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/*
* Copyright (c) 2015, Freescale Semiconductor, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without modification,
* are permitted provided that the following conditions are met:
*
* o Redistributions of source code must retain the above copyright notice, this list
* of conditions and the following disclaimer.
*
* o Redistributions in binary form must reproduce the above copyright notice, this
* list of conditions and the following disclaimer in the documentation and/or
* other materials provided with the distribution.
*
* o Neither the name of Freescale Semiconductor, Inc. nor the names of its
* contributors may be used to endorse or promote products derived from this
* software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR
* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
* ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#ifndef __FXAS21002_H__
#define __FXAS21002_H__
#define OVERSAMPLE_RATIO (64) // int32: 8x: 3DOF, 6DOF, 9DOF run at SENSORFS / OVERSAMPLE_RATIO Hz
// place the gain in the gyro structure
#define FXAS21002_COUNTSPERDEGPERSEC (16.0F) // for production 2000dps range (2000dps=32000)
#define FXAS21002_DEGPERSECPERCOUNT (0.0625F) // must be reciprocal of FCOUNTSPERDEGPERSEC
/* I2C Slave Address define */
#define FXAS21002_ADDRESS_0 (0x20)
#define FXAS21002_ADDRESS_1 (0x21)
#define FXAS21002_ADDRESS_DEFAULT (FXAS21002_ADDRESS_0)
/* FXAS21002 device ID number */
#define FXAS21002_DEVICE_ID (0xD7)
/* FXAS21002 Registers address definition */
#define FXAS21002_STATUS (0x00)
#define FXAS21002_OUT_X_MSB (0x01)
#define FXAS21002_OUT_X_LSB (0x02)
#define FXAS21002_OUT_Y_MSB (0x03)
#define FXAS21002_OUT_Y_LSB (0x04)
#define FXAS21002_OUT_Z_MSB (0x05)
#define FXAS21002_OUT_Z_LSB (0x06)
#define FXAS21002_DR_STATUS (0x07)
#define FXAS21002_F_STATUS (0x08)
#define FXAS21002_F_SETUP (0x09)
#define FXAS21002_F_EVENT (0x0A)
#define FXAS21002_INT_SRC_FLAG (0x0B)
#define FXAS21002_WHO_AM_I (0x0C)
#define FXAS21002_CTRL_REG0 (0x0D)
#define FXAS21002_RT_CFG (0x0E)
#define FXAS21002_RT_SRC (0x0F)
#define FXAS21002_RT_THS (0x10)
#define FXAS21002_RT_COUNT (0x11)
#define FXAS21002_TEMP (0x12)
#define FXAS21002_CTRL_REG1 (0x13)
#define FXAS21002_CTRL_REG2 (0x14)
#define FXAS21002_CTRL_REG3 (0x15)
// gyro sensor structure definition
typedef struct _gyro_sensor
{
int32_t iSumYpFast[3]; // sum of fast measurements
float fYp[3]; // raw gyro sensor output (deg/s)
float fDegPerSecPerCount; // initialized to FDEGPERSECPERCOUNT
int16_t iYpFast[3]; // fast (typically 200Hz) readings
int16_t iYp[3]; // averaged gyro sensor output (counts)
} gyro_sensor_t;
/* Function prototypes */
#if defined(__cplusplus)
extern "C" {
#endif
bool fxas21002_init(gyro_sensor_t*);
bool fxas21002_read_data(gyro_sensor_t*);
#ifdef __cplusplus
}
#endif
#endif /* __FXAS21002_H__ */
/*******************************************************************************
* EOF
******************************************************************************/
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