c6dofimu9.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 C6DOFIMU9_H
#define C6DOFIMU9_H
 
#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"
 
// -------------------------------------------------------------- PUBLIC MACROS 
#define C6DOFIMU9_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.syn = MIKROBUS( mikrobus, MIKROBUS_PWM ); \
   cfg.int_pin = MIKROBUS( mikrobus, MIKROBUS_INT ); 
#define C6DOFIMU9_MASTER_I2C 0
#define C6DOFIMU9_MASTER_SPI 1
#define C6DOFIMU9_RETVAL  uint8_t
 
 
#define C6DOFIMU9_OK           0x00
#define C6DOFIMU9_INIT_ERROR   0xFF
#define C6DOFIMU9_I2C_SLAVE_ADDRESS_0                               0x68
#define C6DOFIMU9_I2C_SLAVE_ADDRESS_1                               0x69
#define C6DOFIMU9_SPI_WRITE_CMD                                     0x00
#define C6DOFIMU9_SPI_READ_CMD                                      0x80
#define C6DOFIMU9_REG_SELF_TEST_X_GYRO                              0x00
#define C6DOFIMU9_REG_SELF_TEST_Y_GYRO                              0x01
#define C6DOFIMU9_REG_SELF_TEST_Z_GYRO                              0x02
#define C6DOFIMU9_REG_SELF_TEST_X_ACCEL                             0x0D
#define C6DOFIMU9_REG_SELF_TEST_Y_ACCEL                             0x0E
#define C6DOFIMU9_REG_SELF_TEST_Z_ACCEL                             0x0F
#define C6DOFIMU9_REG_XG_OFFS_USRH                                  0x13
#define C6DOFIMU9_REG_XG_OFFS_USRL                                  0x14
#define C6DOFIMU9_REG_YG_OFFS_USRH                                  0x15
#define C6DOFIMU9_REG_YG_OFFS_USRL                                  0x16
#define C6DOFIMU9_REG_ZG_OFFS_USRH                                  0x17
#define C6DOFIMU9_REG_ZG_OFFS_USRL                                  0x18
#define C6DOFIMU9_REG_SMPLRT_DIV                                    0x19
#define C6DOFIMU9_REG_CONFIG                                        0x1A
#define C6DOFIMU9_REG_GYRO_CONFIG                                   0x1B
#define C6DOFIMU9_REG_ACCEL_CONFIG                                  0x1C
#define C6DOFIMU9_REG_ACCEL_CONFIG_2                                0x1D
#define C6DOFIMU9_REG_LP_MODE_CFG                                   0x1E
#define C6DOFIMU9_REG_ACCEL_WOM_THR                                 0x1F
#define C6DOFIMU9_REG_FIFO_EN                                       0x23
#define C6DOFIMU9_REG_FSYNC_INT                                     0x36
#define C6DOFIMU9_REG_INT_PIN_CFG                                   0x37
#define C6DOFIMU9_REG_INT_ENABLE                                    0x38
#define C6DOFIMU9_REG_INT_STATUS                                    0x3A
#define C6DOFIMU9_REG_ACCEL_XOUT_H                                  0x3B
#define C6DOFIMU9_REG_ACCEL_XOUT_L                                  0x3C
#define C6DOFIMU9_REG_ACCEL_YOUT_H                                  0x3D
#define C6DOFIMU9_REG_ACCEL_YOUT_L                                  0x3E
#define C6DOFIMU9_REG_ACCEL_ZOUT_H                                  0x3F
#define C6DOFIMU9_REG_ACCEL_ZOUT_L                                  0x40
#define C6DOFIMU9_REG_TEMP_OUT_H                                    0x41
#define C6DOFIMU9_REG_TEMP_OUT_L                                    0x42
#define C6DOFIMU9_REG_GYRO_XOUT_H                                   0x43
#define C6DOFIMU9_REG_GYRO_XOUT_L                                   0x44
#define C6DOFIMU9_REG_GYRO_YOUT_H                                   0x45
#define C6DOFIMU9_REG_GYRO_YOUT_L                                   0x46
#define C6DOFIMU9_REG_GYRO_ZOUT_H                                   0x47
#define C6DOFIMU9_REG_GYRO_ZOUT_L                                   0x48
#define C6DOFIMU9_REG_SIGNAL_PATH_RESET                             0x68
#define C6DOFIMU9_REG_ACCEL_INTEL_CTRL                              0x69
#define C6DOFIMU9_REG_USER_CTRL                                     0x6A
#define C6DOFIMU9_REG_PWR_MGMT_1                                    0x6B
#define C6DOFIMU9_REG_PWR_MGMT_2                                    0x6C
#define C6DOFIMU9_REG_FIFO_COUNTH                                   0x72
#define C6DOFIMU9_REG_FIFO_COUNTL                                   0x73
#define C6DOFIMU9_REG_FIFO_R_W                                      0x74
#define C6DOFIMU9_REG_WHO_AM_I                                      0x75
#define C6DOFIMU9_REG_XA_OFFSET_H                                   0x77
#define C6DOFIMU9_REG_XA_OFFSET_L                                   0x78
#define C6DOFIMU9_REG_YA_OFFSET_H                                   0x7A
#define C6DOFIMU9_REG_YA_OFFSET_L                                   0x7B
#define C6DOFIMU9_REG_ZA_OFFSET_H                                   0x7D
#define C6DOFIMU9_REG_ZA_OFFSET_L                                   0x7E
#define C6DOFIMU9_BM_FIFO_MODE_FULL_REPLACE_OLD_DATA                0x00
#define C6DOFIMU9_BM_FIFO_MODE_FULL_NO_WRITE_DATA                   0x40
#define C6DOFIMU9_BM_DISABLE_FSYNC_PIN                              0x00
#define C6DOFIMU9_BM_ENABLE_FSYNC_PIN_TEMP_OUT_L                    0x08
#define C6DOFIMU9_BM_ENABLE_FSYNC_PIN_GYRO_XOUT_L                   0x10
#define C6DOFIMU9_BM_ENABLE_FSYNC_PIN_GYRO_YOUT_L                   0x18
#define C6DOFIMU9_BM_ENABLE_FSYNC_PIN_GYRO_ZOUT_L                   0x20
#define C6DOFIMU9_BM_ENABLE_FSYNC_PIN_ACCEL_XOUT_L                  0x28
#define C6DOFIMU9_BM_ENABLE_FSYNC_PIN_ACCEL_YOUT_L                  0x30
#define C6DOFIMU9_BM_ENABLE_FSYNC_PIN_ACCEL_ZOUT_L                  0x38
/* Gyro configuration */
#define C6DOFIMU9_GYRO_FULL_SCALE_250dps                           0x00FA
#define C6DOFIMU9_GYRO_FULL_SCALE_500dps                           0x01F4
#define C6DOFIMU9_GYRO_FULL_SCALE_1000dps                          0x03E8
#define C6DOFIMU9_GYRO_FULL_SCALE_2000dps                          0x07D0
#define C6DOFIMU9_ACCEL_FULL_SCALE_2g                               0x02
#define C6DOFIMU9_ACCEL_FULL_SCALE_4g                               0x04
#define C6DOFIMU9_ACCEL_FULL_SCALE_8g                               0x08
#define C6DOFIMU9_ACCEL_FULL_SCALE_16g                              0x10
#define C6DOFIMU9_ACCEL_AVERAGE_4_SAMPLES                           0x04
#define C6DOFIMU9_ACCEL_AVERAGE_8_SAMPLES                           0x08
#define C6DOFIMU9_ACCEL_AVERAGE_16_SAMPLES                          0x10
#define C6DOFIMU9_ACCEL_AVERAGE_32_SAMPLES                          0x20
#define C6DOFIMU9_GYRO_AVERAGE_1x                                   0x01
#define C6DOFIMU9_GYRO_AVERAGE_2x                                   0x02
#define C6DOFIMU9_GYRO_AVERAGE_4x                                   0x04
#define C6DOFIMU9_GYRO_AVERAGE_8x                                   0x08
#define C6DOFIMU9_GYRO_AVERAGE_16x                                  0x10
#define C6DOFIMU9_GYRO_AVERAGE_32x                                  0x20
#define C6DOFIMU9_GYRO_AVERAGE_64x                                  0x40
#define C6DOFIMU9_GYRO_AVERAGE_128x                                 0x80
#define C6DOFIMU9_BM_DISABLE_TEMP_FIFO                              0x00
#define C6DOFIMU9_BM_ENABLE_TEMP_FIFO                               0x80
#define C6DOFIMU9_BM_DISABLE_XGYRO_FIFO                             0x00
#define C6DOFIMU9_BM_ENABLE_XGYRO_FIFO                              0x40
#define C6DOFIMU9_BM_DISABLE_YGYRO_FIFO                             0x00
#define C6DOFIMU9_BM_ENABLE_YGYRO_FIFO                              0x20
#define C6DOFIMU9_BM_DISABLE_ZGYRO_FIFO                             0x00
#define C6DOFIMU9_BM_ENABLE_ZGYRO_FIFO                              0x10
#define C6DOFIMU9_BM_DISABLE_ACCEL_FIFO                             0x00
#define C6DOFIMU9_BM_ENABLE_ACCEL_FIFO                              0x08
#define C6DOFIMU9_DEVICE_ID                                         0xA9
 // End group macro 
// --------------------------------------------------------------- PUBLIC TYPES
typedef uint8_t  c6dofimu9_select_t;
 
typedef void ( *c6dofimu9_master_io_t )( struct c6dofimu9_s*, uint8_t, uint8_t*, uint8_t );
 
typedef struct c6dofimu9_s
{
    // Output pins 
 
    digital_out_t syn;
    digital_out_t cs;
 
    // Input pins 
 
    digital_in_t int_pin;
    
    // Modules 
 
    i2c_master_t i2c;
    spi_master_t spi;
 
    // ctx variable 
 
    uint8_t slave_address;
    pin_name_t chip_select;
    c6dofimu9_master_io_t  write_f;
    c6dofimu9_master_io_t  read_f;
    c6dofimu9_select_t master_sel;
 
} c6dofimu9_t;
 
typedef struct
{
    // Communication gpio pins 
 
    pin_name_t scl;
    pin_name_t sda;
    pin_name_t miso;
    pin_name_t mosi;
    pin_name_t sck;
    pin_name_t cs;
    
    // Additional gpio pins 
 
    pin_name_t syn;
    pin_name_t int_pin;
 
    // static variable 
 
    uint32_t i2c_speed;
    uint8_t i2c_address;
    uint32_t spi_speed;
    uint8_t spi_mode;
    spi_master_chip_select_polarity_t cs_polarity;
 
   c6dofimu9_select_t sel;
 
} c6dofimu9_cfg_t;
 
 // End types group
// ----------------------------------------------- PUBLIC FUNCTION DECLARATIONS
#ifdef __cplusplus
extern "C"{
#endif
 
void c6dofimu9_cfg_setup ( c6dofimu9_cfg_t *cfg );
 
C6DOFIMU9_RETVAL c6dofimu9_init ( c6dofimu9_t *ctx, c6dofimu9_cfg_t *cfg );
 
void c6dofimu9_default_cfg ( c6dofimu9_t *ctx );
 
void c6dofimu9_generic_write ( c6dofimu9_t *ctx, uint8_t reg, uint8_t *data_buf, uint8_t len );
 
void c6dofimu9_generic_read ( c6dofimu9_t *ctx, uint8_t reg, uint8_t *data_buf, uint8_t len );
 
uint8_t c6dofimu9_check_interrupt ( c6dofimu9_t *ctx );
 
void c6dofimu9_set_config ( c6dofimu9_t *ctx, uint8_t config_data );
 
void c6dofimu9_set_gyro_config ( c6dofimu9_t *ctx, uint8_t gyro_config_data );
 
void c6dofimu9_set_gyro_measurement_range ( c6dofimu9_t *ctx, uint16_t gyro_full_scale_range );
 
void c6dofimu9_set_accel_config ( c6dofimu9_t *ctx, uint16_t accel_config_data );
 
void c6dofimu9_set_accel_measurement_range ( c6dofimu9_t *ctx, uint8_t accel_full_scale_range );
 
void c6dofimu9_set_accel_avg_filter_mode ( c6dofimu9_t *ctx, uint8_t accel_avg_samples );
 
void c6dofimu9_set_gyro_config_lp_mode ( c6dofimu9_t *ctx, uint8_t gyro_averages );
 
uint8_t c6dofimu9_get_accel_wake_on_motion_trsh ( c6dofimu9_t *ctx );
 
void c6dofimu9_enable_fifo ( c6dofimu9_t *ctx, uint8_t en_fifo_data );
 
void c6dofimu9_enable_accel_interrupt ( c6dofimu9_t *ctx );
 
void c6dofimu9_enable_gyro_interrupt ( c6dofimu9_t *ctx );
 
void c6dofimu9_enable_data_ready_interrupt ( c6dofimu9_t *ctx );
 
uint8_t c6dofimu9_get_interrupt_status ( c6dofimu9_t *ctx );
 
void c6dofimu9_reset_accel_signal ( c6dofimu9_t *ctx );
 
void c6dofimu9_reset_gyro_signal ( c6dofimu9_t *ctx );
 
void c6dofimu9_enable_accel_wake_on_motion ( c6dofimu9_t *ctx );
 
void c6dofimu9_reset_default ( c6dofimu9_t *ctx );
 
void c6dofimu9_set_sleep_mode ( c6dofimu9_t *ctx );
 
void c6dofimu9_set_standby_mode ( c6dofimu9_t *ctx );
 
uint8_t c6dofimu9_get_device_id ( c6dofimu9_t *ctx );
 
int16_t c6dofimu9_get_axis ( c6dofimu9_t *ctx, uint8_t addr_reg_msb, uint8_t addr_reg_lsb );
 
void c6dofimu9_get_accel_data ( c6dofimu9_t *ctx, int16_t *p_accel_x, int16_t *p_accel_y, int16_t *p_accel_z );
 
void c6dofimu9_get_gyro_data ( c6dofimu9_t *ctx, int16_t *p_gyro_x, int16_t *p_gyro_y, int16_t *p_gyro_z );
 
 
#ifdef __cplusplus
}
#endif
#endif  // _C6DOFIMU9_H_
 
 // End public_function group
 
// ------------------------------------------------------------------------- END