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38 #include "mikrosdk_version.h"
41 #if mikroSDK_GET_VERSION < 20800ul
42 #include "rcu_delays.h"
48 #include "drv_digital_out.h"
49 #include "drv_digital_in.h"
50 #include "drv_i2c_master.h"
51 #include "drv_spi_master.h"
63 #define C6DOFIMU4_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 C6DOFIMU4_MASTER_I2C 0
79 #define C6DOFIMU4_MASTER_SPI 1
86 #define C6DOFIMU4_RETVAL uint8_t
88 #define C6DOFIMU4_OK 0x00
89 #define C6DOFIMU4_INIT_ERROR 0xFF
96 #define C6DOFIMU4_DEVICE_ADDR 0x68
103 #define C6DOFIMU4_XG_OFFS_TC_REG 0x04
104 #define C6DOFIMU4_YG_OFFS_TC_REG 0x07
105 #define C6DOFIMU4_ZG_OFFS_TC_REG 0x0A
106 #define C6DOFIMU4_SELF_TEST_X_REG 0x0D
107 #define C6DOFIMU4_SELF_TEST_Y_REG 0x0E
108 #define C6DOFIMU4_SELF_TEST_Z_REG 0x0F
109 #define C6DOFIMU4_XG_OFFS_USR_REG 0x13
110 #define C6DOFIMU4_YG_OFFS_USR_REG 0x15
111 #define C6DOFIMU4_ZG_OFFS_USR_REG 0x17
112 #define C6DOFIMU4_SMPLRT_DIV_REG 0x19
113 #define C6DOFIMU4_CONFIG_REG 0x1A
114 #define C6DOFIMU4_GYRO_CONFIG_REG 0x1B
115 #define C6DOFIMU4_ACCEL_CONFIG_REG 0x1C
116 #define C6DOFIMU4_ACCEL_CONFIG2_REG 0x1D
117 #define C6DOFIMU4_LP_MODE_CFG_REG 0x1E
118 #define C6DOFIMU4_ACCEL_WOM_X_THR_REG 0x20
119 #define C6DOFIMU4_ACCEL_WOM_Y_THR_REG 0x21
120 #define C6DOFIMU4_ACCEL_WOM_Z_THR_REG 0x22
121 #define C6DOFIMU4_FIFO_EN_REG 0x23
122 #define C6DOFIMU4_FSYNC_INT_REG 0x36
123 #define C6DOFIMU4_INT_PIN_CFG_REG 0x37
124 #define C6DOFIMU4_INT_ENABLE_REG 0x38
125 #define C6DOFIMU4_FIFO_WM_INT_STATUS_REG 0x39
126 #define C6DOFIMU4_INT_STATUS_REG 0x3A
127 #define C6DOFIMU4_ACCEL_XOUT_REG 0x3B
128 #define C6DOFIMU4_ACCEL_YOUT_REG 0x3D
129 #define C6DOFIMU4_ACCEL_ZOUT_REG 0x3F
130 #define C6DOFIMU4_TEMP_OUT_REG 0x41
131 #define C6DOFIMU4_GYRO_XOUT_REG 0x43
132 #define C6DOFIMU4_GYRO_YOUT_REG 0x45
133 #define C6DOFIMU4_GYRO_ZOUT_REG 0x47
134 #define C6DOFIMU4_SELF_TEST_X_GYRO_REG 0x50
135 #define C6DOFIMU4_SELF_TEST_Y_GYRO_REG 0x51
136 #define C6DOFIMU4_SELF_TEST_Z_GYRO_REG 0x52
137 #define C6DOFIMU4_FIFO_WM_TH_REG 0x60
138 #define C6DOFIMU4_SIGNAL_PATH_RESET_REG 0x68
139 #define C6DOFIMU4_ACCEL_INTEL_CTRL_REG 0x69
140 #define C6DOFIMU4_USER_CTRL_REG 0x6A
141 #define C6DOFIMU4_PWR_MGMT_1_REG 0x6B
142 #define C6DOFIMU4_PWR_MGMT_2_REG 0x6C
143 #define C6DOFIMU4_I2C_IF_REG 0x70
144 #define C6DOFIMU4_FIFO_COUNT_REG 0x72
145 #define C6DOFIMU4_FIFO_R_W_REG 0x74
146 #define C6DOFIMU4_WHO_AM_I_REG 0x75
147 #define C6DOFIMU4_XA_OFFSET_REG 0x77
148 #define C6DOFIMU4_YA_OFFSET_REG 0x7A
149 #define C6DOFIMU4_ZA_OFFSET_REG 0x7D
156 #define C6DOFIMU4_FIFO_REPLACING_DIS 0x40
157 #define C6DOFIMU4_EXT_SYNC_FUNC_DIS 0x00
158 #define C6DOFIMU4_EXT_SYNC_TEMP_OUT_L 0x08
159 #define C6DOFIMU4_EXT_SYNC_GYRO_XOUT_L 0x10
160 #define C6DOFIMU4_EXT_SYNC_GYRO_YOUT_L 0x18
161 #define C6DOFIMU4_EXT_SYNC_GYRO_ZOUT_L 0x20
162 #define C6DOFIMU4_EXT_SYNC_ACCEL_XOUT_L 0x28
163 #define C6DOFIMU4_EXT_SYNC_ACCEL_YOUT_L 0x30
164 #define C6DOFIMU4_EXT_SYNC_ACCEL_ZOUT_L 0x38
165 #define C6DOFIMU4_FCHOICE_8173_HZ 0x01
166 #define C6DOFIMU4_GYRO_FCHOICE_3281_HZ 0x02
167 #define C6DOFIMU4_G_DLPF_CFG_250_HZ 0x00
168 #define C6DOFIMU4_G_DLPF_CFG_176_HZ 0x01
169 #define C6DOFIMU4_G_DLPF_CFG_92_HZ 0x02
170 #define C6DOFIMU4_G_DLPF_CFG_41_HZ 0x03
171 #define C6DOFIMU4_G_DLPF_CFG_20_HZ 0x04
172 #define C6DOFIMU4_G_DLPF_CFG_10_HZ 0x05
173 #define C6DOFIMU4_G_DLPF_CFG_5_HZ 0x06
174 #define C6DOFIMU4_G_DLPF_CFG_3281_HZ 0x07
175 #define C6DOFIMU4_XG_ST 0x80
176 #define C6DOFIMU4_YG_ST 0x40
177 #define C6DOFIMU4_ZG_ST 0x20
178 #define C6DOFIMU4_GYRO_FS_SEL_250_DPS 0x00
179 #define C6DOFIMU4_GYRO_FS_SEL_500_DPS 0x01
180 #define C6DOFIMU4_GYRO_FS_SEL_1000_DPS 0x02
181 #define C6DOFIMU4_GYRO_FS_SEL_2000_DPS 0x03
182 #define C6DOFIMU4_XA_ST 0x80
183 #define C6DOFIMU4_YA_ST 0x40
184 #define C6DOFIMU4_ZA_ST 0x20
185 #define C6DOFIMU4_ACCEL_FS_SEL_2_G 0x00
186 #define C6DOFIMU4_ACCEL_FS_SEL_4_G 0x01
187 #define C6DOFIMU4_ACCEL_FS_SEL_8_G 0x02
188 #define C6DOFIMU4_ACCEL_FS_SEL_16_G 0x03
189 #define C6DOFIMU4_ACCEL_AVRG_CFG_4_SAMPLES 0x00
190 #define C6DOFIMU4_ACCEL_AVRG_CFG_8_SAMPLES 0x10
191 #define C6DOFIMU4_ACCEL_AVRG_CFG_16_SAMPLES 0x20
192 #define C6DOFIMU4_ACCEL_AVRG_CFG_32_SAMPLES 0x30
193 #define C6DOFIMU4_ACCEL_FCHOICE_1046_HZ 0x08
194 #define C6DOFIMU4_A_DLPF_CFG_218_HZ 0x01
195 #define C6DOFIMU4_A_DLPF_CFG_99_HZ 0x02
196 #define C6DOFIMU4_A_DLPF_CFG_44_HZ 0x03
197 #define C6DOFIMU4_A_DLPF_CFG_21_HZ 0x04
198 #define C6DOFIMU4_A_DLPF_CFG_10_HZ 0x05
199 #define C6DOFIMU4_A_DLPF_CFG_5_HZ 0x06
200 #define C6DOFIMU4_A_DLPF_CFG_420_HZ 0x07
201 #define C6DOFIMU4_GYRO_LP_MODE_EN 0x80
202 #define C6DOFIMU4_G_AVGCFG_1X_622HZ 0x00
203 #define C6DOFIMU4_G_AVGCFG_2X_391HZ 0x10
204 #define C6DOFIMU4_G_AVGCFG_4X_211HZ 0x20
205 #define C6DOFIMU4_G_AVGCFG_8X_108HZ 0x30
206 #define C6DOFIMU4_G_AVGCFG_16X_54HZ 0x40
207 #define C6DOFIMU4_G_AVGCFG_32X_27HZ 0x50
208 #define C6DOFIMU4_G_AVGCFG_64X_14HZ 0x60
209 #define C6DOFIMU4_G_AVGCFG_128X_7HZ 0x70
210 #define C6DOFIMU4_GYRO_FIFO_EN 0x10
211 #define C6DOFIMU4_ACCEL_FIFO_EN 0x08
212 #define C6DOFIMU4_FSYNC_INT_MASK 0x80
213 #define C6DOFIMU4_FSYNC_INT_OCCURED 0x80
214 #define C6DOFIMU4_FSYNC_INT_NOT_OCCURED 0x00
215 #define C6DOFIMU4_INT_DRDY_PIN_ACT_LOW 0x80
216 #define C6DOFIMU4_INT_DRDY_PIN_ACT_HIGH 0x00
217 #define C6DOFIMU4_INT_DRDY_PIN_OPEN_DRAIN 0x40
218 #define C6DOFIMU4_INT_DRDY_PIN_PUSH_PULL 0x00
219 #define C6DOFIMU4_INT_DRDY_PIN_STAT_CLEARED 0x20
220 #define C6DOFIMU4_INT_DRDY_PIN_PULSE 0x00
221 #define C6DOFIMU4_INT_STAT_CLEARED_ANY_READ 0x10
222 #define C6DOFIMU4_INT_STAT_CLEARED_STAT_REG_READ 0x00
223 #define C6DOFIMU4_FSYNC_PIN_INT_ACT_LOW 0x08
224 #define C6DOFIMU4_FSYNC_PIN_INT_ACT_HIGH 0x00
225 #define C6DOFIMU4_FSYNC_INT_MODE_EN 0x04
226 #define C6DOFIMU4_FIFO_WM_INT_MASK 0x40
227 #define C6DOFIMU4_FIFO_WM_INT_OCCURED 0x40
228 #define C6DOFIMU4_FIFO_WM_INT_NOT_OCCURED 0x00
229 #define C6DOFIMU4_WOM_X_INT_MASK 0x80
230 #define C6DOFIMU4_WOM_X_INT_OCCURED 0x80
231 #define C6DOFIMU4_WOM_Y_INT_MASK 0x40
232 #define C6DOFIMU4_WOM_Y_INT_OCCURED 0x40
233 #define C6DOFIMU4_WOM_Z_INT_MASK 0x20
234 #define C6DOFIMU4_WOM_Z_INT_OCCURED 0x20
235 #define C6DOFIMU4_FIFO_OFLOW_INT_MASK 0x10
236 #define C6DOFIMU4_FIFO_OFLOW_INT_OCCURED 0x10
237 #define C6DOFIMU4_GDRIVE_INT_MASK 0x04
238 #define C6DOFIMU4_GDRIVE_INT_OCCURED 0x04
239 #define C6DOFIMU4_DATA_RDY_INT_MASK 0x01
240 #define C6DOFIMU4_DATA_RDY_INT_OCCURED 0x01
241 #define C6DOFIMU4_INT_STATUS_NOT_OCCURED 0x00
242 #define C6DOFIMU4_ACCEL_RST 0x02
243 #define C6DOFIMU4_TEMP_RST 0x01
244 #define C6DOFIMU4_ACCEL_INTEL_WOM_DET_LOGIC_EN 0x80
245 #define C6DOFIMU4_ACCEL_INTEL_MODE_NOT_USE 0x00
246 #define C6DOFIMU4_ACCEL_INTEL_MODE_COMPARE 0x40
247 #define C6DOFIMU4_OUTPUT_LIMIT_EN 0x02
248 #define C6DOFIMU4_WOM_TH_MODE_OR 0x00
249 #define C6DOFIMU4_WOM_TH_MODE_AND 0x01
250 #define C6DOFIMU4_FIFO_EN 0x40
251 #define C6DOFIMU4_FIFO_RST 0x04
252 #define C6DOFIMU4_ALL_DIG_SIG_PATH_RST 0x01
253 #define C6DOFIMU4_DEVICE_RST 0x80
254 #define C6DOFIMU4_SLEEP 0x40
255 #define C6DOFIMU4_CYCLE 0x20
256 #define C6DOFIMU4_GYRO_STANDBY 0x10
257 #define C6DOFIMU4_TEMP_DIS 0x08
258 #define C6DOFIMU4_CLKSEL_AUTO_SELECT 0x05
259 #define C6DOFIMU4_CLKSEL_INTERNAL_20_MHZ 0x06
260 #define C6DOFIMU4_CLKSEL_STOP_CLOCK 0x07
261 #define C6DOFIMU4_STBY_XA 0x20
262 #define C6DOFIMU4_STBY_YA 0x10
263 #define C6DOFIMU4_STBY_ZA 0x08
264 #define C6DOFIMU4_STBY_XG 0x04
265 #define C6DOFIMU4_STBY_YG 0x02
266 #define C6DOFIMU4_STBY_ZG 0x01
267 #define C6DOFIMU4_ALL_AXIS_EN 0x00
268 #define C6DOFIMU4_I2C_IF_DIS 0x40
269 #define C6DOFIMU4_I2C_IF_EN 0x00
276 #define C6DOFIMU4_OK 0x00
277 #define C6DOFIMU4_INT_OCCURED 0x01
278 #define C6DOFIMU4_ADDR_ERROR 0x02
279 #define C6DOFIMU4_SENS_RESOLUTION_ERROR 0x03
286 #define C6DOFIMU4_LOG_HIGH 0x01
287 #define C6DOFIMU4_LOG_LOW 0x00
612 #endif // _C6DOFIMU4_H_
C6DOFIMU4_RETVAL c6dofimu4_init(c6dofimu4_t *ctx, c6dofimu4_cfg_t *cfg)
Initialization function.
uint8_t i2c_address
Definition: c6dofimu4.h:369
spi_master_t spi
Definition: c6dofimu4.h:332
Click ctx object definition.
Definition: c6dofimu4.h:319
pin_name_t mosi
Definition: c6dofimu4.h:357
uint8_t c6dofimu4_get_int_pin(c6dofimu4_t *ctx)
Int Pin Check function.
spi_master_chip_select_polarity_t cs_polarity
Definition: c6dofimu4.h:372
digital_in_t int_pin
Definition: c6dofimu4.h:327
pin_name_t cs
Definition: c6dofimu4.h:359
double z
Definition: c6dofimu4.h:311
uint8_t c6dofimu4_get_status(c6dofimu4_t *ctx, uint8_t bit_mask)
Status Check function.
uint8_t c6dofimu4_read_bytes(c6dofimu4_t *ctx, uint8_t start_addr, uint8_t *data_out, uint8_t n_bytes)
Generic Sequential Read function.
c6dofimu4_master_io_t read_f
Definition: c6dofimu4.h:339
uint8_t c6dofimu4_write_bytes(c6dofimu4_t *ctx, uint8_t start_addr, uint8_t *data_in, uint8_t n_bytes)
Generic Sequential Write function.
uint8_t slave_address
Definition: c6dofimu4.h:336
void c6dofimu4_generic_write(c6dofimu4_t *ctx, uint8_t reg, uint8_t *data_buf, uint8_t len)
Generic write function.
c6dofimu4_select_t master_sel
Definition: c6dofimu4.h:340
Click configuration structure definition.
Definition: c6dofimu4.h:351
void c6dofimu4_cfg_setup(c6dofimu4_cfg_t *cfg)
Config Object Initialization function.
void c6dofimu4_default_cfg(c6dofimu4_t *ctx)
Click Default Configuration function.
digital_out_t cs
Definition: c6dofimu4.h:323
double x
Definition: c6dofimu4.h:309
Definition: c6dofimu4.h:307
pin_name_t syn
Definition: c6dofimu4.h:363
digital_out_t syn
Definition: c6dofimu4.h:322
uint8_t dev_gyro_res
Definition: c6dofimu4.h:376
struct c6dofimu4_s c6dofimu4_t
Click ctx object definition.
uint8_t c6dofimu4_write_byte(c6dofimu4_t *ctx, uint8_t reg_addr, uint8_t data_in)
Generic Single Byte Write function.
uint8_t gyro_res
Definition: c6dofimu4.h:342
uint32_t i2c_speed
Definition: c6dofimu4.h:368
uint8_t spi_mode
Definition: c6dofimu4.h:371
uint8_t c6dofimu4_select_t
Communication type.
Definition: c6dofimu4.h:300
pin_name_t chip_select
Definition: c6dofimu4.h:337
c6dofimu4_master_io_t write_f
Definition: c6dofimu4.h:338
void c6dofimu4_set_sync_pin(c6dofimu4_t *ctx, uint8_t state)
Sync Pin Setting function.
uint8_t accel_res
Definition: c6dofimu4.h:343
#define C6DOFIMU4_RETVAL
Definition: c6dofimu4.h:86
i2c_master_t i2c
Definition: c6dofimu4.h:331
pin_name_t scl
Definition: c6dofimu4.h:354
uint8_t c6dofimu4_set_fsr(c6dofimu4_t *ctx, uint8_t gyro_resol, uint8_t accel_resol)
Full Scale Setting function.
uint8_t c6dofimu4_write_word(c6dofimu4_t *ctx, uint8_t reg_addr, uint16_t data_in)
Generic Word Write function.
pin_name_t miso
Definition: c6dofimu4.h:356
c6dofimu4_select_t sel
Definition: c6dofimu4.h:374
void(* c6dofimu4_master_io_t)(struct c6dofimu4_s *, uint8_t, uint8_t *, uint8_t)
Master Input/Output type.
Definition: c6dofimu4.h:305
uint32_t spi_speed
Definition: c6dofimu4.h:370
pin_name_t int_pin
Definition: c6dofimu4.h:364
void c6dofimu4_reset(c6dofimu4_t *ctx)
Device Reset function.
void c6dofimu4_generic_read(c6dofimu4_t *ctx, uint8_t reg, uint8_t *data_buf, uint8_t len)
Generic read function.
pin_name_t sck
Definition: c6dofimu4.h:358
uint8_t dev_accel_res
Definition: c6dofimu4.h:377
uint8_t c6dofimu4_read_byte(c6dofimu4_t *ctx, uint8_t reg_addr, uint8_t *data_out)
Generic Single Byte Read function.
void c6dofimu4_get_data(c6dofimu4_t *ctx, c6dofimu4_axis_t *accel_out, c6dofimu4_axis_t *gyro_out, int8_t *temp_out)
Data Get function.
uint8_t c6dofimu4_read_word(c6dofimu4_t *ctx, uint8_t reg_addr, uint16_t *data_out)
Generic Word Read function.
pin_name_t sda
Definition: c6dofimu4.h:355
double y
Definition: c6dofimu4.h:310