This file contains API for 6DOF IMU 16 Click Driver. More...

#include "drv_digital_out.h"
#include "drv_digital_in.h"
#include "drv_i2c_master.h"
#include "drv_spi_master.h"
#include "spi_specifics.h"

Go to the source code of this file.

Data Structures
struct	c6dofimu16_s
	6DOF IMU 16 Click context object. More...

struct	c6dofimu16_cfg_t
	6DOF IMU 16 Click configuration object. More...

struct	c6dofimu16_axis_t
	6DOF IMU 16 Click axes data structure. More...

Macros
#define	C6DOFIMU16_REG_ACCEL_DATA_X1_UI 0x00
	6DOF IMU 16 description register.

#define	C6DOFIMU16_REG_ACCEL_DATA_X0_UI 0x01

#define	C6DOFIMU16_REG_ACCEL_DATA_Y1_UI 0x02

#define	C6DOFIMU16_REG_ACCEL_DATA_Y0_UI 0x03

#define	C6DOFIMU16_REG_ACCEL_DATA_Z1_UI 0x04

#define	C6DOFIMU16_REG_ACCEL_DATA_Z0_UI 0x05

#define	C6DOFIMU16_REG_GYRO_DATA_X1_UI 0x06

#define	C6DOFIMU16_REG_GYRO_DATA_X0_UI 0x07

#define	C6DOFIMU16_REG_GYRO_DATA_Y1_UI 0x08

#define	C6DOFIMU16_REG_GYRO_DATA_Y0_UI 0x09

#define	C6DOFIMU16_REG_GYRO_DATA_Z1_UI 0x0A

#define	C6DOFIMU16_REG_GYRO_DATA_Z0_UI 0x0B

#define	C6DOFIMU16_REG_TEMP_DATA1_UI 0x0C

#define	C6DOFIMU16_REG_TEMP_DATA0_UI 0x0D

#define	C6DOFIMU16_REG_TMST_FSYNCH 0x0E

#define	C6DOFIMU16_REG_TMST_FSYNCL 0x0F

#define	C6DOFIMU16_REG_PWR_MGMNT0 0x10

#define	C6DOFIMU16_REG_FIFO_COUNT_0 0x12

#define	C6DOFIMU16_REG_FIFO_COUNT_1 0x13

#define	C6DOFIMU16_REG_FIFO_DATA 0x14

#define	C6DOFIMU16_REG_INT1_CONFIG0 0x16

#define	C6DOFIMU16_REG_INT1_CONFIG1 0x17

#define	C6DOFIMU16_REG_INT1_CONFIG2 0x18

#define	C6DOFIMU16_REG_INT1_STATUS0 0x19

#define	C6DOFIMU16_REG_ACCEL_CONFIG0 0x1B

#define	C6DOFIMU16_REG_GYRO_CONFIG0 0x1C

#define	C6DOFIMU16_REG_FIFO_CONFIG0 0x1D

#define	C6DOFIMU16_REG_FIFO_CONFIG1_0 0x1E

#define	C6DOFIMU16_REG_FIFO_CONFIG1_1 0x1F

#define	C6DOFIMU16_REG_FIFO_CONFIG2 0x20

#define	C6DOFIMU16_REG_FIFO_CONFIG3 0x21

#define	C6DOFIMU16_REG_FIFO_CONFIG4 0x22

#define	C6DOFIMU16_REG_DMP_EXT_SEN_ODR_CFG 0x27

#define	C6DOFIMU16_REG_EDMP_APEX_EN0 0x29

#define	C6DOFIMU16_REG_EDMP_APEX_EN1 0x2A

#define	C6DOFIMU16_REG_APEX_BUFFER_MGMT 0x2B

#define	C6DOFIMU16_REG_INTF_CONFIG0 0x2C

#define	C6DOFIMU16_REG_INTF_CONFIG1_OVRD 0x2D

#define	C6DOFIMU16_REG_IOC_PAD_SCENARIO 0x2F

#define	C6DOFIMU16_REG_IOC_PAD_SCENARIO_AUX_OVRD 0x30

#define	C6DOFIMU16_REG_IOC_PAD_SCENARIO_OVRD 0x31

#define	C6DOFIMU16_REG_DRIVE_CONFIG0 0x32

#define	C6DOFIMU16_REG_DRIVE_CONFIG1 0x33

#define	C6DOFIMU16_REG_DRIVE_CONFIG2 0x34

#define	C6DOFIMU16_REG_INT_APEX_CONFIG1 0x3A

#define	C6DOFIMU16_REG_INT_APEX_STATUS0 0x3B

#define	C6DOFIMU16_REG_INT_APEX_STATUS1 0x3C

#define	C6DOFIMU16_REG_INT2_CONFIG0 0x56

#define	C6DOFIMU16_REG_INT2_CONFIG1 0x57

#define	C6DOFIMU16_REG_INT2_CONFIG2 0x58

#define	C6DOFIMU16_REG_INT2_STATUS0 0x59

#define	C6DOFIMU16_REG_WHO_AM_I 0x72

#define	C6DOFIMU16_REG_REG_HOST_MSG 0x73

#define	C6DOFIMU16_REG_IREG_ADDR_15_8 0x7C

#define	C6DOFIMU16_REG_IREG_ADDR_7_0 0x7D

#define	C6DOFIMU16_REG_IREG_DATA 0x7E

#define	C6DOFIMU16_REG_REG_MISC2 0x7F

#define	C6DOFIMU16_GYRO_MODE_OFF 0x00
	6DOF IMU 16 description setting.

#define	C6DOFIMU16_GYRO_MODE_STANDBY 0x04

#define	C6DOFIMU16_GYRO_MODE_LOW_POWER 0x08

#define	C6DOFIMU16_GYRO_MODE_LOW_NOISE 0x0C

#define	C6DOFIMU16_ACCEL_MODE_OFF 0x00

#define	C6DOFIMU16_ACCEL_MODE_STANDBY 0x01

#define	C6DOFIMU16_ACCEL_MODE_LOW_POWER 0x02

#define	C6DOFIMU16_ACCEL_MODE_LOW_NOISE 0x03

#define	C6DOFIMU16_GYRO_UI_FS_SEL_MASK 0xF0
	6DOF IMU 16 gyro full-scale setting.

#define	C6DOFIMU16_GYRO_UI_FS_SEL_2000DPS 0x10

#define	C6DOFIMU16_GYRO_UI_FS_SEL_1000DPS 0x20

#define	C6DOFIMU16_GYRO_UI_FS_SEL_500DPS 0x30

#define	C6DOFIMU16_GYRO_UI_FS_SEL_250DPS 0x40

#define	C6DOFIMU16_GYRO_UI_FS_SEL_125DPS 0x50

#define	C6DOFIMU16_GYRO_UI_FS_SEL_62_5DPS 0x60

#define	C6DOFIMU16_GYRO_UI_FS_SEL_31_25DPS 0x70

#define	C6DOFIMU16_GYRO_UI_FS_SEL_15_625DPS 0x80

#define	C6DOFIMU16_ACCEL_UI_FS_SEL_MASK 0x70
	6DOF IMU 16 accel full-scale setting.

#define	C6DOFIMU16_ACCEL_UI_FS_SEL_16g 0x10

#define	C6DOFIMU16_ACCEL_UI_FS_SEL_8g 0x20

#define	C6DOFIMU16_ACCEL_UI_FS_SEL_4g 0x30

#define	C6DOFIMU16_ACCEL_UI_FS_SEL_2g 0x40

#define	C6DOFIMU16_ACCEL_ODR_6_4_KHZ 0x03
	6DOF IMU 16 accel ODR setting.

#define	C6DOFIMU16_ACCEL_ODR_3_2_KHZ 0x04

#define	C6DOFIMU16_ACCEL_ODR_1_6_KHZ 0x05

#define	C6DOFIMU16_ACCEL_ODR_800_HZ 0x06

#define	C6DOFIMU16_ACCEL_ODR_400_HZ 0x07

#define	C6DOFIMU16_ACCEL_ODR_200_HZ 0x08

#define	C6DOFIMU16_ACCEL_ODR_100_HZ 0x09

#define	C6DOFIMU16_ACCEL_ODR_50_HZ 0x0A

#define	C6DOFIMU16_ACCEL_ODR_25_HZ 0x0B

#define	C6DOFIMU16_ACCEL_ODR_12_5_HZ 0x0C

#define	C6DOFIMU16_ACCEL_ODR_6_25_HZ 0x0D

#define	C6DOFIMU16_ACCEL_ODR_3_125_HZ 0x0E

#define	C6DOFIMU16_ACCEL_ODR_1_5625_HZ 0x0F

#define	C6DOFIMU16_GYRO_ODR_6_4_KHZ 0x03
	6DOF IMU 16 gyro ODR setting.

#define	C6DOFIMU16_GYRO_ODR_3_2_KHZ 0x04

#define	C6DOFIMU16_GYRO_ODR_1_6_KHZ 0x05

#define	C6DOFIMU16_GYRO_ODR_800_HZ 0x06

#define	C6DOFIMU16_GYRO_ODR_400_HZ 0x07

#define	C6DOFIMU16_GYRO_ODR_200_HZ 0x08

#define	C6DOFIMU16_GYRO_ODR_100_HZ 0x09

#define	C6DOFIMU16_GYRO_ODR_50_HZ 0x0A

#define	C6DOFIMU16_GYRO_ODR_25_HZ 0x0B

#define	C6DOFIMU16_GYRO_ODR_12_5_HZ 0x0C

#define	C6DOFIMU16_GYRO_ODR_6_25_HZ 0x0D

#define	C6DOFIMU16_GYRO_ODR_3_125_HZ 0x0E

#define	C6DOFIMU16_GYRO_ODR_1_5625_HZ 0x0F

#define	C6DOFIMU16_SOFTWARE_RESET 0x02
	6DOF IMU 16 software reset setting.

#define	C6DOFIMU16_DEVICE_ID 0xE5
	6DOF IMU 16 device ID setting.

#define	C6DOFIMU16_ACCEL_2G_CONV_MUL 16384u
	6DOF IMU 16 data conversion factor setting.

#define	C6DOFIMU16_ACCEL_4G_CONV_MUL 8192u

#define	C6DOFIMU16_ACCEL_8G_CONV_MUL 4096u

#define	C6DOFIMU16_ACCEL_16G_CONV_MUL 2048u

#define	C6DOFIMU16_GYRO_2000DPS_CONV_MUL 16.4f

#define	C6DOFIMU16_GYRO_1000DPS_CONV_MUL 32.8f

#define	C6DOFIMU16_GYRO_500DPS_CONV_MUL 65.5f

#define	C6DOFIMU16_GYRO_250DPS_CONV_MUL 131.0f

#define	C6DOFIMU16_GYRO_125DPS_CONV_MUL 262.0f

#define	C6DOFIMU16_GYRO_62_5DPS_CONV_MUL 524.3f

#define	C6DOFIMU16_GYRO_31_25DPS_CONV_MUL 1048.6f

#define	C6DOFIMU16_GYRO_15_625DPS_CONV_MUL 2097.2f

#define	C6DOFIMU16_DEVICE_ADDRESS_0 0x68
	6DOF IMU 16 device address setting.

#define	C6DOFIMU16_DEVICE_ADDRESS_1 0x69

#define	C6DOFIMU16_SET_DATA_SAMPLE_EDGE SET_SPI_DATA_SAMPLE_EDGE
	Data sample selection.

#define	C6DOFIMU16_SET_DATA_SAMPLE_MIDDLE SET_SPI_DATA_SAMPLE_MIDDLE

#define	C6DOFIMU16_MAP_MIKROBUS(cfg, mikrobus)
	MikroBUS pin mapping.

Typedefs
typedef err_t(*	c6dofimu16_master_io_t) (struct c6dofimu16_s , uint8_t, uint8_t , uint8_t)

typedef struct c6dofimu16_s	c6dofimu16_t
	6DOF IMU 16 Click context object.

Enumerations
enum	c6dofimu16_drv_t { C6DOFIMU16_DRV_SEL_SPI , C6DOFIMU16_DRV_SEL_I2C }
	6DOF IMU 16 Click driver selector. More...

enum	c6dofimu16_return_value_t { C6DOFIMU16_OK = 0 , C6DOFIMU16_ERROR = -1 }
	6DOF IMU 16 Click return value data. More...

Functions
void	c6dofimu16_cfg_setup (c6dofimu16_cfg_t *cfg)
	6DOF IMU 16 configuration object setup function.

void	c6dofimu16_drv_interface_sel (c6dofimu16_cfg_t *cfg, c6dofimu16_drv_t drv_sel)
	6DOF IMU 16 driver interface setup function.

err_t	c6dofimu16_init (c6dofimu16_t ctx, c6dofimu16_cfg_t cfg)
	6DOF IMU 16 initialization function.

err_t	c6dofimu16_default_cfg (c6dofimu16_t *ctx)
	6DOF IMU 16 default configuration function.

err_t	c6dofimu16_generic_write (c6dofimu16_t ctx, uint8_t reg, uint8_t data_in, uint8_t len)
	6DOF IMU 16 data writing function.

err_t	c6dofimu16_generic_read (c6dofimu16_t ctx, uint8_t reg, uint8_t data_out, uint8_t len)
	6DOF IMU 16 data reading function.

uint8_t	c6dofimu16_get_int1_pin (c6dofimu16_t *ctx)
	6DOF IMU 16 get int1 pin function.

uint8_t	c6dofimu16_get_int2_pin (c6dofimu16_t *ctx)
	6DOF IMU 16 get int2 pin function.

err_t	c6dofimu16_reg_write (c6dofimu16_t *ctx, uint8_t reg, uint8_t data_in)
	6DOF IMU 16 data writing function.

err_t	c6dofimu16_reg_read (c6dofimu16_t ctx, uint8_t reg, uint8_t data_out)
	6DOF IMU 16 register data reading function.

err_t	c6dofimu16_sw_reset (c6dofimu16_t *ctx)
	6DOF IMU 16 software reset device function.

err_t	c6dofimu16_get_gyro_data (c6dofimu16_t ctx, c6dofimu16_axis_t gyro_data)
	6DOF IMU 16 read gyro function.

err_t	c6dofimu16_get_accel_data (c6dofimu16_t ctx, c6dofimu16_axis_t accel_data)
	6DOF IMU 16 read accel function.

Detailed Description

This file contains API for 6DOF IMU 16 Click Driver.

Typedef Documentation

◆ c6dofimu16_master_io_t

typedef err_t(* c6dofimu16_master_io_t) (struct c6dofimu16_s *, uint8_t, uint8_t *, uint8_t)

Driver serial interface.

◆ c6dofimu16_t

typedef struct c6dofimu16_s c6dofimu16_t

6DOF IMU 16 Click context object.

Context object definition of 6DOF IMU 16 Click driver.

Enumeration Type Documentation

◆ c6dofimu16_drv_t

enum c6dofimu16_drv_t

6DOF IMU 16 Click driver selector.

Selects target driver interface of 6DOF IMU 16 Click driver.

Enumerator
C6DOFIMU16_DRV_SEL_SPI	SPI driver descriptor.
C6DOFIMU16_DRV_SEL_I2C	I2C driver descriptor.

◆ c6dofimu16_return_value_t

enum c6dofimu16_return_value_t

6DOF IMU 16 Click return value data.

Predefined enum values for driver return values.

Enumerator
C6DOFIMU16_OK
C6DOFIMU16_ERROR

Data Structures

Macros

Typedefs

Enumerations