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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 C6DOFIMU5_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 )
78 #define C6DOFIMU5_RETVAL uint8_t
80 #define C6DOFIMU5_OK 0x00
81 #define C6DOFIMU5_INIT_ERROR 0xFF
88 #define C6DOFIMU5_I2C_SLAVE_ADR 0x63
95 #define C6DOFIMU5_READ_BIT_MASK 0x80
96 #define C6DOFIMU5_WRITE_BIT_MASK 0x7F
103 #define C6DOFIMU5_SELF_TEST_X_GYRO 0x00
104 #define C6DOFIMU5_SELF_TEST_Y_GYRO 0x01
105 #define C6DOFIMU5_SELF_TEST_Z_GYRO 0x02
106 #define C6DOFIMU5_SELF_TEST_X_ACCEL 0x0D
107 #define C6DOFIMU5_SELF_TEST_Y_ACCEL 0x0E
108 #define C6DOFIMU5_SELF_TEST_Z_ACCEL 0x0F
109 #define C6DOFIMU5_XG_OFFS_USR_H 0x13
110 #define C6DOFIMU5_XG_OFFS_USR_L 0x14
111 #define C6DOFIMU5_YG_OFFS_USR_H 0x15
112 #define C6DOFIMU5_YG_OFFS_USR_L 0x16
113 #define C6DOFIMU5_ZG_OFFS_USR_H 0x17
114 #define C6DOFIMU5_ZG_OFFS_USR_L 0x18
115 #define C6DOFIMU5_SMPL_RT_DIV 0x19
116 #define C6DOFIMU5_CFG 0x1A
117 #define C6DOFIMU5_GYRO_CFG 0x1B
118 #define C6DOFIMU5_ACCEL_CFG 0x1C
119 #define C6DOFIMU5_ACCEL_CFG_2 0x1D
120 #define C6DOFIMU5_LP_MODE_CTL 0x1E
121 #define C6DOFIMU5_ACCEL_WOM_X_THR 0x20
122 #define C6DOFIMU5_ACCEL_WOM_Y_THR 0x21
123 #define C6DOFIMU5_ACCEL_WOM_Z_THR 0x22
124 #define C6DOFIMU5_FIFO_EN 0x23
125 #define C6DOFIMU5_INT_PIN_CFG 0x37
126 #define C6DOFIMU5_INT_ENABLE 0x38
127 #define C6DOFIMU5_DMP_INT_STAT 0x39
128 #define C6DOFIMU5_INT_STAT 0x3A
129 #define C6DOFIMU5_ACCEL_XOUT_H 0x3B
130 #define C6DOFIMU5_ACCEL_XOUT_L 0x3C
131 #define C6DOFIMU5_ACCEL_YOUT_H 0x3D
132 #define C6DOFIMU5_ACCEL_YOUT_L 0x3E
133 #define C6DOFIMU5_ACCEL_ZOUT_H 0x3F
134 #define C6DOFIMU5_ACCEL_ZOUT_L 0x40
135 #define C6DOFIMU5_TEMP_OUT_H 0x41
136 #define C6DOFIMU5_TEMP_OUT_L 0x42
137 #define C6DOFIMU5_GYRO_XOUT_H 0x43
138 #define C6DOFIMU5_GYRO_XOUT_L 0x44
139 #define C6DOFIMU5_GYRO_YOUT_H 0x45
140 #define C6DOFIMU5_GYRO_YOUT_L 0x46
141 #define C6DOFIMU5_GYRO_ZOUT_H 0x47
142 #define C6DOFIMU5_GYRO_ZOUT_L 0x48
143 #define C6DOFIMU5_SIGNAL_PATH_RST 0x68
144 #define C6DOFIMU5_ACCEL_INTEL_CTL 0x69
145 #define C6DOFIMU5_USER_CTL 0x6A
146 #define C6DOFIMU5_PWR_MGMT_1 0x6B
147 #define C6DOFIMU5_PWR_MGMT_2 0x6C
148 #define C6DOFIMU5_FIFO_CNT_H 0x72
149 #define C6DOFIMU5_FIFO_CNT_L 0x73
150 #define C6DOFIMU5_FIFO_R_W 0x74
151 #define C6DOFIMU5_WHO_AM_I 0x75
152 #define C6DOFIMU5_XA_OFFS_H 0x77
153 #define C6DOFIMU5_XA_OFFS_L 0x78
154 #define C6DOFIMU5_YA_OFFS_H 0x7A
155 #define C6DOFIMU5_YA_OFFS_L 0x7B
156 #define C6DOFIMU5_ZA_OFFS_H 0x7D
157 #define C6DOFIMU5_ZA_OFFS_L 0x7E
164 #define C6DOFIMU5_CFG_FIFO_MODE 0x40
165 #define C6DOFIMU5_CFG_EXT_SYNC_SET_1 0x08
166 #define C6DOFIMU5_CFG_EXT_SYNC_SET_2 0x10
167 #define C6DOFIMU5_CFG_EXT_SYNC_SET_3 0x18
168 #define C6DOFIMU5_CFG_EXT_SYNC_SET_4 0x20
169 #define C6DOFIMU5_CFG_EXT_SYNC_SET_5 0x28
170 #define C6DOFIMU5_CFG_EXT_SYNC_SET_6 0x30
171 #define C6DOFIMU5_CFG_EXT_SYNC_SET_7 0x38
172 #define C6DOFIMU5_CFG_DLPF_CFG_0 0x00
173 #define C6DOFIMU5_CFG_DLPF_CFG_1 0x01
174 #define C6DOFIMU5_CFG_DLPF_CFG_2 0x02
175 #define C6DOFIMU5_CFG_DLPF_CFG_3 0x03
176 #define C6DOFIMU5_CFG_DLPF_CFG_4 0x04
177 #define C6DOFIMU5_CFG_DLPF_CFG_5 0x05
178 #define C6DOFIMU5_CFG_DLPF_CFG_6 0x06
179 #define C6DOFIMU5_CFG_DLPF_CFG_7 0x07
186 #define C6DOFIMU5_GYRO_CFG_XGYRO_STEN 0x80
187 #define C6DOFIMU5_GYRO_CFG_YGYRO_STEN 0x40
188 #define C6DOFIMU5_GYRO_CFG_ZGYRO_STEN 0x20
189 #define C6DOFIMU5_GYRO_CFG_FS_SEL_2000 0x18
190 #define C6DOFIMU5_GYRO_CFG_FS_SEL_1000 0x10
191 #define C6DOFIMU5_GYRO_CFG_FS_SEL_500 0x08
192 #define C6DOFIMU5_GYRO_CFG_FS_SEL_250 0x00
193 #define C6DOFIMU5_GYRO_CFG_FCHOICE_B_2 0x02
194 #define C6DOFIMU5_GYRO_CFG_FCHOICE_B_1 0x01
195 #define C6DOFIMU5_GYRO_CFG_FCHOICE_B_0 0x00
202 #define C6DOFIMU5_ACCEL_CFG_AX_ST_EN 0x80
203 #define C6DOFIMU5_ACCEL_CFG_AY_ST_EN 0x40
204 #define C6DOFIMU5_ACCEL_CFG_AZ_ST_EN 0x20
205 #define C6DOFIMU5_ACCEL_CFG_FS_SEL_16G 0x18
206 #define C6DOFIMU5_ACCEL_CFG_FS_SEL_8G 0x10
207 #define C6DOFIMU5_ACCEL_CFG_FS_SEL_4G 0x08
208 #define C6DOFIMU5_ACCEL_CFG_FS_SEL_2G 0x00
215 #define C6DOFIMU5_ACCEL2_CFG_FIFO_SIZE_4KB 0x40
216 #define C6DOFIMU5_ACCEL2_CFG_FIFO_SIZE_2KB 0x08
217 #define C6DOFIMU5_ACCEL2_CFG_FIFO_SIZE_1KB 0x10
218 #define C6DOFIMU5_ACCEL2_CFG_FIFO_SIZE_512B 0x18
219 #define C6DOFIMU5_ACCEL2_CFG_DEC2_CFG_32 0x30
220 #define C6DOFIMU5_ACCEL2_CFG_DEC2_CFG_16 0x20
221 #define C6DOFIMU5_ACCEL2_CFG_DEC2_CFG_8 0x10
222 #define C6DOFIMU5_ACCEL2_CFG_DEC2_CFG_4 0x00
223 #define C6DOFIMU5_ACCEL2_CFG_FCHOICE_B 0x00
224 #define C6DOFIMU5_ACCEL2_CFG_A_DLPF_CFG_0 0x00
225 #define C6DOFIMU5_ACCEL2_CFG_A_DLPF_CFG_1 0x01
226 #define C6DOFIMU5_ACCEL2_CFG_A_DLPF_CFG_2 0x02
227 #define C6DOFIMU5_ACCEL2_CFG_A_DLPF_CFG_3 0x03
228 #define C6DOFIMU5_ACCEL2_CFG_A_DLPF_CFG_4 0x04
229 #define C6DOFIMU5_ACCEL2_CFG_A_DLPF_CFG_5 0x05
230 #define C6DOFIMU5_ACCEL2_CFG_A_DLPF_CFG_6 0x06
231 #define C6DOFIMU5_ACCEL2_CFG_A_DLPF_CFG_7 0x07
238 #define C6DOFIMU5_FIFO_EN_TEMP_OUT 0x80
239 #define C6DOFIMU5_FIFO_EN_GYRO_XOUT 0x40
240 #define C6DOFIMU5_FIFO_EN_GYRO_YOUT 0x20
241 #define C6DOFIMU5_FIFO_EN_GYRO_ZOUT 0x10
242 #define C6DOFIMU5_FIFO_EN_ACCEL_XYZ_OUT 0x08
249 #define C6DOFIMU5_INT_PIN_CFG_ACTL 0x80
250 #define C6DOFIMU5_INT_PIN_CFG_OPEN 0x40
251 #define C6DOFIMU5_INT_PIN_CFG_LATCH_INT_EN 0x20
252 #define C6DOFIMU5_INT_PIN_CFG_INT_ANYRD_2CLR 0x10
253 #define C6DOFIMU5_INT_PIN_CFG_ACTL_FSYNC 0x08
254 #define C6DOFIMU5_INT_PIN_CFG_FSYNC_INT_MODE_EN 0x04
255 #define C6DOFIMU5_INT_PIN_CFG_BYPASS_EN 0x02
262 #define C6DOFIMU5_INT_ENABLE_WOM_X_INT_EN 0x80
263 #define C6DOFIMU5_INT_ENABLE_WOM_Y_INT_EN 0x40
264 #define C6DOFIMU5_INT_ENABLE_WOM_Z_INT_EN 0x20
265 #define C6DOFIMU5_INT_ENABLE_FIFO_OVF_EN 0x10
266 #define C6DOFIMU5_INT_ENABLE_GDRIVE_RDY_EN 0x04
267 #define C6DOFIMU5_INT_ENABLE_DMP_INT_EN 0x02
268 #define C6DOFIMU5_INT_ENABLE_RAW_RDY_EN 0x01
275 #define C6DOFIMU5_INT_STAT_WOM_X_INT 0x80
276 #define C6DOFIMU5_INT_STAT_WOM_Y_INT 0x40
277 #define C6DOFIMU5_INT_STAT_WOM_Z_INT 0x20
278 #define C6DOFIMU5_INT_STAT_FIFO_OVF_INT 0x10
279 #define C6DOFIMU5_INT_STAT_GDRIVE_RDY_INT 0x04
280 #define C6DOFIMU5_INT_STAT_DMP_INT 0x02
281 #define C6DOFIMU5_INT_STAT_RAW_RDY_INT 0x01
288 #define C6DOFIMU5_SIGNAL_PATH_RST_GYRO_RST 0x80
289 #define C6DOFIMU5_SIGNAL_PATH_RST_ACCEL_RST 0x40
290 #define C6DOFIMU5_SIGNAL_PATH_RST_TEMP_RST 0x20
297 #define C6DOFIMU5_ACCEL_INTEL_CTL_INTEL_EN 0x80
298 #define C6DOFIMU5_ACCEL_INTEL_CTL_INTEL_MODE_PREV_SAMP 0x40
299 #define C6DOFIMU5_ACCEL_INTEL_CTL_INTEL_MODE_FIRST_SAMP 0x00
306 #define C6DOFIMU5_USER_CTL_DMP_EN 0x80
307 #define C6DOFIMU5_USER_CTL_FIFO_EN 0x40
308 #define C6DOFIMU5_USER_CTL_I2C_IF_DIS 0x10
309 #define C6DOFIMU5_USER_CTL_DMP_RST 0x08
310 #define C6DOFIMU5_USER_CTL_FIFO_RST 0x04
311 #define C6DOFIMU5_USER_CTL_SIG_COND_RST 0x01
318 #define C6DOFIMU5_PWR_MGMT_1_DEV_RST 0x80
319 #define C6DOFIMU5_PWR_MGMT_1_SLEEP 0x40
320 #define C6DOFIMU5_PWR_MGMT_1_ACCEL_CYC 0x20
321 #define C6DOFIMU5_PWR_MGMT_1_GYRO_STDBY 0x10
322 #define C6DOFIMU5_PWR_MGMT_1_TEMP_DIS 0x08
323 #define C6DOFIMU5_PWR_MGMT_1_CLKSEL_7 0x07
324 #define C6DOFIMU5_PWR_MGMT_1_CLKSEL_6 0x06
325 #define C6DOFIMU5_PWR_MGMT_1_CLKSEL_5 0x05
326 #define C6DOFIMU5_PWR_MGMT_1_CLKSEL_4 0x04
327 #define C6DOFIMU5_PWR_MGMT_1_CLKSEL_3 0x03
328 #define C6DOFIMU5_PWR_MGMT_1_CLKSEL_2 0x02
329 #define C6DOFIMU5_PWR_MGMT_1_CLKSEL_1 0x01
330 #define C6DOFIMU5_PWR_MGMT_1_CLKSEL_0 0x00
337 #define C6DOFIMU5_PWR_MGMT_2_LP_DIS 0x80
338 #define C6DOFIMU5_PWR_MGMT_2_DMP_LP_DIS 0x40
339 #define C6DOFIMU5_PWR_MGMT_2_DISABLE_XA 0x20
340 #define C6DOFIMU5_PWR_MGMT_2_DISABLE_YA 0x10
341 #define C6DOFIMU5_PWR_MGMT_2_DISABLE_ZA 0x08
342 #define C6DOFIMU5_PWR_MGMT_2_DISABLE_XG 0x04
343 #define C6DOFIMU5_PWR_MGMT_2_DISABLE_YG 0x02
344 #define C6DOFIMU5_PWR_MGMT_2_DISABLE_ZG 0x01
351 #define C6DOFIMU5_WHO_AM_I_VAL 0x03
358 #define C6DOFIMU5_MEAS_CMD_LP_TRANS_T_FIRST 0x609C
359 #define C6DOFIMU5_MEAS_CMD_N_TRANS_T_FIRST 0x6825
360 #define C6DOFIMU5_MEAS_CMD_LN_TRANS_T_FIRST 0x70DF
361 #define C6DOFIMU5_MEAS_CMD_ULN_TRANS_T_FIRST 0x7866
362 #define C6DOFIMU5_MEAS_CMD_LP_TRANS_P_FIRST 0x401A
363 #define C6DOFIMU5_MEAS_CMD_N_TRANS_P_FIRST 0x48A3
364 #define C6DOFIMU5_MEAS_CMD_LN_TRANS_P_FIRST 0x5059
365 #define C6DOFIMU5_MEAS_CMD_ULN_TRANS_P_FIRST 0x58E0
366 #define C6DOFIMU5_DEVICE_SOFT_RESET_CMD 0x805D
367 #define C6DOFIMU5_READ_ID_REGISTER 0xEFC8
368 #define C6DOFIMU5_INCREMENTAL_READ 0xC7F7
369 #define C6DOFIMU5_ADR_REG_MOVE_POINTER 0xC595
376 #define C6DOFIMU5_POWER_ON 0x01
377 #define C6DOFIMU5_POWER_OFF 0x00
384 #define C6DOFIMU5_GYRO_SENS_FS_SEL_2000 16.4
385 #define C6DOFIMU5_GYRO_SENS_FS_SEL_1000 32.8
386 #define C6DOFIMU5_GYRO_SENS_FS_SEL_500 65.5
387 #define C6DOFIMU5_GYRO_SENS_FS_SEL_250 131.0
388 #define C6DOFIMU5_ACCEL_SENS_FS_SEL_16G 2048.0
389 #define C6DOFIMU5_ACCEL_SENS_FS_SEL_8G 4096.0
390 #define C6DOFIMU5_ACCEL_SENS_FS_SEL_4G 8192.0
391 #define C6DOFIMU5_ACCEL_SENS_FS_SEL_2G 16384.0
398 #define C6DOFIMU5_LUT_LOWER 3670016.0
399 #define C6DOFIMU5_LUT_UPPER 12058624.0
400 #define C6DOFIMU5_QUADR_FACTOR 0.000000059604644775390625
401 #define C6DOFIMU5_OFFST_FACTOR 2048.0
402 #define C6DOFIMU5_P_PA_CALIB_0 45000.0
403 #define C6DOFIMU5_P_PA_CALIB_1 80000.0
404 #define C6DOFIMU5_P_PA_CALIB_2 105000.0
752 #endif // _C6DOFIMU5_H_
pin_name_t chip_select
Definition: c6dofimu5.h:440
void c6dofimu5_power(c6dofimu5_t *ctx, uint8_t on_off)
Power up function.
spi_master_chip_select_polarity_t cs_polarity
Definition: c6dofimu5.h:474
void c6dofimu5_baro_read(c6dofimu5_t *ctx, uint16_t cmd, uint8_t *data_out, uint16_t n_bytes)
Barometer Read function.
Click ctx object definition.
Definition: c6dofimu5.h:426
int16_t c6dofimu5_read_gyro_z(c6dofimu5_t *ctx)
Read Gyroscope Z-axis data function.
void c6dofimu5_read_raw_data(c6dofimu5_t *ctx, uint32_t *pres, uint16_t *temp)
Read raw data function.
spi_master_mode_t spi_mode
Definition: c6dofimu5.h:473
void c6dofimu5_baro_write(c6dofimu5_t *ctx, uint8_t *data_in, uint16_t n_bytes)
Barometer Write function.
float temperature
Definition: c6dofimu5.h:419
i2c_master_t i2c
Definition: c6dofimu5.h:434
pin_name_t mosi
Definition: c6dofimu5.h:459
void c6dofimu5_read_bytes(c6dofimu5_t *ctx, uint8_t reg, uint8_t *rd_data, uint16_t n_bytes)
Generic read function.
int16_t c6dofimu5_read_gyro_x(c6dofimu5_t *ctx)
Read Gyroscope X-axis data function.
Definition: c6dofimu5.h:415
uint32_t i2c_speed
Definition: c6dofimu5.h:469
float c6dofimu5_read_temp_out(c6dofimu5_t *ctx)
Read temperture function.
void c6dofimu5_default_cfg(c6dofimu5_t *ctx)
Click Default Configuration function.
float sens_const_1
Definition: c6dofimu5.h:443
void c6dofimu5_angular_rate(c6dofimu5_t *ctx, float *x_ang_rte, float *y_ang_rte, float *z_ang_rte)
Read Angular Rate function.
void c6dofimu5_read_accelerometer(c6dofimu5_t *ctx, int16_t *accel_x, int16_t *accel_y, int16_t *accel_z)
Read accelerometer data function.
void c6dofimu5_write_bytes(c6dofimu5_t *ctx, uint8_t reg, uint8_t *wr_data, uint16_t n_bytes)
Generic write function.
float sens_const_2
Definition: c6dofimu5.h:444
Click configuration structure definition.
Definition: c6dofimu5.h:453
void c6dofimu5_process_data(c6dofimu5_t *ctx, c6dofimu5_process_data_t *process_d)
Process data function.
float pressure
Definition: c6dofimu5.h:418
void c6dofimu5_baro_soft_rst(c6dofimu5_t *ctx)
Soft Reset Command function.
uint16_t t_raw
Definition: c6dofimu5.h:417
pin_name_t cs
Definition: c6dofimu5.h:461
uint32_t spi_speed
Definition: c6dofimu5.h:472
uint8_t c6dofimu5_baro_id_read(c6dofimu5_t *ctx)
Barometer ID Readout function.
int16_t c6dofimu5_read_accel_x(c6dofimu5_t *ctx)
Read Accelerometer X-axis data function.
pin_name_t sda
Definition: c6dofimu5.h:457
uint8_t i2c_address
Definition: c6dofimu5.h:470
uint32_t p_raw
Definition: c6dofimu5.h:416
void c6dofimu5_baro_settings(c6dofimu5_t *ctx)
I2C Barometer Settings function.
void c6dofimu5_cfg_setup(c6dofimu5_cfg_t *cfg)
Config Object Initialization function.
spi_master_t spi
Definition: c6dofimu5.h:435
pin_name_t scl
Definition: c6dofimu5.h:456
pin_name_t sck
Definition: c6dofimu5.h:460
int16_t c6dofimu5_read_accel_y(c6dofimu5_t *ctx)
Read Accelerometer Y-axis data function.
pin_name_t miso
Definition: c6dofimu5.h:458
int16_t c6dofimu5_read_gyro_y(c6dofimu5_t *ctx)
Read Gyroscope Y-axis data function.
float sens_const_0
Definition: c6dofimu5.h:442
int16_t c6dofimu5_read_accel_z(c6dofimu5_t *ctx)
Read Accelerometer Z-axis data function.
void c6dofimu5_read_gyroscope(c6dofimu5_t *ctx, int16_t *gyro_x, int16_t *gyro_y, int16_t *gyro_z)
Read gyroscope data function.
uint8_t slave_address
Definition: c6dofimu5.h:439
digital_in_t int_pin
Definition: c6dofimu5.h:430
#define C6DOFIMU5_RETVAL
Definition: c6dofimu5.h:78
digital_out_t cs
Definition: c6dofimu5.h:429
float sens_const_3
Definition: c6dofimu5.h:445
void c6dofimu5_acceleration_rate(c6dofimu5_t *ctx, float *x_accel_rte, float *y_accel_rte, float *z_accel_rte)
Read acceleration Rate function.
struct c6dofimu5_s c6dofimu5_t
Click ctx object definition.
C6DOFIMU5_RETVAL c6dofimu5_init(c6dofimu5_t *ctx, c6dofimu5_cfg_t *cfg)
Initialization function.
pin_name_t int_pin
Definition: c6dofimu5.h:465
uint8_t c6dofimu5_check_int_pin(c6dofimu5_t *ctx)
Check Interrupt state function.