itg320x.h

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/*
 * Copyright (C) 2018 Gunar Schorcht
 *
 * This file is subject to the terms and conditions of the GNU Lesser
 * General Public License v2.1. See the file LICENSE in the top level
 * directory for more details.
 */
 
#pragma once
 
#ifdef __cplusplus
extern "C"
{
#endif
 
#include <stdbool.h>
#include <stdint.h>
 
#include "periph/gpio.h"
#include "periph/i2c.h"
 
#define ITG320X_I2C_ADDRESS_1    (0x68)     
#define ITG320X_I2C_ADDRESS_2    (0x69)     
#define ITG320X_ID               (0x68)
 
typedef enum {
    ITG320X_OK               =  0,      
    ITG320X_ERROR_I2C        = -1,      
    ITG320X_ERROR_WRONG_ID   = -2,      
    ITG320X_ERROR_NO_DATA    = -3,      
    ITG320X_ERROR_RAW_DATA   = -4,      
} itg320x_error_codes_t;
 
typedef enum {
    ITG320X_LPF_BW_256 = 0, 
    ITG320X_LPF_BW_188,     
    ITG320X_LPF_BW_98,      
    ITG320X_LPF_BW_42,      
    ITG320X_LPF_BW_20,      
    ITG320X_LPF_BW_10,      
    ITG320X_LPF_BW_5,       
} itg320x_lpf_bw_t;
 
typedef enum {
    ITG320X_INT_HIGH = 0x00,    
    ITG320X_INT_LOW  = 0x80,    
} itg320x_int_level_t;
 
typedef enum {
    ITG320X_INT_PUSH_PULL  = 0x00,  
    ITG320X_INT_OPEN_DRAIN = 0x40   
} itg320x_int_drive_t;
 
typedef enum {
    ITG320X_CLK_INTERNAL = 0,   
    ITG320X_CLK_PLL_X_GYRO,     
    ITG320X_CLK_PLL_Y_GYRO,     
    ITG320X_CLK_PLL_Z_GYRO,     
    ITG320X_CLK_PLL_32K,        
    ITG320X_CLK_PLL_19M,        
} itg320x_clk_sel_t;
 
typedef struct {
    int16_t x;  
    int16_t y;  
    int16_t z;  
} itg320x_data_t;
 
typedef struct {
    int16_t x; 
    int16_t y; 
    int16_t z; 
} itg320x_raw_data_t;
 
typedef struct {
    i2c_t dev;     
    uint8_t addr;  
    uint8_t isr_div; 
    itg320x_lpf_bw_t lpf_bw; 
    itg320x_clk_sel_t clk_sel; 
#if MODULE_ITG320X_INT || DOXYGEN
    gpio_t int_pin;                
    itg320x_int_level_t int_level; 
    itg320x_int_drive_t int_drive; 
#endif /* MODULE_ITG320X_INT || DOXYGEN */
} itg320x_params_t;
 
typedef struct {
    itg320x_params_t params;    
} itg320x_t;
 
#if MODULE_ITG320X_INT || DOXYGEN
typedef void (*itg320x_drdy_int_cb_t)(void *);
 
#endif /* MODULE_ITG320X_INT || DOXYGEN */
 
int itg320x_init(itg320x_t *dev, const itg320x_params_t *params);
 
#if MODULE_ITG320X_INT || DOXYGEN
int itg320x_init_int(const itg320x_t *dev, itg320x_drdy_int_cb_t cb, void *arg);
 
#endif /* MODULE_ITG320X_INT || DOXYGEN */
 
int itg320x_data_ready(const itg320x_t *dev);
 
int itg320x_read(const itg320x_t *dev, itg320x_data_t *data);
 
int itg320x_read_raw(const itg320x_t *dev, itg320x_raw_data_t *raw);
 
int itg320x_read_temp(const itg320x_t *dev, int16_t* temp);
 
int itg320x_power_down(itg320x_t *dev);
 
int itg320x_power_up(itg320x_t *dev);
 
#ifdef __cplusplus
}
#endif