c6dofimu16.h

Go to the documentation of this file.

/****************************************************************************
** 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 C6DOFIMU16_H
#define C6DOFIMU16_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"
#include "spi_specifics.h"
 
#define C6DOFIMU16_REG_ACCEL_DATA_X1_UI                         0x00
#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
 
 // c6dofimu16_reg
 
#define C6DOFIMU16_GYRO_MODE_OFF                                0x00
#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
#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
#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
#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
#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
 
#define C6DOFIMU16_DEVICE_ID                                    0xE5
 
#define C6DOFIMU16_ACCEL_2G_CONV_MUL                            16384u
#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
#define C6DOFIMU16_DEVICE_ADDRESS_1                             0x69
 
#define C6DOFIMU16_SET_DATA_SAMPLE_EDGE      SET_SPI_DATA_SAMPLE_EDGE
#define C6DOFIMU16_SET_DATA_SAMPLE_MIDDLE    SET_SPI_DATA_SAMPLE_MIDDLE
 
 // c6dofimu16_set
 
#define C6DOFIMU16_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.int1 = MIKROBUS( mikrobus, MIKROBUS_AN ); \
    cfg.int2 = MIKROBUS( mikrobus, MIKROBUS_INT )
 
 // c6dofimu16_map
 // c6dofimu16
 
typedef enum
{
    C6DOFIMU16_DRV_SEL_SPI,      
    C6DOFIMU16_DRV_SEL_I2C       
} c6dofimu16_drv_t;
 
struct c6dofimu16_s;
typedef err_t ( *c6dofimu16_master_io_t )( struct c6dofimu16_s*, uint8_t, uint8_t*, uint8_t ); 
typedef struct c6dofimu16_s
{
    digital_in_t int1;                  
    digital_in_t int2;                  
    i2c_master_t i2c;                   
    spi_master_t spi;                   
    uint8_t      slave_address;         
    pin_name_t   chip_select;           
    c6dofimu16_drv_t drv_sel;           
    c6dofimu16_master_io_t write_f;     
    c6dofimu16_master_io_t read_f;      
} c6dofimu16_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 int1;            
    pin_name_t int2;            
    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;  
    c6dofimu16_drv_t drv_sel;   
} c6dofimu16_cfg_t;
 
typedef struct
{
    float x_data;
    float y_data;
    float z_data;
 
} c6dofimu16_axis_t;
 
typedef enum
{
    C6DOFIMU16_OK = 0,
    C6DOFIMU16_ERROR = -1
 
} c6dofimu16_return_value_t;
 
void c6dofimu16_cfg_setup ( c6dofimu16_cfg_t *cfg );
 
void c6dofimu16_drv_interface_sel ( c6dofimu16_cfg_t *cfg, c6dofimu16_drv_t drv_sel );
 
err_t c6dofimu16_init ( c6dofimu16_t *ctx, c6dofimu16_cfg_t *cfg );
 
err_t c6dofimu16_default_cfg ( c6dofimu16_t *ctx );
 
err_t c6dofimu16_generic_write ( c6dofimu16_t *ctx, uint8_t reg, uint8_t *data_in, uint8_t len );
 
err_t c6dofimu16_generic_read ( c6dofimu16_t *ctx, uint8_t reg, uint8_t *data_out, uint8_t len );
 
uint8_t c6dofimu16_get_int1_pin ( c6dofimu16_t *ctx );
 
uint8_t c6dofimu16_get_int2_pin ( c6dofimu16_t *ctx );
 
err_t c6dofimu16_reg_write ( c6dofimu16_t *ctx, uint8_t reg, uint8_t data_in );
 
err_t c6dofimu16_reg_read ( c6dofimu16_t *ctx, uint8_t reg, uint8_t *data_out );
 
err_t c6dofimu16_sw_reset ( c6dofimu16_t *ctx );
 
err_t c6dofimu16_get_gyro_data ( c6dofimu16_t *ctx, c6dofimu16_axis_t *gyro_data );
 
err_t c6dofimu16_get_accel_data ( c6dofimu16_t *ctx, c6dofimu16_axis_t *accel_data );
 
#ifdef __cplusplus
}
#endif
#endif // C6DOFIMU16_H
 
 // c6dofimu16
 
// ------------------------------------------------------------------------ END