185 lines
7 KiB
C
185 lines
7 KiB
C
/*
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* Copyright (c) 2016, Zolertia <http://www.zolertia.com>
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in the
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* documentation and/or other materials provided with the distribution.
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* 3. Neither the name of the Institute nor the names of its contributors
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* may be used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE INSTITUTE AND CONTRIBUTORS ``AS IS'' AND
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* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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* ARE DISCLAIMED. IN NO EVENT SHALL THE INSTITUTE OR CONTRIBUTORS BE LIABLE
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* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
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* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
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* OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
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* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
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* OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
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* SUCH DAMAGE.
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*
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* This file is part of the Contiki operating system.
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*
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*/
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/*---------------------------------------------------------------------------*/
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/**
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* \addtogroup zoul-sensors
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* @{
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*
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* \defgroup zoul-grove-gyro-sensor Grove 3-axis gyroscope based on ITG-3200
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* @{
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*
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* \file
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* Grove 3-axis gyroscope header file
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* \author
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* Antonio Lignan <alinan@zolertia.com>
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*/
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/*---------------------------------------------------------------------------*/
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#include "lib/sensors.h"
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/* -------------------------------------------------------------------------- */
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#ifndef GROVE_GYRO_H_
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#define GROVE_GYRO_H_
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/* -------------------------------------------------------------------------- */
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/**
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* \name Callback function to handle the interrupt
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* @{
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*/
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#define GROVE_GYRO_REGISTER_INT(ptr) grove_gyro_int_callback = ptr;
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extern void (*grove_gyro_int_callback)(uint8_t value);
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/** @} */
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/* -------------------------------------------------------------------------- */
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/**
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* \name Gyroscope data values structure
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* @{
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*/
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typedef struct {
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uint16_t x;
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uint16_t y;
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uint16_t z;
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uint16_t x_offset;
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uint16_t y_offset;
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uint16_t z_offset;
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int16_t temp;
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} grove_gyro_values_t;
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extern grove_gyro_values_t gyro_values;
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/** @} */
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/* -------------------------------------------------------------------------- */
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/**
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* \name Grove 3-axis gyroscope address and registers
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* @{
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*/
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#define GROVE_GYRO_ADDR 0x68
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#define GROVE_GYRO_WHO_AM_I 0x00
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#define GROVE_GYRO_SMPLRT_DIV 0x15
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#define GROVE_GYRO_DLPF_FS 0x16
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#define GROVE_GYRO_INT_CFG 0x17
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#define GROVE_GYRO_INT_STATUS 0x1A
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#define GROVE_GYRO_TEMP_OUT_H 0x1B
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#define GROVE_GYRO_TEMP_OUT_L 0x1C
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#define GROVE_GYRO_XOUT_H 0x1D
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#define GROVE_GYRO_XOUT_L 0x1E
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#define GROVE_GYRO_YOUT_H 0x1F
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#define GROVE_GYRO_YOUT_L 0x20
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#define GROVE_GYRO_ZOUT_H 0x21
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#define GROVE_GYRO_ZOUT_L 0x22
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#define GROVE_GYRO_PWR_MGMT 0x3E
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/** @} */
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/*--------------------------------------------------------------------------*/
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/**
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* \name Grove 3-axis gyroscope bitmasks and config
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* @{
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*/
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#define GROVE_GYRO_DLPF_FS_SEL 0x18
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#define GROVE_GYRO_DLPF_FS_CGF_8KHZ_LP256HZ 0x00
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#define GROVE_GYRO_DLPF_FS_CGF_1KHZ_LP188HZ 0x01
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#define GROVE_GYRO_DLPF_FS_CGF_1KHZ_LP98HZ 0x02
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#define GROVE_GYRO_DLPF_FS_CGF_1KHZ_LP42HZ 0x03
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#define GROVE_GYRO_DLPF_FS_CGF_1KHZ_LP20HZ 0x04
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#define GROVE_GYRO_DLPF_FS_CGF_1KHZ_LP10HZ 0x05
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#define GROVE_GYRO_DLPF_FS_CGF_1KHZ_LP5HZ 0x06
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#define GROVE_GYRO_INT_CFG_RAW_READY_EN 0x01
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#define GROVE_GYRO_INT_CFG_READY_EN 0x04
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#define GROVE_GYRO_INT_CFG_LATCH_CLR_ANY 0x10
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#define GROVE_GYRO_INT_CFG_LATCH_EN 0x20
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#define GROVE_GYRO_INT_CFG_PIN_OPEN 0x40
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#define GROVE_GYRO_INT_CFG_PIN_ACTL 0x80
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#define GROVE_GYRO_INT_CFG_DISABLE 0x00
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#define GROVE_GYRO_INT_STATUS_DATA_RDY_MASK 0x01
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#define GROVE_GYRO_INT_STATUS_PLL_RDY_MASK 0x04
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#define GROVE_GYRO_PWR_MGMT_CLK_SEL_INTOSC 0x00
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#define GROVE_GYRO_PWR_MGMT_CLK_SEL_PLL_X 0x01
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#define GROVE_GYRO_PWR_MGMT_CLK_SEL_PLL_Y 0x02
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#define GROVE_GYRO_PWR_MGMT_CLK_SEL_PLL_Z 0x03
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#define GROVE_GYRO_PWR_MGMT_CLK_SEL_EXT_32K 0x04
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#define GROVE_GYRO_PWR_MGMT_CLK_SEL_EXT_19K 0x05
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#define GROVE_GYRO_PWR_MGMT_STBY_ZG 0x08
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#define GROVE_GYRO_PWR_MGMT_STBY_YG 0x10
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#define GROVE_GYRO_PWR_MGMT_STBY_XG 0x20
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#define GROVE_GYRO_PWR_MGMT_SLEEP 0x40
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#define GROVE_GYRO_PWR_MGMT_RESET 0x80
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#ifdef GROVE_GYRO_CONF_OSC
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#define GROVE_GYRO_DEFAULT_OSC GROVE_GYRO_CONF_OSC
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#else
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#define GROVE_GYRO_DEFAULT_OSC GROVE_GYRO_PWR_MGMT_CLK_SEL_INTOSC
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#endif
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#define GROVE_GYRO_PWR_MGMT_CLK_SEL_MASK 0x07
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#define GROVE_GYRO_MAX_DATA 0x06
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/** @} */
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/* -------------------------------------------------------------------------- */
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/**
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* \name Grove 3-axis gyroscope operation values
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* @{
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*/
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/* Configure request type */
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#define GROVE_GYRO_ACTIVE SENSORS_ACTIVE
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#define GROVE_GYRO_DATA_INTERRUPT 0x01
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#define GROVE_GYRO_SAMPLE_RATE 0x02
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#define GROVE_GYRO_SAMPLE_RATE_DIVIDER 0x03
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#define GROVE_GYRO_POWER_ON 0x04
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#define GROVE_GYRO_POWER_OFF 0x05
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#define GROVE_GYRO_CALIBRATE_ZERO 0x06
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/* Sensor value request type, match to the stand-by mask to check if enabled */
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#define GROVE_GYRO_X GROVE_GYRO_PWR_MGMT_STBY_XG
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#define GROVE_GYRO_Y GROVE_GYRO_PWR_MGMT_STBY_YG
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#define GROVE_GYRO_Z GROVE_GYRO_PWR_MGMT_STBY_ZG
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#define GROVE_GYRO_SENSOR GROVE_GYRO_PWR_MGMT_SLEEP
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#define GROVE_GYRO_XYZ (GROVE_GYRO_X + GROVE_GYRO_Y + \
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GROVE_GYRO_Z)
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#define GROVE_GYRO_ALL (GROVE_GYRO_XYZ + GROVE_GYRO_SENSOR)
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#define GROVE_GYRO_TEMP 0x06
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/* Return types */
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#define GROVE_GYRO_ERROR (-1)
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#define GROVE_GYRO_SUCCESS 0x00
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/* Calibration constants */
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#define GROVE_GYRO_CALIB_SAMPLES 200
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#define GROVE_GYRO_CALIB_TIME_US 5000
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/** @} */
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/* -------------------------------------------------------------------------- */
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#define GROVE_GYRO_STRING "Grove 3-axis gyroscope Sensor"
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/* -------------------------------------------------------------------------- */
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extern const struct sensors_sensor grove_gyro;
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/* -------------------------------------------------------------------------- */
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#endif /* ifndef GROVE_GYRO_H_ */
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/**
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* @}
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* @}
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*/
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