210 lines
7.7 KiB
C
210 lines
7.7 KiB
C
/**************************************************************************************************
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Filename: hal_gyro.h
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Revised: $Date: 2012-10-19 16:06:31 -0700 (Fri, 19 Oct 2012) $
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Revision: $Revision: 31875 $
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Description:
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This file contains the declaration to the HAL Gyroscope abstraction layer.
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Copyright 2010 Texas Instruments Incorporated. All rights reserved.
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IMPORTANT: Your use of this Software is limited to those specific rights
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granted under the terms of a software license agreement between the user
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who downloaded the software, his/her employer (which must be your employer)
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and Texas Instruments Incorporated (the "License"). You may not use this
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Software unless you agree to abide by the terms of the License. The License
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limits your use, and you acknowledge, that the Software may not be modified,
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copied or distributed unless embedded on a Texas Instruments microcontroller
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or used solely and exclusively in conjunction with a Texas Instruments radio
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frequency transceiver, which is integrated into your product. Other than for
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the foregoing purpose, you may not use, reproduce, copy, prepare derivative
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works of, modify, distribute, perform, display or sell this Software and/or
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its documentation for any purpose.
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YOU FURTHER ACKNOWLEDGE AND AGREE THAT THE SOFTWARE AND DOCUMENTATION ARE
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PROVIDED “AS IS” WITHOUT WARRANTY OF ANY KIND, EITHER EXPRESS OR IMPLIED,
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INCLUDING WITHOUT LIMITATION, ANY WARRANTY OF MERCHANTABILITY, TITLE,
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NON-INFRINGEMENT AND FITNESS FOR A PARTICULAR PURPOSE. IN NO EVENT SHALL
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TEXAS INSTRUMENTS OR ITS LICENSORS BE LIABLE OR OBLIGATED UNDER CONTRACT,
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NEGLIGENCE, STRICT LIABILITY, CONTRIBUTION, BREACH OF WARRANTY, OR OTHER
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LEGAL EQUITABLE THEORY ANY DIRECT OR INDIRECT DAMAGES OR EXPENSES
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INCLUDING BUT NOT LIMITED TO ANY INCIDENTAL, SPECIAL, INDIRECT, PUNITIVE
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OR CONSEQUENTIAL DAMAGES, LOST PROFITS OR LOST DATA, COST OF PROCUREMENT
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OF SUBSTITUTE GOODS, TECHNOLOGY, SERVICES, OR ANY CLAIMS BY THIRD PARTIES
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(INCLUDING BUT NOT LIMITED TO ANY DEFENSE THEREOF), OR OTHER SIMILAR COSTS.
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Should you have any questions regarding your right to use this Software,
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contact Texas Instruments Incorporated at www.TI.com.
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**************************************************************************************************/
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#ifndef HAL_GYRO_H
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#define HAL_GYRO_H
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#ifdef __cplusplus
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extern "C" {
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#endif
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/* ------------------------------------------------------------------------------------------------
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* Includes
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* ------------------------------------------------------------------------------------------------
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*/
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#include "comdef.h"
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/* ------------------------------------------------------------------------------------------------
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* Constants
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* ------------------------------------------------------------------------------------------------
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*/
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#define HAL_GYRO_OUTPUT_SETTLING_TIME 200 // time from power on until data valid, in ms
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#define HAL_GYRO_CAL_SETTLING_TIME 10 // time from AZ asserted until outputs settled, in ms
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#define HAL_GYRO_I2C_ADDRESS 0x68
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/* ------------------------------------------------------------------------------------------------
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* Typedefs
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* ------------------------------------------------------------------------------------------------
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*/
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typedef void (*halGyroEnableCback_t) ( void );
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/* ------------------------------------------------------------------------------------------------
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* Functions
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* ------------------------------------------------------------------------------------------------
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*/
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/**************************************************************************************************
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* @fn HalGyroInit
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*
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* @brief This function initializes the HAL Gyroscope abstraction layer.
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*
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* input parameters
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*
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* None.
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*
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* output parameters
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*
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* None.
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*
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* @return None.
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**************************************************************************************************/
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void HalGyroInit( void );
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/**************************************************************************************************
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* @fn HalGyroEnable
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*
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* @brief This function configures the gyro for operation.
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*
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* input parameters
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*
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* None.
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*
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* output parameters
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*
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* None.
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*
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* @return None.
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**************************************************************************************************/
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void HalGyroEnable( halGyroEnableCback_t cback );
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/**************************************************************************************************
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* @fn HalGyroHandleGyroRegisterAccessReadyEvent
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*
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* @brief Callback to handle expiry of gyro powerup wait timer.
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*
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* @param None.
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*
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* @return None.
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**************************************************************************************************/
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void HalGyroHandleGyroRegisterAccessReadyEvent( void );
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/**************************************************************************************************
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* @fn HalGyroDisable
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*
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* @brief This function powers off the gyro.
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*
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* input parameters
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*
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* None.
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*
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* output parameters
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*
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* None.
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*
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* @return None.
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**************************************************************************************************/
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void HalGyroDisable( void );
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/**************************************************************************************************
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* @fn HalGyroRead
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*
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* @brief Performs A/D reading on channels connected to X, Y, and Z output on Gyroscope.
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*
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* @param None
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*
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* @return X, Y, and Z channel readings
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**************************************************************************************************/
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void HalGyroRead( int16 *x, int16 *y, int16 *z );
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/**************************************************************************************************
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* @fn HalGyroReadAccelData
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*
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* @brief Reads X, Y and Z data out registers from Accelerometer.
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*
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* input parameters
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*
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* None.
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*
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* output parameters
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*
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* @param *x - X register value.
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* @param *y - Y register value.
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* @param *z - Z register value.
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*
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* @return None.
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*/
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void HalGyroReadAccelData( int8 *x, int8 *y, int8 *z );
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/**************************************************************************************************
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* @fn HalGyroEnableI2CPassThru
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*
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* @brief Enables I2C pass thru mode on the IMU-3000, which allows the MCU to talk to the
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* accelerometer.
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*
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* @param None
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*
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* @return None
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**************************************************************************************************/
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void HalGyroEnableI2CPassThru( void );
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/**************************************************************************************************
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* @fn HalGyroDisableI2CPassThru
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*
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* @brief Disables I2C pass thru mode on the IMU-3000, which means the gyro will master the I2C
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* accesses to the accelerometer.
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*
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* @param None
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*
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* @return None
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**************************************************************************************************/
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void HalGyroDisableI2CPassThru( void );
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/**************************************************************************************************
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* @fn HalGyroStartGyroMeasurements
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*
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* @brief Enables the gyro clock and also configures the gyro to control the aux I2C
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* interface so it can read accelerometer data.
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*
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* @param None
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*
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* @return None
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**************************************************************************************************/
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void HalGyroStartGyroMeasurements( void );
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#ifdef __cplusplus
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};
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#endif
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#endif
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/**************************************************************************************************
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*/
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