38 #include "drv_digital_out.h" 39 #include "drv_digital_in.h" 40 #include "drv_i2c_master.h" 41 #include "drv_spi_master.h" 53 #define C6DOFIMU4_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 C6DOFIMU4_MASTER_I2C 0 69 #define C6DOFIMU4_MASTER_SPI 1 76 #define C6DOFIMU4_RETVAL uint8_t 78 #define C6DOFIMU4_OK 0x00 79 #define C6DOFIMU4_INIT_ERROR 0xFF 86 #define C6DOFIMU4_DEVICE_ADDR 0x68 93 #define C6DOFIMU4_XG_OFFS_TC_REG 0x04 94 #define C6DOFIMU4_YG_OFFS_TC_REG 0x07 95 #define C6DOFIMU4_ZG_OFFS_TC_REG 0x0A 96 #define C6DOFIMU4_SELF_TEST_X_REG 0x0D 97 #define C6DOFIMU4_SELF_TEST_Y_REG 0x0E 98 #define C6DOFIMU4_SELF_TEST_Z_REG 0x0F 99 #define C6DOFIMU4_XG_OFFS_USR_REG 0x13 100 #define C6DOFIMU4_YG_OFFS_USR_REG 0x15 101 #define C6DOFIMU4_ZG_OFFS_USR_REG 0x17 102 #define C6DOFIMU4_SMPLRT_DIV_REG 0x19 103 #define C6DOFIMU4_CONFIG_REG 0x1A 104 #define C6DOFIMU4_GYRO_CONFIG_REG 0x1B 105 #define C6DOFIMU4_ACCEL_CONFIG_REG 0x1C 106 #define C6DOFIMU4_ACCEL_CONFIG2_REG 0x1D 107 #define C6DOFIMU4_LP_MODE_CFG_REG 0x1E 108 #define C6DOFIMU4_ACCEL_WOM_X_THR_REG 0x20 109 #define C6DOFIMU4_ACCEL_WOM_Y_THR_REG 0x21 110 #define C6DOFIMU4_ACCEL_WOM_Z_THR_REG 0x22 111 #define C6DOFIMU4_FIFO_EN_REG 0x23 112 #define C6DOFIMU4_FSYNC_INT_REG 0x36 113 #define C6DOFIMU4_INT_PIN_CFG_REG 0x37 114 #define C6DOFIMU4_INT_ENABLE_REG 0x38 115 #define C6DOFIMU4_FIFO_WM_INT_STATUS_REG 0x39 116 #define C6DOFIMU4_INT_STATUS_REG 0x3A 117 #define C6DOFIMU4_ACCEL_XOUT_REG 0x3B 118 #define C6DOFIMU4_ACCEL_YOUT_REG 0x3D 119 #define C6DOFIMU4_ACCEL_ZOUT_REG 0x3F 120 #define C6DOFIMU4_TEMP_OUT_REG 0x41 121 #define C6DOFIMU4_GYRO_XOUT_REG 0x43 122 #define C6DOFIMU4_GYRO_YOUT_REG 0x45 123 #define C6DOFIMU4_GYRO_ZOUT_REG 0x47 124 #define C6DOFIMU4_SELF_TEST_X_GYRO_REG 0x50 125 #define C6DOFIMU4_SELF_TEST_Y_GYRO_REG 0x51 126 #define C6DOFIMU4_SELF_TEST_Z_GYRO_REG 0x52 127 #define C6DOFIMU4_FIFO_WM_TH_REG 0x60 128 #define C6DOFIMU4_SIGNAL_PATH_RESET_REG 0x68 129 #define C6DOFIMU4_ACCEL_INTEL_CTRL_REG 0x69 130 #define C6DOFIMU4_USER_CTRL_REG 0x6A 131 #define C6DOFIMU4_PWR_MGMT_1_REG 0x6B 132 #define C6DOFIMU4_PWR_MGMT_2_REG 0x6C 133 #define C6DOFIMU4_I2C_IF_REG 0x70 134 #define C6DOFIMU4_FIFO_COUNT_REG 0x72 135 #define C6DOFIMU4_FIFO_R_W_REG 0x74 136 #define C6DOFIMU4_WHO_AM_I_REG 0x75 137 #define C6DOFIMU4_XA_OFFSET_REG 0x77 138 #define C6DOFIMU4_YA_OFFSET_REG 0x7A 139 #define C6DOFIMU4_ZA_OFFSET_REG 0x7D 146 #define C6DOFIMU4_FIFO_REPLACING_DIS 0x40 147 #define C6DOFIMU4_EXT_SYNC_FUNC_DIS 0x00 148 #define C6DOFIMU4_EXT_SYNC_TEMP_OUT_L 0x08 149 #define C6DOFIMU4_EXT_SYNC_GYRO_XOUT_L 0x10 150 #define C6DOFIMU4_EXT_SYNC_GYRO_YOUT_L 0x18 151 #define C6DOFIMU4_EXT_SYNC_GYRO_ZOUT_L 0x20 152 #define C6DOFIMU4_EXT_SYNC_ACCEL_XOUT_L 0x28 153 #define C6DOFIMU4_EXT_SYNC_ACCEL_YOUT_L 0x30 154 #define C6DOFIMU4_EXT_SYNC_ACCEL_ZOUT_L 0x38 155 #define C6DOFIMU4_FCHOICE_8173_HZ 0x01 156 #define C6DOFIMU4_GYRO_FCHOICE_3281_HZ 0x02 157 #define C6DOFIMU4_G_DLPF_CFG_250_HZ 0x00 158 #define C6DOFIMU4_G_DLPF_CFG_176_HZ 0x01 159 #define C6DOFIMU4_G_DLPF_CFG_92_HZ 0x02 160 #define C6DOFIMU4_G_DLPF_CFG_41_HZ 0x03 161 #define C6DOFIMU4_G_DLPF_CFG_20_HZ 0x04 162 #define C6DOFIMU4_G_DLPF_CFG_10_HZ 0x05 163 #define C6DOFIMU4_G_DLPF_CFG_5_HZ 0x06 164 #define C6DOFIMU4_G_DLPF_CFG_3281_HZ 0x07 165 #define C6DOFIMU4_XG_ST 0x80 166 #define C6DOFIMU4_YG_ST 0x40 167 #define C6DOFIMU4_ZG_ST 0x20 168 #define C6DOFIMU4_GYRO_FS_SEL_250_DPS 0x00 169 #define C6DOFIMU4_GYRO_FS_SEL_500_DPS 0x01 170 #define C6DOFIMU4_GYRO_FS_SEL_1000_DPS 0x02 171 #define C6DOFIMU4_GYRO_FS_SEL_2000_DPS 0x03 172 #define C6DOFIMU4_XA_ST 0x80 173 #define C6DOFIMU4_YA_ST 0x40 174 #define C6DOFIMU4_ZA_ST 0x20 175 #define C6DOFIMU4_ACCEL_FS_SEL_2_G 0x00 176 #define C6DOFIMU4_ACCEL_FS_SEL_4_G 0x01 177 #define C6DOFIMU4_ACCEL_FS_SEL_8_G 0x02 178 #define C6DOFIMU4_ACCEL_FS_SEL_16_G 0x03 179 #define C6DOFIMU4_ACCEL_AVRG_CFG_4_SAMPLES 0x00 180 #define C6DOFIMU4_ACCEL_AVRG_CFG_8_SAMPLES 0x10 181 #define C6DOFIMU4_ACCEL_AVRG_CFG_16_SAMPLES 0x20 182 #define C6DOFIMU4_ACCEL_AVRG_CFG_32_SAMPLES 0x30 183 #define C6DOFIMU4_ACCEL_FCHOICE_1046_HZ 0x08 184 #define C6DOFIMU4_A_DLPF_CFG_218_HZ 0x01 185 #define C6DOFIMU4_A_DLPF_CFG_99_HZ 0x02 186 #define C6DOFIMU4_A_DLPF_CFG_44_HZ 0x03 187 #define C6DOFIMU4_A_DLPF_CFG_21_HZ 0x04 188 #define C6DOFIMU4_A_DLPF_CFG_10_HZ 0x05 189 #define C6DOFIMU4_A_DLPF_CFG_5_HZ 0x06 190 #define C6DOFIMU4_A_DLPF_CFG_420_HZ 0x07 191 #define C6DOFIMU4_GYRO_LP_MODE_EN 0x80 192 #define C6DOFIMU4_G_AVGCFG_1X_622HZ 0x00 193 #define C6DOFIMU4_G_AVGCFG_2X_391HZ 0x10 194 #define C6DOFIMU4_G_AVGCFG_4X_211HZ 0x20 195 #define C6DOFIMU4_G_AVGCFG_8X_108HZ 0x30 196 #define C6DOFIMU4_G_AVGCFG_16X_54HZ 0x40 197 #define C6DOFIMU4_G_AVGCFG_32X_27HZ 0x50 198 #define C6DOFIMU4_G_AVGCFG_64X_14HZ 0x60 199 #define C6DOFIMU4_G_AVGCFG_128X_7HZ 0x70 200 #define C6DOFIMU4_GYRO_FIFO_EN 0x10 201 #define C6DOFIMU4_ACCEL_FIFO_EN 0x08 202 #define C6DOFIMU4_FSYNC_INT_MASK 0x80 203 #define C6DOFIMU4_FSYNC_INT_OCCURED 0x80 204 #define C6DOFIMU4_FSYNC_INT_NOT_OCCURED 0x00 205 #define C6DOFIMU4_INT_DRDY_PIN_ACT_LOW 0x80 206 #define C6DOFIMU4_INT_DRDY_PIN_ACT_HIGH 0x00 207 #define C6DOFIMU4_INT_DRDY_PIN_OPEN_DRAIN 0x40 208 #define C6DOFIMU4_INT_DRDY_PIN_PUSH_PULL 0x00 209 #define C6DOFIMU4_INT_DRDY_PIN_STAT_CLEARED 0x20 210 #define C6DOFIMU4_INT_DRDY_PIN_PULSE 0x00 211 #define C6DOFIMU4_INT_STAT_CLEARED_ANY_READ 0x10 212 #define C6DOFIMU4_INT_STAT_CLEARED_STAT_REG_READ 0x00 213 #define C6DOFIMU4_FSYNC_PIN_INT_ACT_LOW 0x08 214 #define C6DOFIMU4_FSYNC_PIN_INT_ACT_HIGH 0x00 215 #define C6DOFIMU4_FSYNC_INT_MODE_EN 0x04 216 #define C6DOFIMU4_FIFO_WM_INT_MASK 0x40 217 #define C6DOFIMU4_FIFO_WM_INT_OCCURED 0x40 218 #define C6DOFIMU4_FIFO_WM_INT_NOT_OCCURED 0x00 219 #define C6DOFIMU4_WOM_X_INT_MASK 0x80 220 #define C6DOFIMU4_WOM_X_INT_OCCURED 0x80 221 #define C6DOFIMU4_WOM_Y_INT_MASK 0x40 222 #define C6DOFIMU4_WOM_Y_INT_OCCURED 0x40 223 #define C6DOFIMU4_WOM_Z_INT_MASK 0x20 224 #define C6DOFIMU4_WOM_Z_INT_OCCURED 0x20 225 #define C6DOFIMU4_FIFO_OFLOW_INT_MASK 0x10 226 #define C6DOFIMU4_FIFO_OFLOW_INT_OCCURED 0x10 227 #define C6DOFIMU4_GDRIVE_INT_MASK 0x04 228 #define C6DOFIMU4_GDRIVE_INT_OCCURED 0x04 229 #define C6DOFIMU4_DATA_RDY_INT_MASK 0x01 230 #define C6DOFIMU4_DATA_RDY_INT_OCCURED 0x01 231 #define C6DOFIMU4_INT_STATUS_NOT_OCCURED 0x00 232 #define C6DOFIMU4_ACCEL_RST 0x02 233 #define C6DOFIMU4_TEMP_RST 0x01 234 #define C6DOFIMU4_ACCEL_INTEL_WOM_DET_LOGIC_EN 0x80 235 #define C6DOFIMU4_ACCEL_INTEL_MODE_NOT_USE 0x00 236 #define C6DOFIMU4_ACCEL_INTEL_MODE_COMPARE 0x40 237 #define C6DOFIMU4_OUTPUT_LIMIT_EN 0x02 238 #define C6DOFIMU4_WOM_TH_MODE_OR 0x00 239 #define C6DOFIMU4_WOM_TH_MODE_AND 0x01 240 #define C6DOFIMU4_FIFO_EN 0x40 241 #define C6DOFIMU4_FIFO_RST 0x04 242 #define C6DOFIMU4_ALL_DIG_SIG_PATH_RST 0x01 243 #define C6DOFIMU4_DEVICE_RST 0x80 244 #define C6DOFIMU4_SLEEP 0x40 245 #define C6DOFIMU4_CYCLE 0x20 246 #define C6DOFIMU4_GYRO_STANDBY 0x10 247 #define C6DOFIMU4_TEMP_DIS 0x08 248 #define C6DOFIMU4_CLKSEL_AUTO_SELECT 0x05 249 #define C6DOFIMU4_CLKSEL_INTERNAL_20_MHZ 0x06 250 #define C6DOFIMU4_CLKSEL_STOP_CLOCK 0x07 251 #define C6DOFIMU4_STBY_XA 0x20 252 #define C6DOFIMU4_STBY_YA 0x10 253 #define C6DOFIMU4_STBY_ZA 0x08 254 #define C6DOFIMU4_STBY_XG 0x04 255 #define C6DOFIMU4_STBY_YG 0x02 256 #define C6DOFIMU4_STBY_ZG 0x01 257 #define C6DOFIMU4_ALL_AXIS_EN 0x00 258 #define C6DOFIMU4_I2C_IF_DIS 0x40 259 #define C6DOFIMU4_I2C_IF_EN 0x00 266 #define C6DOFIMU4_OK 0x00 267 #define C6DOFIMU4_INT_OCCURED 0x01 268 #define C6DOFIMU4_ADDR_ERROR 0x02 269 #define C6DOFIMU4_SENS_RESOLUTION_ERROR 0x03 276 #define C6DOFIMU4_LOG_HIGH 0x01 277 #define C6DOFIMU4_LOG_LOW 0x00 602 #endif // _C6DOFIMU4_H_ void c6dofimu4_generic_read(c6dofimu4_t *ctx, uint8_t reg, uint8_t *data_buf, uint8_t len)
Generic read function.
void(* c6dofimu4_master_io_t)(struct c6dofimu4_s *, uint8_t, uint8_t *, uint8_t)
Master Input/Output type.
Definition: c6dofimu4.h:295
pin_name_t int_pin
Definition: c6dofimu4.h:354
i2c_master_t i2c
Definition: c6dofimu4.h:321
uint8_t dev_accel_res
Definition: c6dofimu4.h:367
struct c6dofimu4_s c6dofimu4_t
Click ctx object definition.
pin_name_t sck
Definition: c6dofimu4.h:348
double y
Definition: c6dofimu4.h:300
uint8_t accel_res
Definition: c6dofimu4.h:333
uint8_t i2c_address
Definition: c6dofimu4.h:359
uint8_t c6dofimu4_read_bytes(c6dofimu4_t *ctx, uint8_t start_addr, uint8_t *data_out, uint8_t n_bytes)
Generic Sequential Read function.
pin_name_t sda
Definition: c6dofimu4.h:345
Definition: c6dofimu4.h:297
uint8_t c6dofimu4_write_bytes(c6dofimu4_t *ctx, uint8_t start_addr, uint8_t *data_in, uint8_t n_bytes)
Generic Sequential Write function.
c6dofimu4_master_io_t read_f
Definition: c6dofimu4.h:329
uint8_t c6dofimu4_set_fsr(c6dofimu4_t *ctx, uint8_t gyro_resol, uint8_t accel_resol)
Full Scale Setting function.
uint8_t gyro_res
Definition: c6dofimu4.h:332
void c6dofimu4_default_cfg(c6dofimu4_t *ctx)
Click Default Configuration function.
uint8_t dev_gyro_res
Definition: c6dofimu4.h:366
pin_name_t mosi
Definition: c6dofimu4.h:347
double z
Definition: c6dofimu4.h:301
double x
Definition: c6dofimu4.h:299
uint8_t c6dofimu4_select_t
Communication type.
Definition: c6dofimu4.h:290
uint8_t c6dofimu4_get_int_pin(c6dofimu4_t *ctx)
Int Pin Check function.
uint32_t i2c_speed
Definition: c6dofimu4.h:358
uint8_t c6dofimu4_write_word(c6dofimu4_t *ctx, uint8_t reg_addr, uint16_t data_in)
Generic Word Write function.
pin_name_t scl
Definition: c6dofimu4.h:344
uint8_t c6dofimu4_read_byte(c6dofimu4_t *ctx, uint8_t reg_addr, uint8_t *data_out)
Generic Single Byte Read function.
digital_in_t int_pin
Definition: c6dofimu4.h:317
c6dofimu4_select_t master_sel
Definition: c6dofimu4.h:330
uint8_t slave_address
Definition: c6dofimu4.h:326
void c6dofimu4_get_data(c6dofimu4_t *ctx, c6dofimu4_axis_t *accel_out, c6dofimu4_axis_t *gyro_out, int8_t *temp_out)
Data Get function.
C6DOFIMU4_RETVAL c6dofimu4_init(c6dofimu4_t *ctx, c6dofimu4_cfg_t *cfg)
Initialization function.
pin_name_t cs
Definition: c6dofimu4.h:349
#define C6DOFIMU4_RETVAL
Definition: c6dofimu4.h:76
digital_out_t cs
Definition: c6dofimu4.h:313
spi_master_t spi
Definition: c6dofimu4.h:322
uint8_t c6dofimu4_read_word(c6dofimu4_t *ctx, uint8_t reg_addr, uint16_t *data_out)
Generic Word Read function.
pin_name_t syn
Definition: c6dofimu4.h:353
void c6dofimu4_set_sync_pin(c6dofimu4_t *ctx, uint8_t state)
Sync Pin Setting function.
Click ctx object definition.
Definition: c6dofimu4.h:308
uint8_t c6dofimu4_write_byte(c6dofimu4_t *ctx, uint8_t reg_addr, uint8_t data_in)
Generic Single Byte Write function.
void c6dofimu4_generic_write(c6dofimu4_t *ctx, uint8_t reg, uint8_t *data_buf, uint8_t len)
Generic write function.
void c6dofimu4_reset(c6dofimu4_t *ctx)
Device Reset function.
pin_name_t chip_select
Definition: c6dofimu4.h:327
c6dofimu4_master_io_t write_f
Definition: c6dofimu4.h:328
digital_out_t syn
Definition: c6dofimu4.h:312
uint32_t spi_speed
Definition: c6dofimu4.h:360
uint8_t spi_mode
Definition: c6dofimu4.h:361
uint8_t c6dofimu4_get_status(c6dofimu4_t *ctx, uint8_t bit_mask)
Status Check function.
c6dofimu4_select_t sel
Definition: c6dofimu4.h:364
Click configuration structure definition.
Definition: c6dofimu4.h:340
spi_master_chip_select_polarity_t cs_polarity
Definition: c6dofimu4.h:362
void c6dofimu4_cfg_setup(c6dofimu4_cfg_t *cfg)
Config Object Initialization function.
pin_name_t miso
Definition: c6dofimu4.h:346