37 #include "drv_digital_out.h" 38 #include "drv_digital_in.h" 39 #include "drv_i2c_master.h" 40 #include "drv_spi_master.h" 53 #define C6DOFIMU9_MAP_MIKROBUS( cfg, mikrobus ) \ 54 cfg.scl = MIKROBUS( mikrobus, MIKROBUS_SCL ); \ 55 cfg.sda = MIKROBUS( mikrobus, MIKROBUS_SDA ); \ 56 cfg.miso = MIKROBUS( mikrobus, MIKROBUS_MISO ); \ 57 cfg.mosi = MIKROBUS( mikrobus, MIKROBUS_MOSI ); \ 58 cfg.sck = MIKROBUS( mikrobus, MIKROBUS_SCK ); \ 59 cfg.cs = MIKROBUS( mikrobus, MIKROBUS_CS ); \ 60 cfg.syn = MIKROBUS( mikrobus, MIKROBUS_PWM ); \ 61 cfg.int_pin = MIKROBUS( mikrobus, MIKROBUS_INT ); 68 #define C6DOFIMU9_MASTER_I2C 0 69 #define C6DOFIMU9_MASTER_SPI 1 76 #define C6DOFIMU9_RETVAL uint8_t 79 #define C6DOFIMU9_OK 0x00 80 #define C6DOFIMU9_INIT_ERROR 0xFF 87 #define C6DOFIMU9_I2C_SLAVE_ADDRESS_0 0x68 88 #define C6DOFIMU9_I2C_SLAVE_ADDRESS_1 0x69 95 #define C6DOFIMU9_SPI_WRITE_CMD 0x00 96 #define C6DOFIMU9_SPI_READ_CMD 0x80 103 #define C6DOFIMU9_REG_SELF_TEST_X_GYRO 0x00 104 #define C6DOFIMU9_REG_SELF_TEST_Y_GYRO 0x01 105 #define C6DOFIMU9_REG_SELF_TEST_Z_GYRO 0x02 106 #define C6DOFIMU9_REG_SELF_TEST_X_ACCEL 0x0D 107 #define C6DOFIMU9_REG_SELF_TEST_Y_ACCEL 0x0E 108 #define C6DOFIMU9_REG_SELF_TEST_Z_ACCEL 0x0F 109 #define C6DOFIMU9_REG_XG_OFFS_USRH 0x13 110 #define C6DOFIMU9_REG_XG_OFFS_USRL 0x14 111 #define C6DOFIMU9_REG_YG_OFFS_USRH 0x15 112 #define C6DOFIMU9_REG_YG_OFFS_USRL 0x16 113 #define C6DOFIMU9_REG_ZG_OFFS_USRH 0x17 114 #define C6DOFIMU9_REG_ZG_OFFS_USRL 0x18 115 #define C6DOFIMU9_REG_SMPLRT_DIV 0x19 116 #define C6DOFIMU9_REG_CONFIG 0x1A 117 #define C6DOFIMU9_REG_GYRO_CONFIG 0x1B 118 #define C6DOFIMU9_REG_ACCEL_CONFIG 0x1C 119 #define C6DOFIMU9_REG_ACCEL_CONFIG_2 0x1D 120 #define C6DOFIMU9_REG_LP_MODE_CFG 0x1E 121 #define C6DOFIMU9_REG_ACCEL_WOM_THR 0x1F 122 #define C6DOFIMU9_REG_FIFO_EN 0x23 123 #define C6DOFIMU9_REG_FSYNC_INT 0x36 124 #define C6DOFIMU9_REG_INT_PIN_CFG 0x37 125 #define C6DOFIMU9_REG_INT_ENABLE 0x38 126 #define C6DOFIMU9_REG_INT_STATUS 0x3A 127 #define C6DOFIMU9_REG_ACCEL_XOUT_H 0x3B 128 #define C6DOFIMU9_REG_ACCEL_XOUT_L 0x3C 129 #define C6DOFIMU9_REG_ACCEL_YOUT_H 0x3D 130 #define C6DOFIMU9_REG_ACCEL_YOUT_L 0x3E 131 #define C6DOFIMU9_REG_ACCEL_ZOUT_H 0x3F 132 #define C6DOFIMU9_REG_ACCEL_ZOUT_L 0x40 133 #define C6DOFIMU9_REG_TEMP_OUT_H 0x41 134 #define C6DOFIMU9_REG_TEMP_OUT_L 0x42 135 #define C6DOFIMU9_REG_GYRO_XOUT_H 0x43 136 #define C6DOFIMU9_REG_GYRO_XOUT_L 0x44 137 #define C6DOFIMU9_REG_GYRO_YOUT_H 0x45 138 #define C6DOFIMU9_REG_GYRO_YOUT_L 0x46 139 #define C6DOFIMU9_REG_GYRO_ZOUT_H 0x47 140 #define C6DOFIMU9_REG_GYRO_ZOUT_L 0x48 141 #define C6DOFIMU9_REG_SIGNAL_PATH_RESET 0x68 142 #define C6DOFIMU9_REG_ACCEL_INTEL_CTRL 0x69 143 #define C6DOFIMU9_REG_USER_CTRL 0x6A 144 #define C6DOFIMU9_REG_PWR_MGMT_1 0x6B 145 #define C6DOFIMU9_REG_PWR_MGMT_2 0x6C 146 #define C6DOFIMU9_REG_FIFO_COUNTH 0x72 147 #define C6DOFIMU9_REG_FIFO_COUNTL 0x73 148 #define C6DOFIMU9_REG_FIFO_R_W 0x74 149 #define C6DOFIMU9_REG_WHO_AM_I 0x75 150 #define C6DOFIMU9_REG_XA_OFFSET_H 0x77 151 #define C6DOFIMU9_REG_XA_OFFSET_L 0x78 152 #define C6DOFIMU9_REG_YA_OFFSET_H 0x7A 153 #define C6DOFIMU9_REG_YA_OFFSET_L 0x7B 154 #define C6DOFIMU9_REG_ZA_OFFSET_H 0x7D 155 #define C6DOFIMU9_REG_ZA_OFFSET_L 0x7E 162 #define C6DOFIMU9_BM_FIFO_MODE_FULL_REPLACE_OLD_DATA 0x00 163 #define C6DOFIMU9_BM_FIFO_MODE_FULL_NO_WRITE_DATA 0x40 164 #define C6DOFIMU9_BM_DISABLE_FSYNC_PIN 0x00 165 #define C6DOFIMU9_BM_ENABLE_FSYNC_PIN_TEMP_OUT_L 0x08 166 #define C6DOFIMU9_BM_ENABLE_FSYNC_PIN_GYRO_XOUT_L 0x10 167 #define C6DOFIMU9_BM_ENABLE_FSYNC_PIN_GYRO_YOUT_L 0x18 168 #define C6DOFIMU9_BM_ENABLE_FSYNC_PIN_GYRO_ZOUT_L 0x20 169 #define C6DOFIMU9_BM_ENABLE_FSYNC_PIN_ACCEL_XOUT_L 0x28 170 #define C6DOFIMU9_BM_ENABLE_FSYNC_PIN_ACCEL_YOUT_L 0x30 171 #define C6DOFIMU9_BM_ENABLE_FSYNC_PIN_ACCEL_ZOUT_L 0x38 179 #define C6DOFIMU9_GYRO_FULL_SCALE_250dps 0x00FA 180 #define C6DOFIMU9_GYRO_FULL_SCALE_500dps 0x01F4 181 #define C6DOFIMU9_GYRO_FULL_SCALE_1000dps 0x03E8 182 #define C6DOFIMU9_GYRO_FULL_SCALE_2000dps 0x07D0 189 #define C6DOFIMU9_ACCEL_FULL_SCALE_2g 0x02 190 #define C6DOFIMU9_ACCEL_FULL_SCALE_4g 0x04 191 #define C6DOFIMU9_ACCEL_FULL_SCALE_8g 0x08 192 #define C6DOFIMU9_ACCEL_FULL_SCALE_16g 0x10 193 #define C6DOFIMU9_ACCEL_AVERAGE_4_SAMPLES 0x04 194 #define C6DOFIMU9_ACCEL_AVERAGE_8_SAMPLES 0x08 195 #define C6DOFIMU9_ACCEL_AVERAGE_16_SAMPLES 0x10 196 #define C6DOFIMU9_ACCEL_AVERAGE_32_SAMPLES 0x20 203 #define C6DOFIMU9_GYRO_AVERAGE_1x 0x01 204 #define C6DOFIMU9_GYRO_AVERAGE_2x 0x02 205 #define C6DOFIMU9_GYRO_AVERAGE_4x 0x04 206 #define C6DOFIMU9_GYRO_AVERAGE_8x 0x08 207 #define C6DOFIMU9_GYRO_AVERAGE_16x 0x10 208 #define C6DOFIMU9_GYRO_AVERAGE_32x 0x20 209 #define C6DOFIMU9_GYRO_AVERAGE_64x 0x40 210 #define C6DOFIMU9_GYRO_AVERAGE_128x 0x80 217 #define C6DOFIMU9_BM_DISABLE_TEMP_FIFO 0x00 218 #define C6DOFIMU9_BM_ENABLE_TEMP_FIFO 0x80 219 #define C6DOFIMU9_BM_DISABLE_XGYRO_FIFO 0x00 220 #define C6DOFIMU9_BM_ENABLE_XGYRO_FIFO 0x40 221 #define C6DOFIMU9_BM_DISABLE_YGYRO_FIFO 0x00 222 #define C6DOFIMU9_BM_ENABLE_YGYRO_FIFO 0x20 223 #define C6DOFIMU9_BM_DISABLE_ZGYRO_FIFO 0x00 224 #define C6DOFIMU9_BM_ENABLE_ZGYRO_FIFO 0x10 225 #define C6DOFIMU9_BM_DISABLE_ACCEL_FIFO 0x00 226 #define C6DOFIMU9_BM_ENABLE_ACCEL_FIFO 0x08 233 #define C6DOFIMU9_DEVICE_ID 0xA9 767 #endif // _C6DOFIMU9_H_ spi_master_chip_select_polarity_t cs_polarity
Definition: c6dofimu9.h:307
pin_name_t chip_select
Definition: c6dofimu9.h:275
uint32_t i2c_speed
Definition: c6dofimu9.h:303
pin_name_t sck
Definition: c6dofimu9.h:293
void c6dofimu9_set_accel_avg_filter_mode(c6dofimu9_t *ctx, uint8_t accel_avg_samples)
Set Accel averaging filter settings for Low Power mode function.
pin_name_t int_pin
Definition: c6dofimu9.h:299
void c6dofimu9_set_accel_config(c6dofimu9_t *ctx, uint16_t accel_config_data)
Set Accel configuration function.
pin_name_t syn
Definition: c6dofimu9.h:298
void c6dofimu9_set_gyro_measurement_range(c6dofimu9_t *ctx, uint16_t gyro_full_scale_range)
Set Gyro measurement range configuration function.
void c6dofimu9_enable_gyro_interrupt(c6dofimu9_t *ctx)
Enable Gyro interrupt function.
uint8_t slave_address
Definition: c6dofimu9.h:274
void c6dofimu9_set_accel_measurement_range(c6dofimu9_t *ctx, uint8_t accel_full_scale_range)
Set Accel measurement range configuration function.
uint8_t c6dofimu9_check_interrupt(c6dofimu9_t *ctx)
Check interrupt state function.
void c6dofimu9_default_cfg(c6dofimu9_t *ctx)
Click Default Configuration function.
digital_out_t cs
Definition: c6dofimu9.h:261
C6DOFIMU9_RETVAL c6dofimu9_init(c6dofimu9_t *ctx, c6dofimu9_cfg_t *cfg)
Initialization function.
void c6dofimu9_generic_read(c6dofimu9_t *ctx, uint8_t reg, uint8_t *data_buf, uint8_t len)
Generic read function.
void c6dofimu9_reset_default(c6dofimu9_t *ctx)
Reset the internal registers and restores the default settings function.
void c6dofimu9_enable_accel_wake_on_motion(c6dofimu9_t *ctx)
Enable the Wake-on-Motion detection function.
void c6dofimu9_set_sleep_mode(c6dofimu9_t *ctx)
Set the device to sleep mode function.
void c6dofimu9_enable_data_ready_interrupt(c6dofimu9_t *ctx)
Enable data ready interrupt function.
i2c_master_t i2c
Definition: c6dofimu9.h:269
spi_master_t spi
Definition: c6dofimu9.h:270
c6dofimu9_select_t master_sel
Definition: c6dofimu9.h:278
void c6dofimu9_generic_write(c6dofimu9_t *ctx, uint8_t reg, uint8_t *data_buf, uint8_t len)
Generic write function.
uint8_t c6dofimu9_get_accel_wake_on_motion_trsh(c6dofimu9_t *ctx)
Get Accel wake-on motion threshold function.
void c6dofimu9_set_gyro_config(c6dofimu9_t *ctx, uint8_t gyro_config_data)
Set Gyro configuration function.
void c6dofimu9_get_gyro_data(c6dofimu9_t *ctx, int16_t *p_gyro_x, int16_t *p_gyro_y, int16_t *p_gyro_z)
Read Gyro X-axis, Y-axis and Z-axis axis function.
pin_name_t scl
Definition: c6dofimu9.h:289
void c6dofimu9_reset_accel_signal(c6dofimu9_t *ctx)
Reset Accel signal path function.
pin_name_t mosi
Definition: c6dofimu9.h:292
uint8_t c6dofimu9_get_device_id(c6dofimu9_t *ctx)
Get device ID function.
int16_t c6dofimu9_get_axis(c6dofimu9_t *ctx, uint8_t addr_reg_msb, uint8_t addr_reg_lsb)
Get axis data function.
c6dofimu9_master_io_t write_f
Definition: c6dofimu9.h:276
Click ctx object definition.
Definition: c6dofimu9.h:256
uint32_t spi_speed
Definition: c6dofimu9.h:305
void c6dofimu9_enable_accel_interrupt(c6dofimu9_t *ctx)
Enable Accel interrupt function.
digital_out_t syn
Definition: c6dofimu9.h:260
struct c6dofimu9_s c6dofimu9_t
Click ctx object definition.
uint8_t spi_mode
Definition: c6dofimu9.h:306
void c6dofimu9_set_gyro_config_lp_mode(c6dofimu9_t *ctx, uint8_t gyro_averages)
Generic read function.
void c6dofimu9_set_standby_mode(c6dofimu9_t *ctx)
Set the device to standby mode function.
pin_name_t miso
Definition: c6dofimu9.h:291
c6dofimu9_master_io_t read_f
Definition: c6dofimu9.h:277
uint8_t i2c_address
Definition: c6dofimu9.h:304
void c6dofimu9_enable_fifo(c6dofimu9_t *ctx, uint8_t en_fifo_data)
Enable FIFO configuration function.
uint8_t c6dofimu9_get_interrupt_status(c6dofimu9_t *ctx)
Get interrupt status function.
void c6dofimu9_cfg_setup(c6dofimu9_cfg_t *cfg)
Config Object Initialization function.
void c6dofimu9_get_accel_data(c6dofimu9_t *ctx, int16_t *p_accel_x, int16_t *p_accel_y, int16_t *p_accel_z)
Read Accel X-axis, Y-axis and Z-axis axis function.
void(* c6dofimu9_master_io_t)(struct c6dofimu9_s *, uint8_t, uint8_t *, uint8_t)
Master Input/Output type.
Definition: c6dofimu9.h:251
Click configuration structure definition.
Definition: c6dofimu9.h:285
c6dofimu9_select_t sel
Definition: c6dofimu9.h:309
#define C6DOFIMU9_RETVAL
Definition: c6dofimu9.h:76
digital_in_t int_pin
Definition: c6dofimu9.h:265
pin_name_t sda
Definition: c6dofimu9.h:290
void c6dofimu9_set_config(c6dofimu9_t *ctx, uint8_t config_data)
Set configuration function.
void c6dofimu9_reset_gyro_signal(c6dofimu9_t *ctx)
Reset Gyro signal path function.
pin_name_t cs
Definition: c6dofimu9.h:294
uint8_t c6dofimu9_select_t
Communication type.
Definition: c6dofimu9.h:246