c6dofimu6 2.0.0.0
c6dofimu6.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 C6DOFIMU6_H
36#define C6DOFIMU6_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 C6DOFIMU6_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 C6DOFIMU6_MASTER_I2C 0
69#define C6DOFIMU6_MASTER_SPI 1
76#define C6DOFIMU6_RETVAL uint8_t
77
78#define C6DOFIMU6_OK 0x00
79#define C6DOFIMU6_INIT_ERROR 0xFF
86#define C6DOFIMU6_I2C_SLAVE_ADR_GND 0x68
87#define C6DOFIMU6_I2C_SLAVE_ADR_VCC 0x69
94#define C6DOFIMU6_READ_BIT_MASK 0x80
95#define C6DOFIMU6_WRITE_BIT_MASK 0x7F
102#define C6DOFIMU6_SELF_TEST_X_GYRO 0x00
103#define C6DOFIMU6_SELF_TEST_Y_GYRO 0x01
104#define C6DOFIMU6_SELF_TEST_Z_GYRO 0x02
105#define C6DOFIMU6_SELF_TEST_X_ACCEL 0x0D
106#define C6DOFIMU6_SELF_TEST_Y_ACCEL 0x0E
107#define C6DOFIMU6_SELF_TEST_Z_ACCEL 0x0F
108#define C6DOFIMU6_XG_OFFS_USR_H 0x13
109#define C6DOFIMU6_XG_OFFS_USR_L 0x14
110#define C6DOFIMU6_YG_OFFS_USR_H 0x15
111#define C6DOFIMU6_YG_OFFS_USR_L 0x16
112#define C6DOFIMU6_ZG_OFFS_USR_H 0x17
113#define C6DOFIMU6_ZG_OFFS_USR_L 0x18
114#define C6DOFIMU6_SMPL_RT_DIV 0x19
115#define C6DOFIMU6_CFG 0x1A
116#define C6DOFIMU6_GYRO_CFG 0x1B
117#define C6DOFIMU6_ACCEL_CFG 0x1C
118#define C6DOFIMU6_ACCEL_CFG_2 0x1D
119#define C6DOFIMU6_LP_MODE_CTL 0x1E
120#define C6DOFIMU6_ACCEL_WOM_X_THR 0x20
121#define C6DOFIMU6_ACCEL_WOM_Y_THR 0x21
122#define C6DOFIMU6_ACCEL_WOM_Z_THR 0x22
123#define C6DOFIMU6_FIFO_EN 0x23
124#define C6DOFIMU6_INT_PIN_CFG 0x37
125#define C6DOFIMU6_INT_ENABLE 0x38
126#define C6DOFIMU6_DMP_INT_STAT 0x39
127#define C6DOFIMU6_INT_STAT 0x3A
128#define C6DOFIMU6_ACCEL_XOUT_H 0x3B
129#define C6DOFIMU6_ACCEL_XOUT_L 0x3C
130#define C6DOFIMU6_ACCEL_YOUT_H 0x3D
131#define C6DOFIMU6_ACCEL_YOUT_L 0x3E
132#define C6DOFIMU6_ACCEL_ZOUT_H 0x3F
133#define C6DOFIMU6_ACCEL_ZOUT_L 0x40
134#define C6DOFIMU6_TEMP_OUT_H 0x41
135#define C6DOFIMU6_TEMP_OUT_L 0x42
136#define C6DOFIMU6_GYRO_XOUT_H 0x43
137#define C6DOFIMU6_GYRO_XOUT_L 0x44
138#define C6DOFIMU6_GYRO_YOUT_H 0x45
139#define C6DOFIMU6_GYRO_YOUT_L 0x46
140#define C6DOFIMU6_GYRO_ZOUT_H 0x47
141#define C6DOFIMU6_GYRO_ZOUT_L 0x48
142#define C6DOFIMU6_SIGNAL_PATH_RST 0x68
143#define C6DOFIMU6_ACCEL_INTEL_CTL 0x69
144#define C6DOFIMU6_USER_CTL 0x6A
145#define C6DOFIMU6_PWR_MGMT_1 0x6B
146#define C6DOFIMU6_PWR_MGMT_2 0x6C
147#define C6DOFIMU6_FIFO_CNT_H 0x72
148#define C6DOFIMU6_FIFO_CNT_L 0x73
149#define C6DOFIMU6_FIFO_R_W 0x74
150#define C6DOFIMU6_WHO_AM_I 0x75
151#define C6DOFIMU6_XA_OFFS_H 0x77
152#define C6DOFIMU6_XA_OFFS_L 0x78
153#define C6DOFIMU6_YA_OFFS_H 0x7A
154#define C6DOFIMU6_YA_OFFS_L 0x7B
155#define C6DOFIMU6_ZA_OFFS_H 0x7D
156#define C6DOFIMU6_ZA_OFFS_L 0x7E
163#define C6DOFIMU6_CFG_FIFO_MODE 0x40
164#define C6DOFIMU6_CFG_EXT_SYNC_SET_1 0x08
165#define C6DOFIMU6_CFG_EXT_SYNC_SET_2 0x10
166#define C6DOFIMU6_CFG_EXT_SYNC_SET_3 0x18
167#define C6DOFIMU6_CFG_EXT_SYNC_SET_4 0x20
168#define C6DOFIMU6_CFG_EXT_SYNC_SET_5 0x28
169#define C6DOFIMU6_CFG_EXT_SYNC_SET_6 0x30
170#define C6DOFIMU6_CFG_EXT_SYNC_SET_7 0x38
171#define C6DOFIMU6_CFG_DLPF_CFG_0 0x00
172#define C6DOFIMU6_CFG_DLPF_CFG_1 0x01
173#define C6DOFIMU6_CFG_DLPF_CFG_2 0x02
174#define C6DOFIMU6_CFG_DLPF_CFG_3 0x03
175#define C6DOFIMU6_CFG_DLPF_CFG_4 0x04
176#define C6DOFIMU6_CFG_DLPF_CFG_5 0x05
177#define C6DOFIMU6_CFG_DLPF_CFG_6 0x06
178#define C6DOFIMU6_CFG_DLPF_CFG_7 0x07
185#define C6DOFIMU6_GYRO_CFG_XGYRO_STEN 0x80
186#define C6DOFIMU6_GYRO_CFG_YGYRO_STEN 0x40
187#define C6DOFIMU6_GYRO_CFG_ZGYRO_STEN 0x20
188#define C6DOFIMU6_GYRO_CFG_FS_SEL_2000 0x18
189#define C6DOFIMU6_GYRO_CFG_FS_SEL_1000 0x10
190#define C6DOFIMU6_GYRO_CFG_FS_SEL_500 0x08
191#define C6DOFIMU6_GYRO_CFG_FS_SEL_250 0x00
192#define C6DOFIMU6_GYRO_CFG_FCHOICE_B_2 0x02
193#define C6DOFIMU6_GYRO_CFG_FCHOICE_B_1 0x01
194#define C6DOFIMU6_GYRO_CFG_FCHOICE_B_0 0x00
201#define C6DOFIMU6_ACCEL_CFG_AX_ST_EN 0x80
202#define C6DOFIMU6_ACCEL_CFG_AY_ST_EN 0x40
203#define C6DOFIMU6_ACCEL_CFG_AZ_ST_EN 0x20
204#define C6DOFIMU6_ACCEL_CFG_FS_SEL_16G 0x18
205#define C6DOFIMU6_ACCEL_CFG_FS_SEL_8G 0x10
206#define C6DOFIMU6_ACCEL_CFG_FS_SEL_4G 0x08
207#define C6DOFIMU6_ACCEL_CFG_FS_SEL_2G 0x00
214#define C6DOFIMU6_ACCEL2_CFG_FIFO_SIZE_4KB 0x40
215#define C6DOFIMU6_ACCEL2_CFG_FIFO_SIZE_2KB 0x08
216#define C6DOFIMU6_ACCEL2_CFG_FIFO_SIZE_1KB 0x10
217#define C6DOFIMU6_ACCEL2_CFG_FIFO_SIZE_512B 0x18
218#define C6DOFIMU6_ACCEL2_CFG_DEC2_CFG_32 0x30
219#define C6DOFIMU6_ACCEL2_CFG_DEC2_CFG_16 0x20
220#define C6DOFIMU6_ACCEL2_CFG_DEC2_CFG_8 0x10
221#define C6DOFIMU6_ACCEL2_CFG_DEC2_CFG_4 0x00
222#define C6DOFIMU6_ACCEL2_CFG_FCHOICE_B 0x00
223#define C6DOFIMU6_ACCEL2_CFG_A_DLPF_CFG_0 0x00
224#define C6DOFIMU6_ACCEL2_CFG_A_DLPF_CFG_1 0x01
225#define C6DOFIMU6_ACCEL2_CFG_A_DLPF_CFG_2 0x02
226#define C6DOFIMU6_ACCEL2_CFG_A_DLPF_CFG_3 0x03
227#define C6DOFIMU6_ACCEL2_CFG_A_DLPF_CFG_4 0x04
228#define C6DOFIMU6_ACCEL2_CFG_A_DLPF_CFG_5 0x05
229#define C6DOFIMU6_ACCEL2_CFG_A_DLPF_CFG_6 0x06
230#define C6DOFIMU6_ACCEL2_CFG_A_DLPF_CFG_7 0x07
237#define C6DOFIMU6_FIFO_EN_TEMP_OUT 0x80
238#define C6DOFIMU6_FIFO_EN_GYRO_XOUT 0x40
239#define C6DOFIMU6_FIFO_EN_GYRO_YOUT 0x20
240#define C6DOFIMU6_FIFO_EN_GYRO_ZOUT 0x10
241#define C6DOFIMU6_FIFO_EN_ACCEL_XYZ_OUT 0x08
248#define C6DOFIMU6_INT_PIN_CFG_ACTL 0x80
249#define C6DOFIMU6_INT_PIN_CFG_OPEN 0x40
250#define C6DOFIMU6_INT_PIN_CFG_LATCH_INT_EN 0x20
251#define C6DOFIMU6_INT_PIN_CFG_INT_ANYRD_2CLR 0x10
252#define C6DOFIMU6_INT_PIN_CFG_ACTL_FSYNC 0x08
253#define C6DOFIMU6_INT_PIN_CFG_FSYNC_INT_MODE_EN 0x04
254#define C6DOFIMU6_INT_PIN_CFG_BYPASS_EN 0x02
261#define C6DOFIMU6_INT_ENABLE_WOM_X_INT_EN 0x80
262#define C6DOFIMU6_INT_ENABLE_WOM_Y_INT_EN 0x40
263#define C6DOFIMU6_INT_ENABLE_WOM_Z_INT_EN 0x20
264#define C6DOFIMU6_INT_ENABLE_FIFO_OVF_EN 0x10
265#define C6DOFIMU6_INT_ENABLE_GDRIVE_RDY_EN 0x04
266#define C6DOFIMU6_INT_ENABLE_DMP_INT_EN 0x02
267#define C6DOFIMU6_INT_ENABLE_RAW_RDY_EN 0x01
274#define C6DOFIMU6_INT_STAT_WOM_X_INT 0x80
275#define C6DOFIMU6_INT_STAT_WOM_Y_INT 0x40
276#define C6DOFIMU6_INT_STAT_WOM_Z_INT 0x20
277#define C6DOFIMU6_INT_STAT_FIFO_OVF_INT 0x10
278#define C6DOFIMU6_INT_STAT_GDRIVE_RDY_INT 0x04
279#define C6DOFIMU6_INT_STAT_DMP_INT 0x02
280#define C6DOFIMU6_INT_STAT_RAW_RDY_INT 0x01
287#define C6DOFIMU6_SIGNAL_PATH_RST_GYRO_RST 0x80
288#define C6DOFIMU6_SIGNAL_PATH_RST_ACCEL_RST 0x40
289#define C6DOFIMU6_SIGNAL_PATH_RST_TEMP_RST 0x20
296#define C6DOFIMU6_ACCEL_INTEL_CTL_INTEL_EN 0x80
297#define C6DOFIMU6_ACCEL_INTEL_CTL_INTEL_MODE_PREV_SAMP 0x40
298#define C6DOFIMU6_ACCEL_INTEL_CTL_INTEL_MODE_FIRST_SAMP 0x00
305#define C6DOFIMU6_USER_CTL_DMP_EN 0x80
306#define C6DOFIMU6_USER_CTL_FIFO_EN 0x40
307#define C6DOFIMU6_USER_CTL_I2C_IF_DIS 0x10
308#define C6DOFIMU6_USER_CTL_DMP_RST 0x08
309#define C6DOFIMU6_USER_CTL_FIFO_RST 0x04
310#define C6DOFIMU6_USER_CTL_SIG_COND_RST 0x01
317#define C6DOFIMU6_PWR_MGMT_1_DEV_RST 0x80
318#define C6DOFIMU6_PWR_MGMT_1_SLEEP 0x40
319#define C6DOFIMU6_PWR_MGMT_1_ACCEL_CYC 0x20
320#define C6DOFIMU6_PWR_MGMT_1_GYRO_STDBY 0x10
321#define C6DOFIMU6_PWR_MGMT_1_TEMP_DIS 0x08
322#define C6DOFIMU6_PWR_MGMT_1_CLKSEL_7 0x07
323#define C6DOFIMU6_PWR_MGMT_1_CLKSEL_6 0x06
324#define C6DOFIMU6_PWR_MGMT_1_CLKSEL_5 0x05
325#define C6DOFIMU6_PWR_MGMT_1_CLKSEL_4 0x04
326#define C6DOFIMU6_PWR_MGMT_1_CLKSEL_3 0x03
327#define C6DOFIMU6_PWR_MGMT_1_CLKSEL_2 0x02
328#define C6DOFIMU6_PWR_MGMT_1_CLKSEL_1 0x01
329#define C6DOFIMU6_PWR_MGMT_1_CLKSEL_0 0x00
336#define C6DOFIMU6_PWR_MGMT_2_LP_DIS 0x80
337#define C6DOFIMU6_PWR_MGMT_2_DMP_LP_DIS 0x40
338#define C6DOFIMU6_PWR_MGMT_2_DISABLE_XA 0x20
339#define C6DOFIMU6_PWR_MGMT_2_DISABLE_YA 0x10
340#define C6DOFIMU6_PWR_MGMT_2_DISABLE_ZA 0x08
341#define C6DOFIMU6_PWR_MGMT_2_DISABLE_XG 0x04
342#define C6DOFIMU6_PWR_MGMT_2_DISABLE_YG 0x02
343#define C6DOFIMU6_PWR_MGMT_2_DISABLE_ZG 0x01
350#define C6DOFIMU6_WHO_AM_I_VAL 0x98
357#define C6DOFIMU6_POWER_ON 0x01
358#define C6DOFIMU6_POWER_OFF 0x00
365#define C6DOFIMU6_GYRO_SENS_FS_SEL_2000 16.4
366#define C6DOFIMU6_GYRO_SENS_FS_SEL_1000 32.8
367#define C6DOFIMU6_GYRO_SENS_FS_SEL_500 65.5
368#define C6DOFIMU6_GYRO_SENS_FS_SEL_250 131.0
369#define C6DOFIMU6_ACCEL_SENS_FS_SEL_16G 2048.0
370#define C6DOFIMU6_ACCEL_SENS_FS_SEL_8G 4096.0
371#define C6DOFIMU6_ACCEL_SENS_FS_SEL_4G 8192.0
372#define C6DOFIMU6_ACCEL_SENS_FS_SEL_2G 16384.0 // End group macro
376// --------------------------------------------------------------- PUBLIC TYPES
385typedef uint8_t c6dofimu6_select_t;
386
390typedef void ( *c6dofimu6_master_io_t )( struct c6dofimu6_s*, uint8_t, uint8_t*, uint16_t );
391
395typedef struct c6dofimu6_s
396{
397 // Output pins
398
399 digital_out_t cs;
400
401 // Input pins
402
403 digital_in_t int_pin;
404
405 // Modules
406
407 i2c_master_t i2c;
408 spi_master_t spi;
409
410 // ctx variable
411
413 pin_name_t chip_select;
417
419
423typedef struct
424{
425 // Communication gpio pins
426
427 pin_name_t scl;
428 pin_name_t sda;
429 pin_name_t miso;
430 pin_name_t mosi;
431 pin_name_t sck;
432 pin_name_t cs;
433
434 // Additional gpio pins
435
436 pin_name_t int_pin;
437
438 // static variable
439
440 uint32_t i2c_speed;
441 uint8_t i2c_address;
442
443 uint32_t spi_speed;
444 spi_master_mode_t spi_mode;
445 spi_master_chip_select_polarity_t cs_polarity;
446
448
450 // End types group
452// ----------------------------------------------- PUBLIC FUNCTION DECLARATIONS
458#ifdef __cplusplus
459extern "C"{
460#endif
461
471
481
490
501void c6dofimu6_generic_write ( c6dofimu6_t *ctx, uint8_t reg, uint8_t *data_buf, uint16_t len );
502
513void c6dofimu6_generic_read ( c6dofimu6_t *ctx, uint8_t reg, uint8_t *data_buf, uint16_t len );
514
524void c6dofimu6_power ( c6dofimu6_t *ctx, uint8_t on_off );
525
536
547
558
569void c6dofimu6_read_gyroscope ( c6dofimu6_t *ctx, int16_t *gyro_x, int16_t *gyro_y, int16_t *gyro_z );
570
581void c6dofimu6_angular_rate ( c6dofimu6_t *ctx, float *x_ang_rte, float *y_ang_rte, float *z_ang_rte );
582
593
604
615
626void c6dofimu6_read_accelerometer ( c6dofimu6_t *ctx, int16_t *accel_x, int16_t *accel_y, int16_t *accel_z );
627
638void c6dofimu6_acceleration_rate ( c6dofimu6_t *ctx, float *x_accel_rte, float *y_accel_rte, float *z_accel_rte );
639
650
661
662#ifdef __cplusplus
663}
664#endif
665#endif // _C6DOFIMU6_H_
666 // End public_function group
669
670// ------------------------------------------------------------------------- END
#define C6DOFIMU6_RETVAL
Definition: c6dofimu6.h:76
uint8_t c6dofimu6_check_int_pin(c6dofimu6_t *ctx)
Check Interrupt state function.
int16_t c6dofimu6_read_accel_z(c6dofimu6_t *ctx)
Read Accelerometer Z-axis data function.
void c6dofimu6_default_cfg(c6dofimu6_t *ctx)
Click Default Configuration function.
int16_t c6dofimu6_read_accel_x(c6dofimu6_t *ctx)
Read Accelerometer X-axis data function.
C6DOFIMU6_RETVAL c6dofimu6_init(c6dofimu6_t *ctx, c6dofimu6_cfg_t *cfg)
Initialization function.
int16_t c6dofimu6_read_gyro_z(c6dofimu6_t *ctx)
Read Gyroscope Z-axis data function.
void c6dofimu6_generic_write(c6dofimu6_t *ctx, uint8_t reg, uint8_t *data_buf, uint16_t len)
Generic write function.
int16_t c6dofimu6_read_accel_y(c6dofimu6_t *ctx)
Read Accelerometer Y-axis data function.
void c6dofimu6_read_gyroscope(c6dofimu6_t *ctx, int16_t *gyro_x, int16_t *gyro_y, int16_t *gyro_z)
Read gyroscope data function.
void c6dofimu6_read_accelerometer(c6dofimu6_t *ctx, int16_t *accel_x, int16_t *accel_y, int16_t *accel_z)
Read accelerometer data function.
float c6dofimu6_read_temp_out(c6dofimu6_t *ctx)
Read temperture function.
int16_t c6dofimu6_read_gyro_x(c6dofimu6_t *ctx)
Read Gyroscope X-axis data function.
void c6dofimu6_generic_read(c6dofimu6_t *ctx, uint8_t reg, uint8_t *data_buf, uint16_t len)
Generic read function.
void c6dofimu6_angular_rate(c6dofimu6_t *ctx, float *x_ang_rte, float *y_ang_rte, float *z_ang_rte)
Read Angular Rate function.
void c6dofimu6_cfg_setup(c6dofimu6_cfg_t *cfg)
Config Object Initialization function.
void c6dofimu6_acceleration_rate(c6dofimu6_t *ctx, float *x_accel_rte, float *y_accel_rte, float *z_accel_rte)
Read acceleration Rate function.
int16_t c6dofimu6_read_gyro_y(c6dofimu6_t *ctx)
Read Gyroscope Y-axis data function.
void c6dofimu6_power(c6dofimu6_t *ctx, uint8_t on_off)
Power up function.
void(* c6dofimu6_master_io_t)(struct c6dofimu6_s *, uint8_t, uint8_t *, uint16_t)
Master Input/Output type.
Definition: c6dofimu6.h:390
struct c6dofimu6_s c6dofimu6_t
Click ctx object definition.
uint8_t c6dofimu6_select_t
Communication type.
Definition: c6dofimu6.h:385
Click configuration structure definition.
Definition: c6dofimu6.h:424
c6dofimu6_select_t sel
Definition: c6dofimu6.h:447
uint32_t i2c_speed
Definition: c6dofimu6.h:440
spi_master_chip_select_polarity_t cs_polarity
Definition: c6dofimu6.h:445
pin_name_t sck
Definition: c6dofimu6.h:431
spi_master_mode_t spi_mode
Definition: c6dofimu6.h:444
pin_name_t mosi
Definition: c6dofimu6.h:430
uint32_t spi_speed
Definition: c6dofimu6.h:443
pin_name_t scl
Definition: c6dofimu6.h:427
pin_name_t int_pin
Definition: c6dofimu6.h:436
pin_name_t miso
Definition: c6dofimu6.h:429
pin_name_t sda
Definition: c6dofimu6.h:428
pin_name_t cs
Definition: c6dofimu6.h:432
uint8_t i2c_address
Definition: c6dofimu6.h:441
Click ctx object definition.
Definition: c6dofimu6.h:396
digital_out_t cs
Definition: c6dofimu6.h:399
spi_master_t spi
Definition: c6dofimu6.h:408
c6dofimu6_master_io_t read_f
Definition: c6dofimu6.h:415
c6dofimu6_master_io_t write_f
Definition: c6dofimu6.h:414
digital_in_t int_pin
Definition: c6dofimu6.h:403
i2c_master_t i2c
Definition: c6dofimu6.h:407
uint8_t slave_address
Definition: c6dofimu6.h:412
c6dofimu6_select_t master_sel
Definition: c6dofimu6.h:416
pin_name_t chip_select
Definition: c6dofimu6.h:413