c6dofimu11  2.0.0.0
c6dofimu11.h
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1 /*
2  * MikroSDK - MikroE Software Development Kit
3  * Copyright© 2020 MikroElektronika d.o.o.
4  *
5  * Permission is hereby granted, free of charge, to any person
6  * obtaining a copy of this software and associated documentation
7  * files (the "Software"), to deal in the Software without restriction,
8  * including without limitation the rights to use, copy, modify, merge,
9  * publish, distribute, sublicense, and/or sell copies of the Software,
10  * and to permit persons to whom the Software is furnished to do so,
11  * subject to the following conditions:
12  *
13  * The above copyright notice and this permission notice shall be
14  * included in all copies or substantial portions of the Software.
15  *
16  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
17  * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
18  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
19  * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
20  * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE,
21  * ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE
22  * OR OTHER DEALINGS IN THE SOFTWARE.
23  */
24 
33 // ----------------------------------------------------------------------------
34 
35 #ifndef C6DOFIMU11_H
36 #define C6DOFIMU11_H
37 
38 #include "drv_digital_out.h"
39 #include "drv_digital_in.h"
40 #include "drv_i2c_master.h"
41 
42 // -------------------------------------------------------------- PUBLIC MACROS
52 #define C6DOFIMU11_MAP_MIKROBUS( cfg, mikrobus ) \
53  cfg.scl = MIKROBUS( mikrobus, MIKROBUS_SCL ); \
54  cfg.sda = MIKROBUS( mikrobus, MIKROBUS_SDA ); \
55  cfg.gp1 = MIKROBUS( mikrobus, MIKROBUS_PWM ); \
56  cfg.gp2 = MIKROBUS( mikrobus, MIKROBUS_INT )
57 
63 #define C6DOFIMU11_RETVAL uint8_t
64 
65 #define C6DOFIMU11_OK 0x00
66 #define C6DOFIMU11_INIT_ERROR 0xFF
67 
73 #define C6DOFIMU11_I2C_SLAVE_ADDRESS_GND 0x0E
74 #define C6DOFIMU11_I2C_SLAVE_ADDRESS_VCC 0x0F
75 
82 #define C6DOFIMU11_WHO_AM_I 0x00
83 #define C6DOFIMU11_INS1 0x01
84 #define C6DOFIMU11_INS2 0x02
85 #define C6DOFIMU11_INS3 0x03
86 #define C6DOFIMU11_INL 0x05
87 #define C6DOFIMU11_ACCEL_XOUT_L 0x0A
88 #define C6DOFIMU11_ACCEL_XOUT_H 0x0B
89 #define C6DOFIMU11_ACCEL_YOUT_L 0x0C
90 #define C6DOFIMU11_ACCEL_YOUT_H 0x0D
91 #define C6DOFIMU11_ACCEL_ZOUT_L 0x0E
92 #define C6DOFIMU11_ACCEL_ZOUT_H 0x0F
93 #define C6DOFIMU11_MAG_XOUT_L 0x10
94 #define C6DOFIMU11_MAG_XOUT_H 0x11
95 #define C6DOFIMU11_MAG_YOUT_L 0x12
96 #define C6DOFIMU11_MAG_YOUT_H 0x13
97 #define C6DOFIMU11_MAG_ZOUT_L 0x14
98 #define C6DOFIMU11_MAG_ZOUT_H 0x15
99 #define C6DOFIMU11_TEMP_OUT_L 0x16
100 #define C6DOFIMU11_TEMP_OUT_H 0x17
101 #define C6DOFIMU11_INC1 0x2A
102 #define C6DOFIMU11_INC2 0x2B
103 #define C6DOFIMU11_INC3 0x2C
104 #define C6DOFIMU11_INC4 0x2D
105 #define C6DOFIMU11_INC5 0x2E
106 #define C6DOFIMU11_AMI_CNTL1 0x2F
107 #define C6DOFIMU11_AMI_CNTL2 0x30
108 #define C6DOFIMU11_AMI_CNTL3 0x31
109 #define C6DOFIMU11_MMI_CNTL1 0x32
110 #define C6DOFIMU11_MMI_CNTL2 0x33
111 #define C6DOFIMU11_MMI_CNTL3 0x34
112 #define C6DOFIMU11_FFI_CNTL1 0x35
113 #define C6DOFIMU11_FFI_CNTL2 0x36
114 #define C6DOFIMU11_FFI_CNTL3 0x37
115 #define C6DOFIMU11_ODCNTL 0x38
116 #define C6DOFIMU11_CNTL1 0x39
117 #define C6DOFIMU11_CNTL2 0x3A
118 #define C6DOFIMU11_COTR 0x3C
119 #define C6DOFIMU11_BUF_CTRL_1 0x77
120 #define C6DOFIMU11_BUF_CTRL_2 0x78
121 #define C6DOFIMU11_BUF_CTRL_3 0x79
122 #define C6DOFIMU11_BUF_CLEAR 0x7A
123 #define C6DOFIMU11_BUF_STATUS_1 0x7B
124 #define C6DOFIMU11_BUF_STATUS_2 0x7C
125 #define C6DOFIMU11_BUF_STATUS_3 0x7D
126 #define C6DOFIMU11_BUF_READ 0x7E
127 
134 #define C6DOFIMU11_WHO_AM_I_WIA_ID 0x2D
135 #define C6DOFIMU11_INS1_INT_NO_INT 0x00
136 #define C6DOFIMU11_INS1_INT_INT 0x80
137 #define C6DOFIMU11_INS1_BFI_BUFF_NOT_FULL 0x00
138 #define C6DOFIMU11_INS1_BFI_BUFF_FULL 0x40
139 #define C6DOFIMU11_INS1_WMI_MARK_NOT_REACHED 0x00
140 #define C6DOFIMU11_INS1_WMI_MARK_REACHED 0x20
141 #define C6DOFIMU11_INS1_DRDY_A_NOT_AVAILABLE 0x00
142 #define C6DOFIMU11_INS1_DRDY_A_AVAILABLE 0x10
143 #define C6DOFIMU11_INS1_DRDY_M_NOT_AVAILABLE 0x00
144 #define C6DOFIMU11_INS1_DRDY_M_AVAILABLE 0x08
145 #define C6DOFIMU11_INS1_FFI_NO_FFI 0x00
146 #define C6DOFIMU11_INS1_FFI_FFI 0x04
147 #define C6DOFIMU11_INS1_AMI_NO_MOTION 0x00
148 #define C6DOFIMU11_INS1_AMI_MOTION 0x02
149 #define C6DOFIMU11_INS1_MMI_NO_MOTION 0x00
150 #define C6DOFIMU11_INS1_MMI_MOTION 0x01
151 #define C6DOFIMU11_INS2_AXNI 0x20
152 #define C6DOFIMU11_INS2_AXPI 0x10
153 #define C6DOFIMU11_INS2_AYNI 0x08
154 #define C6DOFIMU11_INS2_AYPI 0x04
155 #define C6DOFIMU11_INS2_AZNI 0x02
156 #define C6DOFIMU11_INS2_AZPI 0x01
157 #define C6DOFIMU11_INS3_MXNI 0x20
158 #define C6DOFIMU11_INS3_MXPI 0x10
159 #define C6DOFIMU11_INS3_MYNI 0x08
160 #define C6DOFIMU11_INS3_MYPI 0x04
161 #define C6DOFIMU11_INS3_MZNI 0x02
162 #define C6DOFIMU11_INS3_MZPI 0x01
163 #define C6DOFIMU11_INC1_BFI1 0x40
164 #define C6DOFIMU11_INC1_WMI1 0x20
165 #define C6DOFIMU11_INC1_DRDY_A1 0x10
166 #define C6DOFIMU11_INC1_DRDY_M1 0x08
167 #define C6DOFIMU11_INC1_FFI1 0x04
168 #define C6DOFIMU11_INC1_AMI1 0x02
169 #define C6DOFIMU11_INC1_MMI1 0x01
170 #define C6DOFIMU11_INC2_BFI2 0x40
171 #define C6DOFIMU11_INC2_WMI2 0x20
172 #define C6DOFIMU11_INC2_DRDY_A2 0x10
173 #define C6DOFIMU11_INC2_DRDY_M2 0x08
174 #define C6DOFIMU11_INC2_FFI2 0x04
175 #define C6DOFIMU11_INC2_AMI2 0x02
176 #define C6DOFIMU11_INC2_MMI2 0x01
177 #define C6DOFIMU11_INC3_IED2_PUSHPULL 0x00
178 #define C6DOFIMU11_INC3_IED2_OPENDRAIN 0x80
179 #define C6DOFIMU11_INC3_IEA2_LOW 0x00
180 #define C6DOFIMU11_INC3_IEA2_HIGH 0x40
181 #define C6DOFIMU11_INC3_IEL2_LATCHED 0x00
182 #define C6DOFIMU11_INC3_IEL2_PULSED 0x10
183 #define C6DOFIMU11_INC3_IEL2_FIFO_TRIG 0x20
184 #define C6DOFIMU11_INC3_IEL2_FIFO_TRIG_2 0x30
185 #define C6DOFIMU11_INC3_IED1_PUSHPULL 0x00
186 #define C6DOFIMU11_INC3_IED1_OPENDRAIN 0x08
187 #define C6DOFIMU11_INC3_IEA1_LOW 0x00
188 #define C6DOFIMU11_INC3_IEA1_HIGH 0x04
189 #define C6DOFIMU11_INC3_IEL1_LATCHED 0x00
190 #define C6DOFIMU11_INC3_IEL1_PULSED 0x01
191 #define C6DOFIMU11_INC3_IEL1_FIFO_TRIG 0x02
192 #define C6DOFIMU11_INC3_IEL1_FIFO_TRIG_2 0x03
193 #define C6DOFIMU11_INC4_AXNIE 0x20
194 #define C6DOFIMU11_INC4_AXPIE 0x10
195 #define C6DOFIMU11_INC4_AYNIE 0x08
196 #define C6DOFIMU11_INC4_AYPIE 0x04
197 #define C6DOFIMU11_INC4_AZNIE 0x02
198 #define C6DOFIMU11_INC4_AZPIE 0x01
199 #define C6DOFIMU11_INC5_MXNIE 0x20
200 #define C6DOFIMU11_INC5_MXPIE 0x10
201 #define C6DOFIMU11_INC5_MYNIE 0x08
202 #define C6DOFIMU11_INC5_MYPIE 0x04
203 #define C6DOFIMU11_INC5_MZNIE 0x02
204 #define C6DOFIMU11_INC5_MZPIE 0x01
205 #define C6DOFIMU11_AMI_CNTL3_AMI_EN_DISABLED 0x00
206 #define C6DOFIMU11_AMI_CNTL3_AMI_EN_ENABLED 0x80
207 #define C6DOFIMU11_AMI_CNTL3_AMIUL 0x40
208 #define C6DOFIMU11_AMI_CNTL3_OAMI_0P781 0x00
209 #define C6DOFIMU11_AMI_CNTL3_OAMI_1P563 0x01
210 #define C6DOFIMU11_AMI_CNTL3_OAMI_3P125 0x02
211 #define C6DOFIMU11_AMI_CNTL3_OAMI_6P25 0x03
212 #define C6DOFIMU11_AMI_CNTL3_OAMI_12P5 0x04
213 #define C6DOFIMU11_AMI_CNTL3_OAMI_25 0x05
214 #define C6DOFIMU11_AMI_CNTL3_OAMI_50 0x06
215 #define C6DOFIMU11_AMI_CNTL3_OAMI_100 0x07
216 #define C6DOFIMU11_MMI_CNTL3_MMI_EN_DISABLED 0x00
217 #define C6DOFIMU11_MMI_CNTL3_MMI_EN_ENABLED 0x80
218 #define C6DOFIMU11_MMI_CNTL3_MMIUL 0x40
219 #define C6DOFIMU11_MMI_CNTL3_OMMI_0P781 0x00
220 #define C6DOFIMU11_MMI_CNTL3_OMMI_1P563 0x01
221 #define C6DOFIMU11_MMI_CNTL3_OMMI_3P125 0x02
222 #define C6DOFIMU11_MMI_CNTL3_OMMI_6P25 0x03
223 #define C6DOFIMU11_MMI_CNTL3_OMMI_12P5 0x04
224 #define C6DOFIMU11_MMI_CNTL3_OMMI_25 0x05
225 #define C6DOFIMU11_MMI_CNTL3_OMMI_50 0x06
226 #define C6DOFIMU11_MMI_CNTL3_OMMI_100 0x07
227 #define C6DOFIMU11_FFI_CNTL3_FFI_EN_DISABLED 0x00
228 #define C6DOFIMU11_FFI_CNTL3_FFI_EN_ENABLED 0x80
229 #define C6DOFIMU11_FFI_CNTL3_FFIUL 0x40
230 #define C6DOFIMU11_FFI_CNTL3_DCRM 0x08
231 #define C6DOFIMU11_FFI_CNTL3_OFFI_12P5 0x00
232 #define C6DOFIMU11_FFI_CNTL3_OFFI_25 0x01
233 #define C6DOFIMU11_FFI_CNTL3_OFFI_50 0x02
234 #define C6DOFIMU11_FFI_CNTL3_OFFI_100 0x03
235 #define C6DOFIMU11_FFI_CNTL3_OFFI_200 0x04
236 #define C6DOFIMU11_FFI_CNTL3_OFFI_400 0x05
237 #define C6DOFIMU11_FFI_CNTL3_OFFI_800 0x06
238 #define C6DOFIMU11_FFI_CNTL3_OFFI_1600 0x07
239 #define C6DOFIMU11_ODCNTL_OSA_12P5 0x00
240 #define C6DOFIMU11_ODCNTL_OSA_25 0x01
241 #define C6DOFIMU11_ODCNTL_OSA_50 0x02
242 #define C6DOFIMU11_ODCNTL_OSA_100 0x03
243 #define C6DOFIMU11_ODCNTL_OSA_200 0x04
244 #define C6DOFIMU11_ODCNTL_OSA_400 0x05
245 #define C6DOFIMU11_ODCNTL_OSA_800 0x06
246 #define C6DOFIMU11_ODCNTL_OSA_1600 0x07
247 #define C6DOFIMU11_ODCNTL_OSA_0P781 0x08
248 #define C6DOFIMU11_ODCNTL_OSA_1P563 0x09
249 #define C6DOFIMU11_ODCNTL_OSA_3P125 0x0A
250 #define C6DOFIMU11_ODCNTL_OSA_6P25 0x0B
251 #define C6DOFIMU11_ODCNTL_OSA_25600ST0P8 0x0C
252 #define C6DOFIMU11_ODCNTL_OSA_25600ST1P6 0x0D
253 #define C6DOFIMU11_ODCNTL_OSA_25600ST3P2 0x0E
254 #define C6DOFIMU11_ODCNTL_OSA_25600 0x0F
255 #define C6DOFIMU11_ODCNTL_OSM_12P5 0x00
256 #define C6DOFIMU11_ODCNTL_OSM_25 0x10
257 #define C6DOFIMU11_ODCNTL_OSM_50 0x20
258 #define C6DOFIMU11_ODCNTL_OSM_100 0x30
259 #define C6DOFIMU11_ODCNTL_OSM_200 0x40
260 #define C6DOFIMU11_ODCNTL_OSM_400 0x50
261 #define C6DOFIMU11_ODCNTL_OSM_800 0x60
262 #define C6DOFIMU11_ODCNTL_OSM_1600 0x70
263 #define C6DOFIMU11_ODCNTL_OSM_0P781 0x80
264 #define C6DOFIMU11_ODCNTL_OSM_1P563 0x90
265 #define C6DOFIMU11_ODCNTL_OSM_3P125 0xA0
266 #define C6DOFIMU11_ODCNTL_OSM_6P25 0xB0
267 #define C6DOFIMU11_ODCNTL_OSM_12800A 0xC0
268 #define C6DOFIMU11_ODCNTL_OSM_12800B 0xD0
269 #define C6DOFIMU11_ODCNTL_OSM_12800C 0xE0
270 #define C6DOFIMU11_ODCNTL_OSM_12800 0xF0
271 #define C6DOFIMU11_CNTL1_SRST 0x80
272 #define C6DOFIMU11_CNTL1_STEN_DISABLED 0x00
273 #define C6DOFIMU11_CNTL1_STEN_ENABLED 0x40
274 #define C6DOFIMU11_CNTL1_STPOL 0x20
275 #define C6DOFIMU11_CNTL1_COTC 0x08
276 
282 #define C6DOFIMU11_CNTL2_TEMP_EN_STANDBY_MODE 0x00
283 #define C6DOFIMU11_CNTL2_TEMPERATURE_DISABLE 0x00
284 #define C6DOFIMU11_CNTL2_TEMPERATURE_ENABLE 0x01
285 #define C6DOFIMU11_CNTL2_TEMP_EN_OPERATING_MODE 0x40
286 #define C6DOFIMU11_CNTL2_GSEL_8G 0x00
287 #define C6DOFIMU11_CNTL2_GSEL_16G 0x10
288 #define C6DOFIMU11_CNTL2_GSEL_32G 0x20
289 #define C6DOFIMU11_CNTL2_GSEL_64G 0x30
290 #define C6DOFIMU11_CNTL2_RES_A4M2 0x00
291 #define C6DOFIMU11_CNTL2_RES_A32M16 0x04
292 #define C6DOFIMU11_CNTL2_RES_MAX1 0x08
293 #define C6DOFIMU11_CNTL2_RES_MAX2 0x0C
294 #define C6DOFIMU11_CNTL2_MAG_DISABLE 0x00
295 #define C6DOFIMU11_CNTL2_MAG_ENABLE 0x01
296 #define C6DOFIMU11_CNTL2_MAG_EN_STANDBY_MODE 0x00
297 #define C6DOFIMU11_CNTL2_MAG_EN_OPERATING_MODE 0x02
298 #define C6DOFIMU11_CNTL2_ACCEL_EN_STANDBY_MODE 0x00
299 #define C6DOFIMU11_CNTL2_ACCEL_EN_OPERATING_MODE 0x01
300 #define C6DOFIMU11_CNTL2_ACCEL_DISABLE 0x00
301 #define C6DOFIMU11_CNTL2_ACCEL_ENABLE 0x01
302 #define C6DOFIMU11_COTR_TEST_RESP_DEFAULT 0x55
303 #define C6DOFIMU11_COTR_TEST_RESP_TEST 0xAA
304 #define C6DOFIMU11_BUF_CTRL_2_BUF_M_FIFO 0x00
305 #define C6DOFIMU11_BUF_CTRL_2_BUF_M_STREAM 0x02
306 #define C6DOFIMU11_BUF_CTRL_2_BUF_M_TRIGGER 0x04
307 #define C6DOFIMU11_BUF_CTRL_2_BUF_M_FILO 0x03
308 #define C6DOFIMU11_BUF_CTRL_2_SMT_TH8 0x01
309 #define C6DOFIMU11_BUF_CTRL_3_BFI_EN_DISABLED 0x00
310 #define C6DOFIMU11_BUF_CTRL_3_BFI_EN_ENABLED 0x80
311 #define C6DOFIMU11_BUF_CTRL_3_BUF_AX_DISABLED 0x00
312 #define C6DOFIMU11_BUF_CTRL_3_BUF_AX_ENABLED 0x40
313 #define C6DOFIMU11_BUF_CTRL_3_BUF_AY_DISABLED 0x00
314 #define C6DOFIMU11_BUF_CTRL_3_BUF_AY_ENABLED 0x20
315 #define C6DOFIMU11_BUF_CTRL_3_BUF_AZ_DISABLED 0x00
316 #define C6DOFIMU11_BUF_CTRL_3_BUF_AZ_ENABLED 0x10
317 #define C6DOFIMU11_BUF_CTRL_3_BUF_MX_DISABLED 0x00
318 #define C6DOFIMU11_BUF_CTRL_3_BUF_MX_ENABLED 0x08
319 #define C6DOFIMU11_BUF_CTRL_3_BUF_MY_DISABLED 0x00
320 #define C6DOFIMU11_BUF_CTRL_3_BUF_MY_ENABLED 0x04
321 #define C6DOFIMU11_BUF_CTRL_3_BUF_MZ_DISABLED 0x00
322 #define C6DOFIMU11_BUF_CTRL_3_BUF_MZ_ENABLED 0x02
323 #define C6DOFIMU11_BUF_CTRL_3_BUF_TEMP_DISABLED 0x00
324 #define C6DOFIMU11_BUF_CTRL_3_BUF_TEMP_ENABLED 0x01
325 #define C6DOFIMU11_BUF_STATUS_2_BUF_TRIG 0x02
326 #define C6DOFIMU11_BUF_STATUS_2_SMP_LEV_H 0x01
327 #define C6DOFIMU11_WHO_AM_I_WIA_MASK 0xFF
328 #define C6DOFIMU11_INS1_INT_MASK 0x80
329 #define C6DOFIMU11_INS1_BFI_MASK 0x40
330 #define C6DOFIMU11_INS1_WMI_MASK 0x20
331 #define C6DOFIMU11_INS1_DRDY_A_MASK 0x10
332 #define C6DOFIMU11_INS1_DRDY_M_MASK 0x08
333 #define C6DOFIMU11_INS1_FFI_MASK 0x04
334 #define C6DOFIMU11_INS1_AMI_MASK 0x02
335 
336 #define C6DOFIMU11_INS1_MMI_MASK 0x01
337 #define C6DOFIMU11_INC3_IED2_MASK 0x80
338 #define C6DOFIMU11_INC3_IEA2_MASK 0x40
339 #define C6DOFIMU11_INC3_IEL2_MASK 0x30
340 #define C6DOFIMU11_INC3_IED1_MASK 0x08
341 #define C6DOFIMU11_INC3_IEA1_MASK 0x04
342 #define C6DOFIMU11_INC3_IEL1_MASK 0x03
343 
344 #define C6DOFIMU11_AMI_CNTL3_AMI_EN_MASK 0x80
345 #define C6DOFIMU11_AMI_CNTL3_OAMI_MASK 0x07
346 
347 #define C6DOFIMU11_MMI_CNTL3_MMI_EN_MASK 0x80
348 #define C6DOFIMU11_MMI_CNTL3_OMMI_MASK 0x07
349 
350 #define C6DOFIMU11_FFI_CNTL3_FFI_EN_MASK 0x80
351 #define C6DOFIMU11_FFI_CNTL3_OFFI_MASK 0x07
352 
353 #define C6DOFIMU11_ODCNTL_OSA_MASK 0x0F
354 
355 #define C6DOFIMU11_ODCNTL_OSM_MASK 0xF0
356 #define C6DOFIMU11_CNTL1_STEN_MASK 0x40
357 #define C6DOFIMU11_CNTL2_TEMP_EN_MASK 0x40
358 
359 #define C6DOFIMU11_CNTL2_GSEL_MASK 0x30
360 #define C6DOFIMU11_CNTL2_RES_MASK 0x0C
361 #define C6DOFIMU11_CNTL2_MAG_EN_MASK 0x02
362 #define C6DOFIMU11_CNTL2_ACCEL_EN_MASK 0x01
363 #define C6DOFIMU11_COTR_TEST_RESP_MASK 0xFF
364 #define C6DOFIMU11_BUF_CTRL_1_SMT_TH_MASK 0xFF
365 #define C6DOFIMU11_BUF_CTRL_2_BUF_M_MASK 0x06
366 
372 #define C6DOFIMU11_BUF_CTRL_3_BFI_EN_MASK 0x80
373 #define C6DOFIMU11_BUF_CTRL_3_BUF_AX_MASK 0x40
374 #define C6DOFIMU11_BUF_CTRL_3_BUF_AY_MASK 0x20
375 #define C6DOFIMU11_BUF_CTRL_3_BUF_AZ_MASK 0x10
376 #define C6DOFIMU11_BUF_CTRL_3_BUF_MX_MASK 0x08
377 #define C6DOFIMU11_BUF_CTRL_3_BUF_MY_MASK 0x04
378 #define C6DOFIMU11_BUF_CTRL_3_BUF_MZ_MASK 0x02
379 #define C6DOFIMU11_BUF_CTRL_3_BUF_TEMP_MASK 0x01
380 #define C6DOFIMU11_BUF_STATUS_1_SMP_LEV_MASK 0xFF
381 #define C6DOFIMU11_BUF_STATUS_2_SMP_PAST_MASK 0xFF
382 #define C6DOFIMU11_BUF_STATUS_3_SMP_PAST_H_MASK 0xFF
383 
384 #define C6DOFIMU11_CHECK_ID_ERROR 0x00
385 #define C6DOFIMU11_CHECK_ID_SUCCESS 0x01
386 
387 #define C6DOFIMU11_ACCEL_COEF_RES_8G 0.00183111052
388 #define C6DOFIMU11_ACCEL_COEF_RES_16G 0.00732444210
389 #define C6DOFIMU11_ACCEL_COEF_RES_32G 0.02929776840
390 #define C6DOFIMU11_ACCEL_COEF_RES_64G 0.11255815032
391 #define C6DOFIMU11_MAG_COEF 0.03662221137
392  // End group macro
395 // --------------------------------------------------------------- PUBLIC TYPES
406 typedef struct
407 {
408  // Output pins
409 
410  digital_out_t gp1;
411 
412  // Input pins
413 
414  digital_in_t gp2;
415 
416  // Modules
417 
418  i2c_master_t i2c;
419 
420  // ctx variable
421 
422  uint8_t slave_address;
423 
424 } c6dofimu11_t;
425 
429 typedef struct
430 {
431  // Communication gpio pins
432 
433  pin_name_t scl;
434  pin_name_t sda;
435 
436  // Additional gpio pins
437 
438  pin_name_t gp1;
439  pin_name_t gp2;
440 
441  // static variable
442 
443  uint32_t i2c_speed;
444  uint8_t i2c_address;
445 
447 
451 typedef struct
452 {
453  float x;
454  float y;
455  float z;
456 }
458 
462 typedef struct
463 {
464  float x;
465  float y;
466  float z;
467 }
469 
470 // ----------------------------------------------- PUBLIC FUNCTION DECLARATIONS
471 
477 #ifdef __cplusplus
478 extern "C"{
479 #endif
480 
490 
500 
509 
520 void c6dofimu11_generic_write ( c6dofimu11_t *ctx, uint8_t reg, uint8_t *data_buf, uint8_t len );
521 
532 void c6dofimu11_generic_read ( c6dofimu11_t *ctx, uint8_t reg, uint8_t *data_buf, uint8_t len );
533 
543 void c6dofimu11_write_byte ( c6dofimu11_t *ctx, uint8_t reg_address, uint8_t write_data );
544 
553 uint8_t c6dofimu11_read_byte ( c6dofimu11_t *ctx, uint8_t reg_address );
554 
565 void c6dofimu11_write_multiple_bytes ( c6dofimu11_t *ctx, uint8_t reg_address, uint8_t *p_write_data, uint8_t n_bytes );
566 
577 void c6dofimu11_read_multiple_bytes ( c6dofimu11_t *ctx, uint8_t reg_address, uint8_t *p_read_data, uint8_t n_bytes );
578 
587 
596 
607 void c6dofimu11_enable_sensor ( c6dofimu11_t *ctx, uint8_t en_accel, uint8_t en_mag, uint8_t en_temp );
608 
619 void c6dofimu11_config_accel ( c6dofimu11_t *ctx, uint8_t data_rate, uint8_t data_range, uint8_t data_resolution );
620 
621 
631 void c6dofimu11_config_mag ( c6dofimu11_t *ctx, uint8_t data_rate, uint8_t data_resolution );
632 
641 int16_t c6dofimu11_get_axis ( c6dofimu11_t *ctx, uint8_t reg_add_lsb );
642 
653 void c6dofimu11_get_accel_data ( c6dofimu11_t *ctx, int16_t *accel_x, int16_t *accel_y, int16_t *accel_z );
654 
665 void c6dofimu11_get_mag_data ( c6dofimu11_t *ctx, int16_t *mag_x, int16_t *mag_y, int16_t *mag_z );
666 
676 
677 
687 
696 
705 
714 
715 
716 #ifdef __cplusplus
717 }
718 #endif
719 #endif // _C6DOFIMU11_H_
720  // End public_function group
723 
724 // ------------------------------------------------------------------------- END
c6dofimu11_init
C6DOFIMU11_RETVAL c6dofimu11_init(c6dofimu11_t *ctx, c6dofimu11_cfg_t *cfg)
Initialization function.
c6dofimu11_cfg_t::sda
pin_name_t sda
Definition: c6dofimu11.h:434
c6dofimu11_mag_t::x
float x
Definition: c6dofimu11.h:464
c6dofimu11_cfg_t::scl
pin_name_t scl
Definition: c6dofimu11.h:433
c6dofimu11_mag_t
Mag axis structure definition.
Definition: c6dofimu11.h:463
c6dofimu11_write_multiple_bytes
void c6dofimu11_write_multiple_bytes(c6dofimu11_t *ctx, uint8_t reg_address, uint8_t *p_write_data, uint8_t n_bytes)
This function write multiple bytes.
c6dofimu11_read_mag
void c6dofimu11_read_mag(c6dofimu11_t *ctx, c6dofimu11_mag_t *mag_data)
Read mag.
c6dofimu11_disable_sensor
void c6dofimu11_disable_sensor(c6dofimu11_t *ctx)
Disable sensor.
c6dofimu11_read_accel
void c6dofimu11_read_accel(c6dofimu11_t *ctx, c6dofimu11_accel_t *accel_data)
Read accel.
c6dofimu11_t::i2c
i2c_master_t i2c
Definition: c6dofimu11.h:418
c6dofimu11_accel_t::x
float x
Definition: c6dofimu11.h:453
c6dofimu11_accel_t
Accel axis structure definition.
Definition: c6dofimu11.h:452
c6dofimu11_cfg_t
Click configuration structure definition.
Definition: c6dofimu11.h:430
c6dofimu11_cfg_t::gp2
pin_name_t gp2
Definition: c6dofimu11.h:439
c6dofimu11_cfg_t::i2c_speed
uint32_t i2c_speed
Definition: c6dofimu11.h:443
c6dofimu11_t::slave_address
uint8_t slave_address
Definition: c6dofimu11.h:422
c6dofimu11_mag_t::z
float z
Definition: c6dofimu11.h:466
c6dofimu11_config_mag
void c6dofimu11_config_mag(c6dofimu11_t *ctx, uint8_t data_rate, uint8_t data_resolution)
Configuration map.
c6dofimu11_accel_t::y
float y
Definition: c6dofimu11.h:454
c6dofimu11_enable_sensor
void c6dofimu11_enable_sensor(c6dofimu11_t *ctx, uint8_t en_accel, uint8_t en_mag, uint8_t en_temp)
Enable sensor.
c6dofimu11_generic_read
void c6dofimu11_generic_read(c6dofimu11_t *ctx, uint8_t reg, uint8_t *data_buf, uint8_t len)
Generic read function.
c6dofimu11_mag_t::y
float y
Definition: c6dofimu11.h:465
c6dofimu11_t::gp1
digital_out_t gp1
Definition: c6dofimu11.h:410
c6dofimu11_check_id
uint8_t c6dofimu11_check_id(c6dofimu11_t *ctx)
This function check id.
c6dofimu11_read_byte
uint8_t c6dofimu11_read_byte(c6dofimu11_t *ctx, uint8_t reg_address)
This function read byte.
c6dofimu11_get_interrupt
uint8_t c6dofimu11_get_interrupt(c6dofimu11_t *ctx)
Get interrupt.
c6dofimu11_t
Click ctx object definition.
Definition: c6dofimu11.h:407
c6dofimu11_cfg_t::i2c_address
uint8_t i2c_address
Definition: c6dofimu11.h:444
c6dofimu11_default_cfg
void c6dofimu11_default_cfg(c6dofimu11_t *ctx)
Click Default Configuration function.
c6dofimu11_config_accel
void c6dofimu11_config_accel(c6dofimu11_t *ctx, uint8_t data_rate, uint8_t data_range, uint8_t data_resolution)
Configuration accel.
c6dofimu11_get_accel_data
void c6dofimu11_get_accel_data(c6dofimu11_t *ctx, int16_t *accel_x, int16_t *accel_y, int16_t *accel_z)
Get accel data.
c6dofimu11_write_byte
void c6dofimu11_write_byte(c6dofimu11_t *ctx, uint8_t reg_address, uint8_t write_data)
This function write byte.
c6dofimu11_accel_t::z
float z
Definition: c6dofimu11.h:455
c6dofimu11_read_multiple_bytes
void c6dofimu11_read_multiple_bytes(c6dofimu11_t *ctx, uint8_t reg_address, uint8_t *p_read_data, uint8_t n_bytes)
This function read multiple bytes.
c6dofimu11_enable_temperature_data
void c6dofimu11_enable_temperature_data(c6dofimu11_t *ctx)
Enable temperature data.
c6dofimu11_get_axis
int16_t c6dofimu11_get_axis(c6dofimu11_t *ctx, uint8_t reg_add_lsb)
Get axis.
C6DOFIMU11_RETVAL
#define C6DOFIMU11_RETVAL
Definition: c6dofimu11.h:63
c6dofimu11_generic_write
void c6dofimu11_generic_write(c6dofimu11_t *ctx, uint8_t reg, uint8_t *data_buf, uint8_t len)
Generic write function.
c6dofimu11_cfg_t::gp1
pin_name_t gp1
Definition: c6dofimu11.h:438
c6dofimu11_get_mag_data
void c6dofimu11_get_mag_data(c6dofimu11_t *ctx, int16_t *mag_x, int16_t *mag_y, int16_t *mag_z)
Get map data.
c6dofimu11_get_temperature
float c6dofimu11_get_temperature(c6dofimu11_t *ctx)
Get temperature.
c6dofimu11_cfg_setup
void c6dofimu11_cfg_setup(c6dofimu11_cfg_t *cfg)
Config Object Initialization function.
c6dofimu11_t::gp2
digital_in_t gp2
Definition: c6dofimu11.h:414