82 lines
2.8 KiB
C
Executable File
82 lines
2.8 KiB
C
Executable File
/**
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Gyro Driver Header file.
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@file GyroDrv.h
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@ingroup
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@note Nothing.
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Copyright Novatek Microelectronics Corp. 2012. All rights reserved.
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*/
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#ifndef _GYRO_DRV_H
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#define _GYRO_DRV_H
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#include "kwrap/type.h"
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#include "spi.h"
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typedef enum {
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GYRO_OP_MODE_SINGLE_ACCESS, ///< gyro in single access mode, read/write register one by one
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GYRO_OP_MODE_FREE_RUN, ///< gyro in free run mode, read register after periodic trigger automatically
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ENUM_DUMMY4WORD(GYRO_OP_MODE)
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} GYRO_OP_MODE;
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typedef enum {
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GYRO_FREERUN_SIE_SYNC, ///< SIE sync mode
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GYRO_FREERUN_FWTRIGGER, ///< FW trigger mode
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ENUM_DUMMY4WORD(GYRO_FREERUN_TRIGGER_MODE)
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} GYRO_FREERUN_TRIGGER_MODE;
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typedef struct GYRO_FREE_RUN_PARAM {
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UINT32 uiPeriodUs; ///< free run period in Us
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UINT32 uiDataNum; ///< gyro data number in a period
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UINT32 uiTriggerIdx; ///< the trigger index of gyro free run mode
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GYRO_FREERUN_TRIGGER_MODE triggerMode; ///< trigger mode
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} GYRO_FREE_RUN_PARAM;
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typedef struct _GYRO_CFGINFO {
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UINT32 AxisSelec[3]; ///< Gyro data axis
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UINT32 DirSelec[3]; ///< Gyro data direction
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} GYRO_CFGINFO;
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typedef struct GYRO_OPENOBJ {
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void (*FP_GYRO_CB)(void); ///< gyro callback function
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} GYRO_OPENOBJ;
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typedef struct GYRO_STARTOBJ {
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SPI_ID SpiID;
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SPI_GYRO_INFO *pSPIGyroInfo;
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} GYRO_STARTOBJ;
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typedef struct GYRO_RSCINFOINIT {
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UINT32 gdFormat; ///< Gyro data format
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UINT32 AxisSelec[3]; ///< Gyro data axis
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UINT32 DirSelec[3]; ///< Gyro data direction
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UINT32 uiDataUnit; ///< Gyro data unit, in degree/65536sec
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UINT32 uiCalGain[3]; ///< calibration gain, in 1/1024, recommended fixed to 1024
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INT32 iCalOfs[3]; ///< Calibration offset, recommended fixed to 0
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} GYRO_RSCINFOINIT;
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extern void gyro_cfg(GYRO_CFGINFO *cfgInfo) _SECTION(".kercfg_text");
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extern ER gyro_open(GYRO_OPENOBJ *openObj);
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extern ER gyro_close(void);
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extern ER gyro_shutdown(void);
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extern ER gyro_readReg(UINT32 uiAddr, UINT32 *puiData);
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extern ER gyro_writeReg(UINT32 uiAddr, UINT32 uiData);
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extern ER gyro_setFreeRunParam(GYRO_FREE_RUN_PARAM *frParam);
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extern ER gyro_setMode(GYRO_OP_MODE opMode);
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extern ER gyro_getSingleData(INT32 *puiDatX, INT32 *puiDatY, INT32 *puiDatZ);
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extern ER gyro_getFreeRunData(UINT32 *puiNum, INT32 *puiDatX, INT32 *puiDatY, INT32 *puiDatZ);
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extern void gyro_setCalZeroOffset(INT32 xOffset, INT32 yOffset, INT32 zOffset);
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extern void gyro_FreeRunStart(GYRO_STARTOBJ *pgyroobj);
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extern void gyro_RSCInfoInit(GYRO_RSCINFOINIT *pgyrorscinit);
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extern UINT32 gyro_getLSB(void);
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extern ER gyro_getGsData(INT32 *puiDatX, INT32 *puiDatY, INT32 *puiDatZ); // get Gsensor data
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#endif// _GYRO_DRV_IDG2020_H
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