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 "mikrosdk_version.h"
36
37#ifdef __GNUC__
38#if mikroSDK_GET_VERSION < 20800ul
39#include "rcu_delays.h"
40#else
41#include "delays.h"
42#endif
43#endif
44
45#include "drv_digital_out.h"
46#include "drv_digital_in.h"
47#include "drv_i2c_master.h"
48#include "drv_spi_master.h"
49#include "spi_specifics.h"
50
71#define C6DOFIMU21_REG_FIFO_CTRL1 0x06
72#define C6DOFIMU21_REG_FIFO_CTRL2 0x07
73#define C6DOFIMU21_REG_FIFO_CTRL3 0x08
74#define C6DOFIMU21_REG_FIFO_CTRL4 0x09
75#define C6DOFIMU21_REG_FIFO_CTRL5 0x0A
76#define C6DOFIMU21_REG_DRDY_PULSE_CFG 0x0B
77#define C6DOFIMU21_REG_INT0_CTRL 0x0D
78#define C6DOFIMU21_REG_INT1_CTRL 0x0E
79#define C6DOFIMU21_REG_DEVICE_ID 0x0F
80#define C6DOFIMU21_REG_CTRL1_XL 0x10
81#define C6DOFIMU21_REG_CTRL2_G 0x11
82#define C6DOFIMU21_REG_CTRL3_C 0x12
83#define C6DOFIMU21_REG_CTRL4_C 0x13
84#define C6DOFIMU21_REG_CTRL5_C 0x14
85#define C6DOFIMU21_REG_CTRL6_C 0x15
86#define C6DOFIMU21_REG_CTRL7_G 0x16
87#define C6DOFIMU21_REG_CTRL8_XL 0x17
88#define C6DOFIMU21_REG_CTRL9_XL 0x18
89#define C6DOFIMU21_REG_CTRL10_C 0x19
90#define C6DOFIMU21_REG_MASTER_CFG 0x1A
91#define C6DOFIMU21_REG_WAKE_UP_SRC 0x1B
92#define C6DOFIMU21_REG_TAP_SRC 0x1C
93#define C6DOFIMU21_REG_D6D_SRC 0x1D
94#define C6DOFIMU21_REG_STATUS 0x1E
95#define C6DOFIMU21_REG_T_OUT_L 0x20
96#define C6DOFIMU21_REG_T_OUT_H 0x21
97#define C6DOFIMU21_REG_G_X_OUT_L 0x22
98#define C6DOFIMU21_REG_G_X_OUT_H 0x23
99#define C6DOFIMU21_REG_G_Y_OUT_L 0x24
100#define C6DOFIMU21_REG_G_Y_OUT_H 0x25
101#define C6DOFIMU21_REG_G_Z_OUT_L 0x26
102#define C6DOFIMU21_REG_G_Z_OUT_H 0x27
103#define C6DOFIMU21_REG_XL_X_OUT_L 0x28
104#define C6DOFIMU21_REG_XL_X_OUT_H 0x29
105#define C6DOFIMU21_REG_XL_Y_OUT_L 0x2A
106#define C6DOFIMU21_REG_XL_Y_OUT_H 0x2B
107#define C6DOFIMU21_REG_XL_Z_OUT_L 0x2C
108#define C6DOFIMU21_REG_XL_Z_OUT_H 0x2D
109#define C6DOFIMU21_REG_FIFO_STATUS1 0x3A
110#define C6DOFIMU21_REG_FIFO_STATUS2 0x3B
111#define C6DOFIMU21_REG_FIFO_STATUS3 0x3C
112#define C6DOFIMU21_REG_FIFO_STATUS4 0x3D
113#define C6DOFIMU21_REG_FIFO_DATA_OUT_L 0x3E
114#define C6DOFIMU21_REG_FIFO_DATA_OUT_H 0x3F
115#define C6DOFIMU21_REG_FUNC_SRC1 0x53
116#define C6DOFIMU21_REG_TAP_CFG 0x58
117#define C6DOFIMU21_REG_TAP_THS_6D 0x59
118#define C6DOFIMU21_REG_INT_DUR2 0x5A
119#define C6DOFIMU21_REG_WAKE_UP_THS 0x5B
120#define C6DOFIMU21_REG_WAKE_UP_DUR 0x5C
121#define C6DOFIMU21_REG_FREE_FALL 0x5D
122#define C6DOFIMU21_REG_MD1_CFG 0x5E
123#define C6DOFIMU21_REG_MD2_CFG 0x5F
124#define C6DOFIMU21_REG_X_OFS_USR 0x73
125#define C6DOFIMU21_REG_Y_OFS_USR 0x74
126#define C6DOFIMU21_REG_Z_OFS_USR 0x75
127 // c6dofimu21_reg
129
144#define C6DOFIMU21_FULL_SCALE_MASK 0x0C
145#define C6DOFIMU21_ACCLE_FS_2G 0x00
146#define C6DOFIMU21_ACCLE_FS_16G 0x04
147#define C6DOFIMU21_ACCLE_FS_4G 0x08
148#define C6DOFIMU21_ACCLE_FS_8G 0x0C
149#define C6DOFIMU21_GYRO_FS_250DPS 0x00
150#define C6DOFIMU21_GYRO_FS_500DPS 0x04
151#define C6DOFIMU21_GYRO_FS_1000DPS 0x08
152#define C6DOFIMU21_GYRO_FS_2000DPS 0x0C
153
158#define C6DOFIMU21_ODR_XL_POWER_DOWN 0x00
159#define C6DOFIMU21_ODR_XL_1_6_HZ 0xB0
160#define C6DOFIMU21_ODR_XL_12_5_HZ 0x10
161#define C6DOFIMU21_ODR_XL_26_HZ 0x20
162#define C6DOFIMU21_ODR_XL_52_HZ 0x30
163#define C6DOFIMU21_ODR_XL_104_HZ 0x40
164#define C6DOFIMU21_ODR_XL_208_HZ 0x50
165#define C6DOFIMU21_ODR_XL_416_HZ 0x60
166#define C6DOFIMU21_ODR_XL_833_HZ 0x70
167#define C6DOFIMU21_ODR_XL_1_66_KHZ 0x80
168#define C6DOFIMU21_ODR_XL_3_33_KHZ 0x90
169#define C6DOFIMU21_ODR_XL_6_66_KHZ 0xA0
170
175#define C6DOFIMU21_ODR_G_POWER_DOWN 0x00
176#define C6DOFIMU21_ODR_G_12_5_HZ 0x10
177#define C6DOFIMU21_ODR_G_26_HZ 0x20
178#define C6DOFIMU21_ODR_G_52_HZ 0x30
179#define C6DOFIMU21_ODR_G_104_HZ 0x40
180#define C6DOFIMU21_ODR_G_208_HZ 0x50
181#define C6DOFIMU21_ODR_G_416_HZ 0x60
182#define C6DOFIMU21_ODR_G_833_HZ 0x70
183#define C6DOFIMU21_ODR_G_1_66_KHZ 0x80
184#define C6DOFIMU21_ODR_G_3_33_KHZ 0x90
185#define C6DOFIMU21_ODR_G_6_66_KHZ 0xA0
186
191#define C6DOFIMU21_SOFTWARE_RESET 0x01
192
193
198#define C6DOFIMU21_DEVICE_ID 0x6A
199
205#define C6DOFIMU21_ACCEL_2G_CONV_MUL 0.061f
206#define C6DOFIMU21_ACCEL_4G_CONV_MUL 0.122f
207#define C6DOFIMU21_ACCEL_8G_CONV_MUL 0.244f
208#define C6DOFIMU21_ACCEL_16G_CONV_MUL 0.488f
209#define C6DOFIMU21_GYRO_250DPS_CONV_MUL 8.75f
210#define C6DOFIMU21_GYRO_500DPS_CONV_MUL 17.5f
211#define C6DOFIMU21_GYRO_1000DPS_CONV_MUL 35.0f
212#define C6DOFIMU21_GYRO_2000DPS_CONV_MUL 70.0f
213
219#define C6DOFIMU21_DEVICE_ADDRESS_0 0x6A
220#define C6DOFIMU21_DEVICE_ADDRESS_1 0x6B
221
230#define C6DOFIMU21_SET_DATA_SAMPLE_EDGE SET_SPI_DATA_SAMPLE_EDGE
231#define C6DOFIMU21_SET_DATA_SAMPLE_MIDDLE SET_SPI_DATA_SAMPLE_MIDDLE
232 // c6dofimu21_set
234
249#define C6DOFIMU21_MAP_MIKROBUS( cfg, mikrobus ) \
250 cfg.scl = MIKROBUS( mikrobus, MIKROBUS_SCL ); \
251 cfg.sda = MIKROBUS( mikrobus, MIKROBUS_SDA ); \
252 cfg.miso = MIKROBUS( mikrobus, MIKROBUS_MISO ); \
253 cfg.mosi = MIKROBUS( mikrobus, MIKROBUS_MOSI ); \
254 cfg.sck = MIKROBUS( mikrobus, MIKROBUS_SCK ); \
255 cfg.cs = MIKROBUS( mikrobus, MIKROBUS_CS ); \
256 cfg.i1 = MIKROBUS( mikrobus, MIKROBUS_AN ); \
257 cfg.i0 = MIKROBUS( mikrobus, MIKROBUS_INT )
258 // c6dofimu21_map // c6dofimu21
261
266typedef enum
267{
272
277struct c6dofimu21_s;
278typedef err_t ( *c6dofimu21_master_io_t )( struct c6dofimu21_s*, uint8_t, uint8_t*, uint8_t );
284typedef struct c6dofimu21_s
285{
286 digital_in_t i1;
287 digital_in_t i0;
289 i2c_master_t i2c;
290 spi_master_t spi;
293 pin_name_t chip_select;
300
305typedef struct
306{
307 pin_name_t scl;
308 pin_name_t sda;
309 pin_name_t miso;
310 pin_name_t mosi;
311 pin_name_t sck;
312 pin_name_t cs;
313 pin_name_t i1;
314 pin_name_t i0;
316 uint32_t i2c_speed;
317 uint8_t i2c_address;
319 uint32_t spi_speed;
320 spi_master_mode_t spi_mode;
321 spi_master_chip_select_polarity_t cs_polarity;
326
331typedef struct
332{
333 float x_data;
334 float y_data;
335 float z_data;
336
338
343typedef enum
344{
347
349
366
382
397
411
426err_t c6dofimu21_generic_write ( c6dofimu21_t *ctx, uint8_t reg, uint8_t *data_in, uint8_t len );
427
442err_t c6dofimu21_generic_read ( c6dofimu21_t *ctx, uint8_t reg, uint8_t *data_out, uint8_t len );
443
453
463
476err_t c6dofimu21_write_reg ( c6dofimu21_t *ctx, uint8_t reg, uint8_t data_in );
477
491err_t c6dofimu21_read_reg ( c6dofimu21_t *ctx, uint8_t reg, uint8_t *data_out );
492
504
518
532
533#ifdef __cplusplus
534}
535#endif
536#endif // C6DOFIMU21_H
537 // c6dofimu21
539
540// ------------------------------------------------------------------------ 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:344
@ C6DOFIMU21_OK
Definition: c6dofimu21.h:345
@ C6DOFIMU21_ERROR
Definition: c6dofimu21.h:346
err_t(* c6dofimu21_master_io_t)(struct c6dofimu21_s *, uint8_t, uint8_t *, uint8_t)
Definition: c6dofimu21.h:278
c6dofimu21_drv_t
6DOF IMU 21 Click driver selector.
Definition: c6dofimu21.h:267
@ C6DOFIMU21_DRV_SEL_I2C
Definition: c6dofimu21.h:269
@ C6DOFIMU21_DRV_SEL_SPI
Definition: c6dofimu21.h:268
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:306
pin_name_t i1
Definition: c6dofimu21.h:313
uint32_t i2c_speed
Definition: c6dofimu21.h:316
spi_master_chip_select_polarity_t cs_polarity
Definition: c6dofimu21.h:321
pin_name_t sck
Definition: c6dofimu21.h:311
spi_master_mode_t spi_mode
Definition: c6dofimu21.h:320
c6dofimu21_drv_t drv_sel
Definition: c6dofimu21.h:323
pin_name_t mosi
Definition: c6dofimu21.h:310
uint32_t spi_speed
Definition: c6dofimu21.h:319
pin_name_t i0
Definition: c6dofimu21.h:314
pin_name_t scl
Definition: c6dofimu21.h:307
pin_name_t miso
Definition: c6dofimu21.h:309
pin_name_t sda
Definition: c6dofimu21.h:308
pin_name_t cs
Definition: c6dofimu21.h:312
uint8_t i2c_address
Definition: c6dofimu21.h:317
6DOF IMU 21 data object.
Definition: c6dofimu21.h:332
float y_data
Definition: c6dofimu21.h:334
float z_data
Definition: c6dofimu21.h:335
float x_data
Definition: c6dofimu21.h:333
6DOF IMU 21 Click context object.
Definition: c6dofimu21.h:285
spi_master_t spi
Definition: c6dofimu21.h:290
c6dofimu21_master_io_t write_f
Definition: c6dofimu21.h:296
digital_in_t i0
Definition: c6dofimu21.h:287
c6dofimu21_drv_t drv_sel
Definition: c6dofimu21.h:294
i2c_master_t i2c
Definition: c6dofimu21.h:289
uint8_t slave_address
Definition: c6dofimu21.h:292
c6dofimu21_master_io_t read_f
Definition: c6dofimu21.h:297
digital_in_t i1
Definition: c6dofimu21.h:286
pin_name_t chip_select
Definition: c6dofimu21.h:293