c6dofimu9 2.0.0.0
c6dofimu9.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 */
32// ----------------------------------------------------------------------------
33
34#ifndef C6DOFIMU9_H
35#define C6DOFIMU9_H
36
37#include "drv_digital_out.h"
38#include "drv_digital_in.h"
39#include "drv_i2c_master.h"
40#include "drv_spi_master.h"
41
42// -------------------------------------------------------------- PUBLIC MACROS
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
77
78
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
178/* Gyro configuration */
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 // End group macro
237// --------------------------------------------------------------- PUBLIC TYPES
246typedef uint8_t c6dofimu9_select_t;
247
251typedef void ( *c6dofimu9_master_io_t )( struct c6dofimu9_s*, uint8_t, uint8_t*, uint8_t );
252
256typedef struct c6dofimu9_s
257{
258 // Output pins
259
260 digital_out_t syn;
261 digital_out_t cs;
262
263 // Input pins
264
265 digital_in_t int_pin;
266
267 // Modules
268
269 i2c_master_t i2c;
270 spi_master_t spi;
271
272 // ctx variable
273
275 pin_name_t chip_select;
279
281
285typedef struct
286{
287 // Communication gpio pins
288
289 pin_name_t scl;
290 pin_name_t sda;
291 pin_name_t miso;
292 pin_name_t mosi;
293 pin_name_t sck;
294 pin_name_t cs;
295
296 // Additional gpio pins
297
298 pin_name_t syn;
299 pin_name_t int_pin;
300
301 // static variable
302
303 uint32_t i2c_speed;
304 uint8_t i2c_address;
305 uint32_t spi_speed;
306 uint8_t spi_mode;
307 spi_master_chip_select_polarity_t cs_polarity;
308
310
312 // End types group
314// ----------------------------------------------- PUBLIC FUNCTION DECLARATIONS
320#ifdef __cplusplus
321extern "C"{
322#endif
323
333
342
351
362void c6dofimu9_generic_write ( c6dofimu9_t *ctx, uint8_t reg, uint8_t *data_buf, uint8_t len );
363
374void c6dofimu9_generic_read ( c6dofimu9_t *ctx, uint8_t reg, uint8_t *data_buf, uint8_t len );
375
388
416void c6dofimu9_set_config ( c6dofimu9_t *ctx, uint8_t config_data );
417
441void c6dofimu9_set_gyro_config ( c6dofimu9_t *ctx, uint8_t gyro_config_data );
442
459void c6dofimu9_set_gyro_measurement_range ( c6dofimu9_t *ctx, uint16_t gyro_full_scale_range );
460
498void c6dofimu9_set_accel_config ( c6dofimu9_t *ctx, uint16_t accel_config_data );
499
516void c6dofimu9_set_accel_measurement_range ( c6dofimu9_t *ctx, uint8_t accel_full_scale_range );
517
533void c6dofimu9_set_accel_avg_filter_mode ( c6dofimu9_t *ctx, uint8_t accel_avg_samples );
534
560void c6dofimu9_set_gyro_config_lp_mode ( c6dofimu9_t *ctx, uint8_t gyro_averages );
561
571
599void c6dofimu9_enable_fifo ( c6dofimu9_t *ctx, uint8_t en_fifo_data );
600
610
620
630
651
661
671
681
691
701
711
722
733int16_t c6dofimu9_get_axis ( c6dofimu9_t *ctx, uint8_t addr_reg_msb, uint8_t addr_reg_lsb );
734
747void c6dofimu9_get_accel_data ( c6dofimu9_t *ctx, int16_t *p_accel_x, int16_t *p_accel_y, int16_t *p_accel_z );
748
761void c6dofimu9_get_gyro_data ( c6dofimu9_t *ctx, int16_t *p_gyro_x, int16_t *p_gyro_y, int16_t *p_gyro_z );
762
763
764#ifdef __cplusplus
765}
766#endif
767#endif // _C6DOFIMU9_H_
768 // End public_function group
771
772// ------------------------------------------------------------------------- END
#define C6DOFIMU9_RETVAL
Definition: c6dofimu9.h:76
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_set_sleep_mode(c6dofimu9_t *ctx)
Set the device to sleep mode function.
uint8_t c6dofimu9_get_interrupt_status(c6dofimu9_t *ctx)
Get interrupt status function.
void c6dofimu9_enable_data_ready_interrupt(c6dofimu9_t *ctx)
Enable data ready interrupt function.
void c6dofimu9_set_gyro_config_lp_mode(c6dofimu9_t *ctx, uint8_t gyro_averages)
Generic read function.
void c6dofimu9_reset_default(c6dofimu9_t *ctx)
Reset the internal registers and restores the default settings function.
C6DOFIMU9_RETVAL c6dofimu9_init(c6dofimu9_t *ctx, c6dofimu9_cfg_t *cfg)
Initialization function.
void c6dofimu9_reset_gyro_signal(c6dofimu9_t *ctx)
Reset Gyro signal path function.
void c6dofimu9_set_gyro_config(c6dofimu9_t *ctx, uint8_t gyro_config_data)
Set Gyro configuration function.
void c6dofimu9_enable_accel_wake_on_motion(c6dofimu9_t *ctx)
Enable the Wake-on-Motion detection function.
void c6dofimu9_set_standby_mode(c6dofimu9_t *ctx)
Set the device to standby mode function.
uint8_t c6dofimu9_check_interrupt(c6dofimu9_t *ctx)
Check interrupt state function.
void c6dofimu9_reset_accel_signal(c6dofimu9_t *ctx)
Reset Accel signal path function.
void c6dofimu9_generic_read(c6dofimu9_t *ctx, uint8_t reg, uint8_t *data_buf, uint8_t len)
Generic read function.
void c6dofimu9_cfg_setup(c6dofimu9_cfg_t *cfg)
Config Object Initialization function.
void c6dofimu9_set_accel_measurement_range(c6dofimu9_t *ctx, uint8_t accel_full_scale_range)
Set Accel measurement range configuration function.
void c6dofimu9_enable_accel_interrupt(c6dofimu9_t *ctx)
Enable Accel interrupt 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.
uint8_t c6dofimu9_get_accel_wake_on_motion_trsh(c6dofimu9_t *ctx)
Get Accel wake-on motion threshold function.
void c6dofimu9_set_gyro_measurement_range(c6dofimu9_t *ctx, uint16_t gyro_full_scale_range)
Set Gyro measurement range configuration function.
void c6dofimu9_generic_write(c6dofimu9_t *ctx, uint8_t reg, uint8_t *data_buf, uint8_t len)
Generic write function.
int16_t c6dofimu9_get_axis(c6dofimu9_t *ctx, uint8_t addr_reg_msb, uint8_t addr_reg_lsb)
Get axis data function.
void c6dofimu9_set_accel_config(c6dofimu9_t *ctx, uint16_t accel_config_data)
Set Accel configuration function.
uint8_t c6dofimu9_get_device_id(c6dofimu9_t *ctx)
Get device ID function.
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.
void c6dofimu9_enable_gyro_interrupt(c6dofimu9_t *ctx)
Enable Gyro interrupt function.
void c6dofimu9_set_config(c6dofimu9_t *ctx, uint8_t config_data)
Set configuration function.
void c6dofimu9_enable_fifo(c6dofimu9_t *ctx, uint8_t en_fifo_data)
Enable FIFO configuration function.
void c6dofimu9_default_cfg(c6dofimu9_t *ctx)
Click Default Configuration function.
uint8_t c6dofimu9_select_t
Communication type.
Definition: c6dofimu9.h:246
struct c6dofimu9_s c6dofimu9_t
Click ctx object definition.
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:286
uint8_t spi_mode
Definition: c6dofimu9.h:306
uint32_t i2c_speed
Definition: c6dofimu9.h:303
spi_master_chip_select_polarity_t cs_polarity
Definition: c6dofimu9.h:307
pin_name_t sck
Definition: c6dofimu9.h:293
c6dofimu9_select_t sel
Definition: c6dofimu9.h:309
pin_name_t mosi
Definition: c6dofimu9.h:292
uint32_t spi_speed
Definition: c6dofimu9.h:305
pin_name_t scl
Definition: c6dofimu9.h:289
pin_name_t int_pin
Definition: c6dofimu9.h:299
pin_name_t miso
Definition: c6dofimu9.h:291
pin_name_t sda
Definition: c6dofimu9.h:290
pin_name_t syn
Definition: c6dofimu9.h:298
pin_name_t cs
Definition: c6dofimu9.h:294
uint8_t i2c_address
Definition: c6dofimu9.h:304
Click ctx object definition.
Definition: c6dofimu9.h:257
digital_out_t cs
Definition: c6dofimu9.h:261
spi_master_t spi
Definition: c6dofimu9.h:270
c6dofimu9_master_io_t write_f
Definition: c6dofimu9.h:276
c6dofimu9_select_t master_sel
Definition: c6dofimu9.h:278
c6dofimu9_master_io_t read_f
Definition: c6dofimu9.h:277
digital_out_t syn
Definition: c6dofimu9.h:260
digital_in_t int_pin
Definition: c6dofimu9.h:265
i2c_master_t i2c
Definition: c6dofimu9.h:269
uint8_t slave_address
Definition: c6dofimu9.h:274
pin_name_t chip_select
Definition: c6dofimu9.h:275