c6dofimu2 2.0.0.0
c6dofimu2.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 C6DOFIMU2_H
36#define C6DOFIMU2_H
37
38#include "drv_digital_out.h"
39#include "drv_digital_in.h"
40#include "drv_i2c_master.h"
41#include "drv_spi_master.h"
42
43// -------------------------------------------------------------- PUBLIC MACROS
54#define C6DOFIMU2_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.int_pin = MIKROBUS( mikrobus, MIKROBUS_INT )
68#define C6DOFIMU2_MASTER_I2C 0
69#define C6DOFIMU2_MASTER_SPI 1
76#define C6DOFIMU2_RETVAL uint8_t
77
78#define C6DOFIMU2_OK 0x00
79#define C6DOFIMU2_INIT_ERROR 0xFF
86#define C6DOFIMU2_I2C_ADDR 0x68
93#define C6DOFIMU2_REG_CHIP_ID 0x00
94#define C6DOFIMU2_REG_ERROR 0x02
95#define C6DOFIMU2_REG_PMU_STATUS 0x03
96#define C6DOFIMU2_REG_AUX_DATA 0x04
97#define C6DOFIMU2_REG_GYRO_DATA 0x0C
98#define C6DOFIMU2_REG_ACCEL_DATA 0x12
99#define C6DOFIMU2_REG_STATUS 0x1B
100#define C6DOFIMU2_REG_INT_STATUS 0x1C
101#define C6DOFIMU2_REG_FIFO_LENGTH 0x22
102#define C6DOFIMU2_REG_FIFO_DATA 0x24
103#define C6DOFIMU2_REG_ACCEL_CONFIG 0x40
104#define C6DOFIMU2_REG_ACCEL_RANGE 0x41
105#define C6DOFIMU2_REG_GYRO_CONFIG 0x42
106#define C6DOFIMU2_REG_GYRO_RANGE 0x43
107#define C6DOFIMU2_REG_AUX_ODR 0x44
108#define C6DOFIMU2_REG_FIFO_DOWN 0x45
109#define C6DOFIMU2_REG_FIFO_CONFIG_0 0x46
110#define C6DOFIMU2_REG_FIFO_CONFIG_1 0x47
111#define C6DOFIMU2_REG_AUX_IF_0 0x4B
112#define C6DOFIMU2_REG_AUX_IF_1 0x4C
113#define C6DOFIMU2_REG_AUX_IF_2 0x4D
114#define C6DOFIMU2_REG_AUX_IF_3 0x4E
115#define C6DOFIMU2_REG_AUX_IF_4 0x4F
116#define C6DOFIMU2_REG_INT_ENABLE_0 0x50
117#define C6DOFIMU2_REG_INT_ENABLE_1 0x51
118#define C6DOFIMU2_REG_INT_ENABLE_2 0x52
119#define C6DOFIMU2_REG_INT_OUT_CTRL 0x53
120#define C6DOFIMU2_REG_INT_LATCH 0x54
121#define C6DOFIMU2_REG_INT_MAP_0 0x55
122#define C6DOFIMU2_REG_INT_MAP_1 0x56
123#define C6DOFIMU2_REG_INT_MAP_2 0x57
124#define C6DOFIMU2_REG_INT_DATA_0 0x58
125#define C6DOFIMU2_REG_INT_DATA_1 0x59
126#define C6DOFIMU2_REG_INT_LOWHIGH_0 0x5A
127#define C6DOFIMU2_REG_INT_LOWHIGH_1 0x5B
128#define C6DOFIMU2_REG_INT_LOWHIGH_2 0x5C
129#define C6DOFIMU2_REG_INT_LOWHIGH_3 0x5D
130#define C6DOFIMU2_REG_INT_LOWHIGH_4 0x5E
131#define C6DOFIMU2_REG_INT_MOTION_0 0x5F
132#define C6DOFIMU2_REG_INT_MOTION_1 0x60
133#define C6DOFIMU2_REG_INT_MOTION_2 0x61
134#define C6DOFIMU2_REG_INT_MOTION_3 0x62
135#define C6DOFIMU2_REG_INT_TAP_0 0x63
136#define C6DOFIMU2_REG_INT_TAP_1 0x64
137#define C6DOFIMU2_REG_INT_ORIENT_0 0x65
138#define C6DOFIMU2_REG_INT_ORIENT_1 0x66
139#define C6DOFIMU2_REG_INT_FLAT_0 0x67
140#define C6DOFIMU2_REG_INT_FLAT_1 0x68
141#define C6DOFIMU2_REG_FOC_CONF 0x69
142#define C6DOFIMU2_REG_CONF 0x6A
143#define C6DOFIMU2_REG_NV_CONF 0x70
150#define C6DOFIMU2_CFG_IF_CONF 0x6B
151#define C6DOFIMU2_CFG_SELF_TEST 0x6D
152#define C6DOFIMU2_CFG_OFFSET 0x71
153#define C6DOFIMU2_CFG_OFFSET_CONF 0x77
154#define C6DOFIMU2_CFG_INT_STEP_CNT_0 0x78
155#define C6DOFIMU2_CFG_INT_STEP_CONFIG_0 0x7A
156#define C6DOFIMU2_CFG_INT_STEP_CONFIG_1 0x7B
157#define C6DOFIMU2_CFG_COMMAND 0x7E
158#define C6DOFIMU2_CFG_SPI_COMM_TEST 0x7F
159#define C6DOFIMU2_CFG_INTL_PULLUP_CONF 0x85
166#define C6DOFIMU2_CMD_ACCEL_NORMAL 0x11
167#define C6DOFIMU2_CMD_ACCEL_LOW_PWR 0x12
168#define C6DOFIMU2_CMD_GYRO_NORMAL 0x15
169#define C6DOFIMU2_CMD_GYRO_FAST 0x7E
170#define C6DOFIMU2_CMD_SEL_I2C 0x00
171#define C6DOFIMU2_CMD_SEL_SPI 0x01
179// GYRO
180
181#define C6DOFIMU2_GYRO_X_L 0x0C
182#define C6DOFIMU2_GYRO_X_H 0x0D
183#define C6DOFIMU2_GYRO_Y_L 0x0E
184#define C6DOFIMU2_GYRO_Y_H 0x0F
185#define C6DOFIMU2_GYRO_Z_L 0x10
186#define C6DOFIMU2_GYRO_Z_H 0x11
187
188// ACCEL
189
190#define C6DOFIMU2_ACCEL_X_L 0x12
191#define C6DOFIMU2_ACCEL_X_H 0x13
192#define C6DOFIMU2_ACCEL_Y_L 0x14
193#define C6DOFIMU2_ACCEL_Y_H 0x15
194#define C6DOFIMU2_ACCEL_Z_L 0x16
195#define C6DOFIMU2_ACCEL_Z_H 0x17 // End group macro
199
200// --------------------------------------------------------------- PUBLIC TYPES
209typedef uint8_t c6dofimu2_select_t;
210
214typedef void ( *c6dofimu2_master_io_t )( struct c6dofimu2_s*, uint8_t, uint8_t*, uint8_t );
215
219typedef struct c6dofimu2_s
220{
221 // Output pins
222
223 digital_out_t cs;
224
225 // Input pins
226
227 digital_in_t int_pin;
228
229 // Modules
230
231 i2c_master_t i2c;
232 spi_master_t spi;
233
234 // ctx variable
235
237 pin_name_t chip_select;
241
243
247typedef struct
248{
249 // Communication gpio pins
250
251 pin_name_t scl;
252 pin_name_t sda;
253 pin_name_t miso;
254 pin_name_t mosi;
255 pin_name_t sck;
256 pin_name_t cs;
257
258 // Additional gpio pins
259
260 pin_name_t int_pin;
261
262 // static variable
263
264 uint32_t i2c_speed;
265 uint8_t i2c_address;
266 uint32_t spi_speed;
267 spi_master_mode_t spi_mode;
268 spi_master_chip_select_polarity_t cs_polarity;
269
271
273 // End types group
275
284typedef struct
285{
286 int16_t accel_x;
287 int16_t accel_y;
288 int16_t accel_z;
289
291
295typedef struct
296{
297 int16_t gyro_x;
298 int16_t gyro_y;
299 int16_t gyro_z;
300
302 // Measurement data
304// ----------------------------------------------- PUBLIC FUNCTION DECLARATIONS
310#ifdef __cplusplus
311extern "C"{
312#endif
313
323
333
354
365void c6dofimu2_generic_write ( c6dofimu2_t *ctx, uint8_t reg, uint8_t *data_buf, uint8_t len );
366
377void c6dofimu2_generic_read ( c6dofimu2_t *ctx, uint8_t reg, uint8_t *data_buf, uint8_t len );
378
391int16_t c6dofimu2_get_axis ( c6dofimu2_t *ctx, uint8_t adr_reg_low, uint8_t adr_reg_high );
392
402
412
413#ifdef __cplusplus
414}
415#endif
416#endif // _C6DOFIMU2_H_
417 // End public_function group
420
421// ------------------------------------------------------------------------- END
#define C6DOFIMU2_RETVAL
Definition: c6dofimu2.h:76
void c6dofimu2_read_accel(c6dofimu2_t *ctx, c6dofimu2_accel_data_t *accel_data)
Read axis function.
void c6dofimu2_generic_read(c6dofimu2_t *ctx, uint8_t reg, uint8_t *data_buf, uint8_t len)
Generic read function.
void c6dofimu2_generic_write(c6dofimu2_t *ctx, uint8_t reg, uint8_t *data_buf, uint8_t len)
Generic write function.
C6DOFIMU2_RETVAL c6dofimu2_init(c6dofimu2_t *ctx, c6dofimu2_cfg_t *cfg)
Initialization function.
int16_t c6dofimu2_get_axis(c6dofimu2_t *ctx, uint8_t adr_reg_low, uint8_t adr_reg_high)
Low and high register data function.
void c6dofimu2_default_cfg(c6dofimu2_t *ctx, c6dofimu2_cfg_t *cfg)
Click Default Configuration function.
void c6dofimu2_cfg_setup(c6dofimu2_cfg_t *cfg)
Config Object Initialization function.
void c6dofimu2_read_gyro(c6dofimu2_t *ctx, c6dofimu2_gyro_data_t *gyro_data)
Read axis function.
uint8_t c6dofimu2_select_t
Communication type.
Definition: c6dofimu2.h:209
struct c6dofimu2_s c6dofimu2_t
Click ctx object definition.
void(* c6dofimu2_master_io_t)(struct c6dofimu2_s *, uint8_t, uint8_t *, uint8_t)
Master Input/Output type.
Definition: c6dofimu2.h:214
c6dofimu2_accel_data_t accel_data
Definition: main.c:38
c6dofimu2_gyro_data_t gyro_data
Definition: main.c:39
Accel data object definition.
Definition: c6dofimu2.h:285
int16_t accel_x
Definition: c6dofimu2.h:286
int16_t accel_y
Definition: c6dofimu2.h:287
int16_t accel_z
Definition: c6dofimu2.h:288
Click configuration structure definition.
Definition: c6dofimu2.h:248
uint32_t i2c_speed
Definition: c6dofimu2.h:264
spi_master_chip_select_polarity_t cs_polarity
Definition: c6dofimu2.h:268
pin_name_t sck
Definition: c6dofimu2.h:255
c6dofimu2_select_t sel
Definition: c6dofimu2.h:270
spi_master_mode_t spi_mode
Definition: c6dofimu2.h:267
pin_name_t mosi
Definition: c6dofimu2.h:254
uint32_t spi_speed
Definition: c6dofimu2.h:266
pin_name_t scl
Definition: c6dofimu2.h:251
pin_name_t int_pin
Definition: c6dofimu2.h:260
pin_name_t miso
Definition: c6dofimu2.h:253
pin_name_t sda
Definition: c6dofimu2.h:252
pin_name_t cs
Definition: c6dofimu2.h:256
uint8_t i2c_address
Definition: c6dofimu2.h:265
Gyro data object definition.
Definition: c6dofimu2.h:296
int16_t gyro_y
Definition: c6dofimu2.h:298
int16_t gyro_x
Definition: c6dofimu2.h:297
int16_t gyro_z
Definition: c6dofimu2.h:299
Click ctx object definition.
Definition: c6dofimu2.h:220
digital_out_t cs
Definition: c6dofimu2.h:223
spi_master_t spi
Definition: c6dofimu2.h:232
digital_in_t int_pin
Definition: c6dofimu2.h:227
c6dofimu2_master_io_t write_f
Definition: c6dofimu2.h:238
i2c_master_t i2c
Definition: c6dofimu2.h:231
c6dofimu2_select_t master_sel
Definition: c6dofimu2.h:240
uint8_t slave_address
Definition: c6dofimu2.h:236
c6dofimu2_master_io_t read_f
Definition: c6dofimu2.h:239
pin_name_t chip_select
Definition: c6dofimu2.h:237