
337 
347 
356 
367 void gyro3_generic_write ( gyro3_t *ctx, uint8_t reg, uint8_t *data_buf, uint8_t len );
368 
379 void gyro3_generic_read ( gyro3_t *ctx, uint8_t reg, uint8_t *data_buf, uint8_t len );
380 
390 uint8_t gyro3_int_get ( gyro3_t *ctx );
391 
401 uint8_t gyro3_di2_get( gyro3_t *ctx );
402 
414 void gyro3_read ( gyro3_t *ctx, uint8_t register_address, uint8_t * read_buffer, uint8_t n_bytes );
415 
425 void gyro3_write ( gyro3_t *ctx, uint8_t register_address, uint8_t value );
426 
435 void gyro3_get_temp ( gyro3_t *ctx, uint8_t *temperature_value );
436 
449 void gyro3_get_axes ( gyro3_t *ctx, float *x_axis, float *y_axis, float *z_axis, uint8_t measurement_range );
450 
459 void gyro3_get_status ( gyro3_t *ctx, uint8_t * status_register );
460 
470 void gyro3_get_fifo_data_level ( gyro3_t *ctx, uint8_t * fifo_data_level );
471 
482 void gyro3_set_int1_thresholds ( gyro3_t *ctx, int16_t x_threshold, int16_t y_threshold, int16_t z_threshold );
483 
495 uint8_t gyro3_set_int1_duration ( gyro3_t *ctx, uint8_t wait_enable_bit, uint8_t duration_value );
496 
497 
498 #ifdef __cplusplus
499 }
500 #endif
501 #endif // _GYRO3_H_
502  // End public_function group
505 
506 // ------------------------------------------------------------------------- END
gyro3_select_t
uint8_t gyro3_select_t
Communication type.
Definition: gyro3.h:249
gyro3_s::read_f
gyro3_master_io_t read_f
Definition: gyro3.h:280
gyro3_cfg_t::di2
pin_name_t di2
Definition: gyro3.h:300
gyro3_cfg_t::i2c_address
uint8_t i2c_address
Definition: gyro3.h:306
gyro3_get_fifo_data_level
void gyro3_get_fifo_data_level(gyro3_t *ctx, uint8_t *fifo_data_level)
Get FIFO data level.
gyro3_int_get
uint8_t gyro3_int_get(gyro3_t *ctx)
Get INT pin state.
gyro3_cfg_t::spi_speed
uint32_t spi_speed
Definition: gyro3.h:308
gyro3_get_axes
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_init
GYRO3_RETVAL gyro3_init(gyro3_t *ctx, gyro3_cfg_t *cfg)
Initialization function.
gyro3_cfg_t::miso
pin_name_t miso
Definition: gyro3.h:293
gyro3_cfg_t::i2c_speed
uint32_t i2c_speed
Definition: gyro3.h:305
gyro3_default_cfg
void gyro3_default_cfg(gyro3_t *ctx)
Click Default Configuration function.
gyro3_read
void gyro3_read(gyro3_t *ctx, uint8_t register_address, uint8_t *read_buffer, uint8_t n_bytes)
Reading register(s)
gyro3_cfg_t::sda
pin_name_t sda
Definition: gyro3.h:292
gyro3_cfg_t::sck
pin_name_t sck
Definition: gyro3.h:295
gyro3_generic_read
void gyro3_generic_read(gyro3_t *ctx, uint8_t reg, uint8_t *data_buf, uint8_t len)
Generic read function.
gyro3_cfg_t::sel
gyro3_select_t sel
Definition: gyro3.h:312
gyro3_cfg_t::mosi
pin_name_t mosi
Definition: gyro3.h:294
gyro3_generic_write
void gyro3_generic_write(gyro3_t *ctx, uint8_t reg, uint8_t *data_buf, uint8_t len)
Generic write function.
gyro3_t
struct gyro3_s gyro3_t
Click ctx object definition.
gyro3_s::i2c
i2c_master_t i2c
Definition: gyro3.h:272
gyro3_s::cs
digital_out_t cs
Definition: gyro3.h:263
gyro3_s
Click ctx object definition.
Definition: gyro3.h:260
gyro3_set_int1_duration
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_s::master_sel
gyro3_select_t master_sel
Definition: gyro3.h:281
gyro3_cfg_t::scl
pin_name_t scl
Definition: gyro3.h:291
gyro3_cfg_setup
void gyro3_cfg_setup(gyro3_cfg_t *cfg)
Config Object Initialization function.
GYRO3_RETVAL
#define GYRO3_RETVAL
Definition: gyro3.h:77
gyro3_cfg_t::cs
pin_name_t cs
Definition: gyro3.h:296
gyro3_s::slave_address
uint8_t slave_address
Definition: gyro3.h:277
gyro3_s::write_f
gyro3_master_io_t write_f
Definition: gyro3.h:279
gyro3_s::di2
digital_in_t di2
Definition: gyro3.h:267
gyro3_di2_get
uint8_t gyro3_di2_get(gyro3_t *ctx)
Get di2 (AN) pin state.
gyro3_master_io_t
void(* gyro3_master_io_t)(struct gyro3_s *, uint8_t, uint8_t *, uint8_t)
Master Input/Output type.
Definition: gyro3.h:254
gyro3_s::spi
spi_master_t spi
Definition: gyro3.h:273
gyro3_cfg_t::cs_polarity
spi_master_chip_select_polarity_t cs_polarity
Definition: gyro3.h:310
gyro3_write
void gyro3_write(gyro3_t *ctx, uint8_t register_address, uint8_t value)
Write byte to regiter.
gyro3_s::chip_select
pin_name_t chip_select
Definition: gyro3.h:278
gyro3_get_temp
void gyro3_get_temp(gyro3_t *ctx, uint8_t *temperature_value)
Read value from temperature register.
gyro3_set_int1_thresholds
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.
gyro3_cfg_t::int_pin
pin_name_t int_pin
Definition: gyro3.h:301
gyro3_cfg_t::spi_mode
spi_master_mode_t spi_mode
Definition: gyro3.h:309
gyro3_cfg_t
Click configuration structure definition.
Definition: gyro3.h:288
gyro3_s::int_pin
digital_in_t int_pin
Definition: gyro3.h:268
gyro3_get_status
void gyro3_get_status(gyro3_t *ctx, uint8_t *status_register)
Getting status register content.