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35 #include "mikrosdk_version.h"
38 #if mikroSDK_GET_VERSION < 20800ul
39 #include "rcu_delays.h"
45 #include "drv_digital_out.h"
46 #include "drv_digital_in.h"
47 #include "drv_spi_master.h"
70 #define C6DOFIMU23_OFFSET_X_DATA 0x00
71 #define C6DOFIMU23_OFFSET_Y_DATA 0x01
72 #define C6DOFIMU23_OFFSET_Z_DATA 0x02
73 #define C6DOFIMU23_OFFSET_TEMPERATURE_1 0x03
74 #define C6DOFIMU23_OFFSET_ACCEL_X_DATA 0x04
75 #define C6DOFIMU23_OFFSET_ACCEL_Y_DATA 0x05
76 #define C6DOFIMU23_OFFSET_ACCEL_Z_DATA 0x06
77 #define C6DOFIMU23_OFFSET_TEMPERATURE_2 0x07
78 #define C6DOFIMU23_OFFSET_LR_ACCEL_X_DATA 0x08
79 #define C6DOFIMU23_OFFSET_LR_ACCEL_Y_DATA 0x09
80 #define C6DOFIMU23_OFFSET_LR_ACCEL_Z_DATA 0x0A
81 #define C6DOFIMU23_OFFSET_FIXED_VALUE 0x0B
82 #define C6DOFIMU23_OFFSET_FILTER_SETTINGS_YZ 0x0C
83 #define C6DOFIMU23_OFFSET_FILTER_SETTINGS_X 0x0E
84 #define C6DOFIMU23_OFFSET_TEMPERATURE_DIF 0x0F
85 #define C6DOFIMU23_OFFSET_DC_TRIGGER 0x16
86 #define C6DOFIMU23_OFFSET_TEST 0x17
87 #define C6DOFIMU23_OFFSET_RESET 0x18
88 #define C6DOFIMU23_OFFSET_MODE 0x19
89 #define C6DOFIMU23_OFFSET_ID 0x1B
90 #define C6DOFIMU23_OFFSET_HW_REV 0x1C
91 #define C6DOFIMU23_OFFSET_ID_CODE_3 0x1D
92 #define C6DOFIMU23_OFFSET_ID_CODE_4 0x1E
93 #define C6DOFIMU23_OFFSET_BANK_SELECTION 0x1F
99 #define C6DOFIMU23_OFFSET_SELF_TEST_ACCEL 0x11
100 #define C6DOFIMU23_OFFSET_SELF_TEST_GYRO 0x12
101 #define C6DOFIMU23_OFFSET_WHO_AM_I 0x0E
107 #define C6DOFIMU23_OFFSET_ODR_CFG_1 0x11
108 #define C6DOFIMU23_OFFSET_ODR_CFG_2 0x13
109 #define C6DOFIMU23_OFFSET_ODR_CFG_3 0x14
110 #define C6DOFIMU23_OFFSET_ODR_CFG_4 0x14
111 #define C6DOFIMU23_OFFSET_ODR_CFG_5 0x15
112 #define C6DOFIMU23_OFFSET_ODR_CFG_6 0x16
118 #define C6DOFIMU23_OFFSET_SENSITIVITY_CFG 0x14
124 #define C6DOFIMU23_CMD_SET_BANK_0 0xFC000064ul
125 #define C6DOFIMU23_CMD_ACCEL_DC_TRIGGER_POS 0xD8000834ul
126 #define C6DOFIMU23_CMD_ACCEL_DC_TRIGGER_NEG 0xD800102Cul
127 #define C6DOFIMU23_CMD_GYRO_DC_TRIGGER_POS 0xD80080BCul
128 #define C6DOFIMU23_CMD_GYRO_DC_TRIGGER_NEG 0xD8010021ul
129 #define C6DOFIMU23_CMD_DC_TRIGGER_RST 0xD800003Cul
130 #define C6DOFIMU23_CMD_ACCEL_X_DATA 0x10000045ul
131 #define C6DOFIMU23_CMD_ACCEL_Y_DATA 0x14000068ul
132 #define C6DOFIMU23_CMD_ACCEL_Z_DATA 0x1800001Ful
133 #define C6DOFIMU23_CMD_GYRO_X_DATA 0x000000F1ul
134 #define C6DOFIMU23_CMD_GYRO_Y_DATA 0x040000DCul
135 #define C6DOFIMU23_CMD_GYRO_Z_DATA 0x080000ABul
136 #define C6DOFIMU23_CMD_DUMMY 0x5C0000D8ul
154 #define C6DOFIMU23_DATA_RESOLUTION 32768.0f
155 #define C6DOFIMU23_ACCEL_FS_DEFAULT 16.384f
156 #define C6DOFIMU23_GYRO_FS_DEFAULT 655.36f
166 #define C6DOFIMU23_SET_DATA_SAMPLE_EDGE SET_SPI_DATA_SAMPLE_EDGE
167 #define C6DOFIMU23_SET_DATA_SAMPLE_MIDDLE SET_SPI_DATA_SAMPLE_MIDDLE
185 #define C6DOFIMU23_MAP_MIKROBUS( cfg, mikrobus ) \
186 cfg.miso = MIKROBUS( mikrobus, MIKROBUS_MISO ); \
187 cfg.mosi = MIKROBUS( mikrobus, MIKROBUS_MOSI ); \
188 cfg.sck = MIKROBUS( mikrobus, MIKROBUS_SCK ); \
189 cfg.cs = MIKROBUS( mikrobus, MIKROBUS_CS ); \
190 cfg.rst = MIKROBUS( mikrobus, MIKROBUS_RST ); \
191 cfg.odr = MIKROBUS( mikrobus, MIKROBUS_INT )
447 #endif // C6DOFIMU23_H
c6dofimu23_return_value_t
6DOF IMU 23 Click return value data.
Definition: c6dofimu23.h:259
void c6dofimu23_device_enable(c6dofimu23_t *ctx)
6DOF IMU 23 device enable function.
spi_master_mode_t spi_mode
Definition: c6dofimu23.h:237
err_t c6dofimu23_generic_read(c6dofimu23_t *ctx, uint8_t offset, uint8_t *data_out, uint8_t len)
6DOF IMU 23 data reading function.
This file contains SPI specific macros, functions, etc.
float y
Definition: c6dofimu23.h:249
spi_master_t spi
Definition: c6dofimu23.h:209
6DOF IMU 23 Click configuration object.
Definition: c6dofimu23.h:223
err_t c6dofimu23_generic_write(c6dofimu23_t *ctx, uint8_t offset, uint8_t *data_in, uint8_t len)
6DOF IMU 23 data writing function.
err_t c6dofimu23_cmd_write(c6dofimu23_t *ctx, uint32_t cmd)
6DOF IMU 23 command writing function.
spi_master_chip_select_polarity_t cs_polarity
Definition: c6dofimu23.h:238
6DOF IMU 23 Click axes data structure.
Definition: c6dofimu23.h:247
pin_name_t chip_select
Definition: c6dofimu23.h:211
pin_name_t miso
Definition: c6dofimu23.h:225
void c6dofimu23_cfg_setup(c6dofimu23_cfg_t *cfg)
6DOF IMU 23 configuration object setup function.
pin_name_t sck
Definition: c6dofimu23.h:227
err_t c6dofimu23_get_accel_data(c6dofimu23_t *ctx, c6dofimu23_axis_t *acc_axis)
6DOF IMU 23 get the accel sensor axes function.
uint8_t c6dofimu23_get_odr(c6dofimu23_t *ctx)
6DOF IMU 23 device enable function.
float z
Definition: c6dofimu23.h:250
6DOF IMU 23 Click context object.
Definition: c6dofimu23.h:201
err_t c6dofimu23_write_prtcl(c6dofimu23_t *ctx, uint8_t *data_in)
6DOF IMU 23 data writing protocol function.
pin_name_t odr
Definition: c6dofimu23.h:232
@ C6DOFIMU23_OK
Definition: c6dofimu23.h:260
pin_name_t rst
Definition: c6dofimu23.h:231
pin_name_t mosi
Definition: c6dofimu23.h:226
@ C6DOFIMU23_ERROR
Definition: c6dofimu23.h:261
err_t c6dofimu23_read_prtcl(c6dofimu23_t *ctx, uint8_t *data_in, uint16_t *data_out)
6DOF IMU 23 data reading protocol function.
uint32_t spi_speed
Definition: c6dofimu23.h:236
pin_name_t cs
Definition: c6dofimu23.h:228
float acc_fs
Definition: c6dofimu23.h:213
err_t c6dofimu23_init(c6dofimu23_t *ctx, c6dofimu23_cfg_t *cfg)
6DOF IMU 23 initialization function.
digital_in_t odr
Definition: c6dofimu23.h:206
float gyro_fs
Definition: c6dofimu23.h:214
err_t c6dofimu23_get_gyro_data(c6dofimu23_t *ctx, c6dofimu23_axis_t *gyro_axis)
6DOF IMU 23 get the gyro sensor axes function.
digital_out_t rst
Definition: c6dofimu23.h:203
err_t c6dofimu23_cmd_read(c6dofimu23_t *ctx, uint32_t cmd, uint16_t *data_out)
6DOF IMU 23 command reading function.
float x
Definition: c6dofimu23.h:248