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 )
57 
63 #define C9DOF_RETVAL uint8_t
64 
65 #define C9DOF_OK 0x00
66 #define C9DOF_INIT_ERROR 0xFF
67 
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
77 
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
132 
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
160 
166 #define C9DOF_REG_XG_ID 0x68
167 #define C9DOF_REG_MAG_ID 0x3D
168 
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
184  // End group macro
187 // --------------------------------------------------------------- PUBLIC TYPES
196 typedef 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 
220 typedef 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;
235  uint8_t i2c_address_ag;
236  uint8_t i2c_address_m;
237 
238 } c9dof_cfg_t;
239  // End types group
241 
250 typedef struct
251 {
252  int16_t x;
253  int16_t y;
254  int16_t z;
255 
257 
261 typedef struct
262 {
263  int16_t x;
264  int16_t y;
265  int16_t z;
266 
268 
272 typedef 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
289 extern "C"{
290 #endif
291 
301 
311 
387 
403 void c9dof_set_power_mode ( c9dof_t *ctx, uint8_t pwr_mode );
404 
416 void c9dof_generic_write_accel_gyro ( c9dof_t *ctx, uint8_t reg, uint8_t *data_buf, uint8_t len );
417 
430 void c9dof_generic_read_accel_gyro ( c9dof_t *ctx, uint8_t reg, uint8_t *data_buf, uint8_t len );
431 
443 void c9dof_generic_write_mag ( c9dof_t *ctx, uint8_t reg, uint8_t *data_buf, uint8_t len );
444 
457 void c9dof_generic_read_mag ( c9dof_t *ctx, uint8_t reg, uint8_t *data_buf, uint8_t len );
458 
469 
480 
491 
510 uint8_t c9dof_get_interrupt ( c9dof_t *ctx );
511 
512 #ifdef __cplusplus
513 }
514 #endif
515 #endif // _C9DOF_H_
516  // End public_function group
519 
520 // ------------------------------------------------------------------------- END
c9dof_mag_data_t::y
int16_t y
Definition: c9dof.h:275
C9DOF_RETVAL
#define C9DOF_RETVAL
Definition: c9dof.h:63
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:200
c9dof_gyro_data_t::z
int16_t z
Definition: c9dof.h:265
c9dof_accel_data_t::y
int16_t y
Definition: c9dof.h:253
c9dof_cfg_t::i2c_speed
uint32_t i2c_speed
Definition: c9dof.h:234
c9dof_gyro_data_t::x
int16_t x
Definition: c9dof.h:263
c9dof_accel_data_t::z
int16_t z
Definition: c9dof.h:254
c9dof_mag_data_t
Magnetometer data object definition.
Definition: c9dof.h:273
c9dof_cfg_t::i2c_address_m
uint8_t i2c_address_m
Definition: c9dof.h:236
c9dof_t::slave_address_ag
uint8_t slave_address_ag
Definition: c9dof.h:212
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:208
c9dof_mag_data_t::x
int16_t x
Definition: c9dof.h:274
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:262
c9dof_t
Click ctx object definition.
Definition: c9dof.h:197
c9dof_cfg_t::i2c_address_ag
uint8_t i2c_address_ag
Definition: c9dof.h:235
c9dof_accel_data_t::x
int16_t x
Definition: c9dof.h:252
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:225
c9dof_t::int_pin
digital_in_t int_pin
Definition: c9dof.h:204
c9dof_t::slave_address_m
uint8_t slave_address_m
Definition: c9dof.h:213
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:224
c9dof_gyro_data_t::y
int16_t y
Definition: c9dof.h:264
c9dof_cfg_t::int_pin
pin_name_t int_pin
Definition: c9dof.h:230
gyro_data
c9dof_gyro_data_t gyro_data
Definition: main.c:34
c9dof_cfg_t
Click configuration structure definition.
Definition: c9dof.h:221
c9dof_cfg_t::en
pin_name_t en
Definition: c9dof.h:229
c9dof_mag_data_t::z
int16_t z
Definition: c9dof.h:276
c9dof_accel_data_t
Accel data object definition.
Definition: c9dof.h:251
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.