90 lines
3.2 KiB
C
90 lines
3.2 KiB
C
/*
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* This file is part of Cleanflight and ATBetaflight (forked by flightng).
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*
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* Cleanflight and ATBetaflight (forked by flightng) are free software. You can redistribute
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* this software and/or modify this software under the terms of the
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* GNU General Public License as published by the Free Software
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* Foundation, either version 3 of the License, or (at your option)
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* any later version.
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*
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* Cleanflight and ATBetaflight (forked by flightng) are distributed in the hope that they
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* will be useful, but WITHOUT ANY WARRANTY; without even the implied
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* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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* See the GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this software.
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*
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* If not, see <http://www.gnu.org/licenses/>.
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*/
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#pragma once
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#include "drivers/bus.h"
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#include "drivers/exti.h"
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// SH3001 registers (not the complete list)
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typedef enum {
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SH3001_REG_ACC_X_DATA_L = 0x00,
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SH3001_REG_ACC_X_DATA_H = 0x01,
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SH3001_REG_ACC_Y_DATA_L = 0x02,
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SH3001_REG_ACC_Y_DATA_H = 0x03,
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SH3001_REG_ACC_Z_DATA_L = 0x04,
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SH3001_REG_ACC_Z_DATA_H = 0x05,
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SH3001_REG_GYRO_X_DATA_L = 0x06,
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SH3001_REG_GYRO_X_DATA_H = 0x07,
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SH3001_REG_GYRO_Y_DATA_L = 0x08,
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SH3001_REG_GYRO_Y_DATA_H = 0x09,
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SH3001_REG_GYRO_Z_DATA_L = 0x0A,
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SH3001_REG_GYRO_Z_DATA_H = 0x0B,
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SH3001_REG_TEMP_DATA_L = 0x0C,
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SH3001_REG_TEMP_DATA_H = 0x0D,
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// SH3001_REG_MAGIC
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SH3001_REG_CHIP_ID = 0x0F, // chip id, should be 0x61
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SH3001_REG_TEMP_CONFIG_0 = 0x20, // temperature sensor ODR
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SH3001_REG_TEMP_CONFIG_1 = 0x21, // temperature sensor
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SH3001_REG_ACC_CONFIG_0 = 0x22, // work mode, ADC dither, digital filter
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SH3001_REG_ACC_CONFIG_1 = 0x23, // output data rate
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SH3001_REG_ACC_CONFIG_2 = 0x25, // range
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SH3001_REG_ACC_CONFIG_3 = 0x26, // lpf cutoff frequency
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SH3001_REG_GYRO_CONFIG_0 = 0x28, // digital filter
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SH3001_REG_GYRO_CONFIG_1 = 0x29, // output data rate
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SH3001_REG_GYRO_CONFIG_2 = 0x2B, // lpf cutoff frequency
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SH3001_REG_INTERRUPT_EN_1 = 0x41, // gyro DDRY interrupt enable
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SH3001_REG_INTERRUPT_CONFIG = 0x44, // interrupt pin config
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SH3001_REG_INTERRUPT_CONT_LIM = 0x45,// interrupt pin config
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SH3001_REG_INT_PINMAP_1 = 0x7A, // interrupt pin config
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SH3001_REG_PAGE = 0x7F, // page select
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SH3001_REG_GYRO_CONFIG_3 = 0x8F, // x range
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SH3001_REG_GYRO_CONFIG_4 = 0x9F, // y range
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SH3001_REG_GYRO_CONFIG_5 = 0xAF, // z range
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SH3001_REG_CHIP_VERSION = 0xDD, // chip version
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} sh3001Register_e;
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typedef struct {
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int8_t cXY;
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int8_t cXZ;
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int8_t cYX;
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int8_t cYZ;
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int8_t cZX;
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int8_t cZY;
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int8_t jX;
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int8_t jY;
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int8_t jZ;
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uint8_t xMulti;
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uint8_t yMulti;
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uint8_t zMulti;
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uint8_t paramP0;
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} compCoef_t;
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// Contained in accgyro_spi_sh3001_init.c which is size optimized
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uint8_t sh3001Detect(const extDevice_t *dev);
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bool sh3001SpiAccDetect(accDev_t *acc);
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bool sh3001SpiGyroDetect(gyroDev_t *gyro);
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// Contained in accgyro_spi_sh3001.c which is speed optimized
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void sh3001ExtiHandler(extiCallbackRec_t *cb);
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bool sh3001AccRead(accDev_t *acc);
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bool sh3001GyroRead(gyroDev_t *gyro);
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