37#define c6dofimu3_obj_t const uint8_t*
38#define C6DOFIMU3_RETVAL_T uint8_t
41#include "drv_digital_out.h"
42#include "drv_digital_in.h"
43#include "drv_i2c_master.h"
44#include "drv_spi_master.h"
57#define C6DOFIMU3_MAP_MIKROBUS( cfg, mikrobus ) \
58 cfg.scl = MIKROBUS( mikrobus, MIKROBUS_SCL ); \
59 cfg.sda = MIKROBUS( mikrobus, MIKROBUS_SDA ); \
60 cfg.miso = MIKROBUS( mikrobus, MIKROBUS_MISO ); \
61 cfg.mosi = MIKROBUS( mikrobus, MIKROBUS_MOSI ); \
62 cfg.sck = MIKROBUS( mikrobus, MIKROBUS_SCK ); \
63 cfg.cs = MIKROBUS( mikrobus, MIKROBUS_CS ); \
64 cfg.rst = MIKROBUS( mikrobus, MIKROBUS_RST ); \
65 cfg.int_pin = MIKROBUS( mikrobus, MIKROBUS_INT )
72#define C6DOFIMU3_MASTER_I2C 0
73#define C6DOFIMU3_MASTER_SPI 1
80#define C6DOFIMU3_RETVAL uint8_t
82#define C6DOFIMU3_OK 0x00
83#define C6DOFIMU3_INIT_ERROR 0xFF
90#define C6DOFIMU3_REG_I2C_ADDR_0 0x1E
91#define C6DOFIMU3_REG_I2C_ADDR_1 0x1D
92#define C6DOFIMU3_REG_I2C_ADDR_2 0x1C
93#define C6DOFIMU3_REG_I2C_ADDR_3 0x1F
100#define C6DOFIMU3_STATUS 0x00
101#define C6DOFIMU3_DR_STATUS 0x00
102#define C6DOFIMU3_F_STATUS 0x00
103#define C6DOFIMU3_OUT_X_MSB 0x01
104#define C6DOFIMU3_OUT_X_LSB 0x02
105#define C6DOFIMU3_OUT_Y_MSB 0x03
106#define C6DOFIMU3_OUT_Y_LSB 0x04
107#define C6DOFIMU3_OUT_Z_MSB 0x05
108#define C6DOFIMU3_OUT_Z_LSB 0x06
109#define C6DOFIMU3_F_SETUP 0x09
110#define C6DOFIMU3_TRIG_CFG 0x0A
111#define C6DOFIMU3_SYSMOD 0x0B
112#define C6DOFIMU3_INT_SOURCE 0x0C
113#define C6DOFIMU3_WHO_AM_I 0x0D
114#define C6DOFIMU3_XYZ_DATA_CFG 0x0E
115#define C6DOFIMU3_HP_FILTER_CUTOFF 0x0F
116#define C6DOFIMU3_PL_STATUS 0x10
117#define C6DOFIMU3_PL_CFG 0x11
118#define C6DOFIMU3_PL_COUNT 0x12
119#define C6DOFIMU3_PL_BF_ZCOMP 0x13
120#define C6DOFIMU3_P_L_THS_REG 0x14
121#define C6DOFIMU3_A_FFMT_CFG 0x15
122#define C6DOFIMU3_A_FFMT_SRC 0x16
123#define C6DOFIMU3_A_FFMT_THS 0x17
124#define C6DOFIMU3_A_FFMT_COUNT 0x18
125#define C6DOFIMU3_TRANSIENT_CFG 0x1D
126#define C6DOFIMU3_TRANSIENT_SRC 0x1E
127#define C6DOFIMU3_TRANSIENT_THS 0x1F
128#define C6DOFIMU3_TRANSIENT_COUNT 0x20
129#define C6DOFIMU3_PULSE_CFG 0x21
130#define C6DOFIMU3_PULSE_SRC 0x22
131#define C6DOFIMU3_PULSE_THSX 0x23
132#define C6DOFIMU3_PULSE_THSY 0x24
133#define C6DOFIMU3_PULSE_THSZ 0x25
134#define C6DOFIMU3_PULSE_TMLT 0x26
135#define C6DOFIMU3_PULSE_LTCY 0x27
136#define C6DOFIMU3_PULSE_WIND 0x28
137#define C6DOFIMU3_ASLP_COUNT 0x29
138#define C6DOFIMU3_CTRL_REG1 0x2A
139#define C6DOFIMU3_CTRL_REG2 0x2B
140#define C6DOFIMU3_CTRL_REG3 0x2C
141#define C6DOFIMU3_CTRL_REG4 0x2D
142#define C6DOFIMU3_CTRL_REG5 0x2E
143#define C6DOFIMU3_OFF_X 0x2F
144#define C6DOFIMU3_OFF_Y 0x30
145#define C6DOFIMU3_OFF_Z 0x31
146#define C6DOFIMU3_M_DR_STATUS 0x32
147#define C6DOFIMU3_M_OUT_X_MSB 0x33
148#define C6DOFIMU3_M_OUT_X_LSB 0x34
149#define C6DOFIMU3_M_OUT_Y_MSB 0x35
150#define C6DOFIMU3_M_OUT_Y_LSB 0x36
151#define C6DOFIMU3_M_OUT_Z_MSB 0x37
152#define C6DOFIMU3_M_OUT_Z_LSB 0x38
153#define C6DOFIMU3_CMP_OUT_X_MSB 0x39
154#define C6DOFIMU3_CMP_OUT_X_LSB 0x3A
155#define C6DOFIMU3_CMP_OUT_Y_MSB 0x3B
156#define C6DOFIMU3_CMP_OUT_Y_LSB 0x3C
157#define C6DOFIMU3_CMP_OUT_Z_MSB 0x3D
158#define C6DOFIMU3_CMP_OUT_Z_LSB 0x3E
159#define C6DOFIMU3_M_OFF_X_MSB 0x3F
160#define C6DOFIMU3_M_OFF_X_LSB 0x40
161#define C6DOFIMU3_M_OFF_Y_MSB 0x41
162#define C6DOFIMU3_M_OFF_Y_LSB 0x42
163#define C6DOFIMU3_M_OFF_Z_MSB 0x43
164#define C6DOFIMU3_M_OFF_Z_LSB 0x44
165#define C6DOFIMU3_MAX_X_MSB 0x45
166#define C6DOFIMU3_MAX_X_LSB 0x46
167#define C6DOFIMU3_MAX_Y_MSB 0x47
168#define C6DOFIMU3_MAX_Y_LSB 0x48
169#define C6DOFIMU3_MAX_Z_MSB 0x49
170#define C6DOFIMU3_MAX_Z_LSB 0x4A
171#define C6DOFIMU3_MIN_X_MSB 0x4B
172#define C6DOFIMU3_MIN_X_LSB 0x4C
173#define C6DOFIMU3_MIN_Y_MSB 0x4D
174#define C6DOFIMU3_MIN_Y_LSB 0x4E
175#define C6DOFIMU3_MIN_Z_MSB 0x4F
176#define C6DOFIMU3_MIN_Z_LSB 0x50
177#define C6DOFIMU3_TEMP 0x51
178#define C6DOFIMU3_M_THS_CFG 0x52
179#define C6DOFIMU3_M_THS_SRC 0x53
180#define C6DOFIMU3_M_THS_X_MSB 0x54
181#define C6DOFIMU3_M_THS_X_LSB 0x55
182#define C6DOFIMU3_M_THS_Y_MSB 0x56
183#define C6DOFIMU3_M_THS_Y_LSB 0x57
184#define C6DOFIMU3_M_THS_Z_MSB 0x58
185#define C6DOFIMU3_M_THS_Z_LSB 0x59
186#define C6DOFIMU3_M_THS_COUNT 0x5A
187#define C6DOFIMU3_M_CTRL_REG1 0x5B
188#define C6DOFIMU3_M_CTRL_REG2 0x5C
189#define C6DOFIMU3_M_CTRL_REG3 0x5D
190#define C6DOFIMU3_M_INT_SRC 0x5E
191#define C6DOFIMU3_A_VECM_CFG 0x5F
192#define C6DOFIMU3_A_VECM_THS_MSB 0x60
193#define C6DOFIMU3_A_VECM_THS_LSB 0x61
194#define C6DOFIMU3_A_VECM_CNT 0x62
195#define C6DOFIMU3_A_VECM_INITX_MSB 0x63
196#define C6DOFIMU3_A_VECM_INITX_LSB 0x64
197#define C6DOFIMU3_A_VECM_INITY_MSB 0x65
198#define C6DOFIMU3_A_VECM_INITY_LSB 0x66
199#define C6DOFIMU3_A_VECM_INITZ_MSB 0x67
200#define C6DOFIMU3_A_VECM_INITZ_LSB 0x68
201#define C6DOFIMU3_M_VECM_CFG 0x69
202#define C6DOFIMU3_M_VECM_THS_MSB 0x6A
203#define C6DOFIMU3_M_VECM_THS_LSB 0x6B
204#define C6DOFIMU3_M_VECM_CNT 0x6C
205#define C6DOFIMU3_M_VECM_INITX_MSB 0x6D
206#define C6DOFIMU3_M_VECM_INITX_LSB 0x6E
207#define C6DOFIMU3_M_VECM_INITY_MSB 0x6F
208#define C6DOFIMU3_M_VECM_INITY_LSB 0x70
209#define C6DOFIMU3_M_VECM_INITZ_MSB 0x71
210#define C6DOFIMU3_M_VECM_INITZ_LSB 0x72
211#define C6DOFIMU3_A_FFMT_THS_X_MSB 0x73
212#define C6DOFIMU3_A_FFMT_THS_X_LSB 0x74
213#define C6DOFIMU3_A_FFMT_THS_Y_MSB 0x75
214#define C6DOFIMU3_A_FFMT_THS_Y_LSB 0x76
215#define C6DOFIMU3_A_FFMT_THS_Z_MSB 0x77
216#define C6DOFIMU3_A_FFMT_THS_Z_LSB 0x78
223#define C6DOFIMU3_ACCEL_RES_2G 0.244
224#define C6DOFIMU3_ACCEL_RES_4G 0.488
225#define C6DOFIMU3_ACCEL_RES_8G 0.976
232#define C6DOFIMU3_MAGNETOMETER_RES 0.1
239#define C6DOFIMU3_DEVICE_ID_VAL 0xC7
246#define C6DOFIMU3_ERROR 0x00
247#define C6DOFIMU3_SUCCESS 0x01
254#define C6DOFIMU3_BIT_MASK_SPI_CMD_WRITE 0x80
255#define C6DOFIMU3_BIT_MASK_SPI_CMD_READ 0x7F
256#define C6DOFIMU3_BIT_MASK_BIT_7 0x80
263#define C6DOFIMU3_DR_STATUS_XYZ_DATA_ERROR 0x00
270#define C6DOFIMU3_RST_PIN_STATE_LOW 0x00
271#define C6DOFIMU3_RST_PIN_STATE_HIGH 0x01
278#define C6DOFIMU3_SPI_COMMUNICATION_DUMMY 0x00
285#define SPI_COMMUNICATION 1
286#define I2C_COMMUNICATION 2
#define C6DOFIMU3_RETVAL_T
Definition: c6dofimu3.h:38
#define C6DOFIMU3_RETVAL
Definition: c6dofimu3.h:80
void c6dofimu3_generic_write(c6dofimu3_t *ctx, uint8_t reg, uint8_t *data_buf, uint8_t len)
Generic write function.
C6DOFIMU3_RETVAL_T c6dofimu3_check_data_ready(c6dofimu3_t *ctx)
Check data ready function.
void c6dofimu3_set_rst(c6dofimu3_t *ctx, uint8_t rst_state)
Set RST pin state function.
C6DOFIMU3_RETVAL_T c6dofimu3_check_id(c6dofimu3_t *ctx)
Check ID function.
void c6dofimu3_get_data(c6dofimu3_t *ctx, c6dofimu3_accel_t *accel_data, c6dofimu3_mag_t *mag_data)
Read Accel and Magnetometer data function.
void c6dofimu3_generic_read(c6dofimu3_t *ctx, uint8_t reg, uint8_t *data_buf, uint8_t len)
Generic read function.
C6DOFIMU3_RETVAL c6dofimu3_init(c6dofimu3_t *ctx, c6dofimu3_cfg_t *cfg)
Initialization function.
void c6dofimu3_read_mag_data(c6dofimu3_t *ctx, c6dofimu3_mag_t *mag_data)
Read Magnetometer data function.
void c6dofimu3_active(c6dofimu3_t *ctx)
Set active mode function.
void c6dofimu3_default_cfg(c6dofimu3_t *ctx)
Click Default Configuration function.
void c6dofimu3_multi_read(c6dofimu3_t *ctx, uint8_t reg, uint8_t *p_rx_data, uint8_t n_bytes)
Multi data read function.
void c6dofimu3_multi_write(c6dofimu3_t *ctx, uint8_t reg, uint8_t *p_tx_data, uint8_t n_bytes)
Multi data write function.
void c6dofimu3_cfg_setup(c6dofimu3_cfg_t *cfg)
Config Object Initialization function.
void c6dofimu3_standby(c6dofimu3_t *ctx)
Set standby mode function.
uint8_t c6dofimu3_check_int1(c6dofimu3_t *ctx)
Get interrupt ststus function.
void c6dofimu3_read_accel_data(c6dofimu3_t *ctx, c6dofimu3_accel_t *accel_data)
Read Accel data function.
uint8_t c6dofimu3_select_t
Communication type.
Definition: c6dofimu3.h:314
void(* c6dofimu3_master_io_t)(struct c6dofimu3_s *, uint8_t, uint8_t *, uint8_t)
Master Input/Output type.
Definition: c6dofimu3.h:319
struct c6dofimu3_s c6dofimu3_t
Click ctx object definition.
c6dofimu3_accel_t accel_data
Definition: main.c:30
c6dofimu3_mag_t mag_data
Definition: main.c:31
Definition: c6dofimu3.h:296
float y
Definition: c6dofimu3.h:298
float x
Definition: c6dofimu3.h:297
float z
Definition: c6dofimu3.h:299
Click configuration structure definition.
Definition: c6dofimu3.h:357
uint32_t i2c_speed
Definition: c6dofimu3.h:374
spi_master_chip_select_polarity_t cs_polarity
Definition: c6dofimu3.h:379
pin_name_t sck
Definition: c6dofimu3.h:364
spi_master_mode_t spi_mode
Definition: c6dofimu3.h:378
pin_name_t mosi
Definition: c6dofimu3.h:363
uint32_t spi_speed
Definition: c6dofimu3.h:377
pin_name_t scl
Definition: c6dofimu3.h:360
pin_name_t int_pin
Definition: c6dofimu3.h:370
pin_name_t miso
Definition: c6dofimu3.h:362
pin_name_t sda
Definition: c6dofimu3.h:361
c6dofimu3_select_t sel
Definition: c6dofimu3.h:381
pin_name_t rst
Definition: c6dofimu3.h:369
pin_name_t cs
Definition: c6dofimu3.h:365
uint8_t i2c_address
Definition: c6dofimu3.h:375
Definition: c6dofimu3.h:304
float y
Definition: c6dofimu3.h:306
float x
Definition: c6dofimu3.h:305
float z
Definition: c6dofimu3.h:307
Click ctx object definition.
Definition: c6dofimu3.h:325
digital_out_t cs
Definition: c6dofimu3.h:328
spi_master_t spi
Definition: c6dofimu3.h:338
c6dofimu3_master_io_t write_f
Definition: c6dofimu3.h:345
uint8_t communication_interface
Definition: c6dofimu3.h:349
c6dofimu3_select_t master_sel
Definition: c6dofimu3.h:347
digital_in_t int_pin
Definition: c6dofimu3.h:333
i2c_master_t i2c
Definition: c6dofimu3.h:337
digital_out_t rst
Definition: c6dofimu3.h:329
uint8_t slave_address
Definition: c6dofimu3.h:342
pin_name_t chip_select
Definition: c6dofimu3.h:343
c6dofimu3_master_io_t read_f
Definition: c6dofimu3.h:346