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42 #ifdef PREINIT_SUPPORTED
46 #ifdef MikroCCoreVersion
47 #if MikroCCoreVersion >= 1
52 #include "drv_digital_out.h"
53 #include "drv_digital_in.h"
54 #include "drv_i2c_master.h"
55 #include "drv_spi_master.h"
68 #define MPUIMU_MAP_MIKROBUS( cfg, mikrobus ) \
69 cfg.scl = MIKROBUS( mikrobus, MIKROBUS_SCL ); \
70 cfg.sda = MIKROBUS( mikrobus, MIKROBUS_SDA ); \
71 cfg.miso = MIKROBUS( mikrobus, MIKROBUS_MISO ); \
72 cfg.mosi = MIKROBUS( mikrobus, MIKROBUS_MOSI ); \
73 cfg.sck = MIKROBUS( mikrobus, MIKROBUS_SCK ); \
74 cfg.cs = MIKROBUS( mikrobus, MIKROBUS_CS ); \
75 cfg.fsy = MIKROBUS( mikrobus, MIKROBUS_RST ); \
76 cfg.int_pin = MIKROBUS( mikrobus, MIKROBUS_INT )
83 #define MPUIMU_MASTER_I2C 0
84 #define MPUIMU_MASTER_SPI 1
91 #define MPUIMU_RETVAL uint8_t
93 #define MPUIMU_OK 0x00
94 #define MPUIMU_INIT_ERROR 0xFF
101 #define MPUIMU_I2C_ADDR_0 0xD2
102 #define MPUIMU_I2C_ADDR_1 0x69
109 #define MPUIMU_REG_SELF_TEST_X 0x0D
110 #define MPUIMU_REG_SELF_TEST_Y 0x0E
111 #define MPUIMU_REG_SELF_TEST_Z 0x0F
112 #define MPUIMU_REG_SELF_TEST_A 0x10
113 #define MPUIMU_REG_SMPLRT_DIV 0x19
114 #define MPUIMU_REG_MOT_THR 0x1F
115 #define MPUIMU_REG_I2C_MST_CTRL 0x24
116 #define MPUIMU_REG_I2C_SLV0_ADDR 0x25
117 #define MPUIMU_REG_I2C_SLV0 0x26
118 #define MPUIMU_REG_I2C_SLV0_CTRL 0x27
119 #define MPUIMU_REG_I2C_SLV1_ADDR 0x28
120 #define MPUIMU_REG_I2C_SLV1 0x29
121 #define MPUIMU_REG_I2C_SLV1_CTRL 0x2A
122 #define MPUIMU_REG_I2C_SLV2_ADDR 0x2B
123 #define MPUIMU_REG_I2C_SLV2 0x2C
124 #define MPUIMU_REG_I2C_SLV2_CTRL 0x2D
125 #define MPUIMU_REG_I2C_SLV3_ADDR 0x2E
126 #define MPUIMU_REG_I2C_SLV3 0x2F
127 #define MPUIMU_REG_I2C_SLV3_CTRL 0x30
128 #define MPUIMU_REG_I2C_SLV4_ADDR 0x31
129 #define MPUIMU_REG_I2C_SLV4 0x32
130 #define MPUIMU_REG_I2C_SLV4_DO 0x33
131 #define MPUIMU_REG_I2C_SLV4_CTRL 0x34
132 #define MPUIMU_REG_I2C_SLV4_DI 0x35
133 #define MPUIMU_REG_I2C_MST_STATUS 0x36
134 #define MPUIMU_REG_I2C_SLV0_DO 0x63
135 #define MPUIMU_REG_I2C_SLV1_DO 0x64
136 #define MPUIMU_REG_I2C_SLV2_DO 0x65
137 #define MPUIMU_REG_I2C_SLV3_DO 0x66
138 #define MPUIMU_REG_I2C_MST_DELAY_CT 0x67
139 #define MPUIMU_REG_INT_PIN_CFG 0x37
140 #define MPUIMU_REG_INT_ENABLE 0x38
141 #define MPUIMU_REG_INT_STATUS 0x3A
142 #define MPUIMU_REG_SIGNAL_PATH_RES 0x68
143 #define MPUIMU_REG_MOT_DETECT_CTRL 0x69
144 #define MPUIMU_REG_USER_CTRL 0x6A
145 #define MPUIMU_REG_PWR_MGMT_1 0x6B
146 #define MPUIMU_REG_PWR_MGMT_2 0x6C
147 #define MPUIMU_REG_FIFO_EN 0x23
148 #define MPUIMU_REG_FIFO_COUNTH 0x72
149 #define MPUIMU_REG_FIFO_COUNTL 0x73
150 #define MPUIMU_REG_FIFO_R_W 0x74
151 #define MPUIMU_REG_WHO_AM_I 0x75
158 #define MPUIMU_CFG_CONFIG 0x1A
159 #define MPUIMU_CFG_RAW_ACCEL 0x3B
160 #define MPUIMU_CFG_RAW_GYRO 0x43
161 #define MPUIMU_CFG_STANDARD_GYRO 0x1B
162 #define MPUIMU_CFG_STANDARD_ACCEL 0x1C
163 #define MPUIMU_CFG_PWR 0x80
164 #define MPUIMU_CFG_PWR_SET 0x00
165 #define MPUIMU_CFG_FIFO_ENABLE 0x78
166 #define MPUIMU_CFG_INT_ENABLE 0x10
173 #define MPUIMU_EXT_SENS_DATA_00 0x49
174 #define MPUIMU_EXT_SENS_DATA_01 0x4A
175 #define MPUIMU_EXT_SENS_DATA_02 0x4B
176 #define MPUIMU_EXT_SENS_DATA_03 0x4C
177 #define MPUIMU_EXT_SENS_DATA_04 0x4D
178 #define MPUIMU_EXT_SENS_DATA_05 0x4E
179 #define MPUIMU_EXT_SENS_DATA_06 0x4F
180 #define MPUIMU_EXT_SENS_DATA_07 0x50
181 #define MPUIMU_EXT_SENS_DATA_08 0x51
182 #define MPUIMU_EXT_SENS_DATA_11 0x54
183 #define MPUIMU_EXT_SENS_DATA_09 0x52
184 #define MPUIMU_EXT_SENS_DATA_10 0x53
185 #define MPUIMU_EXT_SENS_DATA_12 0x55
186 #define MPUIMU_EXT_SENS_DATA_13 0x56
187 #define MPUIMU_EXT_SENS_DATA_14 0x57
188 #define MPUIMU_EXT_SENS_DATA_15 0x58
189 #define MPUIMU_EXT_SENS_DATA_16 0x59
190 #define MPUIMU_EXT_SENS_DATA_17 0x5A
191 #define MPUIMU_EXT_SENS_DATA_18 0x5B
192 #define MPUIMU_EXT_SENS_DATA_19 0x5C
193 #define MPUIMU_EXT_SENS_DATA_20 0x5D
194 #define MPUIMU_EXT_SENS_DATA_21 0x5E
195 #define MPUIMU_EXT_SENS_DATA_22 0x5F
196 #define MPUIMU_EXT_SENS_DATA_23 0x60
206 #define MPUIMU_GYRO_XOUT_H 0x43
207 #define MPUIMU_GYRO_XOUT_L 0x44
208 #define MPUIMU_GYRO_YOUT_H 0x45
209 #define MPUIMU_GYRO_YOUT_L 0x46
210 #define MPUIMU_GYRO_ZOUT_H 0x47
211 #define MPUIMU_GYRO_ZOUT_L 0x48
215 #define MPUIMU_ACCEL_XOUT_H 0x3B
216 #define MPUIMU_ACCEL_XOUT_L 0x3C
217 #define MPUIMU_ACCEL_YOUT_H 0x3D
218 #define MPUIMU_ACCEL_YOUT_L 0x3E
219 #define MPUIMU_ACCEL_ZOUT_H 0x3F
220 #define MPUIMU_ACCEL_ZOUT_L 0x40
224 #define MPUIMU_TEMP_OUT_H 0x41
225 #define MPUIMU_TEMP_OUT_L 0x42
Click ctx object definition.
Definition: mpuimu.h:250
pin_name_t cs
Definition: mpuimu.h:287
spi_master_chip_select_polarity_t cs_polarity
Definition: mpuimu.h:301
spi_master_t spi
Definition: mpuimu.h:263
digital_out_t fsy
Definition: mpuimu.h:254
pin_name_t mosi
Definition: mpuimu.h:285
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:258
uint8_t slave_address
Definition: mpuimu.h:267
pin_name_t miso
Definition: mpuimu.h:284
pin_name_t scl
Definition: mpuimu.h:282
mpuimu_master_io_t write_f
Definition: mpuimu.h:269
digital_out_t cs
Definition: mpuimu.h:253
void mpuimu_read_gyro(mpuimu_t *ctx, mpuimu_gyro_data_t *gyro_data)
Read Axis function.
i2c_master_t i2c
Definition: mpuimu.h:262
pin_name_t sck
Definition: mpuimu.h:286
int16_t accel_z
Definition: mpuimu.h:315
mpuimu_select_t sel
Definition: mpuimu.h:303
spi_master_mode_t spi_mode
Definition: mpuimu.h:300
Click configuration structure definition.
Definition: mpuimu.h:279
uint8_t mpuimu_select_t
Communication type.
Definition: mpuimu.h:239
pin_name_t chip_select
Definition: mpuimu.h:268
uint32_t i2c_speed
Definition: mpuimu.h:296
#define MPUIMU_RETVAL
Definition: mpuimu.h:91
int16_t gyro_z
Definition: mpuimu.h:326
mpuimu_select_t master_sel
Definition: mpuimu.h:271
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:292
uint32_t spi_speed
Definition: mpuimu.h:299
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:297
float mpuimu_read_temperature(mpuimu_t *ctx)
Temperature read function.
int16_t accel_y
Definition: mpuimu.h:314
mpuimu_master_io_t read_f
Definition: mpuimu.h:270
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:291
int16_t accel_x
Definition: mpuimu.h:313
int16_t gyro_x
Definition: mpuimu.h:324
Gyro data object definition.
Definition: mpuimu.h:323
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:244
mpuimu_gyro_data_t gyro_data
Definition: main.c:36
pin_name_t sda
Definition: mpuimu.h:283
mpuimu_accel_data_t accel_data
Definition: main.c:35
int16_t gyro_y
Definition: mpuimu.h:325
MPUIMU_RETVAL mpuimu_init(mpuimu_t *ctx, mpuimu_cfg_t *cfg)
Initialization function.