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35 #include "drv_digital_out.h"
36 #include "drv_digital_in.h"
37 #include "drv_i2c_master.h"
38 #include "drv_spi_master.h"
62 #define C6DOFIMU17_REG_DEVICE_CONFIG 0x11
63 #define C6DOFIMU17_REG_DRIVE_CONFIG 0x13
64 #define C6DOFIMU17_REG_INT_CONFIG 0x14
65 #define C6DOFIMU17_REG_FIFO_CONFIG 0x16
66 #define C6DOFIMU17_REG_TEMP_DATA1_UI 0x1D
67 #define C6DOFIMU17_REG_TEMP_DATA0_UI 0x1E
68 #define C6DOFIMU17_REG_ACCEL_DATA_X1_UI 0x1F
69 #define C6DOFIMU17_REG_ACCEL_DATA_X0_UI 0x20
70 #define C6DOFIMU17_REG_ACCEL_DATA_Y1_UI 0x21
71 #define C6DOFIMU17_REG_ACCEL_DATA_Y0_UI 0x22
72 #define C6DOFIMU17_REG_ACCEL_DATA_Z1_UI 0x23
73 #define C6DOFIMU17_REG_ACCEL_DATA_Z0_UI 0x24
74 #define C6DOFIMU17_REG_GYRO_DATA_X1_UI 0x25
75 #define C6DOFIMU17_REG_GYRO_DATA_X0_UI 0x26
76 #define C6DOFIMU17_REG_GYRO_DATA_Y1_UI 0x27
77 #define C6DOFIMU17_REG_GYRO_DATA_Y0_UI 0x28
78 #define C6DOFIMU17_REG_GYRO_DATA_Z1_UI 0x29
79 #define C6DOFIMU17_REG_GYRO_DATA_Z0_UI 0x2A
80 #define C6DOFIMU17_REG_TMST_FSYNCH 0x2B
81 #define C6DOFIMU17_REG_TMST_FSYNCL 0x2C
82 #define C6DOFIMU17_REG_INT_STATUS 0x2D
83 #define C6DOFIMU17_REG_FIFO_COUNTH 0x2E
84 #define C6DOFIMU17_REG_FIFO_COUNTL 0x2F
85 #define C6DOFIMU17_REG_FIFO_DATA 0x30
86 #define C6DOFIMU17_REG_APEX_DATA0 0x31
87 #define C6DOFIMU17_REG_APEX_DATA1 0x32
88 #define C6DOFIMU17_REG_APEX_DATA2 0x33
89 #define C6DOFIMU17_REG_APEX_DATA3 0x34
90 #define C6DOFIMU17_REG_APEX_DATA4 0x35
91 #define C6DOFIMU17_REG_APEX_DATA5 0x36
92 #define C6DOFIMU17_REG_INT_STATUS2 0x37
93 #define C6DOFIMU17_REG_INT_STATUS3 0x38
94 #define C6DOFIMU17_REG_SIGNAL_PATH_RESET 0x4B
95 #define C6DOFIMU17_REG_INTF_CONFIG0 0x4C
96 #define C6DOFIMU17_REG_INTF_CONFIG1 0x4D
97 #define C6DOFIMU17_REG_PWR_MGMT0 0x4E
98 #define C6DOFIMU17_REG_GYRO_CONFIG0 0x4F
99 #define C6DOFIMU17_REG_ACCEL_CONFIG0 0x50
100 #define C6DOFIMU17_REG_GYRO_CONFIG1 0x51
101 #define C6DOFIMU17_REG_GYRO_ACCEL_CONFIG0 0x52
102 #define C6DOFIMU17_REG_ACCEL_CONFIG1 0x53
103 #define C6DOFIMU17_REG_TMST_CONFIG 0x54
104 #define C6DOFIMU17_REG_APEX_CONFIG0 0x55
105 #define C6DOFIMU17_REG_SMD_CONFIG 0x56
106 #define C6DOFIMU17_REG_FIFO_CONFIG1 0x5F
107 #define C6DOFIMU17_REG_FIFO_CONFIG2 0x60
108 #define C6DOFIMU17_REG_FIFO_CONFIG3 0x61
109 #define C6DOFIMU17_REG_FSYNC_CONFIG 0x62
110 #define C6DOFIMU17_REG_INT_CONFIG0 0x63
111 #define C6DOFIMU17_REG_INT_CONFIG1 0x64
112 #define C6DOFIMU17_REG_INT_SOURCE0 0x65
113 #define C6DOFIMU17_REG_INT_SOURCE1 0x66
114 #define C6DOFIMU17_REG_INT_SOURCE3 0x68
115 #define C6DOFIMU17_REG_INT_SOURCE4 0x69
116 #define C6DOFIMU17_REG_FIFO_LOST_PKT0 0x6C
117 #define C6DOFIMU17_REG_FIFO_LOST_PKT1 0x6D
118 #define C6DOFIMU17_REG_SELF_TEST_CONFIG 0x70
119 #define C6DOFIMU17_REG_WHO_AM_I 0x75
120 #define C6DOFIMU17_REG_BANK_SEL 0x76
121 #define C6DOFIMU17_CHIP_ID 0x6F
127 #define C6DOFIMU17_REG_SENSOR_CONFIG0 0x03
128 #define C6DOFIMU17_REG_GYRO_CONFIG_STATIC2 0x0B
129 #define C6DOFIMU17_REG_GYRO_CONFIG_STATIC3 0x0C
130 #define C6DOFIMU17_REG_GYRO_CONFIG_STATIC4 0x0D
131 #define C6DOFIMU17_REG_GYRO_CONFIG_STATIC5 0x0E
132 #define C6DOFIMU17_REG_GYRO_CONFIG_STATIC6 0x0F
133 #define C6DOFIMU17_REG_GYRO_CONFIG_STATIC7 0x10
134 #define C6DOFIMU17_REG_GYRO_CONFIG_STATIC8 0x11
135 #define C6DOFIMU17_REG_GYRO_CONFIG_STATIC9 0x12
136 #define C6DOFIMU17_REG_GYRO_CONFIG_STATIC10 0x13
137 #define C6DOFIMU17_REG_XG_ST_DATA 0x5F
138 #define C6DOFIMU17_REG_YG_ST_DATA 0x60
139 #define C6DOFIMU17_REG_ZG_ST_DATA 0x61
140 #define C6DOFIMU17_REG_TMSTVAL0 0x62
141 #define C6DOFIMU17_REG_TMSTVAL1 0x63
142 #define C6DOFIMU17_REG_TMSTVAL2 0x64
143 #define C6DOFIMU17_REG_INTF_CONFIG4 0x7A
144 #define C6DOFIMU17_REG_INTF_CONFIG5 0x7B
145 #define C6DOFIMU17_REG_INTF_CONFIG6 0x7C
151 #define C6DOFIMU17_REG_ACCEL_CONFIG_STATIC2 0x03
152 #define C6DOFIMU17_REG_ACCEL_CONFIG_STATIC3 0x04
153 #define C6DOFIMU17_REG_ACCEL_CONFIG_STATIC4 0x05
154 #define C6DOFIMU17_REG_XA_ST_DATA 0x3B
155 #define C6DOFIMU17_REG_YA_ST_DATA 0x3C
156 #define C6DOFIMU17_REG_ZA_ST_DATA 0x3D
162 #define C6DOFIMU17_REG_PU_PD_CONFIG1 0x06
163 #define C6DOFIMU17_REG_PU_PD_CONFIG2 0x0E
169 #define C6DOFIMU17_REG_FDR_CONFIG 0x09
170 #define C6DOFIMU17_REG_APEX_CONFIG1 0x40
171 #define C6DOFIMU17_REG_APEX_CONFIG2 0x41
172 #define C6DOFIMU17_REG_APEX_CONFIG3 0x42
173 #define C6DOFIMU17_REG_APEX_CONFIG4 0x43
174 #define C6DOFIMU17_REG_APEX_CONFIG5 0x44
175 #define C6DOFIMU17_REG_APEX_CONFIG6 0x45
176 #define C6DOFIMU17_REG_APEX_CONFIG7 0x46
177 #define C6DOFIMU17_REG_APEX_CONFIG8 0x47
178 #define C6DOFIMU17_REG_APEX_CONFIG9 0x48
179 #define C6DOFIMU17_REG_APEX_CONFIG10 0x49
180 #define C6DOFIMU17_REG_ACCEL_WOM_X_THR 0x4A
181 #define C6DOFIMU17_REG_ACCEL_WOM_Y_THR 0x4B
182 #define C6DOFIMU17_REG_ACCEL_WOM_Z_THR 0x4C
183 #define C6DOFIMU17_REG_INT_SOURCE6 0x4D
184 #define C6DOFIMU17_REG_INT_SOURCE7 0x4E
185 #define C6DOFIMU17_REG_INT_SOURCE8 0x4F
186 #define C6DOFIMU17_REG_INT_SOURCE9 0x50
187 #define C6DOFIMU17_REG_INT_SOURCE10 0x51
188 #define C6DOFIMU17_REG_OFFSET_USER0 0x77
189 #define C6DOFIMU17_REG_OFFSET_USER1 0x78
190 #define C6DOFIMU17_REG_OFFSET_USER2 0x79
191 #define C6DOFIMU17_REG_OFFSET_USER3 0x7A
192 #define C6DOFIMU17_REG_OFFSET_USER4 0x7B
193 #define C6DOFIMU17_REG_OFFSET_USER5 0x7C
194 #define C6DOFIMU17_REG_OFFSET_USER6 0x7D
195 #define C6DOFIMU17_REG_OFFSET_USER7 0x7E
196 #define C6DOFIMU17_REG_OFFSET_USER8 0x7F
214 #define C6DOFIMU17_SET_TEMPERATURE_ENABLED 0xDF
215 #define C6DOFIMU17_SET_TEMPERATURE_DISABLED 0x20
217 #define C6DOFIMU17_SET_GYRO_OFF_MODE 0x00
218 #define C6DOFIMU17_SET_GYRO_STANDBY_MODE 0x04
219 #define C6DOFIMU17_SET_GYRO_TLOW_NOISE_MODE 0x0C
221 #define C6DOFIMU17_SET_ACCEL_OFF_MODE 0x00
222 #define C6DOFIMU17_SET_ACCEL_LOW_POWER_MODE 0x02
223 #define C6DOFIMU17_SET_ACCEL_LOW_NOISE_MODE 0x03
225 #define C6DOFIMU17_SET_GYRO_FS_SEL_2000_dps 0x00
226 #define C6DOFIMU17_SET_GYRO_FS_SEL_1000_dps 0x01
227 #define C6DOFIMU17_SET_GYRO_FS_SEL_500_dps 0x02
228 #define C6DOFIMU17_SET_GYRO_FS_SEL_250_dps 0x03
229 #define C6DOFIMU17_SET_GYRO_FS_SEL_125_dps 0x04
230 #define C6DOFIMU17_SET_GYRO_FS_SEL_62_5_dps 0x05
231 #define C6DOFIMU17_SET_GYRO_FS_SEL_31_25_dps 0x06
232 #define C6DOFIMU17_SET_GYRO_FS_SEL_16_625_dps 0x07
234 #define C6DOFIMU17_SET_GYRO_ODR_32kHz 0x01
235 #define C6DOFIMU17_SET_GYRO_ODR_16kHz 0x02
236 #define C6DOFIMU17_SET_GYRO_ODR_8kHz 0x03
237 #define C6DOFIMU17_SET_GYRO_ODR_4kHz 0x04
238 #define C6DOFIMU17_SET_GYRO_ODR_2kHz 0x05
239 #define C6DOFIMU17_SET_GYRO_ODR_1kHz 0x06
240 #define C6DOFIMU17_SET_GYRO_ODR_200Hz 0x07
241 #define C6DOFIMU17_SET_GYRO_ODR_100Hz 0x08
242 #define C6DOFIMU17_SET_GYRO_ODR_50Hz 0x09
243 #define C6DOFIMU17_SET_GYRO_ODR_25Hz 0x0A
244 #define C6DOFIMU17_SET_GYRO_ODR_12_5Hz 0x0B
246 #define C6DOFIMU17_SET_GYRO_UI_FILT_ORD_1st 0x00
247 #define C6DOFIMU17_SET_GYRO_UI_FILT_ORD_2st 0x01
248 #define C6DOFIMU17_SET_GYRO_UI_FILT_ORD_3st 0x02
250 #define C6DOFIMU17_SET_GYRO_DEC2_M2_ORD_3st 0x02
252 #define C6DOFIMU17_SET_GYRO_UI_FILT_BW_ODR_2 0x00
253 #define C6DOFIMU17_SET_GYRO_UI_FILT_BW_ODR_4 0x01
254 #define C6DOFIMU17_SET_GYRO_UI_FILT_BW_ODR_5 0x02
255 #define C6DOFIMU17_SET_GYRO_UI_FILT_BW_ODR_8 0x03
256 #define C6DOFIMU17_SET_GYRO_UI_FILT_BW_ODR_10 0x04
257 #define C6DOFIMU17_SET_GYRO_UI_FILT_BW_ODR_16 0x05
258 #define C6DOFIMU17_SET_GYRO_UI_FILT_BW_ODR_20 0x06
259 #define C6DOFIMU17_SET_GYRO_UI_FILT_BW_ODR_40 0x07
260 #define C6DOFIMU17_SET_GYRO_UI_FILT_BW_LOW_LATENCY_0 0x0E
261 #define C6DOFIMU17_SET_GYRO_UI_FILT_BW_LOW_LATENCY_1 0x0F
263 #define C6DOFIMU17_SET_ACCEL_FS_SEL_16g 0x00
264 #define C6DOFIMU17_SET_ACCEL_FS_SEL_8g 0x01
265 #define C6DOFIMU17_SET_ACCEL_FS_SEL_4g 0x02
266 #define C6DOFIMU17_SET_ACCEL_FS_SEL_2g 0x03
268 #define C6DOFIMU17_SET_ACCEL_ODR_32kHz 0x01
269 #define C6DOFIMU17_SET_ACCEL_ODR_16kHz 0x02
270 #define C6DOFIMU17_SET_ACCEL_ODR_8kHz 0x03
271 #define C6DOFIMU17_SET_ACCEL_ODR_4kHz 0x04
272 #define C6DOFIMU17_SET_ACCEL_ODR_2kHz 0x05
273 #define C6DOFIMU17_SET_ACCEL_ODR_1kHz 0x06
274 #define C6DOFIMU17_SET_ACCEL_ODR_200Hz 0x07
275 #define C6DOFIMU17_SET_ACCEL_ODR_100Hz 0x08
276 #define C6DOFIMU17_SET_ACCEL_ODR_50Hz 0x09
277 #define C6DOFIMU17_SET_ACCEL_ODR_25Hz 0x0A
278 #define C6DOFIMU17_SET_ACCEL_ODR_12_5Hz 0x0B
280 #define C6DOFIMU17_SET_ACCEL_UI_FILT_BW_ODR_2 0x00
281 #define C6DOFIMU17_SET_ACCEL_UI_FILT_BW_ODR_4 0x01
282 #define C6DOFIMU17_SET_ACCEL_UI_FILT_BW_ODR_5 0x02
283 #define C6DOFIMU17_SET_ACCEL_UI_FILT_BW_ODR_8 0x03
284 #define C6DOFIMU17_SET_ACCEL_UI_FILT_BW_ODR_10 0x04
285 #define C6DOFIMU17_SET_ACCEL_UI_FILT_BW_ODR_16 0x05
286 #define C6DOFIMU17_SET_ACCEL_UI_FILT_BW_ODR_20 0x06
287 #define C6DOFIMU17_SET_ACCEL_UI_FILT_BW_ODR_40 0x07
288 #define C6DOFIMU17_SET_ACCEL_UI_FILT_BW_LOW_LATENCY_0 0x0E
289 #define C6DOFIMU17_SET_ACCEL_UI_FILT_BW_LOW_LATENCY_1 0x0F
291 #define C6DOFIMU17_SET_ACCEL_UI_FILT_ORD_1st 0x00
292 #define C6DOFIMU17_SET_ACCEL_UI_FILT_ORD_2st 0x01
293 #define C6DOFIMU17_SET_ACCEL_UI_FILT_ORD_3st 0x02
295 #define C6DOFIMU17_SET_ACCEL_DEC2_M2_ORD_3st 0x02
297 #define C6DOFIMU17_SET_BANK_0 0x00
298 #define C6DOFIMU17_SET_BANK_1 0x01
299 #define C6DOFIMU17_SET_BANK_2 0x02
300 #define C6DOFIMU17_SET_BANK_3 0x03
301 #define C6DOFIMU17_SET_BANK_4 0x04
308 #define C6DOFIMU17_SET_DEV_ADDR 0x68
318 #define C6DOFIMU17_SET_DATA_SAMPLE_EDGE SET_SPI_DATA_SAMPLE_EDGE
319 #define C6DOFIMU17_SET_DATA_SAMPLE_MIDDLE SET_SPI_DATA_SAMPLE_MIDDLE
337 #define C6DOFIMU17_MAP_MIKROBUS( cfg, mikrobus ) \
338 cfg.scl = MIKROBUS( mikrobus, MIKROBUS_SCL ); \
339 cfg.sda = MIKROBUS( mikrobus, MIKROBUS_SDA ); \
340 cfg.miso = MIKROBUS( mikrobus, MIKROBUS_MISO ); \
341 cfg.mosi = MIKROBUS( mikrobus, MIKROBUS_MOSI ); \
342 cfg.sck = MIKROBUS( mikrobus, MIKROBUS_SCK ); \
343 cfg.cs = MIKROBUS( mikrobus, MIKROBUS_CS ); \
344 cfg.int_pin = MIKROBUS( mikrobus, MIKROBUS_INT )
785 #endif // C6DOFIMU17_H
err_t c6dofimu17_get_accel_data(c6dofimu17_t *ctx, c6dofimu17_axis_t *accel_data)
6DOF IMU 17 get accel data function.
uint8_t accel_dec2_m2_ord
Definition: c6dofimu17.h:458
c6dofimu17_return_value_t
6DOF IMU 17 Click return value data.
Definition: c6dofimu17.h:416
spi_master_mode_t spi_mode
Definition: c6dofimu17.h:404
uint8_t accel_fs_sel
Definition: c6dofimu17.h:454
pin_name_t mosi
Definition: c6dofimu17.h:395
6DOF IMU 17 Click context object.
Definition: c6dofimu17.h:371
err_t c6dofimu17_init(c6dofimu17_t *ctx, c6dofimu17_cfg_t *cfg)
6DOF IMU 17 initialization function.
err_t c6dofimu17_set_config_gyroscope(c6dofimu17_t *ctx, c6dofimu17_gyro_cfg_t gyro_cfg)
6DOF IMU 17 set config gyroscope function.
uint8_t accel_odr
Definition: c6dofimu17.h:455
@ C6DOFIMU17_DRV_SEL_SPI
Definition: c6dofimu17.h:355
6DOF IMU 17 Axis structure object.
Definition: c6dofimu17.h:427
This file contains SPI specific macros, functions, etc.
int16_t y
Definition: c6dofimu17.h:429
spi_master_t spi
Definition: c6dofimu17.h:375
err_t c6dofimu17_get_gyro_data(c6dofimu17_t *ctx, c6dofimu17_axis_t *gyro_data)
6DOF IMU 17 get gyroscope data function.
err_t c6dofimu17_accelerometer_enable(c6dofimu17_t *ctx)
6DOF IMU 17 accelerometer enable function.
c6dofimu17_drv_t
6DOF IMU 17 Click driver selector.
Definition: c6dofimu17.h:354
err_t c6dofimu17_temperature_enable(c6dofimu17_t *ctx)
6DOF IMU 17 temperature enable function.
uint8_t i2c_address
Definition: c6dofimu17.h:401
pin_name_t int_pin
Definition: c6dofimu17.h:398
err_t c6dofimu17_set_config_accelerometer(c6dofimu17_t *ctx, c6dofimu17_accel_cfg_t accel_cfg)
6DOF IMU 17 set config accelerometer function.
6DOF IMU 17 Click configuration object.
Definition: c6dofimu17.h:391
6DOF IMU 17 Accelerometer configuration structure object.
Definition: c6dofimu17.h:453
err_t c6dofimu17_bank_selection(c6dofimu17_t *ctx, uint8_t bank_sel)
6DOF IMU 17 bank selection function.
uint8_t gyro_ui_filt_bw
Definition: c6dofimu17.h:444
uint8_t gyro_dec2_m2_ord
Definition: c6dofimu17.h:443
uint8_t gyro_ui_filt_ord
Definition: c6dofimu17.h:442
c6dofimu17_drv_t drv_sel
Definition: c6dofimu17.h:407
pin_name_t miso
Definition: c6dofimu17.h:394
uint8_t c6dofimu17_get_interrupt(c6dofimu17_t *ctx)
6DOF IMU 17 get interrupt function.
pin_name_t chip_select
Definition: c6dofimu17.h:378
err_t c6dofimu17_get_temperature(c6dofimu17_t *ctx, float *temperature)
6DOF IMU 17 get temperature data function.
c6dofimu17_drv_t drv_sel
Definition: c6dofimu17.h:379
uint8_t gyro_fs_sel
Definition: c6dofimu17.h:440
pin_name_t cs
Definition: c6dofimu17.h:397
@ C6DOFIMU17_ERROR
Definition: c6dofimu17.h:418
pin_name_t scl
Definition: c6dofimu17.h:392
uint8_t slave_address
Definition: c6dofimu17.h:377
pin_name_t sck
Definition: c6dofimu17.h:396
err_t c6dofimu17_generic_read(c6dofimu17_t *ctx, uint8_t reg, uint8_t *data_out, uint8_t len)
6DOF IMU 17 data reading function.
uint8_t gyro_odr
Definition: c6dofimu17.h:441
uint8_t accel_ui_filt_ord
Definition: c6dofimu17.h:457
spi_master_chip_select_polarity_t cs_polarity
Definition: c6dofimu17.h:405
struct c6dofimu17_s c6dofimu17_t
6DOF IMU 17 Click context object.
i2c_master_t i2c
Definition: c6dofimu17.h:374
pin_name_t sda
Definition: c6dofimu17.h:393
err_t(* c6dofimu17_master_io_t)(struct c6dofimu17_s *, uint8_t, uint8_t *, uint8_t)
6DOF IMU 17 Click driver interface.
Definition: c6dofimu17.h:364
@ C6DOFIMU17_DRV_SEL_I2C
Definition: c6dofimu17.h:356
void c6dofimu17_drv_interface_selection(c6dofimu17_cfg_t *cfg, c6dofimu17_drv_t drv_sel)
6DOF IMU 17 driver interface setup function.
int16_t z
Definition: c6dofimu17.h:430
uint32_t spi_speed
Definition: c6dofimu17.h:403
err_t c6dofimu17_gyroscope_enable(c6dofimu17_t *ctx)
6DOF IMU 17 gyroscope enable function.
c6dofimu17_master_io_t write_f
Definition: c6dofimu17.h:381
6DOF IMU 17 Gyro configuration structure object.
Definition: c6dofimu17.h:439
uint8_t accel_ui_filt_bw
Definition: c6dofimu17.h:456
int16_t x
Definition: c6dofimu17.h:428
err_t c6dofimu17_get_config_gyroscope(c6dofimu17_t *ctx, c6dofimu17_gyro_cfg_t *gyro_cfg)
6DOF IMU 17 get config gyroscope function.
uint32_t i2c_speed
Definition: c6dofimu17.h:400
err_t c6dofimu17_get_device_id(c6dofimu17_t *ctx, uint8_t *device_id)
6DOF IMU 17 get device ID function.
err_t c6dofimu17_soft_reset(c6dofimu17_t *ctx)
6DOF IMU 17 soft reset function.
void c6dofimu17_cfg_setup(c6dofimu17_cfg_t *cfg)
6DOF IMU 17 configuration object setup function.
err_t c6dofimu17_default_cfg(c6dofimu17_t *ctx)
6DOF IMU 17 default configuration function.
@ C6DOFIMU17_OK
Definition: c6dofimu17.h:417
c6dofimu17_master_io_t read_f
Definition: c6dofimu17.h:382
err_t c6dofimu17_generic_write(c6dofimu17_t *ctx, uint8_t reg, uint8_t *data_in, uint8_t len)
6DOF IMU 17 data writing function.
digital_in_t int_pin
Definition: c6dofimu17.h:372
err_t c6dofimu17_get_config_accelerometer(c6dofimu17_t *ctx, c6dofimu17_accel_cfg_t *accel_cfg)
6DOF IMU 17 get config accelerometer function.