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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 C6DOFIMU12_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.pwm = MIKROBUS( mikrobus, MIKROBUS_PWM ); \
72 cfg.int_pin = MIKROBUS( mikrobus, MIKROBUS_INT )
79 #define C6DOFIMU12_MASTER_I2C 0
80 #define C6DOFIMU12_MASTER_SPI 1
87 #define C6DOFIMU12_RETVAL uint8_t
89 #define C6DOFIMU12_OK 0x00
90 #define C6DOFIMU12_INIT_ERROR 0xFF
97 #define C6DOFIMU12_REG_I2C_ADDR_GND 0x68
98 #define C6DOFIMU12_REG_I2C_ADDR_VCC 0x69
106 #define C6DOFIMU12_REG_CHIP_ID_ADDR 0x00
107 #define C6DOFIMU12_REG_ERROR 0x02
108 #define C6DOFIMU12_REG_STATUS_ADDR 0x03
109 #define C6DOFIMU12_REG_AUX_X_LSB_ADDR 0x04
110 #define C6DOFIMU12_REG_ACC_X_LSB_ADDR 0x0C
111 #define C6DOFIMU12_REG_GYR_X_LSB_ADDR 0x12
112 #define C6DOFIMU12_REG_EVENT_ADDR 0x1B
113 #define C6DOFIMU12_REG_INT_STATUS_0_ADDR 0x1C
114 #define C6DOFIMU12_REG_INT_STATUS_1_ADDR 0x1D
115 #define C6DOFIMU12_REG_SC_OUT_0_ADDR 0x1E
116 #define C6DOFIMU12_REG_SYNC_COMMAND_ADDR 0x1E
117 #define C6DOFIMU12_REG_GYR_CAS_GPIO0_ADDR 0x1E
118 #define C6DOFIMU12_REG_INTERNAL_STATUS_ADDR 0x21
119 #define C6DOFIMU12_REG_FIFO_LENGTH_0_ADDR 0X24
120 #define C6DOFIMU12_REG_FIFO_DATA_ADDR 0X26
121 #define C6DOFIMU12_REG_FEAT_PAGE_ADDR 0x2F
122 #define C6DOFIMU12_REG_FEATURES_REG_ADDR 0x30
123 #define C6DOFIMU12_REG_ACC_CONF_ADDR 0x40
124 #define C6DOFIMU12_REG_GYR_CONF_ADDR 0x42
125 #define C6DOFIMU12_REG_AUX_CONF_ADDR 0x44
126 #define C6DOFIMU12_REG_FIFO_DOWNS_ADDR 0X45
127 #define C6DOFIMU12_REG_FIFO_WTM_0_ADDR 0X46
128 #define C6DOFIMU12_REG_FIFO_WTM_1_ADDR 0X47
129 #define C6DOFIMU12_REG_FIFO_CONFIG_0_ADDR 0X48
130 #define C6DOFIMU12_REG_FIFO_CONFIG_1_ADDR 0X49
131 #define C6DOFIMU12_REG_AUX_DEV_ID_ADDR 0x4B
132 #define C6DOFIMU12_REG_AUX_IF_CONF_ADDR 0x4C
133 #define C6DOFIMU12_REG_AUX_RD_ADDR 0x4D
134 #define C6DOFIMU12_REG_AUX_WR_ADDR 0x4E
135 #define C6DOFIMU12_REG_AUX_WR_DATA_ADDR 0x4F
136 #define C6DOFIMU12_REG_INT1_IO_CTRL_ADDR 0x53
137 #define C6DOFIMU12_REG_INT2_IO_CTRL_ADDR 0x54
138 #define C6DOFIMU12_REG_INT1_MAP_FEAT_ADDR 0x56
139 #define C6DOFIMU12_REG_INT2_MAP_FEAT_ADDR 0x57
140 #define C6DOFIMU12_REG_INT_MAP_DATA_ADDR 0x58
141 #define C6DOFIMU12_REG_INIT_CTRL_ADDR 0x59
142 #define C6DOFIMU12_REG_INIT_ADDR_0 0x5B
143 #define C6DOFIMU12_REG_INIT_ADDR_1 0x5C
144 #define C6DOFIMU12_REG_INIT_DATA_ADDR 0x5E
145 #define C6DOFIMU12_REG_GYR_CRT_CONF_ADDR 0X69
146 #define C6DOFIMU12_REG_NVM_CONF_ADDR 0x6A
147 #define C6DOFIMU12_REG_IF_CONF_ADDR 0X6B
148 #define C6DOFIMU12_REG_ACC_SELF_TEST_ADDR 0X6D
149 #define C6DOFIMU12_REG_GYR_SELF_TEST_AXES_ADDR 0x6E
150 #define C6DOFIMU12_REG_SELF_TEST_MEMS_ADDR 0X6F
151 #define C6DOFIMU12_REG_NV_CONF_ADDR 0x70
152 #define C6DOFIMU12_REG_ACC_OFF_COMP_0_ADDR 0X71
153 #define C6DOFIMU12_REG_GYR_OFF_COMP_3_ADDR 0X74
154 #define C6DOFIMU12_REG_GYR_OFF_COMP_6_ADDR 0X77
155 #define C6DOFIMU12_REG_GYR_USR_GAIN_0_ADDR 0X78
156 #define C6DOFIMU12_REG_PWR_CONF_ADDR 0x7C
157 #define C6DOFIMU12_REG_PWR_CTRL_ADDR 0x7D
158 #define C6DOFIMU12_REG_CMD_REG_ADDR 0x7E
165 #define C6DOFIMU12_DEVICE_ID_VAL 0x24
172 #define C6DOFIMU12_AUX_EN_MASK 0x01
173 #define C6DOFIMU12_GYR_EN_MASK 0x02
174 #define C6DOFIMU12_ACC_EN_MASK 0x04
175 #define C6DOFIMU12_TEMP_EN_MASK 0x08
182 #define C6DOFIMU12_ACC_PWR_OPTIMIZED 0x00
183 #define C6DOFIMU12_ACC_OSR2_PWR_PERFORMANCE 0x80
190 #define C6DOFIMU12_ACC_OSR4_AVG1 0x00
191 #define C6DOFIMU12_ACC_OSR2_AVG2 0x10
192 #define C6DOFIMU12_ACC_NORMAL_AVG4 0x20
193 #define C6DOFIMU12_ACC_CIC_AVG8 0x30
194 #define C6DOFIMU12_ACC_RES_AVG16 0x40
195 #define C6DOFIMU12_ACC_RES_AVG32 0x50
196 #define C6DOFIMU12_ACC_RES_AVG64 0x60
197 #define C6DOFIMU12_ACC_RES_AVG128 0x70
204 #define C6DOFIMU12_ACC_ODR_0_78HZ 0x01
205 #define C6DOFIMU12_ACC_ODR_1_56HZ 0x02
206 #define C6DOFIMU12_ACC_ODR_3_12HZ 0x03
207 #define C6DOFIMU12_ACC_ODR_6_25HZ 0x04
208 #define C6DOFIMU12_ACC_ODR_12_5HZ 0x05
209 #define C6DOFIMU12_ACC_ODR_25HZ 0x06
210 #define C6DOFIMU12_ACC_ODR_50HZ 0x07
211 #define C6DOFIMU12_ACC_ODR_100HZ 0x08
212 #define C6DOFIMU12_ACC_ODR_200HZ 0x09
213 #define C6DOFIMU12_ACC_ODR_400HZ 0x0A
214 #define C6DOFIMU12_ACC_ODR_800HZ 0x0B
215 #define C6DOFIMU12_ACC_ODR_1600HZ 0x0C
222 #define C6DOFIMU12_ACC_RANGE_2G 0x00
223 #define C6DOFIMU12_ACC_RANGE_4G 0x01
224 #define C6DOFIMU12_ACC_RANGE_8G 0x02
225 #define C6DOFIMU12_ACC_RANGE_16G 0x03
232 #define C6DOFIMU12_ACC_RANGE_MASK 0x03
233 #define C6DOFIMU12_ACC_ODR_MASK 0x0F
234 #define C6DOFIMU12_ACC_BW_PARAM_MASK 0x70
235 #define C6DOFIMU12_ACC_FILTER_PERF_MODE_MASK 0x80
241 #define C6DOFIMU12_ACC_BW_PARAM_POS 0x04
242 #define C6DOFIMU12_ACC_FILTER_PERF_MODE_POS 0x07
248 #define C6DOFIMU12_ACC_SELF_TEST_RANGE 16
254 #define C6DOFIMU12_ST_ACC_X_SIG_MIN_DIFF 1800
255 #define C6DOFIMU12_ST_ACC_X_SIG_MAX_DIFF 10200
256 #define C6DOFIMU12_ST_ACC_Y_SIG_MIN_DIFF -10200
257 #define C6DOFIMU12_ST_ACC_Y_SIG_MAX_DIFF -1800
258 #define C6DOFIMU12_ST_ACC_Z_SIG_MIN_DIFF 800
259 #define C6DOFIMU12_ST_ACC_Z_SIG_MAX_DIFF 10200
265 #define C6DOFIMU12_ACC_SELF_TEST_EN_MASK 0x01
266 #define C6DOFIMU12_ACC_SELF_TEST_SIGN_MASK 0x04
267 #define C6DOFIMU12_ACC_SELF_TEST_AMP_MASK 0x08
273 #define C6DOFIMU12_ACC_SELF_TEST_SIGN_POS 0x02
274 #define C6DOFIMU12_ACC_SELF_TEST_AMP_POS 0x03
278 #define C6DOFIMU12_GYR_ST_AXES_DONE_MASK 0X01
279 #define C6DOFIMU12_GYR_AXIS_X_OK_MASK 0x02
280 #define C6DOFIMU12_GYR_AXIS_Y_OK_MASK 0x04
281 #define C6DOFIMU12_GYR_AXIS_Z_OK_MASK 0x08
284 #define C6DOFIMU12_GYR_AXIS_X_OK_POS 0x01
285 #define C6DOFIMU12_GYR_AXIS_Y_OK_POS 0x02
286 #define C6DOFIMU12_GYR_AXIS_Z_OK_POS 0x03
289 #define C6DOFIMU12_GYR_PWR_OPTIMIZED 0x00
290 #define C6DOFIMU12_GYR_PWR_PERFORMANCE 0x80
293 #define C6DOFIMU12_GYR_NOISE_OPTIMIZED 0x00
294 #define C6DOFIMU12_GYR_NOISE_PERFORMANCE 0x40
297 #define C6DOFIMU12_GYR_OSR4_MODE 0x00
298 #define C6DOFIMU12_GYR_OSR2_MODE 0x10
299 #define C6DOFIMU12_GYR_NORMAL_MODE 0x20
300 #define C6DOFIMU12_GYR_CIC_MODE 0x30
303 #define C6DOFIMU12_GYR_ODR_25HZ 0x06
304 #define C6DOFIMU12_GYR_ODR_50HZ 0x07
305 #define C6DOFIMU12_GYR_ODR_100HZ 0x08
306 #define C6DOFIMU12_GYR_ODR_200HZ 0x09
307 #define C6DOFIMU12_GYR_ODR_400HZ 0x0A
308 #define C6DOFIMU12_GYR_ODR_800HZ 0x0B
309 #define C6DOFIMU12_GYR_ODR_1600HZ 0x0C
310 #define C6DOFIMU12_GYR_ODR_3200HZ 0x0D
313 #define C6DOFIMU12_GYR_OIS_250 0x00
314 #define C6DOFIMU12_GYR_OIS_2000 0x01
317 #define C6DOFIMU12_GYR_RANGE_2000 0x00
318 #define C6DOFIMU12_GYR_RANGE_1000 0x01
319 #define C6DOFIMU12_GYR_RANGE_500 0x02
320 #define C6DOFIMU12_GYR_RANGE_250 0x03
321 #define C6DOFIMU12_GYR_RANGE_125 0x04
324 #define C6DOFIMU12_GYR_RANGE_MASK 0x07
325 #define C6DOFIMU12_GYR_OIS_RANGE_MASK 0x08
326 #define C6DOFIMU12_GYR_ODR_MASK 0x0F
327 #define C6DOFIMU12_GYR_BW_PARAM_MASK 0x30
328 #define C6DOFIMU12_GYR_NOISE_PERF_MODE_MASK 0x40
329 #define C6DOFIMU12_GYR_FILTER_PERF_MODE_MASK 0x80
332 #define C6DOFIMU12_GYR_OIS_RANGE_POS 0x03
333 #define C6DOFIMU12_GYR_BW_PARAM_POS 0x04
334 #define C6DOFIMU12_GYR_NOISE_PERF_MODE_POS 0x06
335 #define C6DOFIMU12_GYR_FILTER_PERF_MODE_POS 0x07
338 #define C6DOFIMU12_AUX_ODR_RESERVED 0x00
339 #define C6DOFIMU12_AUX_ODR_0_78HZ 0x01
340 #define C6DOFIMU12_AUX_ODR_1_56HZ 0x02
341 #define C6DOFIMU12_AUX_ODR_3_12HZ 0x03
342 #define C6DOFIMU12_AUX_ODR_6_25HZ 0x04
343 #define C6DOFIMU12_AUX_ODR_12_5HZ 0x05
344 #define C6DOFIMU12_AUX_ODR_25HZ 0x06
345 #define C6DOFIMU12_AUX_ODR_50HZ 0x07
346 #define C6DOFIMU12_AUX_ODR_100HZ 0x08
347 #define C6DOFIMU12_AUX_ODR_200HZ 0x09
348 #define C6DOFIMU12_AUX_ODR_400HZ 0x0A
349 #define C6DOFIMU12_AUX_ODR_800HZ 0x0B
352 #define C6DOFIMU12_PWR_CONF_ADV_PWR_SAVE_DISABLED 0x00
353 #define C6DOFIMU12_PWR_CONF_ADV_PWR_SAVE_ENABLED 0x01
354 #define C6DOFIMU12_FIFO_READ_DISABLED 0x00
355 #define C6DOFIMU12_FIFO_READ_ENABLED 0x02
356 #define C6DOFIMU12_FAST_PWR_UP_DISABLED 0x00
357 #define C6DOFIMU12_FAST_PWR_UP_ENABLED 0x04
360 #define C6DOFIMU12_CMD_INITIALIZATION_START 0x00
361 #define C6DOFIMU12_CMD_INITIALIZATION_STOP 0x01
364 #define C6DOFIMU12_AUX_READ_LEN_0 0x00
365 #define C6DOFIMU12_AUX_READ_LEN_1 0x01
366 #define C6DOFIMU12_AUX_READ_LEN_2 0x02
367 #define C6DOFIMU12_AUX_READ_LEN_3 0x03
370 #define C6DOFIMU12_AUX_SET_I2C_ADDR_MASK 0xFE
371 #define C6DOFIMU12_AUX_MAN_MODE_EN_MASK 0x80
372 #define C6DOFIMU12_AUX_FCU_WR_EN_MASK 0x40
373 #define C6DOFIMU12_AUX_MAN_READ_BURST_MASK 0x0C
374 #define C6DOFIMU12_AUX_READ_BURST_MASK 0x03
375 #define C6DOFIMU12_AUX_ODR_EN_MASK 0x0F
376 #define C6DOFIMU12_AUX_OFFSET_READ_OUT_MASK 0xF0
379 #define C6DOFIMU12_AUX_SET_I2C_ADDR_POS 0x01
380 #define C6DOFIMU12_AUX_MAN_MODE_EN_POS 0x07
381 #define C6DOFIMU12_AUX_FCU_WR_EN_POS 0x06
382 #define C6DOFIMU12_AUX_MAN_READ_BURST_POS 0x02
383 #define C6DOFIMU12_AUX_OFFSET_READ_OUT_POS 0x04
386 #define C6DOFIMU12_FIFO_VIRT_FRM_MODE 0x03
389 #define C6DOFIMU12_FIFO_HEADER_ACC_FRM 0x84
390 #define C6DOFIMU12_FIFO_HEADER_AUX_FRM 0x90
391 #define C6DOFIMU12_FIFO_HEADER_GYR_FRM 0x88
392 #define C6DOFIMU12_FIFO_HEADER_GYR_ACC_FRM 0x8C
393 #define C6DOFIMU12_FIFO_HEADER_AUX_ACC_FRM 0x94
394 #define C6DOFIMU12_FIFO_HEADER_AUX_GYR_FRM 0x98
395 #define C6DOFIMU12_FIFO_HEADER_ALL_FRM 0x9C
396 #define C6DOFIMU12_FIFO_HEADER_SENS_TIME_FRM 0x44
397 #define C6DOFIMU12_FIFO_HEADER_SKIP_FRM 0x40
398 #define C6DOFIMU12_FIFO_HEADER_INPUT_CFG_FRM 0x48
399 #define C6DOFIMU12_FIFO_HEAD_OVER_READ_MSB 0x80
400 #define C6DOFIMU12_FIFO_VIRT_ACT_RECOG_FRM 0xC8
403 #define C6DOFIMU12_FIFO_HEAD_LESS_ACC_FRM 0x40
404 #define C6DOFIMU12_FIFO_HEAD_LESS_AUX_FRM 0x20
405 #define C6DOFIMU12_FIFO_HEAD_LESS_GYR_FRM 0x80
406 #define C6DOFIMU12_FIFO_HEAD_LESS_GYR_AUX_FRM 0xA0
407 #define C6DOFIMU12_FIFO_HEAD_LESS_GYR_ACC_FRM 0xC0
408 #define C6DOFIMU12_FIFO_HEAD_LESS_AUX_ACC_FRM 0x60
409 #define C6DOFIMU12_FIFO_HEAD_LESS_ALL_FRM 0xE0
412 #define C6DOFIMU12_FIFO_STOP_ON_FULL 0x0001
413 #define C6DOFIMU12_FIFO_TIME_EN 0x0002
414 #define C6DOFIMU12_FIFO_TAG_INT1 0x0300
415 #define C6DOFIMU12_FIFO_TAG_INT2 0x0C00
416 #define C6DOFIMU12_FIFO_HEADER_EN 0x1000
417 #define C6DOFIMU12_FIFO_AUX_EN 0x2000
418 #define C6DOFIMU12_FIFO_ACC_EN 0x4000
419 #define C6DOFIMU12_FIFO_GYR_EN 0x8000
420 #define C6DOFIMU12_FIFO_ALL_EN 0xE000
423 #define C6DOFIMU12_FIFO_ACC_LENGTH 6
424 #define C6DOFIMU12_FIFO_GYR_LENGTH 6
425 #define C6DOFIMU12_FIFO_AUX_LENGTH 8
426 #define C6DOFIMU12_FIFO_ACC_AUX_LENGTH 14
427 #define C6DOFIMU12_FIFO_GYR_AUX_LENGTH 14
428 #define C6DOFIMU12_FIFO_ACC_GYR_LENGTH 12
429 #define C6DOFIMU12_FIFO_ALL_LENGTH 20
430 #define C6DOFIMU12_SENSOR_TIME_LENGTH 3
431 #define C6DOFIMU12_FIFO_CONFIG_LENGTH 2
432 #define C6DOFIMU12_FIFO_WM_LENGTH 2
433 #define C6DOFIMU12_MAX_VALUE_FIFO_FILTER 1
434 #define C6DOFIMU12_FIFO_DATA_LENGTH 2
435 #define C6DOFIMU12_FIFO_LENGTH_MSB_BYTE 1
436 #define C6DOFIMU12_FIFO_INPUT_CFG_LENGTH 4
437 #define C6DOFIMU12_FIFO_SKIP_FRM_LENGTH 1
440 #define C6DOFIMU12_FIFO_VIRT_ACC_LENGTH 9
441 #define C6DOFIMU12_FIFO_VIRT_GYR_LENGTH 9
442 #define C6DOFIMU12_FIFO_VIRT_AUX_LENGTH 11
443 #define C6DOFIMU12_FIFO_VIRT_ACC_AUX_LENGTH 17
444 #define C6DOFIMU12_FIFO_VIRT_GYR_AUX_LENGTH 17
445 #define C6DOFIMU12_FIFO_VIRT_ACC_GYR_LENGTH 15
446 #define C6DOFIMU12_FIFO_VIRT_ALL_LENGTH 23
449 #define C6DOFIMU12_FIFO_VIRT_ACT_DATA_LENGTH 6
450 #define C6DOFIMU12_FIFO_VIRT_ACT_TIME_LENGTH 4
451 #define C6DOFIMU12_FIFO_VIRT_ACT_TYPE_LENGTH 1
452 #define C6DOFIMU12_FIFO_VIRT_ACT_STAT_LENGTH 1
455 #define C6DOFIMU12_FIFO_UNFILTERED_DATA 0
456 #define C6DOFIMU12_FIFO_FILTERED_DATA 1
459 #define C6DOFIMU12_FIFO_LSB_CONFIG_CHECK 0x00
460 #define C6DOFIMU12_FIFO_MSB_CONFIG_CHECK 0x80
461 #define C6DOFIMU12_FIFO_TAG_INTR_MASK 0xFF
464 #define C6DOFIMU12_FIFO_CONFIG_0_MASK 0x0003
465 #define C6DOFIMU12_FIFO_CONFIG_1_MASK 0xFF00
468 #define C6DOFIMU12_FIFO_SELF_WAKE_UP_MASK 0x02
471 #define C6DOFIMU12_ACC_FIFO_DOWNS_MASK 0x70
472 #define C6DOFIMU12_GYR_FIFO_DOWNS_MASK 0x07
475 #define C6DOFIMU12_ACC_FIFO_DOWNS_POS 0x04
478 #define C6DOFIMU12_ACC_FIFO_FILT_DATA_MASK 0x80
479 #define C6DOFIMU12_GYR_FIFO_FILT_DATA_MASK 0x08
482 #define C6DOFIMU12_ACC_FIFO_FILT_DATA_POS 0x07
483 #define C6DOFIMU12_GYR_FIFO_FILT_DATA_POS 0x03
486 #define C6DOFIMU12_FIFO_BYTE_COUNTER_MSB_MASK 0x3F
489 #define C6DOFIMU12_FIFO_SELF_WAKE_UP_POS 0x02
492 #define C6DOFIMU12_FIFO_VIRT_FRM_MODE_MASK 0xC0
493 #define C6DOFIMU12_FIFO_VIRT_PAYLOAD_MASK 0x3C
496 #define C6DOFIMU12_FIFO_VIRT_FRM_MODE_POS 0x06
497 #define C6DOFIMU12_FIFO_VIRT_PAYLOAD_POS 0x02
500 #define C6DOFIMU12_INT_NON_LATCH 0
503 #define C6DOFIMU12_INT_LATCH 1
506 #define C6DOFIMU12_INT_PUSH_PULL 0
507 #define C6DOFIMU12_INT_OPEN_DRAIN 1
510 #define C6DOFIMU12_INT_ACTIVE_LOW 0
511 #define C6DOFIMU12_INT_ACTIVE_HIGH 1
514 #define C6DOFIMU12_INT_OUTPUT_DISABLE 0
515 #define C6DOFIMU12_INT_OUTPUT_ENABLE 1
518 #define C6DOFIMU12_INT_INPUT_DISABLE 0
519 #define C6DOFIMU12_INT_INPUT_ENABLE 1
522 #define C6DOFIMU12_INT_LATCH_MASK 0x01
523 #define C6DOFIMU12_INT_LEVEL_MASK 0x02
524 #define C6DOFIMU12_INT_OPEN_DRAIN_MASK 0x04
525 #define C6DOFIMU12_INT_OUTPUT_EN_MASK 0x08
526 #define C6DOFIMU12_INT_INPUT_EN_MASK 0x10
529 #define C6DOFIMU12_INT_LEVEL_POS 0x01
530 #define C6DOFIMU12_INT_OPEN_DRAIN_POS 0x02
531 #define C6DOFIMU12_INT_OUTPUT_EN_POS 0x03
532 #define C6DOFIMU12_INT_INPUT_EN_POS 0x04
535 #define C6DOFIMU12_FFULL_INT 0x01
536 #define C6DOFIMU12_FWM_INT 0x02
537 #define C6DOFIMU12_DRDY_INT 0x04
538 #define C6DOFIMU12_ERR_INT 0x08
541 #define C6DOFIMU12_FFULL_INT_STATUS_MASK 0x0100
542 #define C6DOFIMU12_FWM_INT_STATUS_MASK 0x0200
543 #define C6DOFIMU12_ERR_INT_STATUS_MASK 0x0400
544 #define C6DOFIMU12_AUX_DRDY_INT_MASK 0x2000
545 #define C6DOFIMU12_GYR_DRDY_INT_MASK 0x4000
546 #define C6DOFIMU12_ACC_DRDY_INT_MASK 0x8000
549 #define C6DOFIMU12_INT_PIN_MAX_NUM 2
552 #define C6DOFIMU12_FEAT_BIT_DISABLE 0
553 #define C6DOFIMU12_FEAT_BIT0 1
554 #define C6DOFIMU12_FEAT_BIT1 2
555 #define C6DOFIMU12_FEAT_BIT2 3
556 #define C6DOFIMU12_FEAT_BIT3 4
557 #define C6DOFIMU12_FEAT_BIT4 5
558 #define C6DOFIMU12_FEAT_BIT5 6
559 #define C6DOFIMU12_FEAT_BIT6 7
560 #define C6DOFIMU12_FEAT_BIT7 8
561 #define C6DOFIMU12_FEAT_BIT_MAX 9
564 #define C6DOFIMU12_OIS_IF_EN_MASK 0x10
565 #define C6DOFIMU12_AUX_IF_EN_MASK 0x20
568 #define C6DOFIMU12_OIS_IF_EN_POS 0x04
569 #define C6DOFIMU12_AUX_IF_EN_POS 0x05
572 #define C6DOFIMU12_X 0x01
573 #define C6DOFIMU12_NEG_X 0x09
574 #define C6DOFIMU12_Y 0x02
575 #define C6DOFIMU12_NEG_Y 0x0A
576 #define C6DOFIMU12_Z 0x04
577 #define C6DOFIMU12_NEG_Z 0x0C
578 #define C6DOFIMU12_AXIS_MASK 0x07
579 #define C6DOFIMU12_AXIS_SIGN 0x08
582 #define C6DOFIMU12_GYR_GAIN_EN_MASK 0x80
583 #define C6DOFIMU12_GYR_OFF_COMP_EN_MASK 0x40
586 #define C6DOFIMU12_GYR_OFF_COMP_EN_POS 0x06
589 #define C6DOFIMU12_GYR_USR_GAIN_X_MASK 0x7F
590 #define C6DOFIMU12_GYR_USR_GAIN_Y_MASK 0x7F
591 #define C6DOFIMU12_GYR_USR_GAIN_Z_MASK 0x7F
594 #define C6DOFIMU12_GYR_GAIN_EN_POS 0x07
597 #define C6DOFIMU12_NOT_INIT 0x00
598 #define C6DOFIMU12_INIT_OK 0x01
599 #define C6DOFIMU12_INIT_ERR 0x02
600 #define C6DOFIMU12_DRV_ERR 0x03
601 #define C6DOFIMU12_SNS_STOP 0x04
602 #define C6DOFIMU12_NVM_ERROR 0x05
603 #define C6DOFIMU12_START_UP_ERROR 0x06
604 #define C6DOFIMU12_COMPAT_ERROR 0x07
605 #define C6DOFIMU12_VFM_SKIPPED 0x10
606 #define C6DOFIMU12_AXES_MAP_ERROR 0x20
607 #define C6DOFIMU12_ODR_50_HZ_ERROR 0x40
608 #define C6DOFIMU12_ODR_HIGH_ERROR 0x80
611 #define C6DOFIMU12_G_TRIGGER_NO_ERROR 0x00
612 #define C6DOFIMU12_G_TRIGGER_PRECON_ERROR 0x01
613 #define C6DOFIMU12_G_TRIGGER_DL_ERROR 0x02
614 #define C6DOFIMU12_G_TRIGGER_ABORT_ERROR 0x03
617 #define C6DOFIMU12_CRT_RTOSK_ENABLE 0x01
618 #define C6DOFIMU12_GYRO_CROSS_SENS_ENABLE 0x02
619 #define C6DOFIMU12_GYRO_USER_GAIN_ENABLE 0x08
620 #define C6DOFIMU12_NO_FEATURE_ENABLE 0x00
621 #define C6DOFIMU12_CRT_IN_FIFO_NOT_REQ 0x10
622 #define C6DOFIMU12_MINIMAL_VARIANT 0x20
625 #define C6DOFIMU12_ERROR 0x00
626 #define C6DOFIMU12_SUCCESS 0x01
631 #define C6DOFIMU12_SPI_CMD_WRITE 0x00
632 #define C6DOFIMU12_SPI_CMD_READ 0x80
633 #define C6DOFIMU12_SPI_COMMUNICATION_DUMMY 0x00
864 #endif // _C6DOFIMU12_H_
digital_out_t cs
Definition: c6dofimu12.h:660
spi_master_t spi
Definition: c6dofimu12.h:667
pin_name_t int_pin
Definition: c6dofimu12.h:709
int16_t z
Definition: c6dofimu12.h:689
c6dofimu12_select_t master_sel
Definition: c6dofimu12.h:675
C6DOFIMU12_RETVAL c6dofimu12_check_int1(c6dofimu12_t *ctx)
Get interrupt 1 status function.
int16_t x
Definition: c6dofimu12.h:687
struct c6dofimu12_s c6dofimu12_t
Click ctx object definition.
C6DOFIMU12_RETVAL c6dofimu12_init(c6dofimu12_t *ctx, c6dofimu12_cfg_t *cfg)
Initialization function.
uint8_t c6dofimu12_select_t
Communication type.
Definition: c6dofimu12.h:646
pin_name_t cs
Definition: c6dofimu12.h:704
struct c6dofimu12_accel_t c6dofimu12_accel_t
Click configuration structure definition.
Definition: c6dofimu12.h:696
digital_in_t pwm
Definition: c6dofimu12.h:661
pin_name_t sda
Definition: c6dofimu12.h:700
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:671
c6dofimu12_master_io_t write_f
Definition: c6dofimu12.h:673
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:87
uint8_t i2c_address
Definition: c6dofimu12.h:714
uint32_t spi_speed
Definition: c6dofimu12.h:716
int16_t z
Definition: c6dofimu12.h:682
int16_t y
Definition: c6dofimu12.h:681
uint32_t i2c_speed
Definition: c6dofimu12.h:713
C6DOFIMU12_RETVAL c6dofimu12_check_id(c6dofimu12_t *ctx)
Check ID function.
pin_name_t chip_select
Definition: c6dofimu12.h:672
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:701
struct c6dofimu12_gyro_t c6dofimu12_gyro_t
pin_name_t scl
Definition: c6dofimu12.h:699
Definition: c6dofimu12.h:679
pin_name_t sck
Definition: c6dofimu12.h:703
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:688
i2c_master_t i2c
Definition: c6dofimu12.h:666
spi_master_chip_select_polarity_t cs_polarity
Definition: c6dofimu12.h:718
void(* c6dofimu12_master_io_t)(struct c6dofimu12_s *, uint8_t, uint8_t *, uint16_t)
Master Input/Output type.
Definition: c6dofimu12.h:651
spi_master_mode_t spi_mode
Definition: c6dofimu12.h:717
c6dofimu12_master_io_t read_f
Definition: c6dofimu12.h:674
Click ctx object definition.
Definition: c6dofimu12.h:657
pin_name_t mosi
Definition: c6dofimu12.h:702
c6dofimu12_select_t sel
Definition: c6dofimu12.h:720
void c6dofimu12_default_cfg(c6dofimu12_t *ctx)
Click Default Configuration function.
digital_in_t int_pin
Definition: c6dofimu12.h:662
pin_name_t pwm
Definition: c6dofimu12.h:708
Definition: c6dofimu12.h:686
int16_t x
Definition: c6dofimu12.h:680