c6dofimu.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 C6DOFIMU_H
#define C6DOFIMU_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"
#include "drv_spi_master.h"
 
// -------------------------------------------------------------- PUBLIC MACROS 
#define C6DOFIMU_MAP_MIKROBUS( cfg, mikrobus ) \
   cfg.scl     = MIKROBUS( mikrobus, MIKROBUS_SCL ); \
   cfg.sda     = MIKROBUS( mikrobus, MIKROBUS_SDA ); \
   cfg.miso    = MIKROBUS( mikrobus, MIKROBUS_MISO ); \
   cfg.mosi    = MIKROBUS( mikrobus, MIKROBUS_MOSI ); \
   cfg.sck     = MIKROBUS( mikrobus, MIKROBUS_SCK ); \
   cfg.cs      = MIKROBUS( mikrobus, MIKROBUS_CS ); \
   cfg.int_pin = MIKROBUS( mikrobus, MIKROBUS_INT )
#define C6DOFIMU_MASTER_I2C 0
#define C6DOFIMU_MASTER_SPI 1
#define C6DOFIMU_RETVAL  uint8_t
 
#define C6DOFIMU_OK           0x00
#define C6DOFIMU_INIT_ERROR   0xFF
#define C6DOFIMU_SLAVE_ADDRESS   0x6B;
#define C6DOFIMU_FUNC_CFG_ACCESS   0x01
 
#define C6DOFIMU_FIFO_CTRL1        0x06
#define C6DOFIMU_FIFO_CTRL2        0x07
#define C6DOFIMU_FIFO_CTRL3        0x08
#define C6DOFIMU_FIFO_CTRL4        0x09
#define C6DOFIMU_FIFO_CTRL5        0x0A
 
#define C6DOFIMU_ORIENT_CFG_G      0x0B
 
#define C6DOFIMU_INT1_CTRL         0x0D
#define C6DOFIMU_INT2_CTRL         0x0E
 
#define C6DOFIMU_CTRL1_XL          0x10
#define C6DOFIMU_CTRL2_G           0x11
#define C6DOFIMU_CTRL3_C           0x12
#define C6DOFIMU_CTRL4_C           0x13
#define C6DOFIMU_CTRL5_C           0x14
#define C6DOFIMU_CTRL6_C           0x15
#define C6DOFIMU_CTRL7_G           0x16
#define C6DOFIMU_CTRL8_XL          0x17
#define C6DOFIMU_CTRL9_XL          0x18
#define C6DOFIMU_CTRL10_C          0x19
#define C6DOFIMU_OUT_TEMP_L        0x20
#define C6DOFIMU_OUT_TEMP_H        0x21
     
#define C6DOFIMU_OUTX_L_G          0x22
#define C6DOFIMU_OUTX_H_G          0x23
#define C6DOFIMU_OUTY_L_G          0x24
#define C6DOFIMU_OUTY_H_G          0x25
#define C6DOFIMU_OUTZ_L_G          0x26
#define C6DOFIMU_OUTZ_H_G          0x27
     
#define C6DOFIMU_OUTX_L_XL         0x28
#define C6DOFIMU_OUTX_H_XL         0x29
#define C6DOFIMU_OUTY_L_XL         0x2A
#define C6DOFIMU_OUTY_H_XL         0x2B
#define C6DOFIMU_OUTZ_L_XL         0x2C
#define C6DOFIMU_OUTZ_H_XL         0x2D
 
#define C6DOFIMU_FIFO_DATA_OUT_L   0x3E
#define C6DOFIMU_FIFO_DATA_OUT_H   0x3F
 
#define C6DOFIMU_TIMESTAMP0_REG    0x40
#define C6DOFIMU_TIMESTAMP1_REG    0x41
#define C6DOFIMU_TIMESTAMP2_REG    0x42
 
#define C6DOFIMU_STEP_COUNTER_L    0x4B
#define C6DOFIMU_STEP_COUNTER_H    0x4C
#define C6DOFIMU_STATUS_REG     0x1E
 
#define C6DOFIMU_FIFO_STATUS1   0x3A
#define C6DOFIMU_FIFO_STATUS2   0x3B
#define C6DOFIMU_FIFO_STATUS3   0x3C
#define C6DOFIMU_FIFO_STATUS4   0x3D
 
#define C6DOFIMU_TIMESTAMP_L    0x49
#define C6DOFIMU_TIMESTAMP_H    0x4A
 
#define C6DOFIMU_WHO_AM_I       0x0F
#define C6DOFIMU_WAKE_UP_SRC       0x1B
#define C6DOFIMU_TAP_SRC           0x1C
#define C6DOFIMU_D6D_SRC           0x1D
 
#define C6DOFIMU_FUN_SRC           0x53
 
#define C6DOFIMU_TAP_CFG           0x58
#define C6DOFIMU_TAP_THS_6D        0x59
#define C6DOFIMU_INT_DUR2          0x5A
#define C6DOFIMU_WAKE_UP_THS       0x5B
#define C6DOFIMU_WAKE_UP_DUR       0x5C
#define C6DOFIMU_FREE_FALL         0x5D
#define C6DOFIMU_MD1_CFG           0x5E
#define C6DOFIMU_MD2_CFG           0x5F
#define C6DOFIMU_CFG_BIT_0   0x01  
#define C6DOFIMU_CFG_BIT_1   0x02
#define C6DOFIMU_CFG_BIT_2   0x04
#define C6DOFIMU_CFG_BIT_3   0x08
#define C6DOFIMU_CFG_BIT_4   0x10
#define C6DOFIMU_CFG_BIT_5   0x20
#define C6DOFIMU_CFG_BIT_6   0x40
#define C6DOFIMU_CFG_BIT_7   0x80
#define C6DOFIMU_ACCEL_READ_MODE   0x00
#define C6DOFIMU_GYRO_READ_MODE    0x01
 // End group macro 
// --------------------------------------------------------------- PUBLIC TYPES
typedef uint8_t  c6dofimu_select_t;
 
typedef void ( *c6dofimu_master_io_t )( struct c6dofimu_s*, uint8_t, uint8_t*, uint8_t );
 
typedef struct
{
   int16_t x;
   int16_t y;
   int16_t z;
 
} c6dofimu_axis_t;
 
typedef struct c6dofimu_s
{
 
   digital_out_t cs;
 
    // Input pins 
 
   digital_in_t int_pin;
    
    // Modules 
 
    i2c_master_t i2c;
    spi_master_t spi;
 
    // ctx variable 
 
   uint8_t slave_address;
   pin_name_t chip_select;
   c6dofimu_master_io_t  write_f;
   c6dofimu_master_io_t  read_f;
   c6dofimu_select_t master_sel;
   
   c6dofimu_axis_t accel_axis;
   c6dofimu_axis_t gyro_axis;
 
} c6dofimu_t;
 
typedef struct
{
    // Communication gpio pins 
 
    pin_name_t scl;
    pin_name_t sda;
    pin_name_t miso;
    pin_name_t mosi;
    pin_name_t sck;
    pin_name_t cs;
    
    // Additional gpio pins 
 
    pin_name_t int_pin;
 
    // static variable 
 
    uint32_t i2c_speed;
    uint8_t i2c_address;
    uint32_t spi_speed;
    spi_master_mode_t spi_mode;
    spi_master_chip_select_polarity_t cs_polarity;
 
   c6dofimu_select_t sel;
 
} c6dofimu_cfg_t;
 
 // End types group
// ----------------------------------------------- PUBLIC FUNCTION DECLARATIONS
#ifdef __cplusplus
extern "C"{
#endif
 
void c6dofimu_cfg_setup ( c6dofimu_cfg_t *cfg );
 
C6DOFIMU_RETVAL c6dofimu_init ( c6dofimu_t *ctx, c6dofimu_cfg_t *cfg );
 
void c6dofimu_default_cfg ( c6dofimu_t *ctx );
 
void c6dofimu_generic_write ( c6dofimu_t *ctx, uint8_t reg, uint8_t *data_buf, uint8_t len );
 
void c6dofimu_generic_read ( c6dofimu_t *ctx, uint8_t reg, uint8_t *data_buf, uint8_t len );
 
void c6dofimu_read_axis_data ( c6dofimu_t *ctx, uint8_t read_mode );
 
float c6dofimu_read_temperature ( c6dofimu_t *ctx );
 
uint8_t c6dofimu_digital_read_int ( c6dofimu_t *ctx );
 
#ifdef __cplusplus
}
#endif
#endif  // _C6DOFIMU_H_
 
 // End public_function group
 
// ------------------------------------------------------------------------- END