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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 C6DOFIMU6_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.int_pin = MIKROBUS( mikrobus, MIKROBUS_INT )
78 #define C6DOFIMU6_MASTER_I2C 0
79 #define C6DOFIMU6_MASTER_SPI 1
86 #define C6DOFIMU6_RETVAL uint8_t
88 #define C6DOFIMU6_OK 0x00
89 #define C6DOFIMU6_INIT_ERROR 0xFF
96 #define C6DOFIMU6_I2C_SLAVE_ADR_GND 0x68
97 #define C6DOFIMU6_I2C_SLAVE_ADR_VCC 0x69
104 #define C6DOFIMU6_READ_BIT_MASK 0x80
105 #define C6DOFIMU6_WRITE_BIT_MASK 0x7F
112 #define C6DOFIMU6_SELF_TEST_X_GYRO 0x00
113 #define C6DOFIMU6_SELF_TEST_Y_GYRO 0x01
114 #define C6DOFIMU6_SELF_TEST_Z_GYRO 0x02
115 #define C6DOFIMU6_SELF_TEST_X_ACCEL 0x0D
116 #define C6DOFIMU6_SELF_TEST_Y_ACCEL 0x0E
117 #define C6DOFIMU6_SELF_TEST_Z_ACCEL 0x0F
118 #define C6DOFIMU6_XG_OFFS_USR_H 0x13
119 #define C6DOFIMU6_XG_OFFS_USR_L 0x14
120 #define C6DOFIMU6_YG_OFFS_USR_H 0x15
121 #define C6DOFIMU6_YG_OFFS_USR_L 0x16
122 #define C6DOFIMU6_ZG_OFFS_USR_H 0x17
123 #define C6DOFIMU6_ZG_OFFS_USR_L 0x18
124 #define C6DOFIMU6_SMPL_RT_DIV 0x19
125 #define C6DOFIMU6_CFG 0x1A
126 #define C6DOFIMU6_GYRO_CFG 0x1B
127 #define C6DOFIMU6_ACCEL_CFG 0x1C
128 #define C6DOFIMU6_ACCEL_CFG_2 0x1D
129 #define C6DOFIMU6_LP_MODE_CTL 0x1E
130 #define C6DOFIMU6_ACCEL_WOM_X_THR 0x20
131 #define C6DOFIMU6_ACCEL_WOM_Y_THR 0x21
132 #define C6DOFIMU6_ACCEL_WOM_Z_THR 0x22
133 #define C6DOFIMU6_FIFO_EN 0x23
134 #define C6DOFIMU6_INT_PIN_CFG 0x37
135 #define C6DOFIMU6_INT_ENABLE 0x38
136 #define C6DOFIMU6_DMP_INT_STAT 0x39
137 #define C6DOFIMU6_INT_STAT 0x3A
138 #define C6DOFIMU6_ACCEL_XOUT_H 0x3B
139 #define C6DOFIMU6_ACCEL_XOUT_L 0x3C
140 #define C6DOFIMU6_ACCEL_YOUT_H 0x3D
141 #define C6DOFIMU6_ACCEL_YOUT_L 0x3E
142 #define C6DOFIMU6_ACCEL_ZOUT_H 0x3F
143 #define C6DOFIMU6_ACCEL_ZOUT_L 0x40
144 #define C6DOFIMU6_TEMP_OUT_H 0x41
145 #define C6DOFIMU6_TEMP_OUT_L 0x42
146 #define C6DOFIMU6_GYRO_XOUT_H 0x43
147 #define C6DOFIMU6_GYRO_XOUT_L 0x44
148 #define C6DOFIMU6_GYRO_YOUT_H 0x45
149 #define C6DOFIMU6_GYRO_YOUT_L 0x46
150 #define C6DOFIMU6_GYRO_ZOUT_H 0x47
151 #define C6DOFIMU6_GYRO_ZOUT_L 0x48
152 #define C6DOFIMU6_SIGNAL_PATH_RST 0x68
153 #define C6DOFIMU6_ACCEL_INTEL_CTL 0x69
154 #define C6DOFIMU6_USER_CTL 0x6A
155 #define C6DOFIMU6_PWR_MGMT_1 0x6B
156 #define C6DOFIMU6_PWR_MGMT_2 0x6C
157 #define C6DOFIMU6_FIFO_CNT_H 0x72
158 #define C6DOFIMU6_FIFO_CNT_L 0x73
159 #define C6DOFIMU6_FIFO_R_W 0x74
160 #define C6DOFIMU6_WHO_AM_I 0x75
161 #define C6DOFIMU6_XA_OFFS_H 0x77
162 #define C6DOFIMU6_XA_OFFS_L 0x78
163 #define C6DOFIMU6_YA_OFFS_H 0x7A
164 #define C6DOFIMU6_YA_OFFS_L 0x7B
165 #define C6DOFIMU6_ZA_OFFS_H 0x7D
166 #define C6DOFIMU6_ZA_OFFS_L 0x7E
173 #define C6DOFIMU6_CFG_FIFO_MODE 0x40
174 #define C6DOFIMU6_CFG_EXT_SYNC_SET_1 0x08
175 #define C6DOFIMU6_CFG_EXT_SYNC_SET_2 0x10
176 #define C6DOFIMU6_CFG_EXT_SYNC_SET_3 0x18
177 #define C6DOFIMU6_CFG_EXT_SYNC_SET_4 0x20
178 #define C6DOFIMU6_CFG_EXT_SYNC_SET_5 0x28
179 #define C6DOFIMU6_CFG_EXT_SYNC_SET_6 0x30
180 #define C6DOFIMU6_CFG_EXT_SYNC_SET_7 0x38
181 #define C6DOFIMU6_CFG_DLPF_CFG_0 0x00
182 #define C6DOFIMU6_CFG_DLPF_CFG_1 0x01
183 #define C6DOFIMU6_CFG_DLPF_CFG_2 0x02
184 #define C6DOFIMU6_CFG_DLPF_CFG_3 0x03
185 #define C6DOFIMU6_CFG_DLPF_CFG_4 0x04
186 #define C6DOFIMU6_CFG_DLPF_CFG_5 0x05
187 #define C6DOFIMU6_CFG_DLPF_CFG_6 0x06
188 #define C6DOFIMU6_CFG_DLPF_CFG_7 0x07
195 #define C6DOFIMU6_GYRO_CFG_XGYRO_STEN 0x80
196 #define C6DOFIMU6_GYRO_CFG_YGYRO_STEN 0x40
197 #define C6DOFIMU6_GYRO_CFG_ZGYRO_STEN 0x20
198 #define C6DOFIMU6_GYRO_CFG_FS_SEL_2000 0x18
199 #define C6DOFIMU6_GYRO_CFG_FS_SEL_1000 0x10
200 #define C6DOFIMU6_GYRO_CFG_FS_SEL_500 0x08
201 #define C6DOFIMU6_GYRO_CFG_FS_SEL_250 0x00
202 #define C6DOFIMU6_GYRO_CFG_FCHOICE_B_2 0x02
203 #define C6DOFIMU6_GYRO_CFG_FCHOICE_B_1 0x01
204 #define C6DOFIMU6_GYRO_CFG_FCHOICE_B_0 0x00
211 #define C6DOFIMU6_ACCEL_CFG_AX_ST_EN 0x80
212 #define C6DOFIMU6_ACCEL_CFG_AY_ST_EN 0x40
213 #define C6DOFIMU6_ACCEL_CFG_AZ_ST_EN 0x20
214 #define C6DOFIMU6_ACCEL_CFG_FS_SEL_16G 0x18
215 #define C6DOFIMU6_ACCEL_CFG_FS_SEL_8G 0x10
216 #define C6DOFIMU6_ACCEL_CFG_FS_SEL_4G 0x08
217 #define C6DOFIMU6_ACCEL_CFG_FS_SEL_2G 0x00
224 #define C6DOFIMU6_ACCEL2_CFG_FIFO_SIZE_4KB 0x40
225 #define C6DOFIMU6_ACCEL2_CFG_FIFO_SIZE_2KB 0x08
226 #define C6DOFIMU6_ACCEL2_CFG_FIFO_SIZE_1KB 0x10
227 #define C6DOFIMU6_ACCEL2_CFG_FIFO_SIZE_512B 0x18
228 #define C6DOFIMU6_ACCEL2_CFG_DEC2_CFG_32 0x30
229 #define C6DOFIMU6_ACCEL2_CFG_DEC2_CFG_16 0x20
230 #define C6DOFIMU6_ACCEL2_CFG_DEC2_CFG_8 0x10
231 #define C6DOFIMU6_ACCEL2_CFG_DEC2_CFG_4 0x00
232 #define C6DOFIMU6_ACCEL2_CFG_FCHOICE_B 0x00
233 #define C6DOFIMU6_ACCEL2_CFG_A_DLPF_CFG_0 0x00
234 #define C6DOFIMU6_ACCEL2_CFG_A_DLPF_CFG_1 0x01
235 #define C6DOFIMU6_ACCEL2_CFG_A_DLPF_CFG_2 0x02
236 #define C6DOFIMU6_ACCEL2_CFG_A_DLPF_CFG_3 0x03
237 #define C6DOFIMU6_ACCEL2_CFG_A_DLPF_CFG_4 0x04
238 #define C6DOFIMU6_ACCEL2_CFG_A_DLPF_CFG_5 0x05
239 #define C6DOFIMU6_ACCEL2_CFG_A_DLPF_CFG_6 0x06
240 #define C6DOFIMU6_ACCEL2_CFG_A_DLPF_CFG_7 0x07
247 #define C6DOFIMU6_FIFO_EN_TEMP_OUT 0x80
248 #define C6DOFIMU6_FIFO_EN_GYRO_XOUT 0x40
249 #define C6DOFIMU6_FIFO_EN_GYRO_YOUT 0x20
250 #define C6DOFIMU6_FIFO_EN_GYRO_ZOUT 0x10
251 #define C6DOFIMU6_FIFO_EN_ACCEL_XYZ_OUT 0x08
258 #define C6DOFIMU6_INT_PIN_CFG_ACTL 0x80
259 #define C6DOFIMU6_INT_PIN_CFG_OPEN 0x40
260 #define C6DOFIMU6_INT_PIN_CFG_LATCH_INT_EN 0x20
261 #define C6DOFIMU6_INT_PIN_CFG_INT_ANYRD_2CLR 0x10
262 #define C6DOFIMU6_INT_PIN_CFG_ACTL_FSYNC 0x08
263 #define C6DOFIMU6_INT_PIN_CFG_FSYNC_INT_MODE_EN 0x04
264 #define C6DOFIMU6_INT_PIN_CFG_BYPASS_EN 0x02
271 #define C6DOFIMU6_INT_ENABLE_WOM_X_INT_EN 0x80
272 #define C6DOFIMU6_INT_ENABLE_WOM_Y_INT_EN 0x40
273 #define C6DOFIMU6_INT_ENABLE_WOM_Z_INT_EN 0x20
274 #define C6DOFIMU6_INT_ENABLE_FIFO_OVF_EN 0x10
275 #define C6DOFIMU6_INT_ENABLE_GDRIVE_RDY_EN 0x04
276 #define C6DOFIMU6_INT_ENABLE_DMP_INT_EN 0x02
277 #define C6DOFIMU6_INT_ENABLE_RAW_RDY_EN 0x01
284 #define C6DOFIMU6_INT_STAT_WOM_X_INT 0x80
285 #define C6DOFIMU6_INT_STAT_WOM_Y_INT 0x40
286 #define C6DOFIMU6_INT_STAT_WOM_Z_INT 0x20
287 #define C6DOFIMU6_INT_STAT_FIFO_OVF_INT 0x10
288 #define C6DOFIMU6_INT_STAT_GDRIVE_RDY_INT 0x04
289 #define C6DOFIMU6_INT_STAT_DMP_INT 0x02
290 #define C6DOFIMU6_INT_STAT_RAW_RDY_INT 0x01
297 #define C6DOFIMU6_SIGNAL_PATH_RST_GYRO_RST 0x80
298 #define C6DOFIMU6_SIGNAL_PATH_RST_ACCEL_RST 0x40
299 #define C6DOFIMU6_SIGNAL_PATH_RST_TEMP_RST 0x20
306 #define C6DOFIMU6_ACCEL_INTEL_CTL_INTEL_EN 0x80
307 #define C6DOFIMU6_ACCEL_INTEL_CTL_INTEL_MODE_PREV_SAMP 0x40
308 #define C6DOFIMU6_ACCEL_INTEL_CTL_INTEL_MODE_FIRST_SAMP 0x00
315 #define C6DOFIMU6_USER_CTL_DMP_EN 0x80
316 #define C6DOFIMU6_USER_CTL_FIFO_EN 0x40
317 #define C6DOFIMU6_USER_CTL_I2C_IF_DIS 0x10
318 #define C6DOFIMU6_USER_CTL_DMP_RST 0x08
319 #define C6DOFIMU6_USER_CTL_FIFO_RST 0x04
320 #define C6DOFIMU6_USER_CTL_SIG_COND_RST 0x01
327 #define C6DOFIMU6_PWR_MGMT_1_DEV_RST 0x80
328 #define C6DOFIMU6_PWR_MGMT_1_SLEEP 0x40
329 #define C6DOFIMU6_PWR_MGMT_1_ACCEL_CYC 0x20
330 #define C6DOFIMU6_PWR_MGMT_1_GYRO_STDBY 0x10
331 #define C6DOFIMU6_PWR_MGMT_1_TEMP_DIS 0x08
332 #define C6DOFIMU6_PWR_MGMT_1_CLKSEL_7 0x07
333 #define C6DOFIMU6_PWR_MGMT_1_CLKSEL_6 0x06
334 #define C6DOFIMU6_PWR_MGMT_1_CLKSEL_5 0x05
335 #define C6DOFIMU6_PWR_MGMT_1_CLKSEL_4 0x04
336 #define C6DOFIMU6_PWR_MGMT_1_CLKSEL_3 0x03
337 #define C6DOFIMU6_PWR_MGMT_1_CLKSEL_2 0x02
338 #define C6DOFIMU6_PWR_MGMT_1_CLKSEL_1 0x01
339 #define C6DOFIMU6_PWR_MGMT_1_CLKSEL_0 0x00
346 #define C6DOFIMU6_PWR_MGMT_2_LP_DIS 0x80
347 #define C6DOFIMU6_PWR_MGMT_2_DMP_LP_DIS 0x40
348 #define C6DOFIMU6_PWR_MGMT_2_DISABLE_XA 0x20
349 #define C6DOFIMU6_PWR_MGMT_2_DISABLE_YA 0x10
350 #define C6DOFIMU6_PWR_MGMT_2_DISABLE_ZA 0x08
351 #define C6DOFIMU6_PWR_MGMT_2_DISABLE_XG 0x04
352 #define C6DOFIMU6_PWR_MGMT_2_DISABLE_YG 0x02
353 #define C6DOFIMU6_PWR_MGMT_2_DISABLE_ZG 0x01
360 #define C6DOFIMU6_WHO_AM_I_VAL 0x98
367 #define C6DOFIMU6_POWER_ON 0x01
368 #define C6DOFIMU6_POWER_OFF 0x00
375 #define C6DOFIMU6_GYRO_SENS_FS_SEL_2000 16.4
376 #define C6DOFIMU6_GYRO_SENS_FS_SEL_1000 32.8
377 #define C6DOFIMU6_GYRO_SENS_FS_SEL_500 65.5
378 #define C6DOFIMU6_GYRO_SENS_FS_SEL_250 131.0
379 #define C6DOFIMU6_ACCEL_SENS_FS_SEL_16G 2048.0
380 #define C6DOFIMU6_ACCEL_SENS_FS_SEL_8G 4096.0
381 #define C6DOFIMU6_ACCEL_SENS_FS_SEL_4G 8192.0
382 #define C6DOFIMU6_ACCEL_SENS_FS_SEL_2G 16384.0
675 #endif // _C6DOFIMU6_H_
uint8_t c6dofimu6_check_int_pin(c6dofimu6_t *ctx)
Check Interrupt state function.
pin_name_t sck
Definition: c6dofimu6.h:441
digital_out_t cs
Definition: c6dofimu6.h:409
uint8_t c6dofimu6_select_t
Communication type.
Definition: c6dofimu6.h:395
uint32_t i2c_speed
Definition: c6dofimu6.h:450
pin_name_t cs
Definition: c6dofimu6.h:442
pin_name_t sda
Definition: c6dofimu6.h:438
pin_name_t mosi
Definition: c6dofimu6.h:440
#define C6DOFIMU6_RETVAL
Definition: c6dofimu6.h:86
int16_t c6dofimu6_read_accel_z(c6dofimu6_t *ctx)
Read Accelerometer Z-axis data function.
void c6dofimu6_generic_write(c6dofimu6_t *ctx, uint8_t reg, uint8_t *data_buf, uint16_t len)
Generic write function.
void c6dofimu6_default_cfg(c6dofimu6_t *ctx)
Click Default Configuration function.
spi_master_chip_select_polarity_t cs_polarity
Definition: c6dofimu6.h:455
void c6dofimu6_read_gyroscope(c6dofimu6_t *ctx, int16_t *gyro_x, int16_t *gyro_y, int16_t *gyro_z)
Read gyroscope data function.
c6dofimu6_select_t sel
Definition: c6dofimu6.h:457
digital_in_t int_pin
Definition: c6dofimu6.h:413
uint32_t spi_speed
Definition: c6dofimu6.h:453
void c6dofimu6_acceleration_rate(c6dofimu6_t *ctx, float *x_accel_rte, float *y_accel_rte, float *z_accel_rte)
Read acceleration Rate function.
void c6dofimu6_read_accelerometer(c6dofimu6_t *ctx, int16_t *accel_x, int16_t *accel_y, int16_t *accel_z)
Read accelerometer data function.
int16_t c6dofimu6_read_gyro_x(c6dofimu6_t *ctx)
Read Gyroscope X-axis data function.
struct c6dofimu6_s c6dofimu6_t
Click ctx object definition.
pin_name_t miso
Definition: c6dofimu6.h:439
int16_t c6dofimu6_read_accel_x(c6dofimu6_t *ctx)
Read Accelerometer X-axis data function.
pin_name_t int_pin
Definition: c6dofimu6.h:446
uint8_t i2c_address
Definition: c6dofimu6.h:451
void c6dofimu6_cfg_setup(c6dofimu6_cfg_t *cfg)
Config Object Initialization function.
pin_name_t chip_select
Definition: c6dofimu6.h:423
c6dofimu6_master_io_t read_f
Definition: c6dofimu6.h:425
spi_master_mode_t spi_mode
Definition: c6dofimu6.h:454
int16_t c6dofimu6_read_gyro_y(c6dofimu6_t *ctx)
Read Gyroscope Y-axis data function.
c6dofimu6_select_t master_sel
Definition: c6dofimu6.h:426
Click configuration structure definition.
Definition: c6dofimu6.h:434
float c6dofimu6_read_temp_out(c6dofimu6_t *ctx)
Read temperture function.
i2c_master_t i2c
Definition: c6dofimu6.h:417
int16_t c6dofimu6_read_gyro_z(c6dofimu6_t *ctx)
Read Gyroscope Z-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.
Click ctx object definition.
Definition: c6dofimu6.h:406
void c6dofimu6_power(c6dofimu6_t *ctx, uint8_t on_off)
Power up function.
c6dofimu6_master_io_t write_f
Definition: c6dofimu6.h:424
pin_name_t scl
Definition: c6dofimu6.h:437
C6DOFIMU6_RETVAL c6dofimu6_init(c6dofimu6_t *ctx, c6dofimu6_cfg_t *cfg)
Initialization function.
int16_t c6dofimu6_read_accel_y(c6dofimu6_t *ctx)
Read Accelerometer Y-axis data function.
spi_master_t spi
Definition: c6dofimu6.h:418
uint8_t slave_address
Definition: c6dofimu6.h:422
void(* c6dofimu6_master_io_t)(struct c6dofimu6_s *, uint8_t, uint8_t *, uint16_t)
Master Input/Output type.
Definition: c6dofimu6.h:400