35#include "drv_digital_out.h"
36#include "drv_digital_in.h"
37#include "drv_i2c_master.h"
59#define C6DOFIMU13_MAG_SELFTEST_RESP 0x0C
60#define C6DOFIMU13_MAG_MORE_INFO_VER 0x0D
61#define C6DOFIMU13_MAG_MORE_INFO 0x0E
62#define C6DOFIMU13_MAG_WHO_I_AM 0x0F
63#define C6DOFIMU13_MAG_OUT_X_LSB 0x10
64#define C6DOFIMU13_MAG_OUT_X_MSB 0x11
65#define C6DOFIMU13_MAG_OUT_Y_LSB 0x12
66#define C6DOFIMU13_MAG_OUT_Y_MSB 0x13
67#define C6DOFIMU13_MAG_OUT_Z_LSB 0x14
68#define C6DOFIMU13_MAG_OUT_Z_MSB 0x15
69#define C6DOFIMU13_MAG_STAT 0x18
70#define C6DOFIMU13_MAG_CTL_1 0x1B
71#define C6DOFIMU13_MAG_CTL_2 0x1C
72#define C6DOFIMU13_MAG_CTL_3 0x1D
73#define C6DOFIMU13_MAG_CTL_4 0x1E
74#define C6DOFIMU13_MAG_OFFS_X_LSB 0x20
75#define C6DOFIMU13_MAG_OFFS_X_MSB 0x21
76#define C6DOFIMU13_MAG_OFFS_Y_LSB 0x22
77#define C6DOFIMU13_MAG_OFFS_Y_MSB 0x23
78#define C6DOFIMU13_MAG_OFFS_Z_LSB 0x24
79#define C6DOFIMU13_MAG_OFFS_Z_MSB 0x25
80#define C6DOFIMU13_MAG_ITHR_L 0x26
81#define C6DOFIMU13_MAG_ITHR_H 0x27
82#define C6DOFIMU13_MAG_TEMP_VAL 0x31
88#define C6DOFIMU13_ACCEL_SR 0x03
89#define C6DOFIMU13_ACCEL_OPSTAT 0x04
90#define C6DOFIMU13_ACCEL_INTEN 0x06
91#define C6DOFIMU13_ACCEL_MODE 0x07
92#define C6DOFIMU13_ACCEL_SRTFR 0x08
93#define C6DOFIMU13_ACCEL_TAPEN 0x09
94#define C6DOFIMU13_ACCEL_TTTRX 0x0A
95#define C6DOFIMU13_ACCEL_TTTRY 0x0B
96#define C6DOFIMU13_ACCEL_TTTRZ 0x0C
97#define C6DOFIMU13_ACCEL_XOUT_EX_L 0x0D
98#define C6DOFIMU13_ACCEL_XOUT_EX_H 0x0E
99#define C6DOFIMU13_ACCEL_YOUT_EX_L 0x0F
100#define C6DOFIMU13_ACCEL_YOUT_EX_H 0x10
101#define C6DOFIMU13_ACCEL_ZOUT_EX_L 0x11
102#define C6DOFIMU13_ACCEL_ZOUT_EX_H 0x12
103#define C6DOFIMU13_ACCEL_OUTCFG 0x20
104#define C6DOFIMU13_ACCEL_XOFFL 0x21
105#define C6DOFIMU13_ACCEL_XOFFH 0x22
106#define C6DOFIMU13_ACCEL_YOFFL 0x23
107#define C6DOFIMU13_ACCEL_YOFFH 0x24
108#define C6DOFIMU13_ACCEL_ZOFFL 0x25
109#define C6DOFIMU13_ACCEL_ZOFFH 0x26
110#define C6DOFIMU13_ACCEL_XGAIN 0x27
111#define C6DOFIMU13_ACCEL_YGAIN 0x28
112#define C6DOFIMU13_ACCEL_ZGAIN 0x29
113#define C6DOFIMU13_ACCEL_PCODE 0x3B
131#define C6DOFIMU13_MAG_STAT_DRDY 0x40
132#define C6DOFIMU13_MAG_STAT_DOR 0x20
138#define C6DOFIMU13_MAG_CTL_1_PC_NORM 0x80
139#define C6DOFIMU13_MAG_CTL_1_PC_STBY 0x00
140#define C6DOFIMU13_MAG_CTL_1_ODR_05 0x00
141#define C6DOFIMU13_MAG_CTL_1_ODR_10 0x08
142#define C6DOFIMU13_MAG_CTL_1_ODR_20 0x10
143#define C6DOFIMU13_MAG_CTL_1_ODR_100 0x18
144#define C6DOFIMU13_MAG_CTL_1_FS_DEF 0x02
145#define C6DOFIMU13_MAG_CTL_1_FS_NORM 0x00
151#define C6DOFIMU13_MAG_CTL_3_SRST_SR 0x80
152#define C6DOFIMU13_MAG_CTL_3_SRST_NOP 0x00
153#define C6DOFIMU13_MAG_CTL_3_FRC_SM 0x40
154#define C6DOFIMU13_MAG_CTL_3_FRC_NOP 0x00
155#define C6DOFIMU13_MAG_CTL_3_STC_EN 0x10
156#define C6DOFIMU13_MAG_CTL_3_STC_NOP 0x00
157#define C6DOFIMU13_MAG_CTL_3_TCS_EN 0x02
158#define C6DOFIMU13_MAG_CTL_3_TCS_NOP 0x00
159#define C6DOFIMU13_MAG_CTL_3_OCL_EN 0x01
160#define C6DOFIMU13_MAG_CTL_3_OCL_NOP 0x00
166#define C6DOFIMU13_MAG_CTL_4_RS_S_14 0x00
167#define C6DOFIMU13_MAG_CTL_4_RS_S_15 0x10
173#define C6DOFIMU13_MAG_SENS 0.15
174#define C6DOFIMU13_MAG_ORIENTATION_COEF -1.0
180#define C6DOFIMU13_MAG_RES_14_BIT 0x00
181#define C6DOFIMU13_MAG_RES_15_BIT 0x01
182#define C6DOFIMU13_MAG_OP_MODE_S_SHOT 0x00
183#define C6DOFIMU13_MAG_OP_MODE_CONT 0x01
184#define C6DOFIMU13_MAG_TEMP_MEAS_OFF 0x00
185#define C6DOFIMU13_MAG_TEMP_MEAS_ON 0x01
191#define C6DOFIMU13_MAG_AXIS_X 0x00
192#define C6DOFIMU13_MAG_AXIS_Y 0x01
193#define C6DOFIMU13_MAG_AXIS_Z 0x02
199#define C6DOFIMU13_ACCEL_SR_TAP_XP 0x01
200#define C6DOFIMU13_ACCEL_SR_TAP_XN 0x02
201#define C6DOFIMU13_ACCEL_SR_TAP_YP 0x04
202#define C6DOFIMU13_ACCEL_SR_TAP_YN 0x08
203#define C6DOFIMU13_ACCEL_SR_TAP_ZP 0x10
204#define C6DOFIMU13_ACCEL_SR_TAP_ZN 0x20
205#define C6DOFIMU13_ACCEL_SR_AC_INT 0x80
211#define C6DOFIMU13_ACCEL_OPSTAT_WAKE 0x01
212#define C6DOFIMU13_ACCEL_OPSTAT_WDT 0x10
213#define C6DOFIMU13_ACCEL_OPSTAT_OTPA 0x80
219#define C6DOFIMU13_ACCEL_INTEN_TIXPEN 0x01
220#define C6DOFIMU13_ACCEL_INTEN_TIXNEN 0x02
221#define C6DOFIMU13_ACCEL_INTEN_TIYPEN 0x04
222#define C6DOFIMU13_ACCEL_INTEN_TIYNEN 0x08
223#define C6DOFIMU13_ACCEL_INTEN_TIZPEN 0x10
224#define C6DOFIMU13_ACCEL_INTEN_TIZNEN 0x20
225#define C6DOFIMU13_ACCEL_INTEN_AC_INT_EN 0x80
231#define C6DOFIMU13_ACCEL_MODE_STDBY 0x00
232#define C6DOFIMU13_ACCEL_MODE_WAKE 0x01
233#define C6DOFIMU13_ACCEL_MODE_WDT_NEG 0x10
234#define C6DOFIMU13_ACCEL_MODE_WDT_POS 0x20
235#define C6DOFIMU13_ACCEL_MODE_IPP 0x40
236#define C6DOFIMU13_ACCEL_MODE_IAH 0x80
242#define C6DOFIMU13_ACCEL_SRTFR_RATE_32 0x00
243#define C6DOFIMU13_ACCEL_SRTFR_RATE_16 0x01
244#define C6DOFIMU13_ACCEL_SRTFR_RATE_8 0x02
245#define C6DOFIMU13_ACCEL_SRTFR_RATE_4 0x03
246#define C6DOFIMU13_ACCEL_SRTFR_RATE_2 0x04
247#define C6DOFIMU13_ACCEL_SRTFR_RATE_1 0x05
248#define C6DOFIMU13_ACCEL_SRTFR_RATE_0_5 0x06
249#define C6DOFIMU13_ACCEL_SRTFR_RATE_0_25 0x07
250#define C6DOFIMU13_ACCEL_SRTFR_RATE_64 0x08
251#define C6DOFIMU13_ACCEL_SRTFR_RATE_128 0x09
252#define C6DOFIMU13_ACCEL_SRTFR_RATE_256 0x0A
253#define C6DOFIMU13_ACCEL_SRTFR_FLIP_TAPX 0x10
254#define C6DOFIMU13_ACCEL_SRTFR_FLIP_TAPY 0x20
255#define C6DOFIMU13_ACCEL_SRTFR_FLIP_TAPZ 0x40
256#define C6DOFIMU13_ACCEL_SRTFR_TAP_LATCH 0x80
262#define C6DOFIMU13_ACCEL_TAPEN_TAPXPEN 0x01
263#define C6DOFIMU13_ACCEL_TAPEN_TAPXNEN 0x02
264#define C6DOFIMU13_ACCEL_TAPEN_TAPYPEN 0x04
265#define C6DOFIMU13_ACCEL_TAPEN_TAPYNEN 0x08
266#define C6DOFIMU13_ACCEL_TAPEN_TAPZPEN 0x10
267#define C6DOFIMU13_ACCEL_TAPEN_TAPZNEN 0x20
268#define C6DOFIMU13_ACCEL_TAPEN_THRDUR 0x40
269#define C6DOFIMU13_ACCEL_TAPEN_TAP_EN 0x80
275#define C6DOFIMU13_ACCEL_OUTCFG_RANGE_2 0x00
276#define C6DOFIMU13_ACCEL_OUTCFG_RANGE_4 0x10
277#define C6DOFIMU13_ACCEL_OUTCFG_RANGE_8 0x20
278#define C6DOFIMU13_ACCEL_OUTCFG_RANGE_16 0x30
279#define C6DOFIMU13_ACCEL_OUTCFG_RES_6 0x00
280#define C6DOFIMU13_ACCEL_OUTCFG_RES_7 0x01
281#define C6DOFIMU13_ACCEL_OUTCFG_RES_8 0x02
282#define C6DOFIMU13_ACCEL_OUTCFG_RES_10 0x03
283#define C6DOFIMU13_ACCEL_OUTCFG_RES_12 0x04
284#define C6DOFIMU13_ACCEL_OUTCFG_RES_14 0x05
290#define C6DOFIMU13_ACCEL_AXIS_X 0x00
291#define C6DOFIMU13_ACCEL_AXIS_Y 0x01
292#define C6DOFIMU13_ACCEL_AXIS_Z 0x02
300#define C6DOFIMU13_DEV_ADDRESS_ACCEL_GND 0x4C
301#define C6DOFIMU13_DEV_ADDRESS_ACCEL_VCC 0x6C
302#define C6DOFIMU13_DEV_ADDRESS_MAG 0x0C
320#define C6DOFIMU13_MAP_MIKROBUS( cfg, mikrobus ) \
321 cfg.scl = MIKROBUS( mikrobus, MIKROBUS_SCL ); \
322 cfg.sda = MIKROBUS( mikrobus, MIKROBUS_SDA ); \
323 cfg.in2 = MIKROBUS( mikrobus, MIKROBUS_AN ); \
324 cfg.in1 = MIKROBUS( mikrobus, MIKROBUS_INT )
c6dofimu13_return_value_t
6DOF IMU 13 Click return value data.
Definition: c6dofimu13.h:375
@ C6DOFIMU13_ERROR
Definition: c6dofimu13.h:377
@ C6DOFIMU13_OK
Definition: c6dofimu13.h:376
err_t c6dofimu13_mag_get_data(c6dofimu13_t *ctx, float *mag_x, float *mag_y, float *mag_z)
6DOF IMU 13 Magnetometer get X, Y, and Z-Axis data function.
err_t c6dofimu13_accel_get_raw_x(c6dofimu13_t *ctx, int16_t *result)
6DOF IMU 13 Accelerometer get RAW X-Axis data function.
err_t c6dofimu13_accel_get_x(c6dofimu13_t *ctx, float *result)
6DOF IMU 13 Accelerometer get X-Axis data function.
err_t c6dofimu13_generic_write(c6dofimu13_t *ctx, uint8_t reg, uint8_t *tx_buf, uint8_t tx_len)
6DOF IMU 13 I2C writing function.
err_t c6dofimu13_accel_get_z(c6dofimu13_t *ctx, float *result)
6DOF IMU 13 Accelerometer get Z-Axis data function.
err_t c6dofimu13_mag_offset(c6dofimu13_t *ctx, int16_t offset, uint8_t axis)
6DOF IMU 13 set magnetometer offset function.
err_t c6dofimu13_mag_get_x(c6dofimu13_t *ctx, float *result)
6DOF IMU 13 Magnetometer get X-Axis data function.
err_t c6dofimu13_init(c6dofimu13_t *ctx, c6dofimu13_cfg_t *cfg)
6DOF IMU 13 initialization function.
void c6dofimu13_cfg_setup(c6dofimu13_cfg_t *cfg)
6DOF IMU 13 configuration object setup function.
err_t c6dofimu13_accel_get_raw_z(c6dofimu13_t *ctx, int16_t *result)
6DOF IMU 13 Accelerometer get RAW Z-Axis data function.
err_t c6dofimu13_default_cfg(c6dofimu13_t *ctx)
6DOF IMU 13 default configuration function.
err_t c6dofimu13_accel_init(c6dofimu13_t *ctx, uint8_t samp_rate, uint8_t samp_range, uint8_t samp_res)
6DOF IMU 13 Accelerometer initialize function.
err_t c6dofimu13_mag_init(c6dofimu13_t *ctx, uint8_t res, uint8_t op_mode, uint8_t temp_meas)
6DOF IMU 13 Magnetometer initialize function.
err_t c6dofimu13_set_slave_address(c6dofimu13_t *ctx, uint8_t slave_address)
6DOF IMU 13 set slave address function.
err_t c6dofimu13_mag_get_y(c6dofimu13_t *ctx, float *result)
6DOF IMU 13 Magnetometer get Y-Axis data function.
err_t c6dofimu13_accel_get_raw_y(c6dofimu13_t *ctx, int16_t *result)
6DOF IMU 13 Accelerometer get RAW Y-Axis data function.
err_t c6dofimu13_generic_read(c6dofimu13_t *ctx, uint8_t reg, uint8_t *rx_buf, uint8_t rx_len)
6DOF IMU 13 I2C reading function.
err_t c6dofimu13_accel_get_data(c6dofimu13_t *ctx, float *accel_x, float *accel_y, float *accel_z)
6DOF IMU 13 Accelerometer get X, Y, and Z-Axis data function.
err_t c6dofimu13_accel_get_y(c6dofimu13_t *ctx, float *result)
6DOF IMU 13 Accelerometer get Y-Axis data function.
err_t c6dofimu13_accel_offset(c6dofimu13_t *ctx, int16_t offset, uint8_t axis)
6DOF IMU 13 set accelerometer offset function.
uint8_t c6dofimu13_get_in2(c6dofimu13_t *ctx)
6DOF IMU 13 get in2 pin state function.
err_t c6dofimu13_mag_get_z(c6dofimu13_t *ctx, float *result)
6DOF IMU 13 Magnetometer get Z-Axis data function.
uint8_t c6dofimu13_get_in1(c6dofimu13_t *ctx)
6DOF IMU 13 get in1 pin state function.
6DOF IMU 13 Click configuration object.
Definition: c6dofimu13.h:358
uint32_t i2c_speed
Definition: c6dofimu13.h:365
pin_name_t in2
Definition: c6dofimu13.h:362
pin_name_t scl
Definition: c6dofimu13.h:359
pin_name_t in1
Definition: c6dofimu13.h:363
pin_name_t sda
Definition: c6dofimu13.h:360
uint8_t i2c_address
Definition: c6dofimu13.h:366
6DOF IMU 13 Click context object.
Definition: c6dofimu13.h:334
digital_in_t in2
Definition: c6dofimu13.h:337
digital_in_t in1
Definition: c6dofimu13.h:338
float calc_coef
Definition: c6dofimu13.h:349
i2c_master_t i2c
Definition: c6dofimu13.h:342
uint8_t slave_address
Definition: c6dofimu13.h:346