c6dofimu14/html/c6dofimu14_8h_source.html

/****************************************************************************

** Copyright (C) 2020 MikroElektronika d.o.o.

** Contact: https://www.mikroe.com/contact

**

** 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 C6DOFIMU14_H

#define C6DOFIMU14_H


#ifdef __cplusplus

extern "C"{

#endif


#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"


#define C6DOFIMU14_REG0_DEVICE_CONFIG           0x11

#define C6DOFIMU14_REG0_DRIVE_CONFIG            0x13

#define C6DOFIMU14_REG0_INT_CONFIG              0x14

#define C6DOFIMU14_REG0_FIFO_CONFIG             0x16

#define C6DOFIMU14_REG0_TEMP_DATA_MSB           0x1D

#define C6DOFIMU14_REG0_TEMP_DATA_LSB           0x1E

#define C6DOFIMU14_REG0_ACCEL_X_MSB             0x1F

#define C6DOFIMU14_REG0_ACCEL_X_LSB             0x20

#define C6DOFIMU14_REG0_ACCEL_Y_MSB             0x21

#define C6DOFIMU14_REG0_ACCEL_Y_LSB             0x22

#define C6DOFIMU14_REG0_ACCEL_Z_MSB             0x23

#define C6DOFIMU14_REG0_ACCEL_Z_LSB             0x24

#define C6DOFIMU14_REG0_GYRO_X_MSB              0x25

#define C6DOFIMU14_REG0_GYRO_X_LSB              0x26

#define C6DOFIMU14_REG0_GYRO_Y_MSB              0x27

#define C6DOFIMU14_REG0_GYRO_Y_LSB              0x28

#define C6DOFIMU14_REG0_GYRO_Z_MSB              0x29

#define C6DOFIMU14_REG0_GYRO_Z_LSB              0x2A

#define C6DOFIMU14_REG0_TMST_FSYNC_MSB          0x2B

#define C6DOFIMU14_REG0_TMST_FSYNC_LSB          0x2C

#define C6DOFIMU14_REG0_INT_STATUS_1            0x2D

#define C6DOFIMU14_REG0_FIFO_COUNT_MSB          0x2E

#define C6DOFIMU14_REG0_FIFO_COUNT_LSB          0x2F

#define C6DOFIMU14_REG0_FIFO_DATA               0x30

#define C6DOFIMU14_REG0_APEX_DATA_LSB           0x31

#define C6DOFIMU14_REG0_APEX_DATA_MSB           0x32

#define C6DOFIMU14_REG0_APEX_STEP_CADENCE       0x33

#define C6DOFIMU14_REG0_APEX_DATA_3             0x34

#define C6DOFIMU14_REG0_APEX_DATA_4             0x35

#define C6DOFIMU14_REG0_APEX_DATA_5             0x36

#define C6DOFIMU14_REG0_INT_STATUS_2            0x37

#define C6DOFIMU14_REG0_INT_STATUS_3            0x38

#define C6DOFIMU14_REG0_SIGNAL_PATH_RESET       0x4B

#define C6DOFIMU14_REG0_INTF_CONFIG_0           0x4C

#define C6DOFIMU14_REG0_INTF_CONFIG_1           0x4D

#define C6DOFIMU14_REG0_PWR_MGMT_0              0x4E

#define C6DOFIMU14_REG0_GYRO_CONFIG_0           0x4F

#define C6DOFIMU14_REG0_ACCEL_CONFIG_0          0x50

#define C6DOFIMU14_REG0_GYRO_CONFIG_1           0x51

#define C6DOFIMU14_REG0_GYRO_ACCEL_CFG_0        0x52

#define C6DOFIMU14_REG0_ACCEL_CONFIG_1          0x53

#define C6DOFIMU14_REG0_TMST_CONFIG             0x54

#define C6DOFIMU14_REG0_APRX_CONFIG_0           0x56

#define C6DOFIMU14_REG0_SMD_CONFIG              0x57

#define C6DOFIMU14_REG0_FIFO_CONFIG_1           0x5F

#define C6DOFIMU14_REG0_FIFO_CONFIG_2           0x60

#define C6DOFIMU14_REG0_FIFO_CONFIG_3           0x61

#define C6DOFIMU14_REG0_FSYNC_CONFIG            0x62

#define C6DOFIMU14_REG0_INT_CONFIG_0            0x63

#define C6DOFIMU14_REG0_INT_CONFIG_1            0x64

#define C6DOFIMU14_REG0_INT_SOURCE_0            0x65

#define C6DOFIMU14_REG0_INT_SOURCE_1            0x66

#define C6DOFIMU14_REG0_INT_SOURCE_3            0x68

#define C6DOFIMU14_REG0_INT_SOURCE_4            0x69

#define C6DOFIMU14_REG0_FIFO_LOST_PKT_0         0x6C

#define C6DOFIMU14_REG0_FIFO_LOST_PKT_1         0x6D

#define C6DOFIMU14_REG0_SELF_TEST_CONFIG        0x70

#define C6DOFIMU14_REG0_WHO_AM_I                0x75

#define C6DOFIMU14_REG0_BANK_SEL                0x76


#define C6DOFIMU14_REG1_SENSOR_CONFIG_0         0x03

#define C6DOFIMU14_REG1_GYRO_CONFIG_2           0x0B

#define C6DOFIMU14_REG1_GYRO_CONFIG_3           0x0C

#define C6DOFIMU14_REG1_GYRO_CONFIG_4           0x0D

#define C6DOFIMU14_REG1_GYRO_CONFIG_5           0x0E

#define C6DOFIMU14_REG1_GYRO_CONFIG_6           0x0F

#define C6DOFIMU14_REG1_GYRO_CONFIG_7           0x10

#define C6DOFIMU14_REG1_GYRO_CONFIG_8           0x11

#define C6DOFIMU14_REG1_GYRO_CONFIG_9           0x12

#define C6DOFIMU14_REG1_GYRO_CONFIG_10          0x13

#define C6DOFIMU14_REG1_XG_ST_DATA              0x5F

#define C6DOFIMU14_REG1_YG_ST_DATA              0x60

#define C6DOFIMU14_REG1_ZG_ST_DATA              0x61

#define C6DOFIMU14_REG1_TMST_VALUE_LSB          0x62

#define C6DOFIMU14_REG1_TMST_VALUE_MID          0x63

#define C6DOFIMU14_REG1_TMST_VALUE_MSB          0x64

#define C6DOFIMU14_REG1_INTF_CONFIG_4           0x7A

#define C6DOFIMU14_REG1_INTF_CONFIG_5           0x7B

#define C6DOFIMU14_REG1_INTF_CONFIG_6           0x7C


#define C6DOFIMU14_REG2_ACCEL_CONFIG_2          0x03

#define C6DOFIMU14_REG2_ACCEL_CONFIG_3          0x04

#define C6DOFIMU14_REG2_ACCEL_CONFIG_4          0x05

#define C6DOFIMU14_REG2_XA_ST_DATA              0x3B

#define C6DOFIMU14_REG2_YA_ST_DATA              0x3C

#define C6DOFIMU14_REG2_ZA_ST_DATA              0x3D


#define C6DOFIMU14_REG4_APEX_CONFIG_1           0x40

#define C6DOFIMU14_REG4_APEX_CONFIG_2           0x41

#define C6DOFIMU14_REG4_APEX_CONFIG_3           0x42

#define C6DOFIMU14_REG4_APEX_CONFIG_4           0x43

#define C6DOFIMU14_REG4_APEX_CONFIG_5           0x44

#define C6DOFIMU14_REG4_APEX_CONFIG_6           0x45

#define C6DOFIMU14_REG4_APEX_CONFIG_7           0x46

#define C6DOFIMU14_REG4_APEX_CONFIG_8           0x47

#define C6DOFIMU14_REG4_APEX_CONFIG_9           0x48

#define C6DOFIMU14_REG4_ACCEL_WOM_X_THR         0x4A

#define C6DOFIMU14_REG4_ACCEL_WOM_Y_THR         0x4B

#define C6DOFIMU14_REG4_ACCEL_WOM_Z_THR         0x4C

#define C6DOFIMU14_REG4_INT_SOURCE_6            0x4D

#define C6DOFIMU14_REG4_INT_SOURCE_7            0x4E

#define C6DOFIMU14_REG4_INT_SOURCE_8            0x4F

#define C6DOFIMU14_REG4_INT_SOURCE_9            0x50

#define C6DOFIMU14_REG4_INT_SOURCE_10           0x51

#define C6DOFIMU14_REG4_OFFSET_USER_0           0x77

#define C6DOFIMU14_REG4_OFFSET_USER_1           0x78

#define C6DOFIMU14_REG4_OFFSET_USER_2           0x79

#define C6DOFIMU14_REG4_OFFSET_USER_3           0x7A

#define C6DOFIMU14_REG4_OFFSET_USER_4           0x7B

#define C6DOFIMU14_REG4_OFFSET_USER_5           0x7C

#define C6DOFIMU14_REG4_OFFSET_USER_6           0x7D

#define C6DOFIMU14_REG4_OFFSET_USER_7           0x7E

#define C6DOFIMU14_REG4_OFFSET_USER_8           0x7F


 // c6dofimu14_reg


#define C6DOFIMU14_SPR_DMP_INIT_EN                  0x40

#define C6DOFIMU14_SPR_DMP_MEM_RST_EN               0x20

#define C6DOFIMU14_SPR_ABORT_AND_RESET              0x08

#define C6DOFIMU14_SPR_TMST_STROBE                  0x04

#define C6DOFIMU14_SPR_FIFO_FLUSH                   0x02


#define C6DOFIMU14_INTF0_FIFO_HOLD_LAST_DATA_EN     0x80

#define C6DOFIMU14_INTF0_FIFO_HOLD_LAST_DATA_DIS    0x00

#define C6DOFIMU14_INTF0_FIFO_COUNT_REC_0           0x00

#define C6DOFIMU14_INTF0_FIFO_COUNT_REC_1           0x40

#define C6DOFIMU14_INTF0_FIFO_COUNT_ENDIAN_0        0x00

#define C6DOFIMU14_INTF0_FIFO_COUNT_ENDIAN_1        0x20

#define C6DOFIMU14_INTF0_SENSOR_DATA_ENDIAN_0       0x00

#define C6DOFIMU14_INTF0_SENSOR_DATA_ENDIAN_1       0x10

#define C6DOFIMU14_INTF0_UI_SIFS_CFG_DISABLE_SPI    0x00

#define C6DOFIMU14_INTF0_UI_SIFS_CFG_DISABLE_I2C    0x01


#define C6DOFIMU14_INTF1_ACLP_CLK_SEL_WAKEUP_CLK    0x00

#define C6DOFIMU14_INTF1_ACLP_CLK_SEL_RC_CLK        0x08

#define C6DOFIMU14_INTF1_RTC_MODE_NO_INPUT          0x00

#define C6DOFIMU14_INTF1_RTC_MODE_INPUT             0x04

#define C6DOFIMU14_INTF1_CLKSEL_RC_OS               0x00

#define C6DOFIMU14_INTF1_CLKSEL_PLL_RC_OS           0x01

#define C6DOFIMU14_INTF1_CLKSEL_DISABLE_ALL_OS      0x11


#define C6DOFIMU14_PWR_TEMP_ENABLE                  0x00

#define C6DOFIMU14_PWR_TEMP_DISABLE                 0x20

#define C6DOFIMU14_PWR_IDLE_1                       0x10

#define C6DOFIMU14_PWR_IDLE_0                       0x00

#define C6DOFIMU14_PWR_GYRO_MODE_OFF                0x00

#define C6DOFIMU14_PWR_GYRO_MODE_STAND_BY           0x04

#define C6DOFIMU14_PWR_GYRO_MODE_LOW_NOISE          0x0C

#define C6DOFIMU14_PWR_ACCEL_MODE_OFF               0x00

#define C6DOFIMU14_PWR_ACCEL_MODE_LOW_POWER         0x02

#define C6DOFIMU14_PWR_ACCEL_MODE_LOW_NOISE         0x03


#define C6DOFIMU14_GCFG0_FS_SEL_2000DPS             0x00

#define C6DOFIMU14_GCFG0_FS_SEL_1000DPS             0x20

#define C6DOFIMU14_GCFG0_FS_SEL_500DPS              0x40

#define C6DOFIMU14_GCFG0_FS_SEL_250DPS              0x60

#define C6DOFIMU14_GCFG0_FS_SEL_125DPS              0x80

#define C6DOFIMU14_GCFG0_FS_SEL_62p5DPS             0xA0

#define C6DOFIMU14_GCFG0_FS_SEL_31p25DPS            0xC0

#define C6DOFIMU14_GCFG0_FS_SEL_15p625DPS           0xE0

#define C6DOFIMU14_GCFG0_ODR_32KHZ                  0x01

#define C6DOFIMU14_GCFG0_ODR_16KHZ                  0x02

#define C6DOFIMU14_GCFG0_ODR_8KHZ                   0x03

#define C6DOFIMU14_GCFG0_ODR_4KHZ                   0x04

#define C6DOFIMU14_GCFG0_ODR_2KHZ                   0x05

#define C6DOFIMU14_GCFG0_ODR_1KHZ                   0x06

#define C6DOFIMU14_GCFG0_ODR_200HZ                  0x07

#define C6DOFIMU14_GCFG0_ODR_100HZ                  0x08

#define C6DOFIMU14_GCFG0_ODR_50HZ                   0x09

#define C6DOFIMU14_GCFG0_ODR_25HZ                   0x0A

#define C6DOFIMU14_GCFG0_ODR_12p5HZ                 0x0B

#define C6DOFIMU14_GCFG0_ODR_500HZ                  0x0F


#define C6DOFIMU14_ACFG0_FS_SEL_16G                 0x00

#define C6DOFIMU14_ACFG0_FS_SEL_8G                  0x20

#define C6DOFIMU14_ACFG0_FS_SEL_4G                  0x40

#define C6DOFIMU14_ACFG0_FS_SEL_2G                  0x60

#define C6DOFIMU14_ACFG0_ODR_32KHZ                  0x01

#define C6DOFIMU14_ACFG0_ODR_16KHZ                  0x02

#define C6DOFIMU14_ACFG0_ODR_8KHZ                   0x03

#define C6DOFIMU14_ACFG0_ODR_4KHZ                   0x04

#define C6DOFIMU14_ACFG0_ODR_2KHZ                   0x05

#define C6DOFIMU14_ACFG0_ODR_1KHZ                   0x06

#define C6DOFIMU14_ACFG0_ODR_200HZ                  0x07

#define C6DOFIMU14_ACFG0_ODR_100HZ                  0x08

#define C6DOFIMU14_ACFG0_ODR_50HZ                   0x09

#define C6DOFIMU14_ACFG0_ODR_25HZ                   0x0A

#define C6DOFIMU14_ACFG0_ODR_12p5HZ                 0x0B

#define C6DOFIMU14_ACFG0_ODR_6p25HZ                 0x0C

#define C6DOFIMU14_ACFG0_ODR_3p125HZ                0x0D

#define C6DOFIMU14_ACFG0_ODR_1p562HZ                0x0E

#define C6DOFIMU14_ACFG0_ODR_500HZ                  0x0F


#define C6DOFIMU14_GCFG1_FILT_BW_4000HZ             0x00

#define C6DOFIMU14_GCFG1_FILT_BW_170HZ              0x20

#define C6DOFIMU14_GCFG1_FILT_BW_82HZ               0x40

#define C6DOFIMU14_GCFG1_FILT_BW_40HZ               0x60

#define C6DOFIMU14_GCFG1_FILT_BW_20HZ               0x80

#define C6DOFIMU14_GCFG1_FILT_BW_10HZ               0xA0

#define C6DOFIMU14_GCFG1_FILT_BW_5HZ                0xC0

#define C6DOFIMU14_GCFG1_UI_FILT_ORD_1ST_OTHER      0x00

#define C6DOFIMU14_GCFG1_UI_FILT_ORD_2ND_OTHER      0x04

#define C6DOFIMU14_GCFG1_UI_FILT_ORD_3RD_OTHER      0x08

#define C6DOFIMU14_GCFG1_DEC2_M2_ORD_3RD_OTHER      0x02


#define C6DOFIMU14_GACFG0_AC_UI_BW_ODR_2            0x00

#define C6DOFIMU14_GACFG0_AC_UI_BW_ODR_4            0x10

#define C6DOFIMU14_GACFG0_AC_UI_BW_ODR_5            0x20

#define C6DOFIMU14_GACFG0_AC_UI_BW_ODR_8            0x30

#define C6DOFIMU14_GACFG0_AC_UI_BW_ODR_10           0x40

#define C6DOFIMU14_GACFG0_AC_UI_BW_ODR_16           0x50

#define C6DOFIMU14_GACFG0_AC_UI_BW_ODR_20           0x60

#define C6DOFIMU14_GACFG0_AC_UI_BW_ODR_40           0x70

#define C6DOFIMU14_GACFG0_GY_UI_BW_ODR_2            0x00

#define C6DOFIMU14_GACFG0_GY_UI_BW_ODR_4            0x01

#define C6DOFIMU14_GACFG0_GY_UI_BW_ODR_5            0x02

#define C6DOFIMU14_GACFG0_GY_UI_BW_ODR_8            0x03

#define C6DOFIMU14_GACFG0_GY_UI_BW_ODR_10           0x04

#define C6DOFIMU14_GACFG0_GY_UI_BW_ODR_16           0x05

#define C6DOFIMU14_GACFG0_GY_UI_BW_ODR_20           0x06

#define C6DOFIMU14_GACFG0_GY_UI_BW_ODR_40           0x07


#define C6DOFIMU14_ACFG1_UI_FILT_ORD_1ST_OTHER      0x00

#define C6DOFIMU14_ACFG1_UI_FILT_ORD_2ND_OTHER      0x04

#define C6DOFIMU14_ACFG1_UI_FILT_ORD_3RD_OTHER      0x08

#define C6DOFIMU14_ACFG1_DEC2_M2_ORD_3RD_OTHER      0x02


#define C6DOFIMU14_TMSTCFG_TO_REGS_EN               0x10

#define C6DOFIMU14_TMSTCFG_TO_REGS_DIS              0x00

#define C6DOFIMU14_TMSTCFG_RES_0                    0x00

#define C6DOFIMU14_TMSTCFG_RES_1                    0x08

#define C6DOFIMU14_TMSTCFG_DELTA_EN                 0x04

#define C6DOFIMU14_TMSTCFG_DELTA_DIS                0x00

#define C6DOFIMU14_TMSTCFG_FSYNC_EN                 0x02

#define C6DOFIMU14_TMSTCFG_FSYNC_DIS                0x00

#define C6DOFIMU14_TMSTCFG_TMST_ENABLE              0x01

#define C6DOFIMU14_TMSTCFG_TMST_DISABLE             0x00


#define C6DOFIMU14_APEXCFG0_DMP_NOT_ACTIVE          0x00

#define C6DOFIMU14_APEXCFG0_DMP_ACTIVE              0x80

#define C6DOFIMU14_APEXCFG0_TAP_ENABLE              0x40

#define C6DOFIMU14_APEXCFG0_TAP_DISABLE             0x00

#define C6DOFIMU14_APEXCFG0_PED_ENABLE              0x20

#define C6DOFIMU14_APEXCFG0_PED_DISABLE             0x00

#define C6DOFIMU14_APEXCFG0_TILT_ENABLE             0x10

#define C6DOFIMU14_APEXCFG0_TILT_DISABLE            0x00

#define C6DOFIMU14_APEXCFG0_R2W_EMABLE              0x08

#define C6DOFIMU14_APEXCFG0_R2W_DISABLE             0x00

#define C6DOFIMU14_APEXCFG0_DMP_ODR_25HZ            0x00

#define C6DOFIMU14_APEXCFG0_DMP_ODR_50HZ            0x03


#define C6DOFIMU14_SMDCFG_WOM_INT_MODE_0            0x00

#define C6DOFIMU14_SMDCFG_WOM_INT_MODE_1            0x08

#define C6DOFIMU14_SMDCFG_WOM_MODE_0                0x00

#define C6DOFIMU14_SMDCFG_WOM_MODE_1                0x04

#define C6DOFIMU14_SMDCFG_SMD_MODE_DISABLE          0x00

#define C6DOFIMU14_SMDCFG_SMD_MODE_SHORT            0x02

#define C6DOFIMU14_SMDCFG_SMD_MODE_LONG             0x03


#define C6DOFIMU14_ISRC0_UI_FSYNC_INT1_EN           0x40

#define C6DOFIMU14_ISRC0_UI_FSYNC_INT1_DIS          0x00

#define C6DOFIMU14_ISRC0_PLL_RDY_INT1_EN            0x20

#define C6DOFIMU14_ISRC0_PLL_RDY_INT1_DIS           0x00

#define C6DOFIMU14_ISRC0_RESET_DONE_INT1_EN         0x10

#define C6DOFIMU14_ISRC0_RESET_DONE_INT1_DIS        0x00

#define C6DOFIMU14_ISRC0_UI_DRDY_INT1_EN            0x08

#define C6DOFIMU14_ISRC0_UI_DRDY_INT1_DIS           0x00

#define C6DOFIMU14_ISRC0_FIFO_THS_INT1_EN           0x04

#define C6DOFIMU14_ISRC0_FIFO_THS_INT1_DIS          0x00

#define C6DOFIMU14_ISRC0_FIFO_FULL_INT1_EN          0x02

#define C6DOFIMU14_ISRC0_FIFO_FULL_INT1_DIS         0x00

#define C6DOFIMU14_ISRC0_UI_AGC_RDY_INT1_EN         0x01

#define C6DOFIMU14_ISRC0_UI_AGC_RDY_INT1_DIS        0x00


#define C6DOFIMU14_DEF_WHO_AM_I                     0x47


#define C6DOFIMU14_BANK_0                           0x00

#define C6DOFIMU14_BANK_1                           0x01

#define C6DOFIMU14_BANK_2                           0x02

#define C6DOFIMU14_BANK_3                           0x03

#define C6DOFIMU14_BANK_4                           0x04


#define C6DOFIMU14_SENSOR_CFG_GYRO_Z_EN             0x00

#define C6DOFIMU14_SENSOR_CFG_GYRO_Z_DIS            0x20

#define C6DOFIMU14_SENSOR_CFG_GYRO_Y_EN             0x00

#define C6DOFIMU14_SENSOR_CFG_GYRO_Y_DIS            0x10

#define C6DOFIMU14_SENSOR_CFG_GYRO_X_EN             0x00

#define C6DOFIMU14_SENSOR_CFG_GYRO_X_DIS            0x08

#define C6DOFIMU14_SENSOR_CFG_ACCEL_Z_EN            0x00

#define C6DOFIMU14_SENSOR_CFG_ACCEL_Z_DIS           0x04

#define C6DOFIMU14_SENSOR_CFG_ACCEL_Y_EN            0x00

#define C6DOFIMU14_SENSOR_CFG_ACCEL_Y_DIS           0x02

#define C6DOFIMU14_SENSOR_CFG_ACCEL_X_EN            0x00

#define C6DOFIMU14_SENSOR_CFG_ACCEL_X_DIS           0x01


#define C6DOFIMU14_APEX_CFG1_LOW_ENERGY_SEL         0xA0

#define C6DOFIMU14_APEX_CFG1_TIME_SEL_0SEC          0x00

#define C6DOFIMU14_APEX_CFG1_TIME_SEL_4SEC          0x01

#define C6DOFIMU14_APEX_CFG1_TIME_SEL_8SEC          0x02

#define C6DOFIMU14_APEX_CFG1_TIME_SEL_12SEC         0x03

#define C6DOFIMU14_APEX_CFG1_TIME_SEL_16SEC         0x04

#define C6DOFIMU14_APEX_CFG1_TIME_SEL_20SEC         0x05

#define C6DOFIMU14_APEX_CFG1_TIME_SEL_24SEC         0x06

#define C6DOFIMU14_APEX_CFG1_TIME_SEL_28SEC         0x07

#define C6DOFIMU14_APEX_CFG1_TIME_SEL_32SEC         0x08

#define C6DOFIMU14_APEX_CFG1_TIME_SEL_36SEC         0x09

#define C6DOFIMU14_APEX_CFG1_TIME_SEL_40SEC         0x0A

#define C6DOFIMU14_APEX_CFG1_TIME_SEL_44SEC         0x0B

#define C6DOFIMU14_APEX_CFG1_TIME_SEL_48SEC         0x0C

#define C6DOFIMU14_APEX_CFG1_TIME_SEL_52SEC         0x0D

#define C6DOFIMU14_APEX_CFG1_TIME_SEL_56SEC         0x0E

#define C6DOFIMU14_APEX_CFG1_TIME_SEL_60SEC         0x0F


#define C6DOFIMU14_APEX_CFG2_PED_AMP_TH_SEL         0x80

#define C6DOFIMU14_APEX_CFG2_PED_CNT_SEL_0          0x00

#define C6DOFIMU14_APEX_CFG2_PED_CNT_SEL_1          0x01

#define C6DOFIMU14_APEX_CFG2_PED_CNT_SEL_2          0x02

#define C6DOFIMU14_APEX_CFG2_PED_CNT_SEL_3          0x03

#define C6DOFIMU14_APEX_CFG2_PED_CNT_SEL_4          0x04

#define C6DOFIMU14_APEX_CFG2_PED_CNT_SEL_5          0x05

#define C6DOFIMU14_APEX_CFG2_PED_CNT_SEL_6          0x06

#define C6DOFIMU14_APEX_CFG2_PED_CNT_SEL_7          0x07

#define C6DOFIMU14_APEX_CFG2_PED_CNT_SEL_8          0x08

#define C6DOFIMU14_APEX_CFG2_PED_CNT_SEL_9          0x09

#define C6DOFIMU14_APEX_CFG2_PED_CNT_SEL_10         0x0A

#define C6DOFIMU14_APEX_CFG2_PED_CNT_SEL_11         0x0B

#define C6DOFIMU14_APEX_CFG2_PED_CNT_SEL_12         0x0C

#define C6DOFIMU14_APEX_CFG2_PED_CNT_SEL_13         0x0D

#define C6DOFIMU14_APEX_CFG2_PED_CNT_SEL_14         0x0E

#define C6DOFIMU14_APEX_CFG2_PED_CNT_SEL_15         0x0F


#define C6DOFIMU14_APEX_CFG3_STEP_DET_SEL_0         0x00

#define C6DOFIMU14_APEX_CFG3_STEP_DET_SEL_1         0x20

#define C6DOFIMU14_APEX_CFG3_STEP_DET_SEL_2         0x40

#define C6DOFIMU14_APEX_CFG3_STEP_DET_SEL_3         0x60

#define C6DOFIMU14_APEX_CFG3_STEP_DET_SEL_4         0x80

#define C6DOFIMU14_APEX_CFG3_STEP_DET_SEL_5         0xA0

#define C6DOFIMU14_APEX_CFG3_STEP_DET_SEL_6         0xC0

#define C6DOFIMU14_APEX_CFG3_STEP_DET_SEL_7         0xE0

#define C6DOFIMU14_APEX_CFG3_TIMER_SEL_0            0x00

#define C6DOFIMU14_APEX_CFG3_TIMER_SEL_1            0x04

#define C6DOFIMU14_APEX_CFG3_TIMER_SEL_2            0x08

#define C6DOFIMU14_APEX_CFG3_TIMER_SEL_3            0x0C

#define C6DOFIMU14_APEX_CFG3_TIMER_SEL_4            0x10

#define C6DOFIMU14_APEX_CFG3_TIMER_SEL_5            0x14

#define C6DOFIMU14_APEX_CFG3_TIMER_SEL_6            0x18

#define C6DOFIMU14_APEX_CFG3_TIMER_SEL_7            0x1C

#define C6DOFIMU14_APEX_CFG3_HI_EN_TH_SEL           0x01


#define C6DOFIMU14_APEX_CFG4_TILT_WAIT_SEL_0S         0x00

#define C6DOFIMU14_APEX_CFG4_TILT_WAIT_SEL_2S         0x40

#define C6DOFIMU14_APEX_CFG4_TILT_WAIT_SEL_4S         0x80

#define C6DOFIMU14_APEX_CFG4_TILT_WAIT_SEL_6S         0xC0

#define C6DOFIMU14_APEX_CFG4_TILT_SLEEP_TIME_1p28SEC  0x00

#define C6DOFIMU14_APEX_CFG4_TILT_SLEEP_TIME_2p56SEC  0x08

#define C6DOFIMU14_APEX_CFG4_TILT_SLEEP_TIME_3p84SEC  0x10

#define C6DOFIMU14_APEX_CFG4_TILT_SLEEP_TIME_5p12SEC  0x18

#define C6DOFIMU14_APEX_CFG4_TILT_SLEEP_TIME_6p40SEC  0x20

#define C6DOFIMU14_APEX_CFG4_TILT_SLEEP_TIME_7p68SEC  0x28

#define C6DOFIMU14_APEX_CFG4_TILT_SLEEP_TIME_8p96SEC  0x30

#define C6DOFIMU14_APEX_CFG4_TILT_SLEEP_TIME_10p24SEC 0x38


#define C6DOFIMU14_INTSRC6_STEP_DET_INT1_EN         0x20

#define C6DOFIMU14_INTSRC6_STEP_DET_INT1_DIS        0x00

#define C6DOFIMU14_INTSRC6_STEP_CNT_OFL_INT1_EN     0x10

#define C6DOFIMU14_INTSRC6_STEP_CNT_OFL_INT1_DIS    0x00

#define C6DOFIMU14_INTSRC6_TILT_DET_INT1_EN         0x08

#define C6DOFIMU14_INTSRC6_TILT_DET_INT1_DIS        0x00

#define C6DOFIMU14_INTSRC6_WAKE_DET_INT1_EN         0x04

#define C6DOFIMU14_INTSRC6_WAKE_DET_INT1_DIS        0x00

#define C6DOFIMU14_INTSRC6_SLEEP_DET_INT1_EN        0x02

#define C6DOFIMU14_INTSRC6_SLEEP_DET_INT1_DIS       0x00

#define C6DOFIMU14_INTSRC6_TAP_DET_INT1_EN          0x01

#define C6DOFIMU14_INTSRC6_TAP_DET_INT1_DIS         0x00


#define C6DOFIMU14_INTSRC7_STEP_DET_INT2_EN         0x20

#define C6DOFIMU14_INTSRC7_STEP_DET_INT2_DIS        0x00

#define C6DOFIMU14_INTSRC7_STEP_CNT_OFL_INT2_EN     0x10

#define C6DOFIMU14_INTSRC7_STEP_CNT_OFL_INT2_DIS    0x00

#define C6DOFIMU14_INTSRC7_TILT_DET_INT2_EN         0x08

#define C6DOFIMU14_INTSRC7_TILT_DET_INT2_DIS        0x00

#define C6DOFIMU14_INTSRC7_WAKE_DET_INT2_EN         0x04

#define C6DOFIMU14_INTSRC7_WAKE_DET_INT2_DIS        0x00

#define C6DOFIMU14_INTSRC7_SLEEP_DET_INT2_EN        0x02

#define C6DOFIMU14_INTSRC7_SLEEP_DET_INT2_DIS       0x00

#define C6DOFIMU14_INTSRC7_TAP_DET_INT2_EN          0x01

#define C6DOFIMU14_INTSRC7_TAP_DET_INT2_DIS         0x00


#define C6DOFIMU14_DEVCONFIG_SPI_MODE_03            0x00

#define C6DOFIMU14_DEVCONFIG_SPI_MODE_12            0x10

#define C6DOFIMU14_DEVCONFIG_SOFT_RESET_NORMAL      0x00

#define C6DOFIMU14_DEVCONFIG_SOFT_RESET_ENABLE      0x01


#define C6DOFIMU14_DRIVECONFIG_MAX_SLEW_RATE        0x55

#define C6DOFIMU14_DRIVECONFIG_MIN_SLEW_RATE        0x00


#define C6DOFIMU14_FIFOCONFIG_BYPASS_MODE           0x00

#define C6DOFIMU14_FIFOCONFIG_STREAM_TO_FIFO_MODE   0x40

#define C6DOFIMU14_FIFOCONFIG_STOP_ON_FULL_MODE     0x80


#define C6DOFIMU14_FIFOCONFIG1_RESUME_PARTIAL_RD     0x40

#define C6DOFIMU14_FIFOCONFIG1_HIRES_EN              0x10

#define C6DOFIMU14_FIFOCONFIG1_TMST_FSYNC_EN         0x08

#define C6DOFIMU14_FIFOCONFIG1_TEMP_EN               0x04

#define C6DOFIMU14_FIFOCONFIG1_GYRO_EN               0x02

#define C6DOFIMU14_FIFOCONFIG1_ACCEL_EN              0x01


#define C6DOFIMU14_INTSTATUS_UI_FSYNC                0x40

#define C6DOFIMU14_INTSTATUS_PLL_RDY                 0x20

#define C6DOFIMU14_INTSTATUS_RESET_DONE              0x10

#define C6DOFIMU14_INTSTATUS_DATA_RDY                0x08

#define C6DOFIMU14_INTSTATUS_FIFO_THS                0x04

#define C6DOFIMU14_INTSTATUS_FIFO_FULL               0x02

#define C6DOFIMU14_INTSTATUS_AGC_RDY                 0x01


#define C6DOFIMU14_FIFOHEADER_MSG                    0x80

#define C6DOFIMU14_FIFOHEADER_ACCEL                  0x40

#define C6DOFIMU14_FIFOHEADER_GYRO                   0x20

#define C6DOFIMU14_FIFOHEADER_20                     0x10

#define C6DOFIMU14_FIFOHEADER_TIMESTAMP_ODR          0x08

#define C6DOFIMU14_FIFOHEADER_ODR_ACCEL              0x02

#define C6DOFIMU14_FIFOHEADER_ODR_GYRO               0x01


#define C6DOFIMU14_SPI_READ_MASK                    0x80

#define C6DOFIMU14_SPI_WRITE_MASK                   0x7F


#define C6DOFIMU14_SET_DEV_ADDR_GND                 0x68

#define C6DOFIMU14_SET_DEV_ADDR_VCC                 0x69


 // c6dofimu14_set


#define C6DOFIMU14_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.snc = MIKROBUS( mikrobus, MIKROBUS_PWM ); \

    cfg.int_pin = MIKROBUS( mikrobus, MIKROBUS_INT )


 // c6dofimu14_map

 // c6dofimu14


typedef enum

{

    C6DOFIMU14_DRV_SEL_SPI,

    C6DOFIMU14_DRV_SEL_I2C

} c6dofimu14_drv_t;


typedef err_t ( *c6dofimu14_master_io_t )( struct c6dofimu14_s*, uint8_t, uint8_t*, uint8_t );


typedef struct

{

    int16_t x;

    int16_t y;

    int16_t z;


} c6dofimu14_axis_t;


typedef struct c6dofimu14_s

{

    digital_out_t cs;

    digital_in_t  snc;

    digital_in_t  int_pin;

    i2c_master_t  i2c;

    spi_master_t  spi;

    uint8_t     slave_address;

    pin_name_t  chip_select;

    c6dofimu14_drv_t  drv_sel;

    c6dofimu14_master_io_t  write_f;

    c6dofimu14_master_io_t  read_f;

} c6dofimu14_t;


typedef struct

{

    pin_name_t  scl;

    pin_name_t  sda;

    pin_name_t  miso;

    pin_name_t  mosi;

    pin_name_t  sck;

    pin_name_t  cs;

    pin_name_t  snc;

    pin_name_t  int_pin;

    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;

    c6dofimu14_drv_t                   drv_sel;

} c6dofimu14_cfg_t;


typedef enum

{

    C6DOFIMU14_OK = 0,

    C6DOFIMU14_ERROR = -1


} c6dofimu14_return_value_t;


void c6dofimu14_cfg_setup ( c6dofimu14_cfg_t *cfg );


void c6dofimu14_drv_interface_selection ( c6dofimu14_cfg_t *cfg, c6dofimu14_drv_t drv_sel );


err_t c6dofimu14_init ( c6dofimu14_t *ctx, c6dofimu14_cfg_t *cfg );


err_t c6dofimu14_default_cfg ( c6dofimu14_t *ctx );


err_t c6dofimu14_generic_write ( c6dofimu14_t *ctx, uint8_t reg, uint8_t *data_in, uint8_t len );


err_t c6dofimu14_generic_read ( c6dofimu14_t *ctx, uint8_t reg, uint8_t *data_out, uint8_t len );


uint8_t c6dofimu14_get_int_pin ( c6dofimu14_t *ctx );


uint8_t c6dofimu14_get_snc_pin ( c6dofimu14_t *ctx );


err_t c6dofimu14_software_reset ( c6dofimu14_t *ctx );


err_t c6dofimu14_get_data ( c6dofimu14_t *ctx, c6dofimu14_axis_t *acc_axis, c6dofimu14_axis_t *gyro_axis );


err_t c6dofimu14_get_temperature ( c6dofimu14_t *ctx, float *temp );


err_t c6dofimu14_get_accel_axis ( c6dofimu14_t *ctx, c6dofimu14_axis_t *axis );


err_t c6dofimu14_get_gyro_axis ( c6dofimu14_t *ctx, c6dofimu14_axis_t *axis );


#ifdef __cplusplus

}

#endif

#endif // C6DOFIMU14_H


 // c6dofimu14


// ------------------------------------------------------------------------ END

c6dofimu14_t
struct c6dofimu14_s c6dofimu14_t
6DOF IMU 14 Click context object.

c6dofimu14_drv_t
c6dofimu14_drv_t
6DOF IMU 14 Click driver selector.
Definition c6dofimu14.h:681

C6DOFIMU14_DRV_SEL_I2C
@ C6DOFIMU14_DRV_SEL_I2C
Definition c6dofimu14.h:683

C6DOFIMU14_DRV_SEL_SPI
@ C6DOFIMU14_DRV_SEL_SPI
Definition c6dofimu14.h:682

c6dofimu14_master_io_t
err_t(* c6dofimu14_master_io_t)(struct c6dofimu14_s *, uint8_t, uint8_t *, uint8_t)
6DOF IMU 14 Click driver interface.
Definition c6dofimu14.h:691

c6dofimu14_return_value_t
c6dofimu14_return_value_t
6DOF IMU 14 Click return value data.
Definition c6dofimu14.h:758

C6DOFIMU14_OK
@ C6DOFIMU14_OK
Definition c6dofimu14.h:759

C6DOFIMU14_ERROR
@ C6DOFIMU14_ERROR
Definition c6dofimu14.h:760

c6dofimu14_default_cfg
err_t c6dofimu14_default_cfg(c6dofimu14_t *ctx)
6DOF IMU 14 default configuration function.

c6dofimu14_get_data
err_t c6dofimu14_get_data(c6dofimu14_t *ctx, c6dofimu14_axis_t *acc_axis, c6dofimu14_axis_t *gyro_axis)
6DOF IMU 14 get accel and gyro data function.

c6dofimu14_get_int_pin
uint8_t c6dofimu14_get_int_pin(c6dofimu14_t *ctx)
6DOF IMU 14 get INT pin state function.

c6dofimu14_generic_read
err_t c6dofimu14_generic_read(c6dofimu14_t *ctx, uint8_t reg, uint8_t *data_out, uint8_t len)
6DOF IMU 14 data reading function.

c6dofimu14_init
err_t c6dofimu14_init(c6dofimu14_t *ctx, c6dofimu14_cfg_t *cfg)
6DOF IMU 14 initialization function.

c6dofimu14_get_snc_pin
uint8_t c6dofimu14_get_snc_pin(c6dofimu14_t *ctx)
6DOF IMU 14 get SNC pin state function.

c6dofimu14_get_temperature
err_t c6dofimu14_get_temperature(c6dofimu14_t *ctx, float *temp)
6DOF IMU 14 get temperature data function.

c6dofimu14_software_reset
err_t c6dofimu14_software_reset(c6dofimu14_t *ctx)
6DOF IMU 14 software reset function.

c6dofimu14_generic_write
err_t c6dofimu14_generic_write(c6dofimu14_t *ctx, uint8_t reg, uint8_t *data_in, uint8_t len)
6DOF IMU 14 data writing function.

c6dofimu14_get_accel_axis
err_t c6dofimu14_get_accel_axis(c6dofimu14_t *ctx, c6dofimu14_axis_t *axis)
6DOF IMU 14 get accel data function.

c6dofimu14_get_gyro_axis
err_t c6dofimu14_get_gyro_axis(c6dofimu14_t *ctx, c6dofimu14_axis_t *axis)
6DOF IMU 14 get gyro data function.

c6dofimu14_cfg_setup
void c6dofimu14_cfg_setup(c6dofimu14_cfg_t *cfg)
6DOF IMU 14 configuration object setup function.

c6dofimu14_drv_interface_selection
void c6dofimu14_drv_interface_selection(c6dofimu14_cfg_t *cfg, c6dofimu14_drv_t drv_sel)
6DOF IMU 14 driver interface setup function.

c6dofimu14_axis_t
6DOF IMU 14 Axis structure object.
Definition c6dofimu14.h:698

c6dofimu14_axis_t::z
int16_t z
Definition c6dofimu14.h:701

c6dofimu14_axis_t::x
int16_t x
Definition c6dofimu14.h:699

c6dofimu14_axis_t::y
int16_t y
Definition c6dofimu14.h:700

c6dofimu14_cfg_t
6DOF IMU 14 Click configuration object.
Definition c6dofimu14.h:732

c6dofimu14_cfg_t::drv_sel
c6dofimu14_drv_t drv_sel
Definition c6dofimu14.h:749

c6dofimu14_cfg_t::i2c_speed
uint32_t i2c_speed
Definition c6dofimu14.h:742

c6dofimu14_cfg_t::cs_polarity
spi_master_chip_select_polarity_t cs_polarity
Definition c6dofimu14.h:747

c6dofimu14_cfg_t::sck
pin_name_t sck
Definition c6dofimu14.h:737

c6dofimu14_cfg_t::spi_mode
spi_master_mode_t spi_mode
Definition c6dofimu14.h:746

c6dofimu14_cfg_t::mosi
pin_name_t mosi
Definition c6dofimu14.h:736

c6dofimu14_cfg_t::spi_speed
uint32_t spi_speed
Definition c6dofimu14.h:745

c6dofimu14_cfg_t::snc
pin_name_t snc
Definition c6dofimu14.h:739

c6dofimu14_cfg_t::scl
pin_name_t scl
Definition c6dofimu14.h:733

c6dofimu14_cfg_t::int_pin
pin_name_t int_pin
Definition c6dofimu14.h:740

c6dofimu14_cfg_t::miso
pin_name_t miso
Definition c6dofimu14.h:735

c6dofimu14_cfg_t::sda
pin_name_t sda
Definition c6dofimu14.h:734

c6dofimu14_cfg_t::cs
pin_name_t cs
Definition c6dofimu14.h:738

c6dofimu14_cfg_t::i2c_address
uint8_t i2c_address
Definition c6dofimu14.h:743

c6dofimu14_s
6DOF IMU 14 Click context object.
Definition c6dofimu14.h:710

c6dofimu14_s::cs
digital_out_t cs
Definition c6dofimu14.h:711

c6dofimu14_s::drv_sel
c6dofimu14_drv_t drv_sel
Definition c6dofimu14.h:720

c6dofimu14_s::spi
spi_master_t spi
Definition c6dofimu14.h:716

c6dofimu14_s::write_f
c6dofimu14_master_io_t write_f
Definition c6dofimu14.h:722

c6dofimu14_s::read_f
c6dofimu14_master_io_t read_f
Definition c6dofimu14.h:723

c6dofimu14_s::snc
digital_in_t snc
Definition c6dofimu14.h:712

c6dofimu14_s::int_pin
digital_in_t int_pin
Definition c6dofimu14.h:713

c6dofimu14_s::i2c
i2c_master_t i2c
Definition c6dofimu14.h:715

c6dofimu14_s::slave_address
uint8_t slave_address
Definition c6dofimu14.h:718

c6dofimu14_s::chip_select
pin_name_t chip_select
Definition c6dofimu14.h:719