c6dofimu7.h

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/*
 * MikroSDK - MikroE Software Development Kit
 * Copyright© 2020 MikroElektronika d.o.o.
 * 
 * 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 C6DOFIMU7_H
#define C6DOFIMU7_H
 
#ifdef PREINIT_SUPPORTED
#include "preinit.h"
#endif
 
#ifdef MikroCCoreVersion
    #if MikroCCoreVersion >= 1
        #include "delays.h"
    #endif
#endif
 
#include "drv_digital_in.h"
#include "drv_i2c_master.h"
 
// -------------------------------------------------------------- PUBLIC MACROS 
#define C6DOFIMU7_MAP_MIKROBUS( cfg, mikrobus ) \
  cfg.scl  = MIKROBUS( mikrobus, MIKROBUS_SCL ); \
  cfg.sda  = MIKROBUS( mikrobus, MIKROBUS_SDA ); \
  cfg.int2 = MIKROBUS( mikrobus, MIKROBUS_PWM ); \
  cfg.int1 = MIKROBUS( mikrobus, MIKROBUS_INT ) 
#define C6DOFIMU7_RETVAL  uint8_t
 
#define C6DOFIMU7_OK           0x00
#define C6DOFIMU7_INIT_ERROR   0xFF
#define C6DOFIMU7_SLAVE_ADDRESS     0x68
#define C6DOFIMU7_PWR_MGMT          0x06
#define C6DOFIMU7_PWM_MGMT_L        0x80
#define C6DOFIMU7_PWM_MGMT_H        0x01
#define C6DOFIMU7_TEMP_OUT_H        0x39
#define C6DOFIMU7_ACCEL_XOUT_H      0x2D
#define C6DOFIMU7_ACCEL_YOUT_H      0x2F
#define C6DOFIMU7_ACCEL_ZOUT_H      0x31
#define C6DOFIMU7_GYRO_XOUT_H       0x33
#define C6DOFIMU7_GYRO_YOUT_H       0x35
#define C6DOFIMU7_GYRO_ZOUT_H       0x37
#define C6DOFIMU7_TEMPERATURE_SENSITIVITY    333.87
#define C6DOFIMU7_TEMPERATURE_OFFSET         6.3
#define C6DOFIMU7_ACCEL_SENSITIVITY          8.192
#define C6DOFIMU7_GYRO_SENSITIVITY           65.5
 // End group macro 
// --------------------------------------------------------------- PUBLIC TYPES
typedef struct 
{
    float x_axis;
    float y_axis;
    float z_axis;
  
} c6dofimu7_axis_t;
 
typedef struct
{
    // Input pins 
 
    digital_in_t int2;
    digital_in_t int1;
    
    // Modules 
 
    i2c_master_t i2c;
 
    // ctx variable 
 
    uint8_t slave_address;
 
} c6dofimu7_t;
 
typedef struct
{
    // Communication gpio pins 
 
    pin_name_t scl;
    pin_name_t sda;
    
    // Additional gpio pins 
 
    pin_name_t int2;
    pin_name_t int1;
 
    // static variable 
 
    uint32_t i2c_speed;
    uint8_t i2c_address;
 
} c6dofimu7_cfg_t;
 
 // End types group
// ----------------------------------------------- PUBLIC FUNCTION DECLARATIONS
 
#ifdef __cplusplus
extern "C"{
#endif
 
void c6dofimu7_cfg_setup ( c6dofimu7_cfg_t *cfg );
 
C6DOFIMU7_RETVAL c6dofimu7_init ( c6dofimu7_t *ctx, c6dofimu7_cfg_t *cfg );
 
void c6dofimu7_default_cfg ( c6dofimu7_t *ctx );
 
void c6dofimu7_generic_write ( c6dofimu7_t *ctx, uint8_t reg, uint8_t *data_buf, uint8_t len );
 
void c6dofimu7_generic_read ( c6dofimu7_t *ctx, uint8_t reg, uint8_t *data_buf, uint8_t len );
 
int16_t c6dofimu7_read_word ( c6dofimu7_t *ctx, uint8_t address );
 
float c6dofimu7_get_temp_data ( c6dofimu7_t *ctx, float temp_sensitivity, float temp_offset );
 
void c6dofimu7_get_accel_data ( c6dofimu7_t *ctx, c6dofimu7_axis_t *accel, float sensitivity );
 
void c6dofimu7_get_gyro_data ( c6dofimu7_t *ctx, c6dofimu7_axis_t *gyro, float sensitivity );
 
uint8_t c6dofimu7_get_pwm_input ( c6dofimu7_t *ctx );
 
uint8_t c6dofimu7_get_int_input ( c6dofimu7_t *ctx );
 
#ifdef __cplusplus
}
#endif
#endif  // _C6DOFIMU7_H_
 
 // End public_function group
 
// ------------------------------------------------------------------------- END