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128 lines
5.4 KiB
128 lines
5.4 KiB
/* |
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* em7180.h |
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* |
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* Created on: Jan 18, 2021 |
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* Author: Daniel Peter Chokola |
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* |
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* Adapted From: |
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* EM7180_LSM6DSM_LIS2MDL_LPS22HB_Butterfly |
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* by: Kris Winer |
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* 06/29/2017 Copyright Tlera Corporation |
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* |
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* Library may be used freely and without limit with attribution. |
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*/ |
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#ifndef EM7180_H_ |
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#define EM7180_H_ |
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/* Includes */ |
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#include <stdint.h> |
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#include "i2c.h" |
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#include "lsm6dsm.h" |
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#include "lps22hb.h" |
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#include "lis2mdl.h" |
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/* Definitions */ |
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/* |
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* EM7180 SENtral register map |
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* see http://www.emdeveloper.com/downloads/7180/EMSentral_EM7180_Register_Map_v1_3.pdf |
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*/ |
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#define EM7180_QX 0x00 // this is a 32-bit normalized floating point number read from registers 0x00-03 |
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#define EM7180_QY 0x04 // this is a 32-bit normalized floating point number read from registers 0x04-07 |
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#define EM7180_QZ 0x08 // this is a 32-bit normalized floating point number read from registers 0x08-0B |
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#define EM7180_QW 0x0C // this is a 32-bit normalized floating point number read from registers 0x0C-0F |
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#define EM7180_QTIME 0x10 // this is a 16-bit unsigned integer read from registers 0x10-11 |
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#define EM7180_MX 0x12 // int16_t from registers 0x12-13 |
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#define EM7180_MY 0x14 // int16_t from registers 0x14-15 |
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#define EM7180_MZ 0x16 // int16_t from registers 0x16-17 |
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#define EM7180_MTIME 0x18 // uint16_t from registers 0x18-19 |
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#define EM7180_AX 0x1A // int16_t from registers 0x1A-1B |
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#define EM7180_AY 0x1C // int16_t from registers 0x1C-1D |
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#define EM7180_AZ 0x1E // int16_t from registers 0x1E-1F |
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#define EM7180_ATIME 0x20 // uint16_t from registers 0x20-21 |
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#define EM7180_GX 0x22 // int16_t from registers 0x22-23 |
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#define EM7180_GY 0x24 // int16_t from registers 0x24-25 |
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#define EM7180_GZ 0x26 // int16_t from registers 0x26-27 |
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#define EM7180_GTIME 0x28 // uint16_t from registers 0x28-29 |
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#define EM7180_Baro 0x2A // start of two-byte MS5637 pressure data, 16-bit signed interger |
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#define EM7180_BaroTIME 0x2C // start of two-byte MS5637 pressure timestamp, 16-bit unsigned |
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#define EM7180_Temp 0x2E // start of two-byte MS5637 temperature data, 16-bit signed interger |
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#define EM7180_TempTIME 0x30 // start of two-byte MS5637 temperature timestamp, 16-bit unsigned |
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#define EM7180_QRateDivisor 0x32 // uint8_t |
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#define EM7180_EnableEvents 0x33 |
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#define EM7180_HostControl 0x34 |
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#define EM7180_EventStatus 0x35 |
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#define EM7180_SensorStatus 0x36 |
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#define EM7180_SentralStatus 0x37 |
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#define EM7180_AlgorithmStatus 0x38 |
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#define EM7180_FeatureFlags 0x39 |
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#define EM7180_ParamAcknowledge 0x3A |
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#define EM7180_SavedParamByte0 0x3B |
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#define EM7180_SavedParamByte1 0x3C |
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#define EM7180_SavedParamByte2 0x3D |
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#define EM7180_SavedParamByte3 0x3E |
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#define EM7180_ActualMagRate 0x45 |
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#define EM7180_ActualAccelRate 0x46 |
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#define EM7180_ActualGyroRate 0x47 |
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#define EM7180_ActualBaroRate 0x48 |
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#define EM7180_ActualTempRate 0x49 |
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#define EM7180_ErrorRegister 0x50 |
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#define EM7180_AlgorithmControl 0x54 |
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#define EM7180_MagRate 0x55 |
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#define EM7180_AccelRate 0x56 |
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#define EM7180_GyroRate 0x57 |
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#define EM7180_BaroRate 0x58 |
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#define EM7180_TempRate 0x59 |
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#define EM7180_LoadParamByte0 0x60 |
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#define EM7180_LoadParamByte1 0x61 |
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#define EM7180_LoadParamByte2 0x62 |
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#define EM7180_LoadParamByte3 0x63 |
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#define EM7180_ParamRequest 0x64 |
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#define EM7180_ROMVersion1 0x70 |
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#define EM7180_ROMVersion2 0x71 |
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#define EM7180_RAMVersion1 0x72 |
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#define EM7180_RAMVersion2 0x73 |
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#define EM7180_ProductID 0x90 |
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#define EM7180_RevisionID 0x91 |
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#define EM7180_RunStatus 0x92 |
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#define EM7180_UploadAddress 0x94 // uint16_t registers 0x94 (MSB)-5(LSB) |
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#define EM7180_UploadData 0x96 |
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#define EM7180_CRCHost 0x97 // uint32_t from registers 0x97-9A |
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#define EM7180_ResetRequest 0x9B |
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#define EM7180_PassThruStatus 0x9E |
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#define EM7180_PassThruControl 0xA0 |
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#define EM7180_ADDRESS 0x28 // Address of the EM7180 SENtral sensor hub |
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#define M24512DFM_DATA_ADDRESS 0x50 // Address of the 500 page M24512DFM EEPROM data buffer, 1024 bits (128 8-bit bytes) per page |
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#define M24512DFM_IDPAGE_ADDRESS 0x58 // Address of the single M24512DFM lockable EEPROM ID page |
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/* Data Structures */ |
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typedef struct em7180_s |
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{ |
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I2C_HandleTypeDef *hi2c; |
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lsm6dsm_t *lsm6dsm; |
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lis2mdl_t *lis2mdl; |
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lps22hb_t *lps22hb; |
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uint16_t acc_fs; |
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uint16_t gyro_fs; |
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uint16_t mag_fs; |
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uint8_t q_rate_div; |
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uint8_t mag_rate; |
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uint8_t acc_rate; |
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uint8_t gyro_rate; |
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uint8_t baro_rate; |
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} em7180_t; |
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/* Function Prototypes */ |
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void em7180_init(em7180_t *em7180, I2C_HandleTypeDef *hi2c, lsm6dsm_t *lsm6dsm, |
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lis2mdl_t *lis2mdl, lps22hb_t *lps22hb, uint16_t acc_fs, |
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uint16_t gyro_fs, uint16_t mag_fs, uint8_t q_rate_div, |
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uint8_t mag_rate, uint8_t acc_rate, uint8_t gyro_rate, |
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uint8_t baro_rate); |
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void em7180_config(em7180_t *em7180); |
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void em7180_gyro_set_fs(em7180_t *em7180, uint16_t gyro_fs); |
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void em7180_mag_acc_set_fs(em7180_t *em7180, uint16_t mag_fs, uint16_t acc_fs); |
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void em7180_set_integer_param(em7180_t *em7180, uint8_t param, |
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uint32_t param_val); |
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#endif /* EM7180_H_ */
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