c6dofimu17.h

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/****************************************************************************
** 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 C6DOFIMU17_H
#define C6DOFIMU17_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 C6DOFIMU17_REG_DEVICE_CONFIG                       0x11
#define C6DOFIMU17_REG_DRIVE_CONFIG                        0x13 
#define C6DOFIMU17_REG_INT_CONFIG                          0x14
#define C6DOFIMU17_REG_FIFO_CONFIG                         0x16
#define C6DOFIMU17_REG_TEMP_DATA1_UI                       0x1D 
#define C6DOFIMU17_REG_TEMP_DATA0_UI                       0x1E
#define C6DOFIMU17_REG_ACCEL_DATA_X1_UI                    0x1F
#define C6DOFIMU17_REG_ACCEL_DATA_X0_UI                    0x20
#define C6DOFIMU17_REG_ACCEL_DATA_Y1_UI                    0x21
#define C6DOFIMU17_REG_ACCEL_DATA_Y0_UI                    0x22
#define C6DOFIMU17_REG_ACCEL_DATA_Z1_UI                    0x23
#define C6DOFIMU17_REG_ACCEL_DATA_Z0_UI                    0x24
#define C6DOFIMU17_REG_GYRO_DATA_X1_UI                     0x25
#define C6DOFIMU17_REG_GYRO_DATA_X0_UI                     0x26
#define C6DOFIMU17_REG_GYRO_DATA_Y1_UI                     0x27
#define C6DOFIMU17_REG_GYRO_DATA_Y0_UI                     0x28
#define C6DOFIMU17_REG_GYRO_DATA_Z1_UI                     0x29
#define C6DOFIMU17_REG_GYRO_DATA_Z0_UI                     0x2A
#define C6DOFIMU17_REG_TMST_FSYNCH                         0x2B
#define C6DOFIMU17_REG_TMST_FSYNCL                         0x2C
#define C6DOFIMU17_REG_INT_STATUS                          0x2D
#define C6DOFIMU17_REG_FIFO_COUNTH                         0x2E
#define C6DOFIMU17_REG_FIFO_COUNTL                         0x2F
#define C6DOFIMU17_REG_FIFO_DATA                           0x30
#define C6DOFIMU17_REG_APEX_DATA0                          0x31
#define C6DOFIMU17_REG_APEX_DATA1                          0x32
#define C6DOFIMU17_REG_APEX_DATA2                          0x33
#define C6DOFIMU17_REG_APEX_DATA3                          0x34
#define C6DOFIMU17_REG_APEX_DATA4                          0x35
#define C6DOFIMU17_REG_APEX_DATA5                          0x36
#define C6DOFIMU17_REG_INT_STATUS2                         0x37
#define C6DOFIMU17_REG_INT_STATUS3                         0x38
#define C6DOFIMU17_REG_SIGNAL_PATH_RESET                   0x4B
#define C6DOFIMU17_REG_INTF_CONFIG0                        0x4C
#define C6DOFIMU17_REG_INTF_CONFIG1                        0x4D
#define C6DOFIMU17_REG_PWR_MGMT0                           0x4E
#define C6DOFIMU17_REG_GYRO_CONFIG0                        0x4F
#define C6DOFIMU17_REG_ACCEL_CONFIG0                       0x50
#define C6DOFIMU17_REG_GYRO_CONFIG1                        0x51
#define C6DOFIMU17_REG_GYRO_ACCEL_CONFIG0                  0x52
#define C6DOFIMU17_REG_ACCEL_CONFIG1                       0x53
#define C6DOFIMU17_REG_TMST_CONFIG                         0x54
#define C6DOFIMU17_REG_APEX_CONFIG0                        0x55
#define C6DOFIMU17_REG_SMD_CONFIG                          0x56
#define C6DOFIMU17_REG_FIFO_CONFIG1                        0x5F
#define C6DOFIMU17_REG_FIFO_CONFIG2                        0x60
#define C6DOFIMU17_REG_FIFO_CONFIG3                        0x61
#define C6DOFIMU17_REG_FSYNC_CONFIG                        0x62
#define C6DOFIMU17_REG_INT_CONFIG0                         0x63
#define C6DOFIMU17_REG_INT_CONFIG1                         0x64
#define C6DOFIMU17_REG_INT_SOURCE0                         0x65
#define C6DOFIMU17_REG_INT_SOURCE1                         0x66
#define C6DOFIMU17_REG_INT_SOURCE3                         0x68
#define C6DOFIMU17_REG_INT_SOURCE4                         0x69
#define C6DOFIMU17_REG_FIFO_LOST_PKT0                      0x6C
#define C6DOFIMU17_REG_FIFO_LOST_PKT1                      0x6D
#define C6DOFIMU17_REG_SELF_TEST_CONFIG                    0x70
#define C6DOFIMU17_REG_WHO_AM_I                            0x75
#define C6DOFIMU17_REG_BANK_SEL                            0x76
#define C6DOFIMU17_CHIP_ID                                 0x6F
 
#define C6DOFIMU17_REG_SENSOR_CONFIG0                      0x03
#define C6DOFIMU17_REG_GYRO_CONFIG_STATIC2                 0x0B
#define C6DOFIMU17_REG_GYRO_CONFIG_STATIC3                 0x0C
#define C6DOFIMU17_REG_GYRO_CONFIG_STATIC4                 0x0D
#define C6DOFIMU17_REG_GYRO_CONFIG_STATIC5                 0x0E
#define C6DOFIMU17_REG_GYRO_CONFIG_STATIC6                 0x0F
#define C6DOFIMU17_REG_GYRO_CONFIG_STATIC7                 0x10
#define C6DOFIMU17_REG_GYRO_CONFIG_STATIC8                 0x11
#define C6DOFIMU17_REG_GYRO_CONFIG_STATIC9                 0x12
#define C6DOFIMU17_REG_GYRO_CONFIG_STATIC10                0x13
#define C6DOFIMU17_REG_XG_ST_DATA                          0x5F
#define C6DOFIMU17_REG_YG_ST_DATA                          0x60
#define C6DOFIMU17_REG_ZG_ST_DATA                          0x61
#define C6DOFIMU17_REG_TMSTVAL0                            0x62
#define C6DOFIMU17_REG_TMSTVAL1                            0x63
#define C6DOFIMU17_REG_TMSTVAL2                            0x64
#define C6DOFIMU17_REG_INTF_CONFIG4                        0x7A
#define C6DOFIMU17_REG_INTF_CONFIG5                        0x7B
#define C6DOFIMU17_REG_INTF_CONFIG6                        0x7C
    
#define C6DOFIMU17_REG_ACCEL_CONFIG_STATIC2                0x03
#define C6DOFIMU17_REG_ACCEL_CONFIG_STATIC3                0x04
#define C6DOFIMU17_REG_ACCEL_CONFIG_STATIC4                0x05
#define C6DOFIMU17_REG_XA_ST_DATA                          0x3B
#define C6DOFIMU17_REG_YA_ST_DATA                          0x3C
#define C6DOFIMU17_REG_ZA_ST_DATA                          0x3D
    
#define C6DOFIMU17_REG_PU_PD_CONFIG1                       0x06
#define C6DOFIMU17_REG_PU_PD_CONFIG2                       0x0E
 
#define C6DOFIMU17_REG_FDR_CONFIG                          0x09
#define C6DOFIMU17_REG_APEX_CONFIG1                        0x40
#define C6DOFIMU17_REG_APEX_CONFIG2                        0x41
#define C6DOFIMU17_REG_APEX_CONFIG3                        0x42
#define C6DOFIMU17_REG_APEX_CONFIG4                        0x43
#define C6DOFIMU17_REG_APEX_CONFIG5                        0x44
#define C6DOFIMU17_REG_APEX_CONFIG6                        0x45
#define C6DOFIMU17_REG_APEX_CONFIG7                        0x46
#define C6DOFIMU17_REG_APEX_CONFIG8                        0x47
#define C6DOFIMU17_REG_APEX_CONFIG9                        0x48
#define C6DOFIMU17_REG_APEX_CONFIG10                       0x49
#define C6DOFIMU17_REG_ACCEL_WOM_X_THR                     0x4A
#define C6DOFIMU17_REG_ACCEL_WOM_Y_THR                     0x4B
#define C6DOFIMU17_REG_ACCEL_WOM_Z_THR                     0x4C
#define C6DOFIMU17_REG_INT_SOURCE6                         0x4D
#define C6DOFIMU17_REG_INT_SOURCE7                         0x4E
#define C6DOFIMU17_REG_INT_SOURCE8                         0x4F
#define C6DOFIMU17_REG_INT_SOURCE9                         0x50
#define C6DOFIMU17_REG_INT_SOURCE10                        0x51
#define C6DOFIMU17_REG_OFFSET_USER0                        0x77
#define C6DOFIMU17_REG_OFFSET_USER1                        0x78
#define C6DOFIMU17_REG_OFFSET_USER2                        0x79
#define C6DOFIMU17_REG_OFFSET_USER3                        0x7A
#define C6DOFIMU17_REG_OFFSET_USER4                        0x7B
#define C6DOFIMU17_REG_OFFSET_USER5                        0x7C
#define C6DOFIMU17_REG_OFFSET_USER6                        0x7D
#define C6DOFIMU17_REG_OFFSET_USER7                        0x7E
#define C6DOFIMU17_REG_OFFSET_USER8                        0x7F 
 
 // c6dofimu17_reg
 
#define C6DOFIMU17_SET_TEMPERATURE_ENABLED                 0xDF
#define C6DOFIMU17_SET_TEMPERATURE_DISABLED                0x20
    
#define C6DOFIMU17_SET_GYRO_OFF_MODE                       0x00
#define C6DOFIMU17_SET_GYRO_STANDBY_MODE                   0x04
#define C6DOFIMU17_SET_GYRO_TLOW_NOISE_MODE                0x0C
    
#define C6DOFIMU17_SET_ACCEL_OFF_MODE                      0x00
#define C6DOFIMU17_SET_ACCEL_LOW_POWER_MODE                0x02
#define C6DOFIMU17_SET_ACCEL_LOW_NOISE_MODE                0x03
    
#define C6DOFIMU17_SET_GYRO_FS_SEL_2000_dps                0x00
#define C6DOFIMU17_SET_GYRO_FS_SEL_1000_dps                0x01
#define C6DOFIMU17_SET_GYRO_FS_SEL_500_dps                 0x02
#define C6DOFIMU17_SET_GYRO_FS_SEL_250_dps                 0x03
#define C6DOFIMU17_SET_GYRO_FS_SEL_125_dps                 0x04
#define C6DOFIMU17_SET_GYRO_FS_SEL_62_5_dps                0x05
#define C6DOFIMU17_SET_GYRO_FS_SEL_31_25_dps               0x06
#define C6DOFIMU17_SET_GYRO_FS_SEL_16_625_dps              0x07
    
#define C6DOFIMU17_SET_GYRO_ODR_32kHz                      0x01
#define C6DOFIMU17_SET_GYRO_ODR_16kHz                      0x02
#define C6DOFIMU17_SET_GYRO_ODR_8kHz                       0x03
#define C6DOFIMU17_SET_GYRO_ODR_4kHz                       0x04
#define C6DOFIMU17_SET_GYRO_ODR_2kHz                       0x05
#define C6DOFIMU17_SET_GYRO_ODR_1kHz                       0x06
#define C6DOFIMU17_SET_GYRO_ODR_200Hz                      0x07
#define C6DOFIMU17_SET_GYRO_ODR_100Hz                      0x08
#define C6DOFIMU17_SET_GYRO_ODR_50Hz                       0x09
#define C6DOFIMU17_SET_GYRO_ODR_25Hz                       0x0A
#define C6DOFIMU17_SET_GYRO_ODR_12_5Hz                     0x0B
    
#define C6DOFIMU17_SET_GYRO_UI_FILT_ORD_1st                0x00
#define C6DOFIMU17_SET_GYRO_UI_FILT_ORD_2st                0x01
#define C6DOFIMU17_SET_GYRO_UI_FILT_ORD_3st                0x02
    
#define C6DOFIMU17_SET_GYRO_DEC2_M2_ORD_3st                0x02
    
#define C6DOFIMU17_SET_GYRO_UI_FILT_BW_ODR_2               0x00
#define C6DOFIMU17_SET_GYRO_UI_FILT_BW_ODR_4               0x01
#define C6DOFIMU17_SET_GYRO_UI_FILT_BW_ODR_5               0x02
#define C6DOFIMU17_SET_GYRO_UI_FILT_BW_ODR_8               0x03
#define C6DOFIMU17_SET_GYRO_UI_FILT_BW_ODR_10              0x04
#define C6DOFIMU17_SET_GYRO_UI_FILT_BW_ODR_16              0x05
#define C6DOFIMU17_SET_GYRO_UI_FILT_BW_ODR_20              0x06
#define C6DOFIMU17_SET_GYRO_UI_FILT_BW_ODR_40              0x07
#define C6DOFIMU17_SET_GYRO_UI_FILT_BW_LOW_LATENCY_0       0x0E
#define C6DOFIMU17_SET_GYRO_UI_FILT_BW_LOW_LATENCY_1       0x0F
    
#define C6DOFIMU17_SET_ACCEL_FS_SEL_16g                    0x00
#define C6DOFIMU17_SET_ACCEL_FS_SEL_8g                     0x01
#define C6DOFIMU17_SET_ACCEL_FS_SEL_4g                     0x02
#define C6DOFIMU17_SET_ACCEL_FS_SEL_2g                     0x03
    
#define C6DOFIMU17_SET_ACCEL_ODR_32kHz                     0x01
#define C6DOFIMU17_SET_ACCEL_ODR_16kHz                     0x02
#define C6DOFIMU17_SET_ACCEL_ODR_8kHz                      0x03
#define C6DOFIMU17_SET_ACCEL_ODR_4kHz                      0x04
#define C6DOFIMU17_SET_ACCEL_ODR_2kHz                      0x05
#define C6DOFIMU17_SET_ACCEL_ODR_1kHz                      0x06
#define C6DOFIMU17_SET_ACCEL_ODR_200Hz                     0x07
#define C6DOFIMU17_SET_ACCEL_ODR_100Hz                     0x08
#define C6DOFIMU17_SET_ACCEL_ODR_50Hz                      0x09
#define C6DOFIMU17_SET_ACCEL_ODR_25Hz                      0x0A
#define C6DOFIMU17_SET_ACCEL_ODR_12_5Hz                    0x0B
    
#define C6DOFIMU17_SET_ACCEL_UI_FILT_BW_ODR_2              0x00
#define C6DOFIMU17_SET_ACCEL_UI_FILT_BW_ODR_4              0x01
#define C6DOFIMU17_SET_ACCEL_UI_FILT_BW_ODR_5              0x02
#define C6DOFIMU17_SET_ACCEL_UI_FILT_BW_ODR_8              0x03
#define C6DOFIMU17_SET_ACCEL_UI_FILT_BW_ODR_10             0x04
#define C6DOFIMU17_SET_ACCEL_UI_FILT_BW_ODR_16             0x05
#define C6DOFIMU17_SET_ACCEL_UI_FILT_BW_ODR_20             0x06
#define C6DOFIMU17_SET_ACCEL_UI_FILT_BW_ODR_40             0x07
#define C6DOFIMU17_SET_ACCEL_UI_FILT_BW_LOW_LATENCY_0      0x0E
#define C6DOFIMU17_SET_ACCEL_UI_FILT_BW_LOW_LATENCY_1      0x0F
    
#define C6DOFIMU17_SET_ACCEL_UI_FILT_ORD_1st               0x00
#define C6DOFIMU17_SET_ACCEL_UI_FILT_ORD_2st               0x01
#define C6DOFIMU17_SET_ACCEL_UI_FILT_ORD_3st               0x02
    
#define C6DOFIMU17_SET_ACCEL_DEC2_M2_ORD_3st               0x02
 
#define C6DOFIMU17_SET_BANK_0                              0x00
#define C6DOFIMU17_SET_BANK_1                              0x01
#define C6DOFIMU17_SET_BANK_2                              0x02
#define C6DOFIMU17_SET_BANK_3                              0x03
#define C6DOFIMU17_SET_BANK_4                              0x04
 
#define C6DOFIMU17_SET_DEV_ADDR                            0x68
 
#define C6DOFIMU17_SET_DATA_SAMPLE_EDGE      SET_SPI_DATA_SAMPLE_EDGE
#define C6DOFIMU17_SET_DATA_SAMPLE_MIDDLE    SET_SPI_DATA_SAMPLE_MIDDLE
 
 // c6dofimu17_set
 
#define C6DOFIMU17_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 )
 
 // c6dofimu17_map
 // c6dofimu17
 
typedef enum
{
   C6DOFIMU17_DRV_SEL_SPI,      
   C6DOFIMU17_DRV_SEL_I2C       
} c6dofimu17_drv_t;
 
typedef err_t ( *c6dofimu17_master_io_t )( struct c6dofimu17_s*, uint8_t, uint8_t*, uint8_t ); 
typedef struct c6dofimu17_s
{
    digital_in_t  int_pin;             
    i2c_master_t  i2c;                 
    spi_master_t  spi;                 
    uint8_t     slave_address;         
    pin_name_t  chip_select;           
    c6dofimu17_drv_t  drv_sel;         
    c6dofimu17_master_io_t  write_f;   
    c6dofimu17_master_io_t  read_f;    
} c6dofimu17_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  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;     
   c6dofimu17_drv_t  drv_sel;                           
} c6dofimu17_cfg_t;
 
typedef enum
{
   C6DOFIMU17_OK = 0,
   C6DOFIMU17_ERROR = -1
 
} c6dofimu17_return_value_t;
 
typedef struct 
{
    int16_t x;
    int16_t y;
    int16_t z;
 
} c6dofimu17_axis_t;
 
typedef struct 
{
    uint8_t gyro_fs_sel;
    uint8_t gyro_odr;
    uint8_t gyro_ui_filt_ord;
    uint8_t gyro_dec2_m2_ord;
    uint8_t gyro_ui_filt_bw;
 
} c6dofimu17_gyro_cfg_t;
 
typedef struct 
{
    uint8_t accel_fs_sel;
    uint8_t accel_odr;
    uint8_t accel_ui_filt_bw;
    uint8_t accel_ui_filt_ord;
    uint8_t accel_dec2_m2_ord;
 
} c6dofimu17_accel_cfg_t;
 
void c6dofimu17_cfg_setup ( c6dofimu17_cfg_t *cfg );
 
void c6dofimu17_drv_interface_selection ( c6dofimu17_cfg_t *cfg, c6dofimu17_drv_t drv_sel );
 
err_t c6dofimu17_init ( c6dofimu17_t *ctx, c6dofimu17_cfg_t *cfg );
 
err_t c6dofimu17_default_cfg ( c6dofimu17_t *ctx );
 
err_t c6dofimu17_generic_write ( c6dofimu17_t *ctx, uint8_t reg, uint8_t *data_in, uint8_t len );
 
err_t c6dofimu17_generic_read ( c6dofimu17_t *ctx, uint8_t reg, uint8_t *data_out, uint8_t len );
 
err_t c6dofimu17_bank_selection ( c6dofimu17_t *ctx, uint8_t bank_sel );
 
uint8_t c6dofimu17_get_interrupt ( c6dofimu17_t *ctx );
 
err_t c6dofimu17_get_device_id ( c6dofimu17_t *ctx, uint8_t *device_id );
 
err_t c6dofimu17_temperature_enable ( c6dofimu17_t *ctx );
 
err_t c6dofimu17_gyro_enable ( c6dofimu17_t *ctx );
 
err_t c6dofimu17_accel_enable ( c6dofimu17_t *ctx );
 
err_t c6dofimu17_set_config_gyro ( c6dofimu17_t *ctx, c6dofimu17_gyro_cfg_t gyro_cfg );
 
err_t c6dofimu17_get_config_gyro ( c6dofimu17_t *ctx, c6dofimu17_gyro_cfg_t *gyro_cfg );
 
err_t c6dofimu17_set_config_accel ( c6dofimu17_t *ctx, c6dofimu17_accel_cfg_t accel_cfg );
 
err_t c6dofimu17_get_config_accel ( c6dofimu17_t *ctx, c6dofimu17_accel_cfg_t *accel_cfg );
 
err_t c6dofimu17_soft_reset ( c6dofimu17_t *ctx );
 
err_t c6dofimu17_get_accel_data ( c6dofimu17_t *ctx, c6dofimu17_axis_t *accel_data );
 
err_t c6dofimu17_get_gyro_data ( c6dofimu17_t *ctx, c6dofimu17_axis_t *gyro_data );
 
err_t c6dofimu17_get_temperature ( c6dofimu17_t *ctx, float *temperature );
 
#ifdef __cplusplus
}
#endif
#endif // C6DOFIMU17_H
 
 // c6dofimu17
 
// ------------------------------------------------------------------------ END