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37 #include "mikrosdk_version.h"
40 #if mikroSDK_GET_VERSION < 20800ul
41 #include "rcu_delays.h"
47 #include "drv_digital_out.h"
48 #include "drv_digital_in.h"
49 #include "drv_i2c_master.h"
50 #include "drv_spi_master.h"
63 #define C6DOFIMU9_MAP_MIKROBUS( cfg, mikrobus ) \
64 cfg.scl = MIKROBUS( mikrobus, MIKROBUS_SCL ); \
65 cfg.sda = MIKROBUS( mikrobus, MIKROBUS_SDA ); \
66 cfg.miso = MIKROBUS( mikrobus, MIKROBUS_MISO ); \
67 cfg.mosi = MIKROBUS( mikrobus, MIKROBUS_MOSI ); \
68 cfg.sck = MIKROBUS( mikrobus, MIKROBUS_SCK ); \
69 cfg.cs = MIKROBUS( mikrobus, MIKROBUS_CS ); \
70 cfg.syn = MIKROBUS( mikrobus, MIKROBUS_PWM ); \
71 cfg.int_pin = MIKROBUS( mikrobus, MIKROBUS_INT );
78 #define C6DOFIMU9_MASTER_I2C 0
79 #define C6DOFIMU9_MASTER_SPI 1
86 #define C6DOFIMU9_RETVAL uint8_t
89 #define C6DOFIMU9_OK 0x00
90 #define C6DOFIMU9_INIT_ERROR 0xFF
97 #define C6DOFIMU9_I2C_SLAVE_ADDRESS_0 0x68
98 #define C6DOFIMU9_I2C_SLAVE_ADDRESS_1 0x69
105 #define C6DOFIMU9_SPI_WRITE_CMD 0x00
106 #define C6DOFIMU9_SPI_READ_CMD 0x80
113 #define C6DOFIMU9_REG_SELF_TEST_X_GYRO 0x00
114 #define C6DOFIMU9_REG_SELF_TEST_Y_GYRO 0x01
115 #define C6DOFIMU9_REG_SELF_TEST_Z_GYRO 0x02
116 #define C6DOFIMU9_REG_SELF_TEST_X_ACCEL 0x0D
117 #define C6DOFIMU9_REG_SELF_TEST_Y_ACCEL 0x0E
118 #define C6DOFIMU9_REG_SELF_TEST_Z_ACCEL 0x0F
119 #define C6DOFIMU9_REG_XG_OFFS_USRH 0x13
120 #define C6DOFIMU9_REG_XG_OFFS_USRL 0x14
121 #define C6DOFIMU9_REG_YG_OFFS_USRH 0x15
122 #define C6DOFIMU9_REG_YG_OFFS_USRL 0x16
123 #define C6DOFIMU9_REG_ZG_OFFS_USRH 0x17
124 #define C6DOFIMU9_REG_ZG_OFFS_USRL 0x18
125 #define C6DOFIMU9_REG_SMPLRT_DIV 0x19
126 #define C6DOFIMU9_REG_CONFIG 0x1A
127 #define C6DOFIMU9_REG_GYRO_CONFIG 0x1B
128 #define C6DOFIMU9_REG_ACCEL_CONFIG 0x1C
129 #define C6DOFIMU9_REG_ACCEL_CONFIG_2 0x1D
130 #define C6DOFIMU9_REG_LP_MODE_CFG 0x1E
131 #define C6DOFIMU9_REG_ACCEL_WOM_THR 0x1F
132 #define C6DOFIMU9_REG_FIFO_EN 0x23
133 #define C6DOFIMU9_REG_FSYNC_INT 0x36
134 #define C6DOFIMU9_REG_INT_PIN_CFG 0x37
135 #define C6DOFIMU9_REG_INT_ENABLE 0x38
136 #define C6DOFIMU9_REG_INT_STATUS 0x3A
137 #define C6DOFIMU9_REG_ACCEL_XOUT_H 0x3B
138 #define C6DOFIMU9_REG_ACCEL_XOUT_L 0x3C
139 #define C6DOFIMU9_REG_ACCEL_YOUT_H 0x3D
140 #define C6DOFIMU9_REG_ACCEL_YOUT_L 0x3E
141 #define C6DOFIMU9_REG_ACCEL_ZOUT_H 0x3F
142 #define C6DOFIMU9_REG_ACCEL_ZOUT_L 0x40
143 #define C6DOFIMU9_REG_TEMP_OUT_H 0x41
144 #define C6DOFIMU9_REG_TEMP_OUT_L 0x42
145 #define C6DOFIMU9_REG_GYRO_XOUT_H 0x43
146 #define C6DOFIMU9_REG_GYRO_XOUT_L 0x44
147 #define C6DOFIMU9_REG_GYRO_YOUT_H 0x45
148 #define C6DOFIMU9_REG_GYRO_YOUT_L 0x46
149 #define C6DOFIMU9_REG_GYRO_ZOUT_H 0x47
150 #define C6DOFIMU9_REG_GYRO_ZOUT_L 0x48
151 #define C6DOFIMU9_REG_SIGNAL_PATH_RESET 0x68
152 #define C6DOFIMU9_REG_ACCEL_INTEL_CTRL 0x69
153 #define C6DOFIMU9_REG_USER_CTRL 0x6A
154 #define C6DOFIMU9_REG_PWR_MGMT_1 0x6B
155 #define C6DOFIMU9_REG_PWR_MGMT_2 0x6C
156 #define C6DOFIMU9_REG_FIFO_COUNTH 0x72
157 #define C6DOFIMU9_REG_FIFO_COUNTL 0x73
158 #define C6DOFIMU9_REG_FIFO_R_W 0x74
159 #define C6DOFIMU9_REG_WHO_AM_I 0x75
160 #define C6DOFIMU9_REG_XA_OFFSET_H 0x77
161 #define C6DOFIMU9_REG_XA_OFFSET_L 0x78
162 #define C6DOFIMU9_REG_YA_OFFSET_H 0x7A
163 #define C6DOFIMU9_REG_YA_OFFSET_L 0x7B
164 #define C6DOFIMU9_REG_ZA_OFFSET_H 0x7D
165 #define C6DOFIMU9_REG_ZA_OFFSET_L 0x7E
172 #define C6DOFIMU9_BM_FIFO_MODE_FULL_REPLACE_OLD_DATA 0x00
173 #define C6DOFIMU9_BM_FIFO_MODE_FULL_NO_WRITE_DATA 0x40
174 #define C6DOFIMU9_BM_DISABLE_FSYNC_PIN 0x00
175 #define C6DOFIMU9_BM_ENABLE_FSYNC_PIN_TEMP_OUT_L 0x08
176 #define C6DOFIMU9_BM_ENABLE_FSYNC_PIN_GYRO_XOUT_L 0x10
177 #define C6DOFIMU9_BM_ENABLE_FSYNC_PIN_GYRO_YOUT_L 0x18
178 #define C6DOFIMU9_BM_ENABLE_FSYNC_PIN_GYRO_ZOUT_L 0x20
179 #define C6DOFIMU9_BM_ENABLE_FSYNC_PIN_ACCEL_XOUT_L 0x28
180 #define C6DOFIMU9_BM_ENABLE_FSYNC_PIN_ACCEL_YOUT_L 0x30
181 #define C6DOFIMU9_BM_ENABLE_FSYNC_PIN_ACCEL_ZOUT_L 0x38
189 #define C6DOFIMU9_GYRO_FULL_SCALE_250dps 0x00FA
190 #define C6DOFIMU9_GYRO_FULL_SCALE_500dps 0x01F4
191 #define C6DOFIMU9_GYRO_FULL_SCALE_1000dps 0x03E8
192 #define C6DOFIMU9_GYRO_FULL_SCALE_2000dps 0x07D0
199 #define C6DOFIMU9_ACCEL_FULL_SCALE_2g 0x02
200 #define C6DOFIMU9_ACCEL_FULL_SCALE_4g 0x04
201 #define C6DOFIMU9_ACCEL_FULL_SCALE_8g 0x08
202 #define C6DOFIMU9_ACCEL_FULL_SCALE_16g 0x10
203 #define C6DOFIMU9_ACCEL_AVERAGE_4_SAMPLES 0x04
204 #define C6DOFIMU9_ACCEL_AVERAGE_8_SAMPLES 0x08
205 #define C6DOFIMU9_ACCEL_AVERAGE_16_SAMPLES 0x10
206 #define C6DOFIMU9_ACCEL_AVERAGE_32_SAMPLES 0x20
213 #define C6DOFIMU9_GYRO_AVERAGE_1x 0x01
214 #define C6DOFIMU9_GYRO_AVERAGE_2x 0x02
215 #define C6DOFIMU9_GYRO_AVERAGE_4x 0x04
216 #define C6DOFIMU9_GYRO_AVERAGE_8x 0x08
217 #define C6DOFIMU9_GYRO_AVERAGE_16x 0x10
218 #define C6DOFIMU9_GYRO_AVERAGE_32x 0x20
219 #define C6DOFIMU9_GYRO_AVERAGE_64x 0x40
220 #define C6DOFIMU9_GYRO_AVERAGE_128x 0x80
227 #define C6DOFIMU9_BM_DISABLE_TEMP_FIFO 0x00
228 #define C6DOFIMU9_BM_ENABLE_TEMP_FIFO 0x80
229 #define C6DOFIMU9_BM_DISABLE_XGYRO_FIFO 0x00
230 #define C6DOFIMU9_BM_ENABLE_XGYRO_FIFO 0x40
231 #define C6DOFIMU9_BM_DISABLE_YGYRO_FIFO 0x00
232 #define C6DOFIMU9_BM_ENABLE_YGYRO_FIFO 0x20
233 #define C6DOFIMU9_BM_DISABLE_ZGYRO_FIFO 0x00
234 #define C6DOFIMU9_BM_ENABLE_ZGYRO_FIFO 0x10
235 #define C6DOFIMU9_BM_DISABLE_ACCEL_FIFO 0x00
236 #define C6DOFIMU9_BM_ENABLE_ACCEL_FIFO 0x08
243 #define C6DOFIMU9_DEVICE_ID 0xA9
777 #endif // _C6DOFIMU9_H_
void c6dofimu9_enable_accel_wake_on_motion(c6dofimu9_t *ctx)
Enable the Wake-on-Motion detection function.
uint8_t c6dofimu9_get_device_id(c6dofimu9_t *ctx)
Get device ID function.
c6dofimu9_select_t sel
Definition: c6dofimu9.h:319
void c6dofimu9_reset_accel_signal(c6dofimu9_t *ctx)
Reset Accel signal path function.
c6dofimu9_master_io_t write_f
Definition: c6dofimu9.h:286
uint32_t i2c_speed
Definition: c6dofimu9.h:313
uint8_t c6dofimu9_select_t
Communication type.
Definition: c6dofimu9.h:256
uint8_t c6dofimu9_check_interrupt(c6dofimu9_t *ctx)
Check interrupt state function.
void c6dofimu9_enable_gyro_interrupt(c6dofimu9_t *ctx)
Enable Gyro interrupt function.
uint8_t c6dofimu9_get_interrupt_status(c6dofimu9_t *ctx)
Get interrupt status function.
spi_master_chip_select_polarity_t cs_polarity
Definition: c6dofimu9.h:317
void c6dofimu9_default_cfg(c6dofimu9_t *ctx)
Click Default Configuration function.
void c6dofimu9_generic_read(c6dofimu9_t *ctx, uint8_t reg, uint8_t *data_buf, uint8_t len)
Generic read 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_set_gyro_config(c6dofimu9_t *ctx, uint8_t gyro_config_data)
Set Gyro configuration function.
digital_out_t syn
Definition: c6dofimu9.h:270
pin_name_t mosi
Definition: c6dofimu9.h:302
void c6dofimu9_enable_fifo(c6dofimu9_t *ctx, uint8_t en_fifo_data)
Enable FIFO configuration function.
void c6dofimu9_set_sleep_mode(c6dofimu9_t *ctx)
Set the device to sleep mode function.
Click configuration structure definition.
Definition: c6dofimu9.h:296
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.
c6dofimu9_select_t master_sel
Definition: c6dofimu9.h:288
uint8_t spi_mode
Definition: c6dofimu9.h:316
c6dofimu9_master_io_t read_f
Definition: c6dofimu9.h:287
void c6dofimu9_enable_data_ready_interrupt(c6dofimu9_t *ctx)
Enable data ready interrupt function.
void c6dofimu9_reset_gyro_signal(c6dofimu9_t *ctx)
Reset Gyro signal path function.
void c6dofimu9_enable_accel_interrupt(c6dofimu9_t *ctx)
Enable Accel interrupt function.
void c6dofimu9_cfg_setup(c6dofimu9_cfg_t *cfg)
Config Object Initialization function.
pin_name_t miso
Definition: c6dofimu9.h:301
struct c6dofimu9_s c6dofimu9_t
Click ctx object definition.
digital_in_t int_pin
Definition: c6dofimu9.h:275
pin_name_t cs
Definition: c6dofimu9.h:304
uint32_t spi_speed
Definition: c6dofimu9.h:315
C6DOFIMU9_RETVAL c6dofimu9_init(c6dofimu9_t *ctx, c6dofimu9_cfg_t *cfg)
Initialization function.
uint8_t c6dofimu9_get_accel_wake_on_motion_trsh(c6dofimu9_t *ctx)
Get Accel wake-on motion threshold function.
pin_name_t sda
Definition: c6dofimu9.h:300
void c6dofimu9_set_standby_mode(c6dofimu9_t *ctx)
Set the device to standby mode function.
uint8_t i2c_address
Definition: c6dofimu9.h:314
void c6dofimu9_set_config(c6dofimu9_t *ctx, uint8_t config_data)
Set configuration function.
int16_t c6dofimu9_get_axis(c6dofimu9_t *ctx, uint8_t addr_reg_msb, uint8_t addr_reg_lsb)
Get axis data function.
pin_name_t scl
Definition: c6dofimu9.h:299
void c6dofimu9_generic_write(c6dofimu9_t *ctx, uint8_t reg, uint8_t *data_buf, uint8_t len)
Generic write function.
void(* c6dofimu9_master_io_t)(struct c6dofimu9_s *, uint8_t, uint8_t *, uint8_t)
Master Input/Output type.
Definition: c6dofimu9.h:261
pin_name_t sck
Definition: c6dofimu9.h:303
void c6dofimu9_set_accel_measurement_range(c6dofimu9_t *ctx, uint8_t accel_full_scale_range)
Set Accel measurement range configuration function.
spi_master_t spi
Definition: c6dofimu9.h:280
pin_name_t int_pin
Definition: c6dofimu9.h:309
pin_name_t syn
Definition: c6dofimu9.h:308
void c6dofimu9_set_gyro_measurement_range(c6dofimu9_t *ctx, uint16_t gyro_full_scale_range)
Set Gyro measurement range configuration function.
pin_name_t chip_select
Definition: c6dofimu9.h:285
void c6dofimu9_set_accel_config(c6dofimu9_t *ctx, uint16_t accel_config_data)
Set Accel 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.
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.
#define C6DOFIMU9_RETVAL
Definition: c6dofimu9.h:86
i2c_master_t i2c
Definition: c6dofimu9.h:279
uint8_t slave_address
Definition: c6dofimu9.h:284
Click ctx object definition.
Definition: c6dofimu9.h:267
digital_out_t cs
Definition: c6dofimu9.h:271