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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"
75 #define C6DOFIMU20_REG_CHIP_ID 0x00
76 #define C6DOFIMU20_REG_ERR 0x01
77 #define C6DOFIMU20_REG_STATUS 0x02
78 #define C6DOFIMU20_REG_ACC_DATA_X 0x03
79 #define C6DOFIMU20_REG_ACC_DATA_Y 0x04
80 #define C6DOFIMU20_REG_ACC_DATA_Z 0x05
81 #define C6DOFIMU20_REG_GYR_DATA_X 0x06
82 #define C6DOFIMU20_REG_GYR_DATA_Y 0x07
83 #define C6DOFIMU20_REG_GYR_DATA_Z 0x08
84 #define C6DOFIMU20_REG_TEMP_DATA 0x09
85 #define C6DOFIMU20_REG_SENSOR_TIME_0 0x0A
86 #define C6DOFIMU20_REG_SENSOR_TIME_1 0x0B
87 #define C6DOFIMU20_REG_SAT_FLAGS 0x0C
88 #define C6DOFIMU20_REG_INT_STATUS_INT1 0x0D
89 #define C6DOFIMU20_REG_INT_STATUS_INT2 0x0E
90 #define C6DOFIMU20_REG_INT_STATUS_IBI 0x0F
91 #define C6DOFIMU20_REG_FEATURE_IO0 0x10
92 #define C6DOFIMU20_REG_FEATURE_IO1 0x11
93 #define C6DOFIMU20_REG_FEATURE_IO2 0x12
94 #define C6DOFIMU20_REG_FEATURE_IO3 0x13
95 #define C6DOFIMU20_REG_FEATURE_IO_STATUS 0x14
96 #define C6DOFIMU20_REG_FIFO_FILL_LEVEL 0x15
97 #define C6DOFIMU20_REG_FIFO_DATA 0x16
98 #define C6DOFIMU20_REG_ACC_CONF 0x20
99 #define C6DOFIMU20_REG_GYR_CONF 0x21
100 #define C6DOFIMU20_REG_ALT_ACC_CONF 0x28
101 #define C6DOFIMU20_REG_ALT_GYR_CONF 0x29
102 #define C6DOFIMU20_REG_ALT_CONF 0x2A
103 #define C6DOFIMU20_REG_ALT_STATUS 0x2B
104 #define C6DOFIMU20_REG_FIFO_WATERMARK 0x35
105 #define C6DOFIMU20_REG_FIFO_CONF 0x36
106 #define C6DOFIMU20_REG_FIFO_CTRL 0x37
107 #define C6DOFIMU20_REG_IO_INT_CTRL 0x38
108 #define C6DOFIMU20_REG_INT_CONF 0x39
109 #define C6DOFIMU20_REG_INT_MAP1 0x3A
110 #define C6DOFIMU20_REG_INT_MAP2 0x3B
111 #define C6DOFIMU20_REG_FEATURE_CTRL 0x40
112 #define C6DOFIMU20_REG_FEATURE_DATA_ADDR 0x41
113 #define C6DOFIMU20_REG_FEATURE_DATA_TX 0x42
114 #define C6DOFIMU20_REG_FEATURE_DATA_STATUS 0x43
115 #define C6DOFIMU20_REG_FEATURE_ENGINE_STATUS 0x45
116 #define C6DOFIMU20_REG_FEATURE_EVENT_EXT 0x47
117 #define C6DOFIMU20_REG_IO_PDN_CTRL 0x4F
118 #define C6DOFIMU20_REG_IO_SPI_IF 0x50
119 #define C6DOFIMU20_REG_IO_PAD_STRENGTH 0x51
120 #define C6DOFIMU20_REG_IO_I2C_IF 0x52
121 #define C6DOFIMU20_REG_IO_ODR_DEVIATION 0x53
122 #define C6DOFIMU20_REG_ACC_DP_OFF_X 0x60
123 #define C6DOFIMU20_REG_ACC_DP_DGAIN_X 0x61
124 #define C6DOFIMU20_REG_ACC_DP_OFF_Y 0x62
125 #define C6DOFIMU20_REG_ACC_DP_DGAIN_Y 0x63
126 #define C6DOFIMU20_REG_ACC_DP_OFF_Z 0x64
127 #define C6DOFIMU20_REG_ACC_DP_DGAIN_Z 0x65
128 #define C6DOFIMU20_REG_GYR_DP_OFF_X 0x66
129 #define C6DOFIMU20_REG_GYR_DP_DGAIN_X 0x67
130 #define C6DOFIMU20_REG_GYR_DP_OFF_Y 0x68
131 #define C6DOFIMU20_REG_GYR_DP_DGAIN_Y 0x69
132 #define C6DOFIMU20_REG_GYR_DP_OFF_Z 0x6A
133 #define C6DOFIMU20_REG_GYR_DP_DGAIN_Z 0x6B
134 #define C6DOFIMU20_REG_CMD 0x7E
135 #define C6DOFIMU20_REG_CFG_RES 0x7F
141 #define C6DOFIMU20_REG_SC_ST_VALUE4 0x2C
142 #define C6DOFIMU20_REG_SC_ST_VALUE3 0x2B
143 #define C6DOFIMU20_REG_SC_ST_VALUE2 0x2A
144 #define C6DOFIMU20_REG_SC_ST_VALUE1 0x29
145 #define C6DOFIMU20_REG_SC_ST_VALUE0 0x28
146 #define C6DOFIMU20_REG_GYR_SC_ST_CONF_RE 0x27
147 #define C6DOFIMU20_REG_GYR_SC_SELECT 0x26
148 #define C6DOFIMU20_REG_ST_SELECT 0x25
149 #define C6DOFIMU20_REG_ST_RESULT 0x24
150 #define C6DOFIMU20_REG_ALT_CONFIG_CHG 0x23
151 #define C6DOFIMU20_REG_TILT_2 0x22
152 #define C6DOFIMU20_REG_TILT_1 0x21
153 #define C6DOFIMU20_REG_TAP_3 0x20
154 #define C6DOFIMU20_REG_TAP_2 0x1F
155 #define C6DOFIMU20_REG_TAP_1 0x1E
156 #define C6DOFIMU20_REG_ORIENT_2 0x1D
157 #define C6DOFIMU20_REG_ORIENT_1 0x1C
158 #define C6DOFIMU20_REG_SC_12 0x1B
159 #define C6DOFIMU20_REG_SC_11 0x1A
160 #define C6DOFIMU20_REG_SC_10 0x19
161 #define C6DOFIMU20_REG_SC_9 0x18
162 #define C6DOFIMU20_REG_SC_8 0x17
163 #define C6DOFIMU20_REG_SC_7 0x16
164 #define C6DOFIMU20_REG_SC_6 0x15
165 #define C6DOFIMU20_REG_SC_5 0x14
166 #define C6DOFIMU20_REG_SC_4 0x13
167 #define C6DOFIMU20_REG_SC_3 0x12
168 #define C6DOFIMU20_REG_SC_2 0x11
169 #define C6DOFIMU20_REG_SC_1 0x10
170 #define C6DOFIMU20_REG_SIGMO_3 0x0F
171 #define C6DOFIMU20_REG_SIGMO_2 0x0E
172 #define C6DOFIMU20_REG_SIGMO_1 0x0D
173 #define C6DOFIMU20_REG_FLAT_2 0x0C
174 #define C6DOFIMU20_REG_FLAT_1 0x0B
175 #define C6DOFIMU20_REG_MOMO_3 0x0A
176 #define C6DOFIMU20_REG_MOMO_2 0x09
177 #define C6DOFIMU20_REG_MOMO_1 0x08
178 #define C6DOFIMU20_REG_ANYMO_3 0x07
179 #define C6DOFIMU20_REG_ANYMO_2 0x06
180 #define C6DOFIMU20_REG_ANYMO_1 0x05
181 #define C6DOFIMU20_REG_AXIS_MAP_1 0x03
182 #define C6DOFIMU20_REG_GEN_SET_1 0x02
200 #define C6DOFIMU20_SW_RESET_CMD 0xDEAF
206 #define C6DOFIMU20_REG_ERR_FATAL_ERR_FLAG 0x0001
207 #define C6DOFIMU20_REG_ERR_FEAT_ENG_OVRLD_FLAG 0x0004
208 #define C6DOFIMU20_REG_ERR_ACC_CONF_ERR_FLAG 0x0020
209 #define C6DOFIMU20_REG_ERR_GYR_CONF_ERR_FLAG 0x0040
215 #define C6DOFIMU20_STATUS_POR_DETECTED_FLAG 0x0001
216 #define C6DOFIMU20_STATUS_DRDY_TEMP_FLAG 0x0020
217 #define C6DOFIMU20_STATUS_DRDY_GYR_FLAG 0x0040
218 #define C6DOFIMU20_STATUS_DRDY_ACC_FLAG 0x0080
224 #define C6DOFIMU20_SAT_FLAGS_SATF_ACC_X_FLAG 0x0001
225 #define C6DOFIMU20_SAT_FLAGS_SATF_ACC_Y_FLAG 0x0002
226 #define C6DOFIMU20_SAT_FLAGS_SATF_ACC_Z_FLAG 0x0004
227 #define C6DOFIMU20_SAT_FLAGS_SATF_GYR_X_FLAG 0x0008
228 #define C6DOFIMU20_SAT_FLAGS_SATF_GYR_Y_FLAG 0x0010
229 #define C6DOFIMU20_SAT_FLAGS_SATF_GYR_Z_FLAG 0x0020
235 #define C6DOFIMU20_INT_STATUS_INT1_NO_MOTION 0x0001
236 #define C6DOFIMU20_INT_STATUS_INT1_ANY_MOTION 0x0002
237 #define C6DOFIMU20_INT_STATUS_INT1_FLAT 0x0004
238 #define C6DOFIMU20_INT_STATUS_INT1_ORIENTATION 0x0008
239 #define C6DOFIMU20_INT_STATUS_INT1_STEP_DETECTOR 0x0010
240 #define C6DOFIMU20_INT_STATUS_INT1_STEP_COUNTER 0x0020
241 #define C6DOFIMU20_INT_STATUS_INT1_SIG_MOTION 0x0040
242 #define C6DOFIMU20_INT_STATUS_INT1_TILT 0x0080
243 #define C6DOFIMU20_INT_STATUS_INT1_TAP 0x0100
244 #define C6DOFIMU20_INT_STATUS_INT1_ERR_STATUS 0x0400
245 #define C6DOFIMU20_INT_STATUS_INT1_TEMP_DRDY 0x0800
246 #define C6DOFIMU20_INT_STATUS_INT1_GYR_DRDY 0x1000
247 #define C6DOFIMU20_INT_STATUS_INT1_ACC_DRDY 0x2000
248 #define C6DOFIMU20_INT_STATUS_INT1_FWM 0x4000
249 #define C6DOFIMU20_INT_STATUS_INT1_FFULL 0x8000
255 #define C6DOFIMU20_INT_STATUS_INT2_NO_MOTION 0x0001
256 #define C6DOFIMU20_INT_STATUS_INT2_ANY_MOTION 0x0002
257 #define C6DOFIMU20_INT_STATUS_INT2_FLAT 0x0004
258 #define C6DOFIMU20_INT_STATUS_INT2_ORIENTATION 0x0008
259 #define C6DOFIMU20_INT_STATUS_INT2_STEP_DETECTOR 0x0010
260 #define C6DOFIMU20_INT_STATUS_INT2_STEP_COUNTER 0x0020
261 #define C6DOFIMU20_INT_STATUS_INT2_SIG_MOTION 0x0040
262 #define C6DOFIMU20_INT_STATUS_INT2_TILT 0x0080
263 #define C6DOFIMU20_INT_STATUS_INT2_TAP 0x0100
264 #define C6DOFIMU20_INT_STATUS_INT2_ERR_STATUS 0x0400
265 #define C6DOFIMU20_INT_STATUS_INT2_TEMP_DRDY 0x0800
266 #define C6DOFIMU20_INT_STATUS_INT2_GYR_DRDY 0x1000
267 #define C6DOFIMU20_INT_STATUS_INT2_ACC_DRDY 0x2000
268 #define C6DOFIMU20_INT_STATUS_INT2_FWM 0x4000
269 #define C6DOFIMU20_INT_STATUS_INT2_FFULL 0x8000
275 #define C6DOFIMU20_ACC_CONF_ODR_0POINT78125_Hz 0x0001
276 #define C6DOFIMU20_ACC_CONF_ODR_1POINT5625_Hz 0x0002
277 #define C6DOFIMU20_ACC_CONF_ODR_3POINT125_Hz 0x0003
278 #define C6DOFIMU20_ACC_CONF_ODR_6POINT25_Hz 0x0004
279 #define C6DOFIMU20_ACC_CONF_ODR_12POINT5_Hz 0x0005
280 #define C6DOFIMU20_ACC_CONF_ODR_25_Hz 0x0006
281 #define C6DOFIMU20_ACC_CONF_ODR_50_Hz 0x0007
282 #define C6DOFIMU20_ACC_CONF_ODR_100_Hz 0x0008
283 #define C6DOFIMU20_ACC_CONF_ODR_200_Hz 0x0009
284 #define C6DOFIMU20_ACC_CONF_ODR_400_Hz 0x000A
285 #define C6DOFIMU20_ACC_CONF_ODR_800_Hz 0x000B
286 #define C6DOFIMU20_ACC_CONF_ODR_1POINT6_kHz 0x000C
287 #define C6DOFIMU20_ACC_CONF_ODR_3POINT2_kHz 0x000D
288 #define C6DOFIMU20_ACC_CONF_ODR_6POINT4_kHz 0x000E
289 #define C6DOFIMU20_ACC_CONF_ACC_RANGE_2G 0x0000
290 #define C6DOFIMU20_ACC_CONF_ACC_RANGE_4G 0x0010
291 #define C6DOFIMU20_ACC_CONF_ACC_RANGE_8G 0x0020
292 #define C6DOFIMU20_ACC_CONF_ACC_RANGE_16G 0x0030
293 #define C6DOFIMU20_ACC_CONF_ACC_BW_DIV_2 0x0000
294 #define C6DOFIMU20_ACC_CONF_ACC_BW_DIV_4 0x0080
295 #define C6DOFIMU20_ACC_CONF_ACC_AVG_NUM_0 0x0000
296 #define C6DOFIMU20_ACC_CONF_ACC_AVG_NUM_2 0x0100
297 #define C6DOFIMU20_ACC_CONF_ACC_AVG_NUM_4 0x0200
298 #define C6DOFIMU20_ACC_CONF_ACC_AVG_NUM_8 0x0300
299 #define C6DOFIMU20_ACC_CONF_ACC_AVG_NUM_16 0x0400
300 #define C6DOFIMU20_ACC_CONF_ACC_AVG_NUM_32 0x0500
301 #define C6DOFIMU20_ACC_CONF_ACC_AVG_NUM_64 0x0600
302 #define C6DOFIMU20_ACC_CONF_ACC_MODE_DIS 0x0000
303 #define C6DOFIMU20_ACC_CONF_ACC_MODE_DUTY_CYCLING 0x3000
304 #define C6DOFIMU20_ACC_CONF_ACC_MODE_CONSTANT_OPERATION 0x4000
305 #define C6DOFIMU20_ACC_CONF_ACC_MODE_HIGH_PERFORMANCE 0x7000
311 #define C6DOFIMU20_GYR_CONF_ODR_0POINT78125_Hz 0x0001
312 #define C6DOFIMU20_GYR_CONF_ODR_1POINT5625_Hz 0x0002
313 #define C6DOFIMU20_GYR_CONF_ODR_3POINT125_Hz 0x0003
314 #define C6DOFIMU20_GYR_CONF_ODR_6POINT25_Hz 0x0004
315 #define C6DOFIMU20_GYR_CONF_ODR_12POINT5_Hz 0x0005
316 #define C6DOFIMU20_GYR_CONF_ODR_25_Hz 0x0006
317 #define C6DOFIMU20_GYR_CONF_ODR_50_Hz 0x0007
318 #define C6DOFIMU20_GYR_CONF_ODR_100_Hz 0x0008
319 #define C6DOFIMU20_GYR_CONF_ODR_200_Hz 0x0009
320 #define C6DOFIMU20_GYR_CONF_ODR_400_Hz 0x000A
321 #define C6DOFIMU20_GYR_CONF_ODR_800_Hz 0x000B
322 #define C6DOFIMU20_GYR_CONF_ODR_1POINT6_kHz 0x000C
323 #define C6DOFIMU20_GYR_CONF_ODR_3POINT2_kHz 0x000D
324 #define C6DOFIMU20_GYR_CONF_ODR_6POINT4_kHz 0x000E
325 #define C6DOFIMU20_GYR_CONF_GYR_RANGE_2G 0x0000
326 #define C6DOFIMU20_GYR_CONF_GYR_RANGE_4G 0x0010
327 #define C6DOFIMU20_GYR_CONF_GYR_RANGE_8G 0x0020
328 #define C6DOFIMU20_GYR_CONF_GYR_RANGE_16G 0x0030
329 #define C6DOFIMU20_GYR_CONF_GYR_BW_DIV_2 0x0000
330 #define C6DOFIMU20_GYR_CONF_GYR_BW_DIV_4 0x0080
331 #define C6DOFIMU20_GYR_CONF_GYR_AVG_NUM_0 0x0000
332 #define C6DOFIMU20_GYR_CONF_GYR_AVG_NUM_2 0x0100
333 #define C6DOFIMU20_GYR_CONF_GYR_AVG_NUM_4 0x0200
334 #define C6DOFIMU20_GYR_CONF_GYR_AVG_NUM_8 0x0300
335 #define C6DOFIMU20_GYR_CONF_GYR_AVG_NUM_16 0x0400
336 #define C6DOFIMU20_GYR_CONF_GYR_AVG_NUM_32 0x0500
337 #define C6DOFIMU20_GYR_CONF_GYR_AVG_NUM_64 0x0600
338 #define C6DOFIMU20_GYR_CONF_GYR_MODE_DIS 0x0000
339 #define C6DOFIMU20_GYR_CONF_GYR_MODE_DUTY_CYCLING 0x3000
340 #define C6DOFIMU20_GYR_CONF_GYR_MODE_CONSTANT_OPERATION 0x4000
341 #define C6DOFIMU20_GYR_CONF_GYR_MODE_HIGH_PERFORMANCE 0x7000
347 #define C6DOFIMU20_IO_INT_CTRL_INT1_LVL_ACTIVE_HIGH 0x0001
348 #define C6DOFIMU20_IO_INT_CTRL_INT1_LVL_ACTIVE_LOW 0x0000
349 #define C6DOFIMU20_IO_INT_CTRL_INT1_OUTPUT_PUSH_PULL 0x0000
350 #define C6DOFIMU20_IO_INT_CTRL_INT1_OUTPUT_OPEN_DRAIN 0x0002
351 #define C6DOFIMU20_IO_INT_CTRL_INT1_OUTPUT_EN 0x0004
352 #define C6DOFIMU20_IO_INT_CTRL_INT2_LVL_ACTIVE_HIGH 0x0100
353 #define C6DOFIMU20_IO_INT_CTRL_INT2_LVL_ACTIVE_LOW 0x0000
354 #define C6DOFIMU20_IO_INT_CTRL_INT2_OUTPUT_PUSH_PULL 0x0000
355 #define C6DOFIMU20_IO_INT_CTRL_INT2_OUTPUT_OPEN_DRAIN 0x0200
356 #define C6DOFIMU20_IO_INT_CTRL_INT2_OUTPUT_EN 0x0400
362 #define C6DOFIMU20_INT_CONF_INT_LATCH_EN 0x0001
363 #define C6DOFIMU20_INT_CONF_INT_LATCH_DIS 0x0000
369 #define C6DOFIMU20_INT_MAP1_NO_MOTION_OUT_DIS 0x0000
370 #define C6DOFIMU20_INT_MAP1_NO_MOTION_OUT_INT1 0x0001
371 #define C6DOFIMU20_INT_MAP1_NO_MOTION_OUT_INT2 0x0002
372 #define C6DOFIMU20_INT_MAP1_ANY_MOTION_OUT_DIS 0x0000
373 #define C6DOFIMU20_INT_MAP1_ANY_MOTION_OUT_INT1 0x0004
374 #define C6DOFIMU20_INT_MAP1_ANY_MOTION_OUT_INT2 0x0008
375 #define C6DOFIMU20_INT_MAP1_FLAT_OUT_DIS 0x0000
376 #define C6DOFIMU20_INT_MAP1_FLAT_OUT_INT1 0x0010
377 #define C6DOFIMU20_INT_MAP1_FLAT_OUT_INT2 0x0020
378 #define C6DOFIMU20_INT_MAP1_ORIENTATION_OUT_DIS 0x0000
379 #define C6DOFIMU20_INT_MAP1_ORIENTATION_OUT_INT1 0x0040
380 #define C6DOFIMU20_INT_MAP1_ORIENTATION_OUT_INT2 0x0080
381 #define C6DOFIMU20_INT_MAP1_STEP_DETECTOR_OUT_DIS 0x0000
382 #define C6DOFIMU20_INT_MAP1_STEP_DETECTOR_OUT_INT1 0x0100
383 #define C6DOFIMU20_INT_MAP1_STEP_DETECTOR_OUT_INT2 0x0200
384 #define C6DOFIMU20_INT_MAP1_STEP_COUNTER_OUT_DIS 0x0000
385 #define C6DOFIMU20_INT_MAP1_STEP_COUNTER_OUT_INT1 0x0400
386 #define C6DOFIMU20_INT_MAP1_STEP_COUNTER_OUT_INT2 0x0800
387 #define C6DOFIMU20_INT_MAP1_SIG_MOTION_OUT_DIS 0x0000
388 #define C6DOFIMU20_INT_MAP1_SIG_MOTION_OUT_INT1 0x1000
389 #define C6DOFIMU20_INT_MAP1_SIG_MOTION_OUT_INT2 0x2000
390 #define C6DOFIMU20_INT_MAP1_TILT_OUT_DIS 0x0000
391 #define C6DOFIMU20_INT_MAP1_TILT_OUT_INT1 0x4000
392 #define C6DOFIMU20_INT_MAP1_TILT_OUT_INT2 0x8000
398 #define C6DOFIMU20_INT_MAP2_TAP_OUT_OUT_DIS 0x0000
399 #define C6DOFIMU20_INT_MAP2_TAP_OUT_OUT_INT1 0x0001
400 #define C6DOFIMU20_INT_MAP2_TAP_OUT_OUT_INT2 0x0002
401 #define C6DOFIMU20_INT_MAP2_ERR_STATUS_DIS 0x0000
402 #define C6DOFIMU20_INT_MAP2_ERR_STATUS_INT1 0x0010
403 #define C6DOFIMU20_INT_MAP2_ERR_STATUS_INT2 0x0020
404 #define C6DOFIMU20_INT_MAP2_TEMP_DRDY_INT_DIS 0x0000
405 #define C6DOFIMU20_INT_MAP2_TEMP_DRDY_INT_INT1 0x0040
406 #define C6DOFIMU20_INT_MAP2_TEMP_DRDY_INT_INT2 0x0080
407 #define C6DOFIMU20_INT_MAP2_GYR_DRDY_INT_DIS 0x0000
408 #define C6DOFIMU20_INT_MAP2_GYR_DRDY_INT_INT1 0x0100
409 #define C6DOFIMU20_INT_MAP2_GYR_DRDY_INT_INT2 0x0200
410 #define C6DOFIMU20_INT_MAP2_ACC_DRDY_INT_DIS 0x0000
411 #define C6DOFIMU20_INT_MAP2_ACC_DRDY_INT_INT1 0x0400
412 #define C6DOFIMU20_INT_MAP2_ACC_DRDY_INT_INT2 0x0800
413 #define C6DOFIMU20_INT_MAP2_FIFO_WATERMARK_INT_DIS 0x0000
414 #define C6DOFIMU20_INT_MAP2_FIFO_WATERMARK_INT_INT1 0x1000
415 #define C6DOFIMU20_INT_MAP2_FIFO_WATERMARK_INT_INT2 0x2000
416 #define C6DOFIMU20_INT_MAP2_FIFO_FULL_INT_DIS 0x0000
417 #define C6DOFIMU20_INT_MAP2_FIFO_FULL_INT_INT1 0x4000
418 #define C6DOFIMU20_INT_MAP2_FIFO_FULL_INT_INT2 0x8000
425 #define C6DOFIMU20_TEMP_CALC_DIVIDER 512
426 #define C6DOFIMU20_TEMP_CALC_VALUE 23
433 #define C6DOFIMU20_CHIP_ID 0x43
440 #define C6DOFIMU20_DEVICE_ADDRESS_GND 0x68
441 #define C6DOFIMU20_DEVICE_ADDRESS_VCC 0x69
451 #define C6DOFIMU20_SET_DATA_SAMPLE_EDGE SET_SPI_DATA_SAMPLE_EDGE
452 #define C6DOFIMU20_SET_DATA_SAMPLE_MIDDLE SET_SPI_DATA_SAMPLE_MIDDLE
470 #define C6DOFIMU20_MAP_MIKROBUS( cfg, mikrobus ) \
471 cfg.scl = MIKROBUS( mikrobus, MIKROBUS_SCL ); \
472 cfg.sda = MIKROBUS( mikrobus, MIKROBUS_SDA ); \
473 cfg.miso = MIKROBUS( mikrobus, MIKROBUS_MISO ); \
474 cfg.mosi = MIKROBUS( mikrobus, MIKROBUS_MOSI ); \
475 cfg.sck = MIKROBUS( mikrobus, MIKROBUS_SCK ); \
476 cfg.cs = MIKROBUS( mikrobus, MIKROBUS_CS ); \
477 cfg.it1 = MIKROBUS( mikrobus, MIKROBUS_AN ); \
478 cfg.it2 = MIKROBUS( mikrobus, MIKROBUS_INT )
783 #endif // C6DOFIMU20_H
pin_name_t mosi
Definition: c6dofimu20.h:532
err_t c6dofimu20_get_reg(c6dofimu20_t *ctx, uint8_t reg, uint16_t *data_out)
6 DOF IMU 20 register data reading function.
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.
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.
spi_master_chip_select_polarity_t cs_polarity
Definition: c6dofimu20.h:543
pin_name_t miso
Definition: c6dofimu20.h:531
err_t c6dofimu20_set_reg(c6dofimu20_t *ctx, uint8_t reg, uint16_t data_in)
6 DOF IMU 20 register data writing function.
c6dofimu20_master_io_t read_f
Definition: c6dofimu20.h:519
int16_t data_z
Definition: c6dofimu20.h:557
uint8_t i2c_address
Definition: c6dofimu20.h:539
digital_in_t it1
Definition: c6dofimu20.h:508
int16_t data_y
Definition: c6dofimu20.h:556
pin_name_t sck
Definition: c6dofimu20.h:533
uint8_t slave_address
Definition: c6dofimu20.h:514
@ C6DOFIMU20_DRV_SEL_SPI
Definition: c6dofimu20.h:489
This file contains SPI specific macros, functions, etc.
c6dofimu20_return_value_t
6 DOF IMU 20 Click return value data.
Definition: c6dofimu20.h:566
6 DOF IMU 20 Click configuration object.
Definition: c6dofimu20.h:528
err_t c6dofimu20_default_cfg(c6dofimu20_t *ctx)
6 DOF IMU 20 default configuration function.
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:498
c6dofimu20_drv_t drv_sel
Definition: c6dofimu20.h:516
uint32_t i2c_speed
Definition: c6dofimu20.h:538
6 DOF IMU 20 Click data object.
Definition: c6dofimu20.h:554
@ C6DOFIMU20_ERROR
Definition: c6dofimu20.h:568
err_t c6dofimu20_init(c6dofimu20_t *ctx, c6dofimu20_cfg_t *cfg)
6 DOF IMU 20 initialization function.
c6dofimu20_master_io_t write_f
Definition: c6dofimu20.h:518
spi_master_mode_t spi_mode
Definition: c6dofimu20.h:542
pin_name_t scl
Definition: c6dofimu20.h:529
@ C6DOFIMU20_OK
Definition: c6dofimu20.h:567
pin_name_t it2
Definition: c6dofimu20.h:536
void c6dofimu20_drv_interface_selection(c6dofimu20_cfg_t *cfg, c6dofimu20_drv_t drv_sel)
6 DOF IMU 20 driver interface setup function.
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
Definition: c6dofimu20.h:490
uint8_t c6dofimu20_get_int2_state(c6dofimu20_t *ctx)
6 DOF IMU 20 IT2 state reading function.
6 DOF IMU 20 Click context object.
Definition: c6dofimu20.h:505
void c6dofimu20_cfg_setup(c6dofimu20_cfg_t *cfg)
6 DOF IMU 20 configuration object setup function.
pin_name_t it1
Definition: c6dofimu20.h:535
digital_out_t cs
Definition: c6dofimu20.h:506
pin_name_t chip_select
Definition: c6dofimu20.h:515
struct c6dofimu20_s c6dofimu20_t
6 DOF IMU 20 Click context object.
err_t c6dofimu20_get_id(c6dofimu20_t *ctx, uint8_t *chip_id)
6 DOF IMU 20 register chip id reading function.
int16_t data_x
Definition: c6dofimu20.h:555
err_t c6dofimu20_get_acc_data(c6dofimu20_t *ctx, c6dofimu20_data_t *acc_data)
6 DOF IMU 20 accel data reading function.
err_t c6dofimu20_get_temperature(c6dofimu20_t *ctx, float *temp_data)
6 DOF IMU 20 temperature reading function.
err_t c6dofimu20_sw_reset(c6dofimu20_t *ctx)
6 DOF IMU 20 software reset function.
c6dofimu20_drv_t
6 DOF IMU 20 Click driver selector.
Definition: c6dofimu20.h:488
i2c_master_t i2c
Definition: c6dofimu20.h:511
uint32_t spi_speed
Definition: c6dofimu20.h:541
digital_in_t it2
Definition: c6dofimu20.h:509
pin_name_t cs
Definition: c6dofimu20.h:534
spi_master_t spi
Definition: c6dofimu20.h:512
pin_name_t sda
Definition: c6dofimu20.h:530
uint8_t c6dofimu20_get_int1_state(c6dofimu20_t *ctx)
6 DOF IMU 20 IT1 state reading function.
c6dofimu20_drv_t drv_sel
Definition: c6dofimu20.h:545