gyro6  2.0.0.0
gyro6.h
Go to the documentation of this file.
1 /****************************************************************************
2 ** Copyright (C) 2020 MikroElektronika d.o.o.
3 ** Contact: https://www.mikroe.com/contact
4 **
5 ** Permission is hereby granted, free of charge, to any person obtaining a copy
6 ** of this software and associated documentation files (the "Software"), to deal
7 ** in the Software without restriction, including without limitation the rights
8 ** to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
9 ** copies of the Software, and to permit persons to whom the Software is
10 ** furnished to do so, subject to the following conditions:
11 ** The above copyright notice and this permission notice shall be
12 ** included in all copies or substantial portions of the Software.
13 **
14 ** THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
15 ** EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
16 ** OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
17 ** IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
18 ** DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT
19 ** OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE
20 ** USE OR OTHER DEALINGS IN THE SOFTWARE.
21 ****************************************************************************/
22 
28 #ifndef GYRO6_H
29 #define GYRO6_H
30 
31 #ifdef __cplusplus
32 extern "C"{
33 #endif
34 
35 #include "mikrosdk_version.h"
36 
37 #ifdef __GNUC__
38 #if mikroSDK_GET_VERSION < 20800ul
39 #include "rcu_delays.h"
40 #else
41 #include "delays.h"
42 #endif
43 #endif
44 
45 #include "drv_digital_out.h"
46 #include "drv_digital_in.h"
47 #include "drv_i2c_master.h"
48 #include "drv_spi_master.h"
49 #include "spi_specifics.h"
50 
71 #define GYRO6_REG_SELF_TEST_X_GYRO 0x00
72 #define GYRO6_REG_SELF_TEST_Y_GYRO 0x01
73 #define GYRO6_REG_SELF_TEST_Z_GYRO 0x02
74 #define GYRO6_REG_XG_OFFS_USRH 0x13
75 #define GYRO6_REG_XG_OFFS_USRL 0x14
76 #define GYRO6_REG_YG_OFFS_USRH 0x15
77 #define GYRO6_REG_YG_OFFS_USRL 0x16
78 #define GYRO6_REG_ZG_OFFS_USRH 0x17
79 #define GYRO6_REG_ZG_OFFS_USRL 0x18
80 #define GYRO6_REG_SMPLRT_DIV 0x19
81 #define GYRO6_REG_CONFIG 0x1A
82 #define GYRO6_REG_GYRO_CONFIG 0x1B
83 #define GYRO6_REG_LP_MODE_CFG 0x1E
84 #define GYRO6_REG_FIFO_EN 0x23
85 #define GYRO6_REG_FSYNC_INT 0x36
86 #define GYRO6_REG_INT_PIN_CFG 0x37
87 #define GYRO6_REG_INT_ENABLE 0x38
88 #define GYRO6_REG_INT_STATUS 0x3A
89 #define GYRO6_REG_TEMP_OUT_H 0x41
90 #define GYRO6_REG_TEMP_OUT_L 0x42
91 #define GYRO6_REG_GYRO_XOUT_H 0x43
92 #define GYRO6_REG_GYRO_XOUT_L 0x44
93 #define GYRO6_REG_GYRO_YOUT_H 0x45
94 #define GYRO6_REG_GYRO_YOUT_L 0x46
95 #define GYRO6_REG_GYRO_ZOUT_H 0x47
96 #define GYRO6_REG_GYRO_ZOUT_L 0x48
97 #define GYRO6_REG_SIGNAL_PATH_RESET 0x68
98 #define GYRO6_REG_USER_CTRL 0x6A
99 #define GYRO6_REG_PWR_MGMT_1 0x6B
100 #define GYRO6_REG_PWR_MGMT_2 0x6C
101 #define GYRO6_REG_FIFO_COUNTH 0x72
102 #define GYRO6_REG_FIFO_COUNTL 0x73
103 #define GYRO6_REG_FIFO_R_W 0x74
104 #define GYRO6_REG_WHO_AM_I 0x75
105  // gyro6_reg
107 
122 #define GYRO6_CONFIG_FIFO_MODE 0x40
123 #define GYRO6_CONFIG_EXT_SYNC_DIS 0x00
124 #define GYRO6_CONFIG_EXT_SYNC_TEMP_OUT_L 0x08
125 #define GYRO6_CONFIG_EXT_SYNC_GYRO_XOUT_L 0x10
126 #define GYRO6_CONFIG_EXT_SYNC_GYRO_YOUT_L 0x18
127 #define GYRO6_CONFIG_EXT_SYNC_GYRO_ZOUT_L 0x20
128 #define GYRO6_CONFIG_FIFO_MODE 0x40
129 #define GYRO6_CONFIG_DLPF_CFG_0 0x00
130 #define GYRO6_CONFIG_DLPF_CFG_1 0x01
131 #define GYRO6_CONFIG_DLPF_CFG_2 0x02
132 #define GYRO6_CONFIG_DLPF_CFG_3 0x03
133 #define GYRO6_CONFIG_DLPF_CFG_4 0x04
134 #define GYRO6_CONFIG_DLPF_CFG_5 0x05
135 #define GYRO6_CONFIG_DLPF_CFG_6 0x06
136 #define GYRO6_CONFIG_DLPF_CFG_7 0x07
137 
142 #define GYRO6_GYRO_CONFIG_XG_ST 0x80
143 #define GYRO6_GYRO_CONFIG_YG_ST 0x40
144 #define GYRO6_GYRO_CONFIG_ZG_ST 0x20
145 #define GYRO6_GYRO_CONFIG_FS_SEL_250DPS 0x00
146 #define GYRO6_GYRO_CONFIG_FS_SEL_500DPS 0x08
147 #define GYRO6_GYRO_CONFIG_FS_SEL_1000DPS 0x10
148 #define GYRO6_GYRO_CONFIG_FS_SEL_2000DPS 0x18
149 #define GYRO6_GYRO_CONFIG_FS_SEL_BITS_MASK 0x18
150 #define GYRO6_GYRO_CONFIG_FCHOICE_B_0 0x00
151 #define GYRO6_GYRO_CONFIG_FCHOICE_B_1 0x01
152 #define GYRO6_GYRO_CONFIG_FCHOICE_B_2 0x02
153 #define GYRO6_GYRO_CONFIG_FCHOICE_B_3 0x03
154 
160 #define GYRO6_SAMPLE_RATE_3p9HZ 255
161 #define GYRO6_SAMPLE_RATE_10HZ 99
162 #define GYRO6_SAMPLE_RATE_15p4HZ 64
163 #define GYRO6_SAMPLE_RATE_30p3HZ 32
164 #define GYRO6_SAMPLE_RATE_50HZ 19
165 #define GYRO6_SAMPLE_RATE_100HZ 9
166 #define GYRO6_SAMPLE_RATE_125HZ 7
167 #define GYRO6_SAMPLE_RATE_200HZ 4
168 #define GYRO6_SAMPLE_RATE_250HZ 3
169 #define GYRO6_SAMPLE_RATE_333p3HZ 2
170 #define GYRO6_SAMPLE_RATE_500HZ 1
171 #define GYRO6_SAMPLE_RATE_1000HZ 0
172 
177 #define GYRO6_LP_MODE_CFG_GYRO_CYCLE 0x80
178 #define GYRO6_LP_MODE_CFG_G_AVGCFG_1X 0x00
179 #define GYRO6_LP_MODE_CFG_G_AVGCFG_2X 0x10
180 #define GYRO6_LP_MODE_CFG_G_AVGCFG_4X 0x20
181 #define GYRO6_LP_MODE_CFG_G_AVGCFG_8X 0x30
182 #define GYRO6_LP_MODE_CFG_G_AVGCFG_16X 0x40
183 #define GYRO6_LP_MODE_CFG_G_AVGCFG_32X 0x50
184 #define GYRO6_LP_MODE_CFG_G_AVGCFG_64X 0x60
185 #define GYRO6_LP_MODE_CFG_G_AVGCFG_128X 0x70
186 
191 #define GYRO6_FIFO_EN_TEMP_FIFO_EN 0x80
192 #define GYRO6_FIFO_EN_XG_FIFO_EN 0x40
193 #define GYRO6_FIFO_EN_YG_FIFO_EN 0x20
194 #define GYRO6_FIFO_EN_ZG_FIFO_EN 0x10
195 
200 #define GYRO6_FSYNC_INT 0x80
201 
206 #define GYRO6_INT_PIN_CFG_INT_LEVEL 0x80
207 #define GYRO6_INT_PIN_CFG_INT_OPEN 0x40
208 #define GYRO6_INT_PIN_CFG_LATCH_INT_EN 0x20
209 #define GYRO6_INT_PIN_CFG_INT_RD_CLEAR 0x10
210 #define GYRO6_INT_PIN_CFG_FSYNC_INT_LEVEL 0x08
211 #define GYRO6_INT_PIN_CFG_FSYNC_INT_MODE_EN 0x04
212 
217 #define GYRO6_INT_ENABLE_FIFO_OFLOW_INT_EN 0x10
218 #define GYRO6_INT_ENABLE_GDRIVE_INT_EN 0x04
219 #define GYRO6_INT_ENABLE_DATA_RDY_INT_EN 0x01
220 
225 #define GYRO6_INT_STATUS_FIFO_OFLOW_INT 0x10
226 #define GYRO6_INT_STATUS_GDRIVE_INT 0x04
227 #define GYRO6_INT_STATUS_DATA_RDY_INT 0x01
228 
233 #define GYRO6_ROOM_TEMP_OFFSET 0
234 #define GYRO6_TEMP_SENSITIVITY 326.8
235 #define GYRO6_TEMP_NOMINAL 25.0
236 
241 #define GYRO6_GYRO_SENSITIVITY_FS_SEL_0 131.0
242 #define GYRO6_GYRO_SENSITIVITY_FS_SEL_1 65.5
243 #define GYRO6_GYRO_SENSITIVITY_FS_SEL_2 32.8
244 #define GYRO6_GYRO_SENSITIVITY_FS_SEL_3 16.4
245 
250 #define GYRO6_SIGNAL_PATH_RESET_TEMP_RST 0x01
251 
256 #define GYRO6_USER_CTRL_FIFO_EN 0x40
257 #define GYRO6_USER_CTRL_I2C_IF_DIS 0x10
258 #define GYRO6_USER_CTRL_FIFO_RST 0x04
259 #define GYRO6_USER_CTRL_SIG_COND_RST 0x01
260 
265 #define GYRO6_PWR_MGMT_1_DEVICE_RESET 0x80
266 #define GYRO6_PWR_MGMT_1_SLEEP 0x40
267 #define GYRO6_PWR_MGMT_1_GYRO_STANDBY 0x10
268 #define GYRO6_PWR_MGMT_1_INTERNAL_OSC 0x00
269 #define GYRO6_PWR_MGMT_1_AUTO_SEL_CLOCK 0x01
270 #define GYRO6_PWR_MGMT_1_STOP_CLOCK 0x07
271 
276 #define GYRO6_PWR_MGMT_2_DISABLE_X_GYRO 0x04
277 #define GYRO6_PWR_MGMT_2_DISABLE_Y_GYRO 0x02
278 #define GYRO6_PWR_MGMT_2_DISABLE_Z_GYRO 0x01
279 
284 #define GYRO6_DEVICE_ID 0xB5
285 
291 #define GYRO6_SET_DEV_ADDR_0 0x68
292 #define GYRO6_SET_DEV_ADDR_1 0x69
293 
302 #define GYRO6_SET_DATA_SAMPLE_EDGE SET_SPI_DATA_SAMPLE_EDGE
303 #define GYRO6_SET_DATA_SAMPLE_MIDDLE SET_SPI_DATA_SAMPLE_MIDDLE
304  // gyro6_set
306 
321 #define GYRO6_MAP_MIKROBUS( cfg, mikrobus ) \
322  cfg.scl = MIKROBUS( mikrobus, MIKROBUS_SCL ); \
323  cfg.sda = MIKROBUS( mikrobus, MIKROBUS_SDA ); \
324  cfg.miso = MIKROBUS( mikrobus, MIKROBUS_MISO ); \
325  cfg.mosi = MIKROBUS( mikrobus, MIKROBUS_MOSI ); \
326  cfg.sck = MIKROBUS( mikrobus, MIKROBUS_SCK ); \
327  cfg.cs = MIKROBUS( mikrobus, MIKROBUS_CS ); \
328  cfg.pwm = MIKROBUS( mikrobus, MIKROBUS_PWM ); \
329  cfg.int_pin = MIKROBUS( mikrobus, MIKROBUS_INT )
330  // gyro6_map // gyro6
333 
338 typedef enum
339 {
344 
349 typedef err_t ( *gyro6_master_io_t )( struct gyro6_s*, uint8_t, uint8_t*, uint8_t );
355 typedef struct gyro6_s
356 {
357  digital_out_t pwm;
359  digital_in_t int_pin;
361  i2c_master_t i2c;
362  spi_master_t spi;
364  uint8_t slave_address;
365  pin_name_t chip_select;
372 
377 typedef struct
378 {
379  pin_name_t scl;
380  pin_name_t sda;
381  pin_name_t miso;
382  pin_name_t mosi;
383  pin_name_t sck;
384  pin_name_t cs;
385  pin_name_t pwm;
386  pin_name_t int_pin;
388  uint32_t i2c_speed;
389  uint8_t i2c_address;
391  uint32_t spi_speed;
392  spi_master_mode_t spi_mode;
393  spi_master_chip_select_polarity_t cs_polarity;
397 } gyro6_cfg_t;
398 
403 typedef enum
404 {
405  GYRO6_OK = 0,
406  GYRO6_ERROR = -1
407 
409 
426 
442 
457 err_t gyro6_init ( gyro6_t *ctx, gyro6_cfg_t *cfg );
458 
472 err_t gyro6_default_cfg ( gyro6_t *ctx );
473 
489 err_t gyro6_generic_write ( gyro6_t *ctx, uint8_t reg, uint8_t *data_in, uint8_t len );
490 
506 err_t gyro6_generic_read ( gyro6_t *ctx, uint8_t reg, uint8_t *data_out, uint8_t len );
507 
521 err_t gyro6_write_register ( gyro6_t *ctx, uint8_t reg, uint8_t data_in );
522 
536 err_t gyro6_read_register ( gyro6_t *ctx, uint8_t reg, uint8_t *data_out );
537 
546 uint8_t gyro6_get_int_pin ( gyro6_t *ctx );
547 
557 void gyro6_set_pwm_pin ( gyro6_t *ctx, uint8_t state );
558 
571 
584 err_t gyro6_read_die_temperature ( gyro6_t *ctx, float *temperature );
585 
600 err_t gyro6_get_axis ( gyro6_t *ctx, float *x_axis, float *y_axis, float *z_axis );
601 
616 err_t gyro6_set_low_power_mode ( gyro6_t *ctx, uint8_t sample_rate, uint8_t average );
617 
618 #ifdef __cplusplus
619 }
620 #endif
621 #endif // GYRO6_H
622  // gyro6
624 
625 // ------------------------------------------------------------------------ END
GYRO6_OK
@ GYRO6_OK
Definition: gyro6.h:405
gyro6_s::slave_address
uint8_t slave_address
Definition: gyro6.h:364
gyro6_cfg_t::pwm
pin_name_t pwm
Definition: gyro6.h:385
gyro6_init
err_t gyro6_init(gyro6_t *ctx, gyro6_cfg_t *cfg)
Gyro 6 initialization function.
gyro6_s::pwm
digital_out_t pwm
Definition: gyro6.h:357
gyro6_cfg_t::i2c_speed
uint32_t i2c_speed
Definition: gyro6.h:388
gyro6_s
Gyro 6 Click context object.
Definition: gyro6.h:356
spi_specifics.h
This file contains SPI specific macros, functions, etc.
gyro6_read_register
err_t gyro6_read_register(gyro6_t *ctx, uint8_t reg, uint8_t *data_out)
Gyro 6 read register function.
gyro6_cfg_t::cs
pin_name_t cs
Definition: gyro6.h:384
gyro6_s::chip_select
pin_name_t chip_select
Definition: gyro6.h:365
gyro6_cfg_setup
void gyro6_cfg_setup(gyro6_cfg_t *cfg)
Gyro 6 configuration object setup function.
gyro6_cfg_t::spi_speed
uint32_t spi_speed
Definition: gyro6.h:391
gyro6_read_die_temperature
err_t gyro6_read_die_temperature(gyro6_t *ctx, float *temperature)
Gyro 6 read DIE temperature function.
gyro6_cfg_t::sck
pin_name_t sck
Definition: gyro6.h:383
gyro6_cfg_t::spi_mode
spi_master_mode_t spi_mode
Definition: gyro6.h:392
gyro6_s::drv_sel
gyro6_drv_t drv_sel
Definition: gyro6.h:366
gyro6_s::write_f
gyro6_master_io_t write_f
Definition: gyro6.h:368
gyro6_return_value_t
gyro6_return_value_t
Gyro 6 Click return value data.
Definition: gyro6.h:404
gyro6_s::spi
spi_master_t spi
Definition: gyro6.h:362
gyro6_t
struct gyro6_s gyro6_t
Gyro 6 Click context object.
gyro6_cfg_t::drv_sel
gyro6_drv_t drv_sel
Definition: gyro6.h:395
gyro6_cfg_t::cs_polarity
spi_master_chip_select_polarity_t cs_polarity
Definition: gyro6.h:393
GYRO6_DRV_SEL_SPI
@ GYRO6_DRV_SEL_SPI
Definition: gyro6.h:340
gyro6_set_pwm_pin
void gyro6_set_pwm_pin(gyro6_t *ctx, uint8_t state)
Gyro 6 set PWM pin function.
gyro6_check_communication
err_t gyro6_check_communication(gyro6_t *ctx)
Gyro 6 check communication function.
gyro6_cfg_t::mosi
pin_name_t mosi
Definition: gyro6.h:382
gyro6_s::int_pin
digital_in_t int_pin
Definition: gyro6.h:359
gyro6_cfg_t::miso
pin_name_t miso
Definition: gyro6.h:381
GYRO6_ERROR
@ GYRO6_ERROR
Definition: gyro6.h:406
gyro6_cfg_t::scl
pin_name_t scl
Definition: gyro6.h:379
gyro6_s::read_f
gyro6_master_io_t read_f
Definition: gyro6.h:369
gyro6_generic_write
err_t gyro6_generic_write(gyro6_t *ctx, uint8_t reg, uint8_t *data_in, uint8_t len)
Gyro 6 data writing function.
gyro6_cfg_t::i2c_address
uint8_t i2c_address
Definition: gyro6.h:389
gyro6_drv_t
gyro6_drv_t
Gyro 6 Click driver selector.
Definition: gyro6.h:339
GYRO6_DRV_SEL_I2C
@ GYRO6_DRV_SEL_I2C
Definition: gyro6.h:341
gyro6_drv_interface_selection
void gyro6_drv_interface_selection(gyro6_cfg_t *cfg, gyro6_drv_t drv_sel)
Gyro 6 driver interface setup function.
gyro6_master_io_t
err_t(* gyro6_master_io_t)(struct gyro6_s *, uint8_t, uint8_t *, uint8_t)
Gyro 6 Click driver interface.
Definition: gyro6.h:349
gyro6_set_low_power_mode
err_t gyro6_set_low_power_mode(gyro6_t *ctx, uint8_t sample_rate, uint8_t average)
Gyro 6 set low power mode function.
gyro6_s::i2c
i2c_master_t i2c
Definition: gyro6.h:361
gyro6_generic_read
err_t gyro6_generic_read(gyro6_t *ctx, uint8_t reg, uint8_t *data_out, uint8_t len)
Gyro 6 data reading function.
gyro6_get_axis
err_t gyro6_get_axis(gyro6_t *ctx, float *x_axis, float *y_axis, float *z_axis)
Gyro 6 get axis function.
gyro6_default_cfg
err_t gyro6_default_cfg(gyro6_t *ctx)
Gyro 6 default configuration function.
gyro6_cfg_t::int_pin
pin_name_t int_pin
Definition: gyro6.h:386
gyro6_write_register
err_t gyro6_write_register(gyro6_t *ctx, uint8_t reg, uint8_t data_in)
Gyro 6 write register function.
gyro6_cfg_t::sda
pin_name_t sda
Definition: gyro6.h:380
gyro6_get_int_pin
uint8_t gyro6_get_int_pin(gyro6_t *ctx)
Gyro 6 get INT pin function.
gyro6_cfg_t
Gyro 6 Click configuration object.
Definition: gyro6.h:378