c6dofimu18/html/c6dofimu18_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 C6DOFIMU18_H

#define C6DOFIMU18_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 C6DOFIMU18_REG_DEVICE_CONFIG                0x11

#define C6DOFIMU18_REG_DRIVE_CONFIG                 0x13

#define C6DOFIMU18_REG_INT_CONFIG                   0x14

#define C6DOFIMU18_REG_FIFO_CONFIG                  0x16

#define C6DOFIMU18_REG_TEMP_DATA1                   0x1D

#define C6DOFIMU18_REG_TEMP_DATA0                   0x1E

#define C6DOFIMU18_REG_ACCEL_DATA_X1                0x1F

#define C6DOFIMU18_REG_ACCEL_DATA_X0                0x20

#define C6DOFIMU18_REG_ACCEL_DATA_Y1                0x21

#define C6DOFIMU18_REG_ACCEL_DATA_Y0                0x22

#define C6DOFIMU18_REG_ACCEL_DATA_Z1                0x23

#define C6DOFIMU18_REG_ACCEL_DATA_Z0                0x24

#define C6DOFIMU18_REG_GYRO_DATA_X1                 0x25

#define C6DOFIMU18_REG_GYRO_DATA_X0                 0x26

#define C6DOFIMU18_REG_GYRO_DATA_Y1                 0x27

#define C6DOFIMU18_REG_GYRO_DATA_Y0                 0x28

#define C6DOFIMU18_REG_GYRO_DATA_Z1                 0x29

#define C6DOFIMU18_REG_GYRO_DATA_Z0                 0x2A

#define C6DOFIMU18_REG_TMST_FSYNCH                  0x2B

#define C6DOFIMU18_REG_TMST_FSYNCL                  0x2C

#define C6DOFIMU18_REG_INT_STATUS                   0x2D

#define C6DOFIMU18_REG_FIFO_COUNTH                  0x2E

#define C6DOFIMU18_REG_FIFO_COUNTL                  0x2F

#define C6DOFIMU18_REG_FIFO_DATA                    0x30

#define C6DOFIMU18_REG_APEX_DATA0                   0x31

#define C6DOFIMU18_REG_APEX_DATA1                   0x32

#define C6DOFIMU18_REG_APEX_DATA2                   0x33

#define C6DOFIMU18_REG_APEX_DATA3                   0x34

#define C6DOFIMU18_REG_APEX_DATA4                   0x35

#define C6DOFIMU18_REG_APEX_DATA5                   0x36

#define C6DOFIMU18_REG_INT_STATUS2                  0x37

#define C6DOFIMU18_REG_INT_STATUS3                  0x38

#define C6DOFIMU18_REG_SIGNAL_PATH_RESET            0x4B

#define C6DOFIMU18_REG_INTF_CONFIG0                 0x4C

#define C6DOFIMU18_REG_INTF_CONFIG1                 0x4D

#define C6DOFIMU18_REG_PWR_MGMT0                    0x4E

#define C6DOFIMU18_REG_GYRO_CONFIG0                 0x4F

#define C6DOFIMU18_REG_ACCEL_CONFIG0                0x50

#define C6DOFIMU18_REG_GYRO_CONFIG1                 0x51

#define C6DOFIMU18_REG_GYRO_ACCEL_CONFIG0           0x52

#define C6DOFIMU18_REG_ACCEL_CONFIG1                0x53

#define C6DOFIMU18_REG_TMST_CONFIG                  0x54

#define C6DOFIMU18_REG_APEX_CONFIG0                 0x56

#define C6DOFIMU18_REG_SMD_CONFIG                   0x57

#define C6DOFIMU18_REG_FIFO_CONFIG1                 0x5F

#define C6DOFIMU18_REG_FIFO_CONFIG2                 0x60

#define C6DOFIMU18_REG_FIFO_CONFIG3                 0x61

#define C6DOFIMU18_REG_FSYNC_CONFIG                 0x62

#define C6DOFIMU18_REG_INT_CONFIG0                  0x63

#define C6DOFIMU18_REG_INT_CONFIG1                  0x64

#define C6DOFIMU18_REG_INT_SOURCE0                  0x65

#define C6DOFIMU18_REG_INT_SOURCE1                  0x66

#define C6DOFIMU18_REG_INT_SOURCE3                  0x68

#define C6DOFIMU18_REG_INT_SOURCE4                  0x69

#define C6DOFIMU18_REG_FIFO_LOST_PKT0               0x6C

#define C6DOFIMU18_REG_FIFO_LOST_PKT1               0x6D

#define C6DOFIMU18_REG_SELF_TEST_CONFIG             0x70

#define C6DOFIMU18_REG_WHO_AM_I                     0x75

#define C6DOFIMU18_REG_BANK_SEL                     0x76


#define C6DOFIMU18_REG_SENSOR_CONFIG0               0x03

#define C6DOFIMU18_REG_GYRO_CONFIG_STATIC2          0x0B

#define C6DOFIMU18_REG_GYRO_CONFIG_STATIC3          0x0C

#define C6DOFIMU18_REG_GYRO_CONFIG_STATIC4          0x0D

#define C6DOFIMU18_REG_GYRO_CONFIG_STATIC5          0x0E

#define C6DOFIMU18_REG_GYRO_CONFIG_STATIC6          0x0F

#define C6DOFIMU18_REG_GYRO_CONFIG_STATIC7          0x10

#define C6DOFIMU18_REG_GYRO_CONFIG_STATIC8          0x11

#define C6DOFIMU18_REG_GYRO_CONFIG_STATIC9          0x12

#define C6DOFIMU18_REG_GYRO_CONFIG_STATIC10         0x13

#define C6DOFIMU18_REG_XG_ST_DATA                   0x5F

#define C6DOFIMU18_REG_YG_ST_DATA                   0x60

#define C6DOFIMU18_REG_ZG_ST_DATA                   0x61

#define C6DOFIMU18_REG_TMSTVAL0                     0x62

#define C6DOFIMU18_REG_TMSTVAL1                     0x63

#define C6DOFIMU18_REG_TMSTVAL2                     0x64

#define C6DOFIMU18_REG_INTF_CONFIG4                 0x7A

#define C6DOFIMU18_REG_INTF_CONFIG5                 0x7B

#define C6DOFIMU18_REG_INTF_CONFIG6                 0x7C


#define C6DOFIMU18_REG_ACCEL_CONFIG_STATIC2         0x03

#define C6DOFIMU18_REG_ACCEL_CONFIG_STATIC3         0x04

#define C6DOFIMU18_REG_ACCEL_CONFIG_STATIC4         0x05

#define C6DOFIMU18_REG_XA_ST_DATA                   0x3B

#define C6DOFIMU18_REG_YA_ST_DATA                   0x3C

#define C6DOFIMU18_REG_ZA_ST_DATA                   0x3D


#define C6DOFIMU18_REG_APEX_CONFIG1                 0x40

#define C6DOFIMU18_REG_APEX_CONFIG2                 0x41

#define C6DOFIMU18_REG_APEX_CONFIG3                 0x42

#define C6DOFIMU18_REG_APEX_CONFIG4                 0x43

#define C6DOFIMU18_REG_APEX_CONFIG5                 0x44

#define C6DOFIMU18_REG_APEX_CONFIG6                 0x45

#define C6DOFIMU18_REG_APEX_CONFIG7                 0x46

#define C6DOFIMU18_REG_APEX_CONFIG8                 0x47

#define C6DOFIMU18_REG_APEX_CONFIG9                 0x48

#define C6DOFIMU18_REG_ACCEL_WOM_X_THR              0x4A

#define C6DOFIMU18_REG_ACCEL_WOM_Y_THR              0x4B

#define C6DOFIMU18_REG_ACCEL_WOM_Z_THR              0x4C

#define C6DOFIMU18_REG_INT_SOURCE6                  0x4D

#define C6DOFIMU18_REG_INT_SOURCE7                  0x4E

#define C6DOFIMU18_REG_INT_SOURCE8                  0x4F

#define C6DOFIMU18_REG_INT_SOURCE9                  0x50

#define C6DOFIMU18_REG_INT_SOURCE10                 0x51

#define C6DOFIMU18_REG_OFFSET_USER0                 0x77

#define C6DOFIMU18_REG_OFFSET_USER1                 0x78

#define C6DOFIMU18_REG_OFFSET_USER2                 0x79

#define C6DOFIMU18_REG_OFFSET_USER3                 0x7A

#define C6DOFIMU18_REG_OFFSET_USER4                 0x7B

#define C6DOFIMU18_REG_OFFSET_USER5                 0x7C

#define C6DOFIMU18_REG_OFFSET_USER6                 0x7D

#define C6DOFIMU18_REG_OFFSET_USER7                 0x7E

#define C6DOFIMU18_REG_OFFSET_USER8                 0x7F


 // c6dofimu18_reg


#define C6DOFIMU18_BANK0_SEL                        0x00

#define C6DOFIMU18_BANK1_SEL                        0x01

#define C6DOFIMU18_BANK2_SEL                        0x02

#define C6DOFIMU18_BANK3_SEL                        0x03

#define C6DOFIMU18_BANK4_SEL                        0x04


#define C6DOFIMU18_SLEW_RATE_60nS                   0x00

#define C6DOFIMU18_SLEW_RATE_36nS                   0x01

#define C6DOFIMU18_SLEW_RATE_18nS                   0x02

#define C6DOFIMU18_SLEW_RATE_12nS                   0x03

#define C6DOFIMU18_SLEW_RATE_6nS                    0x04

#define C6DOFIMU18_SLEW_RATE_2nS                    0x05


#define C6DOFIMU18_SPI_MODE0_MODE3                  0x00

#define C6DOFIMU18_SPI_MODE1_MODE2                  0x01


#define C6DOFIMU18_ENABLE_SW_RESET                  0x01


#define C6DOFIMU18_DMP_IDEL_FLAG                    0x04

#define C6DOFIMU18_ACTIVITY_UNKNOWN                 0x00

#define C6DOFIMU18_ACTIVITY_WALK                    0x01

#define C6DOFIMU18_ACTIVITY_RUN                     0x02

#define C6DOFIMU18_ACTIVITY_MASK                    0x03


#define C6DOFIMU18_TAP_NUM_MASK                     0x18

#define C6DOFIMU18_TAP_SINGLE                       0x08

#define C6DOFIMU18_TAP_DOUBLE                       0x10

#define C6DOFIMU18_TAP_AXIS_MASK                    0x06

#define C6DOFIMU18_TAP_AXIS_X                       0x00

#define C6DOFIMU18_TAP_AXIS_Y                       0x02

#define C6DOFIMU18_TAP_AXIS_Z                       0x04

#define C6DOFIMU18_TAP_DIR_MASK                     0x01

#define C6DOFIMU18_TAP_DIR_POSITIVE                 0x00

#define C6DOFIMU18_TAP_DIR_NEGATIVE                 0x01


#define C6DOFIMU18_INT_INT2_MODE_PULSED             0x00

#define C6DOFIMU18_INT_INT2_MODE_LATCHED            0x20

#define C6DOFIMU18_INT_INT2_OPEN_DRAIN              0x00

#define C6DOFIMU18_INT_INT2_PUSH_PULL               0x10

#define C6DOFIMU18_INT_INT2_ACTIVE_LOW              0x00

#define C6DOFIMU18_INT_INT2_ACTIVE_HIGH             0x08

#define C6DOFIMU18_INT_INT1_MODE_PULSED             0x00

#define C6DOFIMU18_INT_INT1_MODE_LATCHED            0x04

#define C6DOFIMU18_INT_INT1_OPEN_DRAIN              0x00

#define C6DOFIMU18_INT_INT1_PUSH_PULL               0x02

#define C6DOFIMU18_INT_INT1_ACTIVE_LOW              0x00

#define C6DOFIMU18_INT_INT1_ACTIVE_HIGH             0x01

#define C6DOFIMU18_INT_CONFIG_MASK                  0x3F


#define C6DOFIMU18_DRDY_INT_CLR_ON_STATUS_READ      0x00

#define C6DOFIMU18_DRDY_INT_CLR_FIFO_READ           0x20

#define C6DOFIMU18_DRDY_INT_CLR_STATUS_AND_REG      0x30

#define C6DOFIMU18_FIFO_INT_CLR_ON_STATUS_READ      0x00

#define C6DOFIMU18_FIFO_INT_CLR_FIFO_READ           0x80

#define C6DOFIMU18_FIFO_INT_CLR_STATUS_AND_REG      0xc0

#define C6DOFIMU18_FIFO_FULL_CLR_ON_STATUS_READ     0x00

#define C6DOFIMU18_FIFO_FULL_CLR_FIFO_READ          0x02

#define C6DOFIMU18_FIFO_FULL_CLR_STATUS_AND_REG     0x03


#define C6DOFIMU18_INT_TPULSE_100uS                 0x00

#define C6DOFIMU18_INT_TPULSE_8uS                   0x40

#define C6DOFIMU18_INT_TDEASSERT_DISABLE            0x20

#define C6DOFIMU18_INT_ASYNC_RESET_DISABLE          0x10

#define C6DOFIMU18_INT_ASYNC_RESET_ENABLE           0x00

#define C6DOFIMU18_INT_CONFIG1_MASK                 0x70


#define C6DOFIMU18_INT_UI_FSYNC_INT1_EN             0x40

#define C6DOFIMU18_INT_PLL_RDY_INT1_EN              0x20

#define C6DOFIMU18_INT_RESET_DONE_INT1_EN           0x10

#define C6DOFIMU18_INT_UI_DRDY_INT1_EN              0x08

#define C6DOFIMU18_INT_FIFO_THS_INT1_EN             0x04

#define C6DOFIMU18_INT_FIFO_FULL_INT1_EN            0x02

#define C6DOFIMU18_INT_UI_AGC_RDY_INT1_EN           0x01

#define C6DOFIMU18_INT_SOURCE0_MASK                 0x7F


#define C6DOFIMU18_SMD_INT1_EN                      0x08

#define C6DOFIMU18_WOM_Z_INT1_EN                    0x04

#define C6DOFIMU18_WOM_Y_INT1_EN                    0x02

#define C6DOFIMU18_WOM_X_INT1_EN                    0x01

#define C6DOFIMU18_INT_SOURCE1_MASK                 0x0F


#define C6DOFIMU18_INT_UI_FSYNC_INT2_EN             0x40

#define C6DOFIMU18_INT_PLL_RDY_INT2_EN              0x20

#define C6DOFIMU18_INT_RESET_DONE_INT2_EN           0x10

#define C6DOFIMU18_INT_UI_DRDY_INT2_EN              0x08

#define C6DOFIMU18_INT_FIFO_THS_INT2_EN             0x04

#define C6DOFIMU18_INT_FIFO_FULL_INT2_EN            0x02

#define C6DOFIMU18_INT_UI_AGC_RDY_INT2_EN           0x01

#define C6DOFIMU18_INT_SOURCE3_MASK                 0x7F


#define C6DOFIMU18_SMD_INT2_EN                      0x08

#define C6DOFIMU18_WOM_Z_INT2_EN                    0x04

#define C6DOFIMU18_WOM_Y_INT2_EN                    0x02

#define C6DOFIMU18_WOM_X_INT2_EN                    0x01

#define C6DOFIMU18_INT_SOURCE4_MASK                 0x0F


#define C6DOFIMU18_INT_SOURCE6_STEP_DET_INT1_EN     0x20

#define C6DOFIMU18_INT_SOURCE6_STEP_CNT_INT1_EN     0x10

#define C6DOFIMU18_INT_SOURCE6_TILT_DET_INT1_EN     0x08

#define C6DOFIMU18_INT_SOURCE6_TAP_DET_INT1_EN      0x01

#define C6DOFIMU18_INT_SOURCE6_MASK                 0x39


#define C6DOFIMU18_INT_SOURCE7_STEP_DET_INT2_EN     0x20

#define C6DOFIMU18_INT_SOURCE7_STEP_CNT_INT2_EN     0x10

#define C6DOFIMU18_INT_SOURCE7_TILT_DET_INT2_EN     0x08

#define C6DOFIMU18_INT_SOURCE7_TAP_DET_INT2_EN      0x01

#define C6DOFIMU18_INT_SOURCE7_MASK                 0x39


#define C6DOFIMU18_UI_FSYNC_INT_FLAG                0x40

#define C6DOFIMU18_PLL_DONE_INT_FLAG                0x20

#define C6DOFIMU18_RESET_DONE_INT_FLAG              0x10

#define C6DOFIMU18_DATA_RDY_INT_FLAG                0x08

#define C6DOFIMU18_FIFO_THS_INT_FLAG                0x04

#define C6DOFIMU18_FIFO_FULL_INT_FLAG               0x02

#define C6DOFIMU18_AGC_RDY_INT_FLAG                 0x01


#define C6DOFIMU18_SMD_INT_FLAG                     0x08

#define C6DOFIMU18_WOM_Z_INT_FLAG                   0x04

#define C6DOFIMU18_WOM_Y_INT_FLAG                   0x02

#define C6DOFIMU18_WOM_X_INT_FLAG                   0x01


#define C6DOFIMU18_STEP_DET_INT_FLAG                0x10

#define C6DOFIMU18_STEP_CNT_OVF_INT_FLAG            0x08

#define C6DOFIMU18_TILT_DET_INT_FLAG                0x04

#define C6DOFIMU18_SLEEP_INT_FLAG                   0x02

#define C6DOFIMU18_TAP_DET_INT_FLAG                 0x01


#define C6DOFIMU18_FIFO_HLD_LAST_DATA_EN            0x80

#define C6DOFIMU18_FIFO_COUNT_REC                   0x40

#define C6DOFIMU18_FIFO_COUNT_ENDIAN                0x20

#define C6DOFIMU18_FIFO_DATA_ENDIAN                 0x10

#define C6DOFIMU18_UI_SIFS_CFG_DISABLE_I2C          0x03

#define C6DOFIMU18_UI_SIFS_CFG_DISABLE_SPI          0x02

#define C6DOFIMU18_INTF_CONFIG0_MASK                0xF3


#define C6DOFIMU18_ACCEL_LP_CLK_SEL_WAKE_UP_OSC     0x00

#define C6DOFIMU18_ACCEL_LP_CLK_SEL_RC_OSC          0x08

#define C6DOFIMU18_ACCEL_CLKSEL_RC                  0x00

#define C6DOFIMU18_ACCEL_CLKSEL_PLL_OR_RC           0x01

#define C6DOFIMU18_ACCEL_CLKSEL_DISABLE             0x03


#define C6DOFIMU18_SPI_3WIRE                        0x00

#define C6DOFIMU18_SPI_4WIRE                        0x02


#define C6DOFIMU18_PIN9_INT2                        0x00

#define C6DOFIMU18_PIN9_FSYNC                       0x01


#define C6DOFIMU18_DMP_INIT_EN                      0x40

#define C6DOFIMU18_DMP_MEM_RESET_EN                 0x20

#define C6DOFIMU18_ABORT_AND_RESET                  0x08

#define C6DOFIMU18_TMST_STROBE                      0x04

#define C6DOFIMU18_FIFO_FLUSH                       0x02


#define C6DOFIMU18_PWR_TEMP_DIS                     0x20

#define C6DOFIMU18_PWR_IDLE_OFF                     0x10

#define C6DOFIMU18_PWR_GYRO_MODE_OFF                0x00

#define C6DOFIMU18_PWR_GYRO_STANDBY                 0x04

#define C6DOFIMU18_PWR_GYRO_LN_MODE                 0x0C

#define C6DOFIMU18_PWR_ACCEL_MODE_OFF               0x00

#define C6DOFIMU18_PWR_ACCEL_LP_MODE                0x02

#define C6DOFIMU18_PWR_ACCEL_LN_MODE                0x03


#define C6DOFIMU18_GYRO_FS_SEL_2000DPS              0x00

#define C6DOFIMU18_GYRO_FS_SEL_1000DPS              0x20

#define C6DOFIMU18_GYRO_FS_SEL_500DPS               0x40

#define C6DOFIMU18_GYRO_FS_SEL_250DPS               0x60

#define C6DOFIMU18_GYRO_FS_SEL_125DPS               0x80

#define C6DOFIMU18_GYRO_FS_SEL_62DPS                0xA0

#define C6DOFIMU18_GYRO_FS_SEL_32DPS                0xC0

#define C6DOFIMU18_GYRO_FS_SEL_15DPS                0xE0

#define C6DOFIMU18_GYRO_FS_SEL_MASK                 0xE0

#define C6DOFIMU18_GYRO_ODR_8kHz                    0x03

#define C6DOFIMU18_GYRO_ODR_4kHz                    0x04

#define C6DOFIMU18_GYRO_ODR_2kHz                    0x05

#define C6DOFIMU18_GYRO_ODR_1kHz                    0x06

#define C6DOFIMU18_GYRO_ODR_200Hz                   0x07

#define C6DOFIMU18_GYRO_ODR_100Hz                   0x08

#define C6DOFIMU18_GYRO_ODR_50Hz                    0x09

#define C6DOFIMU18_GYRO_ODR_25Hz                    0x0A

#define C6DOFIMU18_GYRO_ODR_12Hz                    0x0B

#define C6DOFIMU18_GYRO_ODR_500Hz                   0x0F

#define C6DOFIMU18_GYRO_ODR_MASK                    0x0F

#define C6DOFIMU18_GYRO_ODR_MASK                    0x0F


#define C6DOFIMU18_TEMP_FILT_BW_4kHz                0x00

#define C6DOFIMU18_TEMP_FILT_BW_170Hz               0x20

#define C6DOFIMU18_TEMP_FILT_BW_82Hz                0x40

#define C6DOFIMU18_TEMP_FILT_BW_40Hz                0x60

#define C6DOFIMU18_TEMP_FILT_BW_20Hz                0x80

#define C6DOFIMU18_TEMP_FILT_BW_10Hz                0xA0

#define C6DOFIMU18_TEMP_FILT_BW_5Hz_0               0xC0

#define C6DOFIMU18_TEMP_FILT_BW_5Hz_1               0xE0

#define C6DOFIMU18_GYRO_UI_FILT_ORD_1st             0x00

#define C6DOFIMU18_GYRO_UI_FILT_ORD_2nd             0x04

#define C6DOFIMU18_GYRO_UI_FILT_ORD_3rd             0x08

#define C6DOFIMU18_GYRO_UI_FILT_ORD_MASK            0x0C

#define C6DOFIMU18_GYRO_DEC2_M2_ORD_3rd             0x02

#define C6DOFIMU18_GYRO_CONFIG1_MASK                0xEF


#define C6DOFIMU18_ACCEL_FS_SEL_16G                 0x00

#define C6DOFIMU18_ACCEL_FS_SEL_8G                  0x20

#define C6DOFIMU18_ACCEL_FS_SEL_4G                  0x40

#define C6DOFIMU18_ACCEL_FS_SEL_2G                  0x60

#define C6DOFIMU18_ACCEL_FS_SEL_MASK                0x60

#define C6DOFIMU18_ACCEL_ODR_8kHz_LN                0x03

#define C6DOFIMU18_ACCEL_ODR_4kHz_LN                0x04

#define C6DOFIMU18_ACCEL_ODR_2kHz_LN                0x05

#define C6DOFIMU18_ACCEL_ODR_1kHz_LN                0x06

#define C6DOFIMU18_ACCEL_ODR_200Hz_LP_LN            0x07

#define C6DOFIMU18_ACCEL_ODR_100Hz_LP_LN            0x08

#define C6DOFIMU18_ACCEL_ODR_50Hz_LP_LN             0x09

#define C6DOFIMU18_ACCEL_ODR_25Hz_LP_LN             0x0A

#define C6DOFIMU18_ACCEL_ODR_12Hz_LP_LN             0x0B

#define C6DOFIMU18_ACCEL_ODR_6Hz_LP                 0x0C

#define C6DOFIMU18_ACCEL_ODR_3Hz_LP                 0x0D

#define C6DOFIMU18_ACCEL_ODR_1Hz_LP                 0x0E

#define C6DOFIMU18_ACCEL_ODR_500Hz_LP_LN            0x0F

#define C6DOFIMU18_ACCEL_ODR_MASK                   0x0F


#define C6DOFIMU18_ACCEL_UI_FILT_ORD_1st            0x00

#define C6DOFIMU18_ACCEL_UI_FILT_ORD_2nd            0x08

#define C6DOFIMU18_ACCEL_UI_FILT_ORD_3rd            0x10

#define C6DOFIMU18_ACCEL_UI_FILT_ORD_MASK           0x18

#define C6DOFIMU18_ACCEL_DEC2_M2_ORD_3rd            0x04


#define C6DOFIMU18_TMST_TO_REGS_EN                  0x10

#define C6DOFIMU18_TMST_RES                         0x08

#define C6DOFIMU18_TMST_DELTA_EN                    0x04

#define C6DOFIMU18_TMST_FSYNC_EN                    0x02

#define C6DOFIMU18_TMST_EN                          0x01

#define C6DOFIMU18_TMST_MASK                        0x1F


#define C6DOFIMU18_FIFO_BYPASS                      0x00

#define C6DOFIMU18_FIFO_STREAM_TO_FIFO              0x40

#define C6DOFIMU18_FIFO_STOP_ON_FULL                0x80

#define C6DOFIMU18_FIFO_CONFIG_MASK                 0xC0


#define C6DOFIMU18_FIFO_RESUME_PARTIAL_RD           0x40

#define C6DOFIMU18_FIFO_WM_GT_TH                    0x20

#define C6DOFIMU18_FIFO_TMST_FSYNC_EN               0x08

#define C6DOFIMU18_FIFO_TEMP_EN                     0x04

#define C6DOFIMU18_FIFO_GYRO_EN                     0x02

#define C6DOFIMU18_FIFO_ACCEL_EN                    0x01


#define C6DOFIMU18_DO_NOT_TAG_FSYNC                 0x00

#define C6DOFIMU18_FSYNC_TAG_TEMP_OUT_LSB           0x10

#define C6DOFIMU18_FSYNC_GYRO_XOUT_LSB              0x20

#define C6DOFIMU18_FSYNC_GYRO_YOUT_LSB              0x30

#define C6DOFIMU18_FSYNC_GYRO_ZOUT_LSB              0x40

#define C6DOFIMU18_FSYNC_ACCEL_XOUT_LSB             0x50

#define C6DOFIMU18_FSYNC_ACCEL_YOUT_LSB             0x60

#define C6DOFIMU18_FSYNC_ACCEL_ZOUT_LSB             0x70

#define C6DOFIMU18_FSYNC_UI_SEL_MASK                0x70

#define C6DOFIMU18_FSYNC_UI_FLAG_CLEAR_SEL          0x02

#define C6DOFIMU18_FSYNC_POLARITY_RISING_EGDE       0x01

#define C6DOFIMU18_FSYNC_POLARITY_FALLING_EGDE      0x01


#define C6DOFIMU18_DMP_POVER_SAVE_EN                0x80

#define C6DOFIMU18_TAP_ENABLE                       0x40

#define C6DOFIMU18_PED_ENABLE                       0x20

#define C6DOFIMU18_TILT_ENABLE                      0x10

#define C6DOFIMU18_R2W_ENABLE                       0x08

#define C6DOFIMU18_DMP_ODR_25Hz                     0x00

#define C6DOFIMU18_DMP_ODR_50Hz                     0x02


#define C6DOFIMU18_LOW_ENERGY_AMP_TH_SEL            0xA0

#define C6DOFIMU18_DMP_POVER_SAVE_TIME_0S           0x00

#define C6DOFIMU18_DMP_POVER_SAVE_TIME_4S           0x01

#define C6DOFIMU18_DMP_POWER_SAVE_TIME_8S           0x02

#define C6DOFIMU18_DMP_POWER_SAVE_TIME_12S          0x03

#define C6DOFIMU18_DMP_POWER_SAVE_TIME_16S          0x04

#define C6DOFIMU18_DMP_POWER_SAVE_TIME_20S          0x05

#define C6DOFIMU18_DMP_POWER_SAVE_TIME_24S          0x06

#define C6DOFIMU18_DMP_POWER_SAVE_TIME_28S          0x07

#define C6DOFIMU18_DMP_POWER_SAVE_TIME_32S          0x08

#define C6DOFIMU18_DMP_POWER_SAVE_TIME_36S          0x09

#define C6DOFIMU18_DMP_POWER_SAVE_TIME_40S          0x0A

#define C6DOFIMU18_DMP_POWER_SAVE_TIME_44S          0x0B

#define C6DOFIMU18_DMP_POWER_SAVE_TIME_48S          0x0C

#define C6DOFIMU18_DMP_POWER_SAVE_TIME_52S          0x0D

#define C6DOFIMU18_DMP_POWER_SAVE_TIME_56S          0x0E

#define C6DOFIMU18_DMP_POWER_SAVE_TIME_60S          0x0F


#define C6DOFIMU18_PED_AMP_TH_SEL                   0x80

#define C6DOFIMU18_PED_STEP_CNT_TH_0_STEPS          0x00

#define C6DOFIMU18_PED_STEP_CNT_TH_1_STEPS          0x01

#define C6DOFIMU18_PED_STEP_CNT_TH_2_STEPS          0x02

#define C6DOFIMU18_PED_STEP_CNT_TH_3_STEPS          0x03

#define C6DOFIMU18_PED_STEP_CNT_TH_4_STEPS          0x04

#define C6DOFIMU18_PED_STEP_CNT_TH_5_STEPS          0x05

#define C6DOFIMU18_PED_STEP_CNT_TH_6_STEPS          0x06

#define C6DOFIMU18_PED_STEP_CNT_TH_7_STEPS          0x07

#define C6DOFIMU18_PED_STEP_CNT_TH_8_STEPS          0x08

#define C6DOFIMU18_PED_STEP_CNT_TH_9_STEPS          0x09

#define C6DOFIMU18_PED_STEP_CNT_TH_10_STEPS         0x0A

#define C6DOFIMU18_PED_STEP_CNT_TH_11_STEPS         0x0B

#define C6DOFIMU18_PED_STEP_CNT_TH_12_STEPS         0x0C

#define C6DOFIMU18_PED_STEP_CNT_TH_13_STEPS         0x0D

#define C6DOFIMU18_PED_STEP_CNT_TH_14_STEPS         0x0E

#define C6DOFIMU18_PED_STEP_CNT_TH_15_STEPS         0x0F

#define C6DOFIMU18_PED_STEP_CNT_TH_MASK             0x0F


#define C6DOFIMU18_PED_STEP_DET_TH_0_STEPS          0x00

#define C6DOFIMU18_PED_STEP_DET_TH_1_STEPS          0x20

#define C6DOFIMU18_PED_STEP_DET_TH_2_STEPS          0x40

#define C6DOFIMU18_PED_STEP_DET_TH_3_STEPS          0x60

#define C6DOFIMU18_PED_STEP_DET_TH_4_STEPS          0x80

#define C6DOFIMU18_PED_STEP_DET_TH_5_STEPS          0xA0

#define C6DOFIMU18_PED_STEP_DET_TH_6_STEPS          0xC0

#define C6DOFIMU18_PED_STEP_DET_TH_7_STEPS          0xE0

#define C6DOFIMU18_PED_SB_TIMER_TH_0_SAMPLES        0x00

#define C6DOFIMU18_PED_SB_TIMER_TH_1_SAMPLES        0x04

#define C6DOFIMU18_PED_SB_TIMER_TH_2_SAMPLES        0x08

#define C6DOFIMU18_PED_SB_TIMER_TH_3_SAMPLES        0x0C

#define C6DOFIMU18_PED_SB_TIMER_TH_4_SAMPLES        0x10

#define C6DOFIMU18_PED_SB_TIMER_TH_5_SAMPLES        0x14

#define C6DOFIMU18_PED_SB_TIMER_TH_6_SAMPLES        0x18

#define C6DOFIMU18_PED_SB_TIMER_TH_7_SAMPLES        0x1C

#define C6DOFIMU18_PED_HI_EN_TH_SEL                 0x01


#define C6DOFIMU18_TILT_WAIT_TIME_0S                0x00

#define C6DOFIMU18_TILT_WAIT_TIME_2S                0x40

#define C6DOFIMU18_TILT_WAIT_TIME_4S                0x80

#define C6DOFIMU18_TILT_WAIT_TIME_6S                0xC0

#define C6DOFIMU18_TILT_WAIT_TIME_MASK              0xC0

#define C6DOFIMU18_SLEEP_TIME_OUT_1s28              0x00

#define C6DOFIMU18_SLEEP_TIME_OUT_2s56              0x08

#define C6DOFIMU18_SLEEP_TIME_OUT_3s84              0x10

#define C6DOFIMU18_SLEEP_TIME_OUT_5s12              0x18

#define C6DOFIMU18_SLEEP_TIME_OUT_6s4               0x20

#define C6DOFIMU18_SLEEP_TIME_OUT_7s68              0x28

#define C6DOFIMU18_SLEEP_TIME_OUT_8s96              0x30

#define C6DOFIMU18_SLEEP_TIME_OUT_10s24             0x38

#define C6DOFIMU18_SLEEP_TIME_OUT_MASK              0x38


#define C6DOFIMU18_TAP_MIN_JERK_THR                 0x44

#define C6DOFIMU18_TAP_MAX_OEAK_TOL                 0x01


#define C6DOFIMU18_TAP_TMAX                         0x20

#define C6DOFIMU18_TAP_TAVG                         0x08

#define C6DOFIMU18_TAP_TMIN                         0x03


#define C6DOFIMU18_SENSITIVITY_MODE_HIGH_PERF       0x00

#define C6DOFIMU18_SENSITIVITY_MODE_SLOW_WALK       0x01


#define C6DOFIMU18_TEMPERATURE_DIV                  132.48

#define C6DOFIMU18_TEMPERATURE_ADD                  25


#define C6DOFIMU18_WHO_AM_I_VALUE                   0x42


#define C6DOFIMU18_DEVICE_ADDRESS_GND               0x68

#define C6DOFIMU18_DEVICE_ADDRESS_VCC               0x69


#define C6DOFIMU18_SET_DATA_SAMPLE_EDGE         SET_SPI_DATA_SAMPLE_EDGE

#define C6DOFIMU18_SET_DATA_SAMPLE_MIDDLE       SET_SPI_DATA_SAMPLE_MIDDLE


 // c6dofimu18_set


#define C6DOFIMU18_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.ryc = MIKROBUS( mikrobus, MIKROBUS_AN ); \

    cfg.int_pin = MIKROBUS( mikrobus, MIKROBUS_INT )


 // c6dofimu18_map

 // c6dofimu18


typedef enum

{

    C6DOFIMU18_DRV_SEL_SPI,

    C6DOFIMU18_DRV_SEL_I2C

} c6dofimu18_drv_t;


typedef err_t ( *c6dofimu18_master_io_t )( struct c6dofimu18_s*, uint8_t, uint8_t*, uint8_t );


typedef struct c6dofimu18_s

{

    digital_in_t ryc;

    digital_in_t int_pin;

    i2c_master_t i2c;

    spi_master_t spi;

    uint8_t      slave_address;

    pin_name_t   chip_select;

    spi_master_mode_t spi_mode;

    uint8_t     slew_rate;

    c6dofimu18_drv_t drv_sel;

    c6dofimu18_master_io_t write_f;

    c6dofimu18_master_io_t read_f;

} c6dofimu18_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 ryc;

    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;

    c6dofimu18_drv_t drv_sel;

} c6dofimu18_cfg_t;


typedef struct

{

    int16_t data_x;

    int16_t data_y;

    int16_t data_z;


} c6dofimu18_data_t;


typedef enum

{

    C6DOFIMU18_OK = 0,

    C6DOFIMU18_ERROR = -1,

    C6DOFIMU18_RESET_ERROR = -2


} c6dofimu18_return_value_t;


void c6dofimu18_cfg_setup ( c6dofimu18_cfg_t *cfg );


void c6dofimu18_drv_interface_selection ( c6dofimu18_cfg_t *cfg, c6dofimu18_drv_t drv_sel );


err_t c6dofimu18_init ( c6dofimu18_t *ctx, c6dofimu18_cfg_t *cfg );


err_t c6dofimu18_default_cfg ( c6dofimu18_t *ctx );


err_t c6dofimu18_generic_write ( c6dofimu18_t *ctx, uint8_t reg, uint8_t *data_in, uint8_t len );


err_t c6dofimu18_generic_read ( c6dofimu18_t *ctx, uint8_t reg, uint8_t *data_out, uint8_t len );


err_t c6dofimu18_set_reg_bank( c6dofimu18_t *ctx, uint8_t bank );


err_t c6dofimu18_reg_write ( c6dofimu18_t *ctx, uint8_t reg_bank, uint8_t reg, uint8_t *data_in, uint8_t len );


err_t c6dofimu18_reg_read ( c6dofimu18_t *ctx, uint8_t reg_bank, uint8_t reg, uint8_t *data_out, uint8_t len );


err_t c6dofimu18_configure_digital_interface ( c6dofimu18_t *ctx, uint8_t slew_rate );


uint8_t c6dofimu18_get_int1_state ( c6dofimu18_t *ctx );


uint8_t c6dofimu18_get_int1_state ( c6dofimu18_t *ctx );


err_t c6dofimu18_sw_reset( c6dofimu18_t *ctx );


err_t c6dofimu18_read_temperature ( c6dofimu18_t *ctx, float *temperature_data );


err_t c6dofimu18_read_timestamp ( c6dofimu18_t *ctx, uint32_t *tmst_data );


err_t c6dofimu18_get_data_from_register ( c6dofimu18_t *ctx, float *temperature_data,

                                          c6dofimu18_data_t *accel_data, c6dofimu18_data_t *gyro_data,

                                          uint32_t *tmst_data );


err_t c6dofimu18_set_basic_tap_detection ( c6dofimu18_t *ctx );


err_t c6dofimu18_get_tap_detection ( c6dofimu18_t *ctx, uint8_t *tap_num, uint8_t *tap_axis, uint8_t *tap_dir );


#ifdef __cplusplus

}

#endif

#endif // C6DOFIMU18_H


 // c6dofimu18


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

c6dofimu18_return_value_t
c6dofimu18_return_value_t
6DOF IMU 18 Click return value data.
Definition c6dofimu18.h:860

C6DOFIMU18_OK
@ C6DOFIMU18_OK
Definition c6dofimu18.h:861

C6DOFIMU18_RESET_ERROR
@ C6DOFIMU18_RESET_ERROR
Definition c6dofimu18.h:863

C6DOFIMU18_ERROR
@ C6DOFIMU18_ERROR
Definition c6dofimu18.h:862

c6dofimu18_drv_t
c6dofimu18_drv_t
6DOF IMU 18 Click driver selector.
Definition c6dofimu18.h:782

C6DOFIMU18_DRV_SEL_I2C
@ C6DOFIMU18_DRV_SEL_I2C
Definition c6dofimu18.h:784

C6DOFIMU18_DRV_SEL_SPI
@ C6DOFIMU18_DRV_SEL_SPI
Definition c6dofimu18.h:783

c6dofimu18_master_io_t
err_t(* c6dofimu18_master_io_t)(struct c6dofimu18_s *, uint8_t, uint8_t *, uint8_t)
6DOF IMU 18 Click driver interface.
Definition c6dofimu18.h:792

c6dofimu18_t
struct c6dofimu18_s c6dofimu18_t
6DOF IMU 18 Click context object.

c6dofimu18_read_timestamp
err_t c6dofimu18_read_timestamp(c6dofimu18_t *ctx, uint32_t *tmst_data)
6DOF IMU 18 read timestamp function.

c6dofimu18_reg_write
err_t c6dofimu18_reg_write(c6dofimu18_t *ctx, uint8_t reg_bank, uint8_t reg, uint8_t *data_in, uint8_t len)
6DOF IMU 18 register data writing function.

c6dofimu18_read_temperature
err_t c6dofimu18_read_temperature(c6dofimu18_t *ctx, float *temperature_data)
6DOF IMU 18 read temperature function.

c6dofimu18_reg_read
err_t c6dofimu18_reg_read(c6dofimu18_t *ctx, uint8_t reg_bank, uint8_t reg, uint8_t *data_out, uint8_t len)
6DOF IMU 18 data reading function.

c6dofimu18_get_data_from_register
err_t c6dofimu18_get_data_from_register(c6dofimu18_t *ctx, float *temperature_data, c6dofimu18_data_t *accel_data, c6dofimu18_data_t *gyro_data, uint32_t *tmst_data)
6DOF IMU 18 read data function.

c6dofimu18_default_cfg
err_t c6dofimu18_default_cfg(c6dofimu18_t *ctx)
6DOF IMU 18 default configuration function.

c6dofimu18_cfg_setup
void c6dofimu18_cfg_setup(c6dofimu18_cfg_t *cfg)
6DOF IMU 18 configuration object setup function.

c6dofimu18_set_reg_bank
err_t c6dofimu18_set_reg_bank(c6dofimu18_t *ctx, uint8_t bank)
6DOF IMU 18 set register bank function.

c6dofimu18_generic_write
err_t c6dofimu18_generic_write(c6dofimu18_t *ctx, uint8_t reg, uint8_t *data_in, uint8_t len)
6DOF IMU 18 data writing function.

c6dofimu18_get_int1_state
uint8_t c6dofimu18_get_int1_state(c6dofimu18_t *ctx)
6DOF IMU 18 read INT1 pin state function.

c6dofimu18_sw_reset
err_t c6dofimu18_sw_reset(c6dofimu18_t *ctx)
6DOF IMU 18 software reset function.

c6dofimu18_set_basic_tap_detection
err_t c6dofimu18_set_basic_tap_detection(c6dofimu18_t *ctx)
6DOF IMU 18 basic tap detection configuration function.

c6dofimu18_get_tap_detection
err_t c6dofimu18_get_tap_detection(c6dofimu18_t *ctx, uint8_t *tap_num, uint8_t *tap_axis, uint8_t *tap_dir)
6DOF IMU 18 get tap detection data function.

c6dofimu18_generic_read
err_t c6dofimu18_generic_read(c6dofimu18_t *ctx, uint8_t reg, uint8_t *data_out, uint8_t len)
6DOF IMU 18 data reading function.

c6dofimu18_drv_interface_selection
void c6dofimu18_drv_interface_selection(c6dofimu18_cfg_t *cfg, c6dofimu18_drv_t drv_sel)
6DOF IMU 18 driver interface setup function.

c6dofimu18_init
err_t c6dofimu18_init(c6dofimu18_t *ctx, c6dofimu18_cfg_t *cfg)
6DOF IMU 18 initialization function.

c6dofimu18_configure_digital_interface
err_t c6dofimu18_configure_digital_interface(c6dofimu18_t *ctx, uint8_t slew_rate)
6DOF IMU 18 configure digital interface function.

spi_specifics.h
This file contains SPI specific macros, functions, etc.

c6dofimu18_cfg_t
6DOF IMU 18 Click configuration object.
Definition c6dofimu18.h:822

c6dofimu18_cfg_t::i2c_speed
uint32_t i2c_speed
Definition c6dofimu18.h:832

c6dofimu18_cfg_t::ryc
pin_name_t ryc
Definition c6dofimu18.h:829

c6dofimu18_cfg_t::cs_polarity
spi_master_chip_select_polarity_t cs_polarity
Definition c6dofimu18.h:837

c6dofimu18_cfg_t::sck
pin_name_t sck
Definition c6dofimu18.h:827

c6dofimu18_cfg_t::spi_mode
spi_master_mode_t spi_mode
Definition c6dofimu18.h:836

c6dofimu18_cfg_t::mosi
pin_name_t mosi
Definition c6dofimu18.h:826

c6dofimu18_cfg_t::spi_speed
uint32_t spi_speed
Definition c6dofimu18.h:835

c6dofimu18_cfg_t::scl
pin_name_t scl
Definition c6dofimu18.h:823

c6dofimu18_cfg_t::int_pin
pin_name_t int_pin
Definition c6dofimu18.h:830

c6dofimu18_cfg_t::miso
pin_name_t miso
Definition c6dofimu18.h:825

c6dofimu18_cfg_t::sda
pin_name_t sda
Definition c6dofimu18.h:824

c6dofimu18_cfg_t::cs
pin_name_t cs
Definition c6dofimu18.h:828

c6dofimu18_cfg_t::i2c_address
uint8_t i2c_address
Definition c6dofimu18.h:833

c6dofimu18_cfg_t::drv_sel
c6dofimu18_drv_t drv_sel
Definition c6dofimu18.h:839

c6dofimu18_data_t
6DOF IMU 18 data object.
Definition c6dofimu18.h:848

c6dofimu18_data_t::data_y
int16_t data_y
Definition c6dofimu18.h:850

c6dofimu18_data_t::data_z
int16_t data_z
Definition c6dofimu18.h:851

c6dofimu18_data_t::data_x
int16_t data_x
Definition c6dofimu18.h:849

c6dofimu18_s
6DOF IMU 18 Click context object.
Definition c6dofimu18.h:799

c6dofimu18_s::spi
spi_master_t spi
Definition c6dofimu18.h:804

c6dofimu18_s::ryc
digital_in_t ryc
Definition c6dofimu18.h:800

c6dofimu18_s::slew_rate
uint8_t slew_rate
Definition c6dofimu18.h:809

c6dofimu18_s::read_f
c6dofimu18_master_io_t read_f
Definition c6dofimu18.h:813

c6dofimu18_s::spi_mode
spi_master_mode_t spi_mode
Definition c6dofimu18.h:808

c6dofimu18_s::int_pin
digital_in_t int_pin
Definition c6dofimu18.h:801

c6dofimu18_s::i2c
i2c_master_t i2c
Definition c6dofimu18.h:803

c6dofimu18_s::slave_address
uint8_t slave_address
Definition c6dofimu18.h:806

c6dofimu18_s::write_f
c6dofimu18_master_io_t write_f
Definition c6dofimu18.h:812

c6dofimu18_s::chip_select
pin_name_t chip_select
Definition c6dofimu18.h:807

c6dofimu18_s::drv_sel
c6dofimu18_drv_t drv_sel
Definition c6dofimu18.h:810