38#include "drv_digital_out.h"
39#include "drv_digital_in.h"
40#include "drv_i2c_master.h"
41#include "drv_spi_master.h"
54#define C9DOF3_MAP_MIKROBUS( cfg, mikrobus ) \
55 cfg.scl = MIKROBUS( mikrobus, MIKROBUS_SCL ); \
56 cfg.sda = MIKROBUS( mikrobus, MIKROBUS_SDA ); \
57 cfg.miso = MIKROBUS( mikrobus, MIKROBUS_MISO ); \
58 cfg.mosi = MIKROBUS( mikrobus, MIKROBUS_MOSI ); \
59 cfg.sck = MIKROBUS( mikrobus, MIKROBUS_SCK ); \
60 cfg.cs1 = MIKROBUS( mikrobus, MIKROBUS_CS ); \
61 cfg.cs2 = MIKROBUS( mikrobus, MIKROBUS_RST ); \
62 cfg.cs3 = MIKROBUS( mikrobus, MIKROBUS_PWM ); \
63 cfg.int_pin = MIKROBUS( mikrobus, MIKROBUS_INT )
70#define C9DOF3_MASTER_I2C 0
71#define C9DOF3_MASTER_SPI 1
78#define C9DOF3_RETVAL uint8_t
85#define C9DOF3_ACC_I2C_SLAVE_ADDRESS 0x18
86#define C9DOF3_GYRO_I2C_SLAVE_ADDRESS 0x68
87#define C9DOF3_MAG_I2C_SLAVE_ADDRESS 0x10
94#define C9DOF3_ACC_DEVICE 0xFA
95#define C9DOF3_GYRO_DEVICE 0x0F
96#define C9DOF3_MAG_DEVICE 0x32
103#define C9DOF3_INITIATED_SOFT_RESET 0xB6
110#define C9DOF3_REG_ACC_WHO_AM_I 0x00
111#define C9DOF3_REG_ACC_DATA_START 0x02
112#define C9DOF3_REG_ACC_D_X_LSB 0x02
113#define C9DOF3_REG_ACC_D_X_MSB 0x03
114#define C9DOF3_REG_ACC_D_Y_LSB 0x04
115#define C9DOF3_REG_ACC_D_Y_MSB 0x05
116#define C9DOF3_REG_ACC_D_Z_LSB 0x06
117#define C9DOF3_REG_ACC_D_Z_MSB 0x07
118#define C9DOF3_REG_ACC_D_TEMP 0x08
119#define C9DOF3_REG_ACC_INT_STATUS_0 0x09
120#define C9DOF3_REG_ACC_INT_STATUS_1 0x0A
121#define C9DOF3_REG_ACC_INT_STATUS_2 0x0B
122#define C9DOF3_REG_ACC_INT_STATUS_3 0x0C
123#define C9DOF3_REG_ACC_FIFO_STATUS 0x0E
124#define C9DOF3_REG_ACC_PMU_RANGE 0x0F
125#define C9DOF3_REG_ACC_PMU_BW 0x10
126#define C9DOF3_REG_ACC_PMU_LPW 0x11
127#define C9DOF3_REG_ACC_PMU_LOW_POWER 0x12
128#define C9DOF3_REG_ACC_D_HBW 0x13
129#define C9DOF3_REG_ACC_BGW_SOFTRESET 0x14
130#define C9DOF3_REG_ACC_INT_EN_0 0x16
131#define C9DOF3_REG_ACC_INT_EN_1 0x17
132#define C9DOF3_REG_ACC_INT_EN_2 0x18
133#define C9DOF3_REG_ACC_INT_MAP_0 0x19
134#define C9DOF3_REG_ACC_INT_MAP_1 0x1A
135#define C9DOF3_REG_ACC_INT_MAP_2 0x1B
136#define C9DOF3_REG_ACC_INT_SRC 0x1E
137#define C9DOF3_REG_ACC_INT_OUT_CTRL 0x20
138#define C9DOF3_REG_ACC_INT_RST_LATCH 0x21
139#define C9DOF3_REG_ACC_INT_0 0x22
140#define C9DOF3_REG_ACC_INT_1 0x23
141#define C9DOF3_REG_ACC_INT_2 0x24
142#define C9DOF3_REG_ACC_INT_3 0x25
143#define C9DOF3_REG_ACC_INT_4 0x26
144#define C9DOF3_REG_ACC_INT_5 0x27
145#define C9DOF3_REG_ACC_INT_6 0x28
146#define C9DOF3_REG_ACC_INT_7 0x29
147#define C9DOF3_REG_ACC_INT_8 0x2A
148#define C9DOF3_REG_ACC_INT_9 0x2B
149#define C9DOF3_REG_ACC_INT_A 0x2C
150#define C9DOF3_REG_ACC_INT_B 0x2D
151#define C9DOF3_REG_ACC_INT_C 0x2E
152#define C9DOF3_REG_ACC_INT_D 0x2F
153#define C9DOF3_REG_ACC_FIFO_CONFIG_0 0x30
154#define C9DOF3_REG_ACC_PMU_SELF_TEST 0x32
155#define C9DOF3_REG_ACC_TRIM_NVM_CTRL 0x33
156#define C9DOF3_REG_ACC_BGW_SPI3_WDT 0x34
157#define C9DOF3_REG_ACC_OFC_CTRL 0x36
158#define C9DOF3_REG_ACC_OFC_SETTING 0x37
159#define C9DOF3_REG_ACC_OFC_OFFSET_X 0x38
160#define C9DOF3_REG_ACC_OFC_OFFSET_Y 0x39
161#define C9DOF3_REG_ACC_OFC_OFFSET_Z 0x3A
162#define C9DOF3_REG_ACC_TRIM_GPO 0x3B
163#define C9DOF3_REG_ACC_TRIM_GP1 0x3C
164#define C9DOF3_REG_ACC_FIFO_CONFIG_1 0x3E
165#define C9DOF3_REG_ACC_FIFO_DATA 0x3F
172#define C9DOF3_REG_GYRO_WHO_AM_I 0x00
173#define C9DOF3_REG_GYRO_DATA_START 0x02
174#define C9DOF3_REG_GYRO_RATE_X_LSB 0x02
175#define C9DOF3_REG_GYRO_RATE_X_MSB 0x03
176#define C9DOF3_REG_GYRO_RATE_Y_LSB 0x04
177#define C9DOF3_REG_GYRO_RATE_Y_MSB 0x05
178#define C9DOF3_REG_GYRO_RATE_Z_LSB 0x06
179#define C9DOF3_REG_GYRO_RATE_Z_MSB 0x07
180#define C9DOF3_REG_GYRO_INT_STATUS_0 0x09
181#define C9DOF3_REG_GYRO_INT_STATUS_1 0x0A
182#define C9DOF3_REG_GYRO_INT_STATUS_2 0x0B
183#define C9DOF3_REG_GYRO_INT_STATUS_3 0x0C
184#define C9DOF3_REG_GYRO_FIFO_STATUS 0x0E
185#define C9DOF3_REG_GYRO_RANGE 0x0F
186#define C9DOF3_REG_GYRO_BW 0x10
187#define C9DOF3_REG_GYRO_LPM1 0x11
188#define C9DOF3_REG_GYRO_LPM2 0x12
189#define C9DOF3_REG_GYRO_RATE_HBW 0x13
190#define C9DOF3_REG_GYRO_BGW_SOFTRESET 0x14
191#define C9DOF3_REG_GYRO_INT_EN_0 0x15
192#define C9DOF3_REG_GYRO_INT_EN_1 0x16
193#define C9DOF3_REG_GYRO_INT_MAP_0 0x17
194#define C9DOF3_REG_GYRO_INT_MAP_1 0x18
195#define C9DOF3_REG_GYRO_INT_MAP_2 0x19
196#define C9DOF3_REG_GYRO_INT_SRC_1 0x1A
197#define C9DOF3_REG_GYRO_INT_SRC_2 0x1B
198#define C9DOF3_REG_GYRO_INT_SRC_3 0x1C
199#define C9DOF3_REG_GYRO_FIFO_EN 0x1E
200#define C9DOF3_REG_GYRO_INT_RST_LATCH 0x21
201#define C9DOF3_REG_GYRO_HIGH_TH_X 0x22
202#define C9DOF3_REG_GYRO_HIGH_DUR_X 0x23
203#define C9DOF3_REG_GYRO_HIGH_TH_Y 0x24
204#define C9DOF3_REG_GYRO_HIGH_DUR_Y 0x25
205#define C9DOF3_REG_GYRO_HIGH_TH_Z 0x26
206#define C9DOF3_REG_GYRO_HIGH_DUR_Z 0x27
207#define C9DOF3_REG_GYRO_SOC 0x31
208#define C9DOF3_REG_GYRO_A_FOC 0x32
209#define C9DOF3_REG_GYRO_TRIM_NVM_CTRL 0x33
210#define C9DOF3_REG_GYRO_BGW_SPI3_WDT 0x34
211#define C9DOF3_REG_GYRO_OFC1 0x36
212#define C9DOF3_REG_GYRO_OFC2 0x37
213#define C9DOF3_REG_GYRO_OFC3 0x38
214#define C9DOF3_REG_GYRO_OFC4 0x39
215#define C9DOF3_REG_GYRO_TRIM_GP0 0x3A
216#define C9DOF3_REG_GYRO_TRIM_GP1 0x3B
217#define C9DOF3_REG_GYRO_BIST 0x3C
218#define C9DOF3_REG_GYRO_FIFO_CONFIG_0 0x3D
219#define C9DOF3_REG_GYRO_FIFO_CONFIG_1 0x3E
226#define C9DOF3_REG_MAG_WHO_AM_I 0x40
227#define C9DOF3_REG_MAG_DATA_START 0x42
228#define C9DOF3_REG_MAG_XOUT_LSB 0x42
229#define C9DOF3_REG_MAG_XOUT_MSB 0x43
230#define C9DOF3_REG_MAG_YOUT_LSB 0x44
231#define C9DOF3_REG_MAG_YOUT_MSB 0x45
232#define C9DOF3_REG_MAG_ZOUT_LSB 0x46
233#define C9DOF3_REG_MAG_ZOUT_MSB 0x47
234#define C9DOF3_REG_MAG_ROUT_LSB 0x48
235#define C9DOF3_REG_MAG_ROUT_MSB 0x49
236#define C9DOF3_REG_MAG_INT_STATUS 0x4A
237#define C9DOF3_REG_MAG_PWR_CNTL1 0x4B
238#define C9DOF3_REG_MAG_PWR_CNTL2 0x4C
239#define C9DOF3_REG_MAG_INT_EN_1 0x4D
240#define C9DOF3_REG_MAG_INT_EN_2 0x4E
241#define C9DOF3_REG_MAG_LOW_THS 0x4F
242#define C9DOF3_REG_MAG_HIGH_THS 0x50
243#define C9DOF3_REG_MAG_REP_XY 0x51
244#define C9DOF3_REG_MAG_REP_Z 0x52
251#define C9DOF3_ACC_RANGE_2 0x03
252#define C9DOF3_ACC_RANGE_4 0x05
253#define C9DOF3_ACC_RANGE_8 0x08
254#define C9DOF3_ACC_RANGE_16 0x0C
261#define C9DOF3_ACC_PMU_BW_7_81 0x08
262#define C9DOF3_ACC_PMU_BW_15_63 0x09
263#define C9DOF3_ACC_PMU_BW_31_25 0x0A
264#define C9DOF3_ACC_PMU_BW_62_5 0x0B
265#define C9DOF3_ACC_PMU_BW_125 0x0C
266#define C9DOF3_ACC_PMU_BW_250 0x0D
267#define C9DOF3_ACC_PMU_BW_500 0x0E
268#define C9DOF3_ACC_PMU_BW_1000 0x0F
275#define C9DOF3_ACC_PMU_LPW_MODE_NOMAL 0x00
276#define C9DOF3_ACC_PMU_LPW_MODE_DEEP_SUSPEND 0x20
277#define C9DOF3_ACC_PMU_LPW_MODE_LOW_POWER 0x40
278#define C9DOF3_ACC_PMU_LPW_MODE_SUSPEND 0x80
285#define C9DOF3_ACC_PMU_LPW_SLEEP_DUR_0_5MS 0x00
286#define C9DOF3_ACC_PMU_LPW_SLEEP_DUR_1MS 0x0C
287#define C9DOF3_ACC_PMU_LPW_SLEEP_DUR_2MS 0x0E
288#define C9DOF3_ACC_PMU_LPW_SLEEP_DUR_4MS 0x10
289#define C9DOF3_ACC_PMU_LPW_SLEEP_DUR_6MS 0x12
290#define C9DOF3_ACC_PMU_LPW_SLEEP_DUR_10MS 0x14
291#define C9DOF3_ACC_PMU_LPW_SLEEP_DUR_25MS 0x16
292#define C9DOF3_ACC_PMU_LPW_SLEEP_DUR_50MS 0x18
293#define C9DOF3_ACC_PMU_LPW_SLEEP_DUR_100MS 0x1A
294#define C9DOF3_ACC_PMU_LPW_SLEEP_DUR_500MS 0x1C
295#define C9DOF3_ACC_PMU_LPW_SLEEP_DUR_1S 0x1E
302#define C9DOF3_GYRO_LPM1_MODE_NOMAL 0x00
303#define C9DOF3_GYRO_LPM1_MODE_DEEP_SUSPEND 0x01
304#define C9DOF3_GYRO_LPM1_MODE_SUSPEND 0x10
311#define C9DOF3_GYRO_RANGE_16_4 0x00
312#define C9DOF3_GYRO_RANGE_32_8 0x01
313#define C9DOF3_GYRO_RANGE_65_6 0x02
314#define C9DOF3_GYRO_RANGE_131_2 0x03
315#define C9DOF3_GYRO_RANGE_262_4 0x04
322#define C9DOF3_GYRO_BW_32 0x07
323#define C9DOF3_GYRO_BW_64 0x06
324#define C9DOF3_GYRO_BW_12 0x05
325#define C9DOF3_GYRO_BW_23 0x04
326#define C9DOF3_GYRO_BW_47 0x03
327#define C9DOF3_GYRO_BW_116 0x02
328#define C9DOF3_GYRO_BW_230 0x01
329#define C9DOF3_GYRO_BW_523 0x00
336#define C9DOF3_GYRO_LPM1_SLEEP_DUR_2MS 0x00
337#define C9DOF3_GYRO_LPM1_SLEEP_DUR_4MS 0x01
338#define C9DOF3_GYRO_LPM1_SLEEP_DUR_5MS 0x02
339#define C9DOF3_GYRO_LPM1_SLEEP_DUR_8MS 0x03
340#define C9DOF3_GYRO_LPM1_SLEEP_DUR_10MS 0x04
341#define C9DOF3_GYRO_LPM1_SLEEP_DUR_15MS 0x05
342#define C9DOF3_GYRO_LPM1_SLEEP_DUR_18MS 0x06
343#define C9DOF3_GYRO_LPM1_SLEEP_DUR_20MS 0x07
350#define C9DOF3_MAG_POW_CTL_SOFT_RESET 0x82
351#define C9DOF3_MAG_POW_CTL_SLEEP_MODE 0x01
352#define C9DOF3_MAG_POW_CTL_SUSPEND_MODE 0x00
359#define C9DOF3_MAG_DATA_RATE_10 0x00
360#define C9DOF3_MAG_DATA_RATE_2 0x08
361#define C9DOF3_MAG_DATA_RATE_6 0x10
362#define C9DOF3_MAG_DATA_RATE_8 0x18
363#define C9DOF3_MAG_DATA_RATE_15 0x20
364#define C9DOF3_MAG_DATA_RATE_20 0x28
365#define C9DOF3_MAG_DATA_RATE_25 0x30
366#define C9DOF3_MAG_DATA_RATE_30 0x38
373#define C9DOF3_MAG_XY_REPET_9 0x04
374#define C9DOF3_MAG_Z_REPET_15 0x0F
381#define C9DOF3_BIT_MASK_SPI_CMD_WRITE 0x7F
382#define C9DOF3_BIT_MASK_SPI_CMD_READ 0x80
383#define C9DOF3_SPI_COMMUNICATION_DUMMY 0x00
390#define C9DOF3_ID_CHECK_ERROR 0x00
391#define C9DOF3_ID_CHECK_SUCCESS 0x01
392#define C9DOF3_ACC_COMM_ERROR 0x00
393#define C9DOF3_ACC_COMM_SUCCESS 0x04
394#define C9DOF3_GYRO_COMM_ERROR 0x00
395#define C9DOF3_GYRO_COMM_SUCCESS 0x02
396#define C9DOF3_MAG_COMM_ERROR 0x00
397#define C9DOF3_MAG_COMM_SUCCESS 0x01
404#define COMMUNICATION_MODE_ACCEL 0x01
405#define COMMUNICATION_MODE_GYRO 0x02
406#define COMMUNICATION_MODE_MAG 0x03
413#define C9DOF3_PIN_STATE_LOW 0x00
414#define C9DOF3_PIN_STATE_HIGH 0x01
#define C9DOF3_RETVAL
Definition: c9dof3.h:78
void c9dof3_generic_read(c9dof3_t *ctx, uint8_t reg, uint8_t *data_buf, uint8_t len)
Generic read function.
void c9dof3_read_mag_data(c9dof3_t *ctx, c9dof3_mag_t *mag_data)
Read Mag data function.
void c9dof3_cfg_setup(c9dof3_cfg_t *cfg)
Config Object Initialization function.
void c9dof3_drv_interface_selection(c9dof3_cfg_t *cfg, c9dof3_drv_t drv_sel)
9DOF 3 driver interface setup function.
uint8_t c9dof3_check_interrupt(c9dof3_t *ctx)
Check interrupt status function.
void c9dof3_read_gyro_data(c9dof3_t *ctx, c9dof3_gyro_t *gyro_data)
Read Gyro data function.
void c9dof3_generic_write(c9dof3_t *ctx, uint8_t reg, uint8_t *data_buf, uint8_t len)
Generic write function.
void c9dof3_default_cfg(c9dof3_t *ctx)
Click Default Configuration function.
void c9dof3_get_data(c9dof3_t *ctx, c9dof3_accel_t *accel_data, c9dof3_gyro_t *gyro_data, c9dof3_mag_t *mag_data)
Read Accel, Gyro and Mag data function.
uint8_t c9dof3_check_communication(c9dof3_t *ctx)
Check communication function.
void c9dof3_read_accel_data(c9dof3_t *ctx, c9dof3_accel_t *accel_data)
Read Accel data function.
C9DOF3_RETVAL c9dof3_init(c9dof3_t *ctx, c9dof3_cfg_t *cfg)
Initialization function.
void(* c9dof3_master_io_t)(struct c9dof3_s *, uint8_t, uint8_t *, uint8_t)
9DOF 3 Click driver interface.
Definition: c9dof3.h:438
c9dof3_return_value_t
9DOF 3 Click return value data.
Definition: c9dof3.h:535
struct c9dof3_s c9dof3_t
Click ctx object definition.
c9dof3_drv_t
9DOF 3 Click driver selector.
Definition: c9dof3.h:429
@ C9DOF3_OK
Definition: c9dof3.h:536
@ C9DOF3_ERROR
Definition: c9dof3.h:537
@ C9DOF3_DRV_SEL_SPI
Definition: c9dof3.h:430
@ C9DOF3_DRV_SEL_I2C
Definition: c9dof3.h:431
c9dof3_gyro_t gyro_data
Definition: main.c:39
c9dof3_mag_t mag_data
Definition: main.c:40
c9dof3_accel_t accel_data
Definition: main.c:38
int16_t z
Definition: c9dof3.h:510
int16_t x
Definition: c9dof3.h:508
int16_t y
Definition: c9dof3.h:509
Click configuration structure definition.
Definition: c9dof3.h:477
pin_name_t cs1
Definition: c9dof3.h:485
pin_name_t cs2
Definition: c9dof3.h:486
uint32_t i2c_speed
Definition: c9dof3.h:495
spi_master_chip_select_polarity_t cs_polarity
Definition: c9dof3.h:500
pin_name_t cs3
Definition: c9dof3.h:487
pin_name_t sck
Definition: c9dof3.h:484
spi_master_mode_t spi_mode
Definition: c9dof3.h:499
pin_name_t mosi
Definition: c9dof3.h:483
uint32_t spi_speed
Definition: c9dof3.h:498
pin_name_t scl
Definition: c9dof3.h:480
pin_name_t int_pin
Definition: c9dof3.h:491
c9dof3_drv_t drv_sel
Definition: c9dof3.h:502
pin_name_t miso
Definition: c9dof3.h:482
pin_name_t sda
Definition: c9dof3.h:481
uint8_t i2c_address
Definition: c9dof3.h:496
int16_t z
Definition: c9dof3.h:518
int16_t x
Definition: c9dof3.h:516
int16_t y
Definition: c9dof3.h:517
int16_t z
Definition: c9dof3.h:526
int16_t x
Definition: c9dof3.h:524
int16_t y
Definition: c9dof3.h:525
Click ctx object definition.
Definition: c9dof3.h:444
spi_master_t spi
Definition: c9dof3.h:458
c9dof3_master_io_t write_f
Definition: c9dof3.h:466
digital_out_t cs3
Definition: c9dof3.h:449
digital_in_t int_pin
Definition: c9dof3.h:453
i2c_master_t i2c
Definition: c9dof3.h:457
uint8_t sel_mode
Definition: c9dof3.h:469
digital_out_t cs1
Definition: c9dof3.h:447
uint8_t slave_address
Definition: c9dof3.h:462
digital_out_t cs2
Definition: c9dof3.h:448
c9dof3_drv_t drv_sel
Definition: c9dof3.h:464
pin_name_t chip_select
Definition: c9dof3.h:463
c9dof3_master_io_t read_f
Definition: c9dof3.h:467