c9dof  2.0.0.0
c9dof.h
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1 /*
2  * MikroSDK - MikroE Software Development Kit
3  * Copyright© 2020 MikroElektronika d.o.o.
4  *
5  * Permission is hereby granted, free of charge, to any person
6  * obtaining a copy of this software and associated documentation
7  * files (the "Software"), to deal in the Software without restriction,
8  * including without limitation the rights to use, copy, modify, merge,
9  * publish, distribute, sublicense, and/or sell copies of the Software,
10  * and to permit persons to whom the Software is furnished to do so,
11  * subject to the following conditions:
12  *
13  * The above copyright notice and this permission notice shall be
14  * included in all copies or substantial portions of the Software.
15  *
16  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
17  * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
18  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
19  * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
20  * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE,
21  * ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE
22  * OR OTHER DEALINGS IN THE SOFTWARE.
23  */
24 
33 // ----------------------------------------------------------------------------
34 
35 #ifndef C9DOF_H
36 #define C9DOF_H
37 
42 #ifdef PREINIT_SUPPORTED
43 #include "preinit.h"
44 #endif
45 
46 #ifdef MikroCCoreVersion
47  #if MikroCCoreVersion >= 1
48  #include "delays.h"
49  #endif
50 #endif
51 
52 #include "drv_digital_out.h"
53 #include "drv_digital_in.h"
54 #include "drv_i2c_master.h"
55 
56 // -------------------------------------------------------------- PUBLIC MACROS
66 #define C9DOF_MAP_MIKROBUS( cfg, mikrobus ) \
67  cfg.scl = MIKROBUS( mikrobus, MIKROBUS_SCL ); \
68  cfg.sda = MIKROBUS( mikrobus, MIKROBUS_SDA ); \
69  cfg.en = MIKROBUS( mikrobus, MIKROBUS_RST ); \
70  cfg.int_pin = MIKROBUS( mikrobus, MIKROBUS_INT )
71 
77 #define C9DOF_RETVAL uint8_t
78 
79 #define C9DOF_OK 0x00
80 #define C9DOF_INIT_ERROR 0xFF
81 
87 #define C9DOF_SLAVE_ADDRESS_ACCEL_GYRO_0 0x6A
88 #define C9DOF_SLAVE_ADDRESS_MAG_0 0x1C
89 #define C9DOF_SLAVE_ADDRESS_ACCEL_GYRO_1 0x6B
90 #define C9DOF_SLAVE_ADDRESS_MAG_1 0x1E
91 
97 #define C9DOF_REG_ACT_THS 0x04
98 #define C9DOF_REG_ACT_DUR 0x05
99 #define C9DOF_REG_INT_GEN_CFG_XL 0x06
100 #define C9DOF_REG_INT_GEN_THS_X_XL 0x07
101 #define C9DOF_REG_INT_GEN_THS_Y_XL 0x08
102 #define C9DOF_REG_INT_GEN_THS_Z_XL 0x09
103 #define C9DOF_REG_INT_GEN_DUR_XL 0x0A
104 #define C9DOF_REG_REFERENCE_G 0x0B
105 #define C9DOF_REG_INT1_CTRL 0x0C
106 #define C9DOF_REG_INT2_CTRL 0x0D
107 #define C9DOF_REG_WHO_AM_I 0x0F
108 #define C9DOF_REG_CTRL_REG1_G 0x10
109 #define C9DOF_REG_CTRL_REG2_G 0x11
110 #define C9DOF_REG_CTRL_REG3_G 0x12
111 #define C9DOF_REG_ORIENT_CFG_G 0x13
112 #define C9DOF_REG_INT_GEN_SRC_G 0x14
113 #define C9DOF_REG_OUT_TEMP_L 0x15
114 #define C9DOF_REG_OUT_TEMP_H 0x16
115 #define C9DOF_REG_STATUS_REG 0x17
116 #define C9DOF_REG_OUT_X_L_G 0x18
117 #define C9DOF_REG_OUT_X_H_G 0x19
118 #define C9DOF_REG_OUT_Y_L_G 0x1A
119 #define C9DOF_REG_OUT_Y_H_G 0x1B
120 #define C9DOF_REG_OUT_Z_L_G 0x1C
121 #define C9DOF_REG_OUT_Z_H_G 0x1D
122 #define C9DOF_REG_CTRL_REG4 0x1E
123 #define C9DOF_REG_CTRL_REG5_XL 0x1F
124 #define C9DOF_REG_CTRL_REG6_XL 0x20
125 #define C9DOF_REG_CTRL_REG7_XL 0x21
126 #define C9DOF_REG_CTRL_REG8 0x22
127 #define C9DOF_REG_CTRL_REG9 0x23
128 #define C9DOF_REG_CTRL_REG10 0x24
129 #define C9DOF_REG_INT_GEN_SRC_XL 0x26
130 #define C9DOF_REG_OUT_X_L_XL 0x28
131 #define C9DOF_REG_OUT_X_H_XL 0x29
132 #define C9DOF_REG_OUT_Y_L_XL 0x2A
133 #define C9DOF_REG_OUT_Y_H_XL 0x2B
134 #define C9DOF_REG_OUT_Z_L_XL 0x2C
135 #define C9DOF_REG_OUT_Z_H_XL 0x2D
136 #define C9DOF_REG_FIFO_CTRL 0x2E
137 #define C9DOF_REG_FIFO_SRC 0x2F
138 #define C9DOF_REG_INT_GEN_CFG_G 0x30
139 #define C9DOF_REG_INT_GEN_THS_XH_G 0x31
140 #define C9DOF_REG_INT_GEN_THS_XL_G 0x32
141 #define C9DOF_REG_INT_GEN_THS_YH_G 0x33
142 #define C9DOF_REG_INT_GEN_THS_YL_G 0x34
143 #define C9DOF_REG_INT_GEN_THS_ZH_G 0x35
144 #define C9DOF_REG_INT_GEN_THS_ZL_G 0x36
145 #define C9DOF_REG_INT_GEN_DUR_G 0x37
146 
152 #define C9DOF_REG_OFFSET_X_REG_L_M 0x05
153 #define C9DOF_REG_OFFSET_X_REG_H_M 0x06
154 #define C9DOF_REG_OFFSET_Y_REG_L_M 0x07
155 #define C9DOF_REG_OFFSET_Y_REG_H_M 0x08
156 #define C9DOF_REG_OFFSET_Z_REG_L_M 0x09
157 #define C9DOF_REG_OFFSET_Z_REG_H_M 0x0A
158 #define C9DOF_REG_CTRL_REG1_M 0x20
159 #define C9DOF_REG_CTRL_REG2_M 0x21
160 #define C9DOF_REG_CTRL_REG3_M 0x22
161 #define C9DOF_REG_CTRL_REG4_M 0x23
162 #define C9DOF_REG_CTRL_REG5_M 0x24
163 #define C9DOF_REG_STATUS_REG_M 0x27
164 #define C9DOF_REG_OUT_X_L_M 0x28
165 #define C9DOF_REG_OUT_X_H_M 0x29
166 #define C9DOF_REG_OUT_Y_L_M 0x2A
167 #define C9DOF_REG_OUT_Y_H_M 0x2B
168 #define C9DOF_REG_OUT_Z_L_M 0x2C
169 #define C9DOF_REG_OUT_Z_H_M 0x2D
170 #define C9DOF_REG_INT_CFG_M 0x30
171 #define C9DOF_REG_INT_SRC_M 0x31
172 #define C9DOF_REG_INT_THS_L_M 0x32
173 #define C9DOF_REG_INT_THS_H_M 0x33
174 
180 #define C9DOF_REG_XG_ID 0x68
181 #define C9DOF_REG_MAG_ID 0x3D
182 
188 #define C9DOF_CTRL_REG4_CONFIG 0x38
189 #define C9DOF_CTRL_REG1_G_CONFIG 0x82
190 #define C9DOF_CTRL_REG5_XL_CONFIG 0x38
191 #define C9DOF_CTRL_REG6_XL_CONFIG 0x83
192 #define C9DOF_CTRL_REG8_CONFIG 0x44
193 #define C9DOF_CTRL_REG1_M_CONFIG 0xD0
194 #define C9DOF_CTRL_REG2_M_CONFIG 0x00
195 #define C9DOF_CTRL_REG3_M_CONFIG 0x00
196 #define C9DOF_CTRL_REG4_M_CONFIG 0x08
197 #define C9DOF_CTRL_REG5_M_CONFIG 0x40
198  // End group macro
201 // --------------------------------------------------------------- PUBLIC TYPES
210 typedef struct
211 {
212  // Output pins
213 
214  digital_out_t en;
215 
216  // Input pins
217 
218  digital_in_t int_pin;
219 
220  // Modules
221 
222  i2c_master_t i2c;
223 
224  // ctx variable
225 
228 
229 } c9dof_t;
230 
234 typedef struct
235 {
236  // Communication gpio pins
237 
238  pin_name_t scl;
239  pin_name_t sda;
240 
241  // Additional gpio pins
242 
243  pin_name_t en;
244  pin_name_t int_pin;
245 
246  // static variable
247 
248  uint32_t i2c_speed;
249  uint8_t i2c_address_ag;
250  uint8_t i2c_address_m;
251 
252 } c9dof_cfg_t;
253  // End types group
255 
264 typedef struct
265 {
266  int16_t x;
267  int16_t y;
268  int16_t z;
269 
271 
275 typedef struct
276 {
277  int16_t x;
278  int16_t y;
279  int16_t z;
280 
282 
286 typedef struct
287 {
288  int16_t x;
289  int16_t y;
290  int16_t z;
291 
293  // Measurement data
295 // ----------------------------------------------- PUBLIC FUNCTION DECLARATIONS
296 
302 #ifdef __cplusplus
303 extern "C"{
304 #endif
305 
315 
325 
401 
417 void c9dof_set_power_mode ( c9dof_t *ctx, uint8_t pwr_mode );
418 
430 void c9dof_generic_write_accel_gyro ( c9dof_t *ctx, uint8_t reg, uint8_t *data_buf, uint8_t len );
431 
444 void c9dof_generic_read_accel_gyro ( c9dof_t *ctx, uint8_t reg, uint8_t *data_buf, uint8_t len );
445 
457 void c9dof_generic_write_mag ( c9dof_t *ctx, uint8_t reg, uint8_t *data_buf, uint8_t len );
458 
471 void c9dof_generic_read_mag ( c9dof_t *ctx, uint8_t reg, uint8_t *data_buf, uint8_t len );
472 
483 
494 
505 
524 uint8_t c9dof_get_interrupt ( c9dof_t *ctx );
525 
526 #ifdef __cplusplus
527 }
528 #endif
529 #endif // _C9DOF_H_
530  // End public_function group
533 
534 // ------------------------------------------------------------------------- END
c9dof_mag_data_t::y
int16_t y
Definition: c9dof.h:289
C9DOF_RETVAL
#define C9DOF_RETVAL
Definition: c9dof.h:77
c9dof_default_cfg
void c9dof_default_cfg(c9dof_t *ctx)
Click Default Configuration function.
c9dof_get_interrupt
uint8_t c9dof_get_interrupt(c9dof_t *ctx)
Get state of the Magnetic sensor interrupt function.
c9dof_cfg_setup
void c9dof_cfg_setup(c9dof_cfg_t *cfg)
Config Object Initialization function.
c9dof_t::en
digital_out_t en
Definition: c9dof.h:214
c9dof_gyro_data_t::z
int16_t z
Definition: c9dof.h:279
c9dof_accel_data_t::y
int16_t y
Definition: c9dof.h:267
c9dof_cfg_t::i2c_speed
uint32_t i2c_speed
Definition: c9dof.h:248
c9dof_gyro_data_t::x
int16_t x
Definition: c9dof.h:277
c9dof_accel_data_t::z
int16_t z
Definition: c9dof.h:268
c9dof_mag_data_t
Magnetometer data object definition.
Definition: c9dof.h:287
c9dof_cfg_t::i2c_address_m
uint8_t i2c_address_m
Definition: c9dof.h:250
c9dof_t::slave_address_ag
uint8_t slave_address_ag
Definition: c9dof.h:226
c9dof_read_mag
void c9dof_read_mag(c9dof_t *ctx, c9dof_mag_data_t *mag_data)
Get magnetometer data function.
accel_data
c9dof_accel_data_t accel_data
Definition: main.c:33
c9dof_t::i2c
i2c_master_t i2c
Definition: c9dof.h:222
c9dof_mag_data_t::x
int16_t x
Definition: c9dof.h:288
c9dof_generic_write_accel_gyro
void c9dof_generic_write_accel_gyro(c9dof_t *ctx, uint8_t reg, uint8_t *data_buf, uint8_t len)
Generic accel and gyro write function.
c9dof_gyro_data_t
Gyro data object definition.
Definition: c9dof.h:276
c9dof_t
Click ctx object definition.
Definition: c9dof.h:211
c9dof_cfg_t::i2c_address_ag
uint8_t i2c_address_ag
Definition: c9dof.h:249
c9dof_accel_data_t::x
int16_t x
Definition: c9dof.h:266
c9dof_generic_write_mag
void c9dof_generic_write_mag(c9dof_t *ctx, uint8_t reg, uint8_t *data_buf, uint8_t len)
Generic mag write function.
c9dof_generic_read_accel_gyro
void c9dof_generic_read_accel_gyro(c9dof_t *ctx, uint8_t reg, uint8_t *data_buf, uint8_t len)
Generic accel and gyro read function.
c9dof_generic_read_mag
void c9dof_generic_read_mag(c9dof_t *ctx, uint8_t reg, uint8_t *data_buf, uint8_t len)
Generic mag read function.
c9dof_cfg_t::sda
pin_name_t sda
Definition: c9dof.h:239
c9dof_t::int_pin
digital_in_t int_pin
Definition: c9dof.h:218
c9dof_t::slave_address_m
uint8_t slave_address_m
Definition: c9dof.h:227
c9dof_read_gyro
void c9dof_read_gyro(c9dof_t *ctx, c9dof_gyro_data_t *gyro_data)
Get gyroscope data function.
c9dof_cfg_t::scl
pin_name_t scl
Definition: c9dof.h:238
c9dof_gyro_data_t::y
int16_t y
Definition: c9dof.h:278
c9dof_cfg_t::int_pin
pin_name_t int_pin
Definition: c9dof.h:244
gyro_data
c9dof_gyro_data_t gyro_data
Definition: main.c:34
c9dof_cfg_t
Click configuration structure definition.
Definition: c9dof.h:235
c9dof_cfg_t::en
pin_name_t en
Definition: c9dof.h:243
c9dof_mag_data_t::z
int16_t z
Definition: c9dof.h:290
c9dof_accel_data_t
Accel data object definition.
Definition: c9dof.h:265
mag_data
c9dof_mag_data_t mag_data
Definition: main.c:35
c9dof_read_accel
void c9dof_read_accel(c9dof_t *ctx, c9dof_accel_data_t *accel_data)
Get accelerometer data function.
c9dof_init
C9DOF_RETVAL c9dof_init(c9dof_t *ctx, c9dof_cfg_t *cfg)
Initialization function.
c9dof_set_power_mode
void c9dof_set_power_mode(c9dof_t *ctx, uint8_t pwr_mode)
Set accel and gyro power mode function.