/*********************************************************************************************************************
* RT1064DVL6A Opensourec Library RT1064DVL6A Դ⣩һڹٷ SDK ӿڵĵԴ
* Copyright (c) 2022 SEEKFREE ɿƼ
* 
* ļ RT1064DVL6A Դһ
* 
* RT1064DVL6A Դ 
* Ըᷢ GPLGNU General Public License GNUͨù֤
*  GPL ĵ3棨 GPL3.0ѡģκκİ汾·/޸
* 
* Դķϣܷãδκεı֤
* ûԻʺض;ı֤
* ϸμ GPL
* 
* ӦյԴͬʱյһ GPL ĸ
* ûУ<https://www.gnu.org/licenses/>
* 
* ע
* Դʹ GPL3.0 Դ֤Э Ϊİ汾
* Ӣİ libraries/doc ļµ GPL3_permission_statement.txt ļ
* ֤ libraries ļ ļµ LICENSE ļ
* ӭλʹò ޸ʱ뱣ɿƼİȨ
* 
* ļ          zf_device_icm20602
* ˾          ɶɿƼ޹˾
* 汾Ϣ          鿴 libraries/doc ļ version ļ 汾˵
*           IAR 8.32.4 or MDK 5.33
* ƽ̨          RT1064DVL6A
*           https://seekfree.taobao.com/
* 
* ޸ļ¼
*                               ע
* 2022-09-21        SeekFree            first version
********************************************************************************************************************/
/*********************************************************************************************************************
* ߶壺
*                   ------------------------------------
*                   ģܽ            Ƭܽ
*                   // Ӳ SPI 
*                   SCL/SPC             鿴 zf_device_icm20602.h  ICM20602_SPC_PIN 궨
*                   SDA/SDI             鿴 zf_device_icm20602.h  ICM20602_SDI_PIN 궨
*                   SA0/SDO             鿴 zf_device_icm20602.h  ICM20602_SDO_PIN 궨
*                   CS                  鿴 zf_device_icm20602.h  ICM20602_CS_PIN 궨
*                   VCC                 3.3VԴ
*                   GND                 Դ
*                   
*
*                   //  IIC 
*                   SCL/SPC             鿴 zf_device_icm20602.h  ICM20602_SCL_PIN 궨
*                   SDA/SDI             鿴 zf_device_icm20602.h  ICM20602_SDA_PIN 궨
*                   VCC                 3.3VԴ
*                   GND                 Դ
*                   
*                   ------------------------------------
********************************************************************************************************************/

#ifndef _zf_device_icm20602_h_
#define _zf_device_icm20602_h_

#include "zf_common_typedef.h"

#define ICM20602_USE_SOFT_IIC       (0)                                         // ĬʹӲ SPI ʽ
#if ICM20602_USE_SOFT_IIC                                                       //  ɫĲȷ ɫҵľûõ
//==================================================== IIC ====================================================
#define ICM20602_SOFT_IIC_DELAY     (100)                                       //  IIC ʱʱ ֵԽС IIC ͨԽ
#define ICM20602_SCL_PIN            (B23)                                       //  IIC SCL   ICM20602  SCL 
#define ICM20602_SDA_PIN            (B22)                                       //  IIC SDA   ICM20602  SDA 
//==================================================== IIC ====================================================
#else
//====================================================Ӳ SPI ====================================================
#define ICM20602_SPI_SPEED          (10 * 1000 * 1000)                          // Ӳ SPI 
#define ICM20602_SPI                (SPI_4)                                     // Ӳ SPI 
#define ICM20602_SPC_PIN            (SPI4_SCK_C23)                              // Ӳ SPI SCK 
#define ICM20602_SDI_PIN            (SPI4_MOSI_C22)                             // Ӳ SPI MOSI 
#define ICM20602_SDO_PIN            (SPI4_MISO_C21)                             // Ӳ SPI MISO 
//====================================================Ӳ SPI ====================================================
#endif
#define ICM20602_CS_PIN             (C20)                                       // CS Ƭѡ
#define ICM20602_CS(x)              ((x) ? (gpio_high(ICM20602_CS_PIN)) : (gpio_low(ICM20602_CS_PIN)))

typedef enum
{
    ICM20602_ACC_SAMPLE_SGN_2G ,                                                // ٶȼ 2G  (ACC = Accelerometer ٶȼ) (SGN = signum  ʾΧ) (G = g ٶ g9.80 m/s^2)
    ICM20602_ACC_SAMPLE_SGN_4G ,                                                // ٶȼ 4G  (ACC = Accelerometer ٶȼ) (SGN = signum  ʾΧ) (G = g ٶ g9.80 m/s^2)
    ICM20602_ACC_SAMPLE_SGN_8G ,                                                // ٶȼ 8G  (ACC = Accelerometer ٶȼ) (SGN = signum  ʾΧ) (G = g ٶ g9.80 m/s^2)
    ICM20602_ACC_SAMPLE_SGN_16G,                                                // ٶȼ 16G (ACC = Accelerometer ٶȼ) (SGN = signum  ʾΧ) (G = g ٶ g9.80 m/s^2)
}icm20602_acc_sample_config;

typedef enum
{
    ICM20602_GYRO_SAMPLE_SGN_250DPS ,                                           //  250DPS  (GYRO = Gyroscope ) (SGN = signum  ʾΧ) (DPS = Degree Per Second ٶȵλ /S)
    ICM20602_GYRO_SAMPLE_SGN_500DPS ,                                           //  500DPS  (GYRO = Gyroscope ) (SGN = signum  ʾΧ) (DPS = Degree Per Second ٶȵλ /S)
    ICM20602_GYRO_SAMPLE_SGN_1000DPS,                                           //  1000DPS (GYRO = Gyroscope ) (SGN = signum  ʾΧ) (DPS = Degree Per Second ٶȵλ /S)
    ICM20602_GYRO_SAMPLE_SGN_2000DPS,                                           //  2000DPS (GYRO = Gyroscope ) (SGN = signum  ʾΧ) (DPS = Degree Per Second ٶȵλ /S)
}icm20602_gyro_sample_config;

#define ICM20602_ACC_SAMPLE_DEFAULT     ( ICM20602_ACC_SAMPLE_SGN_8G )          // Ĭϵ ٶȼ ʼ
#define ICM20602_GYRO_SAMPLE_DEFAULT    ( ICM20602_GYRO_SAMPLE_SGN_2000DPS )    // Ĭϵ    ʼ

#define ICM20602_TIMEOUT_COUNT      ( 0x00FF )                                  // ICM20602 ʱ

//================================================ ICM20602 ڲַ================================================
#define ICM20602_DEV_ADDR           ( 0x69 )                                    // SA0ӵأ0x68 SA00x69 ģĬ
#define ICM20602_SPI_W              ( 0x00 )
#define ICM20602_SPI_R              ( 0x80 )

#define ICM20602_XG_OFFS_TC_H       ( 0x04 )
#define ICM20602_XG_OFFS_TC_L       ( 0x05 )
#define ICM20602_YG_OFFS_TC_H       ( 0x07 )
#define ICM20602_YG_OFFS_TC_L       ( 0x08 )
#define ICM20602_ZG_OFFS_TC_H       ( 0x0A )
#define ICM20602_ZG_OFFS_TC_L       ( 0x0B )
#define ICM20602_SELF_TEST_X_ACCEL  ( 0x0D )
#define ICM20602_SELF_TEST_Y_ACCEL  ( 0x0E )
#define ICM20602_SELF_TEST_Z_ACCEL  ( 0x0F )
#define ICM20602_XG_OFFS_USRH       ( 0x13 )
#define ICM20602_XG_OFFS_USRL       ( 0x14 )
#define ICM20602_YG_OFFS_USRH       ( 0x15 )
#define ICM20602_YG_OFFS_USRL       ( 0x16 )
#define ICM20602_ZG_OFFS_USRH       ( 0x17 )
#define ICM20602_ZG_OFFS_USRL       ( 0x18 )
#define ICM20602_SMPLRT_DIV         ( 0x19 )
#define ICM20602_CONFIG             ( 0x1A )
#define ICM20602_GYRO_CONFIG        ( 0x1B )
#define ICM20602_ACCEL_CONFIG       ( 0x1C )
#define ICM20602_ACCEL_CONFIG_2     ( 0x1D )
#define ICM20602_LP_MODE_CFG        ( 0x1E )
#define ICM20602_ACCEL_WOM_X_THR    ( 0x20 )
#define ICM20602_ACCEL_WOM_Y_THR    ( 0x21 )
#define ICM20602_ACCEL_WOM_Z_THR    ( 0x22 )
#define ICM20602_FIFO_EN            ( 0x23 )
#define ICM20602_FSYNC_INT          ( 0x36 )
#define ICM20602_INT_PIN_CFG        ( 0x37 )
#define ICM20602_INT_ENABLE         ( 0x38 )
#define ICM20602_FIFO_WM_INT_STATUS ( 0x39 )
#define ICM20602_INT_STATUS         ( 0x3A )
#define ICM20602_ACCEL_XOUT_H       ( 0x3B )
#define ICM20602_ACCEL_XOUT_L       ( 0x3C )
#define ICM20602_ACCEL_YOUT_H       ( 0x3D )
#define ICM20602_ACCEL_YOUT_L       ( 0x3E )
#define ICM20602_ACCEL_ZOUT_H       ( 0x3F )
#define ICM20602_ACCEL_ZOUT_L       ( 0x40 )
#define ICM20602_TEMP_OUT_H         ( 0x41 )
#define ICM20602_TEMP_OUT_L         ( 0x42 )
#define ICM20602_GYRO_XOUT_H        ( 0x43 )
#define ICM20602_GYRO_XOUT_L        ( 0x44 )
#define ICM20602_GYRO_YOUT_H        ( 0x45 )
#define ICM20602_GYRO_YOUT_L        ( 0x46 )
#define ICM20602_GYRO_ZOUT_H        ( 0x47 )
#define ICM20602_GYRO_ZOUT_L        ( 0x48 )
#define ICM20602_SELF_TEST_X_GYRO   ( 0x50 )
#define ICM20602_SELF_TEST_Y_GYRO   ( 0x51 )
#define ICM20602_SELF_TEST_Z_GYRO   ( 0x52 )
#define ICM20602_FIFO_WM_TH1        ( 0x60 )
#define ICM20602_FIFO_WM_TH2        ( 0x61 )
#define ICM20602_SIGNAL_PATH_RESET  ( 0x68 )
#define ICM20602_ACCEL_INTEL_CTRL   ( 0x69 )
#define ICM20602_USER_CTRL          ( 0x6A )
#define ICM20602_PWR_MGMT_1         ( 0x6B )
#define ICM20602_PWR_MGMT_2         ( 0x6C )
#define ICM20602_I2C_IF             ( 0x70 )
#define ICM20602_FIFO_COUNTH        ( 0x72 )
#define ICM20602_FIFO_COUNTL        ( 0x73 )
#define ICM20602_FIFO_R_W           ( 0x74 )
#define ICM20602_WHO_AM_I           ( 0x75 )
#define ICM20602_XA_OFFSET_H        ( 0x77 )
#define ICM20602_XA_OFFSET_L        ( 0x78 )
#define ICM20602_YA_OFFSET_H        ( 0x7A )
#define ICM20602_YA_OFFSET_L        ( 0x7B )
#define ICM20602_ZA_OFFSET_H        ( 0x7D )
#define ICM20602_ZA_OFFSET_L        ( 0x7E )
//================================================ ICM20602 ڲַ================================================

extern int16 icm20602_gyro_x, icm20602_gyro_y, icm20602_gyro_z;                 // 
extern int16 icm20602_acc_x, icm20602_acc_y, icm20602_acc_z;                    // ٶȼ
extern float icm20602_transition_factor[2];

void    icm20602_get_acc            (void);
void    icm20602_get_gyro           (void);

//-------------------------------------------------------------------------------------------------------------------
//       ICM20602 ٶȼתΪʵ
// ˵     acc_value       ļٶȼ
// ز     void
// ʹʾ     float data = icm20602_acc_transition(icm20602_acc_x);           // λΪ g(m/s^2)
// עϢ
//-------------------------------------------------------------------------------------------------------------------
#define icm20602_acc_transition(acc_value)      ((float)(acc_value) / icm20602_transition_factor[0])

//-------------------------------------------------------------------------------------------------------------------
//       ICM20602 תΪʵ
// ˵     gyro_value      
// ز     void
// ʹʾ     float data = icm20602_gyro_transition(icm20602_gyro_x);         // λΪ /s
// עϢ
//-------------------------------------------------------------------------------------------------------------------
#define icm20602_gyro_transition(gyro_value)    ((float)(gyro_value) / icm20602_transition_factor[1])

uint8   icm20602_init               (void);

#endif

