c9dof 2.0.0.0
c9dof.h
Go to the documentation of this file.
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
38#include "drv_digital_out.h"
39#include "drv_digital_in.h"
40#include "drv_i2c_master.h"
41
42// -------------------------------------------------------------- PUBLIC MACROS
52#define C9DOF_MAP_MIKROBUS( cfg, mikrobus ) \
53 cfg.scl = MIKROBUS( mikrobus, MIKROBUS_SCL ); \
54 cfg.sda = MIKROBUS( mikrobus, MIKROBUS_SDA ); \
55 cfg.en = MIKROBUS( mikrobus, MIKROBUS_RST ); \
56 cfg.int_pin = MIKROBUS( mikrobus, MIKROBUS_INT )
63#define C9DOF_RETVAL uint8_t
64
65#define C9DOF_OK 0x00
66#define C9DOF_INIT_ERROR 0xFF
73#define C9DOF_SLAVE_ADDRESS_ACCEL_GYRO_0 0x6A
74#define C9DOF_SLAVE_ADDRESS_MAG_0 0x1C
75#define C9DOF_SLAVE_ADDRESS_ACCEL_GYRO_1 0x6B
76#define C9DOF_SLAVE_ADDRESS_MAG_1 0x1E
83#define C9DOF_REG_ACT_THS 0x04
84#define C9DOF_REG_ACT_DUR 0x05
85#define C9DOF_REG_INT_GEN_CFG_XL 0x06
86#define C9DOF_REG_INT_GEN_THS_X_XL 0x07
87#define C9DOF_REG_INT_GEN_THS_Y_XL 0x08
88#define C9DOF_REG_INT_GEN_THS_Z_XL 0x09
89#define C9DOF_REG_INT_GEN_DUR_XL 0x0A
90#define C9DOF_REG_REFERENCE_G 0x0B
91#define C9DOF_REG_INT1_CTRL 0x0C
92#define C9DOF_REG_INT2_CTRL 0x0D
93#define C9DOF_REG_WHO_AM_I 0x0F
94#define C9DOF_REG_CTRL_REG1_G 0x10
95#define C9DOF_REG_CTRL_REG2_G 0x11
96#define C9DOF_REG_CTRL_REG3_G 0x12
97#define C9DOF_REG_ORIENT_CFG_G 0x13
98#define C9DOF_REG_INT_GEN_SRC_G 0x14
99#define C9DOF_REG_OUT_TEMP_L 0x15
100#define C9DOF_REG_OUT_TEMP_H 0x16
101#define C9DOF_REG_STATUS_REG 0x17
102#define C9DOF_REG_OUT_X_L_G 0x18
103#define C9DOF_REG_OUT_X_H_G 0x19
104#define C9DOF_REG_OUT_Y_L_G 0x1A
105#define C9DOF_REG_OUT_Y_H_G 0x1B
106#define C9DOF_REG_OUT_Z_L_G 0x1C
107#define C9DOF_REG_OUT_Z_H_G 0x1D
108#define C9DOF_REG_CTRL_REG4 0x1E
109#define C9DOF_REG_CTRL_REG5_XL 0x1F
110#define C9DOF_REG_CTRL_REG6_XL 0x20
111#define C9DOF_REG_CTRL_REG7_XL 0x21
112#define C9DOF_REG_CTRL_REG8 0x22
113#define C9DOF_REG_CTRL_REG9 0x23
114#define C9DOF_REG_CTRL_REG10 0x24
115#define C9DOF_REG_INT_GEN_SRC_XL 0x26
116#define C9DOF_REG_OUT_X_L_XL 0x28
117#define C9DOF_REG_OUT_X_H_XL 0x29
118#define C9DOF_REG_OUT_Y_L_XL 0x2A
119#define C9DOF_REG_OUT_Y_H_XL 0x2B
120#define C9DOF_REG_OUT_Z_L_XL 0x2C
121#define C9DOF_REG_OUT_Z_H_XL 0x2D
122#define C9DOF_REG_FIFO_CTRL 0x2E
123#define C9DOF_REG_FIFO_SRC 0x2F
124#define C9DOF_REG_INT_GEN_CFG_G 0x30
125#define C9DOF_REG_INT_GEN_THS_XH_G 0x31
126#define C9DOF_REG_INT_GEN_THS_XL_G 0x32
127#define C9DOF_REG_INT_GEN_THS_YH_G 0x33
128#define C9DOF_REG_INT_GEN_THS_YL_G 0x34
129#define C9DOF_REG_INT_GEN_THS_ZH_G 0x35
130#define C9DOF_REG_INT_GEN_THS_ZL_G 0x36
131#define C9DOF_REG_INT_GEN_DUR_G 0x37
138#define C9DOF_REG_OFFSET_X_REG_L_M 0x05
139#define C9DOF_REG_OFFSET_X_REG_H_M 0x06
140#define C9DOF_REG_OFFSET_Y_REG_L_M 0x07
141#define C9DOF_REG_OFFSET_Y_REG_H_M 0x08
142#define C9DOF_REG_OFFSET_Z_REG_L_M 0x09
143#define C9DOF_REG_OFFSET_Z_REG_H_M 0x0A
144#define C9DOF_REG_CTRL_REG1_M 0x20
145#define C9DOF_REG_CTRL_REG2_M 0x21
146#define C9DOF_REG_CTRL_REG3_M 0x22
147#define C9DOF_REG_CTRL_REG4_M 0x23
148#define C9DOF_REG_CTRL_REG5_M 0x24
149#define C9DOF_REG_STATUS_REG_M 0x27
150#define C9DOF_REG_OUT_X_L_M 0x28
151#define C9DOF_REG_OUT_X_H_M 0x29
152#define C9DOF_REG_OUT_Y_L_M 0x2A
153#define C9DOF_REG_OUT_Y_H_M 0x2B
154#define C9DOF_REG_OUT_Z_L_M 0x2C
155#define C9DOF_REG_OUT_Z_H_M 0x2D
156#define C9DOF_REG_INT_CFG_M 0x30
157#define C9DOF_REG_INT_SRC_M 0x31
158#define C9DOF_REG_INT_THS_L_M 0x32
159#define C9DOF_REG_INT_THS_H_M 0x33
166#define C9DOF_REG_XG_ID 0x68
167#define C9DOF_REG_MAG_ID 0x3D
174#define C9DOF_CTRL_REG4_CONFIG 0x38
175#define C9DOF_CTRL_REG1_G_CONFIG 0x82
176#define C9DOF_CTRL_REG5_XL_CONFIG 0x38
177#define C9DOF_CTRL_REG6_XL_CONFIG 0x83
178#define C9DOF_CTRL_REG8_CONFIG 0x44
179#define C9DOF_CTRL_REG1_M_CONFIG 0xD0
180#define C9DOF_CTRL_REG2_M_CONFIG 0x00
181#define C9DOF_CTRL_REG3_M_CONFIG 0x00
182#define C9DOF_CTRL_REG4_M_CONFIG 0x08
183#define C9DOF_CTRL_REG5_M_CONFIG 0x40 // End group macro
187// --------------------------------------------------------------- PUBLIC TYPES
196typedef struct
197{
198 // Output pins
199
200 digital_out_t en;
201
202 // Input pins
203
204 digital_in_t int_pin;
205
206 // Modules
207
208 i2c_master_t i2c;
209
210 // ctx variable
211
214
215} c9dof_t;
216
220typedef struct
221{
222 // Communication gpio pins
223
224 pin_name_t scl;
225 pin_name_t sda;
226
227 // Additional gpio pins
228
229 pin_name_t en;
230 pin_name_t int_pin;
231
232 // static variable
233
234 uint32_t i2c_speed;
237
239 // End types group
241
250typedef struct
251{
252 int16_t x;
253 int16_t y;
254 int16_t z;
255
257
261typedef struct
262{
263 int16_t x;
264 int16_t y;
265 int16_t z;
266
268
272typedef struct
273{
274 int16_t x;
275 int16_t y;
276 int16_t z;
277
279 // Measurement data
281// ----------------------------------------------- PUBLIC FUNCTION DECLARATIONS
282
288#ifdef __cplusplus
289extern "C"{
290#endif
291
301
311
387
403void c9dof_set_power_mode ( c9dof_t *ctx, uint8_t pwr_mode );
404
416void c9dof_generic_write_accel_gyro ( c9dof_t *ctx, uint8_t reg, uint8_t *data_buf, uint8_t len );
417
430void c9dof_generic_read_accel_gyro ( c9dof_t *ctx, uint8_t reg, uint8_t *data_buf, uint8_t len );
431
443void c9dof_generic_write_mag ( c9dof_t *ctx, uint8_t reg, uint8_t *data_buf, uint8_t len );
444
457void c9dof_generic_read_mag ( c9dof_t *ctx, uint8_t reg, uint8_t *data_buf, uint8_t len );
458
469
480
491
511
512#ifdef __cplusplus
513}
514#endif
515#endif // _C9DOF_H_
516 // End public_function group
519
520// ------------------------------------------------------------------------- END
#define C9DOF_RETVAL
Definition: c9dof.h:63
void c9dof_read_accel(c9dof_t *ctx, c9dof_accel_data_t *accel_data)
Get accelerometer data function.
uint8_t c9dof_get_interrupt(c9dof_t *ctx)
Get state of the Magnetic sensor interrupt function.
void c9dof_default_cfg(c9dof_t *ctx)
Click Default Configuration function.
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.
void c9dof_generic_read_mag(c9dof_t *ctx, uint8_t reg, uint8_t *data_buf, uint8_t len)
Generic mag read function.
void c9dof_set_power_mode(c9dof_t *ctx, uint8_t pwr_mode)
Set accel and gyro power mode function.
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.
void c9dof_cfg_setup(c9dof_cfg_t *cfg)
Config Object Initialization function.
void c9dof_read_gyro(c9dof_t *ctx, c9dof_gyro_data_t *gyro_data)
Get gyroscope data function.
C9DOF_RETVAL c9dof_init(c9dof_t *ctx, c9dof_cfg_t *cfg)
Initialization function.
void c9dof_generic_write_mag(c9dof_t *ctx, uint8_t reg, uint8_t *data_buf, uint8_t len)
Generic mag write function.
void c9dof_read_mag(c9dof_t *ctx, c9dof_mag_data_t *mag_data)
Get magnetometer data function.
c9dof_gyro_data_t gyro_data
Definition: main.c:34
c9dof_accel_data_t accel_data
Definition: main.c:33
c9dof_mag_data_t mag_data
Definition: main.c:35
Accel data object definition.
Definition: c9dof.h:251
int16_t z
Definition: c9dof.h:254
int16_t x
Definition: c9dof.h:252
int16_t y
Definition: c9dof.h:253
Click configuration structure definition.
Definition: c9dof.h:221
uint32_t i2c_speed
Definition: c9dof.h:234
uint8_t i2c_address_ag
Definition: c9dof.h:235
pin_name_t scl
Definition: c9dof.h:224
pin_name_t en
Definition: c9dof.h:229
pin_name_t int_pin
Definition: c9dof.h:230
uint8_t i2c_address_m
Definition: c9dof.h:236
pin_name_t sda
Definition: c9dof.h:225
Gyro data object definition.
Definition: c9dof.h:262
int16_t z
Definition: c9dof.h:265
int16_t x
Definition: c9dof.h:263
int16_t y
Definition: c9dof.h:264
Magnetometer data object definition.
Definition: c9dof.h:273
int16_t z
Definition: c9dof.h:276
int16_t x
Definition: c9dof.h:274
int16_t y
Definition: c9dof.h:275
Click ctx object definition.
Definition: c9dof.h:197
uint8_t slave_address_m
Definition: c9dof.h:213
digital_in_t int_pin
Definition: c9dof.h:204
i2c_master_t i2c
Definition: c9dof.h:208
digital_out_t en
Definition: c9dof.h:200
uint8_t slave_address_ag
Definition: c9dof.h:212