/*****************************************************************************
Motion.h
*****************************************************************************/
#ifndef _MOTION_H
#define _MOTION_H
/*****************************************************************************/
typedef enum {SENSOR_NULL=0,SENSOR_LSM303=1,SENSOR_LSM6DS3=2} MOTION_SENSOR_TYPE; 

#define SENSITIVITY_ACC     0.061               /*0.061/0.122/0.244 mg/LSB   */
#define SENSITIVITY_MAG     0.580              /*  mgauss/LSB */
#define ACC_THRESHOLD       (int)(100.0/SENSITIVITY_ACC)  //加速度阈值 100mg

#define MOTION_CS_XL_PIN	GPIO_Pin_12
#define MOTION_CS_XL_PORT	GPIOA
#define MOTION_CS_MAG_PIN	GPIO_Pin_11
#define MOTION_CS_MAG_PORT	GPIOA

#define MOTION_SDA_PIN	GPIO_Pin_15
#define MOTION_SDA_PORT	GPIOB
#define MOTION_CLK_PIN	GPIO_Pin_13
#define MOTION_CLK_PORT	GPIOB

#define MOTION_CS_XL_HIGH	MOTION_CS_XL_PORT->BSRR = MOTION_CS_XL_PIN
#define MOTION_CS_XL_LOW	MOTION_CS_XL_PORT->BRR  = MOTION_CS_XL_PIN

#define MOTION_CS_MAG_HIGH	MOTION_CS_MAG_PORT->BSRR = MOTION_CS_MAG_PIN
#define MOTION_CS_MAG_LOW	MOTION_CS_MAG_PORT->BRR  = MOTION_CS_MAG_PIN

#define MOTION_SDA_HIGH	MOTION_SDA_PORT->BSRR = MOTION_SDA_PIN
#define MOTION_SDA_LOW	MOTION_SDA_PORT->BRR  = MOTION_SDA_PIN

#define MOTION_CLK_HIGH	MOTION_CLK_PORT->BSRR = MOTION_CLK_PIN
#define MOTION_CLK_LOW	MOTION_CLK_PORT->BRR  = MOTION_CLK_PIN

#define MOTION_SDA_READ	GPIO_ReadInputDataBit(MOTION_SDA_PORT,MOTION_SDA_PIN)


#define MAG_WHO_AM_I_VALUE 0x3d
#define ACC_WHO_AM_I_VALUE 0x41


#define DELAY_NOP do{__nop();__nop();__nop();__nop();__nop();__nop();}while(0)

extern MOTION_SENSOR_TYPE MotionSensorType;

typedef struct SUT_MOTION
{
	short Ax;
	short Ay;
	short Az;
	short Mx;
	short My;
	short Mz;
	unsigned char Flag;//触发标志，0--静止  1--Ax方向突变  2--Ay方向突变
	
}SUT_MOTION;
extern SUT_MOTION sutMotion;
void DelayNs(unsigned short ns);
int MotionInit(void);
int MotionReadAccel(short *pX,short *pY,short *pZ);
int MotionReadMagne(short *pX,short *pY,short *pZ);
void MotionTest(void);
void MotionLoop(void);
/////////////////////////////////////////////////////////////////////////////
/*****************************************************************************/
#endif