Go to the documentation of this file.
35 #include "drv_digital_out.h"
36 #include "drv_digital_in.h"
37 #include "drv_i2c_master.h"
38 #include "drv_spi_master.h"
66 #define C6DOFIMU18_REG_DEVICE_CONFIG 0x11
67 #define C6DOFIMU18_REG_DRIVE_CONFIG 0x13
68 #define C6DOFIMU18_REG_INT_CONFIG 0x14
69 #define C6DOFIMU18_REG_FIFO_CONFIG 0x16
70 #define C6DOFIMU18_REG_TEMP_DATA1 0x1D
71 #define C6DOFIMU18_REG_TEMP_DATA0 0x1E
72 #define C6DOFIMU18_REG_ACCEL_DATA_X1 0x1F
73 #define C6DOFIMU18_REG_ACCEL_DATA_X0 0x20
74 #define C6DOFIMU18_REG_ACCEL_DATA_Y1 0x21
75 #define C6DOFIMU18_REG_ACCEL_DATA_Y0 0x22
76 #define C6DOFIMU18_REG_ACCEL_DATA_Z1 0x23
77 #define C6DOFIMU18_REG_ACCEL_DATA_Z0 0x24
78 #define C6DOFIMU18_REG_GYRO_DATA_X1 0x25
79 #define C6DOFIMU18_REG_GYRO_DATA_X0 0x26
80 #define C6DOFIMU18_REG_GYRO_DATA_Y1 0x27
81 #define C6DOFIMU18_REG_GYRO_DATA_Y0 0x28
82 #define C6DOFIMU18_REG_GYRO_DATA_Z1 0x29
83 #define C6DOFIMU18_REG_GYRO_DATA_Z0 0x2A
84 #define C6DOFIMU18_REG_TMST_FSYNCH 0x2B
85 #define C6DOFIMU18_REG_TMST_FSYNCL 0x2C
86 #define C6DOFIMU18_REG_INT_STATUS 0x2D
87 #define C6DOFIMU18_REG_FIFO_COUNTH 0x2E
88 #define C6DOFIMU18_REG_FIFO_COUNTL 0x2F
89 #define C6DOFIMU18_REG_FIFO_DATA 0x30
90 #define C6DOFIMU18_REG_APEX_DATA0 0x31
91 #define C6DOFIMU18_REG_APEX_DATA1 0x32
92 #define C6DOFIMU18_REG_APEX_DATA2 0x33
93 #define C6DOFIMU18_REG_APEX_DATA3 0x34
94 #define C6DOFIMU18_REG_APEX_DATA4 0x35
95 #define C6DOFIMU18_REG_APEX_DATA5 0x36
96 #define C6DOFIMU18_REG_INT_STATUS2 0x37
97 #define C6DOFIMU18_REG_INT_STATUS3 0x38
98 #define C6DOFIMU18_REG_SIGNAL_PATH_RESET 0x4B
99 #define C6DOFIMU18_REG_INTF_CONFIG0 0x4C
100 #define C6DOFIMU18_REG_INTF_CONFIG1 0x4D
101 #define C6DOFIMU18_REG_PWR_MGMT0 0x4E
102 #define C6DOFIMU18_REG_GYRO_CONFIG0 0x4F
103 #define C6DOFIMU18_REG_ACCEL_CONFIG0 0x50
104 #define C6DOFIMU18_REG_GYRO_CONFIG1 0x51
105 #define C6DOFIMU18_REG_GYRO_ACCEL_CONFIG0 0x52
106 #define C6DOFIMU18_REG_ACCEL_CONFIG1 0x53
107 #define C6DOFIMU18_REG_TMST_CONFIG 0x54
108 #define C6DOFIMU18_REG_APEX_CONFIG0 0x56
109 #define C6DOFIMU18_REG_SMD_CONFIG 0x57
110 #define C6DOFIMU18_REG_FIFO_CONFIG1 0x5F
111 #define C6DOFIMU18_REG_FIFO_CONFIG2 0x60
112 #define C6DOFIMU18_REG_FIFO_CONFIG3 0x61
113 #define C6DOFIMU18_REG_FSYNC_CONFIG 0x62
114 #define C6DOFIMU18_REG_INT_CONFIG0 0x63
115 #define C6DOFIMU18_REG_INT_CONFIG1 0x64
116 #define C6DOFIMU18_REG_INT_SOURCE0 0x65
117 #define C6DOFIMU18_REG_INT_SOURCE1 0x66
118 #define C6DOFIMU18_REG_INT_SOURCE3 0x68
119 #define C6DOFIMU18_REG_INT_SOURCE4 0x69
120 #define C6DOFIMU18_REG_FIFO_LOST_PKT0 0x6C
121 #define C6DOFIMU18_REG_FIFO_LOST_PKT1 0x6D
122 #define C6DOFIMU18_REG_SELF_TEST_CONFIG 0x70
123 #define C6DOFIMU18_REG_WHO_AM_I 0x75
124 #define C6DOFIMU18_REG_BANK_SEL 0x76
130 #define C6DOFIMU18_REG_SENSOR_CONFIG0 0x03
131 #define C6DOFIMU18_REG_GYRO_CONFIG_STATIC2 0x0B
132 #define C6DOFIMU18_REG_GYRO_CONFIG_STATIC3 0x0C
133 #define C6DOFIMU18_REG_GYRO_CONFIG_STATIC4 0x0D
134 #define C6DOFIMU18_REG_GYRO_CONFIG_STATIC5 0x0E
135 #define C6DOFIMU18_REG_GYRO_CONFIG_STATIC6 0x0F
136 #define C6DOFIMU18_REG_GYRO_CONFIG_STATIC7 0x10
137 #define C6DOFIMU18_REG_GYRO_CONFIG_STATIC8 0x11
138 #define C6DOFIMU18_REG_GYRO_CONFIG_STATIC9 0x12
139 #define C6DOFIMU18_REG_GYRO_CONFIG_STATIC10 0x13
140 #define C6DOFIMU18_REG_XG_ST_DATA 0x5F
141 #define C6DOFIMU18_REG_YG_ST_DATA 0x60
142 #define C6DOFIMU18_REG_ZG_ST_DATA 0x61
143 #define C6DOFIMU18_REG_TMSTVAL0 0x62
144 #define C6DOFIMU18_REG_TMSTVAL1 0x63
145 #define C6DOFIMU18_REG_TMSTVAL2 0x64
146 #define C6DOFIMU18_REG_INTF_CONFIG4 0x7A
147 #define C6DOFIMU18_REG_INTF_CONFIG5 0x7B
148 #define C6DOFIMU18_REG_INTF_CONFIG6 0x7C
154 #define C6DOFIMU18_REG_ACCEL_CONFIG_STATIC2 0x03
155 #define C6DOFIMU18_REG_ACCEL_CONFIG_STATIC3 0x04
156 #define C6DOFIMU18_REG_ACCEL_CONFIG_STATIC4 0x05
157 #define C6DOFIMU18_REG_XA_ST_DATA 0x3B
158 #define C6DOFIMU18_REG_YA_ST_DATA 0x3C
159 #define C6DOFIMU18_REG_ZA_ST_DATA 0x3D
165 #define C6DOFIMU18_REG_APEX_CONFIG1 0x40
166 #define C6DOFIMU18_REG_APEX_CONFIG2 0x41
167 #define C6DOFIMU18_REG_APEX_CONFIG3 0x42
168 #define C6DOFIMU18_REG_APEX_CONFIG4 0x43
169 #define C6DOFIMU18_REG_APEX_CONFIG5 0x44
170 #define C6DOFIMU18_REG_APEX_CONFIG6 0x45
171 #define C6DOFIMU18_REG_APEX_CONFIG7 0x46
172 #define C6DOFIMU18_REG_APEX_CONFIG8 0x47
173 #define C6DOFIMU18_REG_APEX_CONFIG9 0x48
174 #define C6DOFIMU18_REG_ACCEL_WOM_X_THR 0x4A
175 #define C6DOFIMU18_REG_ACCEL_WOM_Y_THR 0x4B
176 #define C6DOFIMU18_REG_ACCEL_WOM_Z_THR 0x4C
177 #define C6DOFIMU18_REG_INT_SOURCE6 0x4D
178 #define C6DOFIMU18_REG_INT_SOURCE7 0x4E
179 #define C6DOFIMU18_REG_INT_SOURCE8 0x4F
180 #define C6DOFIMU18_REG_INT_SOURCE9 0x50
181 #define C6DOFIMU18_REG_INT_SOURCE10 0x51
182 #define C6DOFIMU18_REG_OFFSET_USER0 0x77
183 #define C6DOFIMU18_REG_OFFSET_USER1 0x78
184 #define C6DOFIMU18_REG_OFFSET_USER2 0x79
185 #define C6DOFIMU18_REG_OFFSET_USER3 0x7A
186 #define C6DOFIMU18_REG_OFFSET_USER4 0x7B
187 #define C6DOFIMU18_REG_OFFSET_USER5 0x7C
188 #define C6DOFIMU18_REG_OFFSET_USER6 0x7D
189 #define C6DOFIMU18_REG_OFFSET_USER7 0x7E
190 #define C6DOFIMU18_REG_OFFSET_USER8 0x7F
209 #define C6DOFIMU18_BANK0_SEL 0x00
210 #define C6DOFIMU18_BANK1_SEL 0x01
211 #define C6DOFIMU18_BANK2_SEL 0x02
212 #define C6DOFIMU18_BANK3_SEL 0x03
213 #define C6DOFIMU18_BANK4_SEL 0x04
219 #define C6DOFIMU18_SLEW_RATE_60nS 0x00
220 #define C6DOFIMU18_SLEW_RATE_36nS 0x01
221 #define C6DOFIMU18_SLEW_RATE_18nS 0x02
222 #define C6DOFIMU18_SLEW_RATE_12nS 0x03
223 #define C6DOFIMU18_SLEW_RATE_6nS 0x04
224 #define C6DOFIMU18_SLEW_RATE_2nS 0x05
230 #define C6DOFIMU18_SPI_MODE0_MODE3 0x00
231 #define C6DOFIMU18_SPI_MODE1_MODE2 0x01
233 #define C6DOFIMU18_ENABLE_SW_RESET 0x01
239 #define C6DOFIMU18_DMP_IDEL_FLAG 0x04
240 #define C6DOFIMU18_ACTIVITY_UNKNOWN 0x00
241 #define C6DOFIMU18_ACTIVITY_WALK 0x01
242 #define C6DOFIMU18_ACTIVITY_RUN 0x02
243 #define C6DOFIMU18_ACTIVITY_MASK 0x03
245 #define C6DOFIMU18_TAP_NUM_MASK 0x18
246 #define C6DOFIMU18_TAP_SINGLE 0x08
247 #define C6DOFIMU18_TAP_DOUBLE 0x10
248 #define C6DOFIMU18_TAP_AXIS_MASK 0x06
249 #define C6DOFIMU18_TAP_AXIS_X 0x00
250 #define C6DOFIMU18_TAP_AXIS_Y 0x02
251 #define C6DOFIMU18_TAP_AXIS_Z 0x04
252 #define C6DOFIMU18_TAP_DIR_MASK 0x01
253 #define C6DOFIMU18_TAP_DIR_POSITIVE 0x00
254 #define C6DOFIMU18_TAP_DIR_NEGATIVE 0x01
260 #define C6DOFIMU18_INT_INT2_MODE_PULSED 0x00
261 #define C6DOFIMU18_INT_INT2_MODE_LATCHED 0x20
262 #define C6DOFIMU18_INT_INT2_OPEN_DRAIN 0x00
263 #define C6DOFIMU18_INT_INT2_PUSH_PULL 0x10
264 #define C6DOFIMU18_INT_INT2_ACTIVE_LOW 0x00
265 #define C6DOFIMU18_INT_INT2_ACTIVE_HIGH 0x08
266 #define C6DOFIMU18_INT_INT1_MODE_PULSED 0x00
267 #define C6DOFIMU18_INT_INT1_MODE_LATCHED 0x04
268 #define C6DOFIMU18_INT_INT1_OPEN_DRAIN 0x00
269 #define C6DOFIMU18_INT_INT1_PUSH_PULL 0x02
270 #define C6DOFIMU18_INT_INT1_ACTIVE_LOW 0x00
271 #define C6DOFIMU18_INT_INT1_ACTIVE_HIGH 0x01
272 #define C6DOFIMU18_INT_CONFIG_MASK 0x3F
278 #define C6DOFIMU18_DRDY_INT_CLR_ON_STATUS_READ 0x00
279 #define C6DOFIMU18_DRDY_INT_CLR_FIFO_READ 0x20
280 #define C6DOFIMU18_DRDY_INT_CLR_STATUS_AND_REG 0x30
281 #define C6DOFIMU18_FIFO_INT_CLR_ON_STATUS_READ 0x00
282 #define C6DOFIMU18_FIFO_INT_CLR_FIFO_READ 0x80
283 #define C6DOFIMU18_FIFO_INT_CLR_STATUS_AND_REG 0xc0
284 #define C6DOFIMU18_FIFO_FULL_CLR_ON_STATUS_READ 0x00
285 #define C6DOFIMU18_FIFO_FULL_CLR_FIFO_READ 0x02
286 #define C6DOFIMU18_FIFO_FULL_CLR_STATUS_AND_REG 0x03
292 #define C6DOFIMU18_INT_TPULSE_100uS 0x00
293 #define C6DOFIMU18_INT_TPULSE_8uS 0x40
294 #define C6DOFIMU18_INT_TDEASSERT_DISABLE 0x20
295 #define C6DOFIMU18_INT_ASYNC_RESET_DISABLE 0x10
296 #define C6DOFIMU18_INT_ASYNC_RESET_ENABLE 0x00
297 #define C6DOFIMU18_INT_CONFIG1_MASK 0x70
303 #define C6DOFIMU18_INT_UI_FSYNC_INT1_EN 0x40
304 #define C6DOFIMU18_INT_PLL_RDY_INT1_EN 0x20
305 #define C6DOFIMU18_INT_RESET_DONE_INT1_EN 0x10
306 #define C6DOFIMU18_INT_UI_DRDY_INT1_EN 0x08
307 #define C6DOFIMU18_INT_FIFO_THS_INT1_EN 0x04
308 #define C6DOFIMU18_INT_FIFO_FULL_INT1_EN 0x02
309 #define C6DOFIMU18_INT_UI_AGC_RDY_INT1_EN 0x01
310 #define C6DOFIMU18_INT_SOURCE0_MASK 0x7F
316 #define C6DOFIMU18_SMD_INT1_EN 0x08
317 #define C6DOFIMU18_WOM_Z_INT1_EN 0x04
318 #define C6DOFIMU18_WOM_Y_INT1_EN 0x02
319 #define C6DOFIMU18_WOM_X_INT1_EN 0x01
320 #define C6DOFIMU18_INT_SOURCE1_MASK 0x0F
326 #define C6DOFIMU18_INT_UI_FSYNC_INT2_EN 0x40
327 #define C6DOFIMU18_INT_PLL_RDY_INT2_EN 0x20
328 #define C6DOFIMU18_INT_RESET_DONE_INT2_EN 0x10
329 #define C6DOFIMU18_INT_UI_DRDY_INT2_EN 0x08
330 #define C6DOFIMU18_INT_FIFO_THS_INT2_EN 0x04
331 #define C6DOFIMU18_INT_FIFO_FULL_INT2_EN 0x02
332 #define C6DOFIMU18_INT_UI_AGC_RDY_INT2_EN 0x01
333 #define C6DOFIMU18_INT_SOURCE3_MASK 0x7F
339 #define C6DOFIMU18_SMD_INT2_EN 0x08
340 #define C6DOFIMU18_WOM_Z_INT2_EN 0x04
341 #define C6DOFIMU18_WOM_Y_INT2_EN 0x02
342 #define C6DOFIMU18_WOM_X_INT2_EN 0x01
343 #define C6DOFIMU18_INT_SOURCE4_MASK 0x0F
349 #define C6DOFIMU18_INT_SOURCE6_STEP_DET_INT1_EN 0x20
350 #define C6DOFIMU18_INT_SOURCE6_STEP_CNT_INT1_EN 0x10
351 #define C6DOFIMU18_INT_SOURCE6_TILT_DET_INT1_EN 0x08
352 #define C6DOFIMU18_INT_SOURCE6_TAP_DET_INT1_EN 0x01
353 #define C6DOFIMU18_INT_SOURCE6_MASK 0x39
359 #define C6DOFIMU18_INT_SOURCE7_STEP_DET_INT2_EN 0x20
360 #define C6DOFIMU18_INT_SOURCE7_STEP_CNT_INT2_EN 0x10
361 #define C6DOFIMU18_INT_SOURCE7_TILT_DET_INT2_EN 0x08
362 #define C6DOFIMU18_INT_SOURCE7_TAP_DET_INT2_EN 0x01
363 #define C6DOFIMU18_INT_SOURCE7_MASK 0x39
369 #define C6DOFIMU18_UI_FSYNC_INT_FLAG 0x40
370 #define C6DOFIMU18_PLL_DONE_INT_FLAG 0x20
371 #define C6DOFIMU18_RESET_DONE_INT_FLAG 0x10
372 #define C6DOFIMU18_DATA_RDY_INT_FLAG 0x08
373 #define C6DOFIMU18_FIFO_THS_INT_FLAG 0x04
374 #define C6DOFIMU18_FIFO_FULL_INT_FLAG 0x02
375 #define C6DOFIMU18_AGC_RDY_INT_FLAG 0x01
381 #define C6DOFIMU18_SMD_INT_FLAG 0x08
382 #define C6DOFIMU18_WOM_Z_INT_FLAG 0x04
383 #define C6DOFIMU18_WOM_Y_INT_FLAG 0x02
384 #define C6DOFIMU18_WOM_X_INT_FLAG 0x01
390 #define C6DOFIMU18_STEP_DET_INT_FLAG 0x10
391 #define C6DOFIMU18_STEP_CNT_OVF_INT_FLAG 0x08
392 #define C6DOFIMU18_TILT_DET_INT_FLAG 0x04
393 #define C6DOFIMU18_SLEEP_INT_FLAG 0x02
394 #define C6DOFIMU18_TAP_DET_INT_FLAG 0x01
400 #define C6DOFIMU18_FIFO_HLD_LAST_DATA_EN 0x80
401 #define C6DOFIMU18_FIFO_COUNT_REC 0x40
402 #define C6DOFIMU18_FIFO_COUNT_ENDIAN 0x20
403 #define C6DOFIMU18_FIFO_DATA_ENDIAN 0x10
404 #define C6DOFIMU18_UI_SIFS_CFG_DISABLE_I2C 0x03
405 #define C6DOFIMU18_UI_SIFS_CFG_DISABLE_SPI 0x02
406 #define C6DOFIMU18_INTF_CONFIG0_MASK 0xF3
412 #define C6DOFIMU18_ACCEL_LP_CLK_SEL_WAKE_UP_OSC 0x00
413 #define C6DOFIMU18_ACCEL_LP_CLK_SEL_RC_OSC 0x08
414 #define C6DOFIMU18_ACCEL_CLKSEL_RC 0x00
415 #define C6DOFIMU18_ACCEL_CLKSEL_PLL_OR_RC 0x01
416 #define C6DOFIMU18_ACCEL_CLKSEL_DISABLE 0x03
422 #define C6DOFIMU18_SPI_3WIRE 0x00
423 #define C6DOFIMU18_SPI_4WIRE 0x02
429 #define C6DOFIMU18_PIN9_INT2 0x00
430 #define C6DOFIMU18_PIN9_FSYNC 0x01
436 #define C6DOFIMU18_DMP_INIT_EN 0x40
437 #define C6DOFIMU18_DMP_MEM_RESET_EN 0x20
438 #define C6DOFIMU18_ABORT_AND_RESET 0x08
439 #define C6DOFIMU18_TMST_STROBE 0x04
440 #define C6DOFIMU18_FIFO_FLUSH 0x02
446 #define C6DOFIMU18_PWR_TEMP_DIS 0x20
447 #define C6DOFIMU18_PWR_IDLE_OFF 0x10
448 #define C6DOFIMU18_PWR_GYRO_MODE_OFF 0x00
449 #define C6DOFIMU18_PWR_GYRO_STANDBY 0x04
450 #define C6DOFIMU18_PWR_GYRO_LN_MODE 0x0C
451 #define C6DOFIMU18_PWR_ACCEL_MODE_OFF 0x00
452 #define C6DOFIMU18_PWR_ACCEL_LP_MODE 0x02
453 #define C6DOFIMU18_PWR_ACCEL_LN_MODE 0x03
459 #define C6DOFIMU18_GYRO_FS_SEL_2000DPS 0x00
460 #define C6DOFIMU18_GYRO_FS_SEL_1000DPS 0x20
461 #define C6DOFIMU18_GYRO_FS_SEL_500DPS 0x40
462 #define C6DOFIMU18_GYRO_FS_SEL_250DPS 0x60
463 #define C6DOFIMU18_GYRO_FS_SEL_125DPS 0x80
464 #define C6DOFIMU18_GYRO_FS_SEL_62DPS 0xA0
465 #define C6DOFIMU18_GYRO_FS_SEL_32DPS 0xC0
466 #define C6DOFIMU18_GYRO_FS_SEL_15DPS 0xE0
467 #define C6DOFIMU18_GYRO_FS_SEL_MASK 0xE0
468 #define C6DOFIMU18_GYRO_ODR_8kHz 0x03
469 #define C6DOFIMU18_GYRO_ODR_4kHz 0x04
470 #define C6DOFIMU18_GYRO_ODR_2kHz 0x05
471 #define C6DOFIMU18_GYRO_ODR_1kHz 0x06
472 #define C6DOFIMU18_GYRO_ODR_200Hz 0x07
473 #define C6DOFIMU18_GYRO_ODR_100Hz 0x08
474 #define C6DOFIMU18_GYRO_ODR_50Hz 0x09
475 #define C6DOFIMU18_GYRO_ODR_25Hz 0x0A
476 #define C6DOFIMU18_GYRO_ODR_12Hz 0x0B
477 #define C6DOFIMU18_GYRO_ODR_500Hz 0x0F
478 #define C6DOFIMU18_GYRO_ODR_MASK 0x0F
479 #define C6DOFIMU18_GYRO_ODR_MASK 0x0F
485 #define C6DOFIMU18_TEMP_FILT_BW_4kHz 0x00
486 #define C6DOFIMU18_TEMP_FILT_BW_170Hz 0x20
487 #define C6DOFIMU18_TEMP_FILT_BW_82Hz 0x40
488 #define C6DOFIMU18_TEMP_FILT_BW_40Hz 0x60
489 #define C6DOFIMU18_TEMP_FILT_BW_20Hz 0x80
490 #define C6DOFIMU18_TEMP_FILT_BW_10Hz 0xA0
491 #define C6DOFIMU18_TEMP_FILT_BW_5Hz_0 0xC0
492 #define C6DOFIMU18_TEMP_FILT_BW_5Hz_1 0xE0
493 #define C6DOFIMU18_GYRO_UI_FILT_ORD_1st 0x00
494 #define C6DOFIMU18_GYRO_UI_FILT_ORD_2nd 0x04
495 #define C6DOFIMU18_GYRO_UI_FILT_ORD_3rd 0x08
496 #define C6DOFIMU18_GYRO_UI_FILT_ORD_MASK 0x0C
497 #define C6DOFIMU18_GYRO_DEC2_M2_ORD_3rd 0x02
498 #define C6DOFIMU18_GYRO_CONFIG1_MASK 0xEF
504 #define C6DOFIMU18_ACCEL_FS_SEL_16G 0x00
505 #define C6DOFIMU18_ACCEL_FS_SEL_8G 0x20
506 #define C6DOFIMU18_ACCEL_FS_SEL_4G 0x40
507 #define C6DOFIMU18_ACCEL_FS_SEL_2G 0x60
508 #define C6DOFIMU18_ACCEL_FS_SEL_MASK 0x60
509 #define C6DOFIMU18_ACCEL_ODR_8kHz_LN 0x03
510 #define C6DOFIMU18_ACCEL_ODR_4kHz_LN 0x04
511 #define C6DOFIMU18_ACCEL_ODR_2kHz_LN 0x05
512 #define C6DOFIMU18_ACCEL_ODR_1kHz_LN 0x06
513 #define C6DOFIMU18_ACCEL_ODR_200Hz_LP_LN 0x07
514 #define C6DOFIMU18_ACCEL_ODR_100Hz_LP_LN 0x08
515 #define C6DOFIMU18_ACCEL_ODR_50Hz_LP_LN 0x09
516 #define C6DOFIMU18_ACCEL_ODR_25Hz_LP_LN 0x0A
517 #define C6DOFIMU18_ACCEL_ODR_12Hz_LP_LN 0x0B
518 #define C6DOFIMU18_ACCEL_ODR_6Hz_LP 0x0C
519 #define C6DOFIMU18_ACCEL_ODR_3Hz_LP 0x0D
520 #define C6DOFIMU18_ACCEL_ODR_1Hz_LP 0x0E
521 #define C6DOFIMU18_ACCEL_ODR_500Hz_LP_LN 0x0F
522 #define C6DOFIMU18_ACCEL_ODR_MASK 0x0F
528 #define C6DOFIMU18_ACCEL_UI_FILT_ORD_1st 0x00
529 #define C6DOFIMU18_ACCEL_UI_FILT_ORD_2nd 0x08
530 #define C6DOFIMU18_ACCEL_UI_FILT_ORD_3rd 0x10
531 #define C6DOFIMU18_ACCEL_UI_FILT_ORD_MASK 0x18
532 #define C6DOFIMU18_ACCEL_DEC2_M2_ORD_3rd 0x04
538 #define C6DOFIMU18_TMST_TO_REGS_EN 0x10
539 #define C6DOFIMU18_TMST_RES 0x08
540 #define C6DOFIMU18_TMST_DELTA_EN 0x04
541 #define C6DOFIMU18_TMST_FSYNC_EN 0x02
542 #define C6DOFIMU18_TMST_EN 0x01
543 #define C6DOFIMU18_TMST_MASK 0x1F
549 #define C6DOFIMU18_FIFO_BYPASS 0x00
550 #define C6DOFIMU18_FIFO_STREAM_TO_FIFO 0x40
551 #define C6DOFIMU18_FIFO_STOP_ON_FULL 0x80
552 #define C6DOFIMU18_FIFO_CONFIG_MASK 0xC0
558 #define C6DOFIMU18_FIFO_RESUME_PARTIAL_RD 0x40
559 #define C6DOFIMU18_FIFO_WM_GT_TH 0x20
560 #define C6DOFIMU18_FIFO_TMST_FSYNC_EN 0x08
561 #define C6DOFIMU18_FIFO_TEMP_EN 0x04
562 #define C6DOFIMU18_FIFO_GYRO_EN 0x02
563 #define C6DOFIMU18_FIFO_ACCEL_EN 0x01
569 #define C6DOFIMU18_DO_NOT_TAG_FSYNC 0x00
570 #define C6DOFIMU18_FSYNC_TAG_TEMP_OUT_LSB 0x10
571 #define C6DOFIMU18_FSYNC_GYRO_XOUT_LSB 0x20
572 #define C6DOFIMU18_FSYNC_GYRO_YOUT_LSB 0x30
573 #define C6DOFIMU18_FSYNC_GYRO_ZOUT_LSB 0x40
574 #define C6DOFIMU18_FSYNC_ACCEL_XOUT_LSB 0x50
575 #define C6DOFIMU18_FSYNC_ACCEL_YOUT_LSB 0x60
576 #define C6DOFIMU18_FSYNC_ACCEL_ZOUT_LSB 0x70
577 #define C6DOFIMU18_FSYNC_UI_SEL_MASK 0x70
578 #define C6DOFIMU18_FSYNC_UI_FLAG_CLEAR_SEL 0x02
579 #define C6DOFIMU18_FSYNC_POLARITY_RISING_EGDE 0x01
580 #define C6DOFIMU18_FSYNC_POLARITY_FALLING_EGDE 0x01
586 #define C6DOFIMU18_DMP_POVER_SAVE_EN 0x80
587 #define C6DOFIMU18_TAP_ENABLE 0x40
588 #define C6DOFIMU18_PED_ENABLE 0x20
589 #define C6DOFIMU18_TILT_ENABLE 0x10
590 #define C6DOFIMU18_R2W_ENABLE 0x08
591 #define C6DOFIMU18_DMP_ODR_25Hz 0x00
592 #define C6DOFIMU18_DMP_ODR_50Hz 0x02
598 #define C6DOFIMU18_LOW_ENERGY_AMP_TH_SEL 0xA0
599 #define C6DOFIMU18_DMP_POVER_SAVE_TIME_0S 0x00
600 #define C6DOFIMU18_DMP_POVER_SAVE_TIME_4S 0x01
601 #define C6DOFIMU18_DMP_POWER_SAVE_TIME_8S 0x02
602 #define C6DOFIMU18_DMP_POWER_SAVE_TIME_12S 0x03
603 #define C6DOFIMU18_DMP_POWER_SAVE_TIME_16S 0x04
604 #define C6DOFIMU18_DMP_POWER_SAVE_TIME_20S 0x05
605 #define C6DOFIMU18_DMP_POWER_SAVE_TIME_24S 0x06
606 #define C6DOFIMU18_DMP_POWER_SAVE_TIME_28S 0x07
607 #define C6DOFIMU18_DMP_POWER_SAVE_TIME_32S 0x08
608 #define C6DOFIMU18_DMP_POWER_SAVE_TIME_36S 0x09
609 #define C6DOFIMU18_DMP_POWER_SAVE_TIME_40S 0x0A
610 #define C6DOFIMU18_DMP_POWER_SAVE_TIME_44S 0x0B
611 #define C6DOFIMU18_DMP_POWER_SAVE_TIME_48S 0x0C
612 #define C6DOFIMU18_DMP_POWER_SAVE_TIME_52S 0x0D
613 #define C6DOFIMU18_DMP_POWER_SAVE_TIME_56S 0x0E
614 #define C6DOFIMU18_DMP_POWER_SAVE_TIME_60S 0x0F
620 #define C6DOFIMU18_PED_AMP_TH_SEL 0x80
621 #define C6DOFIMU18_PED_STEP_CNT_TH_0_STEPS 0x00
622 #define C6DOFIMU18_PED_STEP_CNT_TH_1_STEPS 0x01
623 #define C6DOFIMU18_PED_STEP_CNT_TH_2_STEPS 0x02
624 #define C6DOFIMU18_PED_STEP_CNT_TH_3_STEPS 0x03
625 #define C6DOFIMU18_PED_STEP_CNT_TH_4_STEPS 0x04
626 #define C6DOFIMU18_PED_STEP_CNT_TH_5_STEPS 0x05
627 #define C6DOFIMU18_PED_STEP_CNT_TH_6_STEPS 0x06
628 #define C6DOFIMU18_PED_STEP_CNT_TH_7_STEPS 0x07
629 #define C6DOFIMU18_PED_STEP_CNT_TH_8_STEPS 0x08
630 #define C6DOFIMU18_PED_STEP_CNT_TH_9_STEPS 0x09
631 #define C6DOFIMU18_PED_STEP_CNT_TH_10_STEPS 0x0A
632 #define C6DOFIMU18_PED_STEP_CNT_TH_11_STEPS 0x0B
633 #define C6DOFIMU18_PED_STEP_CNT_TH_12_STEPS 0x0C
634 #define C6DOFIMU18_PED_STEP_CNT_TH_13_STEPS 0x0D
635 #define C6DOFIMU18_PED_STEP_CNT_TH_14_STEPS 0x0E
636 #define C6DOFIMU18_PED_STEP_CNT_TH_15_STEPS 0x0F
637 #define C6DOFIMU18_PED_STEP_CNT_TH_MASK 0x0F
643 #define C6DOFIMU18_PED_STEP_DET_TH_0_STEPS 0x00
644 #define C6DOFIMU18_PED_STEP_DET_TH_1_STEPS 0x20
645 #define C6DOFIMU18_PED_STEP_DET_TH_2_STEPS 0x40
646 #define C6DOFIMU18_PED_STEP_DET_TH_3_STEPS 0x60
647 #define C6DOFIMU18_PED_STEP_DET_TH_4_STEPS 0x80
648 #define C6DOFIMU18_PED_STEP_DET_TH_5_STEPS 0xA0
649 #define C6DOFIMU18_PED_STEP_DET_TH_6_STEPS 0xC0
650 #define C6DOFIMU18_PED_STEP_DET_TH_7_STEPS 0xE0
651 #define C6DOFIMU18_PED_SB_TIMER_TH_0_SAMPLES 0x00
652 #define C6DOFIMU18_PED_SB_TIMER_TH_1_SAMPLES 0x04
653 #define C6DOFIMU18_PED_SB_TIMER_TH_2_SAMPLES 0x08
654 #define C6DOFIMU18_PED_SB_TIMER_TH_3_SAMPLES 0x0C
655 #define C6DOFIMU18_PED_SB_TIMER_TH_4_SAMPLES 0x10
656 #define C6DOFIMU18_PED_SB_TIMER_TH_5_SAMPLES 0x14
657 #define C6DOFIMU18_PED_SB_TIMER_TH_6_SAMPLES 0x18
658 #define C6DOFIMU18_PED_SB_TIMER_TH_7_SAMPLES 0x1C
659 #define C6DOFIMU18_PED_HI_EN_TH_SEL 0x01
665 #define C6DOFIMU18_TILT_WAIT_TIME_0S 0x00
666 #define C6DOFIMU18_TILT_WAIT_TIME_2S 0x40
667 #define C6DOFIMU18_TILT_WAIT_TIME_4S 0x80
668 #define C6DOFIMU18_TILT_WAIT_TIME_6S 0xC0
669 #define C6DOFIMU18_TILT_WAIT_TIME_MASK 0xC0
670 #define C6DOFIMU18_SLEEP_TIME_OUT_1s28 0x00
671 #define C6DOFIMU18_SLEEP_TIME_OUT_2s56 0x08
672 #define C6DOFIMU18_SLEEP_TIME_OUT_3s84 0x10
673 #define C6DOFIMU18_SLEEP_TIME_OUT_5s12 0x18
674 #define C6DOFIMU18_SLEEP_TIME_OUT_6s4 0x20
675 #define C6DOFIMU18_SLEEP_TIME_OUT_7s68 0x28
676 #define C6DOFIMU18_SLEEP_TIME_OUT_8s96 0x30
677 #define C6DOFIMU18_SLEEP_TIME_OUT_10s24 0x38
678 #define C6DOFIMU18_SLEEP_TIME_OUT_MASK 0x38
684 #define C6DOFIMU18_TAP_MIN_JERK_THR 0x44
685 #define C6DOFIMU18_TAP_MAX_OEAK_TOL 0x01
691 #define C6DOFIMU18_TAP_TMAX 0x20
692 #define C6DOFIMU18_TAP_TAVG 0x08
693 #define C6DOFIMU18_TAP_TMIN 0x03
699 #define C6DOFIMU18_SENSITIVITY_MODE_HIGH_PERF 0x00
700 #define C6DOFIMU18_SENSITIVITY_MODE_SLOW_WALK 0x01
706 #define C6DOFIMU18_TEMPERATURE_DIV 132.48
707 #define C6DOFIMU18_TEMPERATURE_ADD 25
713 #define C6DOFIMU18_WHO_AM_I_VALUE 0x42
720 #define C6DOFIMU18_DEVICE_ADDRESS_GND 0x68
721 #define C6DOFIMU18_DEVICE_ADDRESS_VCC 0x69
731 #define C6DOFIMU18_SET_DATA_SAMPLE_EDGE SET_SPI_DATA_SAMPLE_EDGE
732 #define C6DOFIMU18_SET_DATA_SAMPLE_MIDDLE SET_SPI_DATA_SAMPLE_MIDDLE
750 #define C6DOFIMU18_MAP_MIKROBUS( cfg, mikrobus ) \
751 cfg.scl = MIKROBUS( mikrobus, MIKROBUS_SCL ); \
752 cfg.sda = MIKROBUS( mikrobus, MIKROBUS_SDA ); \
753 cfg.miso = MIKROBUS( mikrobus, MIKROBUS_MISO ); \
754 cfg.mosi = MIKROBUS( mikrobus, MIKROBUS_MOSI ); \
755 cfg.sck = MIKROBUS( mikrobus, MIKROBUS_SCK ); \
756 cfg.cs = MIKROBUS( mikrobus, MIKROBUS_CS ); \
757 cfg.ryc = MIKROBUS( mikrobus, MIKROBUS_AN ); \
758 cfg.int_pin = MIKROBUS( mikrobus, MIKROBUS_INT )
1086 uint32_t *tmst_data );
1118 #endif // C6DOFIMU18_H
err_t c6dofimu18_init(c6dofimu18_t *ctx, c6dofimu18_cfg_t *cfg)
6DOF IMU 18 initialization function.
err_t c6dofimu18_get_tap_detection(c6dofimu18_t *ctx, uint8_t *tap_num, uint8_t *tap_axis, uint8_t *tap_dir)
6DOF IMU 18 get tap detection data function.
uint32_t i2c_speed
Definition: c6dofimu18.h:818
err_t c6dofimu18_sw_reset(c6dofimu18_t *ctx)
6DOF IMU 18 software reset function.
err_t c6dofimu18_reg_read(c6dofimu18_t *ctx, uint8_t reg_bank, uint8_t reg, uint8_t *data_out, uint8_t len)
6DOF IMU 18 data reading function.
pin_name_t chip_select
Definition: c6dofimu18.h:793
digital_in_t ryc
Definition: c6dofimu18.h:786
uint8_t slew_rate
Definition: c6dofimu18.h:795
c6dofimu18_drv_t
6DOF IMU 18 Click driver selector.
Definition: c6dofimu18.h:768
This file contains SPI specific macros, functions, etc.
6DOF IMU 18 Click context object.
Definition: c6dofimu18.h:785
err_t c6dofimu18_set_basic_tap_detection(c6dofimu18_t *ctx)
6DOF IMU 18 basic tap detection configuration function.
err_t(* c6dofimu18_master_io_t)(struct c6dofimu18_s *, uint8_t, uint8_t *, uint8_t)
6DOF IMU 18 Click driver interface.
Definition: c6dofimu18.h:778
c6dofimu18_drv_t drv_sel
Definition: c6dofimu18.h:796
err_t c6dofimu18_read_timestamp(c6dofimu18_t *ctx, uint32_t *tmst_data)
6DOF IMU 18 read timestamp function.
uint8_t c6dofimu18_get_int1_state(c6dofimu18_t *ctx)
6DOF IMU 18 read INT1 pin state function.
i2c_master_t i2c
Definition: c6dofimu18.h:789
@ C6DOFIMU18_DRV_SEL_I2C
Definition: c6dofimu18.h:770
@ C6DOFIMU18_RESET_ERROR
Definition: c6dofimu18.h:849
err_t c6dofimu18_default_cfg(c6dofimu18_t *ctx)
6DOF IMU 18 default configuration function.
pin_name_t sck
Definition: c6dofimu18.h:813
6DOF IMU 18 Click configuration object.
Definition: c6dofimu18.h:808
pin_name_t int_pin
Definition: c6dofimu18.h:816
c6dofimu18_drv_t drv_sel
Definition: c6dofimu18.h:825
int16_t data_x
Definition: c6dofimu18.h:835
pin_name_t scl
Definition: c6dofimu18.h:809
err_t c6dofimu18_reg_write(c6dofimu18_t *ctx, uint8_t reg_bank, uint8_t reg, uint8_t *data_in, uint8_t len)
6DOF IMU 18 register data writing function.
err_t c6dofimu18_read_temperature(c6dofimu18_t *ctx, float *temperature_data)
6DOF IMU 18 read temperature function.
struct c6dofimu18_s c6dofimu18_t
6DOF IMU 18 Click context object.
void c6dofimu18_cfg_setup(c6dofimu18_cfg_t *cfg)
6DOF IMU 18 configuration object setup function.
uint8_t i2c_address
Definition: c6dofimu18.h:819
uint32_t spi_speed
Definition: c6dofimu18.h:821
int16_t data_z
Definition: c6dofimu18.h:837
spi_master_t spi
Definition: c6dofimu18.h:790
c6dofimu18_return_value_t
6DOF IMU 18 Click return value data.
Definition: c6dofimu18.h:846
err_t c6dofimu18_configure_digital_interface(c6dofimu18_t *ctx, uint8_t slew_rate)
6DOF IMU 18 configure digital interface function.
err_t c6dofimu18_generic_write(c6dofimu18_t *ctx, uint8_t reg, uint8_t *data_in, uint8_t len)
6DOF IMU 18 data writing function.
digital_in_t int_pin
Definition: c6dofimu18.h:787
c6dofimu18_master_io_t write_f
Definition: c6dofimu18.h:798
@ C6DOFIMU18_OK
Definition: c6dofimu18.h:847
@ C6DOFIMU18_ERROR
Definition: c6dofimu18.h:848
err_t c6dofimu18_set_reg_bank(c6dofimu18_t *ctx, uint8_t bank)
6DOF IMU 18 set register bank function.
int16_t data_y
Definition: c6dofimu18.h:836
c6dofimu18_master_io_t read_f
Definition: c6dofimu18.h:799
uint8_t slave_address
Definition: c6dofimu18.h:792
spi_master_mode_t spi_mode
Definition: c6dofimu18.h:794
spi_master_mode_t spi_mode
Definition: c6dofimu18.h:822
pin_name_t cs
Definition: c6dofimu18.h:814
pin_name_t ryc
Definition: c6dofimu18.h:815
err_t c6dofimu18_get_data_from_register(c6dofimu18_t *ctx, float *temperature_data, c6dofimu18_data_t *accel_data, c6dofimu18_data_t *gyro_data, uint32_t *tmst_data)
6DOF IMU 18 read data function.
err_t c6dofimu18_generic_read(c6dofimu18_t *ctx, uint8_t reg, uint8_t *data_out, uint8_t len)
6DOF IMU 18 data reading function.
6DOF IMU 18 data object.
Definition: c6dofimu18.h:834
spi_master_chip_select_polarity_t cs_polarity
Definition: c6dofimu18.h:823
pin_name_t miso
Definition: c6dofimu18.h:811
@ C6DOFIMU18_DRV_SEL_SPI
Definition: c6dofimu18.h:769
pin_name_t sda
Definition: c6dofimu18.h:810
void c6dofimu18_drv_interface_selection(c6dofimu18_cfg_t *cfg, c6dofimu18_drv_t drv_sel)
6DOF IMU 18 driver interface setup function.
pin_name_t mosi
Definition: c6dofimu18.h:812