compass4  2.0.0.0
compass4.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
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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:
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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.
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21  * ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE
22  * OR OTHER DEALINGS IN THE SOFTWARE.
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24 
33 // ----------------------------------------------------------------------------
34 
35 #ifndef COMPASS4_H
36 #define COMPASS4_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 COMPASS4_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.rst = MIKROBUS( mikrobus, MIKROBUS_RST ); \
62  cfg.int_pin = MIKROBUS( mikrobus, MIKROBUS_INT );
63 
69 #define COMPASS4_MASTER_I2C 0
70 #define COMPASS4_MASTER_SPI 1
71 
77 #define COMPASS4_RETVAL uint8_t
78 
79 #define COMPASS4_OK 0x00
80 #define COMPASS4_INIT_ERROR 0xFF
81 
87 #define COMPASS4_REG_COMPANY_ID 0x00 // Read only
88 #define COMPASS4_REG_DEVICE_ID 0x01 // Read only
89 #define COMPASS4_REG_INFO 0x03 // Read only
90 #define COMPASS4_REG_STATUS_1 0x10 // Read only
91 #define COMPASS4_REG_X_AXIS_LSB 0x11 // Read only
92 #define COMPASS4_REG_X_AXIS_MSB 0x12 // Read only
93 #define COMPASS4_REG_Y_AXIS_LSB 0x13 // Read only
94 #define COMPASS4_REG_Y_AXIS_MSB 0x14 // Read only
95 #define COMPASS4_REG_Z_AXIS_LSB 0x15 // Read only
96 #define COMPASS4_REG_Z_AXIS_MSB 0x16 // Read only
97 #define COMPASS4_REG_TMPS 0x17 // Read only
98 #define COMPASS4_REG_STATUS_2 0x18 // Read only
99 #define COMPASS4_REG_CONTROL_1 0x30 // Read and write
100 #define COMPASS4_REG_CONTROL_2 0x31 // Read and write
101 #define COMPASS4_REG_CONTROL_3 0x32 // Read and write
102 #define COMPASS4_REG_TS_1 0x33 // Read and write
103 #define COMPASS4_REG_TS_2 0x34 // Read and write
104 #define COMPASS4_REG_TS_3 0x35 // Read and write
105 #define COMPASS4_REG_I2C_DISABLE 0x36 // Read and write
106 #define COMPASS4_REG_TS_4 0x37 // Read and write
107 #define COMPASS4_REG_ASAX 0x60 // Read only
108 #define COMPASS4_REG_ASAY 0x61 // Read only
109 #define COMPASS4_REG_ASAZ 0x62 // Read only
110 #define COMPASS4_REG_TPH_1 0xC0 // Read and write
111 #define COMPASS4_REG_TPH_2 0xC1 // Read and write
112 #define COMPASS4_REG_RR 0xC2 // Read and write
113 #define COMPASS4_REG_SYT 0xC3 // Read and write
114 #define COMPASS4_REG_DT 0xC4 // Read and write
115 
121 #define COMPASS4_DEF_COMPANY_ID 0x48
122 #define COMPASS4_DEF_DEVICE_ID 0x10
123 
129 #define COMPASS4_CTRL1_WM_STEP_1 0x00
130 #define COMPASS4_CTRL1_WM_STEPS_2 0x01
131 #define COMPASS4_CTRL1_WM_STEPS_3 0x02
132 #define COMPASS4_CTRL1_WM_STEPS_4 0x03
133 #define COMPASS4_CTRL1_WM_STEPS_5 0x04
134 #define COMPASS4_CTRL1_WM_STEPS_6 0x05
135 #define COMPASS4_CTRL1_WM_STEPS_7 0x06
136 #define COMPASS4_CTRL1_WM_STEPS_8 0x07
137 #define COMPASS4_CTRL1_WM_STEPS_9 0x08
138 #define COMPASS4_CTRL1_WM_STEPS_10 0x09
139 #define COMPASS4_CTRL1_WM_STEPS_11 0x0A
140 #define COMPASS4_CTRL1_WM_STEPS_12 0x0B
141 #define COMPASS4_CTRL1_WM_STEPS_13 0x0C
142 #define COMPASS4_CTRL1_WM_STEPS_14 0x0D
143 #define COMPASS4_CTRL1_WM_STEPS_15 0x0E
144 #define COMPASS4_CTRL1_WM_STEPS_16 0x0F
145 #define COMPASS4_CTRL1_WM_STEPS_17 0x10
146 #define COMPASS4_CTRL1_WM_STEPS_18 0x11
147 #define COMPASS4_CTRL1_WM_STEPS_19 0x12
148 #define COMPASS4_CTRL1_WM_STEPS_20 0x13
149 #define COMPASS4_CTRL1_WM_STEPS_21 0x14
150 #define COMPASS4_CTRL1_WM_STEPS_22 0x15
151 #define COMPASS4_CTRL1_WM_STEPS_23 0x16
152 #define COMPASS4_CTRL1_WM_STEPS_24 0x17
153 #define COMPASS4_CTRL1_WM_STEPS_25 0x18
154 #define COMPASS4_CTRL1_WM_STEPS_26 0x19
155 #define COMPASS4_CTRL1_WM_STEPS_27 0x1A
156 #define COMPASS4_CTRL1_WM_STEPS_28 0x1B
157 #define COMPASS4_CTRL1_WM_STEPS_29 0x1C
158 #define COMPASS4_CTRL1_WM_STEPS_30 0x1D
159 #define COMPASS4_CTRL1_WM_STEPS_31 0x1E
160 #define COMPASS4_CTRL1_WM_STEPS_32 0x1F
161 #define COMPASS4_CTRL1_NOISE_DISABLE 0x00
162 #define COMPASS4_CTRL1_NOISE_ENABLE 0x20
163 
169 #define COMPASS4_CTRL2_MODE_POWER_DOWN 0x00
170 #define COMPASS4_CTRL2_MODE_SINGLE 0x01
171 #define COMPASS4_CTRL2_MODE_CONT_1 0x02
172 #define COMPASS4_CTRL2_MODE_CONT_2 0x04
173 #define COMPASS4_CTRL2_MODE_CONT_3 0x06
174 #define COMPASS4_CTRL2_MODE_CONT_4 0x08
175 #define COMPASS4_CTRL2_MODE_CONT_5 0x0A
176 #define COMPASS4_CTRL2_MODE_CONT_6 0x0C
177 #define COMPASS4_CTRL2_MODE_SELF_TEST 0x10
178 #define COMPASS4_CTRL2_SDR_LOW_POWER 0x00
179 #define COMPASS4_CTRL2_SDR_LOW_NOISE 0x40
180 #define COMPASS4_CTRL2_FIFO_ENABLE 0x80
181 #define COMPASS4_CTRL2_FIFO_DISABLE 0x00
182 
188 #define COMPASS4_CTRL3_SOFT_RESET 0x01
189 
195 #define COMPASS4_SLAVE_ADDRESS_GND_GND 0x0C
196 #define COMPASS4_SLAVE_ADDRESS_GND_VCC 0x0D
197 #define COMPASS4_SLAVE_ADDRESS_VCC_GND 0x0E
198 #define COMPASS4_SLAVE_ADDRESS_VCC_VCC 0x0F
199 
205 #define COMPASS4_GET_STATUS_1 0x01
206 #define COMPASS4_GET_STATUS_2 0x02
207 
213 #define COMPASS4_X_AXIS_DATA 0x11
214 #define COMPASS4_Y_AXIS_DATA 0x13
215 #define COMPASS4_Z_AXIS_DATA 0x15
216 
222 #define FLUX_CONSTANT 0.15
223  // End group macro
227 // --------------------------------------------------------------- PUBLIC TYPES
233 typedef struct
234 {
235  int16_t x;
236  int16_t y;
237  int16_t z;
238 
240 
241 typedef struct
242 {
243  float x;
244  float y;
245  float z;
246 
248 
252 typedef uint8_t compass4_select_t;
253 
257 typedef void ( *compass4_master_io_t )( struct compass4_s*, uint8_t, uint8_t*, uint8_t );
258 
262 typedef struct compass4_s
263 {
264  // Output pins
265  digital_out_t cs;
266 
267  digital_out_t rst;
268 
269  // Input pins
270 
271  digital_in_t int_pin;
272 
273  // Modules
274 
275  i2c_master_t i2c;
276  spi_master_t spi;
277 
278  // ctx variable
279 
280  uint8_t slave_address;
281  pin_name_t chip_select;
285 
286 } compass4_t;
287 
291 typedef struct
292 {
293  // Communication gpio pins
294 
295  pin_name_t scl;
296  pin_name_t sda;
297  pin_name_t miso;
298  pin_name_t mosi;
299  pin_name_t sck;
300  pin_name_t cs;
301 
302  // Additional gpio pins
303 
304  pin_name_t rst;
305  pin_name_t int_pin;
306 
307  // static variable
308 
309  uint32_t i2c_speed;
310  uint8_t i2c_address;
311 
312  uint32_t spi_speed;
313  spi_master_mode_t spi_mode;
314  spi_master_chip_select_polarity_t cs_polarity;
315 
317 
319  // End types group
321 // ----------------------------------------------- PUBLIC FUNCTION DECLARATIONS
327 #ifdef __cplusplus
328 extern "C"{
329 #endif
330 
339 void compass4_cfg_setup ( compass4_cfg_t *cfg );
340 
349 
360 void compass4_generic_write ( compass4_t *ctx, uint8_t reg, uint8_t *data_buf, uint8_t len );
361 
372 void compass4_generic_read ( compass4_t *ctx, uint8_t reg, uint8_t *data_buf, uint8_t len );
373 
381 void compass4_hardware_reset ( compass4_t *ctx );
382 
390 void compass4_set_rst_pin_state ( compass4_t *ctx, uint8_t state );
391 
399 void compass4_software_reset ( compass4_t *ctx );
400 
410 void compass4_configuration ( compass4_t *ctx, uint8_t cfg1, uint8_t cfg2 );
411 
421 uint8_t compass4_get_status( compass4_t *ctx, uint8_t status );
422 
433 uint8_t compass4_check_device ( compass4_t *ctx );
434 
444 uint8_t compass4_get_interrupt ( compass4_t *ctx );
445 
455 uint8_t compass4_get_axis ( compass4_t *ctx, compass4_axis_t *axis );
456 
467 uint8_t compass4_get_single_axis ( compass4_t *ctx, uint8_t axis_reg, int16_t *axis_data );
468 
479 
490 uint8_t compass4_get_single_magnetic_flux ( compass4_t *ctx, uint8_t axis, float *flux_data );
491 
492 #ifdef __cplusplus
493 }
494 #endif
495 #endif // _COMPASS4_H_
496  // End public_function group
499 
500 // ------------------------------------------------------------------------- END
compass4_flux_t::y
float y
Definition: compass4.h:244
compass4_init
COMPASS4_RETVAL compass4_init(compass4_t *ctx, compass4_cfg_t *cfg)
Initialization function.
compass4_generic_read
void compass4_generic_read(compass4_t *ctx, uint8_t reg, uint8_t *data_buf, uint8_t len)
Generic read function.
compass4_axis_t::x
int16_t x
Definition: compass4.h:235
compass4_s
Click ctx object definition.
Definition: compass4.h:262
compass4_get_status
uint8_t compass4_get_status(compass4_t *ctx, uint8_t status)
Get status.
compass4_cfg_t::sck
pin_name_t sck
Definition: compass4.h:299
compass4_s::i2c
i2c_master_t i2c
Definition: compass4.h:275
compass4_get_axis
uint8_t compass4_get_axis(compass4_t *ctx, compass4_axis_t *axis)
Gets X\Y\Z Axis value.
compass4_cfg_t
Click configuration structure definition.
Definition: compass4.h:291
compass4_cfg_setup
void compass4_cfg_setup(compass4_cfg_t *cfg)
Config Object Initialization function.
compass4_get_single_axis
uint8_t compass4_get_single_axis(compass4_t *ctx, uint8_t axis_reg, int16_t *axis_data)
Gets single axis value.
compass4_master_io_t
void(* compass4_master_io_t)(struct compass4_s *, uint8_t, uint8_t *, uint8_t)
Master Input/Output type.
Definition: compass4.h:257
compass4_axis_t::y
int16_t y
Definition: compass4.h:236
compass4_s::int_pin
digital_in_t int_pin
Definition: compass4.h:271
compass4_set_rst_pin_state
void compass4_set_rst_pin_state(compass4_t *ctx, uint8_t state)
Sets RST pin state.
compass4_software_reset
void compass4_software_reset(compass4_t *ctx)
Software reset function.
compass4_cfg_t::i2c_address
uint8_t i2c_address
Definition: compass4.h:310
compass4_s::spi
spi_master_t spi
Definition: compass4.h:276
compass4_select_t
uint8_t compass4_select_t
Communication type.
Definition: compass4.h:252
compass4_cfg_t::miso
pin_name_t miso
Definition: compass4.h:297
compass4_cfg_t::mosi
pin_name_t mosi
Definition: compass4.h:298
compass4_flux_t::z
float z
Definition: compass4.h:245
compass4_cfg_t::cs_polarity
spi_master_chip_select_polarity_t cs_polarity
Definition: compass4.h:314
compass4_s::chip_select
pin_name_t chip_select
Definition: compass4.h:281
compass4_cfg_t::spi_speed
uint32_t spi_speed
Definition: compass4.h:312
COMPASS4_RETVAL
#define COMPASS4_RETVAL
Definition: compass4.h:77
compass4_cfg_t::cs
pin_name_t cs
Definition: compass4.h:300
compass4_cfg_t::int_pin
pin_name_t int_pin
Definition: compass4.h:305
compass4_check_device
uint8_t compass4_check_device(compass4_t *ctx)
Check device function.
compass4_flux_t
Definition: compass4.h:241
compass4_get_magnetic_flux
uint8_t compass4_get_magnetic_flux(compass4_t *ctx, compass4_flux_t *flux)
Gets magnetic flux of X\Y\Z axis value.
compass4_s::cs
digital_out_t cs
Definition: compass4.h:265
compass4_get_interrupt
uint8_t compass4_get_interrupt(compass4_t *ctx)
Gets INT pin state (DRDY pin)
compass4_s::slave_address
uint8_t slave_address
Definition: compass4.h:280
compass4_t
struct compass4_s compass4_t
Click ctx object definition.
compass4_configuration
void compass4_configuration(compass4_t *ctx, uint8_t cfg1, uint8_t cfg2)
Configuration function.
compass4_s::write_f
compass4_master_io_t write_f
Definition: compass4.h:282
compass4_axis_t
Definition: compass4.h:233
compass4_cfg_t::i2c_speed
uint32_t i2c_speed
Definition: compass4.h:309
compass4_cfg_t::spi_mode
spi_master_mode_t spi_mode
Definition: compass4.h:313
compass4_hardware_reset
void compass4_hardware_reset(compass4_t *ctx)
Hardware reset function.
compass4_s::read_f
compass4_master_io_t read_f
Definition: compass4.h:283
compass4_cfg_t::sel
compass4_select_t sel
Definition: compass4.h:316
compass4_s::master_sel
compass4_select_t master_sel
Definition: compass4.h:284
compass4_cfg_t::sda
pin_name_t sda
Definition: compass4.h:296
compass4_cfg_t::rst
pin_name_t rst
Definition: compass4.h:304
compass4_get_single_magnetic_flux
uint8_t compass4_get_single_magnetic_flux(compass4_t *ctx, uint8_t axis, float *flux_data)
Gets single axis flux value.
compass4_flux_t::x
float x
Definition: compass4.h:243
compass4_cfg_t::scl
pin_name_t scl
Definition: compass4.h:295
compass4_generic_write
void compass4_generic_write(compass4_t *ctx, uint8_t reg, uint8_t *data_buf, uint8_t len)
Generic write function.
compass4_axis_t::z
int16_t z
Definition: compass4.h:237
compass4_s::rst
digital_out_t rst
Definition: compass4.h:267