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grove-gyro.h
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1 /*
2  * Copyright (c) 2016, Zolertia <http://www.zolertia.com>
3  * All rights reserved.
4  *
5  * Redistribution and use in source and binary forms, with or without
6  * modification, are permitted provided that the following conditions
7  * are met:
8  * 1. Redistributions of source code must retain the above copyright
9  * notice, this list of conditions and the following disclaimer.
10  * 2. Redistributions in binary form must reproduce the above copyright
11  * notice, this list of conditions and the following disclaimer in the
12  * documentation and/or other materials provided with the distribution.
13  * 3. Neither the name of the Institute nor the names of its contributors
14  * may be used to endorse or promote products derived from this software
15  * without specific prior written permission.
16  *
17  * THIS SOFTWARE IS PROVIDED BY THE INSTITUTE AND CONTRIBUTORS ``AS IS'' AND
18  * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
19  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
20  * ARE DISCLAIMED. IN NO EVENT SHALL THE INSTITUTE OR CONTRIBUTORS BE LIABLE
21  * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
22  * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
23  * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
24  * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
25  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
26  * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
27  * SUCH DAMAGE.
28  *
29  * This file is part of the Contiki operating system.
30  *
31  */
32 /*---------------------------------------------------------------------------*/
33 /**
34  * \addtogroup zoul-sensors
35  * @{
36  *
37  * \defgroup zoul-grove-gyro-sensor Grove 3-axis gyroscope based on ITG-3200
38  * @{
39  *
40  * \file
41  * Grove 3-axis gyroscope header file
42  * \author
43  * Antonio Lignan <alinan@zolertia.com>
44  */
45 /*---------------------------------------------------------------------------*/
46 #include "lib/sensors.h"
47 /* -------------------------------------------------------------------------- */
48 #ifndef GROVE_GYRO_H_
49 #define GROVE_GYRO_H_
50 /* -------------------------------------------------------------------------- */
51 /**
52  * \name Callback function to handle the interrupt
53  * @{
54  */
55 #define GROVE_GYRO_REGISTER_INT(ptr) grove_gyro_int_callback = ptr;
56 extern void (*grove_gyro_int_callback)(uint8_t value);
57 /** @} */
58 /* -------------------------------------------------------------------------- */
59 /**
60  * \name Gyroscope data values structure
61  * @{
62  */
63 typedef struct {
64  uint16_t x;
65  uint16_t y;
66  uint16_t z;
67  uint16_t x_offset;
68  uint16_t y_offset;
69  uint16_t z_offset;
70  int16_t temp;
71 } grove_gyro_values_t;
72 
73 extern grove_gyro_values_t gyro_values;
74 /** @} */
75 /* -------------------------------------------------------------------------- */
76 /**
77  * \name Grove 3-axis gyroscope address and registers
78  * @{
79  */
80 #define GROVE_GYRO_ADDR 0x68
81 
82 #define GROVE_GYRO_WHO_AM_I 0x00
83 #define GROVE_GYRO_SMPLRT_DIV 0x15
84 #define GROVE_GYRO_DLPF_FS 0x16
85 #define GROVE_GYRO_INT_CFG 0x17
86 #define GROVE_GYRO_INT_STATUS 0x1A
87 #define GROVE_GYRO_TEMP_OUT_H 0x1B
88 #define GROVE_GYRO_TEMP_OUT_L 0x1C
89 #define GROVE_GYRO_XOUT_H 0x1D
90 #define GROVE_GYRO_XOUT_L 0x1E
91 #define GROVE_GYRO_YOUT_H 0x1F
92 #define GROVE_GYRO_YOUT_L 0x20
93 #define GROVE_GYRO_ZOUT_H 0x21
94 #define GROVE_GYRO_ZOUT_L 0x22
95 #define GROVE_GYRO_PWR_MGMT 0x3E
96 /** @} */
97 /*--------------------------------------------------------------------------*/
98 /**
99  * \name Grove 3-axis gyroscope bitmasks and config
100  * @{
101  */
102 #define GROVE_GYRO_DLPF_FS_SEL 0x18
103 #define GROVE_GYRO_DLPF_FS_CGF_8KHZ_LP256HZ 0x00
104 #define GROVE_GYRO_DLPF_FS_CGF_1KHZ_LP188HZ 0x01
105 #define GROVE_GYRO_DLPF_FS_CGF_1KHZ_LP98HZ 0x02
106 #define GROVE_GYRO_DLPF_FS_CGF_1KHZ_LP42HZ 0x03
107 #define GROVE_GYRO_DLPF_FS_CGF_1KHZ_LP20HZ 0x04
108 #define GROVE_GYRO_DLPF_FS_CGF_1KHZ_LP10HZ 0x05
109 #define GROVE_GYRO_DLPF_FS_CGF_1KHZ_LP5HZ 0x06
110 
111 #define GROVE_GYRO_INT_CFG_RAW_READY_EN 0x01
112 #define GROVE_GYRO_INT_CFG_READY_EN 0x04
113 #define GROVE_GYRO_INT_CFG_LATCH_CLR_ANY 0x10
114 #define GROVE_GYRO_INT_CFG_LATCH_EN 0x20
115 #define GROVE_GYRO_INT_CFG_PIN_OPEN 0x40
116 #define GROVE_GYRO_INT_CFG_PIN_ACTL 0x80
117 #define GROVE_GYRO_INT_CFG_DISABLE 0x00
118 
119 #define GROVE_GYRO_INT_STATUS_DATA_RDY_MASK 0x01
120 #define GROVE_GYRO_INT_STATUS_PLL_RDY_MASK 0x04
121 
122 #define GROVE_GYRO_PWR_MGMT_CLK_SEL_INTOSC 0x00
123 #define GROVE_GYRO_PWR_MGMT_CLK_SEL_PLL_X 0x01
124 #define GROVE_GYRO_PWR_MGMT_CLK_SEL_PLL_Y 0x02
125 #define GROVE_GYRO_PWR_MGMT_CLK_SEL_PLL_Z 0x03
126 #define GROVE_GYRO_PWR_MGMT_CLK_SEL_EXT_32K 0x04
127 #define GROVE_GYRO_PWR_MGMT_CLK_SEL_EXT_19K 0x05
128 #define GROVE_GYRO_PWR_MGMT_STBY_ZG 0x08
129 #define GROVE_GYRO_PWR_MGMT_STBY_YG 0x10
130 #define GROVE_GYRO_PWR_MGMT_STBY_XG 0x20
131 #define GROVE_GYRO_PWR_MGMT_SLEEP 0x40
132 #define GROVE_GYRO_PWR_MGMT_RESET 0x80
133 
134 #ifdef GROVE_GYRO_CONF_OSC
135 #define GROVE_GYRO_DEFAULT_OSC GROVE_GYRO_CONF_OSC
136 #else
137 #define GROVE_GYRO_DEFAULT_OSC GROVE_GYRO_PWR_MGMT_CLK_SEL_INTOSC
138 #endif
139 
140 #define GROVE_GYRO_PWR_MGMT_CLK_SEL_MASK 0x07
141 #define GROVE_GYRO_MAX_DATA 0x06
142 /** @} */
143 /* -------------------------------------------------------------------------- */
144 /**
145  * \name Grove 3-axis gyroscope operation values
146  * @{
147  */
148 /* Configure request type */
149 #define GROVE_GYRO_ACTIVE SENSORS_ACTIVE
150 #define GROVE_GYRO_DATA_INTERRUPT 0x01
151 #define GROVE_GYRO_SAMPLE_RATE 0x02
152 #define GROVE_GYRO_SAMPLE_RATE_DIVIDER 0x03
153 #define GROVE_GYRO_POWER_ON 0x04
154 #define GROVE_GYRO_POWER_OFF 0x05
155 #define GROVE_GYRO_CALIBRATE_ZERO 0x06
156 
157 /* Sensor value request type, match to the stand-by mask to check if enabled */
158 #define GROVE_GYRO_X GROVE_GYRO_PWR_MGMT_STBY_XG
159 #define GROVE_GYRO_Y GROVE_GYRO_PWR_MGMT_STBY_YG
160 #define GROVE_GYRO_Z GROVE_GYRO_PWR_MGMT_STBY_ZG
161 #define GROVE_GYRO_SENSOR GROVE_GYRO_PWR_MGMT_SLEEP
162 #define GROVE_GYRO_XYZ (GROVE_GYRO_X + GROVE_GYRO_Y + \
163  GROVE_GYRO_Z)
164 #define GROVE_GYRO_ALL (GROVE_GYRO_XYZ + GROVE_GYRO_SENSOR)
165 #define GROVE_GYRO_TEMP 0x06
166 
167 /* Return types */
168 #define GROVE_GYRO_ERROR (-1)
169 #define GROVE_GYRO_SUCCESS 0x00
170 
171 /* Calibration constants */
172 #define GROVE_GYRO_CALIB_SAMPLES 200
173 #define GROVE_GYRO_CALIB_TIME_US 5000
174 /** @} */
175 /* -------------------------------------------------------------------------- */
176 #define GROVE_GYRO_STRING "Grove 3-axis gyroscope Sensor"
177 /* -------------------------------------------------------------------------- */
178 extern const struct sensors_sensor grove_gyro;
179 /* -------------------------------------------------------------------------- */
180 #endif /* ifndef GROVE_GYRO_H_ */
181 /**
182  * @}
183  * @}
184  */
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