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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 C9DOF3_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.cs1 = MIKROBUS( mikrobus, MIKROBUS_CS ); \
71 cfg.cs2 = MIKROBUS( mikrobus, MIKROBUS_RST ); \
72 cfg.cs3 = MIKROBUS( mikrobus, MIKROBUS_PWM ); \
73 cfg.int_pin = MIKROBUS( mikrobus, MIKROBUS_INT )
80 #define C9DOF3_MASTER_I2C 0
81 #define C9DOF3_MASTER_SPI 1
88 #define C9DOF3_RETVAL uint8_t
95 #define C9DOF3_ACC_I2C_SLAVE_ADDRESS 0x18
96 #define C9DOF3_GYRO_I2C_SLAVE_ADDRESS 0x68
97 #define C9DOF3_MAG_I2C_SLAVE_ADDRESS 0x10
104 #define C9DOF3_ACC_DEVICE 0xFA
105 #define C9DOF3_GYRO_DEVICE 0x0F
106 #define C9DOF3_MAG_DEVICE 0x32
113 #define C9DOF3_INITIATED_SOFT_RESET 0xB6
120 #define C9DOF3_REG_ACC_WHO_AM_I 0x00
121 #define C9DOF3_REG_ACC_DATA_START 0x02
122 #define C9DOF3_REG_ACC_D_X_LSB 0x02
123 #define C9DOF3_REG_ACC_D_X_MSB 0x03
124 #define C9DOF3_REG_ACC_D_Y_LSB 0x04
125 #define C9DOF3_REG_ACC_D_Y_MSB 0x05
126 #define C9DOF3_REG_ACC_D_Z_LSB 0x06
127 #define C9DOF3_REG_ACC_D_Z_MSB 0x07
128 #define C9DOF3_REG_ACC_D_TEMP 0x08
129 #define C9DOF3_REG_ACC_INT_STATUS_0 0x09
130 #define C9DOF3_REG_ACC_INT_STATUS_1 0x0A
131 #define C9DOF3_REG_ACC_INT_STATUS_2 0x0B
132 #define C9DOF3_REG_ACC_INT_STATUS_3 0x0C
133 #define C9DOF3_REG_ACC_FIFO_STATUS 0x0E
134 #define C9DOF3_REG_ACC_PMU_RANGE 0x0F
135 #define C9DOF3_REG_ACC_PMU_BW 0x10
136 #define C9DOF3_REG_ACC_PMU_LPW 0x11
137 #define C9DOF3_REG_ACC_PMU_LOW_POWER 0x12
138 #define C9DOF3_REG_ACC_D_HBW 0x13
139 #define C9DOF3_REG_ACC_BGW_SOFTRESET 0x14
140 #define C9DOF3_REG_ACC_INT_EN_0 0x16
141 #define C9DOF3_REG_ACC_INT_EN_1 0x17
142 #define C9DOF3_REG_ACC_INT_EN_2 0x18
143 #define C9DOF3_REG_ACC_INT_MAP_0 0x19
144 #define C9DOF3_REG_ACC_INT_MAP_1 0x1A
145 #define C9DOF3_REG_ACC_INT_MAP_2 0x1B
146 #define C9DOF3_REG_ACC_INT_SRC 0x1E
147 #define C9DOF3_REG_ACC_INT_OUT_CTRL 0x20
148 #define C9DOF3_REG_ACC_INT_RST_LATCH 0x21
149 #define C9DOF3_REG_ACC_INT_0 0x22
150 #define C9DOF3_REG_ACC_INT_1 0x23
151 #define C9DOF3_REG_ACC_INT_2 0x24
152 #define C9DOF3_REG_ACC_INT_3 0x25
153 #define C9DOF3_REG_ACC_INT_4 0x26
154 #define C9DOF3_REG_ACC_INT_5 0x27
155 #define C9DOF3_REG_ACC_INT_6 0x28
156 #define C9DOF3_REG_ACC_INT_7 0x29
157 #define C9DOF3_REG_ACC_INT_8 0x2A
158 #define C9DOF3_REG_ACC_INT_9 0x2B
159 #define C9DOF3_REG_ACC_INT_A 0x2C
160 #define C9DOF3_REG_ACC_INT_B 0x2D
161 #define C9DOF3_REG_ACC_INT_C 0x2E
162 #define C9DOF3_REG_ACC_INT_D 0x2F
163 #define C9DOF3_REG_ACC_FIFO_CONFIG_0 0x30
164 #define C9DOF3_REG_ACC_PMU_SELF_TEST 0x32
165 #define C9DOF3_REG_ACC_TRIM_NVM_CTRL 0x33
166 #define C9DOF3_REG_ACC_BGW_SPI3_WDT 0x34
167 #define C9DOF3_REG_ACC_OFC_CTRL 0x36
168 #define C9DOF3_REG_ACC_OFC_SETTING 0x37
169 #define C9DOF3_REG_ACC_OFC_OFFSET_X 0x38
170 #define C9DOF3_REG_ACC_OFC_OFFSET_Y 0x39
171 #define C9DOF3_REG_ACC_OFC_OFFSET_Z 0x3A
172 #define C9DOF3_REG_ACC_TRIM_GPO 0x3B
173 #define C9DOF3_REG_ACC_TRIM_GP1 0x3C
174 #define C9DOF3_REG_ACC_FIFO_CONFIG_1 0x3E
175 #define C9DOF3_REG_ACC_FIFO_DATA 0x3F
182 #define C9DOF3_REG_GYRO_WHO_AM_I 0x00
183 #define C9DOF3_REG_GYRO_DATA_START 0x02
184 #define C9DOF3_REG_GYRO_RATE_X_LSB 0x02
185 #define C9DOF3_REG_GYRO_RATE_X_MSB 0x03
186 #define C9DOF3_REG_GYRO_RATE_Y_LSB 0x04
187 #define C9DOF3_REG_GYRO_RATE_Y_MSB 0x05
188 #define C9DOF3_REG_GYRO_RATE_Z_LSB 0x06
189 #define C9DOF3_REG_GYRO_RATE_Z_MSB 0x07
190 #define C9DOF3_REG_GYRO_INT_STATUS_0 0x09
191 #define C9DOF3_REG_GYRO_INT_STATUS_1 0x0A
192 #define C9DOF3_REG_GYRO_INT_STATUS_2 0x0B
193 #define C9DOF3_REG_GYRO_INT_STATUS_3 0x0C
194 #define C9DOF3_REG_GYRO_FIFO_STATUS 0x0E
195 #define C9DOF3_REG_GYRO_RANGE 0x0F
196 #define C9DOF3_REG_GYRO_BW 0x10
197 #define C9DOF3_REG_GYRO_LPM1 0x11
198 #define C9DOF3_REG_GYRO_LPM2 0x12
199 #define C9DOF3_REG_GYRO_RATE_HBW 0x13
200 #define C9DOF3_REG_GYRO_BGW_SOFTRESET 0x14
201 #define C9DOF3_REG_GYRO_INT_EN_0 0x15
202 #define C9DOF3_REG_GYRO_INT_EN_1 0x16
203 #define C9DOF3_REG_GYRO_INT_MAP_0 0x17
204 #define C9DOF3_REG_GYRO_INT_MAP_1 0x18
205 #define C9DOF3_REG_GYRO_INT_MAP_2 0x19
206 #define C9DOF3_REG_GYRO_INT_SRC_1 0x1A
207 #define C9DOF3_REG_GYRO_INT_SRC_2 0x1B
208 #define C9DOF3_REG_GYRO_INT_SRC_3 0x1C
209 #define C9DOF3_REG_GYRO_FIFO_EN 0x1E
210 #define C9DOF3_REG_GYRO_INT_RST_LATCH 0x21
211 #define C9DOF3_REG_GYRO_HIGH_TH_X 0x22
212 #define C9DOF3_REG_GYRO_HIGH_DUR_X 0x23
213 #define C9DOF3_REG_GYRO_HIGH_TH_Y 0x24
214 #define C9DOF3_REG_GYRO_HIGH_DUR_Y 0x25
215 #define C9DOF3_REG_GYRO_HIGH_TH_Z 0x26
216 #define C9DOF3_REG_GYRO_HIGH_DUR_Z 0x27
217 #define C9DOF3_REG_GYRO_SOC 0x31
218 #define C9DOF3_REG_GYRO_A_FOC 0x32
219 #define C9DOF3_REG_GYRO_TRIM_NVM_CTRL 0x33
220 #define C9DOF3_REG_GYRO_BGW_SPI3_WDT 0x34
221 #define C9DOF3_REG_GYRO_OFC1 0x36
222 #define C9DOF3_REG_GYRO_OFC2 0x37
223 #define C9DOF3_REG_GYRO_OFC3 0x38
224 #define C9DOF3_REG_GYRO_OFC4 0x39
225 #define C9DOF3_REG_GYRO_TRIM_GP0 0x3A
226 #define C9DOF3_REG_GYRO_TRIM_GP1 0x3B
227 #define C9DOF3_REG_GYRO_BIST 0x3C
228 #define C9DOF3_REG_GYRO_FIFO_CONFIG_0 0x3D
229 #define C9DOF3_REG_GYRO_FIFO_CONFIG_1 0x3E
236 #define C9DOF3_REG_MAG_WHO_AM_I 0x40
237 #define C9DOF3_REG_MAG_DATA_START 0x42
238 #define C9DOF3_REG_MAG_XOUT_LSB 0x42
239 #define C9DOF3_REG_MAG_XOUT_MSB 0x43
240 #define C9DOF3_REG_MAG_YOUT_LSB 0x44
241 #define C9DOF3_REG_MAG_YOUT_MSB 0x45
242 #define C9DOF3_REG_MAG_ZOUT_LSB 0x46
243 #define C9DOF3_REG_MAG_ZOUT_MSB 0x47
244 #define C9DOF3_REG_MAG_ROUT_LSB 0x48
245 #define C9DOF3_REG_MAG_ROUT_MSB 0x49
246 #define C9DOF3_REG_MAG_INT_STATUS 0x4A
247 #define C9DOF3_REG_MAG_PWR_CNTL1 0x4B
248 #define C9DOF3_REG_MAG_PWR_CNTL2 0x4C
249 #define C9DOF3_REG_MAG_INT_EN_1 0x4D
250 #define C9DOF3_REG_MAG_INT_EN_2 0x4E
251 #define C9DOF3_REG_MAG_LOW_THS 0x4F
252 #define C9DOF3_REG_MAG_HIGH_THS 0x50
253 #define C9DOF3_REG_MAG_REP_XY 0x51
254 #define C9DOF3_REG_MAG_REP_Z 0x52
261 #define C9DOF3_ACC_RANGE_2 0x03
262 #define C9DOF3_ACC_RANGE_4 0x05
263 #define C9DOF3_ACC_RANGE_8 0x08
264 #define C9DOF3_ACC_RANGE_16 0x0C
271 #define C9DOF3_ACC_PMU_BW_7_81 0x08
272 #define C9DOF3_ACC_PMU_BW_15_63 0x09
273 #define C9DOF3_ACC_PMU_BW_31_25 0x0A
274 #define C9DOF3_ACC_PMU_BW_62_5 0x0B
275 #define C9DOF3_ACC_PMU_BW_125 0x0C
276 #define C9DOF3_ACC_PMU_BW_250 0x0D
277 #define C9DOF3_ACC_PMU_BW_500 0x0E
278 #define C9DOF3_ACC_PMU_BW_1000 0x0F
285 #define C9DOF3_ACC_PMU_LPW_MODE_NOMAL 0x00
286 #define C9DOF3_ACC_PMU_LPW_MODE_DEEP_SUSPEND 0x20
287 #define C9DOF3_ACC_PMU_LPW_MODE_LOW_POWER 0x40
288 #define C9DOF3_ACC_PMU_LPW_MODE_SUSPEND 0x80
295 #define C9DOF3_ACC_PMU_LPW_SLEEP_DUR_0_5MS 0x00
296 #define C9DOF3_ACC_PMU_LPW_SLEEP_DUR_1MS 0x0C
297 #define C9DOF3_ACC_PMU_LPW_SLEEP_DUR_2MS 0x0E
298 #define C9DOF3_ACC_PMU_LPW_SLEEP_DUR_4MS 0x10
299 #define C9DOF3_ACC_PMU_LPW_SLEEP_DUR_6MS 0x12
300 #define C9DOF3_ACC_PMU_LPW_SLEEP_DUR_10MS 0x14
301 #define C9DOF3_ACC_PMU_LPW_SLEEP_DUR_25MS 0x16
302 #define C9DOF3_ACC_PMU_LPW_SLEEP_DUR_50MS 0x18
303 #define C9DOF3_ACC_PMU_LPW_SLEEP_DUR_100MS 0x1A
304 #define C9DOF3_ACC_PMU_LPW_SLEEP_DUR_500MS 0x1C
305 #define C9DOF3_ACC_PMU_LPW_SLEEP_DUR_1S 0x1E
312 #define C9DOF3_GYRO_LPM1_MODE_NOMAL 0x00
313 #define C9DOF3_GYRO_LPM1_MODE_DEEP_SUSPEND 0x01
314 #define C9DOF3_GYRO_LPM1_MODE_SUSPEND 0x10
321 #define C9DOF3_GYRO_RANGE_16_4 0x00
322 #define C9DOF3_GYRO_RANGE_32_8 0x01
323 #define C9DOF3_GYRO_RANGE_65_6 0x02
324 #define C9DOF3_GYRO_RANGE_131_2 0x03
325 #define C9DOF3_GYRO_RANGE_262_4 0x04
332 #define C9DOF3_GYRO_BW_32 0x07
333 #define C9DOF3_GYRO_BW_64 0x06
334 #define C9DOF3_GYRO_BW_12 0x05
335 #define C9DOF3_GYRO_BW_23 0x04
336 #define C9DOF3_GYRO_BW_47 0x03
337 #define C9DOF3_GYRO_BW_116 0x02
338 #define C9DOF3_GYRO_BW_230 0x01
339 #define C9DOF3_GYRO_BW_523 0x00
346 #define C9DOF3_GYRO_LPM1_SLEEP_DUR_2MS 0x00
347 #define C9DOF3_GYRO_LPM1_SLEEP_DUR_4MS 0x01
348 #define C9DOF3_GYRO_LPM1_SLEEP_DUR_5MS 0x02
349 #define C9DOF3_GYRO_LPM1_SLEEP_DUR_8MS 0x03
350 #define C9DOF3_GYRO_LPM1_SLEEP_DUR_10MS 0x04
351 #define C9DOF3_GYRO_LPM1_SLEEP_DUR_15MS 0x05
352 #define C9DOF3_GYRO_LPM1_SLEEP_DUR_18MS 0x06
353 #define C9DOF3_GYRO_LPM1_SLEEP_DUR_20MS 0x07
360 #define C9DOF3_MAG_POW_CTL_SOFT_RESET 0x82
361 #define C9DOF3_MAG_POW_CTL_SLEEP_MODE 0x01
362 #define C9DOF3_MAG_POW_CTL_SUSPEND_MODE 0x00
369 #define C9DOF3_MAG_DATA_RATE_10 0x00
370 #define C9DOF3_MAG_DATA_RATE_2 0x08
371 #define C9DOF3_MAG_DATA_RATE_6 0x10
372 #define C9DOF3_MAG_DATA_RATE_8 0x18
373 #define C9DOF3_MAG_DATA_RATE_15 0x20
374 #define C9DOF3_MAG_DATA_RATE_20 0x28
375 #define C9DOF3_MAG_DATA_RATE_25 0x30
376 #define C9DOF3_MAG_DATA_RATE_30 0x38
383 #define C9DOF3_MAG_XY_REPET_9 0x04
384 #define C9DOF3_MAG_Z_REPET_15 0x0F
391 #define C9DOF3_BIT_MASK_SPI_CMD_WRITE 0x7F
392 #define C9DOF3_BIT_MASK_SPI_CMD_READ 0x80
393 #define C9DOF3_SPI_COMMUNICATION_DUMMY 0x00
400 #define C9DOF3_ID_CHECK_ERROR 0x00
401 #define C9DOF3_ID_CHECK_SUCCESS 0x01
402 #define C9DOF3_ACC_COMM_ERROR 0x00
403 #define C9DOF3_ACC_COMM_SUCCESS 0x04
404 #define C9DOF3_GYRO_COMM_ERROR 0x00
405 #define C9DOF3_GYRO_COMM_SUCCESS 0x02
406 #define C9DOF3_MAG_COMM_ERROR 0x00
407 #define C9DOF3_MAG_COMM_SUCCESS 0x01
414 #define COMMUNICATION_MODE_ACCEL 0x01
415 #define COMMUNICATION_MODE_GYRO 0x02
416 #define COMMUNICATION_MODE_MAG 0x03
423 #define C9DOF3_PIN_STATE_LOW 0x00
424 #define C9DOF3_PIN_STATE_HIGH 0x01
void c9dof3_drv_interface_selection(c9dof3_cfg_t *cfg, c9dof3_drv_t drv_sel)
9DOF 3 driver interface setup function.
uint32_t i2c_speed
Definition: c9dof3.h:505
Click configuration structure definition.
Definition: c9dof3.h:487
@ C9DOF3_DRV_SEL_SPI
Definition: c9dof3.h:440
i2c_master_t i2c
Definition: c9dof3.h:467
pin_name_t sck
Definition: c9dof3.h:494
uint8_t i2c_address
Definition: c9dof3.h:506
void c9dof3_read_gyro_data(c9dof3_t *ctx, c9dof3_gyro_t *gyro_data)
Read Gyro data function.
void c9dof3_read_accel_data(c9dof3_t *ctx, c9dof3_accel_t *accel_data)
Read Accel data function.
@ C9DOF3_OK
Definition: c9dof3.h:546
int16_t x
Definition: c9dof3.h:526
c9dof3_master_io_t write_f
Definition: c9dof3.h:476
c9dof3_drv_t drv_sel
Definition: c9dof3.h:512
c9dof3_drv_t
9DOF 3 Click driver selector.
Definition: c9dof3.h:439
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.
@ C9DOF3_ERROR
Definition: c9dof3.h:547
c9dof3_gyro_t gyro_data
Definition: main.c:39
spi_master_t spi
Definition: c9dof3.h:468
pin_name_t int_pin
Definition: c9dof3.h:501
uint8_t c9dof3_check_communication(c9dof3_t *ctx)
Check communication function.
int16_t y
Definition: c9dof3.h:535
void c9dof3_generic_read(c9dof3_t *ctx, uint8_t reg, uint8_t *data_buf, uint8_t len)
Generic read function.
pin_name_t cs3
Definition: c9dof3.h:497
spi_master_mode_t spi_mode
Definition: c9dof3.h:509
int16_t z
Definition: c9dof3.h:536
@ C9DOF3_DRV_SEL_I2C
Definition: c9dof3.h:441
void c9dof3_default_cfg(c9dof3_t *ctx)
Click Default Configuration function.
int16_t z
Definition: c9dof3.h:528
c9dof3_return_value_t
9DOF 3 Click return value data.
Definition: c9dof3.h:545
struct c9dof3_s c9dof3_t
Click ctx object definition.
digital_out_t cs3
Definition: c9dof3.h:459
void(* c9dof3_master_io_t)(struct c9dof3_s *, uint8_t, uint8_t *, uint8_t)
9DOF 3 Click driver interface.
Definition: c9dof3.h:448
pin_name_t mosi
Definition: c9dof3.h:493
int16_t x
Definition: c9dof3.h:534
Click ctx object definition.
Definition: c9dof3.h:454
pin_name_t cs1
Definition: c9dof3.h:495
C9DOF3_RETVAL c9dof3_init(c9dof3_t *ctx, c9dof3_cfg_t *cfg)
Initialization function.
spi_master_chip_select_polarity_t cs_polarity
Definition: c9dof3.h:510
pin_name_t chip_select
Definition: c9dof3.h:473
digital_in_t int_pin
Definition: c9dof3.h:463
digital_out_t cs2
Definition: c9dof3.h:458
pin_name_t scl
Definition: c9dof3.h:490
void c9dof3_generic_write(c9dof3_t *ctx, uint8_t reg, uint8_t *data_buf, uint8_t len)
Generic write function.
void c9dof3_cfg_setup(c9dof3_cfg_t *cfg)
Config Object Initialization function.
int16_t y
Definition: c9dof3.h:527
c9dof3_master_io_t read_f
Definition: c9dof3.h:477
uint32_t spi_speed
Definition: c9dof3.h:508
pin_name_t cs2
Definition: c9dof3.h:496
pin_name_t miso
Definition: c9dof3.h:492
uint8_t slave_address
Definition: c9dof3.h:472
c9dof3_drv_t drv_sel
Definition: c9dof3.h:474
int16_t z
Definition: c9dof3.h:520
void c9dof3_read_mag_data(c9dof3_t *ctx, c9dof3_mag_t *mag_data)
Read Mag data function.
digital_out_t cs1
Definition: c9dof3.h:457
uint8_t c9dof3_check_interrupt(c9dof3_t *ctx)
Check interrupt status function.
pin_name_t sda
Definition: c9dof3.h:491
int16_t x
Definition: c9dof3.h:518
uint8_t sel_mode
Definition: c9dof3.h:479
c9dof3_mag_t mag_data
Definition: main.c:40
#define C9DOF3_RETVAL
Definition: c9dof3.h:88
c9dof3_accel_t accel_data
Definition: main.c:38
int16_t y
Definition: c9dof3.h:519