c6dofimu15  2.0.0.0
c6dofimu15.h
Go to the documentation of this file.
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 C6DOFIMU15_H
36 #define C6DOFIMU15_H
37 
38 #include "mikrosdk_version.h"
39 
40 #ifdef __GNUC__
41 #if mikroSDK_GET_VERSION < 20800ul
42 #include "rcu_delays.h"
43 #else
44 #include "delays.h"
45 #endif
46 #endif
47 
48 #include "drv_digital_out.h"
49 #include "drv_digital_in.h"
50 #include "drv_i2c_master.h"
51 #include "drv_spi_master.h"
52 
53 // -------------------------------------------------------------- PUBLIC MACROS
64 #define C6DOFIMU15_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 );
72 
78 #define C6DOFIMU15_MASTER_I2C 0
79 #define C6DOFIMU15_MASTER_SPI 1
80 
86 #define C6DOFIMU15_RETVAL uint8_t
87 
88 #define C6DOFIMU15_OK 0x00
89 #define C6DOFIMU15_INIT_ERROR 0xFF
90 
96 #define C6DOFIMU15_I2C_ADR_GND 0x6A
97 #define C6DOFIMU15_I2C_ADR_VCC 0x6B
98 
104 #define C6DOFIMU15_PIN_CTL 0x02
105 #define C6DOFIMU15_FIFO_CTL1 0x07
106 #define C6DOFIMU15_FIFO_CTL2 0x08
107 #define C6DOFIMU15_FIFO_CTL3 0x09
108 #define C6DOFIMU15_FIFO_CTL4 0x0A
109 #define C6DOFIMU15_CNT_BDR_REG1 0x0B
110 #define C6DOFIMU15_CNT_BDR_REG2 0x0C
111 #define C6DOFIMU15_INT1_CTL 0x0D
112 #define C6DOFIMU15_INT2_CTL 0x0E
113 #define C6DOFIMU15_WHO_AM_I 0x0F
114 #define C6DOFIMU15_CTL1_XL 0x10
115 #define C6DOFIMU15_CTL2_G 0x11
116 #define C6DOFIMU15_CTL3_C 0x12
117 #define C6DOFIMU15_CTL4_C 0x13
118 #define C6DOFIMU15_CTL5_C 0x14
119 #define C6DOFIMU15_CTL6_C 0x15
120 #define C6DOFIMU15_CTL7_G 0x16
121 #define C6DOFIMU15_CTL8_XL 0x17
122 #define C6DOFIMU15_CTL9_XL 0x18
123 #define C6DOFIMU15_CTL10_C 0x19
124 #define C6DOFIMU15_ALL_INT_SRC 0x1A
125 #define C6DOFIMU15_WAKE_UP_SRC 0x1B
126 #define C6DOFIMU15_D6D_SRC 0x1D
127 #define C6DOFIMU15_STAT_REG 0x1E
128 #define C6DOFIMU15_OUT_TEMP_L 0x20
129 #define C6DOFIMU15_OUT_TEMP_H 0x21
130 #define C6DOFIMU15_OUTX_L_G 0x22
131 #define C6DOFIMU15_OUTX_H_G 0x23
132 #define C6DOFIMU15_OUTY_L_G 0x24
133 #define C6DOFIMU15_OUTY_H_G 0x25
134 #define C6DOFIMU15_OUTZ_L_G 0x26
135 #define C6DOFIMU15_OUTZ_H_G 0x27
136 #define C6DOFIMU15_OUTX_L_A 0x28
137 #define C6DOFIMU15_OUTX_H_A 0x29
138 #define C6DOFIMU15_OUTY_L_A 0x2A
139 #define C6DOFIMU15_OUTY_H_A 0x2B
140 #define C6DOFIMU15_OUTZ_L_A 0x2C
141 #define C6DOFIMU15_OUTZ_H_A 0x2D
142 #define C6DOFIMU15_FIFO_STAT1 0x3A
143 #define C6DOFIMU15_FIFO_STAT2 0x3B
144 #define C6DOFIMU15_T_STMP_0_REG 0x40
145 #define C6DOFIMU15_T_STMP_1_REG 0x41
146 #define C6DOFIMU15_T_STMP_2_REG 0x42
147 #define C6DOFIMU15_T_STMP_3_REG 0x43
148 #define C6DOFIMU15_INT_CFG0 0x56
149 #define C6DOFIMU15_INT_CFG1 0x58
150 #define C6DOFIMU15_THS_6D 0x59
151 #define C6DOFIMU15_WAKE_UP_THS 0x5B
152 #define C6DOFIMU15_WAKE_UP_DUR 0x5C
153 #define C6DOFIMU15_FREE_FALL 0x5D
154 #define C6DOFIMU15_MD1_CFG 0x5E
155 #define C6DOFIMU15_MD2_CFG 0x5F
156 #define C6DOFIMU15_INT_FRQ_FINE 0x63
157 #define C6DOFIMU15_X_OFS_USR 0x73
158 #define C6DOFIMU15_Y_OFS_USR 0x74
159 #define C6DOFIMU15_Z_OFS_USR 0x75
160 #define C6DOFIMU15_FIFO_DATA_OUT_TAG 0x78
161 #define C6DOFIMU15_FIFO_DATA_OUT_X_L 0x79
162 #define C6DOFIMU15_FIFO_DATA_OUT_X_H 0x7A
163 #define C6DOFIMU15_FIFO_DATA_OUT_Y_L 0x7B
164 #define C6DOFIMU15_FIFO_DATA_OUT_Y_H 0x7C
165 #define C6DOFIMU15_FIFO_DATA_OUT_Z_L 0x7D
166 #define C6DOFIMU15_FIFO_DATA_OUT_Z_H 0x7E
167 
173 #define C6DOFIMU15_SDO_PU_EN 0x7F
174 #define C6DOFIMU15_SDO_PU_DIS 0x3F
175 
181 #define C6DOFIMU15_BDR_GY_FIFO_NB 0x00
182 #define C6DOFIMU15_BDR_GY_12_5_HZ 0x10
183 #define C6DOFIMU15_BDR_GY_26_HZ 0x20
184 #define C6DOFIMU15_BDR_GY_52_HZ 0x30
185 #define C6DOFIMU15_BDR_GY_104_HZ 0x40
186 #define C6DOFIMU15_BDR_GY_208_HZ 0x50
187 #define C6DOFIMU15_BDR_GY_417_HZ 0x60
188 #define C6DOFIMU15_BDR_GY_833_HZ 0x70
189 #define C6DOFIMU15_BDR_GY_1667_HZ 0x80
190 #define C6DOFIMU15_BDR_GY_3333_HZ 0x90
191 #define C6DOFIMU15_BDR_GY_6667_HZ 0xA0
192 #define C6DOFIMU15_BDR_GY_6_5_HZ 0xB0
193 #define C6DOFIMU15_BDR_XL_FIFO_NB 0x00
194 #define C6DOFIMU15_BDR_XL_12_5_HZ 0x01
195 #define C6DOFIMU15_BDR_XL_26_HZ 0x02
196 #define C6DOFIMU15_BDR_XL_52_HZ 0x03
197 #define C6DOFIMU15_BDR_XL_104_HZ 0x04
198 #define C6DOFIMU15_BDR_XL_208_HZ 0x05
199 #define C6DOFIMU15_BDR_XL_417_HZ 0x06
200 #define C6DOFIMU15_BDR_XL_833_HZ 0x07
201 #define C6DOFIMU15_BDR_XL_1667_HZ 0x80
202 #define C6DOFIMU15_BDR_XL_3333_HZ 0x09
203 #define C6DOFIMU15_BDR_XL_6667_HZ 0x0A
204 
210 #define C6DOFIMU15_DEC_TS_BATCH_1 0x40
211 #define C6DOFIMU15_DEC_TS_BATCH_8 0x80
212 #define C6DOFIMU15_DEC_TS_BATCH_32 0xC0
213 #define C6DOFIMU15_ODR_T_BATCH_1_6_HZ 0x10
214 #define C6DOFIMU15_ODR_T_BATCH_12_5_HZ 0x20
215 #define C6DOFIMU15_ODR_T_BATCH_52_HZ 0x30
216 #define C6DOFIMU15_FIFO_DIS 0x00
217 #define C6DOFIMU15_FIFO_ST_WHEN_FULL 0x01
218 #define C6DOFIMU15_CONT_TO_FIFO 0x03
219 #define C6DOFIMU15_BYP_TO_CONT 0x04
220 #define C6DOFIMU15_CONT_MODE 0x06
221 #define C6DOFIMU15_BYP_TO_FIFO 0x07
222 
228 #define C6DOFIMU15_DEN_DRDY_FLAG 0x80
229 #define C6DOFIMU15_INT1_CNT_BDR 0x40
230 #define C6DOFIMU15_INT1_FIFO_FULL 0x20
231 #define C6DOFIMU15_INT1_FIFO_OVR 0x10
232 #define C6DOFIMU15_INT1_FIFO_TH 0x08
233 #define C6DOFIMU15_INT1_BOOT 0x04
234 #define C6DOFIMU15_INT1_DRDY_G 0x02
235 #define C6DOFIMU15_INT1_DRDY_XL 0x01
236 
242 #define C6DOFIMU15_INT2_CNT_BDR 0x40
243 #define C6DOFIMU15_INT2_FIFO_FULL 0x20
244 #define C6DOFIMU15_INT2_FIFO_OVR 0x10
245 #define C6DOFIMU15_INT2_FIFO_TH 0x08
246 #define C6DOFIMU15_INT2_DRDY_TEMP 0x04
247 #define C6DOFIMU15_INT2_DRDY_G 0x02
248 #define C6DOFIMU15_INT2_DRDY_XL 0x01
249 
255 #define C6DOFIMU15_WHO_AM_I_VAL 0x6B
256 
262 #define C6DOFIMU15_ODR_XL_POW_DWN 0x00
263 #define C6DOFIMU15_ODR_XL_12_5_HZ 0x10
264 #define C6DOFIMU15_ODR_XL_26_HZ 0x20
265 #define C6DOFIMU15_ODR_XL_52_HZ 0x30
266 #define C6DOFIMU15_ODR_XL_104_HZ 0x40
267 #define C6DOFIMU15_ODR_XL_208_HZ 0x50
268 #define C6DOFIMU15_ODR_XL_417_HZ 0x60
269 #define C6DOFIMU15_ODR_XL_833_HZ 0x70
270 #define C6DOFIMU15_ODR_XL_1667_HZ 0x80
271 #define C6DOFIMU15_ODR_XL_3333_HZ 0x90
272 #define C6DOFIMU15_ODR_XL_6667_HZ 0xA0
273 #define C6DOFIMU15_FS_XL_2_G 0x00
274 #define C6DOFIMU15_FS_XL_16_G 0x04
275 #define C6DOFIMU15_FS_XL_4_G 0x08
276 #define C6DOFIMU15_FS_XL_8_G 0x0C
277 #define C6DOFIMU15_LPF2_XL_EN 0x02
278 
284 #define C6DOFIMU15_ODR_G_POW_DWN 0x00
285 #define C6DOFIMU15_ODR_G_12_5_HZ 0x10
286 #define C6DOFIMU15_ODR_G_26_HZ 0x20
287 #define C6DOFIMU15_ODR_G_52_HZ 0x30
288 #define C6DOFIMU15_ODR_G_104_HZ 0x40
289 #define C6DOFIMU15_ODR_G_208_HZ 0x50
290 #define C6DOFIMU15_ODR_G_417_HZ 0x60
291 #define C6DOFIMU15_ODR_G_833_HZ 0x70
292 #define C6DOFIMU15_ODR_G_1667_HZ 0x80
293 #define C6DOFIMU15_ODR_G_3333_HZ 0x90
294 #define C6DOFIMU15_ODR_G_6667_HZ 0xA0
295 #define C6DOFIMU15_FS_G_250_DPS 0x00
296 #define C6DOFIMU15_FS_G_500_DPS 0x04
297 #define C6DOFIMU15_FS_G_1000_DPS 0x08
298 #define C6DOFIMU15_FS_G_2000_DPS 0x0C
299 #define C6DOFIMU15_FS_125 0x02
300 #define C6DOFIMU15_FS_4000 0x01
301 
307 #define C6DOFIMU15_BOOT 0x80
308 #define C6DOFIMU15_BDU 0x40
309 #define C6DOFIMU15_H_LACTIVE 0x20
310 #define C6DOFIMU15_PP_OD 0x10
311 #define C6DOFIMU15_SIM 0x08
312 #define C6DOFIMU15_IF_INC 0x04
313 #define C6DOFIMU15_SW_RESET 0x01
314 
320 #define C6DOFIMU15_SLEEP_G 0x40
321 #define C6DOFIMU15_INT2_ON_INT1 0x20
322 #define C6DOFIMU15_DRDY_MASK 0x08
323 #define C6DOFIMU15_I2C_DIS 0x04
324 #define C6DOFIMU15_LPF1_SEL_G 0x02
325 
331 #define C6DOFIMU15_ROUNDING_NO 0x00
332 #define C6DOFIMU15_ROUNDING_XL 0x20
333 #define C6DOFIMU15_ROUNDING_G 0x40
334 #define C6DOFIMU15_ROUNDING_G_XL 0x60
335 #define C6DOFIMU15_ST_G_NOR_OP 0x00
336 #define C6DOFIMU15_ST_G_POS_SNG 0x04
337 #define C6DOFIMU15_ST_G_NEG_SNG 0x0C
338 #define C6DOFIMU15_ST_XL_NOR_OP 0x00
339 #define C6DOFIMU15_ST_XL_POS_SNG 0x01
340 #define C6DOFIMU15_ST_XL_NEG_SNG 0x02
341 
347 #define C6DOFIMU15_EDG_SENS_TRIG 0x80
348 #define C6DOFIMU15_LVL_SENS_TRIG 0x40
349 #define C6DOFIMU15_LVL_SENS_LTCH 0x60
350 #define C6DOFIMU15_LVL_SENS_FIFO_EN 0xC0
351 
357 #define C6DOFIMU15_HP_EN_G 0x40
358 #define C6DOFIMU15_HPM_G_16_MHZ 0x00
359 #define C6DOFIMU15_HPM_G_65_MHZ 0x10
360 #define C6DOFIMU15_HPM_G_260_MHZ 0x20
361 #define C6DOFIMU15_HPM_G_1_04_HZ 0x30
362 #define C6DOFIMU15_USR_OFF_ON_OUT 0x02
363 
369 #define C6DOFIMU15_DEN_X 0x80
370 #define C6DOFIMU15_DEN_Y 0x40
371 #define C6DOFIMU15_DEN_Z 0x20
372 #define C6DOFIMU15_DEN_XL_G 0x10
373 #define C6DOFIMU15_DEN_XL_EN 0x08
374 #define C6DOFIMU15_DEN_LH 0x04
375 #define C6DOFIMU15_DEV_CFG 0x02
376 
382 #define C6DOFIMU15_T_STAMP_EN 0x20
383 
389 #define C6DOFIMU15_T_STAMP_END_CNT 0x80
390 #define C6DOFIMU15_SLEP_CHN_IA 0x20
391 #define C6DOFIMU15_SRC_D6D_IA 0x10
392 #define C6DOFIMU15_SRC_WU_IA 0x02
393 #define C6DOFIMU15_SRC_FF_IA 0x01
394 
400 #define C6DOFIMU15_SLP_CHN_IA 0x40
401 #define C6DOFIMU15_INT_FF_IA 0x20
402 #define C6DOFIMU15_SLP_STAT 0x10
403 #define C6DOFIMU15_INT_WU_IA 0x08
404 #define C6DOFIMU15_X_WU 0x04
405 #define C6DOFIMU15_Y_WU 0x02
406 #define C6DOFIMU15_Z_WU 0x01
407 
413 #define C6DOFIMU15_DEN_DRDY 0x80
414 #define C6DOFIMU15_D6D_IA 0x40
415 #define C6DOFIMU15_Z_AXIS_HIGH 0x20
416 #define C6DOFIMU15_Z_AXIS_LOW 0x10
417 #define C6DOFIMU15_Y_AXIS_HIGH 0x08
418 #define C6DOFIMU15_Y_AXIS_LOW 0x04
419 #define C6DOFIMU15_X_AXIS_HIGH 0x02
420 #define C6DOFIMU15_X_AXIS_LOW 0x01
421 
427 #define C6DOFIMU15_TDA 0x04
428 #define C6DOFIMU15_GDA 0x02
429 #define C6DOFIMU15_XLDA 0x01
430 
436 #define C6DOFIMU15_INT_CLR_ON_READ 0x40
437 #define C6DOFIMU15_SLP_STAT_ON_INT 0x20
438 #define C6DOFIMU15_SLOPE_FDS 0x10
439 #define C6DOFIMU15_LIR 0x01
440 
446 #define C6DOFIMU15_INT_EN 0x80
447 #define C6DOFIMU15_STAIONARY_MODE 0x00
448 #define C6DOFIMU15_INA_ACL_12_5_GYR_N_CRG 0x20
449 #define C6DOFIMU15_INA_ACL_12_5_GYR_SLP 0x40
450 #define C6DOFIMU15_INA_ACL_12_5_GYR_P_DWN 0x60
451 
457 #define C6DOFIMU15_D4D_EN 0x80
458 #define C6DOFIMU15_SIXD_THS_80_DEG 0x00
459 #define C6DOFIMU15_SIXD_THS_70_DEG 0x20
460 #define C6DOFIMU15_SIXD_THS_60_DEG 0x40
461 #define C6DOFIMU15_SIXD_THS_50_DEG 0x60
462 
468 #define C6DOFIMU15_USR_OFF_ON_WU 0x40
469 
475 #define C6DOFIMU15_FF_DUR5 0x80
476 #define C6DOFIMU15_WAKE_THS_W 0x10
477 
483 #define C6DOFIMU15_FF_THS_500_MG 0x07
484 #define C6DOFIMU15_FF_THS_469_MG 0x06
485 #define C6DOFIMU15_FF_THS_406_MG 0x05
486 #define C6DOFIMU15_FF_THS_344_MG 0x04
487 #define C6DOFIMU15_FF_THS_312_MG 0x03
488 #define C6DOFIMU15_FF_THS_250_MG 0x02
489 #define C6DOFIMU15_FF_THS_219_MG 0x01
490 #define C6DOFIMU15_FF_THS_156_MG 0x00
491 
492 #define C6DOFIMU15_INT1_SLP_CHN 0x80
493 #define C6DOFIMU15_INT1_WU 0x20
494 #define C6DOFIMU15_INT1_FF 0x10
495 #define C6DOFIMU15_INT1_6D 0x04
496 
497 #define C6DOFIMU15_INT2_SLP_CHN 0x80
498 #define C6DOFIMU15_INT2_WU 0x20
499 #define C6DOFIMU15_INT2_FF 0x10
500 #define C6DOFIMU15_INT2_6D 0x04
501 #define C6DOFIMU15_INT2_T_STAMP 0x01
502 
508 #define C6DOFIMU15_TAG_SEN_GYRO 0x08
509 #define C6DOFIMU15_TAG_SEN_ACEL 0x10
510 #define C6DOFIMU15_TAG_SEN_TEMP 0x18
511 #define C6DOFIMU15_TAG_SEN_T_ST 0x20
512 #define C6DOFIMU15_TAG_SEN_CFG_CHN 0x28
513 
519 #define C6DOFIMU15_LA_FS_2_G 0.061
520 #define C6DOFIMU15_LA_FS_4_G 0.122
521 #define C6DOFIMU15_LA_FS_8_G 0.244
522 #define C6DOFIMU15_LA_FS_16_G 0.488
523 
529 #define C6DOFIMU15_G_FS_125_DPS 4.375
530 #define C6DOFIMU15_G_FS_250_DPS 8.75
531 #define C6DOFIMU15_G_FS_500_DPS 17.5
532 #define C6DOFIMU15_G_FS_1000_DPS 35.0
533 #define C6DOFIMU15_G_FS_2000_DPS 70.0
534 #define C6DOFIMU15_G_FS_4000_DPS 140.0
535 
541 #define C6DOFIMU15_ODR_COEF_FOR_ODR_12_5 512
542 #define C6DOFIMU15_ODR_COEF_FOR_ODR_26 256
543 #define C6DOFIMU15_ODR_COEF_FOR_ODR_52 12
544 #define C6DOFIMU15_ODR_COEF_FOR_ODR_104 64
545 #define C6DOFIMU15_ODR_COEF_FOR_ODR_208 32
546 #define C6DOFIMU15_ODR_COEF_FOR_ODR_416 16
547 #define C6DOFIMU15_ODR_COEF_FOR_ODR_833 8
548 #define C6DOFIMU15_ODR_COEF_FOR_ODR_1667 4
549 #define C6DOFIMU15_ODR_COEF_FOR_ODR_3333 2
550 #define C6DOFIMU15_ODR_COEF_FOR_ODR_6667 1
551 
557 #define C6DOFIMU15_PROP_DIS 0
558 #define C6DOFIMU15_PROP_EN 1
559 
565 #define C6DOFIMU15_RD_BIT_MASK 0x80
566 #define C6DOFIMU15_WR_BIT_MASK 0x7F
567  // End group macro
570 // --------------------------------------------------------------- PUBLIC TYPES
579 typedef uint8_t c6dofimu15_select_t;
580 
584 typedef void ( *c6dofimu15_master_io_t )( struct c6dofimu15_s*, uint8_t, uint8_t*, uint8_t );
585 
589 typedef struct c6dofimu15_s
590 {
591  // Output pins
592  digital_out_t cs;
593 
594  // Input pins
595 
596  digital_in_t int_pin;
597 
598  // Modules
599 
600  i2c_master_t i2c;
601  spi_master_t spi;
602 
603  // ctx variable
604 
605  uint8_t slave_address;
606  pin_name_t chip_select;
610 
612 
616 typedef struct
617 {
618  // Communication gpio pins
619 
620  pin_name_t scl;
621  pin_name_t sda;
622  pin_name_t miso;
623  pin_name_t mosi;
624  pin_name_t sck;
625  pin_name_t cs;
626 
627  // Additional gpio pins
628 
629  pin_name_t int_pin;
630 
631  // static variable
632 
633  uint32_t i2c_speed;
634  uint8_t i2c_address;
635 
636  uint32_t spi_speed;
637  spi_master_mode_t spi_mode;
638  spi_master_chip_select_polarity_t cs_polarity;
639 
641 
643  // End types group
645 // ----------------------------------------------- PUBLIC FUNCTION DECLARATIONS
651 #ifdef __cplusplus
652 extern "C"{
653 #endif
654 
664 
673 
682 
693 void c6dofimu15_generic_write ( c6dofimu15_t *ctx, uint8_t reg, uint8_t *data_buf, uint8_t len );
694 
705 void c6dofimu15_generic_read ( c6dofimu15_t *ctx, uint8_t reg, uint8_t *data_buf, uint8_t len );
706 
719 
730 
741 
752 
763 void c6dofimu15_read_gyroscope ( c6dofimu15_t *ctx, int16_t *gyro_x
764  , int16_t *gyro_y
765  , int16_t *gyro_z );
766 
778 void c6dofimu15_angular_rate ( c6dofimu15_t *ctx, float *x_ang_rte
779  , float *y_ang_rte
780  , float *z_ang_rte );
781 
792 
803 
814 
825 void c6dofimu15_read_accelerometer ( c6dofimu15_t *ctx, int16_t *accel_x
826  , int16_t *accel_y
827  , int16_t *accel_z );
828 
840 void c6dofimu15_acceleration_rate ( c6dofimu15_t *ctx, float *x_acel_rte
841  , float *y_acel_rte
842  , float *z_acel_rte );
843 
854 
863 void c6dofimu15_i2c_disable ( c6dofimu15_t *ctx, uint8_t com_sel );
864 
873 void c6dofimu15_device_conf_set ( c6dofimu15_t *ctx, uint8_t dev_cfg );
874 
884 void c6dofimu15_auto_inc_set ( c6dofimu15_t *ctx, uint8_t inc_set );
885 
894 void c6dofimu15_sw_rst ( c6dofimu15_t *ctx, uint8_t rst_en );
895 
904 void c6dofimu15_block_data_update_set ( c6dofimu15_t *ctx, uint8_t blk_set );
905 
914 void c6dofimu15_fifo_mode_set ( c6dofimu15_t *ctx, uint8_t fifo_set );
915 
924 void c6dofimu15_accel_data_rate ( c6dofimu15_t *ctx, uint8_t data_rate );
925 
934 void c6dofimu15_accel_full_scale ( c6dofimu15_t *ctx, uint8_t fs_sel );
935 
944 void c6dofimu15_gyro_data_rate ( c6dofimu15_t *ctx, uint8_t data_rate );
945 
954 void c6dofimu15_gyro_full_scale ( c6dofimu15_t *ctx, uint8_t fs_sel );
955 
966 
977 
988 
1000 
1001 #ifdef __cplusplus
1002 }
1003 #endif
1004 #endif // _C6DOFIMU15_H_
1005  // End public_function group
1008 
1009 // ------------------------------------------------------------------------- END
c6dofimu15_cfg_t::spi_mode
spi_master_mode_t spi_mode
Definition: c6dofimu15.h:637
c6dofimu15_who_im_i
uint8_t c6dofimu15_who_im_i(c6dofimu15_t *ctx)
Who Am I function.
c6dofimu15_read_accel_z
int16_t c6dofimu15_read_accel_z(c6dofimu15_t *ctx)
Read Accelerometer Z-axis data function.
c6dofimu15_s::master_sel
c6dofimu15_select_t master_sel
Definition: c6dofimu15.h:609
c6dofimu15_cfg_t::cs
pin_name_t cs
Definition: c6dofimu15.h:625
c6dofimu15_cfg_t::sck
pin_name_t sck
Definition: c6dofimu15.h:624
c6dofimu15_temp_data_rdy
uint8_t c6dofimu15_temp_data_rdy(c6dofimu15_t *ctx)
Temperature new data available function.
c6dofimu15_s::chip_select
pin_name_t chip_select
Definition: c6dofimu15.h:606
c6dofimu15_init
C6DOFIMU15_RETVAL c6dofimu15_init(c6dofimu15_t *ctx, c6dofimu15_cfg_t *cfg)
Initialization function.
c6dofimu15_read_temp_out
float c6dofimu15_read_temp_out(c6dofimu15_t *ctx)
Read temperture function.
c6dofimu15_cfg_t::sda
pin_name_t sda
Definition: c6dofimu15.h:621
c6dofimu15_read_gyro_x
int16_t c6dofimu15_read_gyro_x(c6dofimu15_t *ctx)
Read Gyroscope X-axis data function.
c6dofimu15_t
struct c6dofimu15_s c6dofimu15_t
Click ctx object definition.
c6dofimu15_cfg_t::scl
pin_name_t scl
Definition: c6dofimu15.h:620
c6dofimu15_cfg_t::mosi
pin_name_t mosi
Definition: c6dofimu15.h:623
c6dofimu15_auto_inc_set
void c6dofimu15_auto_inc_set(c6dofimu15_t *ctx, uint8_t inc_set)
Enable register address incrementation function.
c6dofimu15_check_int_pin
uint8_t c6dofimu15_check_int_pin(c6dofimu15_t *ctx)
Check Interrupt state function.
c6dofimu15_s
Click ctx object definition.
Definition: c6dofimu15.h:590
c6dofimu15_cfg_t::i2c_speed
uint32_t i2c_speed
Definition: c6dofimu15.h:633
c6dofimu15_accel_full_scale
void c6dofimu15_accel_full_scale(c6dofimu15_t *ctx, uint8_t fs_sel)
Accelerometer full-scale selection function.
c6dofimu15_block_data_update_set
void c6dofimu15_block_data_update_set(c6dofimu15_t *ctx, uint8_t blk_set)
Block Data Update function.
c6dofimu15_cfg_t::i2c_address
uint8_t i2c_address
Definition: c6dofimu15.h:634
c6dofimu15_cfg_t
Click configuration structure definition.
Definition: c6dofimu15.h:617
c6dofimu15_accel_data_rate
void c6dofimu15_accel_data_rate(c6dofimu15_t *ctx, uint8_t data_rate)
Accelerometer data rate selection function.
c6dofimu15_s::i2c
i2c_master_t i2c
Definition: c6dofimu15.h:600
c6dofimu15_cfg_t::sel
c6dofimu15_select_t sel
Definition: c6dofimu15.h:640
c6dofimu15_read_accelerometer
void c6dofimu15_read_accelerometer(c6dofimu15_t *ctx, int16_t *accel_x, int16_t *accel_y, int16_t *accel_z)
Read accelerometer data function.
c6dofimu15_generic_read
void c6dofimu15_generic_read(c6dofimu15_t *ctx, uint8_t reg, uint8_t *data_buf, uint8_t len)
Generic read function.
c6dofimu15_acceleration_rate
void c6dofimu15_acceleration_rate(c6dofimu15_t *ctx, float *x_acel_rte, float *y_acel_rte, float *z_acel_rte)
Read Acceleration Rate function.
c6dofimu15_cfg_setup
void c6dofimu15_cfg_setup(c6dofimu15_cfg_t *cfg)
Config Object Initialization function.
C6DOFIMU15_RETVAL
#define C6DOFIMU15_RETVAL
Definition: c6dofimu15.h:86
c6dofimu15_s::int_pin
digital_in_t int_pin
Definition: c6dofimu15.h:596
c6dofimu15_s::spi
spi_master_t spi
Definition: c6dofimu15.h:601
c6dofimu15_gyro_data_rdy
uint8_t c6dofimu15_gyro_data_rdy(c6dofimu15_t *ctx)
Gyroscope new data available function.
c6dofimu15_default_cfg
void c6dofimu15_default_cfg(c6dofimu15_t *ctx)
Click Default Configuration function.
c6dofimu15_i2c_disable
void c6dofimu15_i2c_disable(c6dofimu15_t *ctx, uint8_t com_sel)
Disable I2C block function.
c6dofimu15_accel_data_rdy
uint8_t c6dofimu15_accel_data_rdy(c6dofimu15_t *ctx)
Accelerometer new data available function.
c6dofimu15_s::cs
digital_out_t cs
Definition: c6dofimu15.h:592
c6dofimu15_angular_rate
void c6dofimu15_angular_rate(c6dofimu15_t *ctx, float *x_ang_rte, float *y_ang_rte, float *z_ang_rte)
Read Angular Rate function.
c6dofimu15_cfg_t::int_pin
pin_name_t int_pin
Definition: c6dofimu15.h:629
c6dofimu15_read_accel_x
int16_t c6dofimu15_read_accel_x(c6dofimu15_t *ctx)
Read Accelerometer X-axis data function.
c6dofimu15_gyro_full_scale
void c6dofimu15_gyro_full_scale(c6dofimu15_t *ctx, uint8_t fs_sel)
Gyroscope full-scale selection function.
c6dofimu15_s::read_f
c6dofimu15_master_io_t read_f
Definition: c6dofimu15.h:608
c6dofimu15_device_conf_set
void c6dofimu15_device_conf_set(c6dofimu15_t *ctx, uint8_t dev_cfg)
Enable the proper device configuration function.
c6dofimu15_select_t
uint8_t c6dofimu15_select_t
Communication type.
Definition: c6dofimu15.h:579
c6dofimu15_cfg_t::cs_polarity
spi_master_chip_select_polarity_t cs_polarity
Definition: c6dofimu15.h:638
c6dofimu15_cfg_t::spi_speed
uint32_t spi_speed
Definition: c6dofimu15.h:636
c6dofimu15_cfg_t::miso
pin_name_t miso
Definition: c6dofimu15.h:622
c6dofimu15_read_accel_y
int16_t c6dofimu15_read_accel_y(c6dofimu15_t *ctx)
Read Accelerometer Y-axis data function.
c6dofimu15_read_gyro_z
int16_t c6dofimu15_read_gyro_z(c6dofimu15_t *ctx)
Read Gyroscope Z-axis data function.
c6dofimu15_sw_rst
void c6dofimu15_sw_rst(c6dofimu15_t *ctx, uint8_t rst_en)
Perform software reset function.
c6dofimu15_s::write_f
c6dofimu15_master_io_t write_f
Definition: c6dofimu15.h:607
c6dofimu15_fifo_mode_set
void c6dofimu15_fifo_mode_set(c6dofimu15_t *ctx, uint8_t fifo_set)
Set FIFO Mode function.
c6dofimu15_read_gyro_y
int16_t c6dofimu15_read_gyro_y(c6dofimu15_t *ctx)
Read Gyroscope Y-axis data function.
c6dofimu15_read_gyroscope
void c6dofimu15_read_gyroscope(c6dofimu15_t *ctx, int16_t *gyro_x, int16_t *gyro_y, int16_t *gyro_z)
Read gyroscope data function.
c6dofimu15_master_io_t
void(* c6dofimu15_master_io_t)(struct c6dofimu15_s *, uint8_t, uint8_t *, uint8_t)
Master Input/Output type.
Definition: c6dofimu15.h:584
c6dofimu15_gyro_data_rate
void c6dofimu15_gyro_data_rate(c6dofimu15_t *ctx, uint8_t data_rate)
Gyroscope data rate selection function.
c6dofimu15_generic_write
void c6dofimu15_generic_write(c6dofimu15_t *ctx, uint8_t reg, uint8_t *data_buf, uint8_t len)
Generic write function.
c6dofimu15_s::slave_address
uint8_t slave_address
Definition: c6dofimu15.h:605