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38 #include "mikrosdk_version.h"
41 #if mikroSDK_GET_VERSION < 20800ul
42 #include "rcu_delays.h"
48 #include "drv_digital_out.h"
49 #include "drv_digital_in.h"
50 #include "drv_i2c_master.h"
51 #include "drv_spi_master.h"
64 #define MPUIMU_MAP_MIKROBUS( cfg, mikrobus ) \
65 cfg.scl = MIKROBUS( mikrobus, MIKROBUS_SCL ); \
66 cfg.sda = MIKROBUS( mikrobus, MIKROBUS_SDA ); \
67 cfg.miso = MIKROBUS( mikrobus, MIKROBUS_MISO ); \
68 cfg.mosi = MIKROBUS( mikrobus, MIKROBUS_MOSI ); \
69 cfg.sck = MIKROBUS( mikrobus, MIKROBUS_SCK ); \
70 cfg.cs = MIKROBUS( mikrobus, MIKROBUS_CS ); \
71 cfg.fsy = MIKROBUS( mikrobus, MIKROBUS_RST ); \
72 cfg.int_pin = MIKROBUS( mikrobus, MIKROBUS_INT )
79 #define MPUIMU_MASTER_I2C 0
80 #define MPUIMU_MASTER_SPI 1
87 #define MPUIMU_RETVAL uint8_t
89 #define MPUIMU_OK 0x00
90 #define MPUIMU_INIT_ERROR 0xFF
97 #define MPUIMU_I2C_ADDR_0 0xD2
98 #define MPUIMU_I2C_ADDR_1 0x69
105 #define MPUIMU_REG_SELF_TEST_X 0x0D
106 #define MPUIMU_REG_SELF_TEST_Y 0x0E
107 #define MPUIMU_REG_SELF_TEST_Z 0x0F
108 #define MPUIMU_REG_SELF_TEST_A 0x10
109 #define MPUIMU_REG_SMPLRT_DIV 0x19
110 #define MPUIMU_REG_MOT_THR 0x1F
111 #define MPUIMU_REG_I2C_MST_CTRL 0x24
112 #define MPUIMU_REG_I2C_SLV0_ADDR 0x25
113 #define MPUIMU_REG_I2C_SLV0 0x26
114 #define MPUIMU_REG_I2C_SLV0_CTRL 0x27
115 #define MPUIMU_REG_I2C_SLV1_ADDR 0x28
116 #define MPUIMU_REG_I2C_SLV1 0x29
117 #define MPUIMU_REG_I2C_SLV1_CTRL 0x2A
118 #define MPUIMU_REG_I2C_SLV2_ADDR 0x2B
119 #define MPUIMU_REG_I2C_SLV2 0x2C
120 #define MPUIMU_REG_I2C_SLV2_CTRL 0x2D
121 #define MPUIMU_REG_I2C_SLV3_ADDR 0x2E
122 #define MPUIMU_REG_I2C_SLV3 0x2F
123 #define MPUIMU_REG_I2C_SLV3_CTRL 0x30
124 #define MPUIMU_REG_I2C_SLV4_ADDR 0x31
125 #define MPUIMU_REG_I2C_SLV4 0x32
126 #define MPUIMU_REG_I2C_SLV4_DO 0x33
127 #define MPUIMU_REG_I2C_SLV4_CTRL 0x34
128 #define MPUIMU_REG_I2C_SLV4_DI 0x35
129 #define MPUIMU_REG_I2C_MST_STATUS 0x36
130 #define MPUIMU_REG_I2C_SLV0_DO 0x63
131 #define MPUIMU_REG_I2C_SLV1_DO 0x64
132 #define MPUIMU_REG_I2C_SLV2_DO 0x65
133 #define MPUIMU_REG_I2C_SLV3_DO 0x66
134 #define MPUIMU_REG_I2C_MST_DELAY_CT 0x67
135 #define MPUIMU_REG_INT_PIN_CFG 0x37
136 #define MPUIMU_REG_INT_ENABLE 0x38
137 #define MPUIMU_REG_INT_STATUS 0x3A
138 #define MPUIMU_REG_SIGNAL_PATH_RES 0x68
139 #define MPUIMU_REG_MOT_DETECT_CTRL 0x69
140 #define MPUIMU_REG_USER_CTRL 0x6A
141 #define MPUIMU_REG_PWR_MGMT_1 0x6B
142 #define MPUIMU_REG_PWR_MGMT_2 0x6C
143 #define MPUIMU_REG_FIFO_EN 0x23
144 #define MPUIMU_REG_FIFO_COUNTH 0x72
145 #define MPUIMU_REG_FIFO_COUNTL 0x73
146 #define MPUIMU_REG_FIFO_R_W 0x74
147 #define MPUIMU_REG_WHO_AM_I 0x75
154 #define MPUIMU_CFG_CONFIG 0x1A
155 #define MPUIMU_CFG_RAW_ACCEL 0x3B
156 #define MPUIMU_CFG_RAW_GYRO 0x43
157 #define MPUIMU_CFG_STANDARD_GYRO 0x1B
158 #define MPUIMU_CFG_STANDARD_ACCEL 0x1C
159 #define MPUIMU_CFG_PWR 0x80
160 #define MPUIMU_CFG_PWR_SET 0x00
161 #define MPUIMU_CFG_FIFO_ENABLE 0x78
162 #define MPUIMU_CFG_INT_ENABLE 0x10
169 #define MPUIMU_EXT_SENS_DATA_00 0x49
170 #define MPUIMU_EXT_SENS_DATA_01 0x4A
171 #define MPUIMU_EXT_SENS_DATA_02 0x4B
172 #define MPUIMU_EXT_SENS_DATA_03 0x4C
173 #define MPUIMU_EXT_SENS_DATA_04 0x4D
174 #define MPUIMU_EXT_SENS_DATA_05 0x4E
175 #define MPUIMU_EXT_SENS_DATA_06 0x4F
176 #define MPUIMU_EXT_SENS_DATA_07 0x50
177 #define MPUIMU_EXT_SENS_DATA_08 0x51
178 #define MPUIMU_EXT_SENS_DATA_11 0x54
179 #define MPUIMU_EXT_SENS_DATA_09 0x52
180 #define MPUIMU_EXT_SENS_DATA_10 0x53
181 #define MPUIMU_EXT_SENS_DATA_12 0x55
182 #define MPUIMU_EXT_SENS_DATA_13 0x56
183 #define MPUIMU_EXT_SENS_DATA_14 0x57
184 #define MPUIMU_EXT_SENS_DATA_15 0x58
185 #define MPUIMU_EXT_SENS_DATA_16 0x59
186 #define MPUIMU_EXT_SENS_DATA_17 0x5A
187 #define MPUIMU_EXT_SENS_DATA_18 0x5B
188 #define MPUIMU_EXT_SENS_DATA_19 0x5C
189 #define MPUIMU_EXT_SENS_DATA_20 0x5D
190 #define MPUIMU_EXT_SENS_DATA_21 0x5E
191 #define MPUIMU_EXT_SENS_DATA_22 0x5F
192 #define MPUIMU_EXT_SENS_DATA_23 0x60
202 #define MPUIMU_GYRO_XOUT_H 0x43
203 #define MPUIMU_GYRO_XOUT_L 0x44
204 #define MPUIMU_GYRO_YOUT_H 0x45
205 #define MPUIMU_GYRO_YOUT_L 0x46
206 #define MPUIMU_GYRO_ZOUT_H 0x47
207 #define MPUIMU_GYRO_ZOUT_L 0x48
211 #define MPUIMU_ACCEL_XOUT_H 0x3B
212 #define MPUIMU_ACCEL_XOUT_L 0x3C
213 #define MPUIMU_ACCEL_YOUT_H 0x3D
214 #define MPUIMU_ACCEL_YOUT_L 0x3E
215 #define MPUIMU_ACCEL_ZOUT_H 0x3F
216 #define MPUIMU_ACCEL_ZOUT_L 0x40
220 #define MPUIMU_TEMP_OUT_H 0x41
221 #define MPUIMU_TEMP_OUT_L 0x42
Click ctx object definition.
Definition: mpuimu.h:246
pin_name_t cs
Definition: mpuimu.h:283
spi_master_chip_select_polarity_t cs_polarity
Definition: mpuimu.h:297
spi_master_t spi
Definition: mpuimu.h:259
digital_out_t fsy
Definition: mpuimu.h:250
pin_name_t mosi
Definition: mpuimu.h:281
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.
void mpuimu_read_accel(mpuimu_t *ctx, mpuimu_accel_data_t *accel_data)
Read Axis function.
digital_in_t int_pin
Definition: mpuimu.h:254
uint8_t slave_address
Definition: mpuimu.h:263
pin_name_t miso
Definition: mpuimu.h:280
pin_name_t scl
Definition: mpuimu.h:278
mpuimu_master_io_t write_f
Definition: mpuimu.h:265
digital_out_t cs
Definition: mpuimu.h:249
void mpuimu_read_gyro(mpuimu_t *ctx, mpuimu_gyro_data_t *gyro_data)
Read Axis function.
i2c_master_t i2c
Definition: mpuimu.h:258
pin_name_t sck
Definition: mpuimu.h:282
int16_t accel_z
Definition: mpuimu.h:311
mpuimu_select_t sel
Definition: mpuimu.h:299
spi_master_mode_t spi_mode
Definition: mpuimu.h:296
Click configuration structure definition.
Definition: mpuimu.h:275
uint8_t mpuimu_select_t
Communication type.
Definition: mpuimu.h:235
pin_name_t chip_select
Definition: mpuimu.h:264
uint32_t i2c_speed
Definition: mpuimu.h:292
#define MPUIMU_RETVAL
Definition: mpuimu.h:87
int16_t gyro_z
Definition: mpuimu.h:322
mpuimu_select_t master_sel
Definition: mpuimu.h:267
int16_t mpuimu_get_axis(mpuimu_t *ctx, uint8_t adr_reg_high)
High register data function.
pin_name_t int_pin
Definition: mpuimu.h:288
uint32_t spi_speed
Definition: mpuimu.h:295
void software_reset(mpuimu_t *ctx)
Software reset function.
struct mpuimu_s mpuimu_t
Click ctx object definition.
uint8_t i2c_address
Definition: mpuimu.h:293
float mpuimu_read_temperature(mpuimu_t *ctx)
Temperature read function.
int16_t accel_y
Definition: mpuimu.h:310
mpuimu_master_io_t read_f
Definition: mpuimu.h:266
void mpuimu_generic_write(mpuimu_t *ctx, uint8_t reg, uint8_t *data_buf, uint8_t len)
Generic write function.
pin_name_t fsy
Definition: mpuimu.h:287
int16_t accel_x
Definition: mpuimu.h:309
int16_t gyro_x
Definition: mpuimu.h:320
Gyro data object definition.
Definition: mpuimu.h:319
void mpuimu_default_cfg(mpuimu_t *ctx)
Click Default Configuration function.
void(* mpuimu_master_io_t)(struct mpuimu_s *, uint8_t, uint8_t *, uint8_t)
Master Input/Output type.
Definition: mpuimu.h:240
mpuimu_gyro_data_t gyro_data
Definition: main.c:36
pin_name_t sda
Definition: mpuimu.h:279
mpuimu_accel_data_t accel_data
Definition: main.c:35
int16_t gyro_y
Definition: mpuimu.h:321
MPUIMU_RETVAL mpuimu_init(mpuimu_t *ctx, mpuimu_cfg_t *cfg)
Initialization function.