c6dofimu21 2.1.0.0
c6dofimu21.h
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2** Copyright (C) 2020 MikroElektronika d.o.o.
3** Contact: https://www.mikroe.com/contact
4**
5** Permission is hereby granted, free of charge, to any person obtaining a copy
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22
28#ifndef C6DOFIMU21_H
29#define C6DOFIMU21_H
30
31#ifdef __cplusplus
32extern "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 C6DOFIMU21_REG_FIFO_CTRL1 0x06
62#define C6DOFIMU21_REG_FIFO_CTRL2 0x07
63#define C6DOFIMU21_REG_FIFO_CTRL3 0x08
64#define C6DOFIMU21_REG_FIFO_CTRL4 0x09
65#define C6DOFIMU21_REG_FIFO_CTRL5 0x0A
66#define C6DOFIMU21_REG_DRDY_PULSE_CFG 0x0B
67#define C6DOFIMU21_REG_INT0_CTRL 0x0D
68#define C6DOFIMU21_REG_INT1_CTRL 0x0E
69#define C6DOFIMU21_REG_DEVICE_ID 0x0F
70#define C6DOFIMU21_REG_CTRL1_XL 0x10
71#define C6DOFIMU21_REG_CTRL2_G 0x11
72#define C6DOFIMU21_REG_CTRL3_C 0x12
73#define C6DOFIMU21_REG_CTRL4_C 0x13
74#define C6DOFIMU21_REG_CTRL5_C 0x14
75#define C6DOFIMU21_REG_CTRL6_C 0x15
76#define C6DOFIMU21_REG_CTRL7_G 0x16
77#define C6DOFIMU21_REG_CTRL8_XL 0x17
78#define C6DOFIMU21_REG_CTRL9_XL 0x18
79#define C6DOFIMU21_REG_CTRL10_C 0x19
80#define C6DOFIMU21_REG_MASTER_CFG 0x1A
81#define C6DOFIMU21_REG_WAKE_UP_SRC 0x1B
82#define C6DOFIMU21_REG_TAP_SRC 0x1C
83#define C6DOFIMU21_REG_D6D_SRC 0x1D
84#define C6DOFIMU21_REG_STATUS 0x1E
85#define C6DOFIMU21_REG_T_OUT_L 0x20
86#define C6DOFIMU21_REG_T_OUT_H 0x21
87#define C6DOFIMU21_REG_G_X_OUT_L 0x22
88#define C6DOFIMU21_REG_G_X_OUT_H 0x23
89#define C6DOFIMU21_REG_G_Y_OUT_L 0x24
90#define C6DOFIMU21_REG_G_Y_OUT_H 0x25
91#define C6DOFIMU21_REG_G_Z_OUT_L 0x26
92#define C6DOFIMU21_REG_G_Z_OUT_H 0x27
93#define C6DOFIMU21_REG_XL_X_OUT_L 0x28
94#define C6DOFIMU21_REG_XL_X_OUT_H 0x29
95#define C6DOFIMU21_REG_XL_Y_OUT_L 0x2A
96#define C6DOFIMU21_REG_XL_Y_OUT_H 0x2B
97#define C6DOFIMU21_REG_XL_Z_OUT_L 0x2C
98#define C6DOFIMU21_REG_XL_Z_OUT_H 0x2D
99#define C6DOFIMU21_REG_FIFO_STATUS1 0x3A
100#define C6DOFIMU21_REG_FIFO_STATUS2 0x3B
101#define C6DOFIMU21_REG_FIFO_STATUS3 0x3C
102#define C6DOFIMU21_REG_FIFO_STATUS4 0x3D
103#define C6DOFIMU21_REG_FIFO_DATA_OUT_L 0x3E
104#define C6DOFIMU21_REG_FIFO_DATA_OUT_H 0x3F
105#define C6DOFIMU21_REG_FUNC_SRC1 0x53
106#define C6DOFIMU21_REG_TAP_CFG 0x58
107#define C6DOFIMU21_REG_TAP_THS_6D 0x59
108#define C6DOFIMU21_REG_INT_DUR2 0x5A
109#define C6DOFIMU21_REG_WAKE_UP_THS 0x5B
110#define C6DOFIMU21_REG_WAKE_UP_DUR 0x5C
111#define C6DOFIMU21_REG_FREE_FALL 0x5D
112#define C6DOFIMU21_REG_MD1_CFG 0x5E
113#define C6DOFIMU21_REG_MD2_CFG 0x5F
114#define C6DOFIMU21_REG_X_OFS_USR 0x73
115#define C6DOFIMU21_REG_Y_OFS_USR 0x74
116#define C6DOFIMU21_REG_Z_OFS_USR 0x75
117 // c6dofimu21_reg
119
134#define C6DOFIMU21_FULL_SCALE_MASK 0x0C
135#define C6DOFIMU21_ACCLE_FS_2G 0x00
136#define C6DOFIMU21_ACCLE_FS_16G 0x04
137#define C6DOFIMU21_ACCLE_FS_4G 0x08
138#define C6DOFIMU21_ACCLE_FS_8G 0x0C
139#define C6DOFIMU21_GYRO_FS_250DPS 0x00
140#define C6DOFIMU21_GYRO_FS_500DPS 0x04
141#define C6DOFIMU21_GYRO_FS_1000DPS 0x08
142#define C6DOFIMU21_GYRO_FS_2000DPS 0x0C
143
148#define C6DOFIMU21_ODR_XL_POWER_DOWN 0x00
149#define C6DOFIMU21_ODR_XL_1_6_HZ 0xB0
150#define C6DOFIMU21_ODR_XL_12_5_HZ 0x10
151#define C6DOFIMU21_ODR_XL_26_HZ 0x20
152#define C6DOFIMU21_ODR_XL_52_HZ 0x30
153#define C6DOFIMU21_ODR_XL_104_HZ 0x40
154#define C6DOFIMU21_ODR_XL_208_HZ 0x50
155#define C6DOFIMU21_ODR_XL_416_HZ 0x60
156#define C6DOFIMU21_ODR_XL_833_HZ 0x70
157#define C6DOFIMU21_ODR_XL_1_66_KHZ 0x80
158#define C6DOFIMU21_ODR_XL_3_33_KHZ 0x90
159#define C6DOFIMU21_ODR_XL_6_66_KHZ 0xA0
160
165#define C6DOFIMU21_ODR_G_POWER_DOWN 0x00
166#define C6DOFIMU21_ODR_G_12_5_HZ 0x10
167#define C6DOFIMU21_ODR_G_26_HZ 0x20
168#define C6DOFIMU21_ODR_G_52_HZ 0x30
169#define C6DOFIMU21_ODR_G_104_HZ 0x40
170#define C6DOFIMU21_ODR_G_208_HZ 0x50
171#define C6DOFIMU21_ODR_G_416_HZ 0x60
172#define C6DOFIMU21_ODR_G_833_HZ 0x70
173#define C6DOFIMU21_ODR_G_1_66_KHZ 0x80
174#define C6DOFIMU21_ODR_G_3_33_KHZ 0x90
175#define C6DOFIMU21_ODR_G_6_66_KHZ 0xA0
176
181#define C6DOFIMU21_SOFTWARE_RESET 0x01
182
183
188#define C6DOFIMU21_DEVICE_ID 0x6A
189
195#define C6DOFIMU21_ACCEL_2G_CONV_MUL 0.061f
196#define C6DOFIMU21_ACCEL_4G_CONV_MUL 0.122f
197#define C6DOFIMU21_ACCEL_8G_CONV_MUL 0.244f
198#define C6DOFIMU21_ACCEL_16G_CONV_MUL 0.488f
199#define C6DOFIMU21_GYRO_250DPS_CONV_MUL 8.75f
200#define C6DOFIMU21_GYRO_500DPS_CONV_MUL 17.5f
201#define C6DOFIMU21_GYRO_1000DPS_CONV_MUL 35.0f
202#define C6DOFIMU21_GYRO_2000DPS_CONV_MUL 70.0f
203
209#define C6DOFIMU21_DEVICE_ADDRESS_0 0x6A
210#define C6DOFIMU21_DEVICE_ADDRESS_1 0x6B
211
220#define C6DOFIMU21_SET_DATA_SAMPLE_EDGE SET_SPI_DATA_SAMPLE_EDGE
221#define C6DOFIMU21_SET_DATA_SAMPLE_MIDDLE SET_SPI_DATA_SAMPLE_MIDDLE
222 // c6dofimu21_set
224
239#define C6DOFIMU21_MAP_MIKROBUS( cfg, mikrobus ) \
240 cfg.scl = MIKROBUS( mikrobus, MIKROBUS_SCL ); \
241 cfg.sda = MIKROBUS( mikrobus, MIKROBUS_SDA ); \
242 cfg.miso = MIKROBUS( mikrobus, MIKROBUS_MISO ); \
243 cfg.mosi = MIKROBUS( mikrobus, MIKROBUS_MOSI ); \
244 cfg.sck = MIKROBUS( mikrobus, MIKROBUS_SCK ); \
245 cfg.cs = MIKROBUS( mikrobus, MIKROBUS_CS ); \
246 cfg.i1 = MIKROBUS( mikrobus, MIKROBUS_AN ); \
247 cfg.i0 = MIKROBUS( mikrobus, MIKROBUS_INT )
248 // c6dofimu21_map // c6dofimu21
251
256typedef enum
257{
262
267struct c6dofimu21_s;
268typedef err_t ( *c6dofimu21_master_io_t )( struct c6dofimu21_s*, uint8_t, uint8_t*, uint8_t );
274typedef struct c6dofimu21_s
275{
276 digital_in_t i1;
277 digital_in_t i0;
279 i2c_master_t i2c;
280 spi_master_t spi;
283 pin_name_t chip_select;
290
295typedef struct
296{
297 pin_name_t scl;
298 pin_name_t sda;
299 pin_name_t miso;
300 pin_name_t mosi;
301 pin_name_t sck;
302 pin_name_t cs;
303 pin_name_t i1;
304 pin_name_t i0;
306 uint32_t i2c_speed;
307 uint8_t i2c_address;
309 uint32_t spi_speed;
310 spi_master_mode_t spi_mode;
311 spi_master_chip_select_polarity_t cs_polarity;
316
321typedef struct
322{
323 float x_data;
324 float y_data;
325 float z_data;
326
328
333typedef enum
334{
337
339
356
372
387
401
416err_t c6dofimu21_generic_write ( c6dofimu21_t *ctx, uint8_t reg, uint8_t *data_in, uint8_t len );
417
432err_t c6dofimu21_generic_read ( c6dofimu21_t *ctx, uint8_t reg, uint8_t *data_out, uint8_t len );
433
443
453
466err_t c6dofimu21_write_reg ( c6dofimu21_t *ctx, uint8_t reg, uint8_t data_in );
467
481err_t c6dofimu21_read_reg ( c6dofimu21_t *ctx, uint8_t reg, uint8_t *data_out );
482
494
508
522
523#ifdef __cplusplus
524}
525#endif
526#endif // C6DOFIMU21_H
527 // c6dofimu21
529
530// ------------------------------------------------------------------------ END
struct c6dofimu21_s c6dofimu21_t
6DOF IMU 21 Click context object.
c6dofimu21_return_value_t
6DOF IMU 21 Click return value data.
Definition: c6dofimu21.h:334
@ C6DOFIMU21_OK
Definition: c6dofimu21.h:335
@ C6DOFIMU21_ERROR
Definition: c6dofimu21.h:336
err_t(* c6dofimu21_master_io_t)(struct c6dofimu21_s *, uint8_t, uint8_t *, uint8_t)
Definition: c6dofimu21.h:268
c6dofimu21_drv_t
6DOF IMU 21 Click driver selector.
Definition: c6dofimu21.h:257
@ C6DOFIMU21_DRV_SEL_I2C
Definition: c6dofimu21.h:259
@ C6DOFIMU21_DRV_SEL_SPI
Definition: c6dofimu21.h:258
err_t c6dofimu21_read_accel_data(c6dofimu21_t *ctx, c6dofimu21_data_t *accel_data)
6DOF IMU 21 read accel function.
uint8_t c6dofimu22_get_int1_pin(c6dofimu21_t *ctx)
6DOF IMU 21 get int1 pin function.
void c6dofimu21_drv_interface_sel(c6dofimu21_cfg_t *cfg, c6dofimu21_drv_t drv_sel)
6DOF IMU 21 driver interface setup function.
err_t c6dofimu21_generic_write(c6dofimu21_t *ctx, uint8_t reg, uint8_t *data_in, uint8_t len)
6DOF IMU 21 data writing function.
err_t c6dofimu21_software_reset(c6dofimu21_t *ctx)
6DOF IMU 21 software reset device function.
err_t c6dofimu21_write_reg(c6dofimu21_t *ctx, uint8_t reg, uint8_t data_in)
6DOF IMU 21 data writing function.
err_t c6dofimu21_generic_read(c6dofimu21_t *ctx, uint8_t reg, uint8_t *data_out, uint8_t len)
6DOF IMU 21 data reading function.
uint8_t c6dofimu22_get_int0_pin(c6dofimu21_t *ctx)
6DOF IMU 21 get int0 pin function.
err_t c6dofimu21_default_cfg(c6dofimu21_t *ctx)
6DOF IMU 21 default configuration function.
void c6dofimu21_cfg_setup(c6dofimu21_cfg_t *cfg)
6DOF IMU 21 configuration object setup function.
err_t c6dofimu21_read_gyro_data(c6dofimu21_t *ctx, c6dofimu21_data_t *gyro_data)
6DOF IMU 21 read gyro function.
err_t c6dofimu21_read_reg(c6dofimu21_t *ctx, uint8_t reg, uint8_t *data_out)
6DOF IMU 21 register data reading function.
err_t c6dofimu21_init(c6dofimu21_t *ctx, c6dofimu21_cfg_t *cfg)
6DOF IMU 21 initialization function.
This file contains SPI specific macros, functions, etc.
6DOF IMU 21 Click configuration object.
Definition: c6dofimu21.h:296
pin_name_t i1
Definition: c6dofimu21.h:303
uint32_t i2c_speed
Definition: c6dofimu21.h:306
spi_master_chip_select_polarity_t cs_polarity
Definition: c6dofimu21.h:311
pin_name_t sck
Definition: c6dofimu21.h:301
spi_master_mode_t spi_mode
Definition: c6dofimu21.h:310
c6dofimu21_drv_t drv_sel
Definition: c6dofimu21.h:313
pin_name_t mosi
Definition: c6dofimu21.h:300
uint32_t spi_speed
Definition: c6dofimu21.h:309
pin_name_t i0
Definition: c6dofimu21.h:304
pin_name_t scl
Definition: c6dofimu21.h:297
pin_name_t miso
Definition: c6dofimu21.h:299
pin_name_t sda
Definition: c6dofimu21.h:298
pin_name_t cs
Definition: c6dofimu21.h:302
uint8_t i2c_address
Definition: c6dofimu21.h:307
6DOF IMU 21 data object.
Definition: c6dofimu21.h:322
float y_data
Definition: c6dofimu21.h:324
float z_data
Definition: c6dofimu21.h:325
float x_data
Definition: c6dofimu21.h:323
6DOF IMU 21 Click context object.
Definition: c6dofimu21.h:275
spi_master_t spi
Definition: c6dofimu21.h:280
c6dofimu21_master_io_t write_f
Definition: c6dofimu21.h:286
digital_in_t i0
Definition: c6dofimu21.h:277
c6dofimu21_drv_t drv_sel
Definition: c6dofimu21.h:284
i2c_master_t i2c
Definition: c6dofimu21.h:279
uint8_t slave_address
Definition: c6dofimu21.h:282
c6dofimu21_master_io_t read_f
Definition: c6dofimu21.h:287
digital_in_t i1
Definition: c6dofimu21.h:276
pin_name_t chip_select
Definition: c6dofimu21.h:283