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38 #include "drv_digital_out.h"
39 #include "drv_digital_in.h"
40 #include "drv_i2c_master.h"
41 #include "drv_spi_master.h"
54 #define C6DOFIMU8_MAP_MIKROBUS( cfg, mikrobus ) \
55 cfg.scl = MIKROBUS( mikrobus, MIKROBUS_SCL ); \
56 cfg.sda = MIKROBUS( mikrobus, MIKROBUS_SDA ); \
57 cfg.miso = MIKROBUS( mikrobus, MIKROBUS_MISO ); \
58 cfg.mosi = MIKROBUS( mikrobus, MIKROBUS_MOSI ); \
59 cfg.sck = MIKROBUS( mikrobus, MIKROBUS_SCK ); \
60 cfg.cs = MIKROBUS( mikrobus, MIKROBUS_CS ); \
61 cfg.it2 = MIKROBUS( mikrobus, MIKROBUS_AN ); \
62 cfg.it1 = MIKROBUS( mikrobus, MIKROBUS_INT );
69 #define C6DOFIMU8_MASTER_I2C 0
70 #define C6DOFIMU8_MASTER_SPI 1
77 #define C6DOFIMU8_RETVAL uint8_t
79 #define C6DOFIMU8_OK 0x00
80 #define C6DOFIMU8_INIT_ERROR 0xFF
87 #define C6DOFIMU8_DEVICE_ADDR_LSB_LOW 0x6A
88 #define C6DOFIMU8_DEVICE_ADDR_LSB_HIGH 0x6B
95 #define C6DOFIMU8_FUNC_CFG_ACCESS_REG 0x01
96 #define C6DOFIMU8_SENS_SYNC_TIME_FRAME_REG 0x04
97 #define C6DOFIMU8_SENS_SYNC_RES_RATIO_REG 0x05
98 #define C6DOFIMU8_FIFO_CTRL1_REG 0x06
99 #define C6DOFIMU8_FIFO_CTRL2_REG 0x07
100 #define C6DOFIMU8_FIFO_CTRL3_REG 0x08
101 #define C6DOFIMU8_FIFO_CTRL4_REG 0x09
102 #define C6DOFIMU8_FIFO_CTRL5_REG 0x0A
103 #define C6DOFIMU8_DRDY_PULSE_CFG_REG 0x0B
104 #define C6DOFIMU8_INT1_CTRL_REG 0x0D
105 #define C6DOFIMU8_INT2_CTRL_REG 0x0E
106 #define C6DOFIMU8_WHO_AM_I_REG 0x0F
107 #define C6DOFIMU8_CTRL1_XL_REG 0x10
108 #define C6DOFIMU8_CTRL2_G_REG 0x11
109 #define C6DOFIMU8_CTRL3_C_REG 0x12
110 #define C6DOFIMU8_CTRL4_C_REG 0x13
111 #define C6DOFIMU8_CTRL5_C_REG 0x14
112 #define C6DOFIMU8_CTRL6_C_REG 0x15
113 #define C6DOFIMU8_CTRL7_G_REG 0x16
114 #define C6DOFIMU8_CTRL8_XL_REG 0x17
115 #define C6DOFIMU8_CTRL9_XL_REG 0x18
116 #define C6DOFIMU8_CTRL10_C_REG 0x19
117 #define C6DOFIMU8_MASTER_CFG_REG 0x1A
118 #define C6DOFIMU8_WAKE_UP_SRC_REG 0x1B
119 #define C6DOFIMU8_TAP_SRC_REG 0x1C
120 #define C6DOFIMU8_D6D_SRC_REG 0x1D
121 #define C6DOFIMU8_STATUS_REG 0x1E
122 #define C6DOFIMU8_OUT_TEMP_REG 0x20
123 #define C6DOFIMU8_OUTX_G_REG 0x22
124 #define C6DOFIMU8_OUTY_G_REG 0x24
125 #define C6DOFIMU8_OUTZ_G_REG 0x26
126 #define C6DOFIMU8_OUTX_XL_REG 0x28
127 #define C6DOFIMU8_OUTY_XL_REG 0x2A
128 #define C6DOFIMU8_OUTZ_XL_REG 0x2C
129 #define C6DOFIMU8_SENS_HUB1_REG 0x2E
130 #define C6DOFIMU8_SENS_HUB2_REG 0x2F
131 #define C6DOFIMU8_SENS_HUB3_REG 0x30
132 #define C6DOFIMU8_SENS_HUB4_REG 0x31
133 #define C6DOFIMU8_SENS_HUB5_REG 0x32
134 #define C6DOFIMU8_SENS_HUB6_REG 0x33
135 #define C6DOFIMU8_SENS_HUB7_REG 0x34
136 #define C6DOFIMU8_SENS_HUB8_REG 0x35
137 #define C6DOFIMU8_SENS_HUB9_REG 0x36
138 #define C6DOFIMU8_SENS_HUB10_REG 0x37
139 #define C6DOFIMU8_SENS_HUB11_REG 0x38
140 #define C6DOFIMU8_SENS_HUB12_REG 0x39
141 #define C6DOFIMU8_FIFO_STATUS1_REG 0x3A
142 #define C6DOFIMU8_FIFO_STATUS2_REG 0x3B
143 #define C6DOFIMU8_FIFO_STATUS3_REG 0x3C
144 #define C6DOFIMU8_FIFO_STATUS4_REG 0x3D
145 #define C6DOFIMU8_FIFO_DATA_OUT_REG 0x3E
146 #define C6DOFIMU8_TIMESTAMP0_REG 0x40
147 #define C6DOFIMU8_TIMESTAMP1_REG 0x41
148 #define C6DOFIMU8_TIMESTAMP2_REG 0x42
149 #define C6DOFIMU8_SENS_HUB13_REG 0x4D
150 #define C6DOFIMU8_SENS_HUB14_REG 0x4E
151 #define C6DOFIMU8_SENS_HUB15_REG 0x4F
152 #define C6DOFIMU8_SENS_HUB16_REG 0x50
153 #define C6DOFIMU8_SENS_HUB17_REG 0x51
154 #define C6DOFIMU8_SENS_HUB18_REG 0x52
155 #define C6DOFIMU8_FUNC_SRC1_REG 0x53
156 #define C6DOFIMU8_FUNC_SRC2_REG 0x54
157 #define C6DOFIMU8_TAP_CFG_REG 0x58
158 #define C6DOFIMU8_TAP_THS_6D_REG 0x59
159 #define C6DOFIMU8_INT_DUR2_REG 0x5A
160 #define C6DOFIMU8_WAKE_UP_THS_REG 0x5B
161 #define C6DOFIMU8_WAKE_UP_DUR_REG 0x5C
162 #define C6DOFIMU8_FREE_FALL_REG 0x5D
163 #define C6DOFIMU8_MD1_CFG_REG 0x5E
164 #define C6DOFIMU8_MD2_CFG_REG 0x5F
165 #define C6DOFIMU8_MASTER_CMD_CODE_REG 0x60
166 #define C6DOFIMU8_SENS_SYNC_SPI_ERR_CODE_REG 0x61
167 #define C6DOFIMU8_OUT_MAG_RAW_X_REG 0x66
168 #define C6DOFIMU8_OUT_MAG_RAW_Y_REG 0x68
169 #define C6DOFIMU8_OUT_MAG_RAW_Z_REG 0x6A
170 #define C6DOFIMU8_INT_OIS_REG 0x6F
171 #define C6DOFIMU8_CTRL1_OIS_REG 0x70
172 #define C6DOFIMU8_CTRL2_OIS_REG 0x71
173 #define C6DOFIMU8_CTRL3_OIS_REG 0x72
174 #define C6DOFIMU8_X_OFS_USR_REG 0x73
175 #define C6DOFIMU8_Y_OFS_USR_REG 0x74
176 #define C6DOFIMU8_Z_OFS_USR_REG 0x75
183 #define C6DOFIMU8_REG_ACCESS_EN 0x80
190 #define C6DOFIMU8_DEC_FIFO_XL_SENS_NOT_IN_FIFO 0x00
191 #define C6DOFIMU8_DEC_FIFO_XL_NO_DEC 0x01
192 #define C6DOFIMU8_DEC_FIFO_XL_FACTOR2 0x02
193 #define C6DOFIMU8_DEC_FIFO_XL_FACTOR3 0x03
194 #define C6DOFIMU8_DEC_FIFO_XL_FACTOR4 0x04
195 #define C6DOFIMU8_DEC_FIFO_XL_FACTOR8 0x05
196 #define C6DOFIMU8_DEC_FIFO_XL_FACTOR16 0x06
197 #define C6DOFIMU8_DEC_FIFO_XL_FACTOR32 0x07
198 #define C6DOFIMU8_DEC_FIFO_G_SENS_NOT_IN_FIFO 0x00
199 #define C6DOFIMU8_DEC_FIFO_G_NO_DEC 0x08
200 #define C6DOFIMU8_DEC_FIFO_G_FACTOR2 0x10
201 #define C6DOFIMU8_DEC_FIFO_G_FACTOR3 0x18
202 #define C6DOFIMU8_DEC_FIFO_G_FACTOR4 0x20
203 #define C6DOFIMU8_DEC_FIFO_G_FACTOR8 0x28
204 #define C6DOFIMU8_DEC_FIFO_G_FACTOR16 0x30
205 #define C6DOFIMU8_DEC_FIFO_G_FACTOR32 0x38
212 #define C6DOFIMU8_FIFO_ODR_DIS 0x00
213 #define C6DOFIMU8_FIFO_ODR_12_5_HZ 0x08
214 #define C6DOFIMU8_FIFO_ODR_26_HZ 0x10
215 #define C6DOFIMU8_FIFO_ODR_52_HZ 0x18
216 #define C6DOFIMU8_FIFO_ODR_104_HZ 0x20
217 #define C6DOFIMU8_FIFO_ODR_208_HZ 0x28
218 #define C6DOFIMU8_FIFO_ODR_416_HZ 0x30
219 #define C6DOFIMU8_FIFO_ODR_833_HZ 0x38
220 #define C6DOFIMU8_FIFO_ODR_1660_HZ 0x40
221 #define C6DOFIMU8_FIFO_ODR_3330_HZ 0x48
222 #define C6DOFIMU8_FIFO_ODR_6660_HZ 0x50
223 #define C6DOFIMU8_FIFO_BYPASS1_MODE 0x00
224 #define C6DOFIMU8_FIFO_FIFO_MODE 0x01
225 #define C6DOFIMU8_FIFO_CONT1_MODE 0x03
226 #define C6DOFIMU8_FIFO_BYPASS2_MODE 0x04
227 #define C6DOFIMU8_FIFO_CONT2_MODE 0x06
234 #define C6DOFIMU8_DRDY_LATCHED_MODE 0x00
235 #define C6DOFIMU8_DRDY_PULSED_MODE 0x80
242 #define C6DOFIMU8_INT_PIN_FIFO_FULL_FLAG_EN 0x20
243 #define C6DOFIMU8_INT_PIN_FIFO_OVERRUN_FLAG_EN 0x10
244 #define C6DOFIMU8_INT_PIN_FIFO_THRESH_FLAG_EN 0x08
245 #define C6DOFIMU8_INT1_PIN_BOOT_STATUS_FLAG_EN 0x04
246 #define C6DOFIMU8_INT2_PIN_TEMP_DRDY_FLAG_EN 0x04
247 #define C6DOFIMU8_INT_PIN_G_DRDY_FLAG_EN 0x02
248 #define C6DOFIMU8_INT_PIN_XL_DRDY_FLAG_EN 0x01
255 #define C6DOFIMU8_ODR_POWER_DOWN 0x00
256 #define C6DOFIMU8_ODR_1_6_HZ 0x0B
257 #define C6DOFIMU8_ODR_12_5_HZ 0x01
258 #define C6DOFIMU8_ODR_26_HZ 0x02
259 #define C6DOFIMU8_ODR_52_HZ 0x03
260 #define C6DOFIMU8_ODR_104_HZ 0x04
261 #define C6DOFIMU8_ODR_208_HZ 0x05
262 #define C6DOFIMU8_ODR_416_HZ 0x06
263 #define C6DOFIMU8_ODR_833_HZ 0x07
264 #define C6DOFIMU8_ODR_1660_HZ 0x08
265 #define C6DOFIMU8_ODR_3330_HZ 0x09
266 #define C6DOFIMU8_ODR_6660_HZ 0x0A
267 #define C6DOFIMU8_FS_XL_2G 0x00
268 #define C6DOFIMU8_FS_XL_16G 0x01
269 #define C6DOFIMU8_FS_XL_4G 0x02
270 #define C6DOFIMU8_FS_XL_8G 0x03
271 #define C6DOFIMU8_FS_G_250DPS 0x00
272 #define C6DOFIMU8_FS_G_500DPS 0x01
273 #define C6DOFIMU8_FS_G_1000DPS 0x02
274 #define C6DOFIMU8_FS_G_2000DPS 0x03
275 #define C6DOFIMU8_FS_G_125DPS 0x04
276 #define C6DOFIMU8_BW_XL_1500_HZ 0x00
277 #define C6DOFIMU8_BW_XL_400_HZ 0x01
284 #define C6DOFIMU8_NORMAL_MODE 0x00
285 #define C6DOFIMU8_REBOOT_MEM_CONTENT 0x80
286 #define C6DOFIMU8_CONT_UPDATE 0x00
287 #define C6DOFIMU8_READ_UPDATE 0x40
288 #define C6DOFIMU8_INT_OUT_PADS_ACT_HIGH 0x00
289 #define C6DOFIMU8_INT_OUT_PADS_ACT_LOW 0x20
290 #define C6DOFIMU8_PADS_PUSH_PULL_MODE 0x00
291 #define C6DOFIMU8_PADS_OPEN_DRAIN_MODE 0x10
292 #define C6DOFIMU8_SPI_4_WIRE_INTER 0x00
293 #define C6DOFIMU8_SPI_3_WIRE_INTER 0x08
294 #define C6DOFIMU8_REG_ADDR_AUTO_INC_EN 0x04
295 #define C6DOFIMU8_DATA_LSB 0x00
296 #define C6DOFIMU8_DATA_MSB 0x02
297 #define C6DOFIMU8_SW_RESET_CMD 0x01
304 #define C6DOFIMU8_DEN_XL_EN 0x80
305 #define C6DOFIMU8_G_SLEEP_MODE_EN 0x40
306 #define C6DOFIMU8_INT1_PAD_ONLY_EN 0x20
307 #define C6DOFIMU8_DEN_DRDY_INT1_EN 0x10
308 #define C6DOFIMU8_DA_TIMER_EN 0x08
309 #define C6DOFIMU8_I2C_INTER_DIS 0x04
310 #define C6DOFIMU8_LPF1_SEL_G_EN 0x02
317 #define C6DOFIMU8_NO_ROUNDING 0x00
318 #define C6DOFIMU8_ROUND_XL_ONLY 0x20
319 #define C6DOFIMU8_ROUND_G_ONLY 0x40
320 #define C6DOFIMU8_ROUND_G_AND_XL 0x60
321 #define C6DOFIMU8_DEN_ACT_LOW 0x00
322 #define C6DOFIMU8_DEN_ACT_HIGH 0x10
323 #define C6DOFIMU8_ST_G_NORMAL_MODE 0x00
324 #define C6DOFIMU8_ST_G_POS_SIGN 0x04
325 #define C6DOFIMU8_ST_G_NEG_SIGN 0x0C
326 #define C6DOFIMU8_ST_XL_NORMAL_MODE 0x00
327 #define C6DOFIMU8_ST_XL_POS_SIGN 0x01
328 #define C6DOFIMU8_ST_XL_NEG_SIGN 0x02
335 #define C6DOFIMU8_G_HP_OP_MODE_DIS 0x80
336 #define C6DOFIMU8_G_HPF_EN 0x40
337 #define C6DOFIMU8_G_HPF_16_MILLI_HZ 0x00
338 #define C6DOFIMU8_G_HPF_65_MILLI_HZ 0x10
339 #define C6DOFIMU8_G_HPF_260_MILLI_HZ 0x20
340 #define C6DOFIMU8_G_HPF_1040_MILLI_HZ 0x30
341 #define C6DOFIMU8_ROUNDING_EN 0x04
348 #define C6DOFIMU8_DEN_X_LSB_STORED 0x80
349 #define C6DOFIMU8_DEN_Y_LSB_STORED 0x40
350 #define C6DOFIMU8_DEN_Z_LSB_STORED 0x20
351 #define C6DOFIMU8_DEN_G_STAMPED 0x00
352 #define C6DOFIMU8_DEN_XL_STAMPED 0x10
353 #define C6DOFIMU8_SOFT_IRON_CORR_ALGO_EN 0x04
360 #define C6DOFIMU8_FREE_FALL_EVENT_MASK 0x20
361 #define C6DOFIMU8_SLEEP_EVENT_MASK 0x10
362 #define C6DOFIMU8_WAKE_UP_EVENT_MASK 0x08
363 #define C6DOFIMU8_X_WAKEUP_EVENT_MASK 0x04
364 #define C6DOFIMU8_Y_WAKEUP_EVENT_MASK 0x02
365 #define C6DOFIMU8_Z_WAKEUP_EVENT_MASK 0x01
367 #define C6DOFIMU8_TAP_EVENT_MASK 0x40
368 #define C6DOFIMU8_SINGLE_TAP_EVENT_MASK 0x20
369 #define C6DOFIMU8_DOUBLE_TAP_EVENT_MASK 0x10
370 #define C6DOFIMU8_TAP_SIGN_EVENT_MASK 0x08
371 #define C6DOFIMU8_X_TAP_EVENT_MASK 0x04
372 #define C6DOFIMU8_Y_TAP_EVENT_MASK 0x02
373 #define C6DOFIMU8_Z_TAP_EVENT_MASK 0x01
380 #define C6DOFIMU8_TEMP_DRDY_MASK 0x04
381 #define C6DOFIMU8_G_DRDY_MASK 0x02
382 #define C6DOFIMU8_XL_DRDY_MASK 0x01
389 #define C6DOFIMU8_FIFO_WATERMARK_STATUS_MASK 0x80
390 #define C6DOFIMU8_FIFO_OVERRUN_STATUS_MASK 0x40
391 #define C6DOFIMU8_FIFO_FULL_SMART_STATUS_MASK 0x20
392 #define C6DOFIMU8_FIFO_EMPTY_STATUS_MASK 0x10
399 #define C6DOFIMU8_BASIC_INTERR_EN 0x80
400 #define C6DOFIMU8_SLOPE_FILTER_APPLIED 0x00
401 #define C6DOFIMU8_HPF_APPLIED 0x10
402 #define C6DOFIMU8_TAP_X_EN 0x08
403 #define C6DOFIMU8_TAP_Y_EN 0x04
404 #define C6DOFIMU8_TAP_Z_EN 0x02
405 #define C6DOFIMU8_INTERR_REQ_LATCHED 0x01
412 #define C6DOFIMU8_EVENT_NOT_DETECTED 0x00
413 #define C6DOFIMU8_EVENT_DETECTED 0x01
420 #define C6DOFIMU8_INT_OCCURED 0x01
421 #define C6DOFIMU8_ADDR_ERROR 0x02
422 #define C6DOFIMU8_FULL_SCALE_ERROR 0x03
423 #define C6DOFIMU8_DATA_RATE_ERROR 0x04
430 #define C6DOFIMU8_LOG_HIGH 0x01
431 #define C6DOFIMU8_LOG_LOW 0x00
441 #define SPI_RD_CMD 0x80
442 #define TEMP_LSB_RES 326.8
443 #define TEMP_OFFSET 25
749 #endif // _C6DOFIMU8_H_
double x
Definition: c6dofimu8.h:465
void c6dofimu8_generic_write(c6dofimu8_t *ctx, uint8_t reg, uint8_t *data_buf, uint8_t len)
Generic write function.
pin_name_t sda
Definition: c6dofimu8.h:511
uint8_t c6dofimu8_write_byte(c6dofimu8_t *ctx, uint8_t reg_addr, uint8_t data_in)
Single Byte Write functions.
C6DOFIMU8_RETVAL c6dofimu8_init(c6dofimu8_t *ctx, c6dofimu8_cfg_t *cfg)
Initialization function.
uint8_t c6dofimu8_read_word(c6dofimu8_t *ctx, uint8_t reg_addr, uint16_t *data_out)
Word Read function.
t_c6dofimu8_axis dev_axis
Definition: c6dofimu8.h:499
uint8_t i2c_address
Definition: c6dofimu8.h:525
void c6dofimu8_get_data(c6dofimu8_t *ctx, t_c6dofimu8_axis *accel_out, t_c6dofimu8_axis *gyro_out, int8_t *temp_out)
Data Get function.
pin_name_t mosi
Definition: c6dofimu8.h:513
spi_master_chip_select_polarity_t cs_polarity
Definition: c6dofimu8.h:528
uint8_t c6dofimu8_set_odr(c6dofimu8_t *ctx, uint8_t gyro_odr, uint8_t accel_odr)
Data Rate Setting function.
spi_master_t spi
Definition: c6dofimu8.h:485
uint8_t gyro_res
Definition: c6dofimu8.h:496
pin_name_t cs
Definition: c6dofimu8.h:515
void c6dofimu8_default_cfg(c6dofimu8_t *ctx)
Click Default Configuration function.
Click configuration structure definition.
Definition: c6dofimu8.h:506
uint32_t i2c_speed
Definition: c6dofimu8.h:524
uint8_t spi_mode
Definition: c6dofimu8.h:527
pin_name_t chip_select
Definition: c6dofimu8.h:490
uint8_t c6dofimu8_select_t
Communication type.
Definition: c6dofimu8.h:456
uint8_t c6dofimu8_set_fsr(c6dofimu8_t *ctx, uint8_t gyro_fsr, uint8_t accel_fsr)
Full Scale Setting function.
uint8_t accel_res
Definition: c6dofimu8.h:497
digital_in_t it1
Definition: c6dofimu8.h:479
i2c_master_t i2c
Definition: c6dofimu8.h:484
uint8_t slave_address
Definition: c6dofimu8.h:489
double z
Definition: c6dofimu8.h:467
c6dofimu8_master_io_t read_f
Definition: c6dofimu8.h:492
uint8_t c6dofimu8_get_drdy_status(c6dofimu8_t *ctx, uint8_t bit_mask)
Status Check function.
void c6dofimu8_generic_read(c6dofimu8_t *ctx, uint8_t reg, uint8_t *data_buf, uint8_t len)
Generic read function.
double y
Definition: c6dofimu8.h:466
digital_out_t cs
Definition: c6dofimu8.h:480
uint8_t c6dofimu8_read_bytes(c6dofimu8_t *ctx, uint8_t start_addr, uint8_t *data_out, uint8_t n_bytes)
equential Read function.
pin_name_t miso
Definition: c6dofimu8.h:512
void(* c6dofimu8_master_io_t)(struct c6dofimu8_s *, uint8_t, uint8_t *, uint8_t)
Master Input/Output type.
Definition: c6dofimu8.h:461
uint8_t c6dofimu8_write_word(c6dofimu8_t *ctx, uint8_t reg_addr, uint16_t data_in)
Word Write function.
uint8_t c6dofimu8_get_int_2_pin(c6dofimu8_t *ctx)
INT2 Pin Check function.
void c6dofimu8_get_magnetometer_data(c6dofimu8_t *ctx, t_c6dofimu8_axis *magneto_out)
Magnetometer Data Get function.
c6dofimu8_select_t master_sel
Definition: c6dofimu8.h:493
void c6dofimu8_cfg_setup(c6dofimu8_cfg_t *cfg)
Config Object Initialization function.
c6dofimu8_select_t sel
Definition: c6dofimu8.h:530
pin_name_t it1
Definition: c6dofimu8.h:520
uint8_t c6dofimu8_get_int_1_pin(c6dofimu8_t *ctx)
INT1 Pin Check function.
#define C6DOFIMU8_RETVAL
Definition: c6dofimu8.h:77
pin_name_t scl
Definition: c6dofimu8.h:510
c6dofimu8_master_io_t write_f
Definition: c6dofimu8.h:491
Definition: c6dofimu8.h:463
uint8_t c6dofimu8_write_bytes(c6dofimu8_t *ctx, uint8_t start_addr, uint8_t *data_in, uint8_t n_bytes)
Sequential Write function.
void c6dofimu8_reset(c6dofimu8_t *ctx)
Device SW Reset function.
uint8_t driver_sel
Definition: c6dofimu8.h:495
uint32_t spi_speed
Definition: c6dofimu8.h:526
uint8_t c6dofimu8_read_byte(c6dofimu8_t *ctx, uint8_t reg_addr, uint8_t *data_out)
Single Byte Read function.
pin_name_t it2
Definition: c6dofimu8.h:519
Click ctx object definition.
Definition: c6dofimu8.h:474
pin_name_t sck
Definition: c6dofimu8.h:514
digital_in_t it2
Definition: c6dofimu8.h:478
struct c6dofimu8_s c6dofimu8_t
Click ctx object definition.