c10dof  2.0.0.0
c10dof.h
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1 /*
2  * MikroSDK - MikroE Software Development Kit
3  * Copyright (c) 2019, MikroElektronika - www.mikroe.com
4  * All rights reserved.
5  *
6  * Permission is hereby granted, free of charge, to any person obtaining a copy
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23  */
24 
33 // ----------------------------------------------------------------------------
34 
35 #ifndef C10DOF_H
36 #define C10DOF_H
37 
38 #include "drv_digital_out.h"
39 #include "drv_digital_in.h"
40 #include "drv_i2c_master.h"
41 
42 
43 // -------------------------------------------------------------- PUBLIC MACROS
53 #define C10DOF_MAP_MIKROBUS( cfg, mikrobus ) \
54  cfg.scl = MIKROBUS( mikrobus, MIKROBUS_SCL ); \
55  cfg.sda = MIKROBUS( mikrobus, MIKROBUS_SDA ); \
56  cfg.rst = MIKROBUS( mikrobus, MIKROBUS_RST ); \
57  cfg.int_pin = MIKROBUS( mikrobus, MIKROBUS_INT )
58 
64 #define C10DOF_RETVAL uint8_t
65 
66 #define C10DOF_OK 0x00
67 #define C10DOF_INIT_ERROR 0xFF
68 
73 #define C10DOF_BNO055_ADDRESS_A 0x28
74 #define C10DOF_BNO055_ADDRESS_B 0x29
75 #define C10DOF_BNO055_ID 0xA0
76 
82 #define C10DOF_BNO055_PAGE_ID_ADDR 0x07
83 #define C10DOF_BNO055_CHIP_ID_ADDR 0x00
84 #define C10DOF_BNO055_ACCEL_REV_ID_ADDR 0x01
85 #define C10DOF_BNO055_MAG_REV_ID_ADDR 0x02
86 #define C10DOF_BNO055_GYRO_REV_ID_ADDR 0x03
87 #define C10DOF_BNO055_SW_REV_ID_LSB_ADDR 0x04
88 #define C10DOF_BNO055_SW_REV_ID_MSB_ADDR 0x05
89 #define C10DOF_BNO055_BL_REV_ID_ADDR 0X06
90 
96 #define C10DOF_BNO055_ACCEL_DATA_X_LSB_ADDR 0x08
97 #define C10DOF_BNO055_ACCEL_DATA_X_MSB_ADDR 0x09
98 #define C10DOF_BNO055_ACCEL_DATA_Y_LSB_ADDR 0x0A
99 #define C10DOF_BNO055_ACCEL_DATA_Y_MSB_ADDR 0x0B
100 #define C10DOF_BNO055_ACCEL_DATA_Z_LSB_ADDR 0x0C
101 #define C10DOF_BNO055_ACCEL_DATA_Z_MSB_ADDR 0x0D
102 
108 #define C10DOF_BNO055_MAG_DATA_X_LSB_ADDR 0x0E
109 #define C10DOF_BNO055_MAG_DATA_X_MSB_ADDR 0x0F
110 #define C10DOF_BNO055_MAG_DATA_Y_LSB_ADDR 0x10
111 #define C10DOF_BNO055_MAG_DATA_Y_MSB_ADDR 0x11
112 #define C10DOF_BNO055_MAG_DATA_Z_LSB_ADDR 0x12
113 #define C10DOF_BNO055_MAG_DATA_Z_MSB_ADDR 0x13
114 
120 #define C10DOF_BNO055_GYRO_DATA_X_LSB_ADDR 0x14
121 #define C10DOF_BNO055_GYRO_DATA_X_MSB_ADDR 0x15
122 #define C10DOF_BNO055_GYRO_DATA_Y_LSB_ADDR 0x16
123 #define C10DOF_BNO055_GYRO_DATA_Y_MSB_ADDR 0x17
124 #define C10DOF_BNO055_GYRO_DATA_Z_LSB_ADDR 0x18
125 #define C10DOF_BNO055_GYRO_DATA_Z_MSB_ADDR 0x19
126 
132 #define C10DOF_BNO055_EULER_H_LSB_ADDR 0x1A
133 #define C10DOF_BNO055_EULER_H_MSB_ADDR 0x1B
134 #define C10DOF_BNO055_EULER_R_LSB_ADDR 0x1C
135 #define C10DOF_BNO055_EULER_R_MSB_ADDR 0x1D
136 #define C10DOF_BNO055_EULER_P_LSB_ADDR 0x1E
137 #define C10DOF_BNO055_EULER_P_MSB_ADDR 0x1F
138 
144 #define C10DOF_BNO055_QUATERNION_DATA_W_LSB_ADDR 0x20
145 #define C10DOF_BNO055_QUATERNION_DATA_W_MSB_ADDR 0x21
146 #define C10DOF_BNO055_QUATERNION_DATA_X_LSB_ADDR 0x22
147 #define C10DOF_BNO055_QUATERNION_DATA_X_MSB_ADDR 0x23
148 #define C10DOF_BNO055_QUATERNION_DATA_Y_LSB_ADDR 0x24
149 #define C10DOF_BNO055_QUATERNION_DATA_Y_MSB_ADDR 0x25
150 #define C10DOF_BNO055_QUATERNION_DATA_Z_LSB_ADDR 0x26
151 #define C10DOF_BNO055_QUATERNION_DATA_Z_MSB_ADDR 0x27
152 
158 #define C10DOF_BNO055_LINEAR_ACCEL_DATA_X_LSB_ADDR 0x28
159 #define C10DOF_BNO055_LINEAR_ACCEL_DATA_X_MSB_ADDR 0x29
160 #define C10DOF_BNO055_LINEAR_ACCEL_DATA_Y_LSB_ADDR 0x2A
161 #define C10DOF_BNO055_LINEAR_ACCEL_DATA_Y_MSB_ADDR 0x2B
162 #define C10DOF_BNO055_LINEAR_ACCEL_DATA_Z_LSB_ADDR 0x2C
163 #define C10DOF_BNO055_LINEAR_ACCEL_DATA_Z_MSB_ADDR 0x2D
164 
170 #define C10DOF_BNO055_GRAVITY_DATA_X_LSB_ADDR 0x2E
171 #define C10DOF_BNO055_GRAVITY_DATA_X_MSB_ADDR 0x2F
172 #define C10DOF_BNO055_GRAVITY_DATA_Y_LSB_ADDR 0x30
173 #define C10DOF_BNO055_GRAVITY_DATA_Y_MSB_ADDR 0x31
174 #define C10DOF_BNO055_GRAVITY_DATA_Z_LSB_ADDR 0x32
175 #define C10DOF_BNO055_GRAVITY_DATA_Z_MSB_ADDR 0x33
176 
182 #define C10DOF_BNO055_TEMP_ADDR 0x34
183 
189 #define C10DOF_BNO055_CALIB_STAT_ADDR 0x35
190 #define C10DOF_BNO055_SELFTEST_RESULT_ADDR 0x36
191 #define C10DOF_BNO055_INTR_STAT_ADDR 0x37
192 #define C10DOF_BNO055_SYS_CLK_STAT_ADDR 0x38
193 #define C10DOF_BNO055_SYS_STAT_ADDR 0x39
194 #define C10DOF_BNO055_SYS_ERR_ADDR 0x3A
195 
201 #define C10DOF_BNO055_UNIT_SEL_ADDR 0x3B
202 #define C10DOF_BNO055_DATA_SELECT_ADDR 0x3C
203 
209 #define C10DOF_BNO055_OPR_MODE_ADDR 0x3D
210 #define C10DOF_BNO055_PWR_MODE_ADDR 0x3E
211 #define C10DOF_BNO055_SYS_TRIGGER_ADDR 0x3F
212 #define C10DOF_BNO055_TEMP_SOURCE_ADDR 0x40
213 
219 #define C10DOF_BNO055_AXIS_MAP_CONFIG_ADDR 0x41
220 #define C10DOF_BNO055_AXIS_MAP_SIGN_ADDR 0x42
221 
227 #define C10DOF_BNO055_SIC_MATRIX_0_LSB_ADDR 0x43
228 #define C10DOF_BNO055_SIC_MATRIX_0_MSB_ADDR 0x44
229 #define C10DOF_BNO055_SIC_MATRIX_1_LSB_ADDR 0x45
230 #define C10DOF_BNO055_SIC_MATRIX_1_MSB_ADDR 0x46
231 #define C10DOF_BNO055_SIC_MATRIX_2_LSB_ADDR 0x47
232 #define C10DOF_BNO055_SIC_MATRIX_2_MSB_ADDR 0x48
233 #define C10DOF_BNO055_SIC_MATRIX_3_LSB_ADDR 0x49
234 #define C10DOF_BNO055_SIC_MATRIX_3_MSB_ADDR 0x4A
235 #define C10DOF_BNO055_SIC_MATRIX_4_LSB_ADDR 0x4B
236 #define C10DOF_BNO055_SIC_MATRIX_4_MSB_ADDR 0x4C
237 #define C10DOF_BNO055_SIC_MATRIX_5_LSB_ADDR 0x4D
238 #define C10DOF_BNO055_SIC_MATRIX_5_MSB_ADDR 0x4E
239 #define C10DOF_BNO055_SIC_MATRIX_6_LSB_ADDR 0x4F
240 #define C10DOF_BNO055_SIC_MATRIX_6_MSB_ADDR 0x50
241 #define C10DOF_BNO055_SIC_MATRIX_7_LSB_ADDR 0x51
242 #define C10DOF_BNO055_SIC_MATRIX_7_MSB_ADDR 0x52
243 #define C10DOF_BNO055_SIC_MATRIX_8_LSB_ADDR 0x53
244 #define C10DOF_BNO055_SIC_MATRIX_8_MSB_ADDR 0x54
245 
251 #define C10DOF_ACCEL_OFFSET_X_LSB_ADDR 0x55
252 #define C10DOF_ACCEL_OFFSET_X_MSB_ADDR 0x56
253 #define C10DOF_ACCEL_OFFSET_Y_LSB_ADDR 0x57
254 #define C10DOF_ACCEL_OFFSET_Y_MSB_ADDR 0x58
255 #define C10DOF_ACCEL_OFFSET_Z_LSB_ADDR 0x59
256 #define C10DOF_ACCEL_OFFSET_Z_MSB_ADDR 0x5A
257 
263 #define C10DOF_MAG_OFFSET_X_LSB_ADDR 0x5B
264 #define C10DOF_MAG_OFFSET_X_MSB_ADDR 0x5C
265 #define C10DOF_MAG_OFFSET_Y_LSB_ADDR 0x5D
266 #define C10DOF_MAG_OFFSET_Y_MSB_ADDR 0x5E
267 #define C10DOF_MAG_OFFSET_Z_LSB_ADDR 0x5F
268 #define C10DOF_MAG_OFFSET_Z_MSB_ADDR 0x60
269 
275 #define C10DOF_GYRO_OFFSET_X_LSB_ADDR 0x61
276 #define C10DOF_GYRO_OFFSET_X_MSB_ADDR 0x62
277 #define C10DOF_GYRO_OFFSET_Y_LSB_ADDR 0x63
278 #define C10DOF_GYRO_OFFSET_Y_MSB_ADDR 0x64
279 #define C10DOF_GYRO_OFFSET_Z_LSB_ADDR 0x65
280 #define C10DOF_GYRO_OFFSET_Z_MSB_ADDR 0x66
281 
287 #define C10DOF_ACCEL_RADIUS_LSB_ADDR 0x67
288 #define C10DOF_ACCEL_RADIUS_MSB_ADDR 0x68
289 #define C10DOF_MAG_RADIUS_LSB_ADDR 0x69
290 #define C10DOF_MAG_RADIUS_MSB_ADDR 0x6A
291 
297 #define C10DOF_BMP180_ADDRESS 0x77
298 #define C10DOF_BMP180_PROM_START__ADDR 0xAA
299 #define C10DOF_BMP180_CHIP_ID_REG 0xD0
300 #define C10DOF_BMP180_VERSION_REG 0xD1
301 #define C10DOF_BMP180_CTRL_MEAS_REG 0xF4
302 #define C10DOF_BMP180_ADC_OUT_MSB_REG 0xF6
303 #define C10DOF_BMP180_ADC_OUT_LSB_REG 0xF7
304 #define C10DOF_BMP180_SOFT_RESET_REG 0xE0
305 #define C10DOF_BMP180_REG_CALIB_PARAM_AC1_MSB 0xAA
306 #define C10DOF_BMP180_REG_CALIB_PARAM_AC1_LSB 0xAB
307 #define C10DOF_BMP180_REG_CALIB_PARAM_AC2_MSB 0xAC
308 #define C10DOF_BMP180_REG_CALIB_PARAM_AC2_LSB 0xAD
309 #define C10DOF_BMP180_REG_CALIB_PARAM_AC3_MSB 0xAE
310 #define C10DOF_BMP180_REG_CALIB_PARAM_AC3_LSB 0xAF
311 #define C10DOF_BMP180_REG_CALIB_PARAM_AC4_MSB 0xB0
312 #define C10DOF_BMP180_REG_CALIB_PARAM_AC4_LSB 0xB1
313 #define C10DOF_BMP180_REG_CALIB_PARAM_AC5_MSB 0xB2
314 #define C10DOF_BMP180_REG_CALIB_PARAM_AC5_LSB 0xB3
315 #define C10DOF_BMP180_REG_CALIB_PARAM_AC6_MSB 0xB4
316 #define C10DOF_BMP180_REG_CALIB_PARAM_AC6_LSB 0xB5
317 #define C10DOF_BMP180_REG_CALIB_PARAM_B1_MSB 0xB6
318 #define C10DOF_BMP180_REG_CALIB_PARAM_B1_LSB 0xB7
319 #define C10DOF_BMP180_REG_CALIB_PARAM_B2_MSB 0xB8
320 #define C10DOF_BMP180_REG_CALIB_PARAM_B2_LSB 0xB9
321 #define C10DOF_BMP180_REG_CALIB_PARAM_MB_MSB 0xBA
322 #define C10DOF_BMP180_REG_CALIB_PARAM_MB_LSB 0xBB
323 #define C10DOF_BMP180_REG_CALIB_PARAM_MC_MSB 0xBC
324 #define C10DOF_BMP180_REG_CALIB_PARAM_MC_LSB 0xBD
325 #define C10DOF_BMP180_REG_CALIB_PARAM_MD_MSB 0xBE
326 #define C10DOF_BMP180_REG_CALIB_PARAM_MD_LSB 0xBF
327 #define C10DOF_BMP180_REG_CONF_ADDR 0x07
328 #define C10DOF_BMP180_PWR_MODE_ADDR 0x3E
329 #define C10DOF_BMP180_OPR_MODE_ADDR 0x3D
330 #define C10DOF_BMP180_T_MEASURE 0x2E
331 #define C10DOF_BMP180_P_MEASURE 0x34
332  // End group macro
335 // --------------------------------------------------------------- PUBLIC TYPES
344 typedef struct
345 {
346  // Output pins
347 
348  digital_out_t rst;
349 
350  // Input pins
351 
352  digital_in_t int_pin;
353 
354  // Modules
355 
356  i2c_master_t i2c;
357 
358  // ctx variable
359 
360  hal_i2c_address_t slave_address;
361 
362 } c10dof_t;
363 
367 typedef struct
368 {
369  // Communication gpio pins
370 
371  pin_name_t scl;
372  pin_name_t sda;
373 
374  // Additional gpio pins
375 
376  pin_name_t rst;
377  pin_name_t int_pin;
378 
379  // static variable
380 
381  hal_i2c_speed_t i2c_speed;
382  hal_i2c_address_t i2c_address;
383 
384 } c10dof_cfg_t;
385  // End types group
387 // ----------------------------------------------- PUBLIC FUNCTION DECLARATIONS
388 
394 #ifdef __cplusplus
395 extern "C"{
396 #endif
397 
406 void c10dof_cfg_setup ( c10dof_cfg_t *cfg );
407 
416 
424 void c10dof_default_cfg ( c10dof_t *ctx );
425 
436 void c10dof_write_byte ( c10dof_t *ctx, uint8_t reg, uint8_t data_in, uint8_t slave_addr );
437 
450 uint8_t c10dof_read_byte ( c10dof_t *ctx, uint8_t reg, uint8_t slave_addr );
451 
464 uint16_t c10dof_read_data ( c10dof_t *ctx, uint8_t msb_reg, uint8_t slave_addr );
465 
474 void c10dof_hw_reset ( c10dof_t *ctx );
475 
486 uint8_t c10dof_bmp180_chip_ID ( c10dof_t *ctx );
487 
498 uint8_t c10dof_bno055_chip_ID ( c10dof_t *ctx );
499 
510 uint8_t c10dof_get_accel_ID ( c10dof_t *ctx );
511 
522 uint8_t c10dof_get_mag_ID ( c10dof_t *ctx );
523 
534 uint8_t c10dof_get_gyro_ID ( c10dof_t *ctx );
535 
546 uint16_t c10dof_get_soft_ID ( c10dof_t *ctx );
547 
558 uint8_t c10dof_get_page_ID ( c10dof_t *ctx );
559 
569 
579 
590 void c10dof_set_config_mode ( c10dof_t *ctx, uint8_t config_mode );
591 
602 void c10dof_select_page ( c10dof_t *ctx, uint8_t page_number );
603 
614 void c10dof_config_accel ( c10dof_t *ctx, uint8_t acc_cnfg );
615 
626 void c10dof_config_gyro ( c10dof_t *ctx, uint8_t gyro_cnfg );
627 
638 void c10dof_config_mag ( c10dof_t *ctx, uint8_t mag_cnfg );
639 
650 void c10dof_set_sensor_units ( c10dof_t *ctx, uint8_t sensor_units );
651 
662 uint8_t c10dof_get_system_status ( c10dof_t *ctx );
663 
674 uint8_t c10dof_get_system_error ( c10dof_t *ctx );
675 
685 void c10dof_set_mode( c10dof_t *ctx, uint8_t mode_val );
686 
695 void c10dof_set_normal_mode ( c10dof_t *ctx );
696 
706 
716 
726 int16_t c10dof_read_raw_temperature ( c10dof_t *ctx, uint8_t msb_reg );
727 
737 int32_t c10dof_read_raw_pressure ( c10dof_t *ctx, uint8_t msb_addr );
738 
746 void c10dof_get_calib_param ( c10dof_t *ctx );
747 
756 void c10dof_get_measurements ( c10dof_t *ctx, float *temperature, float *pressure );
757 
767 float c10dof_get_temperature ( c10dof_t *ctx );
768 
778 float c10dof_get_pressure ( c10dof_t *ctx );
779 
790 int16_t c10dof_get_axis( c10dof_t *ctx, uint8_t addr_reg_low );
791 
802 void c10dof_read_accel ( c10dof_t *ctx, int16_t *accelX, int16_t *accelY, int16_t *accelZ );
803 
814 void c10dof_read_mag ( c10dof_t *ctx, int16_t *magX, int16_t *magY, int16_t *magZ );
815 
829 void c10dof_read_gyro ( c10dof_t *ctx, int16_t *gyroX, int16_t *gyroY, int16_t *gyroZ );
830 
840 uint8_t c10dof_check_interrupt ( c10dof_t *ctx );
841 
842 #ifdef __cplusplus
843 }
844 #endif
845 #endif // _C10DOF_H_
846  // End public_function group
849 
850 // ------------------------------------------------------------------------- END
void c10dof_hw_reset(c10dof_t *ctx)
Reset function.
void c10dof_config_accel(c10dof_t *ctx, uint8_t acc_cnfg)
Accel configuration function.
int16_t c10dof_read_raw_temperature(c10dof_t *ctx, uint8_t msb_reg)
Raw temperature reading.
void c10dof_config_mag(c10dof_t *ctx, uint8_t mag_cnfg)
Mag configuration function.
float c10dof_get_pressure(c10dof_t *ctx)
Get pressure value function.
hal_i2c_address_t i2c_address
Definition: c10dof.h:382
uint8_t c10dof_get_system_status(c10dof_t *ctx)
System status code.
void c10dof_set_mode(c10dof_t *ctx, uint8_t mode_val)
Mode.
hal_i2c_address_t slave_address
Definition: c10dof.h:360
int32_t c10dof_read_raw_pressure(c10dof_t *ctx, uint8_t msb_addr)
Raw pressure reading.
void c10dof_default_cfg(c10dof_t *ctx)
Click Default Configuration function.
uint8_t c10dof_get_page_ID(c10dof_t *ctx)
ID function.
uint16_t c10dof_get_soft_ID(c10dof_t *ctx)
ID function.
void c10dof_start_temperature_measure(c10dof_t *ctx)
Temperature reading start.
#define C10DOF_RETVAL
Definition: c10dof.h:64
void c10dof_default_configuration_BMP180(c10dof_t *ctx)
Configuration function.
uint8_t c10dof_check_interrupt(c10dof_t *ctx)
Check the state of interrupt function.
void c10dof_get_measurements(c10dof_t *ctx, float *temperature, float *pressure)
Get measurements value - temperature and pressure data function.
float c10dof_get_temperature(c10dof_t *ctx)
Get temperature value function.
void c10dof_cfg_setup(c10dof_cfg_t *cfg)
Config Object Initialization function.
pin_name_t scl
Definition: c10dof.h:371
void c10dof_read_accel(c10dof_t *ctx, int16_t *accelX, int16_t *accelY, int16_t *accelZ)
Function read Accel X-axis, Y-axis and Z-axis.
void c10dof_default_configuration_BNO055(c10dof_t *ctx)
Configuration function.
pin_name_t rst
Definition: c10dof.h:376
void c10dof_start_pressure_measure(c10dof_t *ctx)
Pressure reading start.
digital_out_t rst
Definition: c10dof.h:348
uint8_t c10dof_get_gyro_ID(c10dof_t *ctx)
ID function.
uint8_t c10dof_get_system_error(c10dof_t *ctx)
System error code.
Click ctx object definition.
Definition: c10dof.h:344
void c10dof_write_byte(c10dof_t *ctx, uint8_t reg, uint8_t data_in, uint8_t slave_addr)
Generic write function.
uint16_t c10dof_read_data(c10dof_t *ctx, uint8_t msb_reg, uint8_t slave_addr)
Generic read function.
uint8_t c10dof_bmp180_chip_ID(c10dof_t *ctx)
ID function.
i2c_master_t i2c
Definition: c10dof.h:356
void c10dof_read_mag(c10dof_t *ctx, int16_t *magX, int16_t *magY, int16_t *magZ)
Function read Magnetometar X-axis, Y-axis and Z-axis.
C10DOF_RETVAL c10dof_init(c10dof_t *ctx, c10dof_cfg_t *cfg)
Initialization function.
void c10dof_get_calib_param(c10dof_t *ctx)
Read the calibration parameter function.
int16_t c10dof_get_axis(c10dof_t *ctx, uint8_t addr_reg_low)
Function get axis data of BNO055 register.
uint8_t c10dof_read_byte(c10dof_t *ctx, uint8_t reg, uint8_t slave_addr)
Generic read function.
hal_i2c_speed_t i2c_speed
Definition: c10dof.h:381
void c10dof_set_config_mode(c10dof_t *ctx, uint8_t config_mode)
Configuration function.
pin_name_t int_pin
Definition: c10dof.h:377
Click configuration structure definition.
Definition: c10dof.h:367
void c10dof_set_sensor_units(c10dof_t *ctx, uint8_t sensor_units)
Sensor units function.
void c10dof_select_page(c10dof_t *ctx, uint8_t page_number)
Page selection function.
digital_in_t int_pin
Definition: c10dof.h:352
pin_name_t sda
Definition: c10dof.h:372
uint8_t c10dof_bno055_chip_ID(c10dof_t *ctx)
ID function.
void c10dof_config_gyro(c10dof_t *ctx, uint8_t gyro_cnfg)
Gyro configuration function.
void c10dof_set_normal_mode(c10dof_t *ctx)
Normal mode.
uint8_t c10dof_get_mag_ID(c10dof_t *ctx)
ID function.
void c10dof_read_gyro(c10dof_t *ctx, int16_t *gyroX, int16_t *gyroY, int16_t *gyroZ)
Function read Gyro X-axis, Y-axis and Z-axis axis.
uint8_t c10dof_get_accel_ID(c10dof_t *ctx)
ID function.