c6dofimu7 2.0.0.0
c6dofimu7.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 C6DOFIMU7_H
36#define C6DOFIMU7_H
37
38#include "drv_digital_in.h"
39#include "drv_i2c_master.h"
40
41// -------------------------------------------------------------- PUBLIC MACROS
51#define C6DOFIMU7_MAP_MIKROBUS( cfg, mikrobus ) \
52 cfg.scl = MIKROBUS( mikrobus, MIKROBUS_SCL ); \
53 cfg.sda = MIKROBUS( mikrobus, MIKROBUS_SDA ); \
54 cfg.int2 = MIKROBUS( mikrobus, MIKROBUS_PWM ); \
55 cfg.int1 = MIKROBUS( mikrobus, MIKROBUS_INT )
62#define C6DOFIMU7_RETVAL uint8_t
63
64#define C6DOFIMU7_OK 0x00
65#define C6DOFIMU7_INIT_ERROR 0xFF
72#define C6DOFIMU7_SLAVE_ADDRESS 0x68
73#define C6DOFIMU7_PWR_MGMT 0x06
74#define C6DOFIMU7_PWM_MGMT_L 0x80
75#define C6DOFIMU7_PWM_MGMT_H 0x01
76#define C6DOFIMU7_TEMP_OUT_H 0x39
77#define C6DOFIMU7_ACCEL_XOUT_H 0x2D
78#define C6DOFIMU7_ACCEL_YOUT_H 0x2F
79#define C6DOFIMU7_ACCEL_ZOUT_H 0x31
80#define C6DOFIMU7_GYRO_XOUT_H 0x33
81#define C6DOFIMU7_GYRO_YOUT_H 0x35
82#define C6DOFIMU7_GYRO_ZOUT_H 0x37
89#define C6DOFIMU7_TEMPERATURE_SENSITIVITY 333.87
90#define C6DOFIMU7_TEMPERATURE_OFFSET 6.3
91#define C6DOFIMU7_ACCEL_SENSITIVITY 8.192
92#define C6DOFIMU7_GYRO_SENSITIVITY 65.5 // End group macro
96// --------------------------------------------------------------- PUBLIC TYPES
105typedef struct
106{
107 float x_axis;
108 float y_axis;
109 float z_axis;
110
112
116typedef struct
117{
118 // Input pins
119
120 digital_in_t int2;
121 digital_in_t int1;
122
123 // Modules
124
125 i2c_master_t i2c;
126
127 // ctx variable
128
130
132
136typedef struct
137{
138 // Communication gpio pins
139
140 pin_name_t scl;
141 pin_name_t sda;
142
143 // Additional gpio pins
144
145 pin_name_t int2;
146 pin_name_t int1;
147
148 // static variable
149
150 uint32_t i2c_speed;
151 uint8_t i2c_address;
152
154 // End types group
156// ----------------------------------------------- PUBLIC FUNCTION DECLARATIONS
157
163#ifdef __cplusplus
164extern "C"{
165#endif
166
176
186
195
206void c6dofimu7_generic_write ( c6dofimu7_t *ctx, uint8_t reg, uint8_t *data_buf, uint8_t len );
207
218void c6dofimu7_generic_read ( c6dofimu7_t *ctx, uint8_t reg, uint8_t *data_buf, uint8_t len );
219
228int16_t c6dofimu7_read_word ( c6dofimu7_t *ctx, uint8_t address );
229
239float c6dofimu7_get_temp_data ( c6dofimu7_t *ctx, float temp_sensitivity, float temp_offset );
240
250void c6dofimu7_get_accel_data ( c6dofimu7_t *ctx, c6dofimu7_axis_t *accel, float sensitivity );
251
261void c6dofimu7_get_gyro_data ( c6dofimu7_t *ctx, c6dofimu7_axis_t *gyro, float sensitivity );
262
271
280
281#ifdef __cplusplus
282}
283#endif
284#endif // _C6DOFIMU7_H_
285 // End public_function group
288
289// ------------------------------------------------------------------------- END
#define C6DOFIMU7_RETVAL
Definition: c6dofimu7.h:62
float c6dofimu7_get_temp_data(c6dofimu7_t *ctx, float temp_sensitivity, float temp_offset)
Get temperature data function.
void c6dofimu7_cfg_setup(c6dofimu7_cfg_t *cfg)
Config Object Initialization function.
C6DOFIMU7_RETVAL c6dofimu7_init(c6dofimu7_t *ctx, c6dofimu7_cfg_t *cfg)
Initialization function.
void c6dofimu7_get_gyro_data(c6dofimu7_t *ctx, c6dofimu7_axis_t *gyro, float sensitivity)
Get gyroscope data function.
void c6dofimu7_generic_read(c6dofimu7_t *ctx, uint8_t reg, uint8_t *data_buf, uint8_t len)
Generic read function.
int16_t c6dofimu7_read_word(c6dofimu7_t *ctx, uint8_t address)
Read word function.
void c6dofimu7_generic_write(c6dofimu7_t *ctx, uint8_t reg, uint8_t *data_buf, uint8_t len)
Generic write function.
void c6dofimu7_get_accel_data(c6dofimu7_t *ctx, c6dofimu7_axis_t *accel, float sensitivity)
Get accelerometer data function.
uint8_t c6dofimu7_get_int_input(c6dofimu7_t *ctx)
Get INT input function.
uint8_t c6dofimu7_get_pwm_input(c6dofimu7_t *ctx)
Get PWM input function.
void c6dofimu7_default_cfg(c6dofimu7_t *ctx)
Click Default Configuration function.
Sensor axis structure.
Definition: c6dofimu7.h:106
float z_axis
Definition: c6dofimu7.h:109
float x_axis
Definition: c6dofimu7.h:107
float y_axis
Definition: c6dofimu7.h:108
Click configuration structure definition.
Definition: c6dofimu7.h:137
pin_name_t int1
Definition: c6dofimu7.h:146
pin_name_t int2
Definition: c6dofimu7.h:145
uint32_t i2c_speed
Definition: c6dofimu7.h:150
pin_name_t scl
Definition: c6dofimu7.h:140
pin_name_t sda
Definition: c6dofimu7.h:141
uint8_t i2c_address
Definition: c6dofimu7.h:151
Click ctx object definition.
Definition: c6dofimu7.h:117
digital_in_t int2
Definition: c6dofimu7.h:120
digital_in_t int1
Definition: c6dofimu7.h:121
i2c_master_t i2c
Definition: c6dofimu7.h:125
uint8_t slave_address
Definition: c6dofimu7.h:129