108 lines
3.4 KiB
C
Executable File
108 lines
3.4 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 "comm/gyro_spi.h"
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typedef enum
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{
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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 void (*FP_GYRO_CB)(void); ///< gyor sie sync callback
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typedef enum
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{
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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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FP_GYRO_CB fp_cb; ///<
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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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typedef enum {
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GYRO_SIE_1, ///< VD source is SIE2
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GYRO_SIE_2, ///< VD source is SIE2
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GYRO_SIE_3,
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GYRO_SIE_4, ///< VD source is SIE4
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GYRO_SIE_5, ///< VD source is SIE5
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GYRO_SIE_6,
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ENUM_DUMMY4WORD(GYRO_SIE_ID)
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} GYRO_SIE_ID;
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typedef enum {
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GYROCTL_CFG_MODE, ///< [set], using GYRO_OP_MODE enum
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GYROCTL_CFG_FRUN_PARAM,
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GYROCTL_CFG_SIE_CB,
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GYROCTL_CFG_SIE_SRC,
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ENUM_DUMMY4WORD(GYROCTL_CFG)
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} GYROCTL_CFG;
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typedef enum {
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GYRO_1, ///< GYRO ID1
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GYRO_2, ///< GYRO ID2
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ENUM_DUMMY4WORD(GYRO_ID)
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} GYRO_ID;
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typedef struct {
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/* Object Common items */
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GYRO_ID id; ///< Gyro Object ID.
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INT32(*open)(void); ///< Gyro Object open.
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INT32(*close)(void); ///< Gyro Object close.
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INT32(*set_cfg)(GYROCTL_CFG cfg_id, void *value);///< Set Gyro Object configuration.
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INT32(*get_cfg)(GYROCTL_CFG cfg_id, void *value);///< Get Gyro Object configuration.
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INT32(*get_data)(UINT32 *puiNum, INT32 *puiDatX, INT32 *puiDatY, INT32 *puiDatZ);///< Get Gyro Object configuration.
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INT32(*get_gsdata)(INT32 *puiDatX, INT32 *puiDatY, INT32 *puiDatZ);///< Get Gyro Object configuration.
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} GYRO_OBJ, *PGYRO_OBJ;
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PGYRO_OBJ gyro_get_obj(void);
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#endif// _GYRO_DRV_H
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