ماژول ژیروسکوپ و شتاب سنج GebraBit IAM-20680

typedef enum  interface
{
 NOT_SPI = 0,
 IS_SPI
}IAM20680_Interface;

typedef enum accel_fs_sel
{
FULL_SCALE_2g = 0  ,
FULL_SCALE_4g      ,
FULL_SCALE_8g      ,
FULL_SCALE_16g
}IAM20680_Accel_Fs_Sel;

typedef enum Accel_Scale_Factor
{
SCALE_FACTOR_16384_LSB_g = 16384    ,
SCALE_FACTOR_8192_LSB_g  = 8192     ,
SCALE_FACTOR_4096_LSB_g  = 4096     ,
SCALE_FACTOR_2048_LSB_g  = 2048
}IAM20680_Accel_Scale_Factor;

typedef enum gyro_fs_sel
{
 FS_250_DPS = 0    ,
 FS_500_DPS        ,
 FS_1000_DPS       ,
 FS_2000_DPS
}IAM20680_Gyro_Fs_Sel;

typedef enum Gyro_Scale_Factor
{
SCALE_FACTOR_131_LSB_DPS   = 131   ,
SCALE_FACTOR_65p5_LSB_DPS  = 65    ,
SCALE_FACTOR_32p8_LSB_DPS  = 32    ,
SCALE_FACTOR_16p4_LSB_DPS  = 16
}IAM20680_Gyro_Scale_Factor;

typedef enum FIFO_Config
{
BYPASS = 0 ,
STREAM_TO_FIFO      ,
STOP_ON_FULLSTOP_ON_FULL_FIFO_SNAPSHOT
}IAM20680_FIFO_MODE ;

typedef enum Ability
{
Disable = 0,
Enable
}IAM20680_Ability;

typedef enum Power_Mode
{
IAM20680_LOW_NOISE   = 0,
IAM20680_LOW_POWER   = 1,
IAM20680 _SLEEP_OFF  = 2
} IAM20680_Power_Mode;

typedef enum
{
GYRO_AVERAGE_1_SAMPLES_FILTER   = 0 ,
GYRO_AVERAGE_2_SAMPLES_FILTER   = 1 ,
GYRO_AVERAGE_4_SAMPLES_FILTER   = 2 ,
GYRO_AVERAGE_8_SAMPLES_FILTER   = 3 ,
GYRO_AVERAGE_16_SAMPLES_FILTER  = 4 ,
GYRO_AVERAGE_32_SAMPLES_FILTER  = 5	,
GYRO_AVERAGE_64_SAMPLES_FILTER  = 6	,
GYRO_AVERAGE_128_SAMPLES_FILTER = 7
} IAM20680_GYRO_Averaging_Filter;

typedef enum ACCEL_Averaging_Filter
{
 ACCEL_AVERAGE_4_SAMPLES_FILTER    = 0 ,
 ACCEL_AVERAGE_8_SAMPLES_FILTER    = 1 ,
 ACCEL_AVERAGE_16_SAMPLES_FILTER   = 2 ,
 ACCEL_AVERAGE_32_SAMPLES_FILTER   = 3
} IAM20680_ACCEL_Averaging_Filter;

typedef enum Preparation
{
IS_NOT_Ready = 0,
IS_Ready
}IAM20680_Preparation;

typedef enum Reset_Status
{
FAILED = 0,
DONE
}IAM20680_Reset_Status;

typedef enum FIFO_Ability
{
FIFO_DISABLE = 0,
FIFO_ENABLE
} IAM20680_FIFO_Ability;

typedef enum Get_DATA
{
FROM_REGISTER = 0,
FROM_FIFO
} IAM20680_Get_DATA;

typedef enum Sleep
{
IAM20680_AWAKE   = 0,
IAM20680_SLEEP
}IAM20680_Sleep ;

typedef enum Clock_Source
{
INTERNAL_20MHZ_OSCILLATOR = 0,
AUTO_SELECT               = 1,
CLOCK_STOP                = 7
}IAM20680_Clock_Source ;

typedef enum Sensor
{
SENSOR_ENABLE   = 0,
SENSOR_DISABLE  = 7
}IAM20680_Sensor ;

typedef enum int_level
{
ACTIVE_HIGH = 0,
ACTIVE_LOW
} IAM20680_INT_Level;

typedef enum latch_type
{
_50_US = 0,
HELD_STATUS_CLEAR
} IAM20680_Latch_Type;

typedef enum int_type
{
PUSH_PULL = 0,
OPEN_DRAIN
}IAM20680_INT_Type;

typedef enum FIFO_Overflow
{
FIFO_IS_NOT_OVERFLOW = 0,
FIFO_IS_OVERFLOW     = 1
} IAM20680_FIFO_Overflow;

typedef enum FCHOICEB
{
ENABLE_DLPF_FCHOICEB = 0,
BYPASS_DLPF_FCHOICEB = 1,
}IAM20680_FCHOICEB;

typedef enum sample_rate
{
_1_KHz   = 1000,
_4_KHz   = 4000,
_8_KHz   = 8000,
_32_KHz  = 32000
}IAM20680_Sample_Rate ;

typedef enum GYRO_TEMP_DLPF
{
IAM20680_GYRO_TEMP_DLPF_250      = 0,
IAM20680_GYRO_TEMP_DLPF_176      = 1,
IAM20680_GYRO_TEMP_DLPF_92       = 2,
IAM20680_GYRO_TEMP_DLPF_41	     = 3,
IAM20680_GYRO_TEMP_DLPF_20	     = 4,
IAM20680_GYRO_TEMP_DLPF_10       = 5,
IAM20680_GYRO_TEMP_DLPF_5	     = 6,
IAM20680_GYRO_TEMP_DLPF_3281     = 7
}IAM20680_GYRO_TEMP_DLPF ;

typedef enum Accel_DLPF_CFG
{
IAM20680_ACCEL_DLPF_218	  = 1,
IAM20680_ACCEL_DLPF_99	  = 2,
IAM20680_ACCEL_DLPF_45	  = 3,
IAM20680_ACCEL_DLPF_21	  = 4,
IAM20680_ACCEL_DLPF_10	  = 5,
IAM20680_ACCEL_DLPF_5     = 6,
IAM20680_ACCEL_DLPF_420   = 7
}IAM20680_ACCEL_DLPF ;

/********************************************************
 *Declare Read&Write IAM20680 Register Values Functions *
 ********************************************************/
extern	uint8_t	GB_IAM20680_Read_Reg_Data ( uint8_t regAddr,uint8_t* data);
extern	uint8_t GB_IAM20680_Read_Reg_Bits (uint8_t regAddr,uint8_t start_bit, uint8_t len, uint8_t* data);
extern	uint8_t GB_IAM20680_Burst_Read(uint8_t regAddr,uint8_t *data, uint16_t byteQuantity);
extern	uint8_t GB_IAM20680_Write_Reg_Data(uint8_t regAddr, uint8_t data);
extern	uint8_t	GB_IAM20680_Write_Reg_Bits(uint8_t regAddr, uint8_t start_bit, uint8_t len, uint8_t data);
extern	uint8_t GB_IAM20680_Burst_Write		( uint8_t regAddr,uint8_t *data, 	uint16_t byteQuantity);
/********************************************************
 *       Declare IAM20680 Configuration Functions       *
 ********************************************************/
extern void GB_IAM20680_Soft_Reset ( GebraBit_IAM20680 * IAM20680 );
extern void GB_IAM20680_Who_am_I(GebraBit_IAM20680 * IAM20680);
extern void GB_IAM20680_Select_SPI4_Interface(GebraBit_IAM20680 * IAM20680 , IAM20680_Interface spisel);
extern void GB_IAM20680_Sleep_Awake (GebraBit_IAM20680 * IAM20680, IAM20680_Sleep  working  ) ;
extern void GB_IAM20680_ACCEL_Power_Mode(GebraBit_IAM20680* IAM20680 ,IAM20680_Power_Mode pmode);
extern void GB_IAM20680_GYRO_Power_Mode(GebraBit_IAM20680* IAM20680 ,IAM20680_Power_Mode pmode);
extern void GB_IAM20680_Set_Clock_Source(GebraBit_IAM20680 * IAM20680 , IAM20680_CLK clk) ;
extern void GB_IAM20680_Temperature(GebraBit_IAM20680* IAM20680 ,IAM20680_Ability temp);
extern void GB_IAM20680_Accelerometer(GebraBit_IAM20680 * IAM20680 , IAM20680_Sensor accel);
extern void GB_IAM20680_Gyroscope(GebraBit_IAM20680 * IAM20680 , IAM20680_Sensor gyro) ;
extern void GB_IAM20680_Set_INT_Pin(GebraBit_IAM20680 * IAM20680 , IAM20680_INT_Level level ,IAM20680_INT_Type type , IAM20680_Latch_Type latch );
extern IAM20680_Preparation GB_IAM20680_Check_Data_Preparation(GebraBit_IAM20680 * IAM20680);
extern void GB_IAM20680_GYRO_Full_Scale ( GebraBit_IAM20680 * IAM20680 , IAM20680_Gyro_Fs_Sel fs ) ;
extern void GB_IAM20680_GYRO_Low_Pass_Filter  (GebraBit_IAM20680 * IAM20680 ,  IAM20680_FCHOICEB bypass ) ;
extern void GB_IAM20680_GYRO_TEMP_Low_Pass_Filter_Value  (GebraBit_IAM20680 * IAM20680 , IAM20680_GYRO_TEMP_DLPF dlpf );
extern void GB_IAM20680_GYRO_LP_Averaging_Filter  (GebraBit_IAM20680 * IAM20680 , IAM20680_GYRO_Averaging_Filter avg );
extern void GB_IAM20680_GYRO_Output_Sample_Rate (GebraBit_IAM20680 * IAM20680 , uint16_t rate_hz);
extern void GB_IAM20680_ACCEL_Full_Scale ( GebraBit_IAM20680 * IAM20680 , IAM20680_Accel_Fs_Sel fs );
extern void GB_IAM20680_ACCEL_Low_Pass_Filter  (GebraBit_IAM20680 * IAM20680 ,  IAM20680_FCHOICEB bypass );
extern void GB_IAM20680_ACCEL_Low_Pass_Filter_Value  (GebraBit_IAM20680 * IAM20680 , IAM20680_ACCEL_DLPF dlpf );
extern void GB_IAM20680_ACCEL_LP_Averaging_Filter  (GebraBit_IAM20680 * IAM20680 , IAM20680_ACCEL_Averaging_Filter avg );
extern void GB_IAM20680_Output_Sample_Rate (GebraBit_IAM20680 * IAM20680 , uint16_t rate_hz);
extern void GB_IAM20680_FIFO_Overflow_Interrupt(GebraBit_IAM20680 * IAM20680 , IAM20680_Ability data_ovf_int);
extern void GB_IAM20680_Data_Ready_Interrupt(GebraBit_IAM20680 * IAM20680 , IAM20680_Ability data_ready_int);
/********************************************************
 *          Declare IAM20680 FIFO Functions             *
 ********************************************************/
extern void GB_IAM20680_Access_Serial_Interface_To_FIFO(GebraBit_IAM20680 * IAM20680 , IAM20680_Ability interface_access_fifo);
extern IAM20680_FIFO_Overflow GB_IAM20680_Check_FIFO_Overflow(GebraBit_IAM20680 * IAM20680) ;
extern void GB_IAM20680_Write_ACCEL_FIFO(GebraBit_IAM20680 * IAM20680 , IAM20680_Ability accel_fifo ) ;
extern void GB_IAM20680_Write_GYRO_FIFO(GebraBit_IAM20680 * IAM20680 , IAM20680_Ability gyro_fifo ) ;
extern void GB_IAM20680_Write_TEMP_FIFO(GebraBit_IAM20680 * IAM20680 , IAM20680_Ability temp_fifo );
extern void GB_IAM20680_FIFO_Mode(GebraBit_IAM20680 * IAM20680 , IAM20680_FIFO_Mode fifo_mode );
extern void GB_IAM20680_FIFO_Reset(void) ;
extern void GB_IAM20680_GET_FIFO_Count (GebraBit_IAM20680 * IAM20680 ) ;
extern void GB_IAM20680_Read_FIFO(GebraBit_IAM20680 * IAM20680 , uint16_t qty);
extern void GB_IAM20680_Get_ACCEL_GYRO_TEMP_From_FIFO(GebraBit_IAM20680 * IAM20680);
/********************************************************
 *          Declare IAM20680 DATA Functions             *
 ********************************************************/
extern void GB_IAM20680_Get_Temp_Register_Raw_Data(GebraBit_IAM20680 * IAM20680);
extern void GB_IAM20680_Get_Temp_Valid_Data(GebraBit_IAM20680 * IAM20680);
extern void GB_IAM20680_Get_GYRO_X_Register_Raw_DATA(GebraBit_IAM20680 * IAM20680);
extern void GB_IAM20680_Get_GYRO_Y_Register_Raw_DATA(GebraBit_IAM20680 * IAM20680);
extern void GB_IAM20680_Get_GYRO_Z_Register_Raw_DATA(GebraBit_IAM20680 * IAM20680);
extern void GB_IAM20680_Get_GYRO_DATA_X_Valid_Data(GebraBit_IAM20680 * IAM20680);
extern void GB_IAM20680_Get_GYRO_DATA_Y_Valid_Data(GebraBit_IAM20680 * IAM20680);
extern void GB_IAM20680_Get_GYRO_DATA_Z_Valid_Data(GebraBit_IAM20680 * IAM20680);
extern void GB_IAM20680_Get_ACCEL_X_Register_Raw_DATA(GebraBit_IAM20680 * IAM20680);
extern void GB_IAM20680_Get_ACCEL_Y_Register_Raw_DATA(GebraBit_IAM20680 * IAM20680);
extern void GB_IAM20680_Get_ACCEL_Z_Register_Raw_DATA(GebraBit_IAM20680 * IAM20680);
extern void GB_IAM20680_Get_ACCEL_DATA_X_Valid_Data(GebraBit_IAM20680 * IAM20680);
extern void GB_IAM20680_Get_ACCEL_DATA_Y_Valid_Data(GebraBit_IAM20680 * IAM20680);
extern void GB_IAM20680_Get_ACCEL_DATA_Z_Valid_Data(GebraBit_IAM20680 * IAM20680);
extern void GB_IAM20680_Get_Temperature(GebraBit_IAM20680 * IAM20680);
extern void GB_IAM20680_Get_XYZ_GYROSCOPE(GebraBit_IAM20680 * IAM20680);
extern void GB_IAM20680_Get_XYZ_ACCELERATION(GebraBit_IAM20680 * IAM20680);
extern void GB_IAM20680_Get_ACCEL_GYRO_TEMP_From_Registers(GebraBit_IAM20680 * IAM20680);
extern void GB_ICM20649_FIFO_Data_Partition_ACCEL_GYRO_XYZ_TEMP(GebraBit_IAM20680 * IAM20680);
extern void GB_IAM20680_Get_Data(GebraBit_IAM20680 * IAM20680 , IAM20680_Get_DATA get_data);
/********************************************************
 *          Declare IAM20680 HIGH LEVEL Functions       *
 ********************************************************/
extern void GB_IAM20680_FIFO_Configuration ( GebraBit_IAM20680 * IAM20680 , IAM20680_FIFO_Ability fifo );
extern void GB_IAM20680_Set_Power_Management(GebraBit_IAM20680 * IAM20680 , IAM20680_Power_Mode pmode) ;
extern void GB_IAM20680_initialize( GebraBit_IAM20680 * IAM20680 );
extern void GB_IAM20680_Configuration(GebraBit_IAM20680 * IAM20680, IAM20680_FIFO_Ability fifo);

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */
GebraBit_IAM20680 IAM20680_Module;
/* USER CODE END PTD */

GB_IAM20680_Initialize( &IAM20680_Module );
GB_IAM20680_Configuration(&IAM20680_Module ,FIFO_ENABLE);
             //GB_IAM20680_Configuration(&IAM20680_Module , FIFO_DISABLE );

GB_IAM20680_Get_Data( &IAM20680_Module , FROM_FIFO );
//GB_IAM20680_Get_Data(  &IAM20680_Module , FROM_REGISTER  );

/* USER CODE BEGIN Header */
/*
 * ________________________________________________________________________________________________________
 * Copyright (c) 2020 GebraBit Inc. All rights reserved.
 *
 * This software, related documentation and any modifications thereto (collectively “Software”) is subject
 * to GebraBit and its licensors' intellectual property rights under U.S. and international copyright
 * and other intellectual property rights laws.
 *
 * GebraBit and its licensors retain all intellectual property and proprietary rights in and to the Software
 * and any use, reproduction, disclosure or distribution of the Software without an express license agreement
 * from GebraBit is strictly prohibited.

 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT
 * NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT IN
 * NO EVENT SHALL GebraBit BE LIABLE FOR ANY DIRECT, SPECIAL, INDIRECT, INCIDENTAL, OR CONSEQUENTIAL DAMAGES,
 * OR ANY DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT,
 * NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR PERFORMANCE
 * OF THE SOFTWARE.
 * ________________________________________________________________________________________________________
 */
/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
	* @Author       	: Mehrdad Zeinali
  ******************************************************************************
  * @attention
  *
  * Copyright (c) 2022 STMicroelectronics.
  * All rights reserved.
  *
  * This software is licensed under terms that can be found in the LICENSE file
  * in the root directory of this software component.
  * If no LICENSE file comes with this software, it is provided AS-IS.
  *
  ******************************************************************************
  */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
//#include "i2c.h"
#include "spi.h"
#include "gpio.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include	"GebraBit_IAM20680.h"
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */
extern GebraBit_IAM20680 IAM20680_Module;
/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/

/* USER CODE BEGIN PV */

/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */

/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
int main(void)
{
  /* USER CODE BEGIN 1 */

  /* USER CODE END 1 */

  /* MCU Configuration--------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* Configure the system clock */
  SystemClock_Config();

  /* USER CODE BEGIN SysInit */

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  //MX_I2C1_Init();
  MX_SPI1_Init();
  /* USER CODE BEGIN 2 */
  GB_IAM20680_initialize(&IAM20680_Module);
	//GB_IAM20680_Configuration(&IAM20680_Module , FIFO_ENABLE );
	GB_IAM20680_Configuration(&IAM20680_Module , FIFO_DISABLE );
  /* USER CODE END 2 */
  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {
    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */
		//GB_IAM20680_Get_Data(  &IAM20680_Module , FROM_FIFO  );
		GB_IAM20680_Get_Data(  &IAM20680_Module , FROM_REGISTER  );
  }
  /* USER CODE END 3 */
}

/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
  RCC_PeriphCLKInitTypeDef PeriphClkInit = {0};

  /** Initializes the RCC Oscillators according to the specified parameters
  * in the RCC_OscInitTypeDef structure.
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
  RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
  RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }

  /** Initializes the CPU, AHB and APB buses clocks
  */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
  {
    Error_Handler();
  }
  PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_I2C1;
  PeriphClkInit.I2c1ClockSelection = RCC_I2C1CLKSOURCE_SYSCLK;
  if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK)
  {
    Error_Handler();
  }
}

/* USER CODE BEGIN 4 */

/* USER CODE END 4 */

/**
  * @brief  This function is executed in case of error occurrence.
  * @retval None
  */
void Error_Handler(void)
{
  /* USER CODE BEGIN Error_Handler_Debug */
  /* User can add his own implementation to report the HAL error return state */
  __disable_irq();
  while (1)
  {
  }
  /* USER CODE END Error_Handler_Debug */
}

#ifdef  USE_FULL_ASSERT
/**
  * @brief  Reports the name of the source file and the source line number
  *         where the assert_param error has occurred.
  * @param  file: pointer to the source file name
  * @param  line: assert_param error line source number
  * @retval None
  */
void assert_failed(uint8_t *file, uint32_t line)
{
  /* USER CODE BEGIN 6 */
  /* User can add his own implementation to report the file name and line number,
     ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */