c9dof.h

Go to the documentation of this file.

/*
 * 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 C9DOF_H
#define C9DOF_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"
 
// -------------------------------------------------------------- PUBLIC MACROS 
#define C9DOF_MAP_MIKROBUS( cfg, mikrobus )         \
  cfg.scl  = MIKROBUS( mikrobus, MIKROBUS_SCL );    \
  cfg.sda  = MIKROBUS( mikrobus, MIKROBUS_SDA );    \
  cfg.en = MIKROBUS( mikrobus, MIKROBUS_RST );      \
  cfg.int_pin = MIKROBUS( mikrobus, MIKROBUS_INT )
#define C9DOF_RETVAL  uint8_t
 
#define C9DOF_OK           0x00
#define C9DOF_INIT_ERROR   0xFF
#define C9DOF_SLAVE_ADDRESS_ACCEL_GYRO_0       0x6A  
#define C9DOF_SLAVE_ADDRESS_MAG_0              0x1C  
#define C9DOF_SLAVE_ADDRESS_ACCEL_GYRO_1       0x6B   
#define C9DOF_SLAVE_ADDRESS_MAG_1              0x1E 
#define C9DOF_REG_ACT_THS                      0x04
#define C9DOF_REG_ACT_DUR                      0x05
#define C9DOF_REG_INT_GEN_CFG_XL               0x06
#define C9DOF_REG_INT_GEN_THS_X_XL             0x07
#define C9DOF_REG_INT_GEN_THS_Y_XL             0x08
#define C9DOF_REG_INT_GEN_THS_Z_XL             0x09
#define C9DOF_REG_INT_GEN_DUR_XL               0x0A
#define C9DOF_REG_REFERENCE_G                  0x0B
#define C9DOF_REG_INT1_CTRL                    0x0C
#define C9DOF_REG_INT2_CTRL                    0x0D
#define C9DOF_REG_WHO_AM_I                     0x0F
#define C9DOF_REG_CTRL_REG1_G                  0x10
#define C9DOF_REG_CTRL_REG2_G                  0x11
#define C9DOF_REG_CTRL_REG3_G                  0x12
#define C9DOF_REG_ORIENT_CFG_G                 0x13
#define C9DOF_REG_INT_GEN_SRC_G                0x14
#define C9DOF_REG_OUT_TEMP_L                   0x15
#define C9DOF_REG_OUT_TEMP_H                   0x16
#define C9DOF_REG_STATUS_REG                   0x17
#define C9DOF_REG_OUT_X_L_G                    0x18
#define C9DOF_REG_OUT_X_H_G                    0x19
#define C9DOF_REG_OUT_Y_L_G                    0x1A
#define C9DOF_REG_OUT_Y_H_G                    0x1B
#define C9DOF_REG_OUT_Z_L_G                    0x1C
#define C9DOF_REG_OUT_Z_H_G                    0x1D
#define C9DOF_REG_CTRL_REG4                    0x1E
#define C9DOF_REG_CTRL_REG5_XL                 0x1F
#define C9DOF_REG_CTRL_REG6_XL                 0x20
#define C9DOF_REG_CTRL_REG7_XL                 0x21
#define C9DOF_REG_CTRL_REG8                    0x22
#define C9DOF_REG_CTRL_REG9                    0x23
#define C9DOF_REG_CTRL_REG10                   0x24
#define C9DOF_REG_INT_GEN_SRC_XL               0x26
#define C9DOF_REG_OUT_X_L_XL                   0x28
#define C9DOF_REG_OUT_X_H_XL                   0x29
#define C9DOF_REG_OUT_Y_L_XL                   0x2A
#define C9DOF_REG_OUT_Y_H_XL                   0x2B
#define C9DOF_REG_OUT_Z_L_XL                   0x2C
#define C9DOF_REG_OUT_Z_H_XL                   0x2D
#define C9DOF_REG_FIFO_CTRL                    0x2E
#define C9DOF_REG_FIFO_SRC                     0x2F
#define C9DOF_REG_INT_GEN_CFG_G                0x30
#define C9DOF_REG_INT_GEN_THS_XH_G             0x31
#define C9DOF_REG_INT_GEN_THS_XL_G             0x32
#define C9DOF_REG_INT_GEN_THS_YH_G             0x33
#define C9DOF_REG_INT_GEN_THS_YL_G             0x34
#define C9DOF_REG_INT_GEN_THS_ZH_G             0x35
#define C9DOF_REG_INT_GEN_THS_ZL_G             0x36
#define C9DOF_REG_INT_GEN_DUR_G                0x37
#define C9DOF_REG_OFFSET_X_REG_L_M             0x05
#define C9DOF_REG_OFFSET_X_REG_H_M             0x06
#define C9DOF_REG_OFFSET_Y_REG_L_M             0x07
#define C9DOF_REG_OFFSET_Y_REG_H_M             0x08
#define C9DOF_REG_OFFSET_Z_REG_L_M             0x09
#define C9DOF_REG_OFFSET_Z_REG_H_M             0x0A
#define C9DOF_REG_CTRL_REG1_M                  0x20
#define C9DOF_REG_CTRL_REG2_M                  0x21
#define C9DOF_REG_CTRL_REG3_M                  0x22
#define C9DOF_REG_CTRL_REG4_M                  0x23
#define C9DOF_REG_CTRL_REG5_M                  0x24
#define C9DOF_REG_STATUS_REG_M                 0x27
#define C9DOF_REG_OUT_X_L_M                    0x28
#define C9DOF_REG_OUT_X_H_M                    0x29
#define C9DOF_REG_OUT_Y_L_M                    0x2A
#define C9DOF_REG_OUT_Y_H_M                    0x2B
#define C9DOF_REG_OUT_Z_L_M                    0x2C
#define C9DOF_REG_OUT_Z_H_M                    0x2D
#define C9DOF_REG_INT_CFG_M                    0x30
#define C9DOF_REG_INT_SRC_M                    0x31
#define C9DOF_REG_INT_THS_L_M                  0x32
#define C9DOF_REG_INT_THS_H_M                  0x33
#define C9DOF_REG_XG_ID                        0x68
#define C9DOF_REG_MAG_ID                       0x3D
#define C9DOF_CTRL_REG4_CONFIG                 0x38
#define C9DOF_CTRL_REG1_G_CONFIG               0x82
#define C9DOF_CTRL_REG5_XL_CONFIG              0x38
#define C9DOF_CTRL_REG6_XL_CONFIG              0x83
#define C9DOF_CTRL_REG8_CONFIG                 0x44
#define C9DOF_CTRL_REG1_M_CONFIG               0xD0
#define C9DOF_CTRL_REG2_M_CONFIG               0x00
#define C9DOF_CTRL_REG3_M_CONFIG               0x00
#define C9DOF_CTRL_REG4_M_CONFIG               0x08
#define C9DOF_CTRL_REG5_M_CONFIG               0x40
 // End group macro 
// --------------------------------------------------------------- PUBLIC TYPES
typedef struct
{
    // Output pins 
 
    digital_out_t en;
 
    // Input pins 
 
    digital_in_t int_pin;
    
    // Modules 
 
    i2c_master_t i2c;
 
    // ctx variable 
 
    uint8_t slave_address_ag;
    uint8_t slave_address_m;
 
} c9dof_t;
 
typedef struct
{
    // Communication gpio pins 
 
    pin_name_t scl;
    pin_name_t sda;
    
    // Additional gpio pins 
 
    pin_name_t en;
    pin_name_t int_pin;
 
    // static variable 
 
    uint32_t i2c_speed;
    uint8_t i2c_address_ag;
    uint8_t i2c_address_m;
 
} c9dof_cfg_t;
 
 // End types group
 
typedef struct
{
    int16_t x;
    int16_t y;
    int16_t z;
 
} c9dof_accel_data_t;
 
typedef struct
{
    int16_t x;
    int16_t y;
    int16_t z;
 
} c9dof_gyro_data_t;
 
typedef struct
{
    int16_t x;
    int16_t y;
    int16_t z;
 
} c9dof_mag_data_t;
 
 // Measurement data
// ----------------------------------------------- PUBLIC FUNCTION DECLARATIONS
 
#ifdef __cplusplus
extern "C"{
#endif
 
void c9dof_cfg_setup ( c9dof_cfg_t *cfg );
 
C9DOF_RETVAL c9dof_init ( c9dof_t *ctx, c9dof_cfg_t *cfg );
 
void c9dof_default_cfg ( c9dof_t *ctx );
 
void c9dof_set_power_mode ( c9dof_t *ctx, uint8_t pwr_mode );
 
void c9dof_generic_write_accel_gyro ( c9dof_t *ctx, uint8_t reg, uint8_t *data_buf, uint8_t len );
 
void c9dof_generic_read_accel_gyro ( c9dof_t *ctx, uint8_t reg, uint8_t *data_buf, uint8_t len );
 
void c9dof_generic_write_mag ( c9dof_t *ctx, uint8_t reg, uint8_t *data_buf, uint8_t len );
 
void c9dof_generic_read_mag ( c9dof_t *ctx, uint8_t reg, uint8_t *data_buf, uint8_t len );
 
void c9dof_read_accel ( c9dof_t *ctx, c9dof_accel_data_t *accel_data );
 
void c9dof_read_gyro ( c9dof_t *ctx, c9dof_gyro_data_t *gyro_data );
 
void c9dof_read_mag ( c9dof_t *ctx, c9dof_mag_data_t *mag_data );
 
uint8_t c9dof_get_interrupt ( c9dof_t *ctx );
 
#ifdef __cplusplus
}
#endif
#endif  // _C9DOF_H_
 
 // End public_function group
 
// ------------------------------------------------------------------------- END