c6dofimu20  2.1.0.0
c6dofimu20.h
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2 ** Copyright (C) 2020 MikroElektronika d.o.o.
3 ** Contact: https://www.mikroe.com/contact
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22 
28 #ifndef C6DOFIMU20_H
29 #define C6DOFIMU20_H
30 
31 #ifdef __cplusplus
32 extern "C"{
33 #endif
34 
35 #include "drv_digital_out.h"
36 #include "drv_digital_in.h"
37 #include "drv_i2c_master.h"
38 #include "drv_spi_master.h"
39 #include "spi_specifics.h"
40 
61 #define C6DOFIMU20_REG_CHIP_ID 0x00
62 #define C6DOFIMU20_REG_ERR 0x01
63 #define C6DOFIMU20_REG_STATUS 0x02
64 #define C6DOFIMU20_REG_ACC_DATA_X 0x03
65 #define C6DOFIMU20_REG_ACC_DATA_Y 0x04
66 #define C6DOFIMU20_REG_ACC_DATA_Z 0x05
67 #define C6DOFIMU20_REG_GYR_DATA_X 0x06
68 #define C6DOFIMU20_REG_GYR_DATA_Y 0x07
69 #define C6DOFIMU20_REG_GYR_DATA_Z 0x08
70 #define C6DOFIMU20_REG_TEMP_DATA 0x09
71 #define C6DOFIMU20_REG_SENSOR_TIME_0 0x0A
72 #define C6DOFIMU20_REG_SENSOR_TIME_1 0x0B
73 #define C6DOFIMU20_REG_SAT_FLAGS 0x0C
74 #define C6DOFIMU20_REG_INT_STATUS_INT1 0x0D
75 #define C6DOFIMU20_REG_INT_STATUS_INT2 0x0E
76 #define C6DOFIMU20_REG_INT_STATUS_IBI 0x0F
77 #define C6DOFIMU20_REG_FEATURE_IO0 0x10
78 #define C6DOFIMU20_REG_FEATURE_IO1 0x11
79 #define C6DOFIMU20_REG_FEATURE_IO2 0x12
80 #define C6DOFIMU20_REG_FEATURE_IO3 0x13
81 #define C6DOFIMU20_REG_FEATURE_IO_STATUS 0x14
82 #define C6DOFIMU20_REG_FIFO_FILL_LEVEL 0x15
83 #define C6DOFIMU20_REG_FIFO_DATA 0x16
84 #define C6DOFIMU20_REG_ACC_CONF 0x20
85 #define C6DOFIMU20_REG_GYR_CONF 0x21
86 #define C6DOFIMU20_REG_ALT_ACC_CONF 0x28
87 #define C6DOFIMU20_REG_ALT_GYR_CONF 0x29
88 #define C6DOFIMU20_REG_ALT_CONF 0x2A
89 #define C6DOFIMU20_REG_ALT_STATUS 0x2B
90 #define C6DOFIMU20_REG_FIFO_WATERMARK 0x35
91 #define C6DOFIMU20_REG_FIFO_CONF 0x36
92 #define C6DOFIMU20_REG_FIFO_CTRL 0x37
93 #define C6DOFIMU20_REG_IO_INT_CTRL 0x38
94 #define C6DOFIMU20_REG_INT_CONF 0x39
95 #define C6DOFIMU20_REG_INT_MAP1 0x3A
96 #define C6DOFIMU20_REG_INT_MAP2 0x3B
97 #define C6DOFIMU20_REG_FEATURE_CTRL 0x40
98 #define C6DOFIMU20_REG_FEATURE_DATA_ADDR 0x41
99 #define C6DOFIMU20_REG_FEATURE_DATA_TX 0x42
100 #define C6DOFIMU20_REG_FEATURE_DATA_STATUS 0x43
101 #define C6DOFIMU20_REG_FEATURE_ENGINE_STATUS 0x45
102 #define C6DOFIMU20_REG_FEATURE_EVENT_EXT 0x47
103 #define C6DOFIMU20_REG_IO_PDN_CTRL 0x4F
104 #define C6DOFIMU20_REG_IO_SPI_IF 0x50
105 #define C6DOFIMU20_REG_IO_PAD_STRENGTH 0x51
106 #define C6DOFIMU20_REG_IO_I2C_IF 0x52
107 #define C6DOFIMU20_REG_IO_ODR_DEVIATION 0x53
108 #define C6DOFIMU20_REG_ACC_DP_OFF_X 0x60
109 #define C6DOFIMU20_REG_ACC_DP_DGAIN_X 0x61
110 #define C6DOFIMU20_REG_ACC_DP_OFF_Y 0x62
111 #define C6DOFIMU20_REG_ACC_DP_DGAIN_Y 0x63
112 #define C6DOFIMU20_REG_ACC_DP_OFF_Z 0x64
113 #define C6DOFIMU20_REG_ACC_DP_DGAIN_Z 0x65
114 #define C6DOFIMU20_REG_GYR_DP_OFF_X 0x66
115 #define C6DOFIMU20_REG_GYR_DP_DGAIN_X 0x67
116 #define C6DOFIMU20_REG_GYR_DP_OFF_Y 0x68
117 #define C6DOFIMU20_REG_GYR_DP_DGAIN_Y 0x69
118 #define C6DOFIMU20_REG_GYR_DP_OFF_Z 0x6A
119 #define C6DOFIMU20_REG_GYR_DP_DGAIN_Z 0x6B
120 #define C6DOFIMU20_REG_CMD 0x7E
121 #define C6DOFIMU20_REG_CFG_RES 0x7F
122 
127 #define C6DOFIMU20_REG_SC_ST_VALUE4 0x2C
128 #define C6DOFIMU20_REG_SC_ST_VALUE3 0x2B
129 #define C6DOFIMU20_REG_SC_ST_VALUE2 0x2A
130 #define C6DOFIMU20_REG_SC_ST_VALUE1 0x29
131 #define C6DOFIMU20_REG_SC_ST_VALUE0 0x28
132 #define C6DOFIMU20_REG_GYR_SC_ST_CONF_RE 0x27
133 #define C6DOFIMU20_REG_GYR_SC_SELECT 0x26
134 #define C6DOFIMU20_REG_ST_SELECT 0x25
135 #define C6DOFIMU20_REG_ST_RESULT 0x24
136 #define C6DOFIMU20_REG_ALT_CONFIG_CHG 0x23
137 #define C6DOFIMU20_REG_TILT_2 0x22
138 #define C6DOFIMU20_REG_TILT_1 0x21
139 #define C6DOFIMU20_REG_TAP_3 0x20
140 #define C6DOFIMU20_REG_TAP_2 0x1F
141 #define C6DOFIMU20_REG_TAP_1 0x1E
142 #define C6DOFIMU20_REG_ORIENT_2 0x1D
143 #define C6DOFIMU20_REG_ORIENT_1 0x1C
144 #define C6DOFIMU20_REG_SC_12 0x1B
145 #define C6DOFIMU20_REG_SC_11 0x1A
146 #define C6DOFIMU20_REG_SC_10 0x19
147 #define C6DOFIMU20_REG_SC_9 0x18
148 #define C6DOFIMU20_REG_SC_8 0x17
149 #define C6DOFIMU20_REG_SC_7 0x16
150 #define C6DOFIMU20_REG_SC_6 0x15
151 #define C6DOFIMU20_REG_SC_5 0x14
152 #define C6DOFIMU20_REG_SC_4 0x13
153 #define C6DOFIMU20_REG_SC_3 0x12
154 #define C6DOFIMU20_REG_SC_2 0x11
155 #define C6DOFIMU20_REG_SC_1 0x10
156 #define C6DOFIMU20_REG_SIGMO_3 0x0F
157 #define C6DOFIMU20_REG_SIGMO_2 0x0E
158 #define C6DOFIMU20_REG_SIGMO_1 0x0D
159 #define C6DOFIMU20_REG_FLAT_2 0x0C
160 #define C6DOFIMU20_REG_FLAT_1 0x0B
161 #define C6DOFIMU20_REG_MOMO_3 0x0A
162 #define C6DOFIMU20_REG_MOMO_2 0x09
163 #define C6DOFIMU20_REG_MOMO_1 0x08
164 #define C6DOFIMU20_REG_ANYMO_3 0x07
165 #define C6DOFIMU20_REG_ANYMO_2 0x06
166 #define C6DOFIMU20_REG_ANYMO_1 0x05
167 #define C6DOFIMU20_REG_AXIS_MAP_1 0x03
168 #define C6DOFIMU20_REG_GEN_SET_1 0x02
169  // c6dofimu20_reg
171 
186 #define C6DOFIMU20_SW_RESET_CMD 0xDEAF
187 
192 #define C6DOFIMU20_REG_ERR_FATAL_ERR_FLAG 0x0001
193 #define C6DOFIMU20_REG_ERR_FEAT_ENG_OVRLD_FLAG 0x0004
194 #define C6DOFIMU20_REG_ERR_ACC_CONF_ERR_FLAG 0x0020
195 #define C6DOFIMU20_REG_ERR_GYR_CONF_ERR_FLAG 0x0040
196 
201 #define C6DOFIMU20_STATUS_POR_DETECTED_FLAG 0x0001
202 #define C6DOFIMU20_STATUS_DRDY_TEMP_FLAG 0x0020
203 #define C6DOFIMU20_STATUS_DRDY_GYR_FLAG 0x0040
204 #define C6DOFIMU20_STATUS_DRDY_ACC_FLAG 0x0080
205 
210 #define C6DOFIMU20_SAT_FLAGS_SATF_ACC_X_FLAG 0x0001
211 #define C6DOFIMU20_SAT_FLAGS_SATF_ACC_Y_FLAG 0x0002
212 #define C6DOFIMU20_SAT_FLAGS_SATF_ACC_Z_FLAG 0x0004
213 #define C6DOFIMU20_SAT_FLAGS_SATF_GYR_X_FLAG 0x0008
214 #define C6DOFIMU20_SAT_FLAGS_SATF_GYR_Y_FLAG 0x0010
215 #define C6DOFIMU20_SAT_FLAGS_SATF_GYR_Z_FLAG 0x0020
216 
221 #define C6DOFIMU20_INT_STATUS_INT1_NO_MOTION 0x0001
222 #define C6DOFIMU20_INT_STATUS_INT1_ANY_MOTION 0x0002
223 #define C6DOFIMU20_INT_STATUS_INT1_FLAT 0x0004
224 #define C6DOFIMU20_INT_STATUS_INT1_ORIENTATION 0x0008
225 #define C6DOFIMU20_INT_STATUS_INT1_STEP_DETECTOR 0x0010
226 #define C6DOFIMU20_INT_STATUS_INT1_STEP_COUNTER 0x0020
227 #define C6DOFIMU20_INT_STATUS_INT1_SIG_MOTION 0x0040
228 #define C6DOFIMU20_INT_STATUS_INT1_TILT 0x0080
229 #define C6DOFIMU20_INT_STATUS_INT1_TAP 0x0100
230 #define C6DOFIMU20_INT_STATUS_INT1_ERR_STATUS 0x0400
231 #define C6DOFIMU20_INT_STATUS_INT1_TEMP_DRDY 0x0800
232 #define C6DOFIMU20_INT_STATUS_INT1_GYR_DRDY 0x1000
233 #define C6DOFIMU20_INT_STATUS_INT1_ACC_DRDY 0x2000
234 #define C6DOFIMU20_INT_STATUS_INT1_FWM 0x4000
235 #define C6DOFIMU20_INT_STATUS_INT1_FFULL 0x8000
236 
241 #define C6DOFIMU20_INT_STATUS_INT2_NO_MOTION 0x0001
242 #define C6DOFIMU20_INT_STATUS_INT2_ANY_MOTION 0x0002
243 #define C6DOFIMU20_INT_STATUS_INT2_FLAT 0x0004
244 #define C6DOFIMU20_INT_STATUS_INT2_ORIENTATION 0x0008
245 #define C6DOFIMU20_INT_STATUS_INT2_STEP_DETECTOR 0x0010
246 #define C6DOFIMU20_INT_STATUS_INT2_STEP_COUNTER 0x0020
247 #define C6DOFIMU20_INT_STATUS_INT2_SIG_MOTION 0x0040
248 #define C6DOFIMU20_INT_STATUS_INT2_TILT 0x0080
249 #define C6DOFIMU20_INT_STATUS_INT2_TAP 0x0100
250 #define C6DOFIMU20_INT_STATUS_INT2_ERR_STATUS 0x0400
251 #define C6DOFIMU20_INT_STATUS_INT2_TEMP_DRDY 0x0800
252 #define C6DOFIMU20_INT_STATUS_INT2_GYR_DRDY 0x1000
253 #define C6DOFIMU20_INT_STATUS_INT2_ACC_DRDY 0x2000
254 #define C6DOFIMU20_INT_STATUS_INT2_FWM 0x4000
255 #define C6DOFIMU20_INT_STATUS_INT2_FFULL 0x8000
256 
261 #define C6DOFIMU20_ACC_CONF_ODR_0POINT78125_Hz 0x0001
262 #define C6DOFIMU20_ACC_CONF_ODR_1POINT5625_Hz 0x0002
263 #define C6DOFIMU20_ACC_CONF_ODR_3POINT125_Hz 0x0003
264 #define C6DOFIMU20_ACC_CONF_ODR_6POINT25_Hz 0x0004
265 #define C6DOFIMU20_ACC_CONF_ODR_12POINT5_Hz 0x0005
266 #define C6DOFIMU20_ACC_CONF_ODR_25_Hz 0x0006
267 #define C6DOFIMU20_ACC_CONF_ODR_50_Hz 0x0007
268 #define C6DOFIMU20_ACC_CONF_ODR_100_Hz 0x0008
269 #define C6DOFIMU20_ACC_CONF_ODR_200_Hz 0x0009
270 #define C6DOFIMU20_ACC_CONF_ODR_400_Hz 0x000A
271 #define C6DOFIMU20_ACC_CONF_ODR_800_Hz 0x000B
272 #define C6DOFIMU20_ACC_CONF_ODR_1POINT6_kHz 0x000C
273 #define C6DOFIMU20_ACC_CONF_ODR_3POINT2_kHz 0x000D
274 #define C6DOFIMU20_ACC_CONF_ODR_6POINT4_kHz 0x000E
275 #define C6DOFIMU20_ACC_CONF_ACC_RANGE_2G 0x0000
276 #define C6DOFIMU20_ACC_CONF_ACC_RANGE_4G 0x0010
277 #define C6DOFIMU20_ACC_CONF_ACC_RANGE_8G 0x0020
278 #define C6DOFIMU20_ACC_CONF_ACC_RANGE_16G 0x0030
279 #define C6DOFIMU20_ACC_CONF_ACC_BW_DIV_2 0x0000
280 #define C6DOFIMU20_ACC_CONF_ACC_BW_DIV_4 0x0080
281 #define C6DOFIMU20_ACC_CONF_ACC_AVG_NUM_0 0x0000
282 #define C6DOFIMU20_ACC_CONF_ACC_AVG_NUM_2 0x0100
283 #define C6DOFIMU20_ACC_CONF_ACC_AVG_NUM_4 0x0200
284 #define C6DOFIMU20_ACC_CONF_ACC_AVG_NUM_8 0x0300
285 #define C6DOFIMU20_ACC_CONF_ACC_AVG_NUM_16 0x0400
286 #define C6DOFIMU20_ACC_CONF_ACC_AVG_NUM_32 0x0500
287 #define C6DOFIMU20_ACC_CONF_ACC_AVG_NUM_64 0x0600
288 #define C6DOFIMU20_ACC_CONF_ACC_MODE_DIS 0x0000
289 #define C6DOFIMU20_ACC_CONF_ACC_MODE_DUTY_CYCLING 0x3000
290 #define C6DOFIMU20_ACC_CONF_ACC_MODE_CONSTANT_OPERATION 0x4000
291 #define C6DOFIMU20_ACC_CONF_ACC_MODE_HIGH_PERFORMANCE 0x7000
292 
297 #define C6DOFIMU20_GYR_CONF_ODR_0POINT78125_Hz 0x0001
298 #define C6DOFIMU20_GYR_CONF_ODR_1POINT5625_Hz 0x0002
299 #define C6DOFIMU20_GYR_CONF_ODR_3POINT125_Hz 0x0003
300 #define C6DOFIMU20_GYR_CONF_ODR_6POINT25_Hz 0x0004
301 #define C6DOFIMU20_GYR_CONF_ODR_12POINT5_Hz 0x0005
302 #define C6DOFIMU20_GYR_CONF_ODR_25_Hz 0x0006
303 #define C6DOFIMU20_GYR_CONF_ODR_50_Hz 0x0007
304 #define C6DOFIMU20_GYR_CONF_ODR_100_Hz 0x0008
305 #define C6DOFIMU20_GYR_CONF_ODR_200_Hz 0x0009
306 #define C6DOFIMU20_GYR_CONF_ODR_400_Hz 0x000A
307 #define C6DOFIMU20_GYR_CONF_ODR_800_Hz 0x000B
308 #define C6DOFIMU20_GYR_CONF_ODR_1POINT6_kHz 0x000C
309 #define C6DOFIMU20_GYR_CONF_ODR_3POINT2_kHz 0x000D
310 #define C6DOFIMU20_GYR_CONF_ODR_6POINT4_kHz 0x000E
311 #define C6DOFIMU20_GYR_CONF_GYR_RANGE_2G 0x0000
312 #define C6DOFIMU20_GYR_CONF_GYR_RANGE_4G 0x0010
313 #define C6DOFIMU20_GYR_CONF_GYR_RANGE_8G 0x0020
314 #define C6DOFIMU20_GYR_CONF_GYR_RANGE_16G 0x0030
315 #define C6DOFIMU20_GYR_CONF_GYR_BW_DIV_2 0x0000
316 #define C6DOFIMU20_GYR_CONF_GYR_BW_DIV_4 0x0080
317 #define C6DOFIMU20_GYR_CONF_GYR_AVG_NUM_0 0x0000
318 #define C6DOFIMU20_GYR_CONF_GYR_AVG_NUM_2 0x0100
319 #define C6DOFIMU20_GYR_CONF_GYR_AVG_NUM_4 0x0200
320 #define C6DOFIMU20_GYR_CONF_GYR_AVG_NUM_8 0x0300
321 #define C6DOFIMU20_GYR_CONF_GYR_AVG_NUM_16 0x0400
322 #define C6DOFIMU20_GYR_CONF_GYR_AVG_NUM_32 0x0500
323 #define C6DOFIMU20_GYR_CONF_GYR_AVG_NUM_64 0x0600
324 #define C6DOFIMU20_GYR_CONF_GYR_MODE_DIS 0x0000
325 #define C6DOFIMU20_GYR_CONF_GYR_MODE_DUTY_CYCLING 0x3000
326 #define C6DOFIMU20_GYR_CONF_GYR_MODE_CONSTANT_OPERATION 0x4000
327 #define C6DOFIMU20_GYR_CONF_GYR_MODE_HIGH_PERFORMANCE 0x7000
328 
333 #define C6DOFIMU20_IO_INT_CTRL_INT1_LVL_ACTIVE_HIGH 0x0001
334 #define C6DOFIMU20_IO_INT_CTRL_INT1_LVL_ACTIVE_LOW 0x0000
335 #define C6DOFIMU20_IO_INT_CTRL_INT1_OUTPUT_PUSH_PULL 0x0000
336 #define C6DOFIMU20_IO_INT_CTRL_INT1_OUTPUT_OPEN_DRAIN 0x0002
337 #define C6DOFIMU20_IO_INT_CTRL_INT1_OUTPUT_EN 0x0004
338 #define C6DOFIMU20_IO_INT_CTRL_INT2_LVL_ACTIVE_HIGH 0x0100
339 #define C6DOFIMU20_IO_INT_CTRL_INT2_LVL_ACTIVE_LOW 0x0000
340 #define C6DOFIMU20_IO_INT_CTRL_INT2_OUTPUT_PUSH_PULL 0x0000
341 #define C6DOFIMU20_IO_INT_CTRL_INT2_OUTPUT_OPEN_DRAIN 0x0200
342 #define C6DOFIMU20_IO_INT_CTRL_INT2_OUTPUT_EN 0x0400
343 
348 #define C6DOFIMU20_INT_CONF_INT_LATCH_EN 0x0001
349 #define C6DOFIMU20_INT_CONF_INT_LATCH_DIS 0x0000
350 
355 #define C6DOFIMU20_INT_MAP1_NO_MOTION_OUT_DIS 0x0000
356 #define C6DOFIMU20_INT_MAP1_NO_MOTION_OUT_INT1 0x0001
357 #define C6DOFIMU20_INT_MAP1_NO_MOTION_OUT_INT2 0x0002
358 #define C6DOFIMU20_INT_MAP1_ANY_MOTION_OUT_DIS 0x0000
359 #define C6DOFIMU20_INT_MAP1_ANY_MOTION_OUT_INT1 0x0004
360 #define C6DOFIMU20_INT_MAP1_ANY_MOTION_OUT_INT2 0x0008
361 #define C6DOFIMU20_INT_MAP1_FLAT_OUT_DIS 0x0000
362 #define C6DOFIMU20_INT_MAP1_FLAT_OUT_INT1 0x0010
363 #define C6DOFIMU20_INT_MAP1_FLAT_OUT_INT2 0x0020
364 #define C6DOFIMU20_INT_MAP1_ORIENTATION_OUT_DIS 0x0000
365 #define C6DOFIMU20_INT_MAP1_ORIENTATION_OUT_INT1 0x0040
366 #define C6DOFIMU20_INT_MAP1_ORIENTATION_OUT_INT2 0x0080
367 #define C6DOFIMU20_INT_MAP1_STEP_DETECTOR_OUT_DIS 0x0000
368 #define C6DOFIMU20_INT_MAP1_STEP_DETECTOR_OUT_INT1 0x0100
369 #define C6DOFIMU20_INT_MAP1_STEP_DETECTOR_OUT_INT2 0x0200
370 #define C6DOFIMU20_INT_MAP1_STEP_COUNTER_OUT_DIS 0x0000
371 #define C6DOFIMU20_INT_MAP1_STEP_COUNTER_OUT_INT1 0x0400
372 #define C6DOFIMU20_INT_MAP1_STEP_COUNTER_OUT_INT2 0x0800
373 #define C6DOFIMU20_INT_MAP1_SIG_MOTION_OUT_DIS 0x0000
374 #define C6DOFIMU20_INT_MAP1_SIG_MOTION_OUT_INT1 0x1000
375 #define C6DOFIMU20_INT_MAP1_SIG_MOTION_OUT_INT2 0x2000
376 #define C6DOFIMU20_INT_MAP1_TILT_OUT_DIS 0x0000
377 #define C6DOFIMU20_INT_MAP1_TILT_OUT_INT1 0x4000
378 #define C6DOFIMU20_INT_MAP1_TILT_OUT_INT2 0x8000
379 
384 #define C6DOFIMU20_INT_MAP2_TAP_OUT_OUT_DIS 0x0000
385 #define C6DOFIMU20_INT_MAP2_TAP_OUT_OUT_INT1 0x0001
386 #define C6DOFIMU20_INT_MAP2_TAP_OUT_OUT_INT2 0x0002
387 #define C6DOFIMU20_INT_MAP2_ERR_STATUS_DIS 0x0000
388 #define C6DOFIMU20_INT_MAP2_ERR_STATUS_INT1 0x0010
389 #define C6DOFIMU20_INT_MAP2_ERR_STATUS_INT2 0x0020
390 #define C6DOFIMU20_INT_MAP2_TEMP_DRDY_INT_DIS 0x0000
391 #define C6DOFIMU20_INT_MAP2_TEMP_DRDY_INT_INT1 0x0040
392 #define C6DOFIMU20_INT_MAP2_TEMP_DRDY_INT_INT2 0x0080
393 #define C6DOFIMU20_INT_MAP2_GYR_DRDY_INT_DIS 0x0000
394 #define C6DOFIMU20_INT_MAP2_GYR_DRDY_INT_INT1 0x0100
395 #define C6DOFIMU20_INT_MAP2_GYR_DRDY_INT_INT2 0x0200
396 #define C6DOFIMU20_INT_MAP2_ACC_DRDY_INT_DIS 0x0000
397 #define C6DOFIMU20_INT_MAP2_ACC_DRDY_INT_INT1 0x0400
398 #define C6DOFIMU20_INT_MAP2_ACC_DRDY_INT_INT2 0x0800
399 #define C6DOFIMU20_INT_MAP2_FIFO_WATERMARK_INT_DIS 0x0000
400 #define C6DOFIMU20_INT_MAP2_FIFO_WATERMARK_INT_INT1 0x1000
401 #define C6DOFIMU20_INT_MAP2_FIFO_WATERMARK_INT_INT2 0x2000
402 #define C6DOFIMU20_INT_MAP2_FIFO_FULL_INT_DIS 0x0000
403 #define C6DOFIMU20_INT_MAP2_FIFO_FULL_INT_INT1 0x4000
404 #define C6DOFIMU20_INT_MAP2_FIFO_FULL_INT_INT2 0x8000
405 
411 #define C6DOFIMU20_TEMP_CALC_DIVIDER 512
412 #define C6DOFIMU20_TEMP_CALC_VALUE 23
413 
419 #define C6DOFIMU20_CHIP_ID 0x43
420 
426 #define C6DOFIMU20_DEVICE_ADDRESS_GND 0x68
427 #define C6DOFIMU20_DEVICE_ADDRESS_VCC 0x69
428 
437 #define C6DOFIMU20_SET_DATA_SAMPLE_EDGE SET_SPI_DATA_SAMPLE_EDGE
438 #define C6DOFIMU20_SET_DATA_SAMPLE_MIDDLE SET_SPI_DATA_SAMPLE_MIDDLE
439  // c6dofimu20_set
441 
456 #define C6DOFIMU20_MAP_MIKROBUS( cfg, mikrobus ) \
457  cfg.scl = MIKROBUS( mikrobus, MIKROBUS_SCL ); \
458  cfg.sda = MIKROBUS( mikrobus, MIKROBUS_SDA ); \
459  cfg.miso = MIKROBUS( mikrobus, MIKROBUS_MISO ); \
460  cfg.mosi = MIKROBUS( mikrobus, MIKROBUS_MOSI ); \
461  cfg.sck = MIKROBUS( mikrobus, MIKROBUS_SCK ); \
462  cfg.cs = MIKROBUS( mikrobus, MIKROBUS_CS ); \
463  cfg.it1 = MIKROBUS( mikrobus, MIKROBUS_AN ); \
464  cfg.it2 = MIKROBUS( mikrobus, MIKROBUS_INT )
465  // c6dofimu20_map // c6dofimu20
468 
473 typedef enum
474 {
479 
484 typedef err_t ( *c6dofimu20_master_io_t )( struct c6dofimu20_s*, uint8_t, uint8_t*, uint8_t );
490 typedef struct c6dofimu20_s
491 {
492  digital_out_t cs;
494  digital_in_t it1;
495  digital_in_t it2;
497  i2c_master_t i2c;
498  spi_master_t spi;
500  uint8_t slave_address;
501  pin_name_t chip_select;
508 
513 typedef struct
514 {
515  pin_name_t scl;
516  pin_name_t sda;
517  pin_name_t miso;
518  pin_name_t mosi;
519  pin_name_t sck;
520  pin_name_t cs;
521  pin_name_t it1;
522  pin_name_t it2;
524  uint32_t i2c_speed;
525  uint8_t i2c_address;
527  uint32_t spi_speed;
528  spi_master_mode_t spi_mode;
529  spi_master_chip_select_polarity_t cs_polarity;
534 
539 typedef struct
540 {
541  int16_t data_x;
542  int16_t data_y;
543  int16_t data_z;
544 
546 
551 typedef enum
552 {
554  C6DOFIMU20_ERROR = -1
555 
557 
574 
590 
605 
619 
634 err_t c6dofimu20_generic_write ( c6dofimu20_t *ctx, uint8_t reg, uint8_t *data_in, uint8_t len );
635 
650 err_t c6dofimu20_generic_read ( c6dofimu20_t *ctx, uint8_t reg, uint8_t *data_out, uint8_t len );
651 
664 err_t c6dofimu20_set_reg ( c6dofimu20_t *ctx, uint8_t reg, uint16_t data_in );
665 
678 err_t c6dofimu20_get_reg ( c6dofimu20_t *ctx, uint8_t reg, uint16_t *data_out );
679 
691 err_t c6dofimu20_get_id ( c6dofimu20_t *ctx, uint8_t *chip_id );
692 
702 
712 
726 
740 
752 err_t c6dofimu20_get_temperature ( c6dofimu20_t *ctx, float *temp_data );
753 
765 
766 #ifdef __cplusplus
767 }
768 #endif
769 #endif // C6DOFIMU20_H
770  // c6dofimu20
772 
773 // ------------------------------------------------------------------------ END
c6dofimu20_cfg_t::mosi
pin_name_t mosi
Definition: c6dofimu20.h:518
c6dofimu20_get_reg
err_t c6dofimu20_get_reg(c6dofimu20_t *ctx, uint8_t reg, uint16_t *data_out)
6 DOF IMU 20 register data reading function.
c6dofimu20_generic_write
err_t c6dofimu20_generic_write(c6dofimu20_t *ctx, uint8_t reg, uint8_t *data_in, uint8_t len)
6 DOF IMU 20 data writing function.
c6dofimu20_generic_read
err_t c6dofimu20_generic_read(c6dofimu20_t *ctx, uint8_t reg, uint8_t *data_out, uint8_t len)
6 DOF IMU 20 data reading function.
c6dofimu20_cfg_t::cs_polarity
spi_master_chip_select_polarity_t cs_polarity
Definition: c6dofimu20.h:529
c6dofimu20_cfg_t::miso
pin_name_t miso
Definition: c6dofimu20.h:517
c6dofimu20_set_reg
err_t c6dofimu20_set_reg(c6dofimu20_t *ctx, uint8_t reg, uint16_t data_in)
6 DOF IMU 20 register data writing function.
c6dofimu20_s::read_f
c6dofimu20_master_io_t read_f
Definition: c6dofimu20.h:505
c6dofimu20_data_t::data_z
int16_t data_z
Definition: c6dofimu20.h:543
c6dofimu20_cfg_t::i2c_address
uint8_t i2c_address
Definition: c6dofimu20.h:525
c6dofimu20_s::it1
digital_in_t it1
Definition: c6dofimu20.h:494
c6dofimu20_data_t::data_y
int16_t data_y
Definition: c6dofimu20.h:542
c6dofimu20_cfg_t::sck
pin_name_t sck
Definition: c6dofimu20.h:519
c6dofimu20_s::slave_address
uint8_t slave_address
Definition: c6dofimu20.h:500
C6DOFIMU20_DRV_SEL_SPI
@ C6DOFIMU20_DRV_SEL_SPI
Definition: c6dofimu20.h:475
spi_specifics.h
This file contains SPI specific macros, functions, etc.
c6dofimu20_return_value_t
c6dofimu20_return_value_t
6 DOF IMU 20 Click return value data.
Definition: c6dofimu20.h:552
c6dofimu20_cfg_t
6 DOF IMU 20 Click configuration object.
Definition: c6dofimu20.h:514
c6dofimu20_default_cfg
err_t c6dofimu20_default_cfg(c6dofimu20_t *ctx)
6 DOF IMU 20 default configuration function.
c6dofimu20_master_io_t
err_t(* c6dofimu20_master_io_t)(struct c6dofimu20_s *, uint8_t, uint8_t *, uint8_t)
6 DOF IMU 20 Click driver interface.
Definition: c6dofimu20.h:484
c6dofimu20_s::drv_sel
c6dofimu20_drv_t drv_sel
Definition: c6dofimu20.h:502
c6dofimu20_cfg_t::i2c_speed
uint32_t i2c_speed
Definition: c6dofimu20.h:524
c6dofimu20_data_t
6 DOF IMU 20 Click data object.
Definition: c6dofimu20.h:540
C6DOFIMU20_ERROR
@ C6DOFIMU20_ERROR
Definition: c6dofimu20.h:554
c6dofimu20_init
err_t c6dofimu20_init(c6dofimu20_t *ctx, c6dofimu20_cfg_t *cfg)
6 DOF IMU 20 initialization function.
c6dofimu20_s::write_f
c6dofimu20_master_io_t write_f
Definition: c6dofimu20.h:504
c6dofimu20_cfg_t::spi_mode
spi_master_mode_t spi_mode
Definition: c6dofimu20.h:528
c6dofimu20_cfg_t::scl
pin_name_t scl
Definition: c6dofimu20.h:515
C6DOFIMU20_OK
@ C6DOFIMU20_OK
Definition: c6dofimu20.h:553
c6dofimu20_cfg_t::it2
pin_name_t it2
Definition: c6dofimu20.h:522
c6dofimu20_drv_interface_selection
void c6dofimu20_drv_interface_selection(c6dofimu20_cfg_t *cfg, c6dofimu20_drv_t drv_sel)
6 DOF IMU 20 driver interface setup function.
c6dofimu20_get_gyr_data
err_t c6dofimu20_get_gyr_data(c6dofimu20_t *ctx, c6dofimu20_data_t *gyr_data)
6 DOF IMU 20 gyro data reading function.
C6DOFIMU20_DRV_SEL_I2C
@ C6DOFIMU20_DRV_SEL_I2C
Definition: c6dofimu20.h:476
c6dofimu20_get_int2_state
uint8_t c6dofimu20_get_int2_state(c6dofimu20_t *ctx)
6 DOF IMU 20 IT2 state reading function.
c6dofimu20_s
6 DOF IMU 20 Click context object.
Definition: c6dofimu20.h:491
c6dofimu20_cfg_setup
void c6dofimu20_cfg_setup(c6dofimu20_cfg_t *cfg)
6 DOF IMU 20 configuration object setup function.
c6dofimu20_cfg_t::it1
pin_name_t it1
Definition: c6dofimu20.h:521
c6dofimu20_s::cs
digital_out_t cs
Definition: c6dofimu20.h:492
c6dofimu20_s::chip_select
pin_name_t chip_select
Definition: c6dofimu20.h:501
c6dofimu20_t
struct c6dofimu20_s c6dofimu20_t
6 DOF IMU 20 Click context object.
c6dofimu20_get_id
err_t c6dofimu20_get_id(c6dofimu20_t *ctx, uint8_t *chip_id)
6 DOF IMU 20 register chip id reading function.
c6dofimu20_data_t::data_x
int16_t data_x
Definition: c6dofimu20.h:541
c6dofimu20_get_acc_data
err_t c6dofimu20_get_acc_data(c6dofimu20_t *ctx, c6dofimu20_data_t *acc_data)
6 DOF IMU 20 accel data reading function.
c6dofimu20_get_temperature
err_t c6dofimu20_get_temperature(c6dofimu20_t *ctx, float *temp_data)
6 DOF IMU 20 temperature reading function.
c6dofimu20_sw_reset
err_t c6dofimu20_sw_reset(c6dofimu20_t *ctx)
6 DOF IMU 20 software reset function.
c6dofimu20_drv_t
c6dofimu20_drv_t
6 DOF IMU 20 Click driver selector.
Definition: c6dofimu20.h:474
c6dofimu20_s::i2c
i2c_master_t i2c
Definition: c6dofimu20.h:497
c6dofimu20_cfg_t::spi_speed
uint32_t spi_speed
Definition: c6dofimu20.h:527
c6dofimu20_s::it2
digital_in_t it2
Definition: c6dofimu20.h:495
c6dofimu20_cfg_t::cs
pin_name_t cs
Definition: c6dofimu20.h:520
c6dofimu20_s::spi
spi_master_t spi
Definition: c6dofimu20.h:498
c6dofimu20_cfg_t::sda
pin_name_t sda
Definition: c6dofimu20.h:516
c6dofimu20_get_int1_state
uint8_t c6dofimu20_get_int1_state(c6dofimu20_t *ctx)
6 DOF IMU 20 IT1 state reading function.
c6dofimu20_cfg_t::drv_sel
c6dofimu20_drv_t drv_sel
Definition: c6dofimu20.h:531