iam_20380.h

 
// ALLOW FORMATTING
#ifndef _IAM_20380_H
#define _IAM_20380_H
 
#include "gyroscope.h"
 
#include "spi.h"
#include "gpiopin.h"
 
#define IAM_20380_SENSITIVITY_FS_SEL250  (1.0f / 131.0f)
#define IAM_20380_SENSITIVITY_FS_SEL500  (1.0f / 65.5f)
#define IAM_20380_SENSITIVITY_FS_SEL1000 (1.0f / 32.8f)
#define IAM_20380_SENSITIVITY_FS_SEL2000 (1.0f / 16.4f)
#define IAM_20380_SAMPLE_RATE_DIV(rate)  (1000.0f / rate) - 1
 
#define IAM_20380_WHO_AM_I               0x75
 
#define IAM_20380_XG_OFFS_USRH           0x13
#define IAM_20380_XG_OFFS_USRL           0x14
#define IAM_20380_YG_OFFS_USRH           0x15
#define IAM_20380_YG_OFFS_USRL           0x16
#define IAM_20380_ZG_OFFS_USRH           0x17
#define IAM_20380_ZG_OFFS_USRL           0x18
 
#define IAM_20380_SMPLRT_DIV             0x19
#define IAM_20380_CONFIG                 0x1A
#define IAM_20380_GYRO_CONFIG            0x1B
 
#define IAM_20380_XOUT_H                 0x43
#define IAM_20380_XOUT_L                 0x44
#define IAM_20380_YOUT_H                 0x45
#define IAM_20380_YOUT_L                 0x46
#define IAM_20380_ZOUT_H                 0x47
#define IAM_20380_ZOUT_L                 0x48
 
#define IAM_20380_CONFIG_FS_SEL250       0x00
#define IAM_20380_CONFIG_FS_SEL500       0x08
#define IAM_20380_CONFIG_FS_SEL1000      0x10
#define IAM_20380_CONFIG_FS_SEL2000      0x18
 
#define IAM_20380_USER_CTRL              0x6A
#define IAM_20380_PWR_MGMT_1             0x6B
#define IAM_20380_PWR_MGMT_2             0x6C
 
#define IAM_20380_PWR_MGMT_1_RESET       0x80
#define IAM_20380_PWR_MGMT_1_CLKSEL      0x01
 
#define IAM_20380_PWR_MGMT_2_STBY_XG     0x4
#define IAM_20380_PWR_MGMT_2_STBY_YG     0x2
#define IAM_20380_PWR_MGMT_2_STBY_ZG     0x1
 
#define IAM_20380_DATA_SIZE              2 // Two bytes per axis
#define IAM_20380_DATA_COUNT             3 // Three axes - X Y Z
#define IAM_20380_DATA_TOTAL             (IAM_20380_DATA_COUNT * IAM_20380_DATA_SIZE)


typedef struct IAM_20380 {
  Gyro_t base;                               
  SPI_t *spi;                                
  GPIOpin_t cs;                              
  uint8_t dataSize;                          
  float sensitivity;                         
  uint8_t axes[IAM_20380_DATA_COUNT];        
  int8_t sign[IAM_20380_DATA_COUNT];         
  uint8_t rawGyroData[IAM_20380_DATA_TOTAL]; 
  float gyroData[IAM_20380_DATA_COUNT];      
  float bias[IAM_20380_DATA_COUNT];          
} IAM_20380_t;
 
IAM_20380_t IAM_20380_init(IAM_20380_t *, SPI_t *, GPIOpin_t, const float, const uint8_t *, const int8_t *);
void IAM_20380_update(Gyro_t *);
void IAM_20380_readGyro(Gyro_t *, float *);
void IAM_20380_readRawBytes(Gyro_t *, uint8_t *);
void IAM_20380_processRawBytes(Gyro_t *, uint8_t *, float *);

#endif