c10dof.h

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/*
 * MikroSDK - MikroE Software Development Kit
 * Copyright© 2020 MikroElektronika d.o.o.
 * 
 * Permission is hereby granted, free of charge, to any person 
 * obtaining a copy of this software and associated documentation 
 * files (the "Software"), to deal in the Software without restriction, 
 * including without limitation the rights to use, copy, modify, merge, 
 * publish, distribute, sublicense, and/or sell copies of the Software, 
 * and to permit persons to whom the Software is furnished to do so, 
 * subject to the following conditions:
 * 
 * The above copyright notice and this permission notice shall be 
 * included in all copies or substantial portions of the Software.
 * 
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, 
 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, 
 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. 
 * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
 * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, 
 * ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE 
 * OR OTHER DEALINGS IN THE SOFTWARE. 
 */
 
// ----------------------------------------------------------------------------
 
#ifndef C10DOF_H
#define C10DOF_H
 
#ifdef PREINIT_SUPPORTED
#include "preinit.h"
#endif
 
#ifdef MikroCCoreVersion
    #if MikroCCoreVersion >= 1
        #include "delays.h"
    #endif
#endif
 
#include "drv_digital_out.h"
#include "drv_digital_in.h"
#include "drv_i2c_master.h"
 
 
// -------------------------------------------------------------- PUBLIC MACROS 
#define C10DOF_MAP_MIKROBUS( cfg, mikrobus ) \
  cfg.scl  = MIKROBUS( mikrobus, MIKROBUS_SCL ); \
  cfg.sda  = MIKROBUS( mikrobus, MIKROBUS_SDA ); \
  cfg.rst = MIKROBUS( mikrobus, MIKROBUS_RST ); \
  cfg.int_pin = MIKROBUS( mikrobus, MIKROBUS_INT )
#define C10DOF_RETVAL  uint8_t
 
#define C10DOF_OK           0x00
#define C10DOF_INIT_ERROR   0xFF
#define C10DOF_BNO055_ADDRESS_A                                0x28
#define C10DOF_BNO055_ADDRESS_B                                0x29
#define C10DOF_BNO055_ID                                       0xA0
#define C10DOF_BNO055_PAGE_ID_ADDR                             0x07
#define C10DOF_BNO055_CHIP_ID_ADDR                             0x00
#define C10DOF_BNO055_ACCEL_REV_ID_ADDR                        0x01
#define C10DOF_BNO055_MAG_REV_ID_ADDR                          0x02
#define C10DOF_BNO055_GYRO_REV_ID_ADDR                         0x03
#define C10DOF_BNO055_SW_REV_ID_LSB_ADDR                       0x04
#define C10DOF_BNO055_SW_REV_ID_MSB_ADDR                       0x05
#define C10DOF_BNO055_BL_REV_ID_ADDR                           0X06
#define C10DOF_BNO055_ACCEL_DATA_X_LSB_ADDR                    0x08
#define C10DOF_BNO055_ACCEL_DATA_X_MSB_ADDR                    0x09
#define C10DOF_BNO055_ACCEL_DATA_Y_LSB_ADDR                    0x0A
#define C10DOF_BNO055_ACCEL_DATA_Y_MSB_ADDR                    0x0B
#define C10DOF_BNO055_ACCEL_DATA_Z_LSB_ADDR                    0x0C
#define C10DOF_BNO055_ACCEL_DATA_Z_MSB_ADDR                    0x0D
#define C10DOF_BNO055_MAG_DATA_X_LSB_ADDR                      0x0E
#define C10DOF_BNO055_MAG_DATA_X_MSB_ADDR                      0x0F
#define C10DOF_BNO055_MAG_DATA_Y_LSB_ADDR                      0x10
#define C10DOF_BNO055_MAG_DATA_Y_MSB_ADDR                      0x11
#define C10DOF_BNO055_MAG_DATA_Z_LSB_ADDR                      0x12
#define C10DOF_BNO055_MAG_DATA_Z_MSB_ADDR                      0x13
#define C10DOF_BNO055_GYRO_DATA_X_LSB_ADDR                     0x14
#define C10DOF_BNO055_GYRO_DATA_X_MSB_ADDR                     0x15
#define C10DOF_BNO055_GYRO_DATA_Y_LSB_ADDR                     0x16
#define C10DOF_BNO055_GYRO_DATA_Y_MSB_ADDR                     0x17
#define C10DOF_BNO055_GYRO_DATA_Z_LSB_ADDR                     0x18
#define C10DOF_BNO055_GYRO_DATA_Z_MSB_ADDR                     0x19
#define C10DOF_BNO055_EULER_H_LSB_ADDR                         0x1A
#define C10DOF_BNO055_EULER_H_MSB_ADDR                         0x1B
#define C10DOF_BNO055_EULER_R_LSB_ADDR                         0x1C
#define C10DOF_BNO055_EULER_R_MSB_ADDR                         0x1D
#define C10DOF_BNO055_EULER_P_LSB_ADDR                         0x1E
#define C10DOF_BNO055_EULER_P_MSB_ADDR                         0x1F
#define C10DOF_BNO055_QUATERNION_DATA_W_LSB_ADDR               0x20
#define C10DOF_BNO055_QUATERNION_DATA_W_MSB_ADDR               0x21
#define C10DOF_BNO055_QUATERNION_DATA_X_LSB_ADDR               0x22
#define C10DOF_BNO055_QUATERNION_DATA_X_MSB_ADDR               0x23
#define C10DOF_BNO055_QUATERNION_DATA_Y_LSB_ADDR               0x24
#define C10DOF_BNO055_QUATERNION_DATA_Y_MSB_ADDR               0x25
#define C10DOF_BNO055_QUATERNION_DATA_Z_LSB_ADDR               0x26
#define C10DOF_BNO055_QUATERNION_DATA_Z_MSB_ADDR               0x27
#define C10DOF_BNO055_LINEAR_ACCEL_DATA_X_LSB_ADDR             0x28
#define C10DOF_BNO055_LINEAR_ACCEL_DATA_X_MSB_ADDR             0x29
#define C10DOF_BNO055_LINEAR_ACCEL_DATA_Y_LSB_ADDR             0x2A
#define C10DOF_BNO055_LINEAR_ACCEL_DATA_Y_MSB_ADDR             0x2B
#define C10DOF_BNO055_LINEAR_ACCEL_DATA_Z_LSB_ADDR             0x2C
#define C10DOF_BNO055_LINEAR_ACCEL_DATA_Z_MSB_ADDR             0x2D
#define C10DOF_BNO055_GRAVITY_DATA_X_LSB_ADDR                  0x2E
#define C10DOF_BNO055_GRAVITY_DATA_X_MSB_ADDR                  0x2F
#define C10DOF_BNO055_GRAVITY_DATA_Y_LSB_ADDR                  0x30
#define C10DOF_BNO055_GRAVITY_DATA_Y_MSB_ADDR                  0x31
#define C10DOF_BNO055_GRAVITY_DATA_Z_LSB_ADDR                  0x32
#define C10DOF_BNO055_GRAVITY_DATA_Z_MSB_ADDR                  0x33
#define C10DOF_BNO055_TEMP_ADDR                                0x34
#define C10DOF_BNO055_CALIB_STAT_ADDR                          0x35
#define C10DOF_BNO055_SELFTEST_RESULT_ADDR                     0x36
#define C10DOF_BNO055_INTR_STAT_ADDR                           0x37
#define C10DOF_BNO055_SYS_CLK_STAT_ADDR                        0x38
#define C10DOF_BNO055_SYS_STAT_ADDR                            0x39
#define C10DOF_BNO055_SYS_ERR_ADDR                             0x3A
#define C10DOF_BNO055_UNIT_SEL_ADDR                            0x3B
#define C10DOF_BNO055_DATA_SELECT_ADDR                         0x3C
#define C10DOF_BNO055_OPR_MODE_ADDR                            0x3D
#define C10DOF_BNO055_PWR_MODE_ADDR                            0x3E
#define C10DOF_BNO055_SYS_TRIGGER_ADDR                         0x3F
#define C10DOF_BNO055_TEMP_SOURCE_ADDR                         0x40
#define C10DOF_BNO055_AXIS_MAP_CONFIG_ADDR                     0x41
#define C10DOF_BNO055_AXIS_MAP_SIGN_ADDR                       0x42
#define C10DOF_BNO055_SIC_MATRIX_0_LSB_ADDR                    0x43
#define C10DOF_BNO055_SIC_MATRIX_0_MSB_ADDR                    0x44
#define C10DOF_BNO055_SIC_MATRIX_1_LSB_ADDR                    0x45
#define C10DOF_BNO055_SIC_MATRIX_1_MSB_ADDR                    0x46
#define C10DOF_BNO055_SIC_MATRIX_2_LSB_ADDR                    0x47
#define C10DOF_BNO055_SIC_MATRIX_2_MSB_ADDR                    0x48
#define C10DOF_BNO055_SIC_MATRIX_3_LSB_ADDR                    0x49
#define C10DOF_BNO055_SIC_MATRIX_3_MSB_ADDR                    0x4A
#define C10DOF_BNO055_SIC_MATRIX_4_LSB_ADDR                    0x4B
#define C10DOF_BNO055_SIC_MATRIX_4_MSB_ADDR                    0x4C
#define C10DOF_BNO055_SIC_MATRIX_5_LSB_ADDR                    0x4D
#define C10DOF_BNO055_SIC_MATRIX_5_MSB_ADDR                    0x4E
#define C10DOF_BNO055_SIC_MATRIX_6_LSB_ADDR                    0x4F
#define C10DOF_BNO055_SIC_MATRIX_6_MSB_ADDR                    0x50
#define C10DOF_BNO055_SIC_MATRIX_7_LSB_ADDR                    0x51
#define C10DOF_BNO055_SIC_MATRIX_7_MSB_ADDR                    0x52
#define C10DOF_BNO055_SIC_MATRIX_8_LSB_ADDR                    0x53
#define C10DOF_BNO055_SIC_MATRIX_8_MSB_ADDR                    0x54
#define C10DOF_ACCEL_OFFSET_X_LSB_ADDR                         0x55
#define C10DOF_ACCEL_OFFSET_X_MSB_ADDR                         0x56
#define C10DOF_ACCEL_OFFSET_Y_LSB_ADDR                         0x57
#define C10DOF_ACCEL_OFFSET_Y_MSB_ADDR                         0x58
#define C10DOF_ACCEL_OFFSET_Z_LSB_ADDR                         0x59
#define C10DOF_ACCEL_OFFSET_Z_MSB_ADDR                         0x5A
#define C10DOF_MAG_OFFSET_X_LSB_ADDR                           0x5B
#define C10DOF_MAG_OFFSET_X_MSB_ADDR                           0x5C
#define C10DOF_MAG_OFFSET_Y_LSB_ADDR                           0x5D
#define C10DOF_MAG_OFFSET_Y_MSB_ADDR                           0x5E
#define C10DOF_MAG_OFFSET_Z_LSB_ADDR                           0x5F
#define C10DOF_MAG_OFFSET_Z_MSB_ADDR                           0x60
#define C10DOF_GYRO_OFFSET_X_LSB_ADDR                          0x61
#define C10DOF_GYRO_OFFSET_X_MSB_ADDR                          0x62
#define C10DOF_GYRO_OFFSET_Y_LSB_ADDR                          0x63
#define C10DOF_GYRO_OFFSET_Y_MSB_ADDR                          0x64
#define C10DOF_GYRO_OFFSET_Z_LSB_ADDR                          0x65
#define C10DOF_GYRO_OFFSET_Z_MSB_ADDR                          0x66
#define C10DOF_ACCEL_RADIUS_LSB_ADDR                           0x67
#define C10DOF_ACCEL_RADIUS_MSB_ADDR                           0x68
#define C10DOF_MAG_RADIUS_LSB_ADDR                             0x69
#define C10DOF_MAG_RADIUS_MSB_ADDR                             0x6A
#define C10DOF_BMP180_ADDRESS                                 0x77
#define C10DOF_BMP180_PROM_START__ADDR                        0xAA
#define C10DOF_BMP180_CHIP_ID_REG                             0xD0
#define C10DOF_BMP180_VERSION_REG                             0xD1
#define C10DOF_BMP180_CTRL_MEAS_REG                           0xF4
#define C10DOF_BMP180_ADC_OUT_MSB_REG                         0xF6
#define C10DOF_BMP180_ADC_OUT_LSB_REG                         0xF7
#define C10DOF_BMP180_SOFT_RESET_REG                          0xE0
#define C10DOF_BMP180_REG_CALIB_PARAM_AC1_MSB                 0xAA
#define C10DOF_BMP180_REG_CALIB_PARAM_AC1_LSB                 0xAB
#define C10DOF_BMP180_REG_CALIB_PARAM_AC2_MSB                 0xAC
#define C10DOF_BMP180_REG_CALIB_PARAM_AC2_LSB                 0xAD
#define C10DOF_BMP180_REG_CALIB_PARAM_AC3_MSB                 0xAE
#define C10DOF_BMP180_REG_CALIB_PARAM_AC3_LSB                 0xAF
#define C10DOF_BMP180_REG_CALIB_PARAM_AC4_MSB                 0xB0
#define C10DOF_BMP180_REG_CALIB_PARAM_AC4_LSB                 0xB1
#define C10DOF_BMP180_REG_CALIB_PARAM_AC5_MSB                 0xB2
#define C10DOF_BMP180_REG_CALIB_PARAM_AC5_LSB                 0xB3
#define C10DOF_BMP180_REG_CALIB_PARAM_AC6_MSB                 0xB4
#define C10DOF_BMP180_REG_CALIB_PARAM_AC6_LSB                 0xB5
#define C10DOF_BMP180_REG_CALIB_PARAM_B1_MSB                  0xB6
#define C10DOF_BMP180_REG_CALIB_PARAM_B1_LSB                  0xB7
#define C10DOF_BMP180_REG_CALIB_PARAM_B2_MSB                  0xB8
#define C10DOF_BMP180_REG_CALIB_PARAM_B2_LSB                  0xB9
#define C10DOF_BMP180_REG_CALIB_PARAM_MB_MSB                  0xBA
#define C10DOF_BMP180_REG_CALIB_PARAM_MB_LSB                  0xBB
#define C10DOF_BMP180_REG_CALIB_PARAM_MC_MSB                  0xBC
#define C10DOF_BMP180_REG_CALIB_PARAM_MC_LSB                  0xBD
#define C10DOF_BMP180_REG_CALIB_PARAM_MD_MSB                  0xBE
#define C10DOF_BMP180_REG_CALIB_PARAM_MD_LSB                  0xBF
#define C10DOF_BMP180_REG_CONF_ADDR                           0x07
#define C10DOF_BMP180_PWR_MODE_ADDR                           0x3E
#define C10DOF_BMP180_OPR_MODE_ADDR                           0x3D
#define C10DOF_BMP180_T_MEASURE                               0x2E
#define C10DOF_BMP180_P_MEASURE                               0x34
 // End group macro 
// --------------------------------------------------------------- PUBLIC TYPES
typedef struct
{
    // Output pins 
 
    digital_out_t rst;
 
    // Input pins 
 
    digital_in_t int_pin;
    
    // Modules 
 
    i2c_master_t i2c;
 
    // ctx variable 
 
    uint8_t slave_address;
 
} c10dof_t;
 
typedef struct
{
    // Communication gpio pins 
 
    pin_name_t scl;
    pin_name_t sda;
    
    // Additional gpio pins 
 
    pin_name_t rst;
    pin_name_t int_pin;
 
    // static variable 
 
    uint32_t i2c_speed;
    uint8_t i2c_address;
 
} c10dof_cfg_t;
 
 // End types group
// ----------------------------------------------- PUBLIC FUNCTION DECLARATIONS
 
#ifdef __cplusplus
extern "C"{
#endif
 
void c10dof_cfg_setup ( c10dof_cfg_t *cfg );
 
C10DOF_RETVAL c10dof_init ( c10dof_t *ctx, c10dof_cfg_t *cfg );
 
void c10dof_default_cfg ( c10dof_t *ctx );
 
void c10dof_write_byte ( c10dof_t *ctx, uint8_t reg, uint8_t data_in, uint8_t slave_addr );
 
uint8_t c10dof_read_byte ( c10dof_t *ctx, uint8_t reg, uint8_t slave_addr );
 
uint16_t c10dof_read_data ( c10dof_t *ctx, uint8_t msb_reg, uint8_t slave_addr );
 
void c10dof_hw_reset ( c10dof_t *ctx );
 
uint8_t c10dof_bmp180_chip_ID ( c10dof_t *ctx );
 
uint8_t c10dof_bno055_chip_ID ( c10dof_t *ctx );
 
uint8_t c10dof_get_accel_ID ( c10dof_t *ctx );
 
uint8_t c10dof_get_mag_ID ( c10dof_t *ctx );
 
uint8_t c10dof_get_gyro_ID ( c10dof_t *ctx );
 
uint16_t c10dof_get_soft_ID ( c10dof_t *ctx );
 
uint8_t c10dof_get_page_ID ( c10dof_t *ctx );
 
 void c10dof_default_configuration_BMP180 ( c10dof_t *ctx );
 
 void c10dof_default_configuration_BNO055 ( c10dof_t *ctx );
 
void c10dof_set_config_mode ( c10dof_t *ctx, uint8_t config_mode );
 
void c10dof_select_page ( c10dof_t *ctx, uint8_t page_number );
 
void c10dof_config_accel ( c10dof_t *ctx, uint8_t acc_cnfg );
 
void c10dof_config_gyro ( c10dof_t *ctx, uint8_t gyro_cnfg );
 
void c10dof_config_mag ( c10dof_t *ctx, uint8_t mag_cnfg );
 
void c10dof_set_sensor_units ( c10dof_t *ctx, uint8_t sensor_units );
 
uint8_t c10dof_get_system_status ( c10dof_t *ctx );
 
uint8_t c10dof_get_system_error ( c10dof_t *ctx );
 
void c10dof_set_mode( c10dof_t *ctx, uint8_t mode_val );
 
void c10dof_set_normal_mode ( c10dof_t *ctx );
 
void c10dof_start_temperature_measure ( c10dof_t *ctx );
 
void c10dof_start_pressure_measure ( c10dof_t *ctx );
 
int16_t c10dof_read_raw_temperature ( c10dof_t *ctx, uint8_t msb_reg );
 
int32_t c10dof_read_raw_pressure ( c10dof_t *ctx, uint8_t msb_addr );
 
void c10dof_get_calib_param ( c10dof_t *ctx );
 
void c10dof_get_measurements ( c10dof_t *ctx, float *temperature, float *pressure );
 
float c10dof_get_temperature ( c10dof_t *ctx );
 
float c10dof_get_pressure ( c10dof_t *ctx );
 
int16_t c10dof_get_axis( c10dof_t *ctx, uint8_t addr_reg_low );
 
void c10dof_read_accel ( c10dof_t *ctx, int16_t *accelX, int16_t *accelY, int16_t *accelZ );
 
void c10dof_read_mag ( c10dof_t *ctx, int16_t *magX, int16_t *magY, int16_t *magZ );
 
void c10dof_read_gyro ( c10dof_t *ctx, int16_t *gyroX, int16_t *gyroY, int16_t *gyroZ );
 
uint8_t c10dof_check_interrupt ( c10dof_t *ctx );
 
#ifdef __cplusplus
}
#endif
#endif  // _C10DOF_H_
 
 // End public_function group
 
// ------------------------------------------------------------------------- END