kx134_1211.h

 
// ALLOW FORMATTING
#ifndef _KX134_1211_H
#define _KX134_1211_H
 
#include "spi.h"
#include "gpiopin.h"
 
#define KX134_1211_SENSITIVITY_32G    (1.0f / 1024.0f)
#define KX134_1211_SENSITIVITY_16G    (1.0f / 2048.0f)
#define KX134_1211_SENSITIVITY(scale) KX134_1211_SENSITIVITY_##scale##G
#define KX134_1211_CNTL1              0x1B
#define KX134_1211_CNTL1_PC1          0x80
#define KX134_1211_CNTL1_DRDYE        0x20
#define KX134_1211_CNTL1_RES          0x40
#define KX134_1211_CNTL1_GSEL_32G     0x10
#define KX134_1211_CNTL1_GSEL_16G     0x08
#define KX134_1211_CNTL1_GSEL_8G      0x00
#define KX134_1211_CNTL1_GSEL(scale)  KX134_1211_CNTL1_GSEL_##scale##G
#define KX134_1211_ODCNTL             0x21
#define KX134_1211_ODCNTL_RESERVED    0x90
#define KX134_1211_XOUT_L             0x08
#define KX134_1211_XOUT_H             0x09
#define KX134_1211_YOUT_L             0x0A
#define KX134_1211_YOUT_H             0x0B
#define KX134_1211_ZOUT_L             0x0C
#define KX134_1211_ZOUT_H             0x0D
#define KX134_1211_INS2               0x17
 
#define KX134_1211_INS2_DRDY          0x10
 
#define KX134_1211_DATA_SIZE          2 // Two bytes per axis
#define KX134_1211_DATA_COUNT         3 // Three axes - X Y Z
#define KX134_1211_DATA_TOTAL         (KX134_1211_DATA_COUNT * KX134_1211_DATA_SIZE)


typedef struct KX134_1211 {
  SPI_t *base;                                                      
  GPIOpin_t cs;                                                     
  float sensitivity;                                                
  void (*update)(struct KX134_1211 *);                              
  void (*readAccel)(struct KX134_1211 *, float *);                  
  void (*readRawBytes)(struct KX134_1211 *, uint8_t *);             
  void (*processRawBytes)(struct KX134_1211 *, uint8_t *, float *); 
  uint8_t axes[KX134_1211_DATA_COUNT];                              
  int8_t sign[KX134_1211_DATA_COUNT];                               
  uint8_t rawAccelData[KX134_1211_DATA_TOTAL];                      
  float accelData[KX134_1211_DATA_COUNT];                           
} KX134_1211_t;
 
KX134_1211_t KX134_1211_init(KX134_1211_t *, SPI_t *, GPIOpin_t, const uint8_t, const uint8_t *, const int8_t *);
void KX134_1211_update(KX134_1211_t *);
void KX134_1211_readAccel(KX134_1211_t *, float *);
void KX134_1211_readRawBytes(KX134_1211_t *, uint8_t *);
void KX134_1211_processRawBytes(KX134_1211_t *, uint8_t *, float *);
 
void KX134_1211_readRegisters(KX134_1211_t *, uint8_t, uint8_t, uint8_t *);
uint8_t KX134_1211_readRegister(KX134_1211_t *, uint8_t);
void KX134_1211_writeRegister(KX134_1211_t *, uint8_t, uint8_t);

#endif