gyro7  2.0.0.0
gyro7.h
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22 
28 #ifndef GYRO7_H
29 #define GYRO7_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_spi_master.h"
48 #include "spi_specifics.h"
49 
70 #define GYRO7_REG_DLPF_B1_H_Y_AXIS 0x02
71 #define GYRO7_REG_DLPF_B1_L_Y_AXIS 0x09
72 #define GYRO7_REG_DLPF_B0B2_H_X_AXIS 0x0E
73 #define GYRO7_REG_DLPF_B0B2_L_X_AXIS 0x0F
74 #define GYRO7_REG_DLPF_B1_H_X_AXIS 0x10
75 #define GYRO7_REG_DLPF_B1_L_X_AXIS 0x11
76 #define GYRO7_REG_DLPF_B0B2_H_Y_AXIS 0x12
77 #define GYRO7_REG_XG_OFFS_USRH 0x13
78 #define GYRO7_REG_XG_OFFS_USRL 0x14
79 #define GYRO7_REG_YG_OFFS_USRH 0x15
80 #define GYRO7_REG_YG_OFFS_USRL 0x16
81 #define GYRO7_REG_SMPLRT_DIV 0x19
82 #define GYRO7_REG_CONFIG 0x1A
83 #define GYRO7_REG_GYRO_CONFIG 0x1B
84 #define GYRO7_REG_HPF_DLPF_RST_AZ 0x26
85 #define GYRO7_REG_INT_PIN_CFG 0x37
86 #define GYRO7_REG_INT_ENABLE 0x38
87 #define GYRO7_REG_INT_STATUS 0x3A
88 #define GYRO7_REG_TEMP_OUT_H 0x41
89 #define GYRO7_REG_TEMP_OUT_L 0x42
90 #define GYRO7_REG_GYRO_XOUT_H 0x43
91 #define GYRO7_REG_GYRO_XOUT_L 0x44
92 #define GYRO7_REG_GYRO_YOUT_H 0x45
93 #define GYRO7_REG_GYRO_YOUT_L 0x46
94 #define GYRO7_REG_USER_CTRL 0x6A
95 #define GYRO7_REG_PWR_MGMT_1 0x6B
96 #define GYRO7_REG_DLPF_B0B2_L_Y_AXIS 0x70
97 #define GYRO7_REG_DLPF_A1_H 0x71
98 #define GYRO7_REG_DLPF_A1_L 0x72
99 #define GYRO7_REG_DLPF_A2_H 0x73
100 #define GYRO7_REG_DLPF_A2_L 0x74
101 #define GYRO7_REG_WHO_AM_I 0x75
102 #define GYRO7_REG_SPI_SEL 0x76
103  // gyro7_reg
105 
120 #define GYRO7_DLPF_B0B2_40_160_HZ 0x0004
121 #define GYRO7_DLPF_B0B2_80_320_HZ 0x0011
122 #define GYRO7_DLPF_B0B2_160_640_HZ 0x0040
123 #define GYRO7_DLPF_B0B2_250_HZ 0x0095
124 #define GYRO7_DLPF_B0B2_500_HZ 0x0212
125 #define GYRO7_DLPF_B1_40_160_HZ 0x0008
126 #define GYRO7_DLPF_B1_80_320_HZ 0x001C
127 #define GYRO7_DLPF_B1_160_640_HZ 0x006D
128 #define GYRO7_DLPF_B1_250_HZ 0x0100
129 #define GYRO7_DLPF_B1_500_HZ 0x0387
130 #define GYRO7_DLPF_A1_40_160_HZ 0x82D7
131 #define GYRO7_DLPF_A1_80_320_HZ 0x85AF
132 #define GYRO7_DLPF_A1_160_640_HZ 0x8B59
133 #define GYRO7_DLPF_A1_250_HZ 0x91AE
134 #define GYRO7_DLPF_A1_500_HZ 0xA2EE
135 #define GYRO7_DLPF_A2_40_160_HZ 0x3D38
136 #define GYRO7_DLPF_A2_80_320_HZ 0x3A8F
137 #define GYRO7_DLPF_A2_160_640_HZ 0x3594
138 #define GYRO7_DLPF_A2_250_HZ 0x307C
139 #define GYRO7_DLPF_A2_500_HZ 0x24BD
140 #define GYRO7_DLPF_40_160_HZ 0x00
141 #define GYRO7_DLPF_80_320_HZ 0x01
142 #define GYRO7_DLPF_160_640_HZ 0x02
143 #define GYRO7_DLPF_250_HZ 0x03
144 #define GYRO7_DLPF_500_HZ 0x04
145 
150 #define GYRO7_CONFIG_HPF_ORDER_BYPASS_HPF 0x00
151 #define GYRO7_CONFIG_HPF_ORDER_ONE_HPF 0x40
152 #define GYRO7_CONFIG_HPF_ORDER_TWO_HPF 0x60
153 #define GYRO7_CONFIG_HPF_CFG_M_FACTOR_9 0x00
154 #define GYRO7_CONFIG_HPF_CFG_M_FACTOR_11 0x04
155 #define GYRO7_CONFIG_HPF_CFG_M_FACTOR_12 0x08
156 #define GYRO7_CONFIG_HPF_CFG_M_FACTOR_13 0x0C
157 #define GYRO7_CONFIG_HPF_CFG_M_FACTOR_14 0x10
158 #define GYRO7_CONFIG_HPF_CFG_M_FACTOR_15 0x14
159 #define GYRO7_CONFIG_HPF_CFG_M_FACTOR_16 0x18
160 #define GYRO7_CONFIG_HPF_CFG_M_FACTOR_17 0x1C
161 #define GYRO7_CONFIG_DLPF_CFG_BYPASS_DLPF 0x00
162 #define GYRO7_CONFIG_DLPF_CFG_ENABLE_DLPF 0x02
163 
169 #define GYRO7_SAMPLE_RATE_31p25_HZ 255
170 #define GYRO7_SAMPLE_RATE_40_HZ 199
171 #define GYRO7_SAMPLE_RATE_80_HZ 99
172 #define GYRO7_SAMPLE_RATE_100_HZ 79
173 #define GYRO7_SAMPLE_RATE_200_HZ 39
174 #define GYRO7_SAMPLE_RATE_400_HZ 19
175 #define GYRO7_SAMPLE_RATE_800_HZ 9
176 #define GYRO7_SAMPLE_RATE_1000_HZ 7
177 #define GYRO7_SAMPLE_RATE_2000_HZ 3
178 #define GYRO7_SAMPLE_RATE_4000_HZ 1
179 #define GYRO7_SAMPLE_RATE_8000_HZ 0
180 
185 #define GYRO7_INT_PIN_CFG_INT_LEVEL 0x80
186 #define GYRO7_INT_PIN_CFG_INT_OPEN 0x40
187 #define GYRO7_INT_PIN_CFG_LATCH_INT_EN 0x20
188 #define GYRO7_INT_PIN_CFG_INT_RD_CLEAR 0x10
189 
194 #define GYRO7_INT_ENABLE_DATA_RDY_EN 0x01
195 
200 #define GYRO7_PWR_MGMT_1_DEVICE_RESET 0x80
201 #define GYRO7_PWR_MGMT_1_SLEEP 0x40
202 #define GYRO7_PWR_MGMT_1_INTERNAL_OSC 0x00
203 #define GYRO7_PWR_MGMT_1_PLL_OSC 0x01
204 
209 #define GYRO7_GYRO_CONFIG_XG_ST 0x80
210 #define GYRO7_GYRO_CONFIG_YG_ST 0x40
211 #define GYRO7_GYRO_CONFIG_FS_SEL_46p5_DPS 0x00
212 #define GYRO7_GYRO_CONFIG_FS_SEL_93_DPS 0x08
213 #define GYRO7_GYRO_CONFIG_FS_SEL_187_DPS 0x10
214 #define GYRO7_GYRO_CONFIG_FS_SEL_374_DPS 0x18
215 #define GYRO7_GYRO_CONFIG_FS_SEL_BITS_MASK 0x18
216 #define GYRO7_GYRO_CONFIG_FCHOICE_B 0x01
217 
222 #define GYRO7_GYRO_SENSITIVITY_FS_SEL_0 700.0
223 #define GYRO7_GYRO_SENSITIVITY_FS_SEL_1 350.0
224 #define GYRO7_GYRO_SENSITIVITY_FS_SEL_2 175.0
225 #define GYRO7_GYRO_SENSITIVITY_FS_SEL_3 87.5
226 
231 #define GYRO7_TEMP_SENSITIVITY 123.0
232 
237 #define GYRO7_WHO_AM_I 0x88
238 
243 #define GYRO7_SPI_READ_WRITE_BIT 0x80
244 
253 #define GYRO7_SET_DATA_SAMPLE_EDGE SET_SPI_DATA_SAMPLE_EDGE
254 #define GYRO7_SET_DATA_SAMPLE_MIDDLE SET_SPI_DATA_SAMPLE_MIDDLE
255  // gyro7_set
257 
272 #define GYRO7_MAP_MIKROBUS( cfg, mikrobus ) \
273  cfg.miso = MIKROBUS( mikrobus, MIKROBUS_MISO ); \
274  cfg.mosi = MIKROBUS( mikrobus, MIKROBUS_MOSI ); \
275  cfg.sck = MIKROBUS( mikrobus, MIKROBUS_SCK ); \
276  cfg.cs = MIKROBUS( mikrobus, MIKROBUS_CS ); \
277  cfg.int_pin = MIKROBUS( mikrobus, MIKROBUS_INT )
278  // gyro7_map // gyro7
281 
286 typedef struct
287 {
288  // Input pins
289  digital_in_t int_pin;
291  // Modules
292  spi_master_t spi;
294  pin_name_t chip_select;
296 } gyro7_t;
297 
302 typedef struct
303 {
304  // Communication gpio pins
305  pin_name_t miso;
306  pin_name_t mosi;
307  pin_name_t sck;
308  pin_name_t cs;
310  // Additional gpio pins
311  pin_name_t int_pin;
313  // static variable
314  uint32_t spi_speed;
315  spi_master_mode_t spi_mode;
316  spi_master_chip_select_polarity_t cs_polarity;
318 } gyro7_cfg_t;
319 
324 typedef enum
325 {
326  GYRO7_OK = 0,
327  GYRO7_ERROR = -1
328 
330 
347 
361 err_t gyro7_init ( gyro7_t *ctx, gyro7_cfg_t *cfg );
362 
375 err_t gyro7_default_cfg ( gyro7_t *ctx );
376 
391 err_t gyro7_generic_write ( gyro7_t *ctx, uint8_t reg, uint8_t *data_in, uint8_t len );
392 
407 err_t gyro7_generic_read ( gyro7_t *ctx, uint8_t reg, uint8_t *data_out, uint8_t len );
408 
421 err_t gyro7_write_register ( gyro7_t *ctx, uint8_t reg, uint8_t data_in );
422 
435 err_t gyro7_read_register ( gyro7_t *ctx, uint8_t reg, uint8_t *data_out );
436 
448 
457 uint8_t gyro7_get_int_pin ( gyro7_t *ctx );
458 
474 err_t gyro7_set_dlpf_config ( gyro7_t *ctx, uint8_t freq );
475 
488 err_t gyro7_read_gyroscope ( gyro7_t *ctx, float *x_axis, float *y_axis );
489 
501 err_t gyro7_read_temperature ( gyro7_t *ctx, float *temperature );
502 
503 #ifdef __cplusplus
504 }
505 #endif
506 #endif // GYRO7_H
507  // gyro7
509 
510 // ------------------------------------------------------------------------ END
gyro7_generic_read
err_t gyro7_generic_read(gyro7_t *ctx, uint8_t reg, uint8_t *data_out, uint8_t len)
Gyro 7 data reading function.
gyro7_cfg_t::miso
pin_name_t miso
Definition: gyro7.h:305
gyro7_write_register
err_t gyro7_write_register(gyro7_t *ctx, uint8_t reg, uint8_t data_in)
Gyro 7 write register function.
gyro7_read_register
err_t gyro7_read_register(gyro7_t *ctx, uint8_t reg, uint8_t *data_out)
Gyro 7 read register function.
gyro7_generic_write
err_t gyro7_generic_write(gyro7_t *ctx, uint8_t reg, uint8_t *data_in, uint8_t len)
Gyro 7 data writing function.
spi_specifics.h
This file contains SPI specific macros, functions, etc.
gyro7_set_dlpf_config
err_t gyro7_set_dlpf_config(gyro7_t *ctx, uint8_t freq)
Gyro 7 set DLPF config function.
gyro7_t::spi
spi_master_t spi
Definition: gyro7.h:292
gyro7_cfg_t::spi_speed
uint32_t spi_speed
Definition: gyro7.h:314
gyro7_init
err_t gyro7_init(gyro7_t *ctx, gyro7_cfg_t *cfg)
Gyro 7 initialization function.
gyro7_cfg_t::sck
pin_name_t sck
Definition: gyro7.h:307
gyro7_read_temperature
err_t gyro7_read_temperature(gyro7_t *ctx, float *temperature)
Gyro 7 read temperature function.
gyro7_t::chip_select
pin_name_t chip_select
Definition: gyro7.h:294
gyro7_cfg_t::mosi
pin_name_t mosi
Definition: gyro7.h:306
gyro7_t::int_pin
digital_in_t int_pin
Definition: gyro7.h:289
gyro7_read_gyroscope
err_t gyro7_read_gyroscope(gyro7_t *ctx, float *x_axis, float *y_axis)
Gyro 7 read gyroscope function.
gyro7_t
Gyro 7 Click context object.
Definition: gyro7.h:287
gyro7_get_int_pin
uint8_t gyro7_get_int_pin(gyro7_t *ctx)
Gyro 7 get int pin function.
gyro7_cfg_setup
void gyro7_cfg_setup(gyro7_cfg_t *cfg)
Gyro 7 configuration object setup function.
gyro7_cfg_t::cs
pin_name_t cs
Definition: gyro7.h:308
GYRO7_ERROR
@ GYRO7_ERROR
Definition: gyro7.h:327
gyro7_cfg_t::int_pin
pin_name_t int_pin
Definition: gyro7.h:311
gyro7_cfg_t::spi_mode
spi_master_mode_t spi_mode
Definition: gyro7.h:315
gyro7_check_communication
err_t gyro7_check_communication(gyro7_t *ctx)
Gyro 7 check communication function.
GYRO7_OK
@ GYRO7_OK
Definition: gyro7.h:326
gyro7_default_cfg
err_t gyro7_default_cfg(gyro7_t *ctx)
Gyro 7 default configuration function.
gyro7_cfg_t
Gyro 7 Click configuration object.
Definition: gyro7.h:303
gyro7_return_value_t
gyro7_return_value_t
Gyro 7 Click return value data.
Definition: gyro7.h:325
gyro7_cfg_t::cs_polarity
spi_master_chip_select_polarity_t cs_polarity
Definition: gyro7.h:316