gyro6  2.0.0.0
gyro6.h
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22 
28 #ifndef GYRO6_H
29 #define GYRO6_H
30 
31 #ifdef __cplusplus
32 extern "C"{
33 #endif
34 
39 #ifdef PREINIT_SUPPORTED
40 #include "preinit.h"
41 #endif
42 
43 #ifdef MikroCCoreVersion
44  #if MikroCCoreVersion >= 1
45  #include "delays.h"
46  #endif
47 #endif
48 
49 #include "drv_digital_out.h"
50 #include "drv_digital_in.h"
51 #include "drv_i2c_master.h"
52 #include "drv_spi_master.h"
53 #include "spi_specifics.h"
54 
75 #define GYRO6_REG_SELF_TEST_X_GYRO 0x00
76 #define GYRO6_REG_SELF_TEST_Y_GYRO 0x01
77 #define GYRO6_REG_SELF_TEST_Z_GYRO 0x02
78 #define GYRO6_REG_XG_OFFS_USRH 0x13
79 #define GYRO6_REG_XG_OFFS_USRL 0x14
80 #define GYRO6_REG_YG_OFFS_USRH 0x15
81 #define GYRO6_REG_YG_OFFS_USRL 0x16
82 #define GYRO6_REG_ZG_OFFS_USRH 0x17
83 #define GYRO6_REG_ZG_OFFS_USRL 0x18
84 #define GYRO6_REG_SMPLRT_DIV 0x19
85 #define GYRO6_REG_CONFIG 0x1A
86 #define GYRO6_REG_GYRO_CONFIG 0x1B
87 #define GYRO6_REG_LP_MODE_CFG 0x1E
88 #define GYRO6_REG_FIFO_EN 0x23
89 #define GYRO6_REG_FSYNC_INT 0x36
90 #define GYRO6_REG_INT_PIN_CFG 0x37
91 #define GYRO6_REG_INT_ENABLE 0x38
92 #define GYRO6_REG_INT_STATUS 0x3A
93 #define GYRO6_REG_TEMP_OUT_H 0x41
94 #define GYRO6_REG_TEMP_OUT_L 0x42
95 #define GYRO6_REG_GYRO_XOUT_H 0x43
96 #define GYRO6_REG_GYRO_XOUT_L 0x44
97 #define GYRO6_REG_GYRO_YOUT_H 0x45
98 #define GYRO6_REG_GYRO_YOUT_L 0x46
99 #define GYRO6_REG_GYRO_ZOUT_H 0x47
100 #define GYRO6_REG_GYRO_ZOUT_L 0x48
101 #define GYRO6_REG_SIGNAL_PATH_RESET 0x68
102 #define GYRO6_REG_USER_CTRL 0x6A
103 #define GYRO6_REG_PWR_MGMT_1 0x6B
104 #define GYRO6_REG_PWR_MGMT_2 0x6C
105 #define GYRO6_REG_FIFO_COUNTH 0x72
106 #define GYRO6_REG_FIFO_COUNTL 0x73
107 #define GYRO6_REG_FIFO_R_W 0x74
108 #define GYRO6_REG_WHO_AM_I 0x75
109  // gyro6_reg
111 
126 #define GYRO6_CONFIG_FIFO_MODE 0x40
127 #define GYRO6_CONFIG_EXT_SYNC_DIS 0x00
128 #define GYRO6_CONFIG_EXT_SYNC_TEMP_OUT_L 0x08
129 #define GYRO6_CONFIG_EXT_SYNC_GYRO_XOUT_L 0x10
130 #define GYRO6_CONFIG_EXT_SYNC_GYRO_YOUT_L 0x18
131 #define GYRO6_CONFIG_EXT_SYNC_GYRO_ZOUT_L 0x20
132 #define GYRO6_CONFIG_FIFO_MODE 0x40
133 #define GYRO6_CONFIG_DLPF_CFG_0 0x00
134 #define GYRO6_CONFIG_DLPF_CFG_1 0x01
135 #define GYRO6_CONFIG_DLPF_CFG_2 0x02
136 #define GYRO6_CONFIG_DLPF_CFG_3 0x03
137 #define GYRO6_CONFIG_DLPF_CFG_4 0x04
138 #define GYRO6_CONFIG_DLPF_CFG_5 0x05
139 #define GYRO6_CONFIG_DLPF_CFG_6 0x06
140 #define GYRO6_CONFIG_DLPF_CFG_7 0x07
141 
146 #define GYRO6_GYRO_CONFIG_XG_ST 0x80
147 #define GYRO6_GYRO_CONFIG_YG_ST 0x40
148 #define GYRO6_GYRO_CONFIG_ZG_ST 0x20
149 #define GYRO6_GYRO_CONFIG_FS_SEL_250DPS 0x00
150 #define GYRO6_GYRO_CONFIG_FS_SEL_500DPS 0x08
151 #define GYRO6_GYRO_CONFIG_FS_SEL_1000DPS 0x10
152 #define GYRO6_GYRO_CONFIG_FS_SEL_2000DPS 0x18
153 #define GYRO6_GYRO_CONFIG_FS_SEL_BITS_MASK 0x18
154 #define GYRO6_GYRO_CONFIG_FCHOICE_B_0 0x00
155 #define GYRO6_GYRO_CONFIG_FCHOICE_B_1 0x01
156 #define GYRO6_GYRO_CONFIG_FCHOICE_B_2 0x02
157 #define GYRO6_GYRO_CONFIG_FCHOICE_B_3 0x03
158 
164 #define GYRO6_SAMPLE_RATE_3p9HZ 255
165 #define GYRO6_SAMPLE_RATE_10HZ 99
166 #define GYRO6_SAMPLE_RATE_15p4HZ 64
167 #define GYRO6_SAMPLE_RATE_30p3HZ 32
168 #define GYRO6_SAMPLE_RATE_50HZ 19
169 #define GYRO6_SAMPLE_RATE_100HZ 9
170 #define GYRO6_SAMPLE_RATE_125HZ 7
171 #define GYRO6_SAMPLE_RATE_200HZ 4
172 #define GYRO6_SAMPLE_RATE_250HZ 3
173 #define GYRO6_SAMPLE_RATE_333p3HZ 2
174 #define GYRO6_SAMPLE_RATE_500HZ 1
175 #define GYRO6_SAMPLE_RATE_1000HZ 0
176 
181 #define GYRO6_LP_MODE_CFG_GYRO_CYCLE 0x80
182 #define GYRO6_LP_MODE_CFG_G_AVGCFG_1X 0x00
183 #define GYRO6_LP_MODE_CFG_G_AVGCFG_2X 0x10
184 #define GYRO6_LP_MODE_CFG_G_AVGCFG_4X 0x20
185 #define GYRO6_LP_MODE_CFG_G_AVGCFG_8X 0x30
186 #define GYRO6_LP_MODE_CFG_G_AVGCFG_16X 0x40
187 #define GYRO6_LP_MODE_CFG_G_AVGCFG_32X 0x50
188 #define GYRO6_LP_MODE_CFG_G_AVGCFG_64X 0x60
189 #define GYRO6_LP_MODE_CFG_G_AVGCFG_128X 0x70
190 
195 #define GYRO6_FIFO_EN_TEMP_FIFO_EN 0x80
196 #define GYRO6_FIFO_EN_XG_FIFO_EN 0x40
197 #define GYRO6_FIFO_EN_YG_FIFO_EN 0x20
198 #define GYRO6_FIFO_EN_ZG_FIFO_EN 0x10
199 
204 #define GYRO6_FSYNC_INT 0x80
205 
210 #define GYRO6_INT_PIN_CFG_INT_LEVEL 0x80
211 #define GYRO6_INT_PIN_CFG_INT_OPEN 0x40
212 #define GYRO6_INT_PIN_CFG_LATCH_INT_EN 0x20
213 #define GYRO6_INT_PIN_CFG_INT_RD_CLEAR 0x10
214 #define GYRO6_INT_PIN_CFG_FSYNC_INT_LEVEL 0x08
215 #define GYRO6_INT_PIN_CFG_FSYNC_INT_MODE_EN 0x04
216 
221 #define GYRO6_INT_ENABLE_FIFO_OFLOW_INT_EN 0x10
222 #define GYRO6_INT_ENABLE_GDRIVE_INT_EN 0x04
223 #define GYRO6_INT_ENABLE_DATA_RDY_INT_EN 0x01
224 
229 #define GYRO6_INT_STATUS_FIFO_OFLOW_INT 0x10
230 #define GYRO6_INT_STATUS_GDRIVE_INT 0x04
231 #define GYRO6_INT_STATUS_DATA_RDY_INT 0x01
232 
237 #define GYRO6_ROOM_TEMP_OFFSET 0
238 #define GYRO6_TEMP_SENSITIVITY 326.8
239 #define GYRO6_TEMP_NOMINAL 25.0
240 
245 #define GYRO6_GYRO_SENSITIVITY_FS_SEL_0 131.0
246 #define GYRO6_GYRO_SENSITIVITY_FS_SEL_1 65.5
247 #define GYRO6_GYRO_SENSITIVITY_FS_SEL_2 32.8
248 #define GYRO6_GYRO_SENSITIVITY_FS_SEL_3 16.4
249 
254 #define GYRO6_SIGNAL_PATH_RESET_TEMP_RST 0x01
255 
260 #define GYRO6_USER_CTRL_FIFO_EN 0x40
261 #define GYRO6_USER_CTRL_I2C_IF_DIS 0x10
262 #define GYRO6_USER_CTRL_FIFO_RST 0x04
263 #define GYRO6_USER_CTRL_SIG_COND_RST 0x01
264 
269 #define GYRO6_PWR_MGMT_1_DEVICE_RESET 0x80
270 #define GYRO6_PWR_MGMT_1_SLEEP 0x40
271 #define GYRO6_PWR_MGMT_1_GYRO_STANDBY 0x10
272 #define GYRO6_PWR_MGMT_1_INTERNAL_OSC 0x00
273 #define GYRO6_PWR_MGMT_1_AUTO_SEL_CLOCK 0x01
274 #define GYRO6_PWR_MGMT_1_STOP_CLOCK 0x07
275 
280 #define GYRO6_PWR_MGMT_2_DISABLE_X_GYRO 0x04
281 #define GYRO6_PWR_MGMT_2_DISABLE_Y_GYRO 0x02
282 #define GYRO6_PWR_MGMT_2_DISABLE_Z_GYRO 0x01
283 
288 #define GYRO6_DEVICE_ID 0xB5
289 
295 #define GYRO6_SET_DEV_ADDR_0 0x68
296 #define GYRO6_SET_DEV_ADDR_1 0x69
297 
306 #define GYRO6_SET_DATA_SAMPLE_EDGE SET_SPI_DATA_SAMPLE_EDGE
307 #define GYRO6_SET_DATA_SAMPLE_MIDDLE SET_SPI_DATA_SAMPLE_MIDDLE
308  // gyro6_set
310 
325 #define GYRO6_MAP_MIKROBUS( cfg, mikrobus ) \
326  cfg.scl = MIKROBUS( mikrobus, MIKROBUS_SCL ); \
327  cfg.sda = MIKROBUS( mikrobus, MIKROBUS_SDA ); \
328  cfg.miso = MIKROBUS( mikrobus, MIKROBUS_MISO ); \
329  cfg.mosi = MIKROBUS( mikrobus, MIKROBUS_MOSI ); \
330  cfg.sck = MIKROBUS( mikrobus, MIKROBUS_SCK ); \
331  cfg.cs = MIKROBUS( mikrobus, MIKROBUS_CS ); \
332  cfg.pwm = MIKROBUS( mikrobus, MIKROBUS_PWM ); \
333  cfg.int_pin = MIKROBUS( mikrobus, MIKROBUS_INT )
334  // gyro6_map // gyro6
337 
342 typedef enum
343 {
348 
353 typedef err_t ( *gyro6_master_io_t )( struct gyro6_s*, uint8_t, uint8_t*, uint8_t );
359 typedef struct gyro6_s
360 {
361  digital_out_t pwm;
363  digital_in_t int_pin;
365  i2c_master_t i2c;
366  spi_master_t spi;
368  uint8_t slave_address;
369  pin_name_t chip_select;
376 
381 typedef struct
382 {
383  pin_name_t scl;
384  pin_name_t sda;
385  pin_name_t miso;
386  pin_name_t mosi;
387  pin_name_t sck;
388  pin_name_t cs;
389  pin_name_t pwm;
390  pin_name_t int_pin;
392  uint32_t i2c_speed;
393  uint8_t i2c_address;
395  uint32_t spi_speed;
396  spi_master_mode_t spi_mode;
397  spi_master_chip_select_polarity_t cs_polarity;
401 } gyro6_cfg_t;
402 
407 typedef enum
408 {
409  GYRO6_OK = 0,
410  GYRO6_ERROR = -1
411 
413 
430 
446 
461 err_t gyro6_init ( gyro6_t *ctx, gyro6_cfg_t *cfg );
462 
476 err_t gyro6_default_cfg ( gyro6_t *ctx );
477 
493 err_t gyro6_generic_write ( gyro6_t *ctx, uint8_t reg, uint8_t *data_in, uint8_t len );
494 
510 err_t gyro6_generic_read ( gyro6_t *ctx, uint8_t reg, uint8_t *data_out, uint8_t len );
511 
525 err_t gyro6_write_register ( gyro6_t *ctx, uint8_t reg, uint8_t data_in );
526 
540 err_t gyro6_read_register ( gyro6_t *ctx, uint8_t reg, uint8_t *data_out );
541 
550 uint8_t gyro6_get_int_pin ( gyro6_t *ctx );
551 
561 void gyro6_set_pwm_pin ( gyro6_t *ctx, uint8_t state );
562 
575 
588 err_t gyro6_read_die_temperature ( gyro6_t *ctx, float *temperature );
589 
604 err_t gyro6_get_axis ( gyro6_t *ctx, float *x_axis, float *y_axis, float *z_axis );
605 
620 err_t gyro6_set_low_power_mode ( gyro6_t *ctx, uint8_t sample_rate, uint8_t average );
621 
622 #ifdef __cplusplus
623 }
624 #endif
625 #endif // GYRO6_H
626  // gyro6
628 
629 // ------------------------------------------------------------------------ END
GYRO6_OK
@ GYRO6_OK
Definition: gyro6.h:409
gyro6_s::slave_address
uint8_t slave_address
Definition: gyro6.h:368
gyro6_cfg_t::pwm
pin_name_t pwm
Definition: gyro6.h:389
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:361
gyro6_cfg_t::i2c_speed
uint32_t i2c_speed
Definition: gyro6.h:392
gyro6_s
Gyro 6 Click context object.
Definition: gyro6.h:360
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:388
gyro6_s::chip_select
pin_name_t chip_select
Definition: gyro6.h:369
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:395
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:387
gyro6_cfg_t::spi_mode
spi_master_mode_t spi_mode
Definition: gyro6.h:396
gyro6_s::drv_sel
gyro6_drv_t drv_sel
Definition: gyro6.h:370
gyro6_s::write_f
gyro6_master_io_t write_f
Definition: gyro6.h:372
gyro6_return_value_t
gyro6_return_value_t
Gyro 6 Click return value data.
Definition: gyro6.h:408
gyro6_s::spi
spi_master_t spi
Definition: gyro6.h:366
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:399
gyro6_cfg_t::cs_polarity
spi_master_chip_select_polarity_t cs_polarity
Definition: gyro6.h:397
GYRO6_DRV_SEL_SPI
@ GYRO6_DRV_SEL_SPI
Definition: gyro6.h:344
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:386
gyro6_s::int_pin
digital_in_t int_pin
Definition: gyro6.h:363
gyro6_cfg_t::miso
pin_name_t miso
Definition: gyro6.h:385
GYRO6_ERROR
@ GYRO6_ERROR
Definition: gyro6.h:410
gyro6_cfg_t::scl
pin_name_t scl
Definition: gyro6.h:383
gyro6_s::read_f
gyro6_master_io_t read_f
Definition: gyro6.h:373
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:393
gyro6_drv_t
gyro6_drv_t
Gyro 6 Click driver selector.
Definition: gyro6.h:343
GYRO6_DRV_SEL_I2C
@ GYRO6_DRV_SEL_I2C
Definition: gyro6.h:345
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:353
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:365
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:390
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:384
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:382