/**
******************************************************************************
* @file ism330dhcx.h
* @author MEMS Software Solutions Team
* @brief ISM330DHCX header driver file
******************************************************************************
* @attention
*
* Copyright (c) 2019 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef ISM330DHCX_H
#define ISM330DHCX_H
#ifdef __cplusplus
extern "C"
{
#endif
/* Includes ------------------------------------------------------------------*/
#include "ism330dhcx_reg.h"
#include <string.h>
/** @addtogroup BSP BSP
* @{
*/
/** @addtogroup Component Component
* @{
*/
/** @addtogroup ISM330DHCX ISM330DHCX
* @{
*/
/** @defgroup ISM330DHCX_Exported_Types ISM330DHCX Exported Types
* @{
*/
typedef int32_t (*ISM330DHCX_Init_Func)(void);
typedef int32_t (*ISM330DHCX_DeInit_Func)(void);
typedef int32_t (*ISM330DHCX_GetTick_Func)(void);
typedef int32_t (*ISM330DHCX_WriteReg_Func)(uint16_t, uint16_t, uint8_t *, uint16_t);
typedef int32_t (*ISM330DHCX_ReadReg_Func)(uint16_t, uint16_t, uint8_t *, uint16_t);
typedef enum
{
ISM330DHCX_INT1_PIN,
ISM330DHCX_INT2_PIN,
} ISM330DHCX_SensorIntPin_t;
typedef struct
{
ISM330DHCX_Init_Func Init;
ISM330DHCX_DeInit_Func DeInit;
uint32_t BusType; /*0 means I2C, 1 means SPI 4-Wires, 2 means SPI-3-Wires */
uint8_t Address;
ISM330DHCX_WriteReg_Func WriteReg;
ISM330DHCX_ReadReg_Func ReadReg;
ISM330DHCX_GetTick_Func GetTick;
} ISM330DHCX_IO_t;
typedef struct
{
int16_t x;
int16_t y;
int16_t z;
} ISM330DHCX_AxesRaw_t;
typedef struct
{
int32_t x;
int32_t y;
int32_t z;
} ISM330DHCX_Axes_t;
typedef struct
{
unsigned int FreeFallStatus : 1;
unsigned int TapStatus : 1;
unsigned int DoubleTapStatus : 1;
unsigned int WakeUpStatus : 1;
unsigned int StepStatus : 1;
unsigned int TiltStatus : 1;
unsigned int D6DOrientationStatus : 1;
unsigned int SleepStatus : 1;
} ISM330DHCX_Event_Status_t;
typedef struct
{
ISM330DHCX_IO_t IO;
stmdev_ctx_t Ctx;
uint8_t is_initialized;
uint8_t acc_is_enabled;
uint8_t gyro_is_enabled;
ism330dhcx_odr_xl_t acc_odr;
ism330dhcx_odr_g_t gyro_odr;
} ISM330DHCX_Object_t;
typedef struct
{
uint8_t Acc;
uint8_t Gyro;
uint8_t Magneto;
uint8_t LowPower;
uint32_t GyroMaxFS;
uint32_t AccMaxFS;
uint32_t MagMaxFS;
float GyroMaxOdr;
float AccMaxOdr;
float MagMaxOdr;
} ISM330DHCX_Capabilities_t;
typedef struct
{
int32_t (*Init)(ISM330DHCX_Object_t *);
int32_t (*DeInit)(ISM330DHCX_Object_t *);
int32_t (*ReadID)(ISM330DHCX_Object_t *, uint8_t *);
int32_t (*GetCapabilities)(ISM330DHCX_Object_t *, ISM330DHCX_Capabilities_t *);
} ISM330DHCX_CommonDrv_t;
typedef struct
{
int32_t (*Enable)(ISM330DHCX_Object_t *);
int32_t (*Disable)(ISM330DHCX_Object_t *);
int32_t (*GetSensitivity)(ISM330DHCX_Object_t *, float *);
int32_t (*GetOutputDataRate)(ISM330DHCX_Object_t *, float *);
int32_t (*SetOutputDataRate)(ISM330DHCX_Object_t *, float);
int32_t (*GetFullScale)(ISM330DHCX_Object_t *, int32_t *);
int32_t (*SetFullScale)(ISM330DHCX_Object_t *, int32_t);
int32_t (*GetAxes)(ISM330DHCX_Object_t *, ISM330DHCX_Axes_t *);
int32_t (*GetAxesRaw)(ISM330DHCX_Object_t *, ISM330DHCX_AxesRaw_t *);
} ISM330DHCX_ACC_Drv_t;
typedef struct
{
int32_t (*Enable)(ISM330DHCX_Object_t *);
int32_t (*Disable)(ISM330DHCX_Object_t *);
int32_t (*GetSensitivity)(ISM330DHCX_Object_t *, float *);
int32_t (*GetOutputDataRate)(ISM330DHCX_Object_t *, float *);
int32_t (*SetOutputDataRate)(ISM330DHCX_Object_t *, float);
int32_t (*GetFullScale)(ISM330DHCX_Object_t *, int32_t *);
int32_t (*SetFullScale)(ISM330DHCX_Object_t *, int32_t);
int32_t (*GetAxes)(ISM330DHCX_Object_t *, ISM330DHCX_Axes_t *);
int32_t (*GetAxesRaw)(ISM330DHCX_Object_t *, ISM330DHCX_AxesRaw_t *);
} ISM330DHCX_GYRO_Drv_t;
typedef union
{
int16_t i16bit[3];
uint8_t u8bit[6];
} ism330dhcx_axis3bit16_t;
typedef union
{
int16_t i16bit;
uint8_t u8bit[2];
} ism330dhcx_axis1bit16_t;
typedef union
{
int32_t i32bit[3];
uint8_t u8bit[12];
} ism330dhcx_axis3bit32_t;
typedef union
{
int32_t i32bit;
uint8_t u8bit[4];
} ism330dhcx_axis1bit32_t;
/**
* @}
*/
/** @defgroup ISM330DHCX_Exported_Constants ISM330DHCX Exported Constants
* @{
*/
#define ISM330DHCX_OK 0
#define ISM330DHCX_ERROR -1
#define ISM330DHCX_I2C_BUS 0U
#define ISM330DHCX_SPI_4WIRES_BUS 1U
#define ISM330DHCX_SPI_3WIRES_BUS 2U
#define ISM330DHCX_ACC_SENSITIVITY_FS_2G 0.061f
#define ISM330DHCX_ACC_SENSITIVITY_FS_4G 0.122f
#define ISM330DHCX_ACC_SENSITIVITY_FS_8G 0.244f
#define ISM330DHCX_ACC_SENSITIVITY_FS_16G 0.488f
#define ISM330DHCX_GYRO_SENSITIVITY_FS_125DPS 4.375f
#define ISM330DHCX_GYRO_SENSITIVITY_FS_250DPS 8.750f
#define ISM330DHCX_GYRO_SENSITIVITY_FS_500DPS 17.500f
#define ISM330DHCX_GYRO_SENSITIVITY_FS_1000DPS 35.000f
#define ISM330DHCX_GYRO_SENSITIVITY_FS_2000DPS 70.000f
#define ISM330DHCX_GYRO_SENSITIVITY_FS_4000DPS 140.000f
/**
* @}
*/
/** @addtogroup ISM330DHCX_Exported_Functions ISM330DHCX Exported Functions
* @{
*/
int32_t ISM330DHCX_RegisterBusIO(ISM330DHCX_Object_t *pObj, ISM330DHCX_IO_t *pIO);
int32_t ISM330DHCX_Init(ISM330DHCX_Object_t *pObj);
int32_t ISM330DHCX_DeInit(ISM330DHCX_Object_t *pObj);
int32_t ISM330DHCX_ReadID(ISM330DHCX_Object_t *pObj, uint8_t *Id);
int32_t ISM330DHCX_GetCapabilities(ISM330DHCX_Object_t *pObj, ISM330DHCX_Capabilities_t *Capabilities);
int32_t ISM330DHCX_ACC_Enable(ISM330DHCX_Object_t *pObj);
int32_t ISM330DHCX_ACC_Disable(ISM330DHCX_Object_t *pObj);
int32_t ISM330DHCX_ACC_GetSensitivity(ISM330DHCX_Object_t *pObj, float *Sensitivity);
int32_t ISM330DHCX_ACC_GetOutputDataRate(ISM330DHCX_Object_t *pObj, float *Odr);
int32_t ISM330DHCX_ACC_SetOutputDataRate(ISM330DHCX_Object_t *pObj, float Odr);
int32_t ISM330DHCX_ACC_GetFullScale(ISM330DHCX_Object_t *pObj, int32_t *FullScale);
int32_t ISM330DHCX_ACC_SetFullScale(ISM330DHCX_Object_t *pObj, int32_t FullScale);
int32_t ISM330DHCX_ACC_GetAxesRaw(ISM330DHCX_Object_t *pObj, ISM330DHCX_AxesRaw_t *Value);
int32_t ISM330DHCX_ACC_GetAxes(ISM330DHCX_Object_t *pObj, ISM330DHCX_Axes_t *Acceleration);
int32_t ISM330DHCX_GYRO_Enable(ISM330DHCX_Object_t *pObj);
int32_t ISM330DHCX_GYRO_Disable(ISM330DHCX_Object_t *pObj);
int32_t ISM330DHCX_GYRO_GetSensitivity(ISM330DHCX_Object_t *pObj, float *Sensitivity);
int32_t ISM330DHCX_GYRO_GetOutputDataRate(ISM330DHCX_Object_t *pObj, float *Odr);
int32_t ISM330DHCX_GYRO_SetOutputDataRate(ISM330DHCX_Object_t *pObj, float Odr);
int32_t ISM330DHCX_GYRO_GetFullScale(ISM330DHCX_Object_t *pObj, int32_t *FullScale);
int32_t ISM330DHCX_GYRO_SetFullScale(ISM330DHCX_Object_t *pObj, int32_t FullScale);
int32_t ISM330DHCX_GYRO_GetAxesRaw(ISM330DHCX_Object_t *pObj, ISM330DHCX_AxesRaw_t *Value);
int32_t ISM330DHCX_GYRO_GetAxes(ISM330DHCX_Object_t *pObj, ISM330DHCX_Axes_t *AngularRate);
int32_t ISM330DHCX_Read_Reg(ISM330DHCX_Object_t *pObj, uint8_t reg, uint8_t *Data);
int32_t ISM330DHCX_Write_Reg(ISM330DHCX_Object_t *pObj, uint8_t reg, uint8_t Data);
int32_t ISM330DHCX_Set_Interrupt_Latch(ISM330DHCX_Object_t *pObj, uint8_t Status);
int32_t ISM330DHCX_Set_INT1_Drdy(ISM330DHCX_Object_t *pObj, uint8_t Status);
int32_t ISM330DHCX_Set_INT2_Drdy(ISM330DHCX_Object_t *pObj, uint8_t Status);
int32_t ISM330DHCX_Set_Drdy_Mode(ISM330DHCX_Object_t *pObj, uint8_t Status);
int32_t ISM330DHCX_ACC_Enable_Free_Fall_Detection(ISM330DHCX_Object_t *pObj, ISM330DHCX_SensorIntPin_t IntPin);
int32_t ISM330DHCX_ACC_Disable_Free_Fall_Detection(ISM330DHCX_Object_t *pObj);
int32_t ISM330DHCX_ACC_Set_Free_Fall_Threshold(ISM330DHCX_Object_t *pObj, uint8_t Threshold);
int32_t ISM330DHCX_ACC_Set_Free_Fall_Duration(ISM330DHCX_Object_t *pObj, uint8_t Duration);
int32_t ISM330DHCX_ACC_Enable_Wake_Up_Detection(ISM330DHCX_Object_t *pObj, ISM330DHCX_SensorIntPin_t IntPin);
int32_t ISM330DHCX_ACC_Disable_Wake_Up_Detection(ISM330DHCX_Object_t *pObj);
int32_t ISM330DHCX_ACC_Set_Wake_Up_Threshold(ISM330DHCX_Object_t *pObj, uint8_t Threshold);
int32_t ISM330DHCX_ACC_Set_Wake_Up_Duration(ISM330DHCX_Object_t *pObj, uint8_t Duration);
int32_t ISM330DHCX_ACC_Enable_Single_Tap_Detection(ISM330DHCX_Object_t *pObj, ISM330DHCX_SensorIntPin_t IntPin);
int32_t ISM330DHCX_ACC_Disable_Single_Tap_Detection(ISM330DHCX_Object_t *pObj);
int32_t ISM330DHCX_ACC_Enable_Double_Tap_Detection(ISM330DHCX_Object_t *pObj, ISM330DHCX_SensorIntPin_t IntPin);
int32_t ISM330DHCX_ACC_Disable_Double_Tap_Detection(ISM330DHCX_Object_t *pObj);
int32_t ISM330DHCX_ACC_Set_Tap_Threshold(ISM330DHCX_Object_t *pObj, uint8_t Threshold);
int32_t ISM330DHCX_ACC_Set_Tap_Shock_Time(ISM330DHCX_Object_t *pObj, uint8_t Time);
int32_t ISM330DHCX_ACC_Set_Tap_Quiet_Time(ISM330DHCX_Object_t *pObj, uint8_t Time);
int32_t ISM330DHCX_ACC_Set_Tap_Duration_Time(ISM330DHCX_Object_t *pObj, uint8_t Time);
int32_t ISM330DHCX_ACC_Enable_6D_Orientation(ISM330DHCX_Object_t *pObj, ISM330DHCX_SensorIntPin_t IntPin);
int32_t ISM330DHCX_ACC_Disable_6D_Orientation(ISM330DHCX_Object_t *pObj);
int32_t ISM330DHCX_ACC_Set_6D_Orientation_Threshold(ISM330DHCX_Object_t *pObj, uint8_t Threshold);
int32_t ISM330DHCX_ACC_Get_6D_Orientation_XL(ISM330DHCX_Object_t *pObj, uint8_t *XLow);
int32_t ISM330DHCX_ACC_Get_6D_Orientation_XH(ISM330DHCX_Object_t *pObj, uint8_t *XHigh);
int32_t ISM330DHCX_ACC_Get_6D_Orientation_YL(ISM330DHCX_Object_t *pObj, uint8_t *YLow);
int32_t ISM330DHCX_ACC_Get_6D_Orientation_YH(ISM330DHCX_Object_t *pObj, uint8_t *YHigh);
int32_t ISM330DHCX_ACC_Get_6D_Orientation_ZL(ISM330DHCX_Object_t *pObj, uint8_t *ZLow);
int32_t ISM330DHCX_ACC_Get_6D_Orientation_ZH(ISM330DHCX_Object_t *pObj, uint8_t *ZHigh);
int32_t ISM330DHCX_ACC_Get_Event_Status(ISM330DHCX_Object_t *pObj, ISM330DHCX_Event_Status_t *Status);
int32_t ISM330DHCX_ACC_Set_SelfTest(ISM330DHCX_Object_t *pObj, uint8_t Status);
int32_t ISM330DHCX_ACC_Get_DRDY_Status(ISM330DHCX_Object_t *pObj, uint8_t *Status);
int32_t ISM330DHCX_ACC_Get_Init_Status(ISM330DHCX_Object_t *pObj, uint8_t *Status);
int32_t ISM330DHCX_ACC_Enable_HP_Filter(ISM330DHCX_Object_t *pObj, ism330dhcx_hp_slope_xl_en_t CutOff);
int32_t ISM330DHCX_GYRO_Set_SelfTest(ISM330DHCX_Object_t *pObj, uint8_t Status);
int32_t ISM330DHCX_GYRO_Get_DRDY_Status(ISM330DHCX_Object_t *pObj, uint8_t *Status);
int32_t ISM330DHCX_GYRO_Get_Init_Status(ISM330DHCX_Object_t *pObj, uint8_t *Status);
int32_t ISM330DHCX_FIFO_Get_Num_Samples(ISM330DHCX_Object_t *pObj, uint16_t *NumSamples);
int32_t ISM330DHCX_FIFO_Get_Full_Status(ISM330DHCX_Object_t *pObj, uint8_t *Status);
int32_t ISM330DHCX_FIFO_ACC_Set_BDR(ISM330DHCX_Object_t *pObj, float Bdr);
int32_t ISM330DHCX_FIFO_GYRO_Set_BDR(ISM330DHCX_Object_t *pObj, float Bdr);
int32_t ISM330DHCX_FIFO_Set_INT1_FIFO_Full(ISM330DHCX_Object_t *pObj, uint8_t Status);
int32_t ISM330DHCX_FIFO_Set_INT2_FIFO_Full(ISM330DHCX_Object_t *pObj, uint8_t Status);
int32_t ISM330DHCX_FIFO_Set_Watermark_Level(ISM330DHCX_Object_t *pObj, uint16_t Watermark);
int32_t ISM330DHCX_FIFO_Set_Stop_On_Fth(ISM330DHCX_Object_t *pObj, uint8_t Status);
int32_t ISM330DHCX_FIFO_Set_Mode(ISM330DHCX_Object_t *pObj, uint8_t Mode);
int32_t ISM330DHCX_FIFO_Get_Tag(ISM330DHCX_Object_t *pObj, uint8_t *Tag);
int32_t ISM330DHCX_FIFO_Get_Data(ISM330DHCX_Object_t *pObj, uint8_t *Data);
int32_t ISM330DHCX_FIFO_ACC_Get_Axes(ISM330DHCX_Object_t *pObj, ISM330DHCX_Axes_t *Acceleration);
int32_t ISM330DHCX_FIFO_GYRO_Get_Axes(ISM330DHCX_Object_t *pObj, ISM330DHCX_Axes_t *AngularVelocity);
int32_t ISM330DHCX_FIFO_Full_Set_INT1(ISM330DHCX_Object_t *pObj, uint8_t Status);
int32_t ISM330DHCX_FIFO_Set_INT2_Drdy(ISM330DHCX_Object_t *pObj, uint8_t Status);
int32_t ISM330DHCX_FIFO_Get_Data_Word(ISM330DHCX_Object_t *pObj, int16_t *data_raw);
int32_t ISM330DHCX_FIFO_ACC_Get_Axis(ISM330DHCX_Object_t *pObj, ISM330DHCX_Axes_t *Acceleration);
int32_t ISM330DHCX_FIFO_GYRO_Get_Axis(ISM330DHCX_Object_t *pObj, ISM330DHCX_Axes_t *AngularVelocity);
int32_t ISM330DHCX_ACC_Enable_DRDY_On_INT1(ISM330DHCX_Object_t *pObj);
int32_t ISM330DHCX_ACC_Disable_DRDY_On_INT1(ISM330DHCX_Object_t *pObj);
int32_t ISM330DHCX_GYRO_Enable_DRDY_On_INT2(ISM330DHCX_Object_t *pObj);
int32_t ISM330DHCX_GYRO_Disable_DRDY_On_INT2(ISM330DHCX_Object_t *pObj);
int32_t ISM330DHCX_DRDY_Set_Mode(ISM330DHCX_Object_t *pObj, uint8_t Mode);
/**
* @}
*/
/** @addtogroup ISM330DHCX_Exported_Variables ISM330DHCX Exported Variables
* @{
*/
extern ISM330DHCX_CommonDrv_t ISM330DHCX_COMMON_Driver;
extern ISM330DHCX_ACC_Drv_t ISM330DHCX_ACC_Driver;
extern ISM330DHCX_GYRO_Drv_t ISM330DHCX_GYRO_Driver;
/**
* @}
*/
#ifdef __cplusplus
}
#endif
#endif
/**
* @}
*/
/**
* @}
*/
/**
* @}
*/