c9dof2/html/c9dof2_8h_source.html

/*

 * 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 C9DOF2_H

#define C9DOF2_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_spi_master.h"


// -------------------------------------------------------------- PUBLIC MACROS


#define C9DOF2_MAP_MIKROBUS( cfg, mikrobus ) \

   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.snc = MIKROBUS( mikrobus, MIKROBUS_PWM ); \

   cfg.int_pin = MIKROBUS( mikrobus, MIKROBUS_INT )


#define C9DOF2_RETVAL  uint8_t


#define C9DOF2_OK           0x00

#define C9DOF2_INIT_ERROR   0xFF

#define C9DOF2_AK09916_ADR         0x0C

#define C9DOF2_WHO_AM_I_AK09916    0x01

#define C9DOF2_AK09916_ST1         0x10

#define C9DOF2_AK09916_XOUT_L      0x11

#define C9DOF2_AK09916_XOUT_H      0x12

#define C9DOF2_AK09916_YOUT_L      0x13

#define C9DOF2_AK09916_YOUT_H      0x14

#define C9DOF2_AK09916_ZOUT_L      0x15

#define C9DOF2_AK09916_ZOUT_H      0x16

#define C9DOF2_AK09916_ST2         0x18

#define C9DOF2_AK09916_CNTL        0x30

#define C9DOF2_AK09916_CNTL2       0x31

#define C9DOF2_WHO_AM_I_ICM20948    0x00

#define C9DOF2_USER_CTRL            0x03

#define C9DOF2_LP_CCFG              0x05

#define C9DOF2_PWR_MGMT_1           0x06

#define C9DOF2_PWR_MGMT_2           0x07

#define C9DOF2_INT_PIN_CFG          0x0F

#define C9DOF2_INT_EN               0x10

#define C9DOF2_INT_EN_1             0x11

#define C9DOF2_INT_EN_2             0x12

#define C9DOF2_INT_EN_3             0x13

#define C9DOF2_I2C_MST_STAT         0x17

#define C9DOF2_INT_STAT             0x19

#define C9DOF2_INT_STAT_1           0x1A

#define C9DOF2_INT_STAT_2           0x1B

#define C9DOF2_INT_STAT_3           0x1C

#define C9DOF2_DELAY_TIMEH          0x28

#define C9DOF2_DELAY_TIMEL          0x29

#define C9DOF2_ACCEL_XOUT_H         0x2D

#define C9DOF2_ACCEL_XOUT_L         0x2E

#define C9DOF2_ACCEL_YOUT_H         0x2F

#define C9DOF2_ACCEL_YOUT_L         0x30

#define C9DOF2_ACCEL_ZOUT_H         0x31

#define C9DOF2_ACCEL_ZOUT_L         0x32

#define C9DOF2_GYRO_XOUT_H          0x33

#define C9DOF2_GYRO_XOUT_L          0x34

#define C9DOF2_GYRO_YOUT_H          0x35

#define C9DOF2_GYRO_YOUT_L          0x36

#define C9DOF2_GYRO_ZOUT_H          0x37

#define C9DOF2_GYRO_ZOUT_L          0x38

#define C9DOF2_TEMP_OUT_H           0x39

#define C9DOF2_TEMP_OUT_L           0x3A

#define C9DOF2_EXT_SENS_DATA_00     0x3B

#define C9DOF2_EXT_SENS_DATA_01     0x3C

#define C9DOF2_EXT_SENS_DATA_02     0x3D

#define C9DOF2_EXT_SENS_DATA_03     0x3E

#define C9DOF2_EXT_SENS_DATA_04     0x3F

#define C9DOF2_EXT_SENS_DATA_05     0x40

#define C9DOF2_EXT_SENS_DATA_06     0x41

#define C9DOF2_EXT_SENS_DATA_07     0x42

#define C9DOF2_EXT_SENS_DATA_08     0x43

#define C9DOF2_EXT_SENS_DATA_09     0x44

#define C9DOF2_EXT_SENS_DATA_10     0x45

#define C9DOF2_EXT_SENS_DATA_11     0x46

#define C9DOF2_EXT_SENS_DATA_12     0x47

#define C9DOF2_EXT_SENS_DATA_13     0x48

#define C9DOF2_EXT_SENS_DATA_14     0x49

#define C9DOF2_EXT_SENS_DATA_15     0x4A

#define C9DOF2_EXT_SENS_DATA_16     0x4B

#define C9DOF2_EXT_SENS_DATA_17     0x4C

#define C9DOF2_EXT_SENS_DATA_18     0x4D

#define C9DOF2_EXT_SENS_DATA_19     0x4E

#define C9DOF2_EXT_SENS_DATA_20     0x4F

#define C9DOF2_EXT_SENS_DATA_21     0x50

#define C9DOF2_EXT_SENS_DATA_22     0x51

#define C9DOF2_EXT_SENS_DATA_23     0x52

#define C9DOF2_FIFO_EN_1            0x66

#define C9DOF2_FIFO_EN_2            0x67

#define C9DOF2_FIFO_RST             0x68

#define C9DOF2_FIFO_MODE            0x69

#define C9DOF2_FIFO_CNT_H           0x70

#define C9DOF2_FIFO_CNT_L           0x71

#define C9DOF2_FIFO_R_W             0x72

#define C9DOF2_DATA_RDY_STAT        0x74

#define C9DOF2_FIFO_CFG             0x76

#define C9DOF2_REG_BANK_SEL         0x7F

#define C9DOF2_SELF_TEST_X_GYRO       0x02

#define C9DOF2_SELF_TEST_Y_GYRO       0x03

#define C9DOF2_SELF_TEST_Z_GYRO       0x04

#define C9DOF2_SELF_TEST_X_ACCEL      0x0E

#define C9DOF2_SELF_TEST_Y_ACCEL      0x0F

#define C9DOF2_SELF_TEST_Z_ACCEL      0x10

#define C9DOF2_XA_OFFSET_H            0x14

#define C9DOF2_XA_OFFSET_L            0x15

#define C9DOF2_YA_OFFSET_H            0x17

#define C9DOF2_YA_OFFSET_L            0x18

#define C9DOF2_ZA_OFFSET_H            0x1A

#define C9DOF2_ZA_OFFSET_L            0x1B

#define C9DOF2_TIMEBASE_CORREC_PLL    0x28

#define C9DOF2_GYRO_SMPLRT_DIV       0x00

#define C9DOF2_GYRO_CFG_1            0x01

#define C9DOF2_GYRO_CFG_2            0x02

#define C9DOF2_XG_OFFSET_H           0x03

#define C9DOF2_XG_OFFSET_L           0x04

#define C9DOF2_YG_OFFSET_H           0x05

#define C9DOF2_YG_OFFSET_L           0x06

#define C9DOF2_ZG_OFFSET_H           0x07

#define C9DOF2_ZG_OFFSET_L           0x08

#define C9DOF2_ODR_ALIGN_EN          0x09

#define C9DOF2_ACCEL_SMPLRT_DIV_1    0x10

#define C9DOF2_ACCEL_SMPLRT_DIV_2    0x11

#define C9DOF2_ACCEL_INTEL_CTRL      0x12

#define C9DOF2_ACCEL_WOM_THR         0x13

#define C9DOF2_ACCEL_CFG             0x14

#define C9DOF2_ACCEL_CFG_2           0x15

#define C9DOF2_FSYNC_CFG             0x52

#define C9DOF2_TEMP_CFG              0x53

#define C9DOF2_MOD_CTRL_USR          0x54

#define C9DOF2_I2C_MST_ODR_CFG       0x00

#define C9DOF2_I2C_MST_CTRL          0x01

#define C9DOF2_I2C_MST_DELAY_CTRL    0x02

#define C9DOF2_I2C_SLV0_ADR          0x03

#define C9DOF2_I2C_SLV0_REG          0x04

#define C9DOF2_I2C_SLV0_CTRL         0x05

#define C9DOF2_I2C_SLV0_DO           0x06

#define C9DOF2_I2C_SLV1_ADR          0x07

#define C9DOF2_I2C_SLV1_REG          0x08

#define C9DOF2_I2C_SLV1_CTRL         0x09

#define C9DOF2_I2C_SLV1_DO           0x0A

#define C9DOF2_I2C_SLV2_ADR          0x0B

#define C9DOF2_I2C_SLV2_REG          0x0C

#define C9DOF2_I2C_SLV2_CTRL         0x0D

#define C9DOF2_I2C_SLV2_DO           0x0E

#define C9DOF2_I2C_SLV3_ADR          0x0F

#define C9DOF2_I2C_SLV3_REG          0x10

#define C9DOF2_I2C_SLV3_CTRL         0x11

#define C9DOF2_I2C_SLV3_DO           0x12

#define C9DOF2_I2C_SLV4_ADR          0x13

#define C9DOF2_I2C_SLV4_REG          0x14

#define C9DOF2_I2C_SLV4_CTRL         0x15

#define C9DOF2_I2C_SLV4_DO           0x16

#define C9DOF2_I2C_SLV4_DI           0x17

#define C9DOF2_REG_BANK_0           0x00

#define C9DOF2_REG_BANK_1           0x10

#define C9DOF2_REG_BANK_2           0x20

#define C9DOF2_REG_BANK_3           0x30

#define C9DOF2_USER_CTL_DMP_EN         0x80

#define C9DOF2_USER_CTL_FIFO_EN        0x40

#define C9DOF2_USER_CTL_I2C_MST_EN     0x20

#define C9DOF2_USER_CTL_I2C_IF_DIS     0x10

#define C9DOF2_USER_CTL_DMP_RST        0x08

#define C9DOF2_USER_CTL_SRAM_RST       0x04

#define C9DOF2_USER_CTL_I2C_MST_RST    0x02

#define C9DOF2_LP_CFG_I2C_MST_CYC      0x80

#define C9DOF2_LP_CFG_ACCEL_CYC        0x40

#define C9DOF2_LP_CFG_GYRO_CYC         0x20

#define C9DOF2_PWR_MGMT_1_DEV_RST      0x80

#define C9DOF2_PWR_MGMT_1_SLP          0x40

#define C9DOF2_PWR_MGMT_1_LP_EN        0x20

#define C9DOF2_PWR_MGMT_1_TEMP_DIS     0x08

#define C9DOF2_PWR_MGMT_1_CLKSEL_7     0x07

#define C9DOF2_PWR_MGMT_1_CLKSEL_6     0x06

#define C9DOF2_PWR_MGMT_1_CLKSEL_5     0x05

#define C9DOF2_PWR_MGMT_1_CLKSEL_4     0x04

#define C9DOF2_PWR_MGMT_1_CLKSEL_3     0x03

#define C9DOF2_PWR_MGMT_1_CLKSEL_2     0x02

#define C9DOF2_PWR_MGMT_1_CLKSEL_1     0x01

#define C9DOF2_PWR_MGMT_1_CLKSEL_0     0x00

#define C9DOF2_PWR_MGMT_2_DIS_XA    0x20

#define C9DOF2_PWR_MGMT_2_DIS_YA    0x10

#define C9DOF2_PWR_MGMT_2_DIS_ZA    0x08

#define C9DOF2_PWR_MGMT_2_DIS_XG    0x04

#define C9DOF2_PWR_MGMT_2_DIS_YG    0x02

#define C9DOF2_PWR_MGMT_2_DIS_ZG    0x01

#define C9DOF2_INT_PIN_CFG_ACTL                 0x80

#define C9DOF2_INT_PIN_CFG_OPEN                 0x40

#define C9DOF2_INT_PIN_CFG_LATCH_INT_EN         0x20

#define C9DOF2_INT_PIN_CFG_INT_ANYRD_2CLR       0x10

#define C9DOF2_INT_PIN_CFG_ACTL_FSYNC           0x08

#define C9DOF2_INT_PIN_CFG_FSYNC_INT_MODE_EN    0x04

#define C9DOF2_INT_PIN_CFG_BYPASS_EN            0x02

#define C9DOF2_INT_ENABLE_REG_WOF_EN         0x80

#define C9DOF2_INT_ENABLE_WOM_INT_EN         0x08

#define C9DOF2_INT_ENABLE_PLL_RDY_EN         0x04

#define C9DOF2_INT_ENABLE_FIFO_OVF_EN        0x10

#define C9DOF2_INT_ENABLE_DMP_INT1_EN        0x04

#define C9DOF2_INT_ENABLE_I2C_MST_INT_EN     0x01

#define C9DOF2_INT_EN_1_RAW_DATA_0_RDY_EN    0x01

#define C9DOF2_INT_EN_2_FIFO_OVERFLOW_EN    0x1F

#define C9DOF2_INT_ENABLE_3_FIFO_WM_EN     0x1F

#define C9DOF2_I2C_MST_STAT_PASS_THROUGH     0x80

#define C9DOF2_I2C_MST_STAT_I2C_SLV4_DONE    0x40

#define C9DOF2_I2C_MST_STAT_I2C_LOST_ARB     0x20

#define C9DOF2_I2C_MST_STAT_I2C_SLV4_NACK    0x10

#define C9DOF2_I2C_MST_STAT_I2C_SLV3_NACK    0x08

#define C9DOF2_I2C_MST_STAT_I2C_SLV2_NACK    0x04

#define C9DOF2_I2C_MST_STAT_I2C_SLV1_NACK    0x02

#define C9DOF2_I2C_MST_STAT_I2C_SLV0_NACK    0x01

#define C9DOF2_INT_STAT_WOM_INT           0x80

#define C9DOF2_INT_STAT_PLL_RDY_INT       0x40

#define C9DOF2_INT_STAT_DMP_INT1          0x20

#define C9DOF2_INT_STAT_I2C_MST_INT       0x10

#define C9DOF2_INT_STAT_1_RAW_DATA_0_RDY_EN    0x01

#define C9DOF2_INT_STAT_2_FIFO_OWF_EN        0x1F

#define C9DOF2_INT_STAT_3_FIFO_WM_EN         0x1F

#define C9DOF2_FIFO_EN_1_SLV_3_FIFO_EN     0x08

#define C9DOF2_FIFO_EN_1_SLV_2_FIFO_EN     0x04

#define C9DOF2_FIFO_EN_1_SLV_1_FIFO_EN     0x02

#define C9DOF2_FIFO_EN_1_SLV_0_FIFO_EN     0x01

#define C9DOF2_FIFO_EN_2_ACCEL_FIFO_EN     0x10

#define C9DOF2_FIFO_EN_2_GYRO_Z_FIFO_EN    0x08

#define C9DOF2_FIFO_EN_2_GYRO_Y_FIFO_EN    0x04

#define C9DOF2_FIFO_EN_2_GYRO_X_FIFO_EN    0x02

#define C9DOF2_FIFO_EN_2_TEMP_FIFO_EN      0x01

#define C9DOF2_FIFO_CFG_CMD               0x01

#define C9DOF2_GYRO_CFG_1_DLPFCFG_7      0x38

#define C9DOF2_GYRO_CFG_1_DLPFCFG_6      0x30

#define C9DOF2_GYRO_CFG_1_DLPFCFG_5      0x28

#define C9DOF2_GYRO_CFG_1_DLPFCFG_4      0x20

#define C9DOF2_GYRO_CFG_1_DLPFCFG_3      0x18

#define C9DOF2_GYRO_CFG_1_DLPFCFG_2      0x10

#define C9DOF2_GYRO_CFG_1_DLPFCFG_1      0x08

#define C9DOF2_GYRO_CFG_1_DLPFCFG_0      0x00

#define C9DOF2_GYRO_CFG_1_FS_SEL_2000    0x06

#define C9DOF2_GYRO_CFG_1_FS_SEL_1000    0x04

#define C9DOF2_GYRO_CFG_1_FS_SEL_500     0x02

#define C9DOF2_GYRO_CFG_1_FS_SEL_250     0x00

#define C9DOF2_GYRO_CFG_1_FCHOICE_EN     0x01

#define C9DOF2_GYRO_CFG_1_FCHOICE_BP     0x00

#define C9DOF2_GYRO_CFG_2_XGYRO_CTEN    0x20

#define C9DOF2_GYRO_CFG_2_YGYRO_CTEN    0x10

#define C9DOF2_GYRO_CFG_2_ZGYRO_CTEN    0x08

#define C9DOF2_GYRO_CFG_2_AVGCFG_7      0x07

#define C9DOF2_GYRO_CFG_2_AVGCFG_6      0x06

#define C9DOF2_GYRO_CFG_2_AVGCFG_5      0x05

#define C9DOF2_GYRO_CFG_2_AVGCFG_4      0x04

#define C9DOF2_GYRO_CFG_2_AVGCFG_3      0x03

#define C9DOF2_GYRO_CFG_2_AVGCFG_2      0x02

#define C9DOF2_GYRO_CFG_2_AVGCFG_1      0x01

#define C9DOF2_GYRO_CFG_2_AVGCFG_0      0x00

#define C9DOF2_ODR_ALIGN_CMD_EN       0x01

#define C9DOF2_ODR_ALIGN_CMD_DIS      0x00

#define C9DOF2_ACCEL_INTEL_CTL_INTEL_EN               0x02

#define C9DOF2_ACCEL_INTEL_CTL_INTEL_MODE_INT_CURR    0x01

#define C9DOF2_ACCEL_INTEL_CTL_INTEL_MODE_INT_INIT    0x00

#define C9DOF2_ACCEL_CFG_DLPFCFG_7     0x38

#define C9DOF2_ACCEL_CFG_DLPFCFG_6     0x30

#define C9DOF2_ACCEL_CFG_DLPFCFG_5     0x28

#define C9DOF2_ACCEL_CFG_DLPFCFG_4     0x20

#define C9DOF2_ACCEL_CFG_DLPFCFG_3     0x18

#define C9DOF2_ACCEL_CFG_DLPFCFG_2     0x10

#define C9DOF2_ACCEL_CFG_DLPFCFG_1     0x08

#define C9DOF2_ACCEL_CFG_DLPFCFG_0     0x00

#define C9DOF2_ACCEL_CFG_FS_SEL_16G    0x06

#define C9DOF2_ACCEL_CFG_FS_SEL_8G     0x04

#define C9DOF2_ACCEL_CFG_FS_SEL_4G     0x02

#define C9DOF2_ACCEL_CFG_FS_SEL_2G     0x00

#define C9DOF2_ACCEL_CFG_FCHOICE_EN    0x01

#define C9DOF2_ACCEL_CFG_FCHOICE_BP    0x00

#define C9DOF2_ACCEL_2_CFG_AX_ST_EN_REG     0x10

#define C9DOF2_ACCEL_2_CFG_AY_ST_EN_REG     0x08

#define C9DOF2_ACCEL_2_CFG_AZ_ST_EN_REG     0x04

#define C9DOF2_ACCEL_2_CFG_DEC3_CFG_32      0x03

#define C9DOF2_ACCEL_2_CFG_DEC3_CFG_16      0x02

#define C9DOF2_ACCEL_2_CFG_DEC3_CFG_8       0x01

#define C9DOF2_ACCEL_2_CFG_DEC3_CFG_4       0x00

#define C9DOF2_ACCEL_2_CFG_DEC3_CFG_1       0x00

#define C9DOF2_FSYNC_CFG_DELAY_TIME_EN                0x80

#define C9DOF2_FSYNC_CFG_WOF_DEGLITCH_EN              0x40

#define C9DOF2_FSYNC_CFG_WOF_EDGE_INT                 0x20

#define C9DOF2_FSYNC_CFG_EXT_SYNC_SET_ACCEL_ZOUT_L    0x07

#define C9DOF2_FSYNC_CFG_EXT_SYNC_SET_ACCEL_YOUT_L    0x06

#define C9DOF2_FSYNC_CFG_EXT_SYNC_SET_ACCEL_XOUT_L    0x05

#define C9DOF2_FSYNC_CFG_EXT_SYNC_SET_GYRO_ZOUT_L     0x04

#define C9DOF2_FSYNC_CFG_EXT_SYNC_SET_GYRO_YOUT_L     0x03

#define C9DOF2_FSYNC_CFG_EXT_SYNC_SET_GYRO_XOUT_L     0x02

#define C9DOF2_FSYNC_CFG_EXT_SYNC_SET_TEMP_OUT_L      0x01

#define C9DOF2_FSYNC_CFG_EXT_SYNC_SET_DIS             0x00

#define C9DOF2_TEMP_CFG_DLPFCFG_7    0x07

#define C9DOF2_TEMP_CFG_DLPFCFG_6    0x06

#define C9DOF2_TEMP_CFG_DLPFCFG_5    0x05

#define C9DOF2_TEMP_CFG_DLPFCFG_4    0x04

#define C9DOF2_TEMP_CFG_DLPFCFG_3    0x03

#define C9DOF2_TEMP_CFG_DLPFCFG_2    0x02

#define C9DOF2_TEMP_CFG_DLPFCFG_1    0x01

#define C9DOF2_TEMP_CFG_DLPFCFG_0    0x00

#define C9DOF2_MOD_CTRL_USR_REG_LP_DMP_EN     0x01

#define C9DOF2_MOD_CTRL_USR_REG_LP_DMP_DIS    0x00

#define C9DOF2_CNTL2_MODE_SELF_TEST      0x10

#define C9DOF2_CNTL2_MODE_CONT_MEAS_4    0x08

#define C9DOF2_CNTL2_MODE_CONT_MEAS_3    0x06

#define C9DOF2_CNTL2_MODE_CONT_MEAS_2    0x04

#define C9DOF2_CNTL2_MODE_CONT_MEAS_1    0x02

#define C9DOF2_CNTL2_MODE_ONE_SHOT       0x01

#define C9DOF2_CNTL2_MODE_POW_DOWN       0x00

#define C9DOF2_CNTL3_SOFT_RST           0x01

#define C9DOF2_WHO_AM_I_ICM20948_VAL   0xEA

#define C9DOF2_GYRO_SENS_FS_SEL_2000     16.4

#define C9DOF2_GYRO_SENS_FS_SEL_1000     32.8

#define C9DOF2_GYRO_SENS_FS_SEL_500      65.5

#define C9DOF2_GYRO_SENS_FS_SEL_250      131.0

#define C9DOF2_ACCEL_SENS_FS_SEL_16G     2048.0

#define C9DOF2_ACCEL_SENS_FS_SEL_8G      4096.0

#define C9DOF2_ACCEL_SENS_FS_SEL_4G      8192.0

#define C9DOF2_ACCEL_SENS_FS_SEL_2G      16384.0

#define C9DOF2_POWER_ON                0x01

#define C9DOF2_POWER_OFF               0x00

#define C9DOF2_SNC_LOW                0x00

#define C9DOF2_SNC_HIGH               0x01

#define C9DOF2_READ_BIT_MASK           0x80

#define C9DOF2_WRITE_BIT_MASK          0x7F

 // End group macro

// --------------------------------------------------------------- PUBLIC TYPES


typedef struct

{

    // Output pins


    digital_out_t snc;

    digital_out_t cs;


    // Input pins


    digital_in_t int_pin;


    // Modules


    spi_master_t spi;

    pin_name_t chip_select;


} c9dof2_t;


typedef struct

{

    // Communication gpio pins


    pin_name_t miso;

    pin_name_t mosi;

    pin_name_t sck;

    pin_name_t cs;


    // Additional gpio pins


    pin_name_t snc;

    pin_name_t int_pin;


    // static variable


    uint32_t spi_speed;

    spi_master_mode_t spi_mode;

    spi_master_chip_select_polarity_t cs_polarity;


} c9dof2_cfg_t;


 // End types group

// ----------------------------------------------- PUBLIC FUNCTION DECLARATIONS


#ifdef __cplusplus

extern "C"{

#endif


void c9dof2_cfg_setup ( c9dof2_cfg_t *cfg );


C9DOF2_RETVAL c9dof2_init ( c9dof2_t *ctx, c9dof2_cfg_t *cfg );


void c9dof2_write_byte ( c9dof2_t *ctx, uint8_t reg, uint8_t wr_data );


void c9dof2_write_data ( c9dof2_t *ctx, uint8_t reg, int16_t wr_data );


uint8_t c9dof2_read_byte ( c9dof2_t *ctx, uint8_t reg );


int16_t c9dof2_read_data ( c9dof2_t *ctx, uint8_t reg );


void c9dof2_dev_rst ( c9dof2_t *ctx );


void c9dof2_power ( c9dof2_t *ctx, uint8_t on_off );


void c9dof2_def_settings ( c9dof2_t *ctx );


void c9dof2_read_gyroscope ( c9dof2_t *ctx, int16_t *gyro_x, int16_t *gyro_y, int16_t *gyro_z );


void c9dof2_angular_rate ( c9dof2_t *ctx, float *x_ang_rte, float *y_ang_rte, float *z_ang_rte );


void c9dof2_read_accelerometer ( c9dof2_t *ctx, int16_t *accel_x, int16_t *accel_y, int16_t *accel_z );


void c9dof2_acceleration_rate ( c9dof2_t *ctx, float *x_accel_rte, float *y_accel_rte, float *z_accel_rte );


float c9dof2_read_temperature ( c9dof2_t *ctx, float temp_offs );


uint8_t c9dof2_check_int ( c9dof2_t *ctx );


void c9dof2_snc_pin ( c9dof2_t *ctx, uint8_t state );


#ifdef __cplusplus

}

#endif

#endif  // _C9DOF2_H_


 // End public_function group


// ------------------------------------------------------------------------- END

C9DOF2_RETVAL
#define C9DOF2_RETVAL
Definition c9dof2.h:81

c9dof2_check_int
uint8_t c9dof2_check_int(c9dof2_t *ctx)
Check Interrupt state function.

c9dof2_angular_rate
void c9dof2_angular_rate(c9dof2_t *ctx, float *x_ang_rte, float *y_ang_rte, float *z_ang_rte)
Read Angular Rate function.

c9dof2_init
C9DOF2_RETVAL c9dof2_init(c9dof2_t *ctx, c9dof2_cfg_t *cfg)
Initialization function.

c9dof2_def_settings
void c9dof2_def_settings(c9dof2_t *ctx)
Default settings function.

c9dof2_acceleration_rate
void c9dof2_acceleration_rate(c9dof2_t *ctx, float *x_accel_rte, float *y_accel_rte, float *z_accel_rte)
Read acceleration Rate function.

c9dof2_snc_pin
void c9dof2_snc_pin(c9dof2_t *ctx, uint8_t state)
FSYNC Pin State function.

c9dof2_read_accelerometer
void c9dof2_read_accelerometer(c9dof2_t *ctx, int16_t *accel_x, int16_t *accel_y, int16_t *accel_z)
Read accelerometer data function.

c9dof2_read_gyroscope
void c9dof2_read_gyroscope(c9dof2_t *ctx, int16_t *gyro_x, int16_t *gyro_y, int16_t *gyro_z)
Read gyroscope data function.

c9dof2_cfg_setup
void c9dof2_cfg_setup(c9dof2_cfg_t *cfg)
Config Object Initialization function.

c9dof2_dev_rst
void c9dof2_dev_rst(c9dof2_t *ctx)
Device Reset function.

c9dof2_read_data
int16_t c9dof2_read_data(c9dof2_t *ctx, uint8_t reg)
Read Data function.

c9dof2_write_data
void c9dof2_write_data(c9dof2_t *ctx, uint8_t reg, int16_t wr_data)
Write Data function.

c9dof2_read_temperature
float c9dof2_read_temperature(c9dof2_t *ctx, float temp_offs)
Read temperture function.

c9dof2_power
void c9dof2_power(c9dof2_t *ctx, uint8_t on_off)
Power up function.

c9dof2_read_byte
uint8_t c9dof2_read_byte(c9dof2_t *ctx, uint8_t reg)
Read Byte function.

c9dof2_write_byte
void c9dof2_write_byte(c9dof2_t *ctx, uint8_t reg, uint8_t wr_data)
Write Byte function.

c9dof2_cfg_t
Click configuration structure definition.
Definition c9dof2.h:654

c9dof2_cfg_t::cs_polarity
spi_master_chip_select_polarity_t cs_polarity
Definition c9dof2.h:671

c9dof2_cfg_t::sck
pin_name_t sck
Definition c9dof2.h:659

c9dof2_cfg_t::spi_mode
spi_master_mode_t spi_mode
Definition c9dof2.h:670

c9dof2_cfg_t::mosi
pin_name_t mosi
Definition c9dof2.h:658

c9dof2_cfg_t::spi_speed
uint32_t spi_speed
Definition c9dof2.h:669

c9dof2_cfg_t::snc
pin_name_t snc
Definition c9dof2.h:664

c9dof2_cfg_t::int_pin
pin_name_t int_pin
Definition c9dof2.h:665

c9dof2_cfg_t::miso
pin_name_t miso
Definition c9dof2.h:657

c9dof2_cfg_t::cs
pin_name_t cs
Definition c9dof2.h:660

c9dof2_t
Click ctx object definition.
Definition c9dof2.h:633

c9dof2_t::cs
digital_out_t cs
Definition c9dof2.h:637

c9dof2_t::spi
spi_master_t spi
Definition c9dof2.h:645

c9dof2_t::int_pin
digital_in_t int_pin
Definition c9dof2.h:641

c9dof2_t::snc
digital_out_t snc
Definition c9dof2.h:636

c9dof2_t::chip_select
pin_name_t chip_select
Definition c9dof2.h:646