VSC whitespace change

Author: Nathan Seidle

src/util/ICM_20948_C.h

@@ -3,8 +3,7 @@
 This is a C-compatible interface to the features presented by the ICM 20948 9-axis device
 The imementation of the interface is flexible
 
-*/ 
-
+*/
 
 #ifndef _ICM_20948_C_H_
 #define _ICM_20948_C_H_
@@ -14,123 +13,135 @@ The imementation of the interface is flexible
 #include <stddef.h>
 
 #include "ICM_20948_REGISTERS.h"
-#include "ICM_20948_ENUMERATIONS.h"	// This is to give users access to usable value definiitons
+#include "ICM_20948_ENUMERATIONS.h" // This is to give users access to usable value definiitons
 #include "AK09916_ENUMERATIONS.h"
 
 #ifdef __cplusplus
-extern "C" {
-#endif	/* __cplusplus */
-
-#define ICM_20948_I2C_ADDR_AD0 	0x68 // Or 0x69 when AD0 is high
-#define ICM_20948_I2C_ADDR_AD1	0x69 //
-#define ICM_20948_WHOAMI		0xEA
-
-#define MAG_AK09916_I2C_ADDR 	0x0C
-#define MAG_AK09916_WHO_AM_I	0x4809
-#define MAG_REG_WHO_AM_I		0x00
-
-typedef enum{
-	ICM_20948_Stat_Ok = 0x00,	// The only return code that means all is well
-	ICM_20948_Stat_Err,			// A general error
-	ICM_20948_Stat_NotImpl,		// Returned by virtual functions that are not implemented
-	ICM_20948_Stat_ParamErr,
-	ICM_20948_Stat_WrongID,
-	ICM_20948_Stat_InvalSensor,	// Tried to apply a function to a sensor that does not support it (e.g. DLPF to the temperature sensor)
-	ICM_20948_Stat_NoData,
-	ICM_20948_Stat_SensorNotSupported,
-
-	ICM_20948_Stat_NUM,
-	ICM_20948_Stat_Unknown,
-}ICM_20948_Status_e;
-
-typedef enum{
-	ICM_20948_Internal_Acc = (1 << 0),
-	ICM_20948_Internal_Gyr = (1 << 1),
-	ICM_20948_Internal_Mag = (1 << 2),
-	ICM_20948_Internal_Tmp = (1 << 3),
-	ICM_20948_Internal_Mst = (1 << 4), 		// I2C Master Ineternal
-}ICM_20948_InternalSensorID_bm;			// A bitmask of internal sensor IDs
-
-typedef union{
-  int16_t i16bit[3];
-  uint8_t u8bit[6];
-}ICM_20948_axis3bit16_t;
-
-typedef union{
-  int16_t i16bit;
-  uint8_t u8bit[2];
-}ICM_20948_axis1bit16_t;
-
-typedef struct{								
-	uint8_t				a			: 2;
-	uint8_t 			g			: 2;
-	uint8_t 			reserved_0	: 4;
-}ICM_20948_fss_t;							// Holds full-scale settings to be able to extract measurements with units
-
-typedef struct{								
-	uint8_t	a;
-	uint8_t	g;
-}ICM_20948_dlpcfg_t;						// Holds digital low pass filter settings. Members are type ICM_20948_ACCEL_CONFIG_DLPCFG_e
-
-typedef struct{
-	uint16_t a;
-	uint8_t g;
-}ICM_20948_smplrt_t;
-
-typedef struct{
-	uint8_t		I2C_MST_INT_EN		: 1;
-	uint8_t 	DMP_INT1_EN			: 1;
-	uint8_t		PLL_RDY_EN			: 1;
-	uint8_t 	WOM_INT_EN			: 1;
-	uint8_t		REG_WOF_EN			: 1;
-	uint8_t		RAW_DATA_0_RDY_EN	: 1;
-	uint8_t		FIFO_OVERFLOW_EN_4	: 1;
-	uint8_t		FIFO_OVERFLOW_EN_3	: 1;
-	uint8_t		FIFO_OVERFLOW_EN_2	: 1;
-	uint8_t		FIFO_OVERFLOW_EN_1	: 1;
-	uint8_t		FIFO_OVERFLOW_EN_0	: 1;
-	uint8_t 	FIFO_WM_EN_4		: 1;
-	uint8_t 	FIFO_WM_EN_3		: 1;
-	uint8_t 	FIFO_WM_EN_2		: 1;
-	uint8_t 	FIFO_WM_EN_1		: 1;
-	uint8_t 	FIFO_WM_EN_0		: 1;
-}ICM_20948_INT_enable_t;
-
-typedef union{
-	ICM_20948_axis3bit16_t	raw;
-	struct{
-		int16_t x;
-		int16_t y;
-		int16_t z;
-	}axes;
-}ICM_20948_axis3named_t;
-
-typedef struct{
-	ICM_20948_axis3named_t 	acc;
-	ICM_20948_axis3named_t 	gyr;
-	ICM_20948_axis3named_t 	mag;
-	union{
-		ICM_20948_axis1bit16_t	raw;
-		int16_t 				val;
-	}tmp;
-	ICM_20948_fss_t			fss;			// Full-scale range settings for this measurement
-}ICM_20948_AGMT_t;
-
-typedef struct{
-	ICM_20948_Status_e	(*write)( uint8_t regaddr, uint8_t* pdata, uint32_t len, void* user);
-	ICM_20948_Status_e	(*read)( uint8_t regaddr, uint8_t* pdata, uint32_t len, void* user);
-	// void				(*delay)(uint32_t ms);
-	void*				user;
-}ICM_20948_Serif_t;							// This is the vtable of serial interface functions
-extern const ICM_20948_Serif_t NullSerif;	// Here is a default for initialization (NULL)
-
-typedef struct{
-	const ICM_20948_Serif_t*	_serif;		// Pointer to the assigned Serif (Serial Interface) vtable
-}ICM_20948_Device_t;						// Definition of device struct type
-
-
-// Here's the list of what I want to be able to do:
-/*
+extern "C"
+{
+#endif /* __cplusplus */
+
+#define ICM_20948_I2C_ADDR_AD0 0x68 // Or 0x69 when AD0 is high
+#define ICM_20948_I2C_ADDR_AD1 0x69 //
+#define ICM_20948_WHOAMI 0xEA
+
+#define MAG_AK09916_I2C_ADDR 0x0C
+#define MAG_AK09916_WHO_AM_I 0x4809
+#define MAG_REG_WHO_AM_I 0x00
+
+	typedef enum
+	{
+		ICM_20948_Stat_Ok = 0x00, // The only return code that means all is well
+		ICM_20948_Stat_Err,		  // A general error
+		ICM_20948_Stat_NotImpl,   // Returned by virtual functions that are not implemented
+		ICM_20948_Stat_ParamErr,
+		ICM_20948_Stat_WrongID,
+		ICM_20948_Stat_InvalSensor, // Tried to apply a function to a sensor that does not support it (e.g. DLPF to the temperature sensor)
+		ICM_20948_Stat_NoData,
+		ICM_20948_Stat_SensorNotSupported,
+
+		ICM_20948_Stat_NUM,
+		ICM_20948_Stat_Unknown,
+	} ICM_20948_Status_e;
+
+	typedef enum
+	{
+		ICM_20948_Internal_Acc = (1 << 0),
+		ICM_20948_Internal_Gyr = (1 << 1),
+		ICM_20948_Internal_Mag = (1 << 2),
+		ICM_20948_Internal_Tmp = (1 << 3),
+		ICM_20948_Internal_Mst = (1 << 4), // I2C Master Ineternal
+	} ICM_20948_InternalSensorID_bm;	   // A bitmask of internal sensor IDs
+
+	typedef union {
+		int16_t i16bit[3];
+		uint8_t u8bit[6];
+	} ICM_20948_axis3bit16_t;
+
+	typedef union {
+		int16_t i16bit;
+		uint8_t u8bit[2];
+	} ICM_20948_axis1bit16_t;
+
+	typedef struct
+	{
+		uint8_t a : 2;
+		uint8_t g : 2;
+		uint8_t reserved_0 : 4;
+	} ICM_20948_fss_t; // Holds full-scale settings to be able to extract measurements with units
+
+	typedef struct
+	{
+		uint8_t a;
+		uint8_t g;
+	} ICM_20948_dlpcfg_t; // Holds digital low pass filter settings. Members are type ICM_20948_ACCEL_CONFIG_DLPCFG_e
+
+	typedef struct
+	{
+		uint16_t a;
+		uint8_t g;
+	} ICM_20948_smplrt_t;
+
+	typedef struct
+	{
+		uint8_t I2C_MST_INT_EN : 1;
+		uint8_t DMP_INT1_EN : 1;
+		uint8_t PLL_RDY_EN : 1;
+		uint8_t WOM_INT_EN : 1;
+		uint8_t REG_WOF_EN : 1;
+		uint8_t RAW_DATA_0_RDY_EN : 1;
+		uint8_t FIFO_OVERFLOW_EN_4 : 1;
+		uint8_t FIFO_OVERFLOW_EN_3 : 1;
+		uint8_t FIFO_OVERFLOW_EN_2 : 1;
+		uint8_t FIFO_OVERFLOW_EN_1 : 1;
+		uint8_t FIFO_OVERFLOW_EN_0 : 1;
+		uint8_t FIFO_WM_EN_4 : 1;
+		uint8_t FIFO_WM_EN_3 : 1;
+		uint8_t FIFO_WM_EN_2 : 1;
+		uint8_t FIFO_WM_EN_1 : 1;
+		uint8_t FIFO_WM_EN_0 : 1;
+	} ICM_20948_INT_enable_t;
+
+	typedef union {
+		ICM_20948_axis3bit16_t raw;
+		struct
+		{
+			int16_t x;
+			int16_t y;
+			int16_t z;
+		} axes;
+	} ICM_20948_axis3named_t;
+
+	typedef struct
+	{
+		ICM_20948_axis3named_t acc;
+		ICM_20948_axis3named_t gyr;
+		ICM_20948_axis3named_t mag;
+		union {
+			ICM_20948_axis1bit16_t raw;
+			int16_t val;
+		} tmp;
+		ICM_20948_fss_t fss; // Full-scale range settings for this measurement
+		uint8_t magStat1;
+		uint8_t magStat2;
+	} ICM_20948_AGMT_t;
+
+	typedef struct
+	{
+		ICM_20948_Status_e (*write)(uint8_t regaddr, uint8_t *pdata, uint32_t len, void *user);
+		ICM_20948_Status_e (*read)(uint8_t regaddr, uint8_t *pdata, uint32_t len, void *user);
+		// void				(*delay)(uint32_t ms);
+		void *user;
+	} ICM_20948_Serif_t;					  // This is the vtable of serial interface functions
+	extern const ICM_20948_Serif_t NullSerif; // Here is a default for initialization (NULL)
+
+	typedef struct
+	{
+		const ICM_20948_Serif_t *_serif; // Pointer to the assigned Serif (Serial Interface) vtable
+	} ICM_20948_Device_t;				 // Definition of device struct type
+
+	// Here's the list of what I want to be able to do:
+	/*
 
 perform a generic startup routine that sets most things in the optimal performance range
 Read / check against Who Am I
@@ -154,62 +165,54 @@ callbacks for the user to respond to interrupt events
 
 */
 
-// ICM_20948_Status_e ICM_20948_Startup( ICM_20948_Device_t* pdev ); // For the time being this performs a standardized startup routine
-
-
-ICM_20948_Status_e	ICM_20948_link_serif( ICM_20948_Device_t* pdev, const ICM_20948_Serif_t* s );	// Links a SERIF structure to the device
-
-// use the device's serif to perform a read or write
-ICM_20948_Status_e	ICM_20948_execute_r( ICM_20948_Device_t* pdev, uint8_t regaddr, uint8_t* pdata, uint32_t len ); // Executes a R or W witht he serif vt as long as the pointers are not null
-ICM_20948_Status_e	ICM_20948_execute_w( ICM_20948_Device_t* pdev, uint8_t regaddr, uint8_t* pdata, uint32_t len );
-
-
-// Single-shot I2C on Master IF
-ICM_20948_Status_e 	ICM_20948_i2c_master_slv4_txn( ICM_20948_Device_t* pdev, uint8_t addr, uint8_t reg, uint8_t* data, uint8_t len, bool Rw, bool send_reg_addr );
-ICM_20948_Status_e	ICM_20948_i2c_master_single_w( ICM_20948_Device_t* pdev, uint8_t addr, uint8_t reg, uint8_t* data );
-ICM_20948_Status_e	ICM_20948_i2c_master_single_r( ICM_20948_Device_t* pdev, uint8_t addr, uint8_t reg, uint8_t* data );
-
-
-// Device Level
-ICM_20948_Status_e	ICM_20948_set_bank			( ICM_20948_Device_t* pdev, uint8_t bank );									// Sets the bank
-ICM_20948_Status_e	ICM_20948_sw_reset			( ICM_20948_Device_t* pdev );												// Performs a SW reset
-ICM_20948_Status_e	ICM_20948_sleep				( ICM_20948_Device_t* pdev, bool on );										// Set sleep mode for the chip
-ICM_20948_Status_e	ICM_20948_low_power			( ICM_20948_Device_t* pdev, bool on );										// Set low power mode for the chip
-ICM_20948_Status_e	ICM_20948_set_clock_source	( ICM_20948_Device_t* pdev, ICM_20948_PWR_MGMT_1_CLKSEL_e source ); 		// Choose clock source
-ICM_20948_Status_e	ICM_20948_get_who_am_i		( ICM_20948_Device_t* pdev, uint8_t* whoami );								// Return whoami in out prarmeter
-ICM_20948_Status_e	ICM_20948_check_id			( ICM_20948_Device_t* pdev );												// Return 'ICM_20948_Stat_Ok' if whoami matches ICM_20948_WHOAMI
-ICM_20948_Status_e	ICM_20948_data_ready		( ICM_20948_Device_t* pdev );									// Returns 'Ok' if data is ready
+	// ICM_20948_Status_e ICM_20948_Startup( ICM_20948_Device_t* pdev ); // For the time being this performs a standardized startup routine
 
-// Interrupt Configuration
-ICM_20948_Status_e	ICM_20948_int_pin_cfg		( ICM_20948_Device_t* pdev, ICM_20948_INT_PIN_CFG_t* write, ICM_20948_INT_PIN_CFG_t* read );	// Set the INT pin configuration
-ICM_20948_Status_e	ICM_20948_int_enable 		( ICM_20948_Device_t* pdev, ICM_20948_INT_enable_t* write, ICM_20948_INT_enable_t* read );		// Write and or read the interrupt enable information. If non-null the write operation occurs before the read, so as to verify that the write was successful
+	ICM_20948_Status_e ICM_20948_link_serif(ICM_20948_Device_t *pdev, const ICM_20948_Serif_t *s); // Links a SERIF structure to the device
 
-// Internal Sensor Options
-ICM_20948_Status_e	ICM_20948_set_sample_mode	( ICM_20948_Device_t* pdev, ICM_20948_InternalSensorID_bm sensors, ICM_20948_LP_CONFIG_CYCLE_e mode );	// Use to set accel, gyro, and I2C master into cycled or continuous modes
-ICM_20948_Status_e	ICM_20948_set_full_scale 	( ICM_20948_Device_t* pdev, ICM_20948_InternalSensorID_bm sensors, ICM_20948_fss_t fss );
-ICM_20948_Status_e	ICM_20948_set_dlpf_cfg		( ICM_20948_Device_t* pdev, ICM_20948_InternalSensorID_bm sensors, ICM_20948_dlpcfg_t cfg );			
-ICM_20948_Status_e	ICM_20948_enable_dlpf		( ICM_20948_Device_t* pdev, ICM_20948_InternalSensorID_bm sensors, bool enable );
-ICM_20948_Status_e	ICM_20948_set_sample_rate	( ICM_20948_Device_t* pdev, ICM_20948_InternalSensorID_bm sensors, ICM_20948_smplrt_t smplrt );
+	// use the device's serif to perform a read or write
+	ICM_20948_Status_e ICM_20948_execute_r(ICM_20948_Device_t *pdev, uint8_t regaddr, uint8_t *pdata, uint32_t len); // Executes a R or W witht he serif vt as long as the pointers are not null
+	ICM_20948_Status_e ICM_20948_execute_w(ICM_20948_Device_t *pdev, uint8_t regaddr, uint8_t *pdata, uint32_t len);
 
-// Interface Things
-ICM_20948_Status_e	ICM_20948_i2c_master_passthrough 			( ICM_20948_Device_t* pdev, bool passthrough );
-ICM_20948_Status_e	ICM_20948_i2c_master_enable 				( ICM_20948_Device_t* pdev, bool enable );
-ICM_20948_Status_e	ICM_20948_i2c_master_configure_slave 		( ICM_20948_Device_t* pdev, uint8_t slave, uint8_t addr, uint8_t reg, uint8_t len, bool Rw, bool enable, bool data_only, bool grp, bool swap );
+	// Single-shot I2C on Master IF
+	ICM_20948_Status_e ICM_20948_i2c_master_slv4_txn(ICM_20948_Device_t *pdev, uint8_t addr, uint8_t reg, uint8_t *data, uint8_t len, bool Rw, bool send_reg_addr);
+	ICM_20948_Status_e ICM_20948_i2c_master_single_w(ICM_20948_Device_t *pdev, uint8_t addr, uint8_t reg, uint8_t *data);
+	ICM_20948_Status_e ICM_20948_i2c_master_single_r(ICM_20948_Device_t *pdev, uint8_t addr, uint8_t reg, uint8_t *data);
 
+	// Device Level
+	ICM_20948_Status_e ICM_20948_set_bank(ICM_20948_Device_t *pdev, uint8_t bank);								   // Sets the bank
+	ICM_20948_Status_e ICM_20948_sw_reset(ICM_20948_Device_t *pdev);											   // Performs a SW reset
+	ICM_20948_Status_e ICM_20948_sleep(ICM_20948_Device_t *pdev, bool on);										   // Set sleep mode for the chip
+	ICM_20948_Status_e ICM_20948_low_power(ICM_20948_Device_t *pdev, bool on);									   // Set low power mode for the chip
+	ICM_20948_Status_e ICM_20948_set_clock_source(ICM_20948_Device_t *pdev, ICM_20948_PWR_MGMT_1_CLKSEL_e source); // Choose clock source
+	ICM_20948_Status_e ICM_20948_get_who_am_i(ICM_20948_Device_t *pdev, uint8_t *whoami);						   // Return whoami in out prarmeter
+	ICM_20948_Status_e ICM_20948_check_id(ICM_20948_Device_t *pdev);											   // Return 'ICM_20948_Stat_Ok' if whoami matches ICM_20948_WHOAMI
+	ICM_20948_Status_e ICM_20948_data_ready(ICM_20948_Device_t *pdev);											   // Returns 'Ok' if data is ready
 
+	// Interrupt Configuration
+	ICM_20948_Status_e ICM_20948_int_pin_cfg(ICM_20948_Device_t *pdev, ICM_20948_INT_PIN_CFG_t *write, ICM_20948_INT_PIN_CFG_t *read); // Set the INT pin configuration
+	ICM_20948_Status_e ICM_20948_int_enable(ICM_20948_Device_t *pdev, ICM_20948_INT_enable_t *write, ICM_20948_INT_enable_t *read);	// Write and or read the interrupt enable information. If non-null the write operation occurs before the read, so as to verify that the write was successful
 
-// Higher Level
-ICM_20948_Status_e  ICM_20948_get_agmt          ( ICM_20948_Device_t* pdev, ICM_20948_AGMT_t* p );
+	// Internal Sensor Options
+	ICM_20948_Status_e ICM_20948_set_sample_mode(ICM_20948_Device_t *pdev, ICM_20948_InternalSensorID_bm sensors, ICM_20948_LP_CONFIG_CYCLE_e mode); // Use to set accel, gyro, and I2C master into cycled or continuous modes
+	ICM_20948_Status_e ICM_20948_set_full_scale(ICM_20948_Device_t *pdev, ICM_20948_InternalSensorID_bm sensors, ICM_20948_fss_t fss);
+	ICM_20948_Status_e ICM_20948_set_dlpf_cfg(ICM_20948_Device_t *pdev, ICM_20948_InternalSensorID_bm sensors, ICM_20948_dlpcfg_t cfg);
+	ICM_20948_Status_e ICM_20948_enable_dlpf(ICM_20948_Device_t *pdev, ICM_20948_InternalSensorID_bm sensors, bool enable);
+	ICM_20948_Status_e ICM_20948_set_sample_rate(ICM_20948_Device_t *pdev, ICM_20948_InternalSensorID_bm sensors, ICM_20948_smplrt_t smplrt);
 
+	// Interface Things
+	ICM_20948_Status_e ICM_20948_i2c_master_passthrough(ICM_20948_Device_t *pdev, bool passthrough);
+	ICM_20948_Status_e ICM_20948_i2c_master_enable(ICM_20948_Device_t *pdev, bool enable);
+	ICM_20948_Status_e ICM_20948_i2c_master_reset(ICM_20948_Device_t *pdev);
+	ICM_20948_Status_e ICM_20948_i2c_master_configure_slave(ICM_20948_Device_t *pdev, uint8_t slave, uint8_t addr, uint8_t reg, uint8_t len, bool Rw, bool enable, bool data_only, bool grp, bool swap);
 
+	// Higher Level
+	ICM_20948_Status_e ICM_20948_get_agmt(ICM_20948_Device_t *pdev, ICM_20948_AGMT_t *p);
 
+	ICM_20948_Status_e ICM_20948_get_agmt(ICM_20948_Device_t *pdev, ICM_20948_AGMT_t *p);
 
+	// ToDo:
 
-
-
-// ToDo:
-
-/* 
+	/* 
 	Want to access magnetometer throught the I2C master interface...
 
   // If using the I2C master to read from the magnetometer
@@ -223,15 +226,8 @@ ICM_20948_Status_e  ICM_20948_get_agmt          ( ICM_20948_Device_t* pdev, ICM_
   myICM.setSampleMode( (ICM_20948_Internal_Mst | ICM_20948_Internal_Gyr), ICM_20948_Sample_Mode_Cycled ); // options: ICM_20948_Sample_Mode_Continuous or ICM_20948_Sample_Mode_Cycled
 */
 
-
-
-
-
-
-
-
 #ifdef __cplusplus
 }
-#endif	/* __cplusplus */
+#endif /* __cplusplus */
 
-#endif 	/* _ICM_20948_C_H_ */
+#endif /* _ICM_20948_C_H_ */