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39 #ifdef PREINIT_SUPPORTED
43 #ifdef MikroCCoreVersion
44 #if MikroCCoreVersion >= 1
49 #include "drv_digital_out.h"
50 #include "drv_digital_in.h"
51 #include "drv_i2c_master.h"
52 #include "drv_spi_master.h"
76 #define C6DOFIMU17_REG_DEVICE_CONFIG 0x11
77 #define C6DOFIMU17_REG_DRIVE_CONFIG 0x13
78 #define C6DOFIMU17_REG_INT_CONFIG 0x14
79 #define C6DOFIMU17_REG_FIFO_CONFIG 0x16
80 #define C6DOFIMU17_REG_TEMP_DATA1_UI 0x1D
81 #define C6DOFIMU17_REG_TEMP_DATA0_UI 0x1E
82 #define C6DOFIMU17_REG_ACCEL_DATA_X1_UI 0x1F
83 #define C6DOFIMU17_REG_ACCEL_DATA_X0_UI 0x20
84 #define C6DOFIMU17_REG_ACCEL_DATA_Y1_UI 0x21
85 #define C6DOFIMU17_REG_ACCEL_DATA_Y0_UI 0x22
86 #define C6DOFIMU17_REG_ACCEL_DATA_Z1_UI 0x23
87 #define C6DOFIMU17_REG_ACCEL_DATA_Z0_UI 0x24
88 #define C6DOFIMU17_REG_GYRO_DATA_X1_UI 0x25
89 #define C6DOFIMU17_REG_GYRO_DATA_X0_UI 0x26
90 #define C6DOFIMU17_REG_GYRO_DATA_Y1_UI 0x27
91 #define C6DOFIMU17_REG_GYRO_DATA_Y0_UI 0x28
92 #define C6DOFIMU17_REG_GYRO_DATA_Z1_UI 0x29
93 #define C6DOFIMU17_REG_GYRO_DATA_Z0_UI 0x2A
94 #define C6DOFIMU17_REG_TMST_FSYNCH 0x2B
95 #define C6DOFIMU17_REG_TMST_FSYNCL 0x2C
96 #define C6DOFIMU17_REG_INT_STATUS 0x2D
97 #define C6DOFIMU17_REG_FIFO_COUNTH 0x2E
98 #define C6DOFIMU17_REG_FIFO_COUNTL 0x2F
99 #define C6DOFIMU17_REG_FIFO_DATA 0x30
100 #define C6DOFIMU17_REG_APEX_DATA0 0x31
101 #define C6DOFIMU17_REG_APEX_DATA1 0x32
102 #define C6DOFIMU17_REG_APEX_DATA2 0x33
103 #define C6DOFIMU17_REG_APEX_DATA3 0x34
104 #define C6DOFIMU17_REG_APEX_DATA4 0x35
105 #define C6DOFIMU17_REG_APEX_DATA5 0x36
106 #define C6DOFIMU17_REG_INT_STATUS2 0x37
107 #define C6DOFIMU17_REG_INT_STATUS3 0x38
108 #define C6DOFIMU17_REG_SIGNAL_PATH_RESET 0x4B
109 #define C6DOFIMU17_REG_INTF_CONFIG0 0x4C
110 #define C6DOFIMU17_REG_INTF_CONFIG1 0x4D
111 #define C6DOFIMU17_REG_PWR_MGMT0 0x4E
112 #define C6DOFIMU17_REG_GYRO_CONFIG0 0x4F
113 #define C6DOFIMU17_REG_ACCEL_CONFIG0 0x50
114 #define C6DOFIMU17_REG_GYRO_CONFIG1 0x51
115 #define C6DOFIMU17_REG_GYRO_ACCEL_CONFIG0 0x52
116 #define C6DOFIMU17_REG_ACCEL_CONFIG1 0x53
117 #define C6DOFIMU17_REG_TMST_CONFIG 0x54
118 #define C6DOFIMU17_REG_APEX_CONFIG0 0x55
119 #define C6DOFIMU17_REG_SMD_CONFIG 0x56
120 #define C6DOFIMU17_REG_FIFO_CONFIG1 0x5F
121 #define C6DOFIMU17_REG_FIFO_CONFIG2 0x60
122 #define C6DOFIMU17_REG_FIFO_CONFIG3 0x61
123 #define C6DOFIMU17_REG_FSYNC_CONFIG 0x62
124 #define C6DOFIMU17_REG_INT_CONFIG0 0x63
125 #define C6DOFIMU17_REG_INT_CONFIG1 0x64
126 #define C6DOFIMU17_REG_INT_SOURCE0 0x65
127 #define C6DOFIMU17_REG_INT_SOURCE1 0x66
128 #define C6DOFIMU17_REG_INT_SOURCE3 0x68
129 #define C6DOFIMU17_REG_INT_SOURCE4 0x69
130 #define C6DOFIMU17_REG_FIFO_LOST_PKT0 0x6C
131 #define C6DOFIMU17_REG_FIFO_LOST_PKT1 0x6D
132 #define C6DOFIMU17_REG_SELF_TEST_CONFIG 0x70
133 #define C6DOFIMU17_REG_WHO_AM_I 0x75
134 #define C6DOFIMU17_REG_BANK_SEL 0x76
135 #define C6DOFIMU17_CHIP_ID 0x6F
141 #define C6DOFIMU17_REG_SENSOR_CONFIG0 0x03
142 #define C6DOFIMU17_REG_GYRO_CONFIG_STATIC2 0x0B
143 #define C6DOFIMU17_REG_GYRO_CONFIG_STATIC3 0x0C
144 #define C6DOFIMU17_REG_GYRO_CONFIG_STATIC4 0x0D
145 #define C6DOFIMU17_REG_GYRO_CONFIG_STATIC5 0x0E
146 #define C6DOFIMU17_REG_GYRO_CONFIG_STATIC6 0x0F
147 #define C6DOFIMU17_REG_GYRO_CONFIG_STATIC7 0x10
148 #define C6DOFIMU17_REG_GYRO_CONFIG_STATIC8 0x11
149 #define C6DOFIMU17_REG_GYRO_CONFIG_STATIC9 0x12
150 #define C6DOFIMU17_REG_GYRO_CONFIG_STATIC10 0x13
151 #define C6DOFIMU17_REG_XG_ST_DATA 0x5F
152 #define C6DOFIMU17_REG_YG_ST_DATA 0x60
153 #define C6DOFIMU17_REG_ZG_ST_DATA 0x61
154 #define C6DOFIMU17_REG_TMSTVAL0 0x62
155 #define C6DOFIMU17_REG_TMSTVAL1 0x63
156 #define C6DOFIMU17_REG_TMSTVAL2 0x64
157 #define C6DOFIMU17_REG_INTF_CONFIG4 0x7A
158 #define C6DOFIMU17_REG_INTF_CONFIG5 0x7B
159 #define C6DOFIMU17_REG_INTF_CONFIG6 0x7C
165 #define C6DOFIMU17_REG_ACCEL_CONFIG_STATIC2 0x03
166 #define C6DOFIMU17_REG_ACCEL_CONFIG_STATIC3 0x04
167 #define C6DOFIMU17_REG_ACCEL_CONFIG_STATIC4 0x05
168 #define C6DOFIMU17_REG_XA_ST_DATA 0x3B
169 #define C6DOFIMU17_REG_YA_ST_DATA 0x3C
170 #define C6DOFIMU17_REG_ZA_ST_DATA 0x3D
176 #define C6DOFIMU17_REG_PU_PD_CONFIG1 0x06
177 #define C6DOFIMU17_REG_PU_PD_CONFIG2 0x0E
183 #define C6DOFIMU17_REG_FDR_CONFIG 0x09
184 #define C6DOFIMU17_REG_APEX_CONFIG1 0x40
185 #define C6DOFIMU17_REG_APEX_CONFIG2 0x41
186 #define C6DOFIMU17_REG_APEX_CONFIG3 0x42
187 #define C6DOFIMU17_REG_APEX_CONFIG4 0x43
188 #define C6DOFIMU17_REG_APEX_CONFIG5 0x44
189 #define C6DOFIMU17_REG_APEX_CONFIG6 0x45
190 #define C6DOFIMU17_REG_APEX_CONFIG7 0x46
191 #define C6DOFIMU17_REG_APEX_CONFIG8 0x47
192 #define C6DOFIMU17_REG_APEX_CONFIG9 0x48
193 #define C6DOFIMU17_REG_APEX_CONFIG10 0x49
194 #define C6DOFIMU17_REG_ACCEL_WOM_X_THR 0x4A
195 #define C6DOFIMU17_REG_ACCEL_WOM_Y_THR 0x4B
196 #define C6DOFIMU17_REG_ACCEL_WOM_Z_THR 0x4C
197 #define C6DOFIMU17_REG_INT_SOURCE6 0x4D
198 #define C6DOFIMU17_REG_INT_SOURCE7 0x4E
199 #define C6DOFIMU17_REG_INT_SOURCE8 0x4F
200 #define C6DOFIMU17_REG_INT_SOURCE9 0x50
201 #define C6DOFIMU17_REG_INT_SOURCE10 0x51
202 #define C6DOFIMU17_REG_OFFSET_USER0 0x77
203 #define C6DOFIMU17_REG_OFFSET_USER1 0x78
204 #define C6DOFIMU17_REG_OFFSET_USER2 0x79
205 #define C6DOFIMU17_REG_OFFSET_USER3 0x7A
206 #define C6DOFIMU17_REG_OFFSET_USER4 0x7B
207 #define C6DOFIMU17_REG_OFFSET_USER5 0x7C
208 #define C6DOFIMU17_REG_OFFSET_USER6 0x7D
209 #define C6DOFIMU17_REG_OFFSET_USER7 0x7E
210 #define C6DOFIMU17_REG_OFFSET_USER8 0x7F
228 #define C6DOFIMU17_SET_TEMPERATURE_ENABLED 0xDF
229 #define C6DOFIMU17_SET_TEMPERATURE_DISABLED 0x20
231 #define C6DOFIMU17_SET_GYRO_OFF_MODE 0x00
232 #define C6DOFIMU17_SET_GYRO_STANDBY_MODE 0x04
233 #define C6DOFIMU17_SET_GYRO_TLOW_NOISE_MODE 0x0C
235 #define C6DOFIMU17_SET_ACCEL_OFF_MODE 0x00
236 #define C6DOFIMU17_SET_ACCEL_LOW_POWER_MODE 0x02
237 #define C6DOFIMU17_SET_ACCEL_LOW_NOISE_MODE 0x03
239 #define C6DOFIMU17_SET_GYRO_FS_SEL_2000_dps 0x00
240 #define C6DOFIMU17_SET_GYRO_FS_SEL_1000_dps 0x01
241 #define C6DOFIMU17_SET_GYRO_FS_SEL_500_dps 0x02
242 #define C6DOFIMU17_SET_GYRO_FS_SEL_250_dps 0x03
243 #define C6DOFIMU17_SET_GYRO_FS_SEL_125_dps 0x04
244 #define C6DOFIMU17_SET_GYRO_FS_SEL_62_5_dps 0x05
245 #define C6DOFIMU17_SET_GYRO_FS_SEL_31_25_dps 0x06
246 #define C6DOFIMU17_SET_GYRO_FS_SEL_16_625_dps 0x07
248 #define C6DOFIMU17_SET_GYRO_ODR_32kHz 0x01
249 #define C6DOFIMU17_SET_GYRO_ODR_16kHz 0x02
250 #define C6DOFIMU17_SET_GYRO_ODR_8kHz 0x03
251 #define C6DOFIMU17_SET_GYRO_ODR_4kHz 0x04
252 #define C6DOFIMU17_SET_GYRO_ODR_2kHz 0x05
253 #define C6DOFIMU17_SET_GYRO_ODR_1kHz 0x06
254 #define C6DOFIMU17_SET_GYRO_ODR_200Hz 0x07
255 #define C6DOFIMU17_SET_GYRO_ODR_100Hz 0x08
256 #define C6DOFIMU17_SET_GYRO_ODR_50Hz 0x09
257 #define C6DOFIMU17_SET_GYRO_ODR_25Hz 0x0A
258 #define C6DOFIMU17_SET_GYRO_ODR_12_5Hz 0x0B
260 #define C6DOFIMU17_SET_GYRO_UI_FILT_ORD_1st 0x00
261 #define C6DOFIMU17_SET_GYRO_UI_FILT_ORD_2st 0x01
262 #define C6DOFIMU17_SET_GYRO_UI_FILT_ORD_3st 0x02
264 #define C6DOFIMU17_SET_GYRO_DEC2_M2_ORD_3st 0x02
266 #define C6DOFIMU17_SET_GYRO_UI_FILT_BW_ODR_2 0x00
267 #define C6DOFIMU17_SET_GYRO_UI_FILT_BW_ODR_4 0x01
268 #define C6DOFIMU17_SET_GYRO_UI_FILT_BW_ODR_5 0x02
269 #define C6DOFIMU17_SET_GYRO_UI_FILT_BW_ODR_8 0x03
270 #define C6DOFIMU17_SET_GYRO_UI_FILT_BW_ODR_10 0x04
271 #define C6DOFIMU17_SET_GYRO_UI_FILT_BW_ODR_16 0x05
272 #define C6DOFIMU17_SET_GYRO_UI_FILT_BW_ODR_20 0x06
273 #define C6DOFIMU17_SET_GYRO_UI_FILT_BW_ODR_40 0x07
274 #define C6DOFIMU17_SET_GYRO_UI_FILT_BW_LOW_LATENCY_0 0x0E
275 #define C6DOFIMU17_SET_GYRO_UI_FILT_BW_LOW_LATENCY_1 0x0F
277 #define C6DOFIMU17_SET_ACCEL_FS_SEL_16g 0x00
278 #define C6DOFIMU17_SET_ACCEL_FS_SEL_8g 0x01
279 #define C6DOFIMU17_SET_ACCEL_FS_SEL_4g 0x02
280 #define C6DOFIMU17_SET_ACCEL_FS_SEL_2g 0x03
282 #define C6DOFIMU17_SET_ACCEL_ODR_32kHz 0x01
283 #define C6DOFIMU17_SET_ACCEL_ODR_16kHz 0x02
284 #define C6DOFIMU17_SET_ACCEL_ODR_8kHz 0x03
285 #define C6DOFIMU17_SET_ACCEL_ODR_4kHz 0x04
286 #define C6DOFIMU17_SET_ACCEL_ODR_2kHz 0x05
287 #define C6DOFIMU17_SET_ACCEL_ODR_1kHz 0x06
288 #define C6DOFIMU17_SET_ACCEL_ODR_200Hz 0x07
289 #define C6DOFIMU17_SET_ACCEL_ODR_100Hz 0x08
290 #define C6DOFIMU17_SET_ACCEL_ODR_50Hz 0x09
291 #define C6DOFIMU17_SET_ACCEL_ODR_25Hz 0x0A
292 #define C6DOFIMU17_SET_ACCEL_ODR_12_5Hz 0x0B
294 #define C6DOFIMU17_SET_ACCEL_UI_FILT_BW_ODR_2 0x00
295 #define C6DOFIMU17_SET_ACCEL_UI_FILT_BW_ODR_4 0x01
296 #define C6DOFIMU17_SET_ACCEL_UI_FILT_BW_ODR_5 0x02
297 #define C6DOFIMU17_SET_ACCEL_UI_FILT_BW_ODR_8 0x03
298 #define C6DOFIMU17_SET_ACCEL_UI_FILT_BW_ODR_10 0x04
299 #define C6DOFIMU17_SET_ACCEL_UI_FILT_BW_ODR_16 0x05
300 #define C6DOFIMU17_SET_ACCEL_UI_FILT_BW_ODR_20 0x06
301 #define C6DOFIMU17_SET_ACCEL_UI_FILT_BW_ODR_40 0x07
302 #define C6DOFIMU17_SET_ACCEL_UI_FILT_BW_LOW_LATENCY_0 0x0E
303 #define C6DOFIMU17_SET_ACCEL_UI_FILT_BW_LOW_LATENCY_1 0x0F
305 #define C6DOFIMU17_SET_ACCEL_UI_FILT_ORD_1st 0x00
306 #define C6DOFIMU17_SET_ACCEL_UI_FILT_ORD_2st 0x01
307 #define C6DOFIMU17_SET_ACCEL_UI_FILT_ORD_3st 0x02
309 #define C6DOFIMU17_SET_ACCEL_DEC2_M2_ORD_3st 0x02
311 #define C6DOFIMU17_SET_BANK_0 0x00
312 #define C6DOFIMU17_SET_BANK_1 0x01
313 #define C6DOFIMU17_SET_BANK_2 0x02
314 #define C6DOFIMU17_SET_BANK_3 0x03
315 #define C6DOFIMU17_SET_BANK_4 0x04
322 #define C6DOFIMU17_SET_DEV_ADDR 0x68
332 #define C6DOFIMU17_SET_DATA_SAMPLE_EDGE SET_SPI_DATA_SAMPLE_EDGE
333 #define C6DOFIMU17_SET_DATA_SAMPLE_MIDDLE SET_SPI_DATA_SAMPLE_MIDDLE
351 #define C6DOFIMU17_MAP_MIKROBUS( cfg, mikrobus ) \
352 cfg.scl = MIKROBUS( mikrobus, MIKROBUS_SCL ); \
353 cfg.sda = MIKROBUS( mikrobus, MIKROBUS_SDA ); \
354 cfg.miso = MIKROBUS( mikrobus, MIKROBUS_MISO ); \
355 cfg.mosi = MIKROBUS( mikrobus, MIKROBUS_MOSI ); \
356 cfg.sck = MIKROBUS( mikrobus, MIKROBUS_SCK ); \
357 cfg.cs = MIKROBUS( mikrobus, MIKROBUS_CS ); \
358 cfg.int_pin = MIKROBUS( mikrobus, MIKROBUS_INT )
799 #endif // C6DOFIMU17_H
err_t c6dofimu17_get_accel_data(c6dofimu17_t *ctx, c6dofimu17_axis_t *accel_data)
6DOF IMU 17 get accel data function.
err_t c6dofimu17_gyro_enable(c6dofimu17_t *ctx)
6DOF IMU 17 gyroscope enable function.
uint8_t accel_dec2_m2_ord
Definition: c6dofimu17.h:472
c6dofimu17_return_value_t
6DOF IMU 17 Click return value data.
Definition: c6dofimu17.h:430
spi_master_mode_t spi_mode
Definition: c6dofimu17.h:418
uint8_t accel_fs_sel
Definition: c6dofimu17.h:468
pin_name_t mosi
Definition: c6dofimu17.h:409
6DOF IMU 17 Click context object.
Definition: c6dofimu17.h:385
err_t c6dofimu17_init(c6dofimu17_t *ctx, c6dofimu17_cfg_t *cfg)
6DOF IMU 17 initialization function.
uint8_t accel_odr
Definition: c6dofimu17.h:469
@ C6DOFIMU17_DRV_SEL_SPI
Definition: c6dofimu17.h:369
6DOF IMU 17 Axis structure object.
Definition: c6dofimu17.h:441
This file contains SPI specific macros, functions, etc.
int16_t y
Definition: c6dofimu17.h:443
spi_master_t spi
Definition: c6dofimu17.h:389
err_t c6dofimu17_get_gyro_data(c6dofimu17_t *ctx, c6dofimu17_axis_t *gyro_data)
6DOF IMU 17 get gyroscope data function.
c6dofimu17_drv_t
6DOF IMU 17 Click driver selector.
Definition: c6dofimu17.h:368
err_t c6dofimu17_temperature_enable(c6dofimu17_t *ctx)
6DOF IMU 17 temperature enable function.
uint8_t i2c_address
Definition: c6dofimu17.h:415
pin_name_t int_pin
Definition: c6dofimu17.h:412
6DOF IMU 17 Click configuration object.
Definition: c6dofimu17.h:405
6DOF IMU 17 Accelerometer configuration structure object.
Definition: c6dofimu17.h:467
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:458
uint8_t gyro_dec2_m2_ord
Definition: c6dofimu17.h:457
err_t c6dofimu17_get_config_gyro(c6dofimu17_t *ctx, c6dofimu17_gyro_cfg_t *gyro_cfg)
6DOF IMU 17 get config gyroscope function.
uint8_t gyro_ui_filt_ord
Definition: c6dofimu17.h:456
c6dofimu17_drv_t drv_sel
Definition: c6dofimu17.h:421
pin_name_t miso
Definition: c6dofimu17.h:408
uint8_t c6dofimu17_get_interrupt(c6dofimu17_t *ctx)
6DOF IMU 17 get interrupt function.
pin_name_t chip_select
Definition: c6dofimu17.h:392
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:393
uint8_t gyro_fs_sel
Definition: c6dofimu17.h:454
pin_name_t cs
Definition: c6dofimu17.h:411
@ C6DOFIMU17_ERROR
Definition: c6dofimu17.h:432
pin_name_t scl
Definition: c6dofimu17.h:406
uint8_t slave_address
Definition: c6dofimu17.h:391
pin_name_t sck
Definition: c6dofimu17.h:410
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:455
uint8_t accel_ui_filt_ord
Definition: c6dofimu17.h:471
spi_master_chip_select_polarity_t cs_polarity
Definition: c6dofimu17.h:419
struct c6dofimu17_s c6dofimu17_t
6DOF IMU 17 Click context object.
i2c_master_t i2c
Definition: c6dofimu17.h:388
pin_name_t sda
Definition: c6dofimu17.h:407
err_t(* c6dofimu17_master_io_t)(struct c6dofimu17_s *, uint8_t, uint8_t *, uint8_t)
6DOF IMU 17 Click driver interface.
Definition: c6dofimu17.h:378
@ C6DOFIMU17_DRV_SEL_I2C
Definition: c6dofimu17.h:370
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:444
uint32_t spi_speed
Definition: c6dofimu17.h:417
c6dofimu17_master_io_t write_f
Definition: c6dofimu17.h:395
6DOF IMU 17 Gyro configuration structure object.
Definition: c6dofimu17.h:453
uint8_t accel_ui_filt_bw
Definition: c6dofimu17.h:470
int16_t x
Definition: c6dofimu17.h:442
uint32_t i2c_speed
Definition: c6dofimu17.h:414
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.
err_t c6dofimu17_set_config_accel(c6dofimu17_t *ctx, c6dofimu17_accel_cfg_t accel_cfg)
6DOF IMU 17 set config accelerometer function.
err_t c6dofimu17_set_config_gyro(c6dofimu17_t *ctx, c6dofimu17_gyro_cfg_t gyro_cfg)
6DOF IMU 17 set config gyroscope function.
err_t c6dofimu17_get_config_accel(c6dofimu17_t *ctx, c6dofimu17_accel_cfg_t *accel_cfg)
6DOF IMU 17 get config accelerometer function.
@ C6DOFIMU17_OK
Definition: c6dofimu17.h:431
c6dofimu17_master_io_t read_f
Definition: c6dofimu17.h:396
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:386
err_t c6dofimu17_accel_enable(c6dofimu17_t *ctx)
6DOF IMU 17 accelerometer enable function.