c6dofimu15  2.0.0.0
c6dofimu15.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 C6DOFIMU15_H
36 #define C6DOFIMU15_H
37 
42 #ifdef PREINIT_SUPPORTED
43 #include "preinit.h"
44 #endif
45 
46 #ifdef MikroCCoreVersion
47  #if MikroCCoreVersion >= 1
48  #include "delays.h"
49  #endif
50 #endif
51 
52 #include "drv_digital_out.h"
53 #include "drv_digital_in.h"
54 #include "drv_i2c_master.h"
55 #include "drv_spi_master.h"
56 
57 // -------------------------------------------------------------- PUBLIC MACROS
68 #define C6DOFIMU15_MAP_MIKROBUS( cfg, mikrobus ) \
69  cfg.scl = MIKROBUS( mikrobus, MIKROBUS_SCL ); \
70  cfg.sda = MIKROBUS( mikrobus, MIKROBUS_SDA ); \
71  cfg.miso = MIKROBUS( mikrobus, MIKROBUS_MISO ); \
72  cfg.mosi = MIKROBUS( mikrobus, MIKROBUS_MOSI ); \
73  cfg.sck = MIKROBUS( mikrobus, MIKROBUS_SCK ); \
74  cfg.cs = MIKROBUS( mikrobus, MIKROBUS_CS ); \
75  cfg.int_pin = MIKROBUS( mikrobus, MIKROBUS_INT );
76 
82 #define C6DOFIMU15_MASTER_I2C 0
83 #define C6DOFIMU15_MASTER_SPI 1
84 
90 #define C6DOFIMU15_RETVAL uint8_t
91 
92 #define C6DOFIMU15_OK 0x00
93 #define C6DOFIMU15_INIT_ERROR 0xFF
94 
100 #define C6DOFIMU15_I2C_ADR_GND 0x6A
101 #define C6DOFIMU15_I2C_ADR_VCC 0x6B
102 
108 #define C6DOFIMU15_PIN_CTL 0x02
109 #define C6DOFIMU15_FIFO_CTL1 0x07
110 #define C6DOFIMU15_FIFO_CTL2 0x08
111 #define C6DOFIMU15_FIFO_CTL3 0x09
112 #define C6DOFIMU15_FIFO_CTL4 0x0A
113 #define C6DOFIMU15_CNT_BDR_REG1 0x0B
114 #define C6DOFIMU15_CNT_BDR_REG2 0x0C
115 #define C6DOFIMU15_INT1_CTL 0x0D
116 #define C6DOFIMU15_INT2_CTL 0x0E
117 #define C6DOFIMU15_WHO_AM_I 0x0F
118 #define C6DOFIMU15_CTL1_XL 0x10
119 #define C6DOFIMU15_CTL2_G 0x11
120 #define C6DOFIMU15_CTL3_C 0x12
121 #define C6DOFIMU15_CTL4_C 0x13
122 #define C6DOFIMU15_CTL5_C 0x14
123 #define C6DOFIMU15_CTL6_C 0x15
124 #define C6DOFIMU15_CTL7_G 0x16
125 #define C6DOFIMU15_CTL8_XL 0x17
126 #define C6DOFIMU15_CTL9_XL 0x18
127 #define C6DOFIMU15_CTL10_C 0x19
128 #define C6DOFIMU15_ALL_INT_SRC 0x1A
129 #define C6DOFIMU15_WAKE_UP_SRC 0x1B
130 #define C6DOFIMU15_D6D_SRC 0x1D
131 #define C6DOFIMU15_STAT_REG 0x1E
132 #define C6DOFIMU15_OUT_TEMP_L 0x20
133 #define C6DOFIMU15_OUT_TEMP_H 0x21
134 #define C6DOFIMU15_OUTX_L_G 0x22
135 #define C6DOFIMU15_OUTX_H_G 0x23
136 #define C6DOFIMU15_OUTY_L_G 0x24
137 #define C6DOFIMU15_OUTY_H_G 0x25
138 #define C6DOFIMU15_OUTZ_L_G 0x26
139 #define C6DOFIMU15_OUTZ_H_G 0x27
140 #define C6DOFIMU15_OUTX_L_A 0x28
141 #define C6DOFIMU15_OUTX_H_A 0x29
142 #define C6DOFIMU15_OUTY_L_A 0x2A
143 #define C6DOFIMU15_OUTY_H_A 0x2B
144 #define C6DOFIMU15_OUTZ_L_A 0x2C
145 #define C6DOFIMU15_OUTZ_H_A 0x2D
146 #define C6DOFIMU15_FIFO_STAT1 0x3A
147 #define C6DOFIMU15_FIFO_STAT2 0x3B
148 #define C6DOFIMU15_T_STMP_0_REG 0x40
149 #define C6DOFIMU15_T_STMP_1_REG 0x41
150 #define C6DOFIMU15_T_STMP_2_REG 0x42
151 #define C6DOFIMU15_T_STMP_3_REG 0x43
152 #define C6DOFIMU15_INT_CFG0 0x56
153 #define C6DOFIMU15_INT_CFG1 0x58
154 #define C6DOFIMU15_THS_6D 0x59
155 #define C6DOFIMU15_WAKE_UP_THS 0x5B
156 #define C6DOFIMU15_WAKE_UP_DUR 0x5C
157 #define C6DOFIMU15_FREE_FALL 0x5D
158 #define C6DOFIMU15_MD1_CFG 0x5E
159 #define C6DOFIMU15_MD2_CFG 0x5F
160 #define C6DOFIMU15_INT_FRQ_FINE 0x63
161 #define C6DOFIMU15_X_OFS_USR 0x73
162 #define C6DOFIMU15_Y_OFS_USR 0x74
163 #define C6DOFIMU15_Z_OFS_USR 0x75
164 #define C6DOFIMU15_FIFO_DATA_OUT_TAG 0x78
165 #define C6DOFIMU15_FIFO_DATA_OUT_X_L 0x79
166 #define C6DOFIMU15_FIFO_DATA_OUT_X_H 0x7A
167 #define C6DOFIMU15_FIFO_DATA_OUT_Y_L 0x7B
168 #define C6DOFIMU15_FIFO_DATA_OUT_Y_H 0x7C
169 #define C6DOFIMU15_FIFO_DATA_OUT_Z_L 0x7D
170 #define C6DOFIMU15_FIFO_DATA_OUT_Z_H 0x7E
171 
177 #define C6DOFIMU15_SDO_PU_EN 0x7F
178 #define C6DOFIMU15_SDO_PU_DIS 0x3F
179 
185 #define C6DOFIMU15_BDR_GY_FIFO_NB 0x00
186 #define C6DOFIMU15_BDR_GY_12_5_HZ 0x10
187 #define C6DOFIMU15_BDR_GY_26_HZ 0x20
188 #define C6DOFIMU15_BDR_GY_52_HZ 0x30
189 #define C6DOFIMU15_BDR_GY_104_HZ 0x40
190 #define C6DOFIMU15_BDR_GY_208_HZ 0x50
191 #define C6DOFIMU15_BDR_GY_417_HZ 0x60
192 #define C6DOFIMU15_BDR_GY_833_HZ 0x70
193 #define C6DOFIMU15_BDR_GY_1667_HZ 0x80
194 #define C6DOFIMU15_BDR_GY_3333_HZ 0x90
195 #define C6DOFIMU15_BDR_GY_6667_HZ 0xA0
196 #define C6DOFIMU15_BDR_GY_6_5_HZ 0xB0
197 #define C6DOFIMU15_BDR_XL_FIFO_NB 0x00
198 #define C6DOFIMU15_BDR_XL_12_5_HZ 0x01
199 #define C6DOFIMU15_BDR_XL_26_HZ 0x02
200 #define C6DOFIMU15_BDR_XL_52_HZ 0x03
201 #define C6DOFIMU15_BDR_XL_104_HZ 0x04
202 #define C6DOFIMU15_BDR_XL_208_HZ 0x05
203 #define C6DOFIMU15_BDR_XL_417_HZ 0x06
204 #define C6DOFIMU15_BDR_XL_833_HZ 0x07
205 #define C6DOFIMU15_BDR_XL_1667_HZ 0x80
206 #define C6DOFIMU15_BDR_XL_3333_HZ 0x09
207 #define C6DOFIMU15_BDR_XL_6667_HZ 0x0A
208 
214 #define C6DOFIMU15_DEC_TS_BATCH_1 0x40
215 #define C6DOFIMU15_DEC_TS_BATCH_8 0x80
216 #define C6DOFIMU15_DEC_TS_BATCH_32 0xC0
217 #define C6DOFIMU15_ODR_T_BATCH_1_6_HZ 0x10
218 #define C6DOFIMU15_ODR_T_BATCH_12_5_HZ 0x20
219 #define C6DOFIMU15_ODR_T_BATCH_52_HZ 0x30
220 #define C6DOFIMU15_FIFO_DIS 0x00
221 #define C6DOFIMU15_FIFO_ST_WHEN_FULL 0x01
222 #define C6DOFIMU15_CONT_TO_FIFO 0x03
223 #define C6DOFIMU15_BYP_TO_CONT 0x04
224 #define C6DOFIMU15_CONT_MODE 0x06
225 #define C6DOFIMU15_BYP_TO_FIFO 0x07
226 
232 #define C6DOFIMU15_DEN_DRDY_FLAG 0x80
233 #define C6DOFIMU15_INT1_CNT_BDR 0x40
234 #define C6DOFIMU15_INT1_FIFO_FULL 0x20
235 #define C6DOFIMU15_INT1_FIFO_OVR 0x10
236 #define C6DOFIMU15_INT1_FIFO_TH 0x08
237 #define C6DOFIMU15_INT1_BOOT 0x04
238 #define C6DOFIMU15_INT1_DRDY_G 0x02
239 #define C6DOFIMU15_INT1_DRDY_XL 0x01
240 
246 #define C6DOFIMU15_INT2_CNT_BDR 0x40
247 #define C6DOFIMU15_INT2_FIFO_FULL 0x20
248 #define C6DOFIMU15_INT2_FIFO_OVR 0x10
249 #define C6DOFIMU15_INT2_FIFO_TH 0x08
250 #define C6DOFIMU15_INT2_DRDY_TEMP 0x04
251 #define C6DOFIMU15_INT2_DRDY_G 0x02
252 #define C6DOFIMU15_INT2_DRDY_XL 0x01
253 
259 #define C6DOFIMU15_WHO_AM_I_VAL 0x6B
260 
266 #define C6DOFIMU15_ODR_XL_POW_DWN 0x00
267 #define C6DOFIMU15_ODR_XL_12_5_HZ 0x10
268 #define C6DOFIMU15_ODR_XL_26_HZ 0x20
269 #define C6DOFIMU15_ODR_XL_52_HZ 0x30
270 #define C6DOFIMU15_ODR_XL_104_HZ 0x40
271 #define C6DOFIMU15_ODR_XL_208_HZ 0x50
272 #define C6DOFIMU15_ODR_XL_417_HZ 0x60
273 #define C6DOFIMU15_ODR_XL_833_HZ 0x70
274 #define C6DOFIMU15_ODR_XL_1667_HZ 0x80
275 #define C6DOFIMU15_ODR_XL_3333_HZ 0x90
276 #define C6DOFIMU15_ODR_XL_6667_HZ 0xA0
277 #define C6DOFIMU15_FS_XL_2_G 0x00
278 #define C6DOFIMU15_FS_XL_16_G 0x04
279 #define C6DOFIMU15_FS_XL_4_G 0x08
280 #define C6DOFIMU15_FS_XL_8_G 0x0C
281 #define C6DOFIMU15_LPF2_XL_EN 0x02
282 
288 #define C6DOFIMU15_ODR_G_POW_DWN 0x00
289 #define C6DOFIMU15_ODR_G_12_5_HZ 0x10
290 #define C6DOFIMU15_ODR_G_26_HZ 0x20
291 #define C6DOFIMU15_ODR_G_52_HZ 0x30
292 #define C6DOFIMU15_ODR_G_104_HZ 0x40
293 #define C6DOFIMU15_ODR_G_208_HZ 0x50
294 #define C6DOFIMU15_ODR_G_417_HZ 0x60
295 #define C6DOFIMU15_ODR_G_833_HZ 0x70
296 #define C6DOFIMU15_ODR_G_1667_HZ 0x80
297 #define C6DOFIMU15_ODR_G_3333_HZ 0x90
298 #define C6DOFIMU15_ODR_G_6667_HZ 0xA0
299 #define C6DOFIMU15_FS_G_250_DPS 0x00
300 #define C6DOFIMU15_FS_G_500_DPS 0x04
301 #define C6DOFIMU15_FS_G_1000_DPS 0x08
302 #define C6DOFIMU15_FS_G_2000_DPS 0x0C
303 #define C6DOFIMU15_FS_125 0x02
304 #define C6DOFIMU15_FS_4000 0x01
305 
311 #define C6DOFIMU15_BOOT 0x80
312 #define C6DOFIMU15_BDU 0x40
313 #define C6DOFIMU15_H_LACTIVE 0x20
314 #define C6DOFIMU15_PP_OD 0x10
315 #define C6DOFIMU15_SIM 0x08
316 #define C6DOFIMU15_IF_INC 0x04
317 #define C6DOFIMU15_SW_RESET 0x01
318 
324 #define C6DOFIMU15_SLEEP_G 0x40
325 #define C6DOFIMU15_INT2_ON_INT1 0x20
326 #define C6DOFIMU15_DRDY_MASK 0x08
327 #define C6DOFIMU15_I2C_DIS 0x04
328 #define C6DOFIMU15_LPF1_SEL_G 0x02
329 
335 #define C6DOFIMU15_ROUNDING_NO 0x00
336 #define C6DOFIMU15_ROUNDING_XL 0x20
337 #define C6DOFIMU15_ROUNDING_G 0x40
338 #define C6DOFIMU15_ROUNDING_G_XL 0x60
339 #define C6DOFIMU15_ST_G_NOR_OP 0x00
340 #define C6DOFIMU15_ST_G_POS_SNG 0x04
341 #define C6DOFIMU15_ST_G_NEG_SNG 0x0C
342 #define C6DOFIMU15_ST_XL_NOR_OP 0x00
343 #define C6DOFIMU15_ST_XL_POS_SNG 0x01
344 #define C6DOFIMU15_ST_XL_NEG_SNG 0x02
345 
351 #define C6DOFIMU15_EDG_SENS_TRIG 0x80
352 #define C6DOFIMU15_LVL_SENS_TRIG 0x40
353 #define C6DOFIMU15_LVL_SENS_LTCH 0x60
354 #define C6DOFIMU15_LVL_SENS_FIFO_EN 0xC0
355 
361 #define C6DOFIMU15_HP_EN_G 0x40
362 #define C6DOFIMU15_HPM_G_16_MHZ 0x00
363 #define C6DOFIMU15_HPM_G_65_MHZ 0x10
364 #define C6DOFIMU15_HPM_G_260_MHZ 0x20
365 #define C6DOFIMU15_HPM_G_1_04_HZ 0x30
366 #define C6DOFIMU15_USR_OFF_ON_OUT 0x02
367 
373 #define C6DOFIMU15_DEN_X 0x80
374 #define C6DOFIMU15_DEN_Y 0x40
375 #define C6DOFIMU15_DEN_Z 0x20
376 #define C6DOFIMU15_DEN_XL_G 0x10
377 #define C6DOFIMU15_DEN_XL_EN 0x08
378 #define C6DOFIMU15_DEN_LH 0x04
379 #define C6DOFIMU15_DEV_CFG 0x02
380 
386 #define C6DOFIMU15_T_STAMP_EN 0x20
387 
393 #define C6DOFIMU15_T_STAMP_END_CNT 0x80
394 #define C6DOFIMU15_SLEP_CHN_IA 0x20
395 #define C6DOFIMU15_SRC_D6D_IA 0x10
396 #define C6DOFIMU15_SRC_WU_IA 0x02
397 #define C6DOFIMU15_SRC_FF_IA 0x01
398 
404 #define C6DOFIMU15_SLP_CHN_IA 0x40
405 #define C6DOFIMU15_INT_FF_IA 0x20
406 #define C6DOFIMU15_SLP_STAT 0x10
407 #define C6DOFIMU15_INT_WU_IA 0x08
408 #define C6DOFIMU15_X_WU 0x04
409 #define C6DOFIMU15_Y_WU 0x02
410 #define C6DOFIMU15_Z_WU 0x01
411 
417 #define C6DOFIMU15_DEN_DRDY 0x80
418 #define C6DOFIMU15_D6D_IA 0x40
419 #define C6DOFIMU15_Z_AXIS_HIGH 0x20
420 #define C6DOFIMU15_Z_AXIS_LOW 0x10
421 #define C6DOFIMU15_Y_AXIS_HIGH 0x08
422 #define C6DOFIMU15_Y_AXIS_LOW 0x04
423 #define C6DOFIMU15_X_AXIS_HIGH 0x02
424 #define C6DOFIMU15_X_AXIS_LOW 0x01
425 
431 #define C6DOFIMU15_TDA 0x04
432 #define C6DOFIMU15_GDA 0x02
433 #define C6DOFIMU15_XLDA 0x01
434 
440 #define C6DOFIMU15_INT_CLR_ON_READ 0x40
441 #define C6DOFIMU15_SLP_STAT_ON_INT 0x20
442 #define C6DOFIMU15_SLOPE_FDS 0x10
443 #define C6DOFIMU15_LIR 0x01
444 
450 #define C6DOFIMU15_INT_EN 0x80
451 #define C6DOFIMU15_STAIONARY_MODE 0x00
452 #define C6DOFIMU15_INA_ACL_12_5_GYR_N_CRG 0x20
453 #define C6DOFIMU15_INA_ACL_12_5_GYR_SLP 0x40
454 #define C6DOFIMU15_INA_ACL_12_5_GYR_P_DWN 0x60
455 
461 #define C6DOFIMU15_D4D_EN 0x80
462 #define C6DOFIMU15_SIXD_THS_80_DEG 0x00
463 #define C6DOFIMU15_SIXD_THS_70_DEG 0x20
464 #define C6DOFIMU15_SIXD_THS_60_DEG 0x40
465 #define C6DOFIMU15_SIXD_THS_50_DEG 0x60
466 
472 #define C6DOFIMU15_USR_OFF_ON_WU 0x40
473 
479 #define C6DOFIMU15_FF_DUR5 0x80
480 #define C6DOFIMU15_WAKE_THS_W 0x10
481 
487 #define C6DOFIMU15_FF_THS_500_MG 0x07
488 #define C6DOFIMU15_FF_THS_469_MG 0x06
489 #define C6DOFIMU15_FF_THS_406_MG 0x05
490 #define C6DOFIMU15_FF_THS_344_MG 0x04
491 #define C6DOFIMU15_FF_THS_312_MG 0x03
492 #define C6DOFIMU15_FF_THS_250_MG 0x02
493 #define C6DOFIMU15_FF_THS_219_MG 0x01
494 #define C6DOFIMU15_FF_THS_156_MG 0x00
495 
496 #define C6DOFIMU15_INT1_SLP_CHN 0x80
497 #define C6DOFIMU15_INT1_WU 0x20
498 #define C6DOFIMU15_INT1_FF 0x10
499 #define C6DOFIMU15_INT1_6D 0x04
500 
501 #define C6DOFIMU15_INT2_SLP_CHN 0x80
502 #define C6DOFIMU15_INT2_WU 0x20
503 #define C6DOFIMU15_INT2_FF 0x10
504 #define C6DOFIMU15_INT2_6D 0x04
505 #define C6DOFIMU15_INT2_T_STAMP 0x01
506 
512 #define C6DOFIMU15_TAG_SEN_GYRO 0x08
513 #define C6DOFIMU15_TAG_SEN_ACEL 0x10
514 #define C6DOFIMU15_TAG_SEN_TEMP 0x18
515 #define C6DOFIMU15_TAG_SEN_T_ST 0x20
516 #define C6DOFIMU15_TAG_SEN_CFG_CHN 0x28
517 
523 #define C6DOFIMU15_LA_FS_2_G 0.061
524 #define C6DOFIMU15_LA_FS_4_G 0.122
525 #define C6DOFIMU15_LA_FS_8_G 0.244
526 #define C6DOFIMU15_LA_FS_16_G 0.488
527 
533 #define C6DOFIMU15_G_FS_125_DPS 4.375
534 #define C6DOFIMU15_G_FS_250_DPS 8.75
535 #define C6DOFIMU15_G_FS_500_DPS 17.5
536 #define C6DOFIMU15_G_FS_1000_DPS 35.0
537 #define C6DOFIMU15_G_FS_2000_DPS 70.0
538 #define C6DOFIMU15_G_FS_4000_DPS 140.0
539 
545 #define C6DOFIMU15_ODR_COEF_FOR_ODR_12_5 512
546 #define C6DOFIMU15_ODR_COEF_FOR_ODR_26 256
547 #define C6DOFIMU15_ODR_COEF_FOR_ODR_52 12
548 #define C6DOFIMU15_ODR_COEF_FOR_ODR_104 64
549 #define C6DOFIMU15_ODR_COEF_FOR_ODR_208 32
550 #define C6DOFIMU15_ODR_COEF_FOR_ODR_416 16
551 #define C6DOFIMU15_ODR_COEF_FOR_ODR_833 8
552 #define C6DOFIMU15_ODR_COEF_FOR_ODR_1667 4
553 #define C6DOFIMU15_ODR_COEF_FOR_ODR_3333 2
554 #define C6DOFIMU15_ODR_COEF_FOR_ODR_6667 1
555 
561 #define C6DOFIMU15_PROP_DIS 0
562 #define C6DOFIMU15_PROP_EN 1
563 
569 #define C6DOFIMU15_RD_BIT_MASK 0x80
570 #define C6DOFIMU15_WR_BIT_MASK 0x7F
571  // End group macro
574 // --------------------------------------------------------------- PUBLIC TYPES
583 typedef uint8_t c6dofimu15_select_t;
584 
588 typedef void ( *c6dofimu15_master_io_t )( struct c6dofimu15_s*, uint8_t, uint8_t*, uint8_t );
589 
593 typedef struct c6dofimu15_s
594 {
595  // Output pins
596  digital_out_t cs;
597 
598  // Input pins
599 
600  digital_in_t int_pin;
601 
602  // Modules
603 
604  i2c_master_t i2c;
605  spi_master_t spi;
606 
607  // ctx variable
608 
609  uint8_t slave_address;
610  pin_name_t chip_select;
614 
616 
620 typedef struct
621 {
622  // Communication gpio pins
623 
624  pin_name_t scl;
625  pin_name_t sda;
626  pin_name_t miso;
627  pin_name_t mosi;
628  pin_name_t sck;
629  pin_name_t cs;
630 
631  // Additional gpio pins
632 
633  pin_name_t int_pin;
634 
635  // static variable
636 
637  uint32_t i2c_speed;
638  uint8_t i2c_address;
639 
640  uint32_t spi_speed;
641  spi_master_mode_t spi_mode;
642  spi_master_chip_select_polarity_t cs_polarity;
643 
645 
647  // End types group
649 // ----------------------------------------------- PUBLIC FUNCTION DECLARATIONS
655 #ifdef __cplusplus
656 extern "C"{
657 #endif
658 
668 
677 
686 
697 void c6dofimu15_generic_write ( c6dofimu15_t *ctx, uint8_t reg, uint8_t *data_buf, uint8_t len );
698 
709 void c6dofimu15_generic_read ( c6dofimu15_t *ctx, uint8_t reg, uint8_t *data_buf, uint8_t len );
710 
723 
734 
745 
756 
767 void c6dofimu15_read_gyroscope ( c6dofimu15_t *ctx, int16_t *gyro_x
768  , int16_t *gyro_y
769  , int16_t *gyro_z );
770 
782 void c6dofimu15_angular_rate ( c6dofimu15_t *ctx, float *x_ang_rte
783  , float *y_ang_rte
784  , float *z_ang_rte );
785 
796 
807 
818 
829 void c6dofimu15_read_accelerometer ( c6dofimu15_t *ctx, int16_t *accel_x
830  , int16_t *accel_y
831  , int16_t *accel_z );
832 
844 void c6dofimu15_acceleration_rate ( c6dofimu15_t *ctx, float *x_acel_rte
845  , float *y_acel_rte
846  , float *z_acel_rte );
847 
858 
867 void c6dofimu15_i2c_disable ( c6dofimu15_t *ctx, uint8_t com_sel );
868 
877 void c6dofimu15_device_conf_set ( c6dofimu15_t *ctx, uint8_t dev_cfg );
878 
888 void c6dofimu15_auto_inc_set ( c6dofimu15_t *ctx, uint8_t inc_set );
889 
898 void c6dofimu15_sw_rst ( c6dofimu15_t *ctx, uint8_t rst_en );
899 
908 void c6dofimu15_block_data_update_set ( c6dofimu15_t *ctx, uint8_t blk_set );
909 
918 void c6dofimu15_fifo_mode_set ( c6dofimu15_t *ctx, uint8_t fifo_set );
919 
928 void c6dofimu15_accel_data_rate ( c6dofimu15_t *ctx, uint8_t data_rate );
929 
938 void c6dofimu15_accel_full_scale ( c6dofimu15_t *ctx, uint8_t fs_sel );
939 
948 void c6dofimu15_gyro_data_rate ( c6dofimu15_t *ctx, uint8_t data_rate );
949 
958 void c6dofimu15_gyro_full_scale ( c6dofimu15_t *ctx, uint8_t fs_sel );
959 
970 
981 
992 
1004 
1005 #ifdef __cplusplus
1006 }
1007 #endif
1008 #endif // _C6DOFIMU15_H_
1009  // End public_function group
1012 
1013 // ------------------------------------------------------------------------- END
c6dofimu15_cfg_t::spi_mode
spi_master_mode_t spi_mode
Definition: c6dofimu15.h:641
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:613
c6dofimu15_cfg_t::cs
pin_name_t cs
Definition: c6dofimu15.h:629
c6dofimu15_cfg_t::sck
pin_name_t sck
Definition: c6dofimu15.h:628
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:610
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:625
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:624
c6dofimu15_cfg_t::mosi
pin_name_t mosi
Definition: c6dofimu15.h:627
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:594
c6dofimu15_cfg_t::i2c_speed
uint32_t i2c_speed
Definition: c6dofimu15.h:637
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:638
c6dofimu15_cfg_t
Click configuration structure definition.
Definition: c6dofimu15.h:621
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:604
c6dofimu15_cfg_t::sel
c6dofimu15_select_t sel
Definition: c6dofimu15.h:644
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:90
c6dofimu15_s::int_pin
digital_in_t int_pin
Definition: c6dofimu15.h:600
c6dofimu15_s::spi
spi_master_t spi
Definition: c6dofimu15.h:605
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:596
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:633
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:612
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:583
c6dofimu15_cfg_t::cs_polarity
spi_master_chip_select_polarity_t cs_polarity
Definition: c6dofimu15.h:642
c6dofimu15_cfg_t::spi_speed
uint32_t spi_speed
Definition: c6dofimu15.h:640
c6dofimu15_cfg_t::miso
pin_name_t miso
Definition: c6dofimu15.h:626
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:611
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:588
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:609