38#include "drv_digital_out.h"
39#include "drv_digital_in.h"
40#include "drv_i2c_master.h"
41#include "drv_spi_master.h"
54#define MPUIMU_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.fsy = MIKROBUS( mikrobus, MIKROBUS_RST ); \
62 cfg.int_pin = MIKROBUS( mikrobus, MIKROBUS_INT )
69#define MPUIMU_MASTER_I2C 0
70#define MPUIMU_MASTER_SPI 1
77#define MPUIMU_RETVAL uint8_t
80#define MPUIMU_INIT_ERROR 0xFF
87#define MPUIMU_I2C_ADDR_0 0xD2
88#define MPUIMU_I2C_ADDR_1 0x69
95#define MPUIMU_REG_SELF_TEST_X 0x0D
96#define MPUIMU_REG_SELF_TEST_Y 0x0E
97#define MPUIMU_REG_SELF_TEST_Z 0x0F
98#define MPUIMU_REG_SELF_TEST_A 0x10
99#define MPUIMU_REG_SMPLRT_DIV 0x19
100#define MPUIMU_REG_MOT_THR 0x1F
101#define MPUIMU_REG_I2C_MST_CTRL 0x24
102#define MPUIMU_REG_I2C_SLV0_ADDR 0x25
103#define MPUIMU_REG_I2C_SLV0 0x26
104#define MPUIMU_REG_I2C_SLV0_CTRL 0x27
105#define MPUIMU_REG_I2C_SLV1_ADDR 0x28
106#define MPUIMU_REG_I2C_SLV1 0x29
107#define MPUIMU_REG_I2C_SLV1_CTRL 0x2A
108#define MPUIMU_REG_I2C_SLV2_ADDR 0x2B
109#define MPUIMU_REG_I2C_SLV2 0x2C
110#define MPUIMU_REG_I2C_SLV2_CTRL 0x2D
111#define MPUIMU_REG_I2C_SLV3_ADDR 0x2E
112#define MPUIMU_REG_I2C_SLV3 0x2F
113#define MPUIMU_REG_I2C_SLV3_CTRL 0x30
114#define MPUIMU_REG_I2C_SLV4_ADDR 0x31
115#define MPUIMU_REG_I2C_SLV4 0x32
116#define MPUIMU_REG_I2C_SLV4_DO 0x33
117#define MPUIMU_REG_I2C_SLV4_CTRL 0x34
118#define MPUIMU_REG_I2C_SLV4_DI 0x35
119#define MPUIMU_REG_I2C_MST_STATUS 0x36
120#define MPUIMU_REG_I2C_SLV0_DO 0x63
121#define MPUIMU_REG_I2C_SLV1_DO 0x64
122#define MPUIMU_REG_I2C_SLV2_DO 0x65
123#define MPUIMU_REG_I2C_SLV3_DO 0x66
124#define MPUIMU_REG_I2C_MST_DELAY_CT 0x67
125#define MPUIMU_REG_INT_PIN_CFG 0x37
126#define MPUIMU_REG_INT_ENABLE 0x38
127#define MPUIMU_REG_INT_STATUS 0x3A
128#define MPUIMU_REG_SIGNAL_PATH_RES 0x68
129#define MPUIMU_REG_MOT_DETECT_CTRL 0x69
130#define MPUIMU_REG_USER_CTRL 0x6A
131#define MPUIMU_REG_PWR_MGMT_1 0x6B
132#define MPUIMU_REG_PWR_MGMT_2 0x6C
133#define MPUIMU_REG_FIFO_EN 0x23
134#define MPUIMU_REG_FIFO_COUNTH 0x72
135#define MPUIMU_REG_FIFO_COUNTL 0x73
136#define MPUIMU_REG_FIFO_R_W 0x74
137#define MPUIMU_REG_WHO_AM_I 0x75
144#define MPUIMU_CFG_CONFIG 0x1A
145#define MPUIMU_CFG_RAW_ACCEL 0x3B
146#define MPUIMU_CFG_RAW_GYRO 0x43
147#define MPUIMU_CFG_STANDARD_GYRO 0x1B
148#define MPUIMU_CFG_STANDARD_ACCEL 0x1C
149#define MPUIMU_CFG_PWR 0x80
150#define MPUIMU_CFG_PWR_SET 0x00
151#define MPUIMU_CFG_FIFO_ENABLE 0x78
152#define MPUIMU_CFG_INT_ENABLE 0x10
159#define MPUIMU_EXT_SENS_DATA_00 0x49
160#define MPUIMU_EXT_SENS_DATA_01 0x4A
161#define MPUIMU_EXT_SENS_DATA_02 0x4B
162#define MPUIMU_EXT_SENS_DATA_03 0x4C
163#define MPUIMU_EXT_SENS_DATA_04 0x4D
164#define MPUIMU_EXT_SENS_DATA_05 0x4E
165#define MPUIMU_EXT_SENS_DATA_06 0x4F
166#define MPUIMU_EXT_SENS_DATA_07 0x50
167#define MPUIMU_EXT_SENS_DATA_08 0x51
168#define MPUIMU_EXT_SENS_DATA_11 0x54
169#define MPUIMU_EXT_SENS_DATA_09 0x52
170#define MPUIMU_EXT_SENS_DATA_10 0x53
171#define MPUIMU_EXT_SENS_DATA_12 0x55
172#define MPUIMU_EXT_SENS_DATA_13 0x56
173#define MPUIMU_EXT_SENS_DATA_14 0x57
174#define MPUIMU_EXT_SENS_DATA_15 0x58
175#define MPUIMU_EXT_SENS_DATA_16 0x59
176#define MPUIMU_EXT_SENS_DATA_17 0x5A
177#define MPUIMU_EXT_SENS_DATA_18 0x5B
178#define MPUIMU_EXT_SENS_DATA_19 0x5C
179#define MPUIMU_EXT_SENS_DATA_20 0x5D
180#define MPUIMU_EXT_SENS_DATA_21 0x5E
181#define MPUIMU_EXT_SENS_DATA_22 0x5F
182#define MPUIMU_EXT_SENS_DATA_23 0x60
192#define MPUIMU_GYRO_XOUT_H 0x43
193#define MPUIMU_GYRO_XOUT_L 0x44
194#define MPUIMU_GYRO_YOUT_H 0x45
195#define MPUIMU_GYRO_YOUT_L 0x46
196#define MPUIMU_GYRO_ZOUT_H 0x47
197#define MPUIMU_GYRO_ZOUT_L 0x48
201#define MPUIMU_ACCEL_XOUT_H 0x3B
202#define MPUIMU_ACCEL_XOUT_L 0x3C
203#define MPUIMU_ACCEL_YOUT_H 0x3D
204#define MPUIMU_ACCEL_YOUT_L 0x3E
205#define MPUIMU_ACCEL_ZOUT_H 0x3F
206#define MPUIMU_ACCEL_ZOUT_L 0x40
210#define MPUIMU_TEMP_OUT_H 0x41
211#define MPUIMU_TEMP_OUT_L 0x42
#define MPUIMU_RETVAL
Definition: mpuimu.h:77
void mpuimu_read_gyro(mpuimu_t *ctx, mpuimu_gyro_data_t *gyro_data)
Read Axis function.
void mpuimu_default_cfg(mpuimu_t *ctx)
Click Default Configuration function.
float mpuimu_read_temperature(mpuimu_t *ctx)
Temperature read function.
void software_reset(mpuimu_t *ctx)
Software reset function.
void mpuimu_generic_write(mpuimu_t *ctx, uint8_t reg, uint8_t *data_buf, uint8_t len)
Generic write function.
void mpuimu_generic_read(mpuimu_t *ctx, uint8_t reg, uint8_t *data_buf, uint8_t len)
Generic read function.
void mpuimu_cfg_setup(mpuimu_cfg_t *cfg)
Config Object Initialization function.
MPUIMU_RETVAL mpuimu_init(mpuimu_t *ctx, mpuimu_cfg_t *cfg)
Initialization function.
int16_t mpuimu_get_axis(mpuimu_t *ctx, uint8_t adr_reg_high)
High register data function.
void mpuimu_read_accel(mpuimu_t *ctx, mpuimu_accel_data_t *accel_data)
Read Axis function.
void(* mpuimu_master_io_t)(struct mpuimu_s *, uint8_t, uint8_t *, uint8_t)
Master Input/Output type.
Definition: mpuimu.h:230
uint8_t mpuimu_select_t
Communication type.
Definition: mpuimu.h:225
struct mpuimu_s mpuimu_t
Click ctx object definition.
mpuimu_accel_data_t accel_data
Definition: main.c:35
mpuimu_gyro_data_t gyro_data
Definition: main.c:36
int16_t accel_x
Definition: mpuimu.h:299
int16_t accel_y
Definition: mpuimu.h:300
int16_t accel_z
Definition: mpuimu.h:301
Click configuration structure definition.
Definition: mpuimu.h:265
mpuimu_select_t sel
Definition: mpuimu.h:289
uint32_t i2c_speed
Definition: mpuimu.h:282
spi_master_chip_select_polarity_t cs_polarity
Definition: mpuimu.h:287
pin_name_t sck
Definition: mpuimu.h:272
spi_master_mode_t spi_mode
Definition: mpuimu.h:286
pin_name_t mosi
Definition: mpuimu.h:271
uint32_t spi_speed
Definition: mpuimu.h:285
pin_name_t scl
Definition: mpuimu.h:268
pin_name_t int_pin
Definition: mpuimu.h:278
pin_name_t fsy
Definition: mpuimu.h:277
pin_name_t miso
Definition: mpuimu.h:270
pin_name_t sda
Definition: mpuimu.h:269
pin_name_t cs
Definition: mpuimu.h:273
uint8_t i2c_address
Definition: mpuimu.h:283
Gyro data object definition.
Definition: mpuimu.h:309
int16_t gyro_y
Definition: mpuimu.h:311
int16_t gyro_x
Definition: mpuimu.h:310
int16_t gyro_z
Definition: mpuimu.h:312
Click ctx object definition.
Definition: mpuimu.h:236
digital_out_t cs
Definition: mpuimu.h:239
digital_out_t fsy
Definition: mpuimu.h:240
spi_master_t spi
Definition: mpuimu.h:249
mpuimu_master_io_t read_f
Definition: mpuimu.h:256
mpuimu_select_t master_sel
Definition: mpuimu.h:257
digital_in_t int_pin
Definition: mpuimu.h:244
i2c_master_t i2c
Definition: mpuimu.h:248
uint8_t slave_address
Definition: mpuimu.h:253
mpuimu_master_io_t write_f
Definition: mpuimu.h:255
pin_name_t chip_select
Definition: mpuimu.h:254