c6dofimu22.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 C6DOFIMU22_H
#define C6DOFIMU22_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 C6DOFIMU22_REG0_MCLK_RDY                    0x00
#define C6DOFIMU22_REG0_DEVICE_CONFIG               0x01
#define C6DOFIMU22_REG0_SIGNAL_PATH_RESET           0x02
#define C6DOFIMU22_REG0_DRIVE_CONFIG1               0x03
#define C6DOFIMU22_REG0_DRIVE_CONFIG2               0x04
#define C6DOFIMU22_REG0_DRIVE_CONFIG3               0x05
#define C6DOFIMU22_REG0_INT_CONFIG                  0x06
#define C6DOFIMU22_REG0_TEMP_DATA1                  0x09
#define C6DOFIMU22_REG0_TEMP_DATA0                  0x0A
#define C6DOFIMU22_REG0_ACCEL_DATA_X1               0x0B
#define C6DOFIMU22_REG0_ACCEL_DATA_X0               0x0C
#define C6DOFIMU22_REG0_ACCEL_DATA_Y1               0x0D
#define C6DOFIMU22_REG0_ACCEL_DATA_Y0               0x0E
#define C6DOFIMU22_REG0_ACCEL_DATA_Z1               0x0F
#define C6DOFIMU22_REG0_ACCEL_DATA_Z0               0x10
#define C6DOFIMU22_REG0_GYRO_DATA_X1                0x11
#define C6DOFIMU22_REG0_GYRO_DATA_X0                0x12
#define C6DOFIMU22_REG0_GYRO_DATA_Y1                0x13
#define C6DOFIMU22_REG0_GYRO_DATA_Y0                0x14
#define C6DOFIMU22_REG0_GYRO_DATA_Z1                0x15
#define C6DOFIMU22_REG0_GYRO_DATA_Z0                0x16
#define C6DOFIMU22_REG0_TMST_FSYNCH                 0x17
#define C6DOFIMU22_REG0_TMST_FSYNCL                 0x18
#define C6DOFIMU22_REG0_APEX_DATA4                  0x1D
#define C6DOFIMU22_REG0_APEX_DATA5                  0x1E
#define C6DOFIMU22_REG0_PWR_MGMT0                   0x1F
#define C6DOFIMU22_REG0_GYRO_CONFIG0                0x20
#define C6DOFIMU22_REG0_ACCEL_CONFIG0               0x21
#define C6DOFIMU22_REG0_TEMP_CONFIG0                0x22
#define C6DOFIMU22_REG0_GYRO_CONFIG1                0x23
#define C6DOFIMU22_REG0_ACCEL_CONFIG1               0x24
#define C6DOFIMU22_REG0_APEX_CONFIG0                0x25
#define C6DOFIMU22_REG0_APEX_CONFIG1                0x26
#define C6DOFIMU22_REG0_WOM_CONFIG                  0x27
#define C6DOFIMU22_REG0_FIFO_CONFIG1                0x28
#define C6DOFIMU22_REG0_FIFO_CONFIG2                0x29
#define C6DOFIMU22_REG0_FIFO_CONFIG3                0x2A
#define C6DOFIMU22_REG0_INT_SOURCE0                 0x2B
#define C6DOFIMU22_REG0_INT_SOURCE1                 0x2C
#define C6DOFIMU22_REG0_INT_SOURCE3                 0x2D
#define C6DOFIMU22_REG0_INT_SOURCE4                 0x2E
#define C6DOFIMU22_REG0_FIFO_LOST_PKT0              0x2F
#define C6DOFIMU22_REG0_FIFO_LOST_PKT1              0x30
#define C6DOFIMU22_REG0_APEX_DATA0                  0x31
#define C6DOFIMU22_REG0_APEX_DATA1                  0x32
#define C6DOFIMU22_REG0_APEX_DATA2                  0x33
#define C6DOFIMU22_REG0_APEX_DATA3                  0x34
#define C6DOFIMU22_REG0_INTF_CONFIG0                0x35
#define C6DOFIMU22_REG0_INTF_CONFIG1                0x36
#define C6DOFIMU22_REG0_INT_STATUS_DRDY             0x39
#define C6DOFIMU22_REG0_INT_STATUS                  0x3A
#define C6DOFIMU22_REG0_INT_STATUS2                 0x3B
#define C6DOFIMU22_REG0_INT_STATUS3                 0x3C
#define C6DOFIMU22_REG0_FIFO_COUNTH                 0x3D
#define C6DOFIMU22_REG0_FIFO_COUNTL                 0x3E
#define C6DOFIMU22_REG0_FIFO_DATA                   0x3F
#define C6DOFIMU22_REG0_WHO_AM_I                    0x75
#define C6DOFIMU22_REG0_BLK_SEL_W                   0x79
#define C6DOFIMU22_REG0_MADDR_W                     0x7A
#define C6DOFIMU22_REG0_M_W                         0x7B
#define C6DOFIMU22_REG0_BLK_SEL_R                   0x7C
#define C6DOFIMU22_REG0_MADDR_R                     0x7D
#define C6DOFIMU22_REG0_M_R                         0x7E
 
#define C6DOFIMU22_MREG1_TMST_CONFIG1               0x0000
#define C6DOFIMU22_MREG1_FIFO_CONFIG5               0x0001
#define C6DOFIMU22_MREG1_FIFO_CONFIG6               0x0002
#define C6DOFIMU22_MREG1_FSYNC_CONFIG               0x0003
#define C6DOFIMU22_MREG1_INT_CONFIG0                0x0004
#define C6DOFIMU22_MREG1_INT_CONFIG1                0x0005
#define C6DOFIMU22_MREG1_SENSOR_CONFIG3             0x0006
#define C6DOFIMU22_MREG1_ST_CONFIG                  0x0013
#define C6DOFIMU22_MREG1_SELFTEST                   0x0014
#define C6DOFIMU22_MREG1_INTF_CONFIG6               0x0023
#define C6DOFIMU22_MREG1_INTF_CONFIG10              0x0025
#define C6DOFIMU22_MREG1_INTF_CONFIG7               0x0028
#define C6DOFIMU22_MREG1_OTP_CONFIG                 0x002B
#define C6DOFIMU22_MREG1_INT_SOURCE6                0x002F
#define C6DOFIMU22_MREG1_INT_SOURCE7                0x0030
#define C6DOFIMU22_MREG1_INT_SOURCE8                0x0031
#define C6DOFIMU22_MREG1_INT_SOURCE9                0x0032
#define C6DOFIMU22_MREG1_INT_SOURCE10               0x0033
#define C6DOFIMU22_MREG1_APEX_CONFIG2               0x0044
#define C6DOFIMU22_MREG1_APEX_CONFIG3               0x0045
#define C6DOFIMU22_MREG1_APEX_CONFIG4               0x0046
#define C6DOFIMU22_MREG1_APEX_CONFIG5               0x0047
#define C6DOFIMU22_MREG1_APEX_CONFIG9               0x0048
#define C6DOFIMU22_MREG1_APEX_CONFIG10              0x0049
#define C6DOFIMU22_MREG1_APEX_CONFIG11              0x004A
#define C6DOFIMU22_MREG1_ACCEL_WOM_X_THR            0x004B
#define C6DOFIMU22_MREG1_ACCEL_WOM_Y_THR            0x004C
#define C6DOFIMU22_MREG1_ACCEL_WOM_Z_THR            0x004D
#define C6DOFIMU22_MREG1_OFFSET_USER0               0x004E
#define C6DOFIMU22_MREG1_OFFSET_USER1               0x004F
#define C6DOFIMU22_MREG1_OFFSET_USER2               0x0050
#define C6DOFIMU22_MREG1_OFFSET_USER3               0x0051
#define C6DOFIMU22_MREG1_OFFSET_USER4               0x0052
#define C6DOFIMU22_MREG1_OFFSET_USER5               0x0053
#define C6DOFIMU22_MREG1_OFFSET_USER6               0x0054
#define C6DOFIMU22_MREG1_OFFSET_USER7               0x0055
#define C6DOFIMU22_MREG1_OFFSET_USER8               0x0056
#define C6DOFIMU22_MREG1_ST_STATUS1                 0x0063
#define C6DOFIMU22_MREG1_ST_STATUS2                 0x0064
#define C6DOFIMU22_MREG1_FDR_CONFIG                 0x0066
#define C6DOFIMU22_MREG1_APEX_CONFIG12              0x0067
 
#define C6DOFIMU22_MREG2_OTP_CTRL7                  0x2806
 
#define C6DOFIMU22_MREG3_XA_ST_DATA                 0x5000
#define C6DOFIMU22_MREG3_YA_ST_DATA                 0x5001
#define C6DOFIMU22_MREG3_ZA_ST_DATA                 0x5002
#define C6DOFIMU22_MREG3_XG_ST_DATA                 0x5003
#define C6DOFIMU22_MREG3_YG_ST_DATA                 0x5004
#define C6DOFIMU22_MREG3_ZG_ST_DATA                 0x5005
 
 // c6dofimu22_reg
 
#define C6DOFIMU22_MCLK_RDY                         0x08
 
#define C6DOFIMU22_SIGNAL_PATH_RESET                0x10
 
#define C6DOFIMU22_INT_CONFIG_INT2_MODE_PULSE       0x00
#define C6DOFIMU22_INT_CONFIG_INT2_MODE_LATCH       0x20
#define C6DOFIMU22_INT_CONFIG_INT2_MODE_MASK        0x20
#define C6DOFIMU22_INT_CONFIG_INT2_DRV_OD           0x00
#define C6DOFIMU22_INT_CONFIG_INT2_DRV_PP           0x10
#define C6DOFIMU22_INT_CONFIG_INT2_DRV_MASK         0x10
#define C6DOFIMU22_INT_CONFIG_INT2_POL_LOW          0x00
#define C6DOFIMU22_INT_CONFIG_INT2_POL_HIGH         0x08
#define C6DOFIMU22_INT_CONFIG_INT2_POL_MASK         0x08
#define C6DOFIMU22_INT_CONFIG_INT1_MODE_PULSE       0x00
#define C6DOFIMU22_INT_CONFIG_INT1_MODE_LATCH       0x04
#define C6DOFIMU22_INT_CONFIG_INT1_MODE_MASK        0x04
#define C6DOFIMU22_INT_CONFIG_INT1_DRV_OD           0x00
#define C6DOFIMU22_INT_CONFIG_INT1_DRV_PP           0x02
#define C6DOFIMU22_INT_CONFIG_INT1_DRV_MASK         0x02
#define C6DOFIMU22_INT_CONFIG_INT1_POL_LOW          0x00
#define C6DOFIMU22_INT_CONFIG_INT1_POL_HIGH         0x01
#define C6DOFIMU22_INT_CONFIG_INT1_POL_MASK         0x01
 
#define C6DOFIMU22_INT_CONFIG1_TPULSE_100US         0x00
#define C6DOFIMU22_INT_CONFIG1_TPULSE_8US           0x40
#define C6DOFIMU22_INT_CONFIG1_TPULSE_MASK          0x40
#define C6DOFIMU22_INT_CONFIG1_ASYNC_RESET_DIS      0x00
#define C6DOFIMU22_INT_CONFIG1_ASYNC_RESET_EN       0x10
#define C6DOFIMU22_INT_CONFIG1_ASYNC_RESET_MASK     0x10
 
#define C6DOFIMU22_PWR_MGMT0_ACCEL_LP_CLK_SEL       0x80
#define C6DOFIMU22_PWR_MGMT0_IDLE                   0x10
#define C6DOFIMU22_PWR_MGMT0_GYRO_MODE_OFF          0x00
#define C6DOFIMU22_PWR_MGMT0_GYRO_MODE_STBY         0x04
#define C6DOFIMU22_PWR_MGMT0_GYRO_MODE_LN           0x0C
#define C6DOFIMU22_PWR_MGMT0_GYRO_MODE_MASK         0x0C
#define C6DOFIMU22_PWR_MGMT0_ACCEL_MODE_OFF         0x00
#define C6DOFIMU22_PWR_MGMT0_ACCEL_MODE_LP          0x02
#define C6DOFIMU22_PWR_MGMT0_ACCEL_MODE_LN          0x03
#define C6DOFIMU22_PWR_MGMT0_ACCEL_MODE_MASK        0x03
 
#define C6DOFIMU22_GYRO_CONFIG0_FS_SEL_2000DPS      0x00
#define C6DOFIMU22_GYRO_CONFIG0_FS_SEL_1000DPS      0x20
#define C6DOFIMU22_GYRO_CONFIG0_FS_SEL_500DPS       0x40
#define C6DOFIMU22_GYRO_CONFIG0_FS_SEL_250DPS       0x60
#define C6DOFIMU22_GYRO_CONFIG0_FS_SEL_MASK         0x60
#define C6DOFIMU22_GYRO_CONFIG0_ODR_1600HZ          0x05
#define C6DOFIMU22_GYRO_CONFIG0_ODR_800HZ           0x06
#define C6DOFIMU22_GYRO_CONFIG0_ODR_400HZ           0x07
#define C6DOFIMU22_GYRO_CONFIG0_ODR_200HZ           0x08
#define C6DOFIMU22_GYRO_CONFIG0_ODR_100HZ           0x09
#define C6DOFIMU22_GYRO_CONFIG0_ODR_50HZ            0x0A
#define C6DOFIMU22_GYRO_CONFIG0_ODR_25HZ            0x0B
#define C6DOFIMU22_GYRO_CONFIG0_ODR_12_5HZ          0x0C
#define C6DOFIMU22_GYRO_CONFIG0_ODR_MASK            0x0F
 
#define C6DOFIMU22_ACCEL_CONFIG0_FS_SEL_16G         0x00
#define C6DOFIMU22_ACCEL_CONFIG0_FS_SEL_8G          0x20
#define C6DOFIMU22_ACCEL_CONFIG0_FS_SEL_4G          0x40
#define C6DOFIMU22_ACCEL_CONFIG0_FS_SEL_2G          0x60
#define C6DOFIMU22_ACCEL_CONFIG0_FS_SEL_MASK        0x60
#define C6DOFIMU22_ACCEL_CONFIG0_ODR_1600HZ         0x05
#define C6DOFIMU22_ACCEL_CONFIG0_ODR_800HZ          0x06
#define C6DOFIMU22_ACCEL_CONFIG0_ODR_400HZ          0x07
#define C6DOFIMU22_ACCEL_CONFIG0_ODR_200HZ          0x08
#define C6DOFIMU22_ACCEL_CONFIG0_ODR_100HZ          0x09
#define C6DOFIMU22_ACCEL_CONFIG0_ODR_50HZ           0x0A
#define C6DOFIMU22_ACCEL_CONFIG0_ODR_25HZ           0x0B
#define C6DOFIMU22_ACCEL_CONFIG0_ODR_12_5HZ         0x0C
#define C6DOFIMU22_ACCEL_CONFIG0_ODR_6_25HZ         0x0D
#define C6DOFIMU22_ACCEL_CONFIG0_ODR_3_125HZ        0x0E
#define C6DOFIMU22_ACCEL_CONFIG0_ODR_1_5625HZ       0x0F
#define C6DOFIMU22_ACCEL_CONFIG0_ODR_MASK           0x0F
 
#define C6DOFIMU22_INT_SOURCE0_ST_INT1_EN           0x80
#define C6DOFIMU22_INT_SOURCE0_FSYNC_INT1_EN        0x40
#define C6DOFIMU22_INT_SOURCE0_PLL_RDY_INT1_EN      0x20
#define C6DOFIMU22_INT_SOURCE0_RESET_DONE_INT1_EN   0x10
#define C6DOFIMU22_INT_SOURCE0_DRDY_INT1_EN         0x08
#define C6DOFIMU22_INT_SOURCE0_FIFO_THS_INT1_EN     0x04
#define C6DOFIMU22_INT_SOURCE0_FIFO_FULL_INT1_EN    0x02
#define C6DOFIMU22_INT_SOURCE0_AGC_RDY_INT1_EN      0x01
 
#define C6DOFIMU22_INT_STATUS_DATA_RDY              0x01
 
#define C6DOFIMU22_INT_STATUS_ST                    0x80
#define C6DOFIMU22_INT_STATUS_FSYNC                 0x40
#define C6DOFIMU22_INT_STATUS_PLL_RDY               0x20
#define C6DOFIMU22_INT_STATUS_RESET_DONE            0x10
#define C6DOFIMU22_INT_STATUS_FIFO_THS              0x04
#define C6DOFIMU22_INT_STATUS_FIFO_FULL             0x02
#define C6DOFIMU22_INT_STATUS_AGC_RDY               0x01
 
#define C6DOFIMU22_WHO_AM_I                         0x67
 
#define C6DOFIMU22_DEVICE_ADDRESS_0                 0x68
#define C6DOFIMU22_DEVICE_ADDRESS_1                 0x69
 
#define C6DOFIMU22_GYRO_FS_SEL_250DPS               0x00
#define C6DOFIMU22_GYRO_FS_SEL_500DPS               0x01
#define C6DOFIMU22_GYRO_FS_SEL_1000DPS              0x02
#define C6DOFIMU22_GYRO_FS_SEL_2000DPS              0x03
#define C6DOFIMU22_GYRO_ODR_12_5HZ                  0x00
#define C6DOFIMU22_GYRO_ODR_25HZ                    0x01
#define C6DOFIMU22_GYRO_ODR_50HZ                    0x02
#define C6DOFIMU22_GYRO_ODR_100HZ                   0x03
#define C6DOFIMU22_GYRO_ODR_200HZ                   0x04
#define C6DOFIMU22_GYRO_ODR_400HZ                   0x05
#define C6DOFIMU22_GYRO_ODR_800HZ                   0x06
#define C6DOFIMU22_GYRO_ODR_1600HZ                  0x07
#define C6DOFIMU22_GYRO_DATA_RES                    0x7FFF
#define C6DOFIMU22_GYRO_MIN_DPS                     250
 
#define C6DOFIMU22_ACCEL_FS_SEL_2G                  0x00
#define C6DOFIMU22_ACCEL_FS_SEL_4G                  0x01
#define C6DOFIMU22_ACCEL_FS_SEL_8G                  0x02
#define C6DOFIMU22_ACCEL_FS_SEL_16G                 0x03
#define C6DOFIMU22_ACCEL_ODR_1_5625HZ               0x00
#define C6DOFIMU22_ACCEL_ODR_3_125HZ                0x01
#define C6DOFIMU22_ACCEL_ODR_6_25HZ                 0x02
#define C6DOFIMU22_ACCEL_ODR_12_5HZ                 0x03
#define C6DOFIMU22_ACCEL_ODR_25HZ                   0x04
#define C6DOFIMU22_ACCEL_ODR_50HZ                   0x05
#define C6DOFIMU22_ACCEL_ODR_100HZ                  0x06
#define C6DOFIMU22_ACCEL_ODR_200HZ                  0x07
#define C6DOFIMU22_ACCEL_ODR_400HZ                  0x08
#define C6DOFIMU22_ACCEL_ODR_800HZ                  0x09
#define C6DOFIMU22_ACCEL_ODR_1600HZ                 0x0A
#define C6DOFIMU22_ACCEL_DATA_RES                   0x7FFF
#define C6DOFIMU22_ACCEL_MIN_G                      2
 
#define C6DOFIMU22_TEMP_RES                         128
#define C6DOFIMU22_TEMP_OFFSET                      25
 
#define C6DOFIMU22_SET_DATA_SAMPLE_EDGE             SET_SPI_DATA_SAMPLE_EDGE
#define C6DOFIMU22_SET_DATA_SAMPLE_MIDDLE           SET_SPI_DATA_SAMPLE_MIDDLE
 
 // c6dofimu22_set
 
#define C6DOFIMU22_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.int2 = MIKROBUS( mikrobus, MIKROBUS_AN ); \
    cfg.fsync = MIKROBUS( mikrobus, MIKROBUS_PWM ); \
    cfg.int1 = MIKROBUS( mikrobus, MIKROBUS_INT )
#define C6DOFIMU22_MAP_MIKROBUS( cfg, mikrobus ) \ …
 
 // c6dofimu22_map
 // c6dofimu22
 
typedef enum
{
    C6DOFIMU22_DRV_SEL_SPI,         
    C6DOFIMU22_DRV_SEL_I2C          
} c6dofimu22_drv_t;
typedef enum {…};
 
struct c6dofimu22_s;
typedef err_t ( *c6dofimu22_master_io_t )( struct c6dofimu22_s*, uint8_t, uint8_t*, uint8_t ); 
typedef struct c6dofimu22_s
{
    digital_out_t fsync;            
    digital_in_t int2;              
    digital_in_t int1;              
    i2c_master_t i2c;               
    spi_master_t spi;               
    uint8_t      slave_address;     
    pin_name_t   chip_select;       
    c6dofimu22_drv_t drv_sel;       
    c6dofimu22_master_io_t write_f; 
    c6dofimu22_master_io_t read_f;  
    float gyro_sens;                
    float accel_sens;               
} c6dofimu22_t;
typedef struct c6dofimu22_s {…};
 
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 int2;                
    pin_name_t fsync;               
    pin_name_t int1;                
    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;  
    c6dofimu22_drv_t drv_sel;       
} c6dofimu22_cfg_t;
typedef struct {…};
 
typedef struct
{
    float x;                        
    float y;                        
    float z;                        
} c6dofimu22_axes_t;
typedef struct {…};
 
typedef struct
{
    c6dofimu22_axes_t gyro;         
    c6dofimu22_axes_t accel;        
    float temperature;              
} c6dofimu22_data_t;
typedef struct {…};
 
typedef enum
{
    C6DOFIMU22_OK = 0,
    C6DOFIMU22_ERROR = -1
 
} c6dofimu22_return_value_t;
typedef enum {…};
 
void c6dofimu22_cfg_setup ( c6dofimu22_cfg_t *cfg );
 
void c6dofimu22_drv_interface_sel ( c6dofimu22_cfg_t *cfg, c6dofimu22_drv_t drv_sel );
 
err_t c6dofimu22_init ( c6dofimu22_t *ctx, c6dofimu22_cfg_t *cfg );
 
err_t c6dofimu22_default_cfg ( c6dofimu22_t *ctx );
 
err_t c6dofimu22_generic_write ( c6dofimu22_t *ctx, uint8_t reg, uint8_t *data_in, uint8_t len );
 
err_t c6dofimu22_generic_read ( c6dofimu22_t *ctx, uint8_t reg, uint8_t *data_out, uint8_t len );
 
err_t c6dofimu22_write_reg ( c6dofimu22_t *ctx, uint8_t reg, uint8_t data_in );
 
err_t c6dofimu22_read_reg ( c6dofimu22_t *ctx, uint8_t reg, uint8_t *data_out );
 
err_t c6dofimu22_write_mreg ( c6dofimu22_t *ctx, uint16_t mreg, uint8_t data_in );
 
err_t c6dofimu22_read_mreg ( c6dofimu22_t *ctx, uint16_t mreg, uint8_t *data_out );
 
void c6dofimu22_set_fsync_pin ( c6dofimu22_t *ctx, uint8_t state );
 
uint8_t c6dofimu22_get_int1_pin ( c6dofimu22_t *ctx );
 
uint8_t c6dofimu22_get_int2_pin ( c6dofimu22_t *ctx );
 
err_t c6dofimu22_reset_device ( c6dofimu22_t *ctx );
 
err_t c6dofimu22_check_communication ( c6dofimu22_t *ctx );
 
err_t c6dofimu22_clear_data_ready ( c6dofimu22_t *ctx );
 
err_t c6dofimu22_set_gyro_fs_odr ( c6dofimu22_t *ctx, uint8_t fs_sel, uint8_t odr );
 
err_t c6dofimu22_set_accel_fs_odr ( c6dofimu22_t *ctx, uint8_t fs_sel, uint8_t odr );
 
err_t c6dofimu22_read_gyro ( c6dofimu22_t *ctx, c6dofimu22_axes_t *gyro );
 
err_t c6dofimu22_read_accel ( c6dofimu22_t *ctx, c6dofimu22_axes_t *accel );
 
err_t c6dofimu22_read_temperature ( c6dofimu22_t *ctx, float *temperature );
 
err_t c6dofimu22_read_data ( c6dofimu22_t *ctx, c6dofimu22_data_t *data_out );
 
#ifdef __cplusplus
}
#endif
#endif // C6DOFIMU22_H
 
 // c6dofimu22
 
// ------------------------------------------------------------------------ END