This file contains API for C6DOF IMU 5 Click driver. More...

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

Data Structures
struct	c6dofimu5_process_data_t

struct	c6dofimu5_s
	Click ctx object definition. More...

struct	c6dofimu5_cfg_t
	Click configuration structure definition. More...

Macros
#define	C6DOFIMU5_MAP_MIKROBUS(cfg, mikrobus)

#define	C6DOFIMU5_RETVAL uint8_t

#define	C6DOFIMU5_OK 0x00

#define	C6DOFIMU5_INIT_ERROR 0xFF

#define	C6DOFIMU5_I2C_SLAVE_ADR 0x63

#define	C6DOFIMU5_READ_BIT_MASK 0x80

#define	C6DOFIMU5_WRITE_BIT_MASK 0x7F

#define	C6DOFIMU5_SELF_TEST_X_GYRO 0x00

#define	C6DOFIMU5_SELF_TEST_Y_GYRO 0x01

#define	C6DOFIMU5_SELF_TEST_Z_GYRO 0x02

#define	C6DOFIMU5_SELF_TEST_X_ACCEL 0x0D

#define	C6DOFIMU5_SELF_TEST_Y_ACCEL 0x0E

#define	C6DOFIMU5_SELF_TEST_Z_ACCEL 0x0F

#define	C6DOFIMU5_XG_OFFS_USR_H 0x13

#define	C6DOFIMU5_XG_OFFS_USR_L 0x14

#define	C6DOFIMU5_YG_OFFS_USR_H 0x15

#define	C6DOFIMU5_YG_OFFS_USR_L 0x16

#define	C6DOFIMU5_ZG_OFFS_USR_H 0x17

#define	C6DOFIMU5_ZG_OFFS_USR_L 0x18

#define	C6DOFIMU5_SMPL_RT_DIV 0x19

#define	C6DOFIMU5_CFG 0x1A

#define	C6DOFIMU5_GYRO_CFG 0x1B

#define	C6DOFIMU5_ACCEL_CFG 0x1C

#define	C6DOFIMU5_ACCEL_CFG_2 0x1D

#define	C6DOFIMU5_LP_MODE_CTL 0x1E

#define	C6DOFIMU5_ACCEL_WOM_X_THR 0x20

#define	C6DOFIMU5_ACCEL_WOM_Y_THR 0x21

#define	C6DOFIMU5_ACCEL_WOM_Z_THR 0x22

#define	C6DOFIMU5_FIFO_EN 0x23

#define	C6DOFIMU5_INT_PIN_CFG 0x37

#define	C6DOFIMU5_INT_ENABLE 0x38

#define	C6DOFIMU5_DMP_INT_STAT 0x39

#define	C6DOFIMU5_INT_STAT 0x3A

#define	C6DOFIMU5_ACCEL_XOUT_H 0x3B

#define	C6DOFIMU5_ACCEL_XOUT_L 0x3C

#define	C6DOFIMU5_ACCEL_YOUT_H 0x3D

#define	C6DOFIMU5_ACCEL_YOUT_L 0x3E

#define	C6DOFIMU5_ACCEL_ZOUT_H 0x3F

#define	C6DOFIMU5_ACCEL_ZOUT_L 0x40

#define	C6DOFIMU5_TEMP_OUT_H 0x41

#define	C6DOFIMU5_TEMP_OUT_L 0x42

#define	C6DOFIMU5_GYRO_XOUT_H 0x43

#define	C6DOFIMU5_GYRO_XOUT_L 0x44

#define	C6DOFIMU5_GYRO_YOUT_H 0x45

#define	C6DOFIMU5_GYRO_YOUT_L 0x46

#define	C6DOFIMU5_GYRO_ZOUT_H 0x47

#define	C6DOFIMU5_GYRO_ZOUT_L 0x48

#define	C6DOFIMU5_SIGNAL_PATH_RST 0x68

#define	C6DOFIMU5_ACCEL_INTEL_CTL 0x69

#define	C6DOFIMU5_USER_CTL 0x6A

#define	C6DOFIMU5_PWR_MGMT_1 0x6B

#define	C6DOFIMU5_PWR_MGMT_2 0x6C

#define	C6DOFIMU5_FIFO_CNT_H 0x72

#define	C6DOFIMU5_FIFO_CNT_L 0x73

#define	C6DOFIMU5_FIFO_R_W 0x74

#define	C6DOFIMU5_WHO_AM_I 0x75

#define	C6DOFIMU5_XA_OFFS_H 0x77

#define	C6DOFIMU5_XA_OFFS_L 0x78

#define	C6DOFIMU5_YA_OFFS_H 0x7A

#define	C6DOFIMU5_YA_OFFS_L 0x7B

#define	C6DOFIMU5_ZA_OFFS_H 0x7D

#define	C6DOFIMU5_ZA_OFFS_L 0x7E

#define	C6DOFIMU5_CFG_FIFO_MODE 0x40

#define	C6DOFIMU5_CFG_EXT_SYNC_SET_1 0x08

#define	C6DOFIMU5_CFG_EXT_SYNC_SET_2 0x10

#define	C6DOFIMU5_CFG_EXT_SYNC_SET_3 0x18

#define	C6DOFIMU5_CFG_EXT_SYNC_SET_4 0x20

#define	C6DOFIMU5_CFG_EXT_SYNC_SET_5 0x28

#define	C6DOFIMU5_CFG_EXT_SYNC_SET_6 0x30

#define	C6DOFIMU5_CFG_EXT_SYNC_SET_7 0x38

#define	C6DOFIMU5_CFG_DLPF_CFG_0 0x00

#define	C6DOFIMU5_CFG_DLPF_CFG_1 0x01

#define	C6DOFIMU5_CFG_DLPF_CFG_2 0x02

#define	C6DOFIMU5_CFG_DLPF_CFG_3 0x03

#define	C6DOFIMU5_CFG_DLPF_CFG_4 0x04

#define	C6DOFIMU5_CFG_DLPF_CFG_5 0x05

#define	C6DOFIMU5_CFG_DLPF_CFG_6 0x06

#define	C6DOFIMU5_CFG_DLPF_CFG_7 0x07

#define	C6DOFIMU5_GYRO_CFG_XGYRO_STEN 0x80

#define	C6DOFIMU5_GYRO_CFG_YGYRO_STEN 0x40

#define	C6DOFIMU5_GYRO_CFG_ZGYRO_STEN 0x20

#define	C6DOFIMU5_GYRO_CFG_FS_SEL_2000 0x18

#define	C6DOFIMU5_GYRO_CFG_FS_SEL_1000 0x10

#define	C6DOFIMU5_GYRO_CFG_FS_SEL_500 0x08

#define	C6DOFIMU5_GYRO_CFG_FS_SEL_250 0x00

#define	C6DOFIMU5_GYRO_CFG_FCHOICE_B_2 0x02

#define	C6DOFIMU5_GYRO_CFG_FCHOICE_B_1 0x01

#define	C6DOFIMU5_GYRO_CFG_FCHOICE_B_0 0x00

#define	C6DOFIMU5_ACCEL_CFG_AX_ST_EN 0x80

#define	C6DOFIMU5_ACCEL_CFG_AY_ST_EN 0x40

#define	C6DOFIMU5_ACCEL_CFG_AZ_ST_EN 0x20

#define	C6DOFIMU5_ACCEL_CFG_FS_SEL_16G 0x18

#define	C6DOFIMU5_ACCEL_CFG_FS_SEL_8G 0x10

#define	C6DOFIMU5_ACCEL_CFG_FS_SEL_4G 0x08

#define	C6DOFIMU5_ACCEL_CFG_FS_SEL_2G 0x00

#define	C6DOFIMU5_ACCEL2_CFG_FIFO_SIZE_4KB 0x40

#define	C6DOFIMU5_ACCEL2_CFG_FIFO_SIZE_2KB 0x08

#define	C6DOFIMU5_ACCEL2_CFG_FIFO_SIZE_1KB 0x10

#define	C6DOFIMU5_ACCEL2_CFG_FIFO_SIZE_512B 0x18

#define	C6DOFIMU5_ACCEL2_CFG_DEC2_CFG_32 0x30

#define	C6DOFIMU5_ACCEL2_CFG_DEC2_CFG_16 0x20

#define	C6DOFIMU5_ACCEL2_CFG_DEC2_CFG_8 0x10

#define	C6DOFIMU5_ACCEL2_CFG_DEC2_CFG_4 0x00

#define	C6DOFIMU5_ACCEL2_CFG_FCHOICE_B 0x00

#define	C6DOFIMU5_ACCEL2_CFG_A_DLPF_CFG_0 0x00

#define	C6DOFIMU5_ACCEL2_CFG_A_DLPF_CFG_1 0x01

#define	C6DOFIMU5_ACCEL2_CFG_A_DLPF_CFG_2 0x02

#define	C6DOFIMU5_ACCEL2_CFG_A_DLPF_CFG_3 0x03

#define	C6DOFIMU5_ACCEL2_CFG_A_DLPF_CFG_4 0x04

#define	C6DOFIMU5_ACCEL2_CFG_A_DLPF_CFG_5 0x05

#define	C6DOFIMU5_ACCEL2_CFG_A_DLPF_CFG_6 0x06

#define	C6DOFIMU5_ACCEL2_CFG_A_DLPF_CFG_7 0x07

#define	C6DOFIMU5_FIFO_EN_TEMP_OUT 0x80

#define	C6DOFIMU5_FIFO_EN_GYRO_XOUT 0x40

#define	C6DOFIMU5_FIFO_EN_GYRO_YOUT 0x20

#define	C6DOFIMU5_FIFO_EN_GYRO_ZOUT 0x10

#define	C6DOFIMU5_FIFO_EN_ACCEL_XYZ_OUT 0x08

#define	C6DOFIMU5_INT_PIN_CFG_ACTL 0x80

#define	C6DOFIMU5_INT_PIN_CFG_OPEN 0x40

#define	C6DOFIMU5_INT_PIN_CFG_LATCH_INT_EN 0x20

#define	C6DOFIMU5_INT_PIN_CFG_INT_ANYRD_2CLR 0x10

#define	C6DOFIMU5_INT_PIN_CFG_ACTL_FSYNC 0x08

#define	C6DOFIMU5_INT_PIN_CFG_FSYNC_INT_MODE_EN 0x04

#define	C6DOFIMU5_INT_PIN_CFG_BYPASS_EN 0x02

#define	C6DOFIMU5_INT_ENABLE_WOM_X_INT_EN 0x80

#define	C6DOFIMU5_INT_ENABLE_WOM_Y_INT_EN 0x40

#define	C6DOFIMU5_INT_ENABLE_WOM_Z_INT_EN 0x20

#define	C6DOFIMU5_INT_ENABLE_FIFO_OVF_EN 0x10

#define	C6DOFIMU5_INT_ENABLE_GDRIVE_RDY_EN 0x04

#define	C6DOFIMU5_INT_ENABLE_DMP_INT_EN 0x02

#define	C6DOFIMU5_INT_ENABLE_RAW_RDY_EN 0x01

#define	C6DOFIMU5_INT_STAT_WOM_X_INT 0x80

#define	C6DOFIMU5_INT_STAT_WOM_Y_INT 0x40

#define	C6DOFIMU5_INT_STAT_WOM_Z_INT 0x20

#define	C6DOFIMU5_INT_STAT_FIFO_OVF_INT 0x10

#define	C6DOFIMU5_INT_STAT_GDRIVE_RDY_INT 0x04

#define	C6DOFIMU5_INT_STAT_DMP_INT 0x02

#define	C6DOFIMU5_INT_STAT_RAW_RDY_INT 0x01

#define	C6DOFIMU5_SIGNAL_PATH_RST_GYRO_RST 0x80

#define	C6DOFIMU5_SIGNAL_PATH_RST_ACCEL_RST 0x40

#define	C6DOFIMU5_SIGNAL_PATH_RST_TEMP_RST 0x20

#define	C6DOFIMU5_ACCEL_INTEL_CTL_INTEL_EN 0x80

#define	C6DOFIMU5_ACCEL_INTEL_CTL_INTEL_MODE_PREV_SAMP 0x40

#define	C6DOFIMU5_ACCEL_INTEL_CTL_INTEL_MODE_FIRST_SAMP 0x00

#define	C6DOFIMU5_USER_CTL_DMP_EN 0x80

#define	C6DOFIMU5_USER_CTL_FIFO_EN 0x40

#define	C6DOFIMU5_USER_CTL_I2C_IF_DIS 0x10

#define	C6DOFIMU5_USER_CTL_DMP_RST 0x08

#define	C6DOFIMU5_USER_CTL_FIFO_RST 0x04

#define	C6DOFIMU5_USER_CTL_SIG_COND_RST 0x01

#define	C6DOFIMU5_PWR_MGMT_1_DEV_RST 0x80

#define	C6DOFIMU5_PWR_MGMT_1_SLEEP 0x40

#define	C6DOFIMU5_PWR_MGMT_1_ACCEL_CYC 0x20

#define	C6DOFIMU5_PWR_MGMT_1_GYRO_STDBY 0x10

#define	C6DOFIMU5_PWR_MGMT_1_TEMP_DIS 0x08

#define	C6DOFIMU5_PWR_MGMT_1_CLKSEL_7 0x07

#define	C6DOFIMU5_PWR_MGMT_1_CLKSEL_6 0x06

#define	C6DOFIMU5_PWR_MGMT_1_CLKSEL_5 0x05

#define	C6DOFIMU5_PWR_MGMT_1_CLKSEL_4 0x04

#define	C6DOFIMU5_PWR_MGMT_1_CLKSEL_3 0x03

#define	C6DOFIMU5_PWR_MGMT_1_CLKSEL_2 0x02

#define	C6DOFIMU5_PWR_MGMT_1_CLKSEL_1 0x01

#define	C6DOFIMU5_PWR_MGMT_1_CLKSEL_0 0x00

#define	C6DOFIMU5_PWR_MGMT_2_LP_DIS 0x80

#define	C6DOFIMU5_PWR_MGMT_2_DMP_LP_DIS 0x40

#define	C6DOFIMU5_PWR_MGMT_2_DISABLE_XA 0x20

#define	C6DOFIMU5_PWR_MGMT_2_DISABLE_YA 0x10

#define	C6DOFIMU5_PWR_MGMT_2_DISABLE_ZA 0x08

#define	C6DOFIMU5_PWR_MGMT_2_DISABLE_XG 0x04

#define	C6DOFIMU5_PWR_MGMT_2_DISABLE_YG 0x02

#define	C6DOFIMU5_PWR_MGMT_2_DISABLE_ZG 0x01

#define	C6DOFIMU5_WHO_AM_I_VAL 0x03

#define	C6DOFIMU5_MEAS_CMD_LP_TRANS_T_FIRST 0x609C

#define	C6DOFIMU5_MEAS_CMD_N_TRANS_T_FIRST 0x6825

#define	C6DOFIMU5_MEAS_CMD_LN_TRANS_T_FIRST 0x70DF

#define	C6DOFIMU5_MEAS_CMD_ULN_TRANS_T_FIRST 0x7866

#define	C6DOFIMU5_MEAS_CMD_LP_TRANS_P_FIRST 0x401A

#define	C6DOFIMU5_MEAS_CMD_N_TRANS_P_FIRST 0x48A3

#define	C6DOFIMU5_MEAS_CMD_LN_TRANS_P_FIRST 0x5059

#define	C6DOFIMU5_MEAS_CMD_ULN_TRANS_P_FIRST 0x58E0

#define	C6DOFIMU5_DEVICE_SOFT_RESET_CMD 0x805D

#define	C6DOFIMU5_READ_ID_REGISTER 0xEFC8

#define	C6DOFIMU5_INCREMENTAL_READ 0xC7F7

#define	C6DOFIMU5_ADR_REG_MOVE_POINTER 0xC595

#define	C6DOFIMU5_POWER_ON 0x01

#define	C6DOFIMU5_POWER_OFF 0x00

#define	C6DOFIMU5_GYRO_SENS_FS_SEL_2000 16.4

#define	C6DOFIMU5_GYRO_SENS_FS_SEL_1000 32.8

#define	C6DOFIMU5_GYRO_SENS_FS_SEL_500 65.5

#define	C6DOFIMU5_GYRO_SENS_FS_SEL_250 131.0

#define	C6DOFIMU5_ACCEL_SENS_FS_SEL_16G 2048.0

#define	C6DOFIMU5_ACCEL_SENS_FS_SEL_8G 4096.0

#define	C6DOFIMU5_ACCEL_SENS_FS_SEL_4G 8192.0

#define	C6DOFIMU5_ACCEL_SENS_FS_SEL_2G 16384.0

#define	C6DOFIMU5_LUT_LOWER 3670016.0

#define	C6DOFIMU5_LUT_UPPER 12058624.0

#define	C6DOFIMU5_QUADR_FACTOR 0.000000059604644775390625

#define	C6DOFIMU5_OFFST_FACTOR 2048.0

#define	C6DOFIMU5_P_PA_CALIB_0 45000.0

#define	C6DOFIMU5_P_PA_CALIB_1 80000.0

#define	C6DOFIMU5_P_PA_CALIB_2 105000.0

Typedefs
typedef struct c6dofimu5_s	c6dofimu5_t
	Click ctx object definition.

Functions
void	c6dofimu5_cfg_setup (c6dofimu5_cfg_t *cfg)
	Config Object Initialization function.

C6DOFIMU5_RETVAL	c6dofimu5_init (c6dofimu5_t ctx, c6dofimu5_cfg_t cfg)
	Initialization function.

void	c6dofimu5_default_cfg (c6dofimu5_t *ctx)
	Click Default Configuration function.

void	c6dofimu5_write_bytes (c6dofimu5_t ctx, uint8_t reg, uint8_t wr_data, uint16_t n_bytes)
	Generic write function.

void	c6dofimu5_read_bytes (c6dofimu5_t ctx, uint8_t reg, uint8_t rd_data, uint16_t n_bytes)
	Generic read function.

void	c6dofimu5_power (c6dofimu5_t *ctx, uint8_t on_off)
	Power up function.

int16_t	c6dofimu5_read_gyro_x (c6dofimu5_t *ctx)
	Read Gyroscope X-axis data function.

int16_t	c6dofimu5_read_gyro_y (c6dofimu5_t *ctx)
	Read Gyroscope Y-axis data function.

int16_t	c6dofimu5_read_gyro_z (c6dofimu5_t *ctx)
	Read Gyroscope Z-axis data function.

void	c6dofimu5_read_gyroscope (c6dofimu5_t ctx, int16_t gyro_x, int16_t gyro_y, int16_t gyro_z)
	Read gyroscope data function.

void	c6dofimu5_angular_rate (c6dofimu5_t ctx, float x_ang_rte, float y_ang_rte, float z_ang_rte)
	Read Angular Rate function.

int16_t	c6dofimu5_read_accel_x (c6dofimu5_t *ctx)
	Read Accelerometer X-axis data function.

int16_t	c6dofimu5_read_accel_y (c6dofimu5_t *ctx)
	Read Accelerometer Y-axis data function.

int16_t	c6dofimu5_read_accel_z (c6dofimu5_t *ctx)
	Read Accelerometer Z-axis data function.

void	c6dofimu5_read_accelerometer (c6dofimu5_t ctx, int16_t accel_x, int16_t accel_y, int16_t accel_z)
	Read accelerometer data function.

void	c6dofimu5_acceleration_rate (c6dofimu5_t ctx, float x_accel_rte, float y_accel_rte, float z_accel_rte)
	Read acceleration Rate function.

float	c6dofimu5_read_temp_out (c6dofimu5_t *ctx)
	Read temperture function.

void	c6dofimu5_baro_read (c6dofimu5_t ctx, uint16_t cmd, uint8_t data_out, uint16_t n_bytes)
	Barometer Read function.

void	c6dofimu5_baro_write (c6dofimu5_t ctx, uint8_t data_in, uint16_t n_bytes)
	Barometer Write function.

void	c6dofimu5_baro_settings (c6dofimu5_t *ctx)
	I2C Barometer Settings function.

uint8_t	c6dofimu5_baro_id_read (c6dofimu5_t *ctx)
	Barometer ID Readout function.

void	c6dofimu5_baro_soft_rst (c6dofimu5_t *ctx)
	Soft Reset Command function.

void	c6dofimu5_process_data (c6dofimu5_t ctx, c6dofimu5_process_data_t process_d)
	Process data function.

void	c6dofimu5_read_raw_data (c6dofimu5_t ctx, uint32_t pres, uint16_t *temp)
	Read raw data function.

uint8_t	c6dofimu5_check_int_pin (c6dofimu5_t *ctx)
	Check Interrupt state function.

Detailed Description

This file contains API for C6DOF IMU 5 Click driver.

Data Structures

Macros

Typedefs

Functions

Detailed Description