c6dofimu18  2.1.0.0
c6dofimu18.h
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3 ** Contact: https://www.mikroe.com/contact
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22 
28 #ifndef C6DOFIMU18_H
29 #define C6DOFIMU18_H
30 
31 #ifdef __cplusplus
32 extern "C"{
33 #endif
34 
39 #ifdef PREINIT_SUPPORTED
40 #include "preinit.h"
41 #endif
42 
43 #ifdef MikroCCoreVersion
44  #if MikroCCoreVersion >= 1
45  #include "delays.h"
46  #endif
47 #endif
48 
49 #include "drv_digital_out.h"
50 #include "drv_digital_in.h"
51 #include "drv_i2c_master.h"
52 #include "drv_spi_master.h"
53 #include "spi_specifics.h"
54 
80 #define C6DOFIMU18_REG_DEVICE_CONFIG 0x11
81 #define C6DOFIMU18_REG_DRIVE_CONFIG 0x13
82 #define C6DOFIMU18_REG_INT_CONFIG 0x14
83 #define C6DOFIMU18_REG_FIFO_CONFIG 0x16
84 #define C6DOFIMU18_REG_TEMP_DATA1 0x1D
85 #define C6DOFIMU18_REG_TEMP_DATA0 0x1E
86 #define C6DOFIMU18_REG_ACCEL_DATA_X1 0x1F
87 #define C6DOFIMU18_REG_ACCEL_DATA_X0 0x20
88 #define C6DOFIMU18_REG_ACCEL_DATA_Y1 0x21
89 #define C6DOFIMU18_REG_ACCEL_DATA_Y0 0x22
90 #define C6DOFIMU18_REG_ACCEL_DATA_Z1 0x23
91 #define C6DOFIMU18_REG_ACCEL_DATA_Z0 0x24
92 #define C6DOFIMU18_REG_GYRO_DATA_X1 0x25
93 #define C6DOFIMU18_REG_GYRO_DATA_X0 0x26
94 #define C6DOFIMU18_REG_GYRO_DATA_Y1 0x27
95 #define C6DOFIMU18_REG_GYRO_DATA_Y0 0x28
96 #define C6DOFIMU18_REG_GYRO_DATA_Z1 0x29
97 #define C6DOFIMU18_REG_GYRO_DATA_Z0 0x2A
98 #define C6DOFIMU18_REG_TMST_FSYNCH 0x2B
99 #define C6DOFIMU18_REG_TMST_FSYNCL 0x2C
100 #define C6DOFIMU18_REG_INT_STATUS 0x2D
101 #define C6DOFIMU18_REG_FIFO_COUNTH 0x2E
102 #define C6DOFIMU18_REG_FIFO_COUNTL 0x2F
103 #define C6DOFIMU18_REG_FIFO_DATA 0x30
104 #define C6DOFIMU18_REG_APEX_DATA0 0x31
105 #define C6DOFIMU18_REG_APEX_DATA1 0x32
106 #define C6DOFIMU18_REG_APEX_DATA2 0x33
107 #define C6DOFIMU18_REG_APEX_DATA3 0x34
108 #define C6DOFIMU18_REG_APEX_DATA4 0x35
109 #define C6DOFIMU18_REG_APEX_DATA5 0x36
110 #define C6DOFIMU18_REG_INT_STATUS2 0x37
111 #define C6DOFIMU18_REG_INT_STATUS3 0x38
112 #define C6DOFIMU18_REG_SIGNAL_PATH_RESET 0x4B
113 #define C6DOFIMU18_REG_INTF_CONFIG0 0x4C
114 #define C6DOFIMU18_REG_INTF_CONFIG1 0x4D
115 #define C6DOFIMU18_REG_PWR_MGMT0 0x4E
116 #define C6DOFIMU18_REG_GYRO_CONFIG0 0x4F
117 #define C6DOFIMU18_REG_ACCEL_CONFIG0 0x50
118 #define C6DOFIMU18_REG_GYRO_CONFIG1 0x51
119 #define C6DOFIMU18_REG_GYRO_ACCEL_CONFIG0 0x52
120 #define C6DOFIMU18_REG_ACCEL_CONFIG1 0x53
121 #define C6DOFIMU18_REG_TMST_CONFIG 0x54
122 #define C6DOFIMU18_REG_APEX_CONFIG0 0x56
123 #define C6DOFIMU18_REG_SMD_CONFIG 0x57
124 #define C6DOFIMU18_REG_FIFO_CONFIG1 0x5F
125 #define C6DOFIMU18_REG_FIFO_CONFIG2 0x60
126 #define C6DOFIMU18_REG_FIFO_CONFIG3 0x61
127 #define C6DOFIMU18_REG_FSYNC_CONFIG 0x62
128 #define C6DOFIMU18_REG_INT_CONFIG0 0x63
129 #define C6DOFIMU18_REG_INT_CONFIG1 0x64
130 #define C6DOFIMU18_REG_INT_SOURCE0 0x65
131 #define C6DOFIMU18_REG_INT_SOURCE1 0x66
132 #define C6DOFIMU18_REG_INT_SOURCE3 0x68
133 #define C6DOFIMU18_REG_INT_SOURCE4 0x69
134 #define C6DOFIMU18_REG_FIFO_LOST_PKT0 0x6C
135 #define C6DOFIMU18_REG_FIFO_LOST_PKT1 0x6D
136 #define C6DOFIMU18_REG_SELF_TEST_CONFIG 0x70
137 #define C6DOFIMU18_REG_WHO_AM_I 0x75
138 #define C6DOFIMU18_REG_BANK_SEL 0x76
139 
144 #define C6DOFIMU18_REG_SENSOR_CONFIG0 0x03
145 #define C6DOFIMU18_REG_GYRO_CONFIG_STATIC2 0x0B
146 #define C6DOFIMU18_REG_GYRO_CONFIG_STATIC3 0x0C
147 #define C6DOFIMU18_REG_GYRO_CONFIG_STATIC4 0x0D
148 #define C6DOFIMU18_REG_GYRO_CONFIG_STATIC5 0x0E
149 #define C6DOFIMU18_REG_GYRO_CONFIG_STATIC6 0x0F
150 #define C6DOFIMU18_REG_GYRO_CONFIG_STATIC7 0x10
151 #define C6DOFIMU18_REG_GYRO_CONFIG_STATIC8 0x11
152 #define C6DOFIMU18_REG_GYRO_CONFIG_STATIC9 0x12
153 #define C6DOFIMU18_REG_GYRO_CONFIG_STATIC10 0x13
154 #define C6DOFIMU18_REG_XG_ST_DATA 0x5F
155 #define C6DOFIMU18_REG_YG_ST_DATA 0x60
156 #define C6DOFIMU18_REG_ZG_ST_DATA 0x61
157 #define C6DOFIMU18_REG_TMSTVAL0 0x62
158 #define C6DOFIMU18_REG_TMSTVAL1 0x63
159 #define C6DOFIMU18_REG_TMSTVAL2 0x64
160 #define C6DOFIMU18_REG_INTF_CONFIG4 0x7A
161 #define C6DOFIMU18_REG_INTF_CONFIG5 0x7B
162 #define C6DOFIMU18_REG_INTF_CONFIG6 0x7C
163 
168 #define C6DOFIMU18_REG_ACCEL_CONFIG_STATIC2 0x03
169 #define C6DOFIMU18_REG_ACCEL_CONFIG_STATIC3 0x04
170 #define C6DOFIMU18_REG_ACCEL_CONFIG_STATIC4 0x05
171 #define C6DOFIMU18_REG_XA_ST_DATA 0x3B
172 #define C6DOFIMU18_REG_YA_ST_DATA 0x3C
173 #define C6DOFIMU18_REG_ZA_ST_DATA 0x3D
174 
179 #define C6DOFIMU18_REG_APEX_CONFIG1 0x40
180 #define C6DOFIMU18_REG_APEX_CONFIG2 0x41
181 #define C6DOFIMU18_REG_APEX_CONFIG3 0x42
182 #define C6DOFIMU18_REG_APEX_CONFIG4 0x43
183 #define C6DOFIMU18_REG_APEX_CONFIG5 0x44
184 #define C6DOFIMU18_REG_APEX_CONFIG6 0x45
185 #define C6DOFIMU18_REG_APEX_CONFIG7 0x46
186 #define C6DOFIMU18_REG_APEX_CONFIG8 0x47
187 #define C6DOFIMU18_REG_APEX_CONFIG9 0x48
188 #define C6DOFIMU18_REG_ACCEL_WOM_X_THR 0x4A
189 #define C6DOFIMU18_REG_ACCEL_WOM_Y_THR 0x4B
190 #define C6DOFIMU18_REG_ACCEL_WOM_Z_THR 0x4C
191 #define C6DOFIMU18_REG_INT_SOURCE6 0x4D
192 #define C6DOFIMU18_REG_INT_SOURCE7 0x4E
193 #define C6DOFIMU18_REG_INT_SOURCE8 0x4F
194 #define C6DOFIMU18_REG_INT_SOURCE9 0x50
195 #define C6DOFIMU18_REG_INT_SOURCE10 0x51
196 #define C6DOFIMU18_REG_OFFSET_USER0 0x77
197 #define C6DOFIMU18_REG_OFFSET_USER1 0x78
198 #define C6DOFIMU18_REG_OFFSET_USER2 0x79
199 #define C6DOFIMU18_REG_OFFSET_USER3 0x7A
200 #define C6DOFIMU18_REG_OFFSET_USER4 0x7B
201 #define C6DOFIMU18_REG_OFFSET_USER5 0x7C
202 #define C6DOFIMU18_REG_OFFSET_USER6 0x7D
203 #define C6DOFIMU18_REG_OFFSET_USER7 0x7E
204 #define C6DOFIMU18_REG_OFFSET_USER8 0x7F
205  // c6dofimu18_reg
207 
223 #define C6DOFIMU18_BANK0_SEL 0x00
224 #define C6DOFIMU18_BANK1_SEL 0x01
225 #define C6DOFIMU18_BANK2_SEL 0x02
226 #define C6DOFIMU18_BANK3_SEL 0x03
227 #define C6DOFIMU18_BANK4_SEL 0x04
228 
233 #define C6DOFIMU18_SLEW_RATE_60nS 0x00
234 #define C6DOFIMU18_SLEW_RATE_36nS 0x01
235 #define C6DOFIMU18_SLEW_RATE_18nS 0x02
236 #define C6DOFIMU18_SLEW_RATE_12nS 0x03
237 #define C6DOFIMU18_SLEW_RATE_6nS 0x04
238 #define C6DOFIMU18_SLEW_RATE_2nS 0x05
239 
244 #define C6DOFIMU18_SPI_MODE0_MODE3 0x00
245 #define C6DOFIMU18_SPI_MODE1_MODE2 0x01
246 
247 #define C6DOFIMU18_ENABLE_SW_RESET 0x01
248 
253 #define C6DOFIMU18_DMP_IDEL_FLAG 0x04
254 #define C6DOFIMU18_ACTIVITY_UNKNOWN 0x00
255 #define C6DOFIMU18_ACTIVITY_WALK 0x01
256 #define C6DOFIMU18_ACTIVITY_RUN 0x02
257 #define C6DOFIMU18_ACTIVITY_MASK 0x03
258 
259 #define C6DOFIMU18_TAP_NUM_MASK 0x18
260 #define C6DOFIMU18_TAP_SINGLE 0x08
261 #define C6DOFIMU18_TAP_DOUBLE 0x10
262 #define C6DOFIMU18_TAP_AXIS_MASK 0x06
263 #define C6DOFIMU18_TAP_AXIS_X 0x00
264 #define C6DOFIMU18_TAP_AXIS_Y 0x02
265 #define C6DOFIMU18_TAP_AXIS_Z 0x04
266 #define C6DOFIMU18_TAP_DIR_MASK 0x01
267 #define C6DOFIMU18_TAP_DIR_POSITIVE 0x00
268 #define C6DOFIMU18_TAP_DIR_NEGATIVE 0x01
269 
274 #define C6DOFIMU18_INT_INT2_MODE_PULSED 0x00
275 #define C6DOFIMU18_INT_INT2_MODE_LATCHED 0x20
276 #define C6DOFIMU18_INT_INT2_OPEN_DRAIN 0x00
277 #define C6DOFIMU18_INT_INT2_PUSH_PULL 0x10
278 #define C6DOFIMU18_INT_INT2_ACTIVE_LOW 0x00
279 #define C6DOFIMU18_INT_INT2_ACTIVE_HIGH 0x08
280 #define C6DOFIMU18_INT_INT1_MODE_PULSED 0x00
281 #define C6DOFIMU18_INT_INT1_MODE_LATCHED 0x04
282 #define C6DOFIMU18_INT_INT1_OPEN_DRAIN 0x00
283 #define C6DOFIMU18_INT_INT1_PUSH_PULL 0x02
284 #define C6DOFIMU18_INT_INT1_ACTIVE_LOW 0x00
285 #define C6DOFIMU18_INT_INT1_ACTIVE_HIGH 0x01
286 #define C6DOFIMU18_INT_CONFIG_MASK 0x3F
287 
292 #define C6DOFIMU18_DRDY_INT_CLR_ON_STATUS_READ 0x00
293 #define C6DOFIMU18_DRDY_INT_CLR_FIFO_READ 0x20
294 #define C6DOFIMU18_DRDY_INT_CLR_STATUS_AND_REG 0x30
295 #define C6DOFIMU18_FIFO_INT_CLR_ON_STATUS_READ 0x00
296 #define C6DOFIMU18_FIFO_INT_CLR_FIFO_READ 0x80
297 #define C6DOFIMU18_FIFO_INT_CLR_STATUS_AND_REG 0xc0
298 #define C6DOFIMU18_FIFO_FULL_CLR_ON_STATUS_READ 0x00
299 #define C6DOFIMU18_FIFO_FULL_CLR_FIFO_READ 0x02
300 #define C6DOFIMU18_FIFO_FULL_CLR_STATUS_AND_REG 0x03
301 
306 #define C6DOFIMU18_INT_TPULSE_100uS 0x00
307 #define C6DOFIMU18_INT_TPULSE_8uS 0x40
308 #define C6DOFIMU18_INT_TDEASSERT_DISABLE 0x20
309 #define C6DOFIMU18_INT_ASYNC_RESET_DISABLE 0x10
310 #define C6DOFIMU18_INT_ASYNC_RESET_ENABLE 0x00
311 #define C6DOFIMU18_INT_CONFIG1_MASK 0x70
312 
317 #define C6DOFIMU18_INT_UI_FSYNC_INT1_EN 0x40
318 #define C6DOFIMU18_INT_PLL_RDY_INT1_EN 0x20
319 #define C6DOFIMU18_INT_RESET_DONE_INT1_EN 0x10
320 #define C6DOFIMU18_INT_UI_DRDY_INT1_EN 0x08
321 #define C6DOFIMU18_INT_FIFO_THS_INT1_EN 0x04
322 #define C6DOFIMU18_INT_FIFO_FULL_INT1_EN 0x02
323 #define C6DOFIMU18_INT_UI_AGC_RDY_INT1_EN 0x01
324 #define C6DOFIMU18_INT_SOURCE0_MASK 0x7F
325 
330 #define C6DOFIMU18_SMD_INT1_EN 0x08
331 #define C6DOFIMU18_WOM_Z_INT1_EN 0x04
332 #define C6DOFIMU18_WOM_Y_INT1_EN 0x02
333 #define C6DOFIMU18_WOM_X_INT1_EN 0x01
334 #define C6DOFIMU18_INT_SOURCE1_MASK 0x0F
335 
340 #define C6DOFIMU18_INT_UI_FSYNC_INT2_EN 0x40
341 #define C6DOFIMU18_INT_PLL_RDY_INT2_EN 0x20
342 #define C6DOFIMU18_INT_RESET_DONE_INT2_EN 0x10
343 #define C6DOFIMU18_INT_UI_DRDY_INT2_EN 0x08
344 #define C6DOFIMU18_INT_FIFO_THS_INT2_EN 0x04
345 #define C6DOFIMU18_INT_FIFO_FULL_INT2_EN 0x02
346 #define C6DOFIMU18_INT_UI_AGC_RDY_INT2_EN 0x01
347 #define C6DOFIMU18_INT_SOURCE3_MASK 0x7F
348 
353 #define C6DOFIMU18_SMD_INT2_EN 0x08
354 #define C6DOFIMU18_WOM_Z_INT2_EN 0x04
355 #define C6DOFIMU18_WOM_Y_INT2_EN 0x02
356 #define C6DOFIMU18_WOM_X_INT2_EN 0x01
357 #define C6DOFIMU18_INT_SOURCE4_MASK 0x0F
358 
363 #define C6DOFIMU18_INT_SOURCE6_STEP_DET_INT1_EN 0x20
364 #define C6DOFIMU18_INT_SOURCE6_STEP_CNT_INT1_EN 0x10
365 #define C6DOFIMU18_INT_SOURCE6_TILT_DET_INT1_EN 0x08
366 #define C6DOFIMU18_INT_SOURCE6_TAP_DET_INT1_EN 0x01
367 #define C6DOFIMU18_INT_SOURCE6_MASK 0x39
368 
373 #define C6DOFIMU18_INT_SOURCE7_STEP_DET_INT2_EN 0x20
374 #define C6DOFIMU18_INT_SOURCE7_STEP_CNT_INT2_EN 0x10
375 #define C6DOFIMU18_INT_SOURCE7_TILT_DET_INT2_EN 0x08
376 #define C6DOFIMU18_INT_SOURCE7_TAP_DET_INT2_EN 0x01
377 #define C6DOFIMU18_INT_SOURCE7_MASK 0x39
378 
383 #define C6DOFIMU18_UI_FSYNC_INT_FLAG 0x40
384 #define C6DOFIMU18_PLL_DONE_INT_FLAG 0x20
385 #define C6DOFIMU18_RESET_DONE_INT_FLAG 0x10
386 #define C6DOFIMU18_DATA_RDY_INT_FLAG 0x08
387 #define C6DOFIMU18_FIFO_THS_INT_FLAG 0x04
388 #define C6DOFIMU18_FIFO_FULL_INT_FLAG 0x02
389 #define C6DOFIMU18_AGC_RDY_INT_FLAG 0x01
390 
395 #define C6DOFIMU18_SMD_INT_FLAG 0x08
396 #define C6DOFIMU18_WOM_Z_INT_FLAG 0x04
397 #define C6DOFIMU18_WOM_Y_INT_FLAG 0x02
398 #define C6DOFIMU18_WOM_X_INT_FLAG 0x01
399 
404 #define C6DOFIMU18_STEP_DET_INT_FLAG 0x10
405 #define C6DOFIMU18_STEP_CNT_OVF_INT_FLAG 0x08
406 #define C6DOFIMU18_TILT_DET_INT_FLAG 0x04
407 #define C6DOFIMU18_SLEEP_INT_FLAG 0x02
408 #define C6DOFIMU18_TAP_DET_INT_FLAG 0x01
409 
414 #define C6DOFIMU18_FIFO_HLD_LAST_DATA_EN 0x80
415 #define C6DOFIMU18_FIFO_COUNT_REC 0x40
416 #define C6DOFIMU18_FIFO_COUNT_ENDIAN 0x20
417 #define C6DOFIMU18_FIFO_DATA_ENDIAN 0x10
418 #define C6DOFIMU18_UI_SIFS_CFG_DISABLE_I2C 0x03
419 #define C6DOFIMU18_UI_SIFS_CFG_DISABLE_SPI 0x02
420 #define C6DOFIMU18_INTF_CONFIG0_MASK 0xF3
421 
426 #define C6DOFIMU18_ACCEL_LP_CLK_SEL_WAKE_UP_OSC 0x00
427 #define C6DOFIMU18_ACCEL_LP_CLK_SEL_RC_OSC 0x08
428 #define C6DOFIMU18_ACCEL_CLKSEL_RC 0x00
429 #define C6DOFIMU18_ACCEL_CLKSEL_PLL_OR_RC 0x01
430 #define C6DOFIMU18_ACCEL_CLKSEL_DISABLE 0x03
431 
436 #define C6DOFIMU18_SPI_3WIRE 0x00
437 #define C6DOFIMU18_SPI_4WIRE 0x02
438 
443 #define C6DOFIMU18_PIN9_INT2 0x00
444 #define C6DOFIMU18_PIN9_FSYNC 0x01
445 
450 #define C6DOFIMU18_DMP_INIT_EN 0x40
451 #define C6DOFIMU18_DMP_MEM_RESET_EN 0x20
452 #define C6DOFIMU18_ABORT_AND_RESET 0x08
453 #define C6DOFIMU18_TMST_STROBE 0x04
454 #define C6DOFIMU18_FIFO_FLUSH 0x02
455 
460 #define C6DOFIMU18_PWR_TEMP_DIS 0x20
461 #define C6DOFIMU18_PWR_IDLE_OFF 0x10
462 #define C6DOFIMU18_PWR_GYRO_MODE_OFF 0x00
463 #define C6DOFIMU18_PWR_GYRO_STANDBY 0x04
464 #define C6DOFIMU18_PWR_GYRO_LN_MODE 0x0C
465 #define C6DOFIMU18_PWR_ACCEL_MODE_OFF 0x00
466 #define C6DOFIMU18_PWR_ACCEL_LP_MODE 0x02
467 #define C6DOFIMU18_PWR_ACCEL_LN_MODE 0x03
468 
473 #define C6DOFIMU18_GYRO_FS_SEL_2000DPS 0x00
474 #define C6DOFIMU18_GYRO_FS_SEL_1000DPS 0x20
475 #define C6DOFIMU18_GYRO_FS_SEL_500DPS 0x40
476 #define C6DOFIMU18_GYRO_FS_SEL_250DPS 0x60
477 #define C6DOFIMU18_GYRO_FS_SEL_125DPS 0x80
478 #define C6DOFIMU18_GYRO_FS_SEL_62DPS 0xA0
479 #define C6DOFIMU18_GYRO_FS_SEL_32DPS 0xC0
480 #define C6DOFIMU18_GYRO_FS_SEL_15DPS 0xE0
481 #define C6DOFIMU18_GYRO_FS_SEL_MASK 0xE0
482 #define C6DOFIMU18_GYRO_ODR_8kHz 0x03
483 #define C6DOFIMU18_GYRO_ODR_4kHz 0x04
484 #define C6DOFIMU18_GYRO_ODR_2kHz 0x05
485 #define C6DOFIMU18_GYRO_ODR_1kHz 0x06
486 #define C6DOFIMU18_GYRO_ODR_200Hz 0x07
487 #define C6DOFIMU18_GYRO_ODR_100Hz 0x08
488 #define C6DOFIMU18_GYRO_ODR_50Hz 0x09
489 #define C6DOFIMU18_GYRO_ODR_25Hz 0x0A
490 #define C6DOFIMU18_GYRO_ODR_12Hz 0x0B
491 #define C6DOFIMU18_GYRO_ODR_500Hz 0x0F
492 #define C6DOFIMU18_GYRO_ODR_MASK 0x0F
493 #define C6DOFIMU18_GYRO_ODR_MASK 0x0F
494 
499 #define C6DOFIMU18_TEMP_FILT_BW_4kHz 0x00
500 #define C6DOFIMU18_TEMP_FILT_BW_170Hz 0x20
501 #define C6DOFIMU18_TEMP_FILT_BW_82Hz 0x40
502 #define C6DOFIMU18_TEMP_FILT_BW_40Hz 0x60
503 #define C6DOFIMU18_TEMP_FILT_BW_20Hz 0x80
504 #define C6DOFIMU18_TEMP_FILT_BW_10Hz 0xA0
505 #define C6DOFIMU18_TEMP_FILT_BW_5Hz_0 0xC0
506 #define C6DOFIMU18_TEMP_FILT_BW_5Hz_1 0xE0
507 #define C6DOFIMU18_GYRO_UI_FILT_ORD_1st 0x00
508 #define C6DOFIMU18_GYRO_UI_FILT_ORD_2nd 0x04
509 #define C6DOFIMU18_GYRO_UI_FILT_ORD_3rd 0x08
510 #define C6DOFIMU18_GYRO_UI_FILT_ORD_MASK 0x0C
511 #define C6DOFIMU18_GYRO_DEC2_M2_ORD_3rd 0x02
512 #define C6DOFIMU18_GYRO_CONFIG1_MASK 0xEF
513 
518 #define C6DOFIMU18_ACCEL_FS_SEL_16G 0x00
519 #define C6DOFIMU18_ACCEL_FS_SEL_8G 0x20
520 #define C6DOFIMU18_ACCEL_FS_SEL_4G 0x40
521 #define C6DOFIMU18_ACCEL_FS_SEL_2G 0x60
522 #define C6DOFIMU18_ACCEL_FS_SEL_MASK 0x60
523 #define C6DOFIMU18_ACCEL_ODR_8kHz_LN 0x03
524 #define C6DOFIMU18_ACCEL_ODR_4kHz_LN 0x04
525 #define C6DOFIMU18_ACCEL_ODR_2kHz_LN 0x05
526 #define C6DOFIMU18_ACCEL_ODR_1kHz_LN 0x06
527 #define C6DOFIMU18_ACCEL_ODR_200Hz_LP_LN 0x07
528 #define C6DOFIMU18_ACCEL_ODR_100Hz_LP_LN 0x08
529 #define C6DOFIMU18_ACCEL_ODR_50Hz_LP_LN 0x09
530 #define C6DOFIMU18_ACCEL_ODR_25Hz_LP_LN 0x0A
531 #define C6DOFIMU18_ACCEL_ODR_12Hz_LP_LN 0x0B
532 #define C6DOFIMU18_ACCEL_ODR_6Hz_LP 0x0C
533 #define C6DOFIMU18_ACCEL_ODR_3Hz_LP 0x0D
534 #define C6DOFIMU18_ACCEL_ODR_1Hz_LP 0x0E
535 #define C6DOFIMU18_ACCEL_ODR_500Hz_LP_LN 0x0F
536 #define C6DOFIMU18_ACCEL_ODR_MASK 0x0F
537 
542 #define C6DOFIMU18_ACCEL_UI_FILT_ORD_1st 0x00
543 #define C6DOFIMU18_ACCEL_UI_FILT_ORD_2nd 0x08
544 #define C6DOFIMU18_ACCEL_UI_FILT_ORD_3rd 0x10
545 #define C6DOFIMU18_ACCEL_UI_FILT_ORD_MASK 0x18
546 #define C6DOFIMU18_ACCEL_DEC2_M2_ORD_3rd 0x04
547 
552 #define C6DOFIMU18_TMST_TO_REGS_EN 0x10
553 #define C6DOFIMU18_TMST_RES 0x08
554 #define C6DOFIMU18_TMST_DELTA_EN 0x04
555 #define C6DOFIMU18_TMST_FSYNC_EN 0x02
556 #define C6DOFIMU18_TMST_EN 0x01
557 #define C6DOFIMU18_TMST_MASK 0x1F
558 
563 #define C6DOFIMU18_FIFO_BYPASS 0x00
564 #define C6DOFIMU18_FIFO_STREAM_TO_FIFO 0x40
565 #define C6DOFIMU18_FIFO_STOP_ON_FULL 0x80
566 #define C6DOFIMU18_FIFO_CONFIG_MASK 0xC0
567 
572 #define C6DOFIMU18_FIFO_RESUME_PARTIAL_RD 0x40
573 #define C6DOFIMU18_FIFO_WM_GT_TH 0x20
574 #define C6DOFIMU18_FIFO_TMST_FSYNC_EN 0x08
575 #define C6DOFIMU18_FIFO_TEMP_EN 0x04
576 #define C6DOFIMU18_FIFO_GYRO_EN 0x02
577 #define C6DOFIMU18_FIFO_ACCEL_EN 0x01
578 
583 #define C6DOFIMU18_DO_NOT_TAG_FSYNC 0x00
584 #define C6DOFIMU18_FSYNC_TAG_TEMP_OUT_LSB 0x10
585 #define C6DOFIMU18_FSYNC_GYRO_XOUT_LSB 0x20
586 #define C6DOFIMU18_FSYNC_GYRO_YOUT_LSB 0x30
587 #define C6DOFIMU18_FSYNC_GYRO_ZOUT_LSB 0x40
588 #define C6DOFIMU18_FSYNC_ACCEL_XOUT_LSB 0x50
589 #define C6DOFIMU18_FSYNC_ACCEL_YOUT_LSB 0x60
590 #define C6DOFIMU18_FSYNC_ACCEL_ZOUT_LSB 0x70
591 #define C6DOFIMU18_FSYNC_UI_SEL_MASK 0x70
592 #define C6DOFIMU18_FSYNC_UI_FLAG_CLEAR_SEL 0x02
593 #define C6DOFIMU18_FSYNC_POLARITY_RISING_EGDE 0x01
594 #define C6DOFIMU18_FSYNC_POLARITY_FALLING_EGDE 0x01
595 
600 #define C6DOFIMU18_DMP_POVER_SAVE_EN 0x80
601 #define C6DOFIMU18_TAP_ENABLE 0x40
602 #define C6DOFIMU18_PED_ENABLE 0x20
603 #define C6DOFIMU18_TILT_ENABLE 0x10
604 #define C6DOFIMU18_R2W_ENABLE 0x08
605 #define C6DOFIMU18_DMP_ODR_25Hz 0x00
606 #define C6DOFIMU18_DMP_ODR_50Hz 0x02
607 
612 #define C6DOFIMU18_LOW_ENERGY_AMP_TH_SEL 0xA0
613 #define C6DOFIMU18_DMP_POVER_SAVE_TIME_0S 0x00
614 #define C6DOFIMU18_DMP_POVER_SAVE_TIME_4S 0x01
615 #define C6DOFIMU18_DMP_POWER_SAVE_TIME_8S 0x02
616 #define C6DOFIMU18_DMP_POWER_SAVE_TIME_12S 0x03
617 #define C6DOFIMU18_DMP_POWER_SAVE_TIME_16S 0x04
618 #define C6DOFIMU18_DMP_POWER_SAVE_TIME_20S 0x05
619 #define C6DOFIMU18_DMP_POWER_SAVE_TIME_24S 0x06
620 #define C6DOFIMU18_DMP_POWER_SAVE_TIME_28S 0x07
621 #define C6DOFIMU18_DMP_POWER_SAVE_TIME_32S 0x08
622 #define C6DOFIMU18_DMP_POWER_SAVE_TIME_36S 0x09
623 #define C6DOFIMU18_DMP_POWER_SAVE_TIME_40S 0x0A
624 #define C6DOFIMU18_DMP_POWER_SAVE_TIME_44S 0x0B
625 #define C6DOFIMU18_DMP_POWER_SAVE_TIME_48S 0x0C
626 #define C6DOFIMU18_DMP_POWER_SAVE_TIME_52S 0x0D
627 #define C6DOFIMU18_DMP_POWER_SAVE_TIME_56S 0x0E
628 #define C6DOFIMU18_DMP_POWER_SAVE_TIME_60S 0x0F
629 
634 #define C6DOFIMU18_PED_AMP_TH_SEL 0x80
635 #define C6DOFIMU18_PED_STEP_CNT_TH_0_STEPS 0x00
636 #define C6DOFIMU18_PED_STEP_CNT_TH_1_STEPS 0x01
637 #define C6DOFIMU18_PED_STEP_CNT_TH_2_STEPS 0x02
638 #define C6DOFIMU18_PED_STEP_CNT_TH_3_STEPS 0x03
639 #define C6DOFIMU18_PED_STEP_CNT_TH_4_STEPS 0x04
640 #define C6DOFIMU18_PED_STEP_CNT_TH_5_STEPS 0x05
641 #define C6DOFIMU18_PED_STEP_CNT_TH_6_STEPS 0x06
642 #define C6DOFIMU18_PED_STEP_CNT_TH_7_STEPS 0x07
643 #define C6DOFIMU18_PED_STEP_CNT_TH_8_STEPS 0x08
644 #define C6DOFIMU18_PED_STEP_CNT_TH_9_STEPS 0x09
645 #define C6DOFIMU18_PED_STEP_CNT_TH_10_STEPS 0x0A
646 #define C6DOFIMU18_PED_STEP_CNT_TH_11_STEPS 0x0B
647 #define C6DOFIMU18_PED_STEP_CNT_TH_12_STEPS 0x0C
648 #define C6DOFIMU18_PED_STEP_CNT_TH_13_STEPS 0x0D
649 #define C6DOFIMU18_PED_STEP_CNT_TH_14_STEPS 0x0E
650 #define C6DOFIMU18_PED_STEP_CNT_TH_15_STEPS 0x0F
651 #define C6DOFIMU18_PED_STEP_CNT_TH_MASK 0x0F
652 
657 #define C6DOFIMU18_PED_STEP_DET_TH_0_STEPS 0x00
658 #define C6DOFIMU18_PED_STEP_DET_TH_1_STEPS 0x20
659 #define C6DOFIMU18_PED_STEP_DET_TH_2_STEPS 0x40
660 #define C6DOFIMU18_PED_STEP_DET_TH_3_STEPS 0x60
661 #define C6DOFIMU18_PED_STEP_DET_TH_4_STEPS 0x80
662 #define C6DOFIMU18_PED_STEP_DET_TH_5_STEPS 0xA0
663 #define C6DOFIMU18_PED_STEP_DET_TH_6_STEPS 0xC0
664 #define C6DOFIMU18_PED_STEP_DET_TH_7_STEPS 0xE0
665 #define C6DOFIMU18_PED_SB_TIMER_TH_0_SAMPLES 0x00
666 #define C6DOFIMU18_PED_SB_TIMER_TH_1_SAMPLES 0x04
667 #define C6DOFIMU18_PED_SB_TIMER_TH_2_SAMPLES 0x08
668 #define C6DOFIMU18_PED_SB_TIMER_TH_3_SAMPLES 0x0C
669 #define C6DOFIMU18_PED_SB_TIMER_TH_4_SAMPLES 0x10
670 #define C6DOFIMU18_PED_SB_TIMER_TH_5_SAMPLES 0x14
671 #define C6DOFIMU18_PED_SB_TIMER_TH_6_SAMPLES 0x18
672 #define C6DOFIMU18_PED_SB_TIMER_TH_7_SAMPLES 0x1C
673 #define C6DOFIMU18_PED_HI_EN_TH_SEL 0x01
674 
679 #define C6DOFIMU18_TILT_WAIT_TIME_0S 0x00
680 #define C6DOFIMU18_TILT_WAIT_TIME_2S 0x40
681 #define C6DOFIMU18_TILT_WAIT_TIME_4S 0x80
682 #define C6DOFIMU18_TILT_WAIT_TIME_6S 0xC0
683 #define C6DOFIMU18_TILT_WAIT_TIME_MASK 0xC0
684 #define C6DOFIMU18_SLEEP_TIME_OUT_1s28 0x00
685 #define C6DOFIMU18_SLEEP_TIME_OUT_2s56 0x08
686 #define C6DOFIMU18_SLEEP_TIME_OUT_3s84 0x10
687 #define C6DOFIMU18_SLEEP_TIME_OUT_5s12 0x18
688 #define C6DOFIMU18_SLEEP_TIME_OUT_6s4 0x20
689 #define C6DOFIMU18_SLEEP_TIME_OUT_7s68 0x28
690 #define C6DOFIMU18_SLEEP_TIME_OUT_8s96 0x30
691 #define C6DOFIMU18_SLEEP_TIME_OUT_10s24 0x38
692 #define C6DOFIMU18_SLEEP_TIME_OUT_MASK 0x38
693 
698 #define C6DOFIMU18_TAP_MIN_JERK_THR 0x44
699 #define C6DOFIMU18_TAP_MAX_OEAK_TOL 0x01
700 
705 #define C6DOFIMU18_TAP_TMAX 0x20
706 #define C6DOFIMU18_TAP_TAVG 0x08
707 #define C6DOFIMU18_TAP_TMIN 0x03
708 
713 #define C6DOFIMU18_SENSITIVITY_MODE_HIGH_PERF 0x00
714 #define C6DOFIMU18_SENSITIVITY_MODE_SLOW_WALK 0x01
715 
720 #define C6DOFIMU18_TEMPERATURE_DIV 132.48
721 #define C6DOFIMU18_TEMPERATURE_ADD 25
722 
727 #define C6DOFIMU18_WHO_AM_I_VALUE 0x42
728 
734 #define C6DOFIMU18_DEVICE_ADDRESS_GND 0x68
735 #define C6DOFIMU18_DEVICE_ADDRESS_VCC 0x69
736 
745 #define C6DOFIMU18_SET_DATA_SAMPLE_EDGE SET_SPI_DATA_SAMPLE_EDGE
746 #define C6DOFIMU18_SET_DATA_SAMPLE_MIDDLE SET_SPI_DATA_SAMPLE_MIDDLE
747  // c6dofimu18_set
749 
764 #define C6DOFIMU18_MAP_MIKROBUS( cfg, mikrobus ) \
765  cfg.scl = MIKROBUS( mikrobus, MIKROBUS_SCL ); \
766  cfg.sda = MIKROBUS( mikrobus, MIKROBUS_SDA ); \
767  cfg.miso = MIKROBUS( mikrobus, MIKROBUS_MISO ); \
768  cfg.mosi = MIKROBUS( mikrobus, MIKROBUS_MOSI ); \
769  cfg.sck = MIKROBUS( mikrobus, MIKROBUS_SCK ); \
770  cfg.cs = MIKROBUS( mikrobus, MIKROBUS_CS ); \
771  cfg.ryc = MIKROBUS( mikrobus, MIKROBUS_AN ); \
772  cfg.int_pin = MIKROBUS( mikrobus, MIKROBUS_INT )
773  // c6dofimu18_map // c6dofimu18
776 
781 typedef enum
782 {
787 
792 typedef err_t ( *c6dofimu18_master_io_t )( struct c6dofimu18_s*, uint8_t, uint8_t*, uint8_t );
798 typedef struct c6dofimu18_s
799 {
800  digital_in_t ryc;
801  digital_in_t int_pin;
803  i2c_master_t i2c;
804  spi_master_t spi;
806  uint8_t slave_address;
807  pin_name_t chip_select;
808  spi_master_mode_t spi_mode;
809  uint8_t slew_rate;
816 
821 typedef struct
822 {
823  pin_name_t scl;
824  pin_name_t sda;
825  pin_name_t miso;
826  pin_name_t mosi;
827  pin_name_t sck;
828  pin_name_t cs;
829  pin_name_t ryc;
830  pin_name_t int_pin;
832  uint32_t i2c_speed;
833  uint8_t i2c_address;
835  uint32_t spi_speed;
836  spi_master_mode_t spi_mode;
837  spi_master_chip_select_polarity_t cs_polarity;
842 
847 typedef struct
848 {
849  int16_t data_x;
850  int16_t data_y;
851  int16_t data_z;
852 
854 
859 typedef enum
860 {
864 
866 
883 
899 
914 
928 
943 err_t c6dofimu18_generic_write ( c6dofimu18_t *ctx, uint8_t reg, uint8_t *data_in, uint8_t len );
944 
959 err_t c6dofimu18_generic_read ( c6dofimu18_t *ctx, uint8_t reg, uint8_t *data_out, uint8_t len );
960 
973 err_t c6dofimu18_set_reg_bank( c6dofimu18_t *ctx, uint8_t bank );
974 
991 err_t c6dofimu18_reg_write ( c6dofimu18_t *ctx, uint8_t reg_bank, uint8_t reg, uint8_t *data_in, uint8_t len );
992 
1007 err_t c6dofimu18_reg_read ( c6dofimu18_t *ctx, uint8_t reg_bank, uint8_t reg, uint8_t *data_out, uint8_t len );
1008 
1020 err_t c6dofimu18_configure_digital_interface ( c6dofimu18_t *ctx, uint8_t slew_rate );
1021 
1031 
1040 uint8_t c6dofimu18_get_int1_state ( c6dofimu18_t *ctx );
1041 
1054 
1067 err_t c6dofimu18_read_temperature ( c6dofimu18_t *ctx, float *temperature_data );
1068 
1081 err_t c6dofimu18_read_timestamp ( c6dofimu18_t *ctx, uint32_t *tmst_data );
1082 
1098 err_t c6dofimu18_get_data_from_register ( c6dofimu18_t *ctx, float *temperature_data,
1099  c6dofimu18_data_t *accel_data, c6dofimu18_data_t *gyro_data,
1100  uint32_t *tmst_data );
1101 
1113 
1127 err_t c6dofimu18_get_tap_detection ( c6dofimu18_t *ctx, uint8_t *tap_num, uint8_t *tap_axis, uint8_t *tap_dir );
1128 
1129 #ifdef __cplusplus
1130 }
1131 #endif
1132 #endif // C6DOFIMU18_H
1133  // c6dofimu18
1135 
1136 // ------------------------------------------------------------------------ END
c6dofimu18_init
err_t c6dofimu18_init(c6dofimu18_t *ctx, c6dofimu18_cfg_t *cfg)
6DOF IMU 18 initialization function.
c6dofimu18_get_tap_detection
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.
c6dofimu18_cfg_t::i2c_speed
uint32_t i2c_speed
Definition: c6dofimu18.h:832
c6dofimu18_sw_reset
err_t c6dofimu18_sw_reset(c6dofimu18_t *ctx)
6DOF IMU 18 software reset function.
c6dofimu18_reg_read
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.
c6dofimu18_s::chip_select
pin_name_t chip_select
Definition: c6dofimu18.h:807
c6dofimu18_s::ryc
digital_in_t ryc
Definition: c6dofimu18.h:800
c6dofimu18_s::slew_rate
uint8_t slew_rate
Definition: c6dofimu18.h:809
c6dofimu18_drv_t
c6dofimu18_drv_t
6DOF IMU 18 Click driver selector.
Definition: c6dofimu18.h:782
spi_specifics.h
This file contains SPI specific macros, functions, etc.
c6dofimu18_s
6DOF IMU 18 Click context object.
Definition: c6dofimu18.h:799
c6dofimu18_set_basic_tap_detection
err_t c6dofimu18_set_basic_tap_detection(c6dofimu18_t *ctx)
6DOF IMU 18 basic tap detection configuration function.
c6dofimu18_master_io_t
err_t(* c6dofimu18_master_io_t)(struct c6dofimu18_s *, uint8_t, uint8_t *, uint8_t)
6DOF IMU 18 Click driver interface.
Definition: c6dofimu18.h:792
c6dofimu18_s::drv_sel
c6dofimu18_drv_t drv_sel
Definition: c6dofimu18.h:810
c6dofimu18_read_timestamp
err_t c6dofimu18_read_timestamp(c6dofimu18_t *ctx, uint32_t *tmst_data)
6DOF IMU 18 read timestamp function.
c6dofimu18_get_int1_state
uint8_t c6dofimu18_get_int1_state(c6dofimu18_t *ctx)
6DOF IMU 18 read INT1 pin state function.
c6dofimu18_s::i2c
i2c_master_t i2c
Definition: c6dofimu18.h:803
C6DOFIMU18_DRV_SEL_I2C
@ C6DOFIMU18_DRV_SEL_I2C
Definition: c6dofimu18.h:784
C6DOFIMU18_RESET_ERROR
@ C6DOFIMU18_RESET_ERROR
Definition: c6dofimu18.h:863
c6dofimu18_default_cfg
err_t c6dofimu18_default_cfg(c6dofimu18_t *ctx)
6DOF IMU 18 default configuration function.
c6dofimu18_cfg_t::sck
pin_name_t sck
Definition: c6dofimu18.h:827
c6dofimu18_cfg_t
6DOF IMU 18 Click configuration object.
Definition: c6dofimu18.h:822
c6dofimu18_cfg_t::int_pin
pin_name_t int_pin
Definition: c6dofimu18.h:830
c6dofimu18_cfg_t::drv_sel
c6dofimu18_drv_t drv_sel
Definition: c6dofimu18.h:839
c6dofimu18_data_t::data_x
int16_t data_x
Definition: c6dofimu18.h:849
c6dofimu18_cfg_t::scl
pin_name_t scl
Definition: c6dofimu18.h:823
c6dofimu18_reg_write
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.
c6dofimu18_read_temperature
err_t c6dofimu18_read_temperature(c6dofimu18_t *ctx, float *temperature_data)
6DOF IMU 18 read temperature function.
c6dofimu18_t
struct c6dofimu18_s c6dofimu18_t
6DOF IMU 18 Click context object.
c6dofimu18_cfg_setup
void c6dofimu18_cfg_setup(c6dofimu18_cfg_t *cfg)
6DOF IMU 18 configuration object setup function.
c6dofimu18_cfg_t::i2c_address
uint8_t i2c_address
Definition: c6dofimu18.h:833
c6dofimu18_cfg_t::spi_speed
uint32_t spi_speed
Definition: c6dofimu18.h:835
c6dofimu18_data_t::data_z
int16_t data_z
Definition: c6dofimu18.h:851
c6dofimu18_s::spi
spi_master_t spi
Definition: c6dofimu18.h:804
c6dofimu18_return_value_t
c6dofimu18_return_value_t
6DOF IMU 18 Click return value data.
Definition: c6dofimu18.h:860
c6dofimu18_configure_digital_interface
err_t c6dofimu18_configure_digital_interface(c6dofimu18_t *ctx, uint8_t slew_rate)
6DOF IMU 18 configure digital interface function.
c6dofimu18_generic_write
err_t c6dofimu18_generic_write(c6dofimu18_t *ctx, uint8_t reg, uint8_t *data_in, uint8_t len)
6DOF IMU 18 data writing function.
c6dofimu18_s::int_pin
digital_in_t int_pin
Definition: c6dofimu18.h:801
c6dofimu18_s::write_f
c6dofimu18_master_io_t write_f
Definition: c6dofimu18.h:812
C6DOFIMU18_OK
@ C6DOFIMU18_OK
Definition: c6dofimu18.h:861
C6DOFIMU18_ERROR
@ C6DOFIMU18_ERROR
Definition: c6dofimu18.h:862
c6dofimu18_set_reg_bank
err_t c6dofimu18_set_reg_bank(c6dofimu18_t *ctx, uint8_t bank)
6DOF IMU 18 set register bank function.
c6dofimu18_data_t::data_y
int16_t data_y
Definition: c6dofimu18.h:850
c6dofimu18_s::read_f
c6dofimu18_master_io_t read_f
Definition: c6dofimu18.h:813
c6dofimu18_s::slave_address
uint8_t slave_address
Definition: c6dofimu18.h:806
c6dofimu18_s::spi_mode
spi_master_mode_t spi_mode
Definition: c6dofimu18.h:808
c6dofimu18_cfg_t::spi_mode
spi_master_mode_t spi_mode
Definition: c6dofimu18.h:836
c6dofimu18_cfg_t::cs
pin_name_t cs
Definition: c6dofimu18.h:828
c6dofimu18_cfg_t::ryc
pin_name_t ryc
Definition: c6dofimu18.h:829
c6dofimu18_get_data_from_register
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.
c6dofimu18_generic_read
err_t c6dofimu18_generic_read(c6dofimu18_t *ctx, uint8_t reg, uint8_t *data_out, uint8_t len)
6DOF IMU 18 data reading function.
c6dofimu18_data_t
6DOF IMU 18 data object.
Definition: c6dofimu18.h:848
c6dofimu18_cfg_t::cs_polarity
spi_master_chip_select_polarity_t cs_polarity
Definition: c6dofimu18.h:837
c6dofimu18_cfg_t::miso
pin_name_t miso
Definition: c6dofimu18.h:825
C6DOFIMU18_DRV_SEL_SPI
@ C6DOFIMU18_DRV_SEL_SPI
Definition: c6dofimu18.h:783
c6dofimu18_cfg_t::sda
pin_name_t sda
Definition: c6dofimu18.h:824
c6dofimu18_drv_interface_selection
void c6dofimu18_drv_interface_selection(c6dofimu18_cfg_t *cfg, c6dofimu18_drv_t drv_sel)
6DOF IMU 18 driver interface setup function.
c6dofimu18_cfg_t::mosi
pin_name_t mosi
Definition: c6dofimu18.h:826