46#include "lib/sensors.h"
55#define GROVE_GYRO_REGISTER_INT(ptr) grove_gyro_int_callback = ptr;
56extern void (*grove_gyro_int_callback)(uint8_t value);
73extern grove_gyro_values_t gyro_values;
80#define GROVE_GYRO_ADDR 0x68
82#define GROVE_GYRO_WHO_AM_I 0x00
83#define GROVE_GYRO_SMPLRT_DIV 0x15
84#define GROVE_GYRO_DLPF_FS 0x16
85#define GROVE_GYRO_INT_CFG 0x17
86#define GROVE_GYRO_INT_STATUS 0x1A
87#define GROVE_GYRO_TEMP_OUT_H 0x1B
88#define GROVE_GYRO_TEMP_OUT_L 0x1C
89#define GROVE_GYRO_XOUT_H 0x1D
90#define GROVE_GYRO_XOUT_L 0x1E
91#define GROVE_GYRO_YOUT_H 0x1F
92#define GROVE_GYRO_YOUT_L 0x20
93#define GROVE_GYRO_ZOUT_H 0x21
94#define GROVE_GYRO_ZOUT_L 0x22
95#define GROVE_GYRO_PWR_MGMT 0x3E
102#define GROVE_GYRO_DLPF_FS_SEL 0x18
103#define GROVE_GYRO_DLPF_FS_CGF_8KHZ_LP256HZ 0x00
104#define GROVE_GYRO_DLPF_FS_CGF_1KHZ_LP188HZ 0x01
105#define GROVE_GYRO_DLPF_FS_CGF_1KHZ_LP98HZ 0x02
106#define GROVE_GYRO_DLPF_FS_CGF_1KHZ_LP42HZ 0x03
107#define GROVE_GYRO_DLPF_FS_CGF_1KHZ_LP20HZ 0x04
108#define GROVE_GYRO_DLPF_FS_CGF_1KHZ_LP10HZ 0x05
109#define GROVE_GYRO_DLPF_FS_CGF_1KHZ_LP5HZ 0x06
111#define GROVE_GYRO_INT_CFG_RAW_READY_EN 0x01
112#define GROVE_GYRO_INT_CFG_READY_EN 0x04
113#define GROVE_GYRO_INT_CFG_LATCH_CLR_ANY 0x10
114#define GROVE_GYRO_INT_CFG_LATCH_EN 0x20
115#define GROVE_GYRO_INT_CFG_PIN_OPEN 0x40
116#define GROVE_GYRO_INT_CFG_PIN_ACTL 0x80
117#define GROVE_GYRO_INT_CFG_DISABLE 0x00
119#define GROVE_GYRO_INT_STATUS_DATA_RDY_MASK 0x01
120#define GROVE_GYRO_INT_STATUS_PLL_RDY_MASK 0x04
122#define GROVE_GYRO_PWR_MGMT_CLK_SEL_INTOSC 0x00
123#define GROVE_GYRO_PWR_MGMT_CLK_SEL_PLL_X 0x01
124#define GROVE_GYRO_PWR_MGMT_CLK_SEL_PLL_Y 0x02
125#define GROVE_GYRO_PWR_MGMT_CLK_SEL_PLL_Z 0x03
126#define GROVE_GYRO_PWR_MGMT_CLK_SEL_EXT_32K 0x04
127#define GROVE_GYRO_PWR_MGMT_CLK_SEL_EXT_19K 0x05
128#define GROVE_GYRO_PWR_MGMT_STBY_ZG 0x08
129#define GROVE_GYRO_PWR_MGMT_STBY_YG 0x10
130#define GROVE_GYRO_PWR_MGMT_STBY_XG 0x20
131#define GROVE_GYRO_PWR_MGMT_SLEEP 0x40
132#define GROVE_GYRO_PWR_MGMT_RESET 0x80
134#ifdef GROVE_GYRO_CONF_OSC
135#define GROVE_GYRO_DEFAULT_OSC GROVE_GYRO_CONF_OSC
137#define GROVE_GYRO_DEFAULT_OSC GROVE_GYRO_PWR_MGMT_CLK_SEL_INTOSC
140#define GROVE_GYRO_PWR_MGMT_CLK_SEL_MASK 0x07
141#define GROVE_GYRO_MAX_DATA 0x06
149#define GROVE_GYRO_ACTIVE SENSORS_ACTIVE
150#define GROVE_GYRO_DATA_INTERRUPT 0x01
151#define GROVE_GYRO_SAMPLE_RATE 0x02
152#define GROVE_GYRO_SAMPLE_RATE_DIVIDER 0x03
153#define GROVE_GYRO_POWER_ON 0x04
154#define GROVE_GYRO_POWER_OFF 0x05
155#define GROVE_GYRO_CALIBRATE_ZERO 0x06
158#define GROVE_GYRO_X GROVE_GYRO_PWR_MGMT_STBY_XG
159#define GROVE_GYRO_Y GROVE_GYRO_PWR_MGMT_STBY_YG
160#define GROVE_GYRO_Z GROVE_GYRO_PWR_MGMT_STBY_ZG
161#define GROVE_GYRO_SENSOR GROVE_GYRO_PWR_MGMT_SLEEP
162#define GROVE_GYRO_XYZ (GROVE_GYRO_X + GROVE_GYRO_Y + \
164#define GROVE_GYRO_ALL (GROVE_GYRO_XYZ + GROVE_GYRO_SENSOR)
165#define GROVE_GYRO_TEMP 0x06
168#define GROVE_GYRO_ERROR (-1)
169#define GROVE_GYRO_SUCCESS 0x00
172#define GROVE_GYRO_CALIB_SAMPLES 200
173#define GROVE_GYRO_CALIB_TIME_US 5000
176#define GROVE_GYRO_STRING "Grove 3-axis gyroscope Sensor"
178extern const struct sensors_sensor grove_gyro;