c6dofimu3  2.0.0.0
c6dofimu3.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 C6DOFIMU3_H
36 #define C6DOFIMU3_H
37 #define c6dofimu3_obj_t const uint8_t*
38 #define C6DOFIMU3_RETVAL_T uint8_t
39 
44 #ifdef PREINIT_SUPPORTED
45 #include "preinit.h"
46 #endif
47 
48 #ifdef MikroCCoreVersion
49  #if MikroCCoreVersion >= 1
50  #include "delays.h"
51  #endif
52 #endif
53 
54 #include "drv_digital_out.h"
55 #include "drv_digital_in.h"
56 #include "drv_i2c_master.h"
57 #include "drv_spi_master.h"
58 
59 // -------------------------------------------------------------- PUBLIC MACROS
70 #define C6DOFIMU3_MAP_MIKROBUS( cfg, mikrobus ) \
71  cfg.scl = MIKROBUS( mikrobus, MIKROBUS_SCL ); \
72  cfg.sda = MIKROBUS( mikrobus, MIKROBUS_SDA ); \
73  cfg.miso = MIKROBUS( mikrobus, MIKROBUS_MISO ); \
74  cfg.mosi = MIKROBUS( mikrobus, MIKROBUS_MOSI ); \
75  cfg.sck = MIKROBUS( mikrobus, MIKROBUS_SCK ); \
76  cfg.cs = MIKROBUS( mikrobus, MIKROBUS_CS ); \
77  cfg.rst = MIKROBUS( mikrobus, MIKROBUS_RST ); \
78  cfg.int_pin = MIKROBUS( mikrobus, MIKROBUS_INT )
79 
85 #define C6DOFIMU3_MASTER_I2C 0
86 #define C6DOFIMU3_MASTER_SPI 1
87 
93 #define C6DOFIMU3_RETVAL uint8_t
94 
95 #define C6DOFIMU3_OK 0x00
96 #define C6DOFIMU3_INIT_ERROR 0xFF
97 
103 #define C6DOFIMU3_REG_I2C_ADDR_0 0x1E
104 #define C6DOFIMU3_REG_I2C_ADDR_1 0x1D
105 #define C6DOFIMU3_REG_I2C_ADDR_2 0x1C
106 #define C6DOFIMU3_REG_I2C_ADDR_3 0x1F
107 
113 #define C6DOFIMU3_STATUS 0x00
114 #define C6DOFIMU3_DR_STATUS 0x00
115 #define C6DOFIMU3_F_STATUS 0x00
116 #define C6DOFIMU3_OUT_X_MSB 0x01
117 #define C6DOFIMU3_OUT_X_LSB 0x02
118 #define C6DOFIMU3_OUT_Y_MSB 0x03
119 #define C6DOFIMU3_OUT_Y_LSB 0x04
120 #define C6DOFIMU3_OUT_Z_MSB 0x05
121 #define C6DOFIMU3_OUT_Z_LSB 0x06
122 #define C6DOFIMU3_F_SETUP 0x09
123 #define C6DOFIMU3_TRIG_CFG 0x0A
124 #define C6DOFIMU3_SYSMOD 0x0B
125 #define C6DOFIMU3_INT_SOURCE 0x0C
126 #define C6DOFIMU3_WHO_AM_I 0x0D
127 #define C6DOFIMU3_XYZ_DATA_CFG 0x0E
128 #define C6DOFIMU3_HP_FILTER_CUTOFF 0x0F
129 #define C6DOFIMU3_PL_STATUS 0x10
130 #define C6DOFIMU3_PL_CFG 0x11
131 #define C6DOFIMU3_PL_COUNT 0x12
132 #define C6DOFIMU3_PL_BF_ZCOMP 0x13
133 #define C6DOFIMU3_P_L_THS_REG 0x14
134 #define C6DOFIMU3_A_FFMT_CFG 0x15
135 #define C6DOFIMU3_A_FFMT_SRC 0x16
136 #define C6DOFIMU3_A_FFMT_THS 0x17
137 #define C6DOFIMU3_A_FFMT_COUNT 0x18
138 #define C6DOFIMU3_TRANSIENT_CFG 0x1D
139 #define C6DOFIMU3_TRANSIENT_SRC 0x1E
140 #define C6DOFIMU3_TRANSIENT_THS 0x1F
141 #define C6DOFIMU3_TRANSIENT_COUNT 0x20
142 #define C6DOFIMU3_PULSE_CFG 0x21
143 #define C6DOFIMU3_PULSE_SRC 0x22
144 #define C6DOFIMU3_PULSE_THSX 0x23
145 #define C6DOFIMU3_PULSE_THSY 0x24
146 #define C6DOFIMU3_PULSE_THSZ 0x25
147 #define C6DOFIMU3_PULSE_TMLT 0x26
148 #define C6DOFIMU3_PULSE_LTCY 0x27
149 #define C6DOFIMU3_PULSE_WIND 0x28
150 #define C6DOFIMU3_ASLP_COUNT 0x29
151 #define C6DOFIMU3_CTRL_REG1 0x2A
152 #define C6DOFIMU3_CTRL_REG2 0x2B
153 #define C6DOFIMU3_CTRL_REG3 0x2C
154 #define C6DOFIMU3_CTRL_REG4 0x2D
155 #define C6DOFIMU3_CTRL_REG5 0x2E
156 #define C6DOFIMU3_OFF_X 0x2F
157 #define C6DOFIMU3_OFF_Y 0x30
158 #define C6DOFIMU3_OFF_Z 0x31
159 #define C6DOFIMU3_M_DR_STATUS 0x32
160 #define C6DOFIMU3_M_OUT_X_MSB 0x33
161 #define C6DOFIMU3_M_OUT_X_LSB 0x34
162 #define C6DOFIMU3_M_OUT_Y_MSB 0x35
163 #define C6DOFIMU3_M_OUT_Y_LSB 0x36
164 #define C6DOFIMU3_M_OUT_Z_MSB 0x37
165 #define C6DOFIMU3_M_OUT_Z_LSB 0x38
166 #define C6DOFIMU3_CMP_OUT_X_MSB 0x39
167 #define C6DOFIMU3_CMP_OUT_X_LSB 0x3A
168 #define C6DOFIMU3_CMP_OUT_Y_MSB 0x3B
169 #define C6DOFIMU3_CMP_OUT_Y_LSB 0x3C
170 #define C6DOFIMU3_CMP_OUT_Z_MSB 0x3D
171 #define C6DOFIMU3_CMP_OUT_Z_LSB 0x3E
172 #define C6DOFIMU3_M_OFF_X_MSB 0x3F
173 #define C6DOFIMU3_M_OFF_X_LSB 0x40
174 #define C6DOFIMU3_M_OFF_Y_MSB 0x41
175 #define C6DOFIMU3_M_OFF_Y_LSB 0x42
176 #define C6DOFIMU3_M_OFF_Z_MSB 0x43
177 #define C6DOFIMU3_M_OFF_Z_LSB 0x44
178 #define C6DOFIMU3_MAX_X_MSB 0x45
179 #define C6DOFIMU3_MAX_X_LSB 0x46
180 #define C6DOFIMU3_MAX_Y_MSB 0x47
181 #define C6DOFIMU3_MAX_Y_LSB 0x48
182 #define C6DOFIMU3_MAX_Z_MSB 0x49
183 #define C6DOFIMU3_MAX_Z_LSB 0x4A
184 #define C6DOFIMU3_MIN_X_MSB 0x4B
185 #define C6DOFIMU3_MIN_X_LSB 0x4C
186 #define C6DOFIMU3_MIN_Y_MSB 0x4D
187 #define C6DOFIMU3_MIN_Y_LSB 0x4E
188 #define C6DOFIMU3_MIN_Z_MSB 0x4F
189 #define C6DOFIMU3_MIN_Z_LSB 0x50
190 #define C6DOFIMU3_TEMP 0x51
191 #define C6DOFIMU3_M_THS_CFG 0x52
192 #define C6DOFIMU3_M_THS_SRC 0x53
193 #define C6DOFIMU3_M_THS_X_MSB 0x54
194 #define C6DOFIMU3_M_THS_X_LSB 0x55
195 #define C6DOFIMU3_M_THS_Y_MSB 0x56
196 #define C6DOFIMU3_M_THS_Y_LSB 0x57
197 #define C6DOFIMU3_M_THS_Z_MSB 0x58
198 #define C6DOFIMU3_M_THS_Z_LSB 0x59
199 #define C6DOFIMU3_M_THS_COUNT 0x5A
200 #define C6DOFIMU3_M_CTRL_REG1 0x5B
201 #define C6DOFIMU3_M_CTRL_REG2 0x5C
202 #define C6DOFIMU3_M_CTRL_REG3 0x5D
203 #define C6DOFIMU3_M_INT_SRC 0x5E
204 #define C6DOFIMU3_A_VECM_CFG 0x5F
205 #define C6DOFIMU3_A_VECM_THS_MSB 0x60
206 #define C6DOFIMU3_A_VECM_THS_LSB 0x61
207 #define C6DOFIMU3_A_VECM_CNT 0x62
208 #define C6DOFIMU3_A_VECM_INITX_MSB 0x63
209 #define C6DOFIMU3_A_VECM_INITX_LSB 0x64
210 #define C6DOFIMU3_A_VECM_INITY_MSB 0x65
211 #define C6DOFIMU3_A_VECM_INITY_LSB 0x66
212 #define C6DOFIMU3_A_VECM_INITZ_MSB 0x67
213 #define C6DOFIMU3_A_VECM_INITZ_LSB 0x68
214 #define C6DOFIMU3_M_VECM_CFG 0x69
215 #define C6DOFIMU3_M_VECM_THS_MSB 0x6A
216 #define C6DOFIMU3_M_VECM_THS_LSB 0x6B
217 #define C6DOFIMU3_M_VECM_CNT 0x6C
218 #define C6DOFIMU3_M_VECM_INITX_MSB 0x6D
219 #define C6DOFIMU3_M_VECM_INITX_LSB 0x6E
220 #define C6DOFIMU3_M_VECM_INITY_MSB 0x6F
221 #define C6DOFIMU3_M_VECM_INITY_LSB 0x70
222 #define C6DOFIMU3_M_VECM_INITZ_MSB 0x71
223 #define C6DOFIMU3_M_VECM_INITZ_LSB 0x72
224 #define C6DOFIMU3_A_FFMT_THS_X_MSB 0x73
225 #define C6DOFIMU3_A_FFMT_THS_X_LSB 0x74
226 #define C6DOFIMU3_A_FFMT_THS_Y_MSB 0x75
227 #define C6DOFIMU3_A_FFMT_THS_Y_LSB 0x76
228 #define C6DOFIMU3_A_FFMT_THS_Z_MSB 0x77
229 #define C6DOFIMU3_A_FFMT_THS_Z_LSB 0x78
230 
236 #define C6DOFIMU3_ACCEL_RES_2G 0.244
237 #define C6DOFIMU3_ACCEL_RES_4G 0.488
238 #define C6DOFIMU3_ACCEL_RES_8G 0.976
239 
245 #define C6DOFIMU3_MAGNETOMETER_RES 0.1
246 
252 #define C6DOFIMU3_DEVICE_ID_VAL 0xC7
253 
259 #define C6DOFIMU3_ERROR 0x00
260 #define C6DOFIMU3_SUCCESS 0x01
261 
267 #define C6DOFIMU3_BIT_MASK_SPI_CMD_WRITE 0x80
268 #define C6DOFIMU3_BIT_MASK_SPI_CMD_READ 0x7F
269 #define C6DOFIMU3_BIT_MASK_BIT_7 0x80
270 
276 #define C6DOFIMU3_DR_STATUS_XYZ_DATA_ERROR 0x00
277 
283 #define C6DOFIMU3_RST_PIN_STATE_LOW 0x00
284 #define C6DOFIMU3_RST_PIN_STATE_HIGH 0x01
285 
291 #define C6DOFIMU3_SPI_COMMUNICATION_DUMMY 0x00
292 
298 #define SPI_COMMUNICATION 1
299 #define I2C_COMMUNICATION 2
300  // End group macro
303 // --------------------------------------------------------------- PUBLIC TYPES
308 typedef struct
309 {
310  float x;
311  float y;
312  float z;
313 }
315 
316 typedef struct
317 {
318  float x;
319  float y;
320  float z;
321 }
323 
327 typedef uint8_t c6dofimu3_select_t;
328 
332 typedef void ( *c6dofimu3_master_io_t )( struct c6dofimu3_s*, uint8_t, uint8_t*, uint8_t );
333 
337 typedef struct c6dofimu3_s
338 {
339  // Output pins
340 
341  digital_out_t cs;
342  digital_out_t rst;
343 
344  // Input pins
345 
346  digital_in_t int_pin;
347 
348  // Modules
349 
350  i2c_master_t i2c;
351  spi_master_t spi;
352 
353  // ctx variable
354 
355  uint8_t slave_address;
356  pin_name_t chip_select;
357 
361 
363 
365 
369 typedef struct
370 {
371  // Communication gpio pins
372 
373  pin_name_t scl;
374  pin_name_t sda;
375  pin_name_t miso;
376  pin_name_t mosi;
377  pin_name_t sck;
378  pin_name_t cs;
379 
380  // Additional gpio pins
381 
382  pin_name_t rst;
383  pin_name_t int_pin;
384 
385  // static variable
386 
387  uint32_t i2c_speed;
388  uint8_t i2c_address;
389 
390  uint32_t spi_speed;
391  spi_master_mode_t spi_mode;
392  spi_master_chip_select_polarity_t cs_polarity;
393 
395 
397  // End types group
399 // ----------------------------------------------- PUBLIC FUNCTION DECLARATIONS
405 #ifdef __cplusplus
406 extern "C"{
407 #endif
408 
418 
428 
437 
448 void c6dofimu3_generic_write ( c6dofimu3_t *ctx, uint8_t reg, uint8_t *data_buf, uint8_t len );
449 
460 void c6dofimu3_generic_read ( c6dofimu3_t *ctx, uint8_t reg, uint8_t *data_buf, uint8_t len );
461 
472 void c6dofimu3_set_rst ( c6dofimu3_t *ctx, uint8_t rst_state );
473 
487 void c6dofimu3_multi_write ( c6dofimu3_t *ctx, uint8_t reg, uint8_t *p_tx_data, uint8_t n_bytes );
488 
502 void c6dofimu3_multi_read ( c6dofimu3_t *ctx, uint8_t reg, uint8_t *p_rx_data, uint8_t n_bytes );
503 
516 
529 
540 
550 
564 
578 
592 
608 
609 #ifdef __cplusplus
610 }
611 #endif
612 #endif // _C6DOFIMU3_H_
613  // End public_function group
616 
617 // ------------------------------------------------------------------------- END
c6dofimu3_t
struct c6dofimu3_s c6dofimu3_t
Click ctx object definition.
c6dofimu3_select_t
uint8_t c6dofimu3_select_t
Communication type.
Definition: c6dofimu3.h:327
c6dofimu3_cfg_t::scl
pin_name_t scl
Definition: c6dofimu3.h:373
mag_data
c6dofimu3_mag_t mag_data
Definition: main.c:31
c6dofimu3_master_io_t
void(* c6dofimu3_master_io_t)(struct c6dofimu3_s *, uint8_t, uint8_t *, uint8_t)
Master Input/Output type.
Definition: c6dofimu3.h:332
c6dofimu3_cfg_t::sck
pin_name_t sck
Definition: c6dofimu3.h:377
c6dofimu3_s::communication_interface
uint8_t communication_interface
Definition: c6dofimu3.h:362
c6dofimu3_s
Click ctx object definition.
Definition: c6dofimu3.h:338
c6dofimu3_cfg_t::spi_mode
spi_master_mode_t spi_mode
Definition: c6dofimu3.h:391
c6dofimu3_s::write_f
c6dofimu3_master_io_t write_f
Definition: c6dofimu3.h:358
c6dofimu3_generic_write
void c6dofimu3_generic_write(c6dofimu3_t *ctx, uint8_t reg, uint8_t *data_buf, uint8_t len)
Generic write function.
c6dofimu3_cfg_setup
void c6dofimu3_cfg_setup(c6dofimu3_cfg_t *cfg)
Config Object Initialization function.
c6dofimu3_cfg_t::i2c_address
uint8_t i2c_address
Definition: c6dofimu3.h:388
c6dofimu3_read_accel_data
void c6dofimu3_read_accel_data(c6dofimu3_t *ctx, c6dofimu3_accel_t *accel_data)
Read Accel data function.
c6dofimu3_accel_t
Definition: c6dofimu3.h:309
c6dofimu3_active
void c6dofimu3_active(c6dofimu3_t *ctx)
Set active mode function.
c6dofimu3_mag_t::x
float x
Definition: c6dofimu3.h:318
c6dofimu3_cfg_t::i2c_speed
uint32_t i2c_speed
Definition: c6dofimu3.h:387
c6dofimu3_accel_t::x
float x
Definition: c6dofimu3.h:310
c6dofimu3_s::spi
spi_master_t spi
Definition: c6dofimu3.h:351
c6dofimu3_s::chip_select
pin_name_t chip_select
Definition: c6dofimu3.h:356
c6dofimu3_s::read_f
c6dofimu3_master_io_t read_f
Definition: c6dofimu3.h:359
c6dofimu3_cfg_t
Click configuration structure definition.
Definition: c6dofimu3.h:370
c6dofimu3_s::i2c
i2c_master_t i2c
Definition: c6dofimu3.h:350
c6dofimu3_cfg_t::spi_speed
uint32_t spi_speed
Definition: c6dofimu3.h:390
c6dofimu3_cfg_t::cs_polarity
spi_master_chip_select_polarity_t cs_polarity
Definition: c6dofimu3.h:392
c6dofimu3_cfg_t::int_pin
pin_name_t int_pin
Definition: c6dofimu3.h:383
c6dofimu3_accel_t::z
float z
Definition: c6dofimu3.h:312
c6dofimu3_mag_t::z
float z
Definition: c6dofimu3.h:320
c6dofimu3_standby
void c6dofimu3_standby(c6dofimu3_t *ctx)
Set standby mode function.
c6dofimu3_mag_t
Definition: c6dofimu3.h:317
c6dofimu3_cfg_t::rst
pin_name_t rst
Definition: c6dofimu3.h:382
c6dofimu3_check_int1
uint8_t c6dofimu3_check_int1(c6dofimu3_t *ctx)
Get interrupt ststus function.
c6dofimu3_read_mag_data
void c6dofimu3_read_mag_data(c6dofimu3_t *ctx, c6dofimu3_mag_t *mag_data)
Read Magnetometer data function.
c6dofimu3_cfg_t::sda
pin_name_t sda
Definition: c6dofimu3.h:374
c6dofimu3_multi_write
void c6dofimu3_multi_write(c6dofimu3_t *ctx, uint8_t reg, uint8_t *p_tx_data, uint8_t n_bytes)
Multi data write function.
c6dofimu3_s::slave_address
uint8_t slave_address
Definition: c6dofimu3.h:355
c6dofimu3_cfg_t::sel
c6dofimu3_select_t sel
Definition: c6dofimu3.h:394
c6dofimu3_check_id
C6DOFIMU3_RETVAL_T c6dofimu3_check_id(c6dofimu3_t *ctx)
Check ID function.
c6dofimu3_s::cs
digital_out_t cs
Definition: c6dofimu3.h:341
c6dofimu3_multi_read
void c6dofimu3_multi_read(c6dofimu3_t *ctx, uint8_t reg, uint8_t *p_rx_data, uint8_t n_bytes)
Multi data read function.
c6dofimu3_s::master_sel
c6dofimu3_select_t master_sel
Definition: c6dofimu3.h:360
c6dofimu3_generic_read
void c6dofimu3_generic_read(c6dofimu3_t *ctx, uint8_t reg, uint8_t *data_buf, uint8_t len)
Generic read function.
c6dofimu3_default_cfg
void c6dofimu3_default_cfg(c6dofimu3_t *ctx)
Click Default Configuration function.
C6DOFIMU3_RETVAL
#define C6DOFIMU3_RETVAL
Definition: c6dofimu3.h:93
c6dofimu3_cfg_t::cs
pin_name_t cs
Definition: c6dofimu3.h:378
c6dofimu3_s::int_pin
digital_in_t int_pin
Definition: c6dofimu3.h:346
c6dofimu3_cfg_t::mosi
pin_name_t mosi
Definition: c6dofimu3.h:376
accel_data
c6dofimu3_accel_t accel_data
Definition: main.c:30
c6dofimu3_set_rst
void c6dofimu3_set_rst(c6dofimu3_t *ctx, uint8_t rst_state)
Set RST pin state function.
c6dofimu3_init
C6DOFIMU3_RETVAL c6dofimu3_init(c6dofimu3_t *ctx, c6dofimu3_cfg_t *cfg)
Initialization function.
c6dofimu3_cfg_t::miso
pin_name_t miso
Definition: c6dofimu3.h:375
c6dofimu3_check_data_ready
C6DOFIMU3_RETVAL_T c6dofimu3_check_data_ready(c6dofimu3_t *ctx)
Check data ready function.
c6dofimu3_get_data
void c6dofimu3_get_data(c6dofimu3_t *ctx, c6dofimu3_accel_t *accel_data, c6dofimu3_mag_t *mag_data)
Read Accel and Magnetometer data function.
c6dofimu3_mag_t::y
float y
Definition: c6dofimu3.h:319
C6DOFIMU3_RETVAL_T
#define C6DOFIMU3_RETVAL_T
Definition: c6dofimu3.h:38
c6dofimu3_accel_t::y
float y
Definition: c6dofimu3.h:311
c6dofimu3_s::rst
digital_out_t rst
Definition: c6dofimu3.h:342