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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 C6DOFIMU12_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.pwm = MIKROBUS( mikrobus, MIKROBUS_PWM ); \
62 cfg.int_pin = MIKROBUS( mikrobus, MIKROBUS_INT )
69 #define C6DOFIMU12_MASTER_I2C 0
70 #define C6DOFIMU12_MASTER_SPI 1
77 #define C6DOFIMU12_RETVAL uint8_t
79 #define C6DOFIMU12_OK 0x00
80 #define C6DOFIMU12_INIT_ERROR 0xFF
87 #define C6DOFIMU12_REG_I2C_ADDR_GND 0x68
88 #define C6DOFIMU12_REG_I2C_ADDR_VCC 0x69
96 #define C6DOFIMU12_REG_CHIP_ID_ADDR 0x00
97 #define C6DOFIMU12_REG_ERROR 0x02
98 #define C6DOFIMU12_REG_STATUS_ADDR 0x03
99 #define C6DOFIMU12_REG_AUX_X_LSB_ADDR 0x04
100 #define C6DOFIMU12_REG_ACC_X_LSB_ADDR 0x0C
101 #define C6DOFIMU12_REG_GYR_X_LSB_ADDR 0x12
102 #define C6DOFIMU12_REG_EVENT_ADDR 0x1B
103 #define C6DOFIMU12_REG_INT_STATUS_0_ADDR 0x1C
104 #define C6DOFIMU12_REG_INT_STATUS_1_ADDR 0x1D
105 #define C6DOFIMU12_REG_SC_OUT_0_ADDR 0x1E
106 #define C6DOFIMU12_REG_SYNC_COMMAND_ADDR 0x1E
107 #define C6DOFIMU12_REG_GYR_CAS_GPIO0_ADDR 0x1E
108 #define C6DOFIMU12_REG_INTERNAL_STATUS_ADDR 0x21
109 #define C6DOFIMU12_REG_FIFO_LENGTH_0_ADDR 0X24
110 #define C6DOFIMU12_REG_FIFO_DATA_ADDR 0X26
111 #define C6DOFIMU12_REG_FEAT_PAGE_ADDR 0x2F
112 #define C6DOFIMU12_REG_FEATURES_REG_ADDR 0x30
113 #define C6DOFIMU12_REG_ACC_CONF_ADDR 0x40
114 #define C6DOFIMU12_REG_GYR_CONF_ADDR 0x42
115 #define C6DOFIMU12_REG_AUX_CONF_ADDR 0x44
116 #define C6DOFIMU12_REG_FIFO_DOWNS_ADDR 0X45
117 #define C6DOFIMU12_REG_FIFO_WTM_0_ADDR 0X46
118 #define C6DOFIMU12_REG_FIFO_WTM_1_ADDR 0X47
119 #define C6DOFIMU12_REG_FIFO_CONFIG_0_ADDR 0X48
120 #define C6DOFIMU12_REG_FIFO_CONFIG_1_ADDR 0X49
121 #define C6DOFIMU12_REG_AUX_DEV_ID_ADDR 0x4B
122 #define C6DOFIMU12_REG_AUX_IF_CONF_ADDR 0x4C
123 #define C6DOFIMU12_REG_AUX_RD_ADDR 0x4D
124 #define C6DOFIMU12_REG_AUX_WR_ADDR 0x4E
125 #define C6DOFIMU12_REG_AUX_WR_DATA_ADDR 0x4F
126 #define C6DOFIMU12_REG_INT1_IO_CTRL_ADDR 0x53
127 #define C6DOFIMU12_REG_INT2_IO_CTRL_ADDR 0x54
128 #define C6DOFIMU12_REG_INT1_MAP_FEAT_ADDR 0x56
129 #define C6DOFIMU12_REG_INT2_MAP_FEAT_ADDR 0x57
130 #define C6DOFIMU12_REG_INT_MAP_DATA_ADDR 0x58
131 #define C6DOFIMU12_REG_INIT_CTRL_ADDR 0x59
132 #define C6DOFIMU12_REG_INIT_ADDR_0 0x5B
133 #define C6DOFIMU12_REG_INIT_ADDR_1 0x5C
134 #define C6DOFIMU12_REG_INIT_DATA_ADDR 0x5E
135 #define C6DOFIMU12_REG_GYR_CRT_CONF_ADDR 0X69
136 #define C6DOFIMU12_REG_NVM_CONF_ADDR 0x6A
137 #define C6DOFIMU12_REG_IF_CONF_ADDR 0X6B
138 #define C6DOFIMU12_REG_ACC_SELF_TEST_ADDR 0X6D
139 #define C6DOFIMU12_REG_GYR_SELF_TEST_AXES_ADDR 0x6E
140 #define C6DOFIMU12_REG_SELF_TEST_MEMS_ADDR 0X6F
141 #define C6DOFIMU12_REG_NV_CONF_ADDR 0x70
142 #define C6DOFIMU12_REG_ACC_OFF_COMP_0_ADDR 0X71
143 #define C6DOFIMU12_REG_GYR_OFF_COMP_3_ADDR 0X74
144 #define C6DOFIMU12_REG_GYR_OFF_COMP_6_ADDR 0X77
145 #define C6DOFIMU12_REG_GYR_USR_GAIN_0_ADDR 0X78
146 #define C6DOFIMU12_REG_PWR_CONF_ADDR 0x7C
147 #define C6DOFIMU12_REG_PWR_CTRL_ADDR 0x7D
148 #define C6DOFIMU12_REG_CMD_REG_ADDR 0x7E
155 #define C6DOFIMU12_DEVICE_ID_VAL 0x24
162 #define C6DOFIMU12_AUX_EN_MASK 0x01
163 #define C6DOFIMU12_GYR_EN_MASK 0x02
164 #define C6DOFIMU12_ACC_EN_MASK 0x04
165 #define C6DOFIMU12_TEMP_EN_MASK 0x08
172 #define C6DOFIMU12_ACC_PWR_OPTIMIZED 0x00
173 #define C6DOFIMU12_ACC_OSR2_PWR_PERFORMANCE 0x80
180 #define C6DOFIMU12_ACC_OSR4_AVG1 0x00
181 #define C6DOFIMU12_ACC_OSR2_AVG2 0x10
182 #define C6DOFIMU12_ACC_NORMAL_AVG4 0x20
183 #define C6DOFIMU12_ACC_CIC_AVG8 0x30
184 #define C6DOFIMU12_ACC_RES_AVG16 0x40
185 #define C6DOFIMU12_ACC_RES_AVG32 0x50
186 #define C6DOFIMU12_ACC_RES_AVG64 0x60
187 #define C6DOFIMU12_ACC_RES_AVG128 0x70
194 #define C6DOFIMU12_ACC_ODR_0_78HZ 0x01
195 #define C6DOFIMU12_ACC_ODR_1_56HZ 0x02
196 #define C6DOFIMU12_ACC_ODR_3_12HZ 0x03
197 #define C6DOFIMU12_ACC_ODR_6_25HZ 0x04
198 #define C6DOFIMU12_ACC_ODR_12_5HZ 0x05
199 #define C6DOFIMU12_ACC_ODR_25HZ 0x06
200 #define C6DOFIMU12_ACC_ODR_50HZ 0x07
201 #define C6DOFIMU12_ACC_ODR_100HZ 0x08
202 #define C6DOFIMU12_ACC_ODR_200HZ 0x09
203 #define C6DOFIMU12_ACC_ODR_400HZ 0x0A
204 #define C6DOFIMU12_ACC_ODR_800HZ 0x0B
205 #define C6DOFIMU12_ACC_ODR_1600HZ 0x0C
212 #define C6DOFIMU12_ACC_RANGE_2G 0x00
213 #define C6DOFIMU12_ACC_RANGE_4G 0x01
214 #define C6DOFIMU12_ACC_RANGE_8G 0x02
215 #define C6DOFIMU12_ACC_RANGE_16G 0x03
222 #define C6DOFIMU12_ACC_RANGE_MASK 0x03
223 #define C6DOFIMU12_ACC_ODR_MASK 0x0F
224 #define C6DOFIMU12_ACC_BW_PARAM_MASK 0x70
225 #define C6DOFIMU12_ACC_FILTER_PERF_MODE_MASK 0x80
231 #define C6DOFIMU12_ACC_BW_PARAM_POS 0x04
232 #define C6DOFIMU12_ACC_FILTER_PERF_MODE_POS 0x07
238 #define C6DOFIMU12_ACC_SELF_TEST_RANGE 16
244 #define C6DOFIMU12_ST_ACC_X_SIG_MIN_DIFF 1800
245 #define C6DOFIMU12_ST_ACC_X_SIG_MAX_DIFF 10200
246 #define C6DOFIMU12_ST_ACC_Y_SIG_MIN_DIFF -10200
247 #define C6DOFIMU12_ST_ACC_Y_SIG_MAX_DIFF -1800
248 #define C6DOFIMU12_ST_ACC_Z_SIG_MIN_DIFF 800
249 #define C6DOFIMU12_ST_ACC_Z_SIG_MAX_DIFF 10200
255 #define C6DOFIMU12_ACC_SELF_TEST_EN_MASK 0x01
256 #define C6DOFIMU12_ACC_SELF_TEST_SIGN_MASK 0x04
257 #define C6DOFIMU12_ACC_SELF_TEST_AMP_MASK 0x08
263 #define C6DOFIMU12_ACC_SELF_TEST_SIGN_POS 0x02
264 #define C6DOFIMU12_ACC_SELF_TEST_AMP_POS 0x03
268 #define C6DOFIMU12_GYR_ST_AXES_DONE_MASK 0X01
269 #define C6DOFIMU12_GYR_AXIS_X_OK_MASK 0x02
270 #define C6DOFIMU12_GYR_AXIS_Y_OK_MASK 0x04
271 #define C6DOFIMU12_GYR_AXIS_Z_OK_MASK 0x08
274 #define C6DOFIMU12_GYR_AXIS_X_OK_POS 0x01
275 #define C6DOFIMU12_GYR_AXIS_Y_OK_POS 0x02
276 #define C6DOFIMU12_GYR_AXIS_Z_OK_POS 0x03
279 #define C6DOFIMU12_GYR_PWR_OPTIMIZED 0x00
280 #define C6DOFIMU12_GYR_PWR_PERFORMANCE 0x80
283 #define C6DOFIMU12_GYR_NOISE_OPTIMIZED 0x00
284 #define C6DOFIMU12_GYR_NOISE_PERFORMANCE 0x40
287 #define C6DOFIMU12_GYR_OSR4_MODE 0x00
288 #define C6DOFIMU12_GYR_OSR2_MODE 0x10
289 #define C6DOFIMU12_GYR_NORMAL_MODE 0x20
290 #define C6DOFIMU12_GYR_CIC_MODE 0x30
293 #define C6DOFIMU12_GYR_ODR_25HZ 0x06
294 #define C6DOFIMU12_GYR_ODR_50HZ 0x07
295 #define C6DOFIMU12_GYR_ODR_100HZ 0x08
296 #define C6DOFIMU12_GYR_ODR_200HZ 0x09
297 #define C6DOFIMU12_GYR_ODR_400HZ 0x0A
298 #define C6DOFIMU12_GYR_ODR_800HZ 0x0B
299 #define C6DOFIMU12_GYR_ODR_1600HZ 0x0C
300 #define C6DOFIMU12_GYR_ODR_3200HZ 0x0D
303 #define C6DOFIMU12_GYR_OIS_250 0x00
304 #define C6DOFIMU12_GYR_OIS_2000 0x01
307 #define C6DOFIMU12_GYR_RANGE_2000 0x00
308 #define C6DOFIMU12_GYR_RANGE_1000 0x01
309 #define C6DOFIMU12_GYR_RANGE_500 0x02
310 #define C6DOFIMU12_GYR_RANGE_250 0x03
311 #define C6DOFIMU12_GYR_RANGE_125 0x04
314 #define C6DOFIMU12_GYR_RANGE_MASK 0x07
315 #define C6DOFIMU12_GYR_OIS_RANGE_MASK 0x08
316 #define C6DOFIMU12_GYR_ODR_MASK 0x0F
317 #define C6DOFIMU12_GYR_BW_PARAM_MASK 0x30
318 #define C6DOFIMU12_GYR_NOISE_PERF_MODE_MASK 0x40
319 #define C6DOFIMU12_GYR_FILTER_PERF_MODE_MASK 0x80
322 #define C6DOFIMU12_GYR_OIS_RANGE_POS 0x03
323 #define C6DOFIMU12_GYR_BW_PARAM_POS 0x04
324 #define C6DOFIMU12_GYR_NOISE_PERF_MODE_POS 0x06
325 #define C6DOFIMU12_GYR_FILTER_PERF_MODE_POS 0x07
328 #define C6DOFIMU12_AUX_ODR_RESERVED 0x00
329 #define C6DOFIMU12_AUX_ODR_0_78HZ 0x01
330 #define C6DOFIMU12_AUX_ODR_1_56HZ 0x02
331 #define C6DOFIMU12_AUX_ODR_3_12HZ 0x03
332 #define C6DOFIMU12_AUX_ODR_6_25HZ 0x04
333 #define C6DOFIMU12_AUX_ODR_12_5HZ 0x05
334 #define C6DOFIMU12_AUX_ODR_25HZ 0x06
335 #define C6DOFIMU12_AUX_ODR_50HZ 0x07
336 #define C6DOFIMU12_AUX_ODR_100HZ 0x08
337 #define C6DOFIMU12_AUX_ODR_200HZ 0x09
338 #define C6DOFIMU12_AUX_ODR_400HZ 0x0A
339 #define C6DOFIMU12_AUX_ODR_800HZ 0x0B
342 #define C6DOFIMU12_PWR_CONF_ADV_PWR_SAVE_DISABLED 0x00
343 #define C6DOFIMU12_PWR_CONF_ADV_PWR_SAVE_ENABLED 0x01
344 #define C6DOFIMU12_FIFO_READ_DISABLED 0x00
345 #define C6DOFIMU12_FIFO_READ_ENABLED 0x02
346 #define C6DOFIMU12_FAST_PWR_UP_DISABLED 0x00
347 #define C6DOFIMU12_FAST_PWR_UP_ENABLED 0x04
350 #define C6DOFIMU12_CMD_INITIALIZATION_START 0x00
351 #define C6DOFIMU12_CMD_INITIALIZATION_STOP 0x01
354 #define C6DOFIMU12_AUX_READ_LEN_0 0x00
355 #define C6DOFIMU12_AUX_READ_LEN_1 0x01
356 #define C6DOFIMU12_AUX_READ_LEN_2 0x02
357 #define C6DOFIMU12_AUX_READ_LEN_3 0x03
360 #define C6DOFIMU12_AUX_SET_I2C_ADDR_MASK 0xFE
361 #define C6DOFIMU12_AUX_MAN_MODE_EN_MASK 0x80
362 #define C6DOFIMU12_AUX_FCU_WR_EN_MASK 0x40
363 #define C6DOFIMU12_AUX_MAN_READ_BURST_MASK 0x0C
364 #define C6DOFIMU12_AUX_READ_BURST_MASK 0x03
365 #define C6DOFIMU12_AUX_ODR_EN_MASK 0x0F
366 #define C6DOFIMU12_AUX_OFFSET_READ_OUT_MASK 0xF0
369 #define C6DOFIMU12_AUX_SET_I2C_ADDR_POS 0x01
370 #define C6DOFIMU12_AUX_MAN_MODE_EN_POS 0x07
371 #define C6DOFIMU12_AUX_FCU_WR_EN_POS 0x06
372 #define C6DOFIMU12_AUX_MAN_READ_BURST_POS 0x02
373 #define C6DOFIMU12_AUX_OFFSET_READ_OUT_POS 0x04
376 #define C6DOFIMU12_FIFO_VIRT_FRM_MODE 0x03
379 #define C6DOFIMU12_FIFO_HEADER_ACC_FRM 0x84
380 #define C6DOFIMU12_FIFO_HEADER_AUX_FRM 0x90
381 #define C6DOFIMU12_FIFO_HEADER_GYR_FRM 0x88
382 #define C6DOFIMU12_FIFO_HEADER_GYR_ACC_FRM 0x8C
383 #define C6DOFIMU12_FIFO_HEADER_AUX_ACC_FRM 0x94
384 #define C6DOFIMU12_FIFO_HEADER_AUX_GYR_FRM 0x98
385 #define C6DOFIMU12_FIFO_HEADER_ALL_FRM 0x9C
386 #define C6DOFIMU12_FIFO_HEADER_SENS_TIME_FRM 0x44
387 #define C6DOFIMU12_FIFO_HEADER_SKIP_FRM 0x40
388 #define C6DOFIMU12_FIFO_HEADER_INPUT_CFG_FRM 0x48
389 #define C6DOFIMU12_FIFO_HEAD_OVER_READ_MSB 0x80
390 #define C6DOFIMU12_FIFO_VIRT_ACT_RECOG_FRM 0xC8
393 #define C6DOFIMU12_FIFO_HEAD_LESS_ACC_FRM 0x40
394 #define C6DOFIMU12_FIFO_HEAD_LESS_AUX_FRM 0x20
395 #define C6DOFIMU12_FIFO_HEAD_LESS_GYR_FRM 0x80
396 #define C6DOFIMU12_FIFO_HEAD_LESS_GYR_AUX_FRM 0xA0
397 #define C6DOFIMU12_FIFO_HEAD_LESS_GYR_ACC_FRM 0xC0
398 #define C6DOFIMU12_FIFO_HEAD_LESS_AUX_ACC_FRM 0x60
399 #define C6DOFIMU12_FIFO_HEAD_LESS_ALL_FRM 0xE0
402 #define C6DOFIMU12_FIFO_STOP_ON_FULL 0x0001
403 #define C6DOFIMU12_FIFO_TIME_EN 0x0002
404 #define C6DOFIMU12_FIFO_TAG_INT1 0x0300
405 #define C6DOFIMU12_FIFO_TAG_INT2 0x0C00
406 #define C6DOFIMU12_FIFO_HEADER_EN 0x1000
407 #define C6DOFIMU12_FIFO_AUX_EN 0x2000
408 #define C6DOFIMU12_FIFO_ACC_EN 0x4000
409 #define C6DOFIMU12_FIFO_GYR_EN 0x8000
410 #define C6DOFIMU12_FIFO_ALL_EN 0xE000
413 #define C6DOFIMU12_FIFO_ACC_LENGTH 6
414 #define C6DOFIMU12_FIFO_GYR_LENGTH 6
415 #define C6DOFIMU12_FIFO_AUX_LENGTH 8
416 #define C6DOFIMU12_FIFO_ACC_AUX_LENGTH 14
417 #define C6DOFIMU12_FIFO_GYR_AUX_LENGTH 14
418 #define C6DOFIMU12_FIFO_ACC_GYR_LENGTH 12
419 #define C6DOFIMU12_FIFO_ALL_LENGTH 20
420 #define C6DOFIMU12_SENSOR_TIME_LENGTH 3
421 #define C6DOFIMU12_FIFO_CONFIG_LENGTH 2
422 #define C6DOFIMU12_FIFO_WM_LENGTH 2
423 #define C6DOFIMU12_MAX_VALUE_FIFO_FILTER 1
424 #define C6DOFIMU12_FIFO_DATA_LENGTH 2
425 #define C6DOFIMU12_FIFO_LENGTH_MSB_BYTE 1
426 #define C6DOFIMU12_FIFO_INPUT_CFG_LENGTH 4
427 #define C6DOFIMU12_FIFO_SKIP_FRM_LENGTH 1
430 #define C6DOFIMU12_FIFO_VIRT_ACC_LENGTH 9
431 #define C6DOFIMU12_FIFO_VIRT_GYR_LENGTH 9
432 #define C6DOFIMU12_FIFO_VIRT_AUX_LENGTH 11
433 #define C6DOFIMU12_FIFO_VIRT_ACC_AUX_LENGTH 17
434 #define C6DOFIMU12_FIFO_VIRT_GYR_AUX_LENGTH 17
435 #define C6DOFIMU12_FIFO_VIRT_ACC_GYR_LENGTH 15
436 #define C6DOFIMU12_FIFO_VIRT_ALL_LENGTH 23
439 #define C6DOFIMU12_FIFO_VIRT_ACT_DATA_LENGTH 6
440 #define C6DOFIMU12_FIFO_VIRT_ACT_TIME_LENGTH 4
441 #define C6DOFIMU12_FIFO_VIRT_ACT_TYPE_LENGTH 1
442 #define C6DOFIMU12_FIFO_VIRT_ACT_STAT_LENGTH 1
445 #define C6DOFIMU12_FIFO_UNFILTERED_DATA 0
446 #define C6DOFIMU12_FIFO_FILTERED_DATA 1
449 #define C6DOFIMU12_FIFO_LSB_CONFIG_CHECK 0x00
450 #define C6DOFIMU12_FIFO_MSB_CONFIG_CHECK 0x80
451 #define C6DOFIMU12_FIFO_TAG_INTR_MASK 0xFF
454 #define C6DOFIMU12_FIFO_CONFIG_0_MASK 0x0003
455 #define C6DOFIMU12_FIFO_CONFIG_1_MASK 0xFF00
458 #define C6DOFIMU12_FIFO_SELF_WAKE_UP_MASK 0x02
461 #define C6DOFIMU12_ACC_FIFO_DOWNS_MASK 0x70
462 #define C6DOFIMU12_GYR_FIFO_DOWNS_MASK 0x07
465 #define C6DOFIMU12_ACC_FIFO_DOWNS_POS 0x04
468 #define C6DOFIMU12_ACC_FIFO_FILT_DATA_MASK 0x80
469 #define C6DOFIMU12_GYR_FIFO_FILT_DATA_MASK 0x08
472 #define C6DOFIMU12_ACC_FIFO_FILT_DATA_POS 0x07
473 #define C6DOFIMU12_GYR_FIFO_FILT_DATA_POS 0x03
476 #define C6DOFIMU12_FIFO_BYTE_COUNTER_MSB_MASK 0x3F
479 #define C6DOFIMU12_FIFO_SELF_WAKE_UP_POS 0x02
482 #define C6DOFIMU12_FIFO_VIRT_FRM_MODE_MASK 0xC0
483 #define C6DOFIMU12_FIFO_VIRT_PAYLOAD_MASK 0x3C
486 #define C6DOFIMU12_FIFO_VIRT_FRM_MODE_POS 0x06
487 #define C6DOFIMU12_FIFO_VIRT_PAYLOAD_POS 0x02
490 #define C6DOFIMU12_INT_NON_LATCH 0
493 #define C6DOFIMU12_INT_LATCH 1
496 #define C6DOFIMU12_INT_PUSH_PULL 0
497 #define C6DOFIMU12_INT_OPEN_DRAIN 1
500 #define C6DOFIMU12_INT_ACTIVE_LOW 0
501 #define C6DOFIMU12_INT_ACTIVE_HIGH 1
504 #define C6DOFIMU12_INT_OUTPUT_DISABLE 0
505 #define C6DOFIMU12_INT_OUTPUT_ENABLE 1
508 #define C6DOFIMU12_INT_INPUT_DISABLE 0
509 #define C6DOFIMU12_INT_INPUT_ENABLE 1
512 #define C6DOFIMU12_INT_LATCH_MASK 0x01
513 #define C6DOFIMU12_INT_LEVEL_MASK 0x02
514 #define C6DOFIMU12_INT_OPEN_DRAIN_MASK 0x04
515 #define C6DOFIMU12_INT_OUTPUT_EN_MASK 0x08
516 #define C6DOFIMU12_INT_INPUT_EN_MASK 0x10
519 #define C6DOFIMU12_INT_LEVEL_POS 0x01
520 #define C6DOFIMU12_INT_OPEN_DRAIN_POS 0x02
521 #define C6DOFIMU12_INT_OUTPUT_EN_POS 0x03
522 #define C6DOFIMU12_INT_INPUT_EN_POS 0x04
525 #define C6DOFIMU12_FFULL_INT 0x01
526 #define C6DOFIMU12_FWM_INT 0x02
527 #define C6DOFIMU12_DRDY_INT 0x04
528 #define C6DOFIMU12_ERR_INT 0x08
531 #define C6DOFIMU12_FFULL_INT_STATUS_MASK 0x0100
532 #define C6DOFIMU12_FWM_INT_STATUS_MASK 0x0200
533 #define C6DOFIMU12_ERR_INT_STATUS_MASK 0x0400
534 #define C6DOFIMU12_AUX_DRDY_INT_MASK 0x2000
535 #define C6DOFIMU12_GYR_DRDY_INT_MASK 0x4000
536 #define C6DOFIMU12_ACC_DRDY_INT_MASK 0x8000
539 #define C6DOFIMU12_INT_PIN_MAX_NUM 2
542 #define C6DOFIMU12_FEAT_BIT_DISABLE 0
543 #define C6DOFIMU12_FEAT_BIT0 1
544 #define C6DOFIMU12_FEAT_BIT1 2
545 #define C6DOFIMU12_FEAT_BIT2 3
546 #define C6DOFIMU12_FEAT_BIT3 4
547 #define C6DOFIMU12_FEAT_BIT4 5
548 #define C6DOFIMU12_FEAT_BIT5 6
549 #define C6DOFIMU12_FEAT_BIT6 7
550 #define C6DOFIMU12_FEAT_BIT7 8
551 #define C6DOFIMU12_FEAT_BIT_MAX 9
554 #define C6DOFIMU12_OIS_IF_EN_MASK 0x10
555 #define C6DOFIMU12_AUX_IF_EN_MASK 0x20
558 #define C6DOFIMU12_OIS_IF_EN_POS 0x04
559 #define C6DOFIMU12_AUX_IF_EN_POS 0x05
562 #define C6DOFIMU12_X 0x01
563 #define C6DOFIMU12_NEG_X 0x09
564 #define C6DOFIMU12_Y 0x02
565 #define C6DOFIMU12_NEG_Y 0x0A
566 #define C6DOFIMU12_Z 0x04
567 #define C6DOFIMU12_NEG_Z 0x0C
568 #define C6DOFIMU12_AXIS_MASK 0x07
569 #define C6DOFIMU12_AXIS_SIGN 0x08
572 #define C6DOFIMU12_GYR_GAIN_EN_MASK 0x80
573 #define C6DOFIMU12_GYR_OFF_COMP_EN_MASK 0x40
576 #define C6DOFIMU12_GYR_OFF_COMP_EN_POS 0x06
579 #define C6DOFIMU12_GYR_USR_GAIN_X_MASK 0x7F
580 #define C6DOFIMU12_GYR_USR_GAIN_Y_MASK 0x7F
581 #define C6DOFIMU12_GYR_USR_GAIN_Z_MASK 0x7F
584 #define C6DOFIMU12_GYR_GAIN_EN_POS 0x07
587 #define C6DOFIMU12_NOT_INIT 0x00
588 #define C6DOFIMU12_INIT_OK 0x01
589 #define C6DOFIMU12_INIT_ERR 0x02
590 #define C6DOFIMU12_DRV_ERR 0x03
591 #define C6DOFIMU12_SNS_STOP 0x04
592 #define C6DOFIMU12_NVM_ERROR 0x05
593 #define C6DOFIMU12_START_UP_ERROR 0x06
594 #define C6DOFIMU12_COMPAT_ERROR 0x07
595 #define C6DOFIMU12_VFM_SKIPPED 0x10
596 #define C6DOFIMU12_AXES_MAP_ERROR 0x20
597 #define C6DOFIMU12_ODR_50_HZ_ERROR 0x40
598 #define C6DOFIMU12_ODR_HIGH_ERROR 0x80
601 #define C6DOFIMU12_G_TRIGGER_NO_ERROR 0x00
602 #define C6DOFIMU12_G_TRIGGER_PRECON_ERROR 0x01
603 #define C6DOFIMU12_G_TRIGGER_DL_ERROR 0x02
604 #define C6DOFIMU12_G_TRIGGER_ABORT_ERROR 0x03
607 #define C6DOFIMU12_CRT_RTOSK_ENABLE 0x01
608 #define C6DOFIMU12_GYRO_CROSS_SENS_ENABLE 0x02
609 #define C6DOFIMU12_GYRO_USER_GAIN_ENABLE 0x08
610 #define C6DOFIMU12_NO_FEATURE_ENABLE 0x00
611 #define C6DOFIMU12_CRT_IN_FIFO_NOT_REQ 0x10
612 #define C6DOFIMU12_MINIMAL_VARIANT 0x20
615 #define C6DOFIMU12_ERROR 0x00
616 #define C6DOFIMU12_SUCCESS 0x01
621 #define C6DOFIMU12_SPI_CMD_WRITE 0x00
622 #define C6DOFIMU12_SPI_CMD_READ 0x80
623 #define C6DOFIMU12_SPI_COMMUNICATION_DUMMY 0x00
854 #endif // _C6DOFIMU12_H_
digital_out_t cs
Definition: c6dofimu12.h:650
spi_master_t spi
Definition: c6dofimu12.h:657
pin_name_t int_pin
Definition: c6dofimu12.h:699
int16_t z
Definition: c6dofimu12.h:679
c6dofimu12_select_t master_sel
Definition: c6dofimu12.h:665
C6DOFIMU12_RETVAL c6dofimu12_check_int1(c6dofimu12_t *ctx)
Get interrupt 1 status function.
int16_t x
Definition: c6dofimu12.h:677
C6DOFIMU12_RETVAL c6dofimu12_init(c6dofimu12_t *ctx, c6dofimu12_cfg_t *cfg)
Initialization function.
uint8_t c6dofimu12_select_t
Communication type.
Definition: c6dofimu12.h:636
pin_name_t cs
Definition: c6dofimu12.h:694
Click configuration structure definition.
Definition: c6dofimu12.h:685
digital_in_t pwm
Definition: c6dofimu12.h:651
pin_name_t sda
Definition: c6dofimu12.h:690
void c6dofimu12_get_data(c6dofimu12_t *ctx, c6dofimu12_accel_t *accel_data, c6dofimu12_gyro_t *gyro_data)
Read Accel and Gyro data function.
C6DOFIMU12_RETVAL c6dofimu12_check_int2(c6dofimu12_t *ctx)
Get interrupt 2 status function.
uint8_t slave_address
Definition: c6dofimu12.h:661
struct c6dofimu12_gyro_t c6dofimu12_gyro_t
c6dofimu12_master_io_t write_f
Definition: c6dofimu12.h:663
void c6dofimu12_generic_read(c6dofimu12_t *ctx, uint8_t reg, uint8_t *data_buf, uint16_t len)
Generic read function.
#define C6DOFIMU12_RETVAL
Definition: c6dofimu12.h:77
struct c6dofimu12_s c6dofimu12_t
Click ctx object definition.
uint8_t i2c_address
Definition: c6dofimu12.h:704
uint32_t spi_speed
Definition: c6dofimu12.h:706
int16_t z
Definition: c6dofimu12.h:672
int16_t y
Definition: c6dofimu12.h:671
uint32_t i2c_speed
Definition: c6dofimu12.h:703
C6DOFIMU12_RETVAL c6dofimu12_check_id(c6dofimu12_t *ctx)
Check ID function.
struct c6dofimu12_accel_t c6dofimu12_accel_t
pin_name_t chip_select
Definition: c6dofimu12.h:662
C6DOFIMU12_RETVAL c6dofimu12_check_init_status(c6dofimu12_t *ctx)
Check ID function.
void c6dofimu12_cfg_setup(c6dofimu12_cfg_t *cfg)
Config Object Initialization function.
pin_name_t miso
Definition: c6dofimu12.h:691
pin_name_t scl
Definition: c6dofimu12.h:689
Definition: c6dofimu12.h:668
pin_name_t sck
Definition: c6dofimu12.h:693
void c6dofimu12_generic_write(c6dofimu12_t *ctx, uint8_t reg, uint8_t *data_buf, uint16_t len)
Generic write function.
int16_t y
Definition: c6dofimu12.h:678
i2c_master_t i2c
Definition: c6dofimu12.h:656
spi_master_chip_select_polarity_t cs_polarity
Definition: c6dofimu12.h:708
void(* c6dofimu12_master_io_t)(struct c6dofimu12_s *, uint8_t, uint8_t *, uint16_t)
Master Input/Output type.
Definition: c6dofimu12.h:641
spi_master_mode_t spi_mode
Definition: c6dofimu12.h:707
c6dofimu12_master_io_t read_f
Definition: c6dofimu12.h:664
Click ctx object definition.
Definition: c6dofimu12.h:646
pin_name_t mosi
Definition: c6dofimu12.h:692
c6dofimu12_select_t sel
Definition: c6dofimu12.h:710
void c6dofimu12_default_cfg(c6dofimu12_t *ctx)
Click Default Configuration function.
digital_in_t int_pin
Definition: c6dofimu12.h:652
pin_name_t pwm
Definition: c6dofimu12.h:698
Definition: c6dofimu12.h:675
int16_t x
Definition: c6dofimu12.h:670