/**
******************************************************************************
* @file b_wl5m_subg_motion_sensors.c
* @author MCD Application Team
* @brief This file provides a set of functions needed to manage the
* motion sensors mounted on the B-WL5M-SUBG board (MB1779).
******************************************************************************
* @attention
*
* Copyright (c) 2022 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.
*
******************************************************************************
*/
/* Includes ------------------------------------------------------------------*/
#include "b_wl5m_subg_bus.h"
#include "b_wl5m_subg_motion_sensors.h"
/** @addtogroup BSP BSP
* @{
*/
/** @addtogroup B_WL5M_SUBG B-WL5M-SUBG
* @{
*/
/** @defgroup B_WL5M_SUBG_MOTION_SENSORS B-WL5M-SUBG MOTION SENSORS
* @{
*/
#if (MOTION_SENSOR_INSTANCES_NBR > 0)
/** @defgroup B_WL5M_SUBG_MOTION_SENSOR_Exported_Variables B-WL5M-SUBG MOTION SENSORS Exported Variables
* @{
*/
extern void
*MotionCompObj[MOTION_SENSOR_INSTANCES_NBR]; /* This "redundant" line is here to fulfil MISRA C-2012 rule 8.4 */
void *MotionCompObj[MOTION_SENSOR_INSTANCES_NBR];
/**
* @}
*/
/** @defgroup B_WL5M_SUBG_MOTION_SENSOR_Private_Variables B-WL5M-SUBG MOTION SENSORS Private Variables
* @{
*/
/* We define a jump table in order to get the correct index from the desired function. */
/* This table should have a size equal to the maximum value of a function plus 1. */
static uint32_t FunctionIndex[5] = {0, 0, 1, 1, 2};
static MOTION_SENSOR_FuncDrv_t *MotionFuncDrv[MOTION_SENSOR_INSTANCES_NBR][MOTION_SENSOR_FUNCTIONS_NBR];
static MOTION_SENSOR_CommonDrv_t *MotionDrv[MOTION_SENSOR_INSTANCES_NBR];
static MOTION_SENSOR_Ctx_t MotionCtx[MOTION_SENSOR_INSTANCES_NBR];
/**
* @}
*/
#endif /* MOTION_SENSOR_INSTANCES_NBR > 0 */
/** @defgroup B_WL5M_SUBG_MOTION_SENSOR_Private_Function_Prototypes B-WL5M-SUBG MOTION SENSORS Private Function Prototypes
* @{
*/
#if (USE_MOTION_SENSOR_IIS2MDC_0 == 1)
static int32_t IIS2MDC_0_Probe(uint32_t Functions);
#endif /* (USE_MOTION_SENSOR_IIS2MDC_0 == 1) */
#if (USE_MOTION_SENSOR_ISM330DHCX_0 == 1)
static int32_t ISM330DHCX_0_Probe(uint32_t Functions);
#endif /* (USE_MOTION_SENSOR_ISM330DHCX_0 == 1) */
/**
* @}
*/
/** @defgroup B_WL5M_SUBG_MOTION_SENSOR_Exported_Functions B-WL5M-SUBG MOTION SENSORS Exported Functions
* @{
*/
/**
* @brief Initializes the motion sensors
* @param Instance Motion sensor instance
* @param Functions Motion sensor functions. Could be :
* - MOTION_GYRO and/or MOTION_ACCELERO for MOTION_SENSOR_ISM330DHCX_0
* - MOTION_MAGNETO for MOTION_SENSOR_IIS2MDC_0
* @retval BSP status
*/
int32_t BSP_MOTION_SENSOR_Init(uint32_t Instance, uint32_t Functions)
{
int32_t ret = BSP_ERROR_NONE;
#if (MOTION_SENSOR_INSTANCES_NBR > 0)
uint32_t function = MOTION_GYRO;
uint32_t i;
uint32_t component_functions = 0;
MOTION_SENSOR_Capabilities_t cap;
switch (Instance)
{
#if (USE_MOTION_SENSOR_IIS2MDC_0 == 1)
case MOTION_SENSOR_IIS2MDC_0:
if (IIS2MDC_0_Probe(Functions) != BSP_ERROR_NONE)
{
return BSP_ERROR_NO_INIT;
}
if (MotionDrv[Instance]->GetCapabilities(MotionCompObj[Instance], (void *)&cap) != BSP_ERROR_NONE)
{
return BSP_ERROR_UNKNOWN_COMPONENT;
}
if (cap.Magneto == 1U)
{
component_functions |= MOTION_MAGNETO;
}
break;
#endif /* USE_MOTION_SENSOR_IIS2MDC_0 */
#if (USE_MOTION_SENSOR_ISM330DHCX_0 == 1)
case MOTION_SENSOR_ISM330DHCX_0:
if (ISM330DHCX_0_Probe(Functions) != BSP_ERROR_NONE)
{
return BSP_ERROR_NO_INIT;
}
if (MotionDrv[Instance]->GetCapabilities(MotionCompObj[Instance], (void *)&cap) != BSP_ERROR_NONE)
{
return BSP_ERROR_UNKNOWN_COMPONENT;
}
if (cap.Acc == 1U)
{
component_functions |= MOTION_ACCELERO;
}
if (cap.Gyro == 1U)
{
component_functions |= MOTION_GYRO;
}
if (cap.Magneto == 1U)
{
component_functions |= MOTION_MAGNETO;
}
break;
#endif /* USE_MOTION_SENSOR_ISM330DHCX_0 */
default:
ret = BSP_ERROR_WRONG_PARAM;
break;
}
if (ret != BSP_ERROR_NONE)
{
return ret;
}
for (i = 0; i < MOTION_SENSOR_FUNCTIONS_NBR; i++)
{
if (((Functions & function) == function) && ((component_functions & function) == function))
{
if (MotionFuncDrv[Instance][FunctionIndex[function]]->Enable(MotionCompObj[Instance]) != BSP_ERROR_NONE)
{
return BSP_ERROR_COMPONENT_FAILURE;
}
}
function = function << 1;
}
#endif /* MOTION_SENSOR_INSTANCES_NBR > 0 */
return ret;
}
/**
* @brief Deinitialize Motion sensor
* @param Instance Motion sensor instance
* @retval BSP status
*/
int32_t BSP_MOTION_SENSOR_DeInit(uint32_t Instance)
{
int32_t ret = BSP_ERROR_NONE;
#if (MOTION_SENSOR_INSTANCES_NBR > 0)
if (Instance >= MOTION_SENSOR_INSTANCES_NBR)
{
ret = BSP_ERROR_WRONG_PARAM;
}
else if (MotionDrv[Instance]->DeInit(MotionCompObj[Instance]) != BSP_ERROR_NONE)
{
ret = BSP_ERROR_COMPONENT_FAILURE;
}
else
{
ret = BSP_ERROR_NONE;
}
#endif /* MOTION_SENSOR_INSTANCES_NBR > 0 */
return ret;
}
/**
* @brief Get motion sensor instance capabilities
* @param Instance Motion sensor instance
* @param Capabilities pointer to motion sensor capabilities
* @retval BSP status
*/
int32_t BSP_MOTION_SENSOR_GetCapabilities(uint32_t Instance, MOTION_SENSOR_Capabilities_t *Capabilities)
{
int32_t ret = BSP_ERROR_NONE;
#if (MOTION_SENSOR_INSTANCES_NBR > 0)
if (Instance >= MOTION_SENSOR_INSTANCES_NBR)
{
ret = BSP_ERROR_WRONG_PARAM;
}
else if (MotionDrv[Instance]->GetCapabilities(MotionCompObj[Instance], Capabilities) != BSP_ERROR_NONE)
{
ret = BSP_ERROR_UNKNOWN_COMPONENT;
}
else
{
ret = BSP_ERROR_NONE;
}
#endif /* MOTION_SENSOR_INSTANCES_NBR > 0 */
return ret;
}
/**
* @brief Get WHOAMI value
* @param Instance Motion sensor instance
* @param Id WHOAMI value
* @retval BSP status
*/
int32_t BSP_MOTION_SENSOR_ReadID(uint32_t Instance, uint8_t *Id)
{
int32_t ret = BSP_ERROR_NONE;
#if (MOTION_SENSOR_INSTANCES_NBR > 0)
if (Instance >= MOTION_SENSOR_INSTANCES_NBR)
{
ret = BSP_ERROR_WRONG_PARAM;
}
else if (MotionDrv[Instance]->ReadID(MotionCompObj[Instance], Id) != BSP_ERROR_NONE)
{
ret = BSP_ERROR_UNKNOWN_COMPONENT;
}
else
{
ret = BSP_ERROR_NONE;
}
#endif /* MOTION_SENSOR_INSTANCES_NBR > 0 */
return ret;
}
/**
* @brief Enable Motion sensor
* @param Instance Motion sensor instance
* @param Function Motion sensor function. Could be :
* - MOTION_MAGNETO for instance 0
* - MOTION_GYRO and/or MOTION_ACCELERO for instance 1
* @retval BSP status
*/
int32_t BSP_MOTION_SENSOR_Enable(uint32_t Instance, uint32_t Function)
{
int32_t ret = BSP_ERROR_NONE;
#if (MOTION_SENSOR_INSTANCES_NBR > 0)
if (Instance >= MOTION_SENSOR_INSTANCES_NBR)
{
ret = BSP_ERROR_WRONG_PARAM;
}
else
{
if ((MotionCtx[Instance].Functions & Function) == Function)
{
if (MotionFuncDrv[Instance][FunctionIndex[Function]]->Enable(MotionCompObj[Instance]) != BSP_ERROR_NONE)
{
ret = BSP_ERROR_COMPONENT_FAILURE;
}
else
{
ret = BSP_ERROR_NONE;
}
}
else
{
ret = BSP_ERROR_WRONG_PARAM;
}
}
#endif /* MOTION_SENSOR_INSTANCES_NBR > 0 */
return ret;
}
/**
* @brief Disable Motion sensor
* @param Instance Motion sensor instance
* @param Function Motion sensor function. Could be :
* - MOTION_MAGNETO for instance 0
* - MOTION_GYRO and/or MOTION_ACCELERO for instance 1
* @retval BSP status
*/
int32_t BSP_MOTION_SENSOR_Disable(uint32_t Instance, uint32_t Function)
{
int32_t ret = BSP_ERROR_NONE;
#if (MOTION_SENSOR_INSTANCES_NBR > 0)
if (Instance >= MOTION_SENSOR_INSTANCES_NBR)
{
ret = BSP_ERROR_WRONG_PARAM;
}
else
{
if ((MotionCtx[Instance].Functions & Function) == Function)
{
if (MotionFuncDrv[Instance][FunctionIndex[Function]]->Disable(MotionCompObj[Instance]) != BSP_ERROR_NONE)
{
ret = BSP_ERROR_COMPONENT_FAILURE;
}
else
{
ret = BSP_ERROR_NONE;
}
}
else
{
ret = BSP_ERROR_WRONG_PARAM;
}
}
#endif /* MOTION_SENSOR_INSTANCES_NBR > 0 */
return ret;
}
/**
* @brief Get motion sensor axes data
* @param Instance Motion sensor instance
* @param Function Motion sensor function. Could be :
* - MOTION_MAGNETO for instance 0
* - MOTION_GYRO and/or MOTION_ACCELERO for instance 1
* @param Axes pointer to axes data structure
* @retval BSP status
*/
int32_t BSP_MOTION_SENSOR_GetAxes(uint32_t Instance, uint32_t Function, MOTION_SENSOR_Axes_t *Axes)
{
int32_t ret = BSP_ERROR_NONE;
#if (MOTION_SENSOR_INSTANCES_NBR > 0)
if (Instance >= MOTION_SENSOR_INSTANCES_NBR)
{
ret = BSP_ERROR_WRONG_PARAM;
}
else
{
if ((MotionCtx[Instance].Functions & Function) == Function)
{
if (MotionFuncDrv[Instance][FunctionIndex[Function]]->GetAxes(MotionCompObj[Instance],
Axes) != BSP_ERROR_NONE)
{
ret = BSP_ERROR_COMPONENT_FAILURE;
}
else
{
ret = BSP_ERROR_NONE;
}
}
else
{
ret = BSP_ERROR_WRONG_PARAM;
}
}
#endif /* MOTION_SENSOR_INSTANCES_NBR > 0 */
return ret;
}
/**
* @brief Get motion sensor axes raw data
* @param Instance Motion sensor instance
* @param Function Motion sensor function. Could be :
* - MOTION_MAGNETO for instance 0
* - MOTION_GYRO and/or MOTION_ACCELERO for instance 1
* @param Axes pointer to axes raw data structure
* @retval BSP status
*/
int32_t BSP_MOTION_SENSOR_GetAxesRaw(uint32_t Instance, uint32_t Function, MOTION_SENSOR_AxesRaw_t *Axes)
{
int32_t ret = BSP_ERROR_NONE;
#if (MOTION_SENSOR_INSTANCES_NBR > 0)
if (Instance >= MOTION_SENSOR_INSTANCES_NBR)
{
ret = BSP_ERROR_WRONG_PARAM;
}
else
{
if ((MotionCtx[Instance].Functions & Function) == Function)
{
if (MotionFuncDrv[Instance][FunctionIndex[Function]]->GetAxesRaw(MotionCompObj[Instance],
Axes) != BSP_ERROR_NONE)
{
ret = BSP_ERROR_COMPONENT_FAILURE;
}
else
{
ret = BSP_ERROR_NONE;
}
}
else
{
ret = BSP_ERROR_WRONG_PARAM;
}
}
#endif /* MOTION_SENSOR_INSTANCES_NBR > 0 */
return ret;
}
/**
* @brief Get motion sensor sensitivity
* @param Instance Motion sensor instance
* @param Function Motion sensor function. Could be :
* - MOTION_MAGNETO for instance 0
* - MOTION_GYRO and/or MOTION_ACCELERO for instance 1
* @param Sensitivity pointer to sensitivity read value
* @retval BSP status
*/
int32_t BSP_MOTION_SENSOR_GetSensitivity(uint32_t Instance, uint32_t Function, float *Sensitivity)
{
int32_t ret = BSP_ERROR_NONE;
#if (MOTION_SENSOR_INSTANCES_NBR > 0 )
if (Instance >= MOTION_SENSOR_INSTANCES_NBR)
{
ret = BSP_ERROR_WRONG_PARAM;
}
else
{
if ((MotionCtx[Instance].Functions & Function) == Function)
{
if (MotionFuncDrv[Instance][FunctionIndex[Function]]->GetSensitivity(MotionCompObj[Instance],
Sensitivity) != BSP_ERROR_NONE)
{
ret = BSP_ERROR_COMPONENT_FAILURE;
}
else
{
ret = BSP_ERROR_NONE;
}
}
else
{
ret = BSP_ERROR_WRONG_PARAM;
}
}
#endif /* MOTION_SENSOR_INSTANCES_NBR > 0 */
return ret;
}
/**
* @brief Get motion sensor Output Data Rate
* @param Instance Motion sensor instance
* @param Function Motion sensor function. Could be :
* - MOTION_MAGNETO for instance 0
* - MOTION_GYRO and/or MOTION_ACCELERO for instance 1
* @param Odr pointer to Output Data Rate read value
* @retval BSP status
*/
int32_t BSP_MOTION_SENSOR_GetOutputDataRate(uint32_t Instance, uint32_t Function, float *Odr)
{
int32_t ret = BSP_ERROR_NONE;
#if (MOTION_SENSOR_INSTANCES_NBR > 0)
if (Instance >= MOTION_SENSOR_INSTANCES_NBR)
{
ret = BSP_ERROR_WRONG_PARAM;
}
else
{
if ((MotionCtx[Instance].Functions & Function) == Function)
{
if (MotionFuncDrv[Instance][FunctionIndex[Function]]->GetOutputDataRate(MotionCompObj[Instance],
Odr) != BSP_ERROR_NONE)
{
ret = BSP_ERROR_COMPONENT_FAILURE;
}
else
{
ret = BSP_ERROR_NONE;
}
}
else
{
ret = BSP_ERROR_WRONG_PARAM;
}
}
#endif /* MOTION_SENSOR_INSTANCES_NBR > 0 */
return ret;
}
/**
* @brief Get motion sensor Full Scale
* @param Instance Motion sensor instance
* @param Function Motion sensor function. Could be :
* - MOTION_MAGNETO for instance 0
* - MOTION_GYRO and/or MOTION_ACCELERO for instance 1
* @param Fullscale pointer to Fullscale read value
* @retval BSP status
*/
int32_t BSP_MOTION_SENSOR_GetFullScale(uint32_t Instance, uint32_t Function, int32_t *Fullscale)
{
int32_t ret = BSP_ERROR_NONE;
#if (MOTION_SENSOR_INSTANCES_NBR > 0)
if (Instance >= MOTION_SENSOR_INSTANCES_NBR)
{
ret = BSP_ERROR_WRONG_PARAM;
}
else
{
if ((MotionCtx[Instance].Functions & Function) == Function)
{
if (MotionFuncDrv[Instance][FunctionIndex[Function]]->GetFullScale(MotionCompObj[Instance],
Fullscale) != BSP_ERROR_NONE)
{
ret = BSP_ERROR_COMPONENT_FAILURE;
}
else
{
ret = BSP_ERROR_NONE;
}
}
else
{
ret = BSP_ERROR_WRONG_PARAM;
}
}
#endif /* MOTION_SENSOR_INSTANCES_NBR > 0 */
return ret;
}
/**
* @brief Set motion sensor Output Data Rate
* @param Instance Motion sensor instance
* @param Function Motion sensor function. Could be :
* - MOTION_MAGNETO for instance 0
* - MOTION_GYRO and/or MOTION_ACCELERO for instance 1
* @param Odr Output Data Rate value to be set
* @retval BSP status
*/
int32_t BSP_MOTION_SENSOR_SetOutputDataRate(uint32_t Instance, uint32_t Function, float Odr)
{
int32_t ret = BSP_ERROR_NONE;
#if (MOTION_SENSOR_INSTANCES_NBR > 0)
if (Instance >= MOTION_SENSOR_INSTANCES_NBR)
{
ret = BSP_ERROR_WRONG_PARAM;
}
else
{
if ((MotionCtx[Instance].Functions & Function) == Function)
{
if (MotionFuncDrv[Instance][FunctionIndex[Function]]->SetOutputDataRate(MotionCompObj[Instance],
Odr) != BSP_ERROR_NONE)
{
ret = BSP_ERROR_COMPONENT_FAILURE;
}
else
{
ret = BSP_ERROR_NONE;
}
}
else
{
ret = BSP_ERROR_WRONG_PARAM;
}
}
#endif /* MOTION_SENSOR_INSTANCES_NBR > 0 */
return ret;
}
/**
* @brief Set motion sensor Full Scale
* @param Instance Motion sensor instance
* @param Function Motion sensor function. Could be :
* - MOTION_MAGNETO for instance 0
* - MOTION_GYRO and/or MOTION_ACCELERO for instance 1
* @param Fullscale Fullscale value to be set
* @retval BSP status
*/
int32_t BSP_MOTION_SENSOR_SetFullScale(uint32_t Instance, uint32_t Function, int32_t Fullscale)
{
int32_t ret = BSP_ERROR_NONE;
#if (MOTION_SENSOR_INSTANCES_NBR > 0)
if (Instance >= MOTION_SENSOR_INSTANCES_NBR)
{
ret = BSP_ERROR_WRONG_PARAM;
}
else
{
if ((MotionCtx[Instance].Functions & Function) == Function)
{
if (MotionFuncDrv[Instance][FunctionIndex[Function]]->SetFullScale(MotionCompObj[Instance],
Fullscale) != BSP_ERROR_NONE)
{
ret = BSP_ERROR_COMPONENT_FAILURE;
}
else
{
ret = BSP_ERROR_NONE;
}
}
else
{
ret = BSP_ERROR_WRONG_PARAM;
}
}
#endif /* MOTION_SENSOR_INSTANCES_NBR > 0 */
return ret;
}
/**
* @}
*/
/** @defgroup B_WL5M_SUBG_MOTION_SENSOR_Private_Functions B-WL5M-SUBG MOTION SENSORS Private Functions
* @{
*/
#if (USE_MOTION_SENSOR_IIS2MDC_0 == 1)
/**
* @brief Register Bus IOs for instance 0 if component ID is OK
* @retval BSP status
*/
static int32_t IIS2MDC_0_Probe(uint32_t Functions)
{
IIS2MDC_IO_t io_ctx;
uint8_t id;
static IIS2MDC_Object_t iis2mdc_obj_0;
IIS2MDC_Capabilities_t cap;
int32_t ret = BSP_ERROR_NONE;
/* Configure the accelero driver */
io_ctx.BusType = IIS2MDC_I2C_BUS; /* I2C */
io_ctx.Address = IIS2MDC_I2C_ADD;
io_ctx.Init = B_WL5M_SUBG_I2C_Init;
io_ctx.DeInit = B_WL5M_SUBG_I2C_DeInit;
io_ctx.ReadReg = B_WL5M_SUBG_I2C_ReadReg;
io_ctx.WriteReg = B_WL5M_SUBG_I2C_WriteReg;
io_ctx.GetTick = B_WL5M_SUBG_GetTick;
if (IIS2MDC_RegisterBusIO(&iis2mdc_obj_0, &io_ctx) != IIS2MDC_OK)
{
ret = BSP_ERROR_UNKNOWN_COMPONENT;
}
else if (IIS2MDC_ReadID(&iis2mdc_obj_0, &id) != IIS2MDC_OK)
{
ret = BSP_ERROR_UNKNOWN_COMPONENT;
}
else if (id != IIS2MDC_ID)
{
ret = BSP_ERROR_UNKNOWN_COMPONENT;
}
else
{
(void)IIS2MDC_GetCapabilities(&iis2mdc_obj_0, &cap);
MotionCtx[MOTION_SENSOR_IIS2MDC_0].Functions = ((uint32_t)cap.Gyro)
| ((uint32_t)cap.Acc << 1U)
| ((uint32_t)cap.Magneto << 2U);
MotionCompObj[MOTION_SENSOR_IIS2MDC_0] = &iis2mdc_obj_0;
/* The second cast (void *) is added to bypass Misra R11.3 rule */
MotionDrv[MOTION_SENSOR_IIS2MDC_0] = (MOTION_SENSOR_CommonDrv_t *)(void *)&IIS2MDC_COMMON_Driver;
if ((ret == BSP_ERROR_NONE) && ((Functions & MOTION_GYRO) == MOTION_GYRO) && (cap.Gyro == 1U))
{
/* Return an error if the application try to initialize a function not supported by the component */
ret = BSP_ERROR_COMPONENT_FAILURE;
}
if ((ret == BSP_ERROR_NONE) && ((Functions & MOTION_ACCELERO) == MOTION_ACCELERO) && (cap.Acc == 1U))
{
/* Return an error if the application try to initialize a function not supported by the component */
ret = BSP_ERROR_COMPONENT_FAILURE;
}
if ((ret == BSP_ERROR_NONE) && ((Functions & MOTION_MAGNETO) == MOTION_MAGNETO))
{
/* The second cast (void *) is added to bypass Misra R11.3 rule */
MotionFuncDrv[MOTION_SENSOR_IIS2MDC_0][FunctionIndex[MOTION_MAGNETO]] = (MOTION_SENSOR_FuncDrv_t *)(
void *)&IIS2MDC_MAG_Driver;
if (MotionDrv[MOTION_SENSOR_IIS2MDC_0]->Init(MotionCompObj[MOTION_SENSOR_IIS2MDC_0]) != IIS2MDC_OK)
{
ret = BSP_ERROR_COMPONENT_FAILURE;
}
else
{
ret = BSP_ERROR_NONE;
}
}
}
return ret;
}
#endif /* USE_MOTION_SENSOR_IIS2MDC_0 == 1 */
#if (USE_MOTION_SENSOR_ISM330DHCX_0 == 1)
/**
* @brief Register Bus IOs for instance 0 if component ID is OK
* @retval BSP status
*/
static int32_t ISM330DHCX_0_Probe(uint32_t Functions)
{
ISM330DHCX_IO_t io_ctx;
uint8_t id;
static ISM330DHCX_Object_t ism330dhcx_obj_0;
ISM330DHCX_Capabilities_t cap;
int32_t ret = BSP_ERROR_NONE;
/* Configure the accelero driver */
io_ctx.BusType = ISM330DHCX_I2C_BUS; /* I2C */
io_ctx.Address = ISM330DHCX_I2C_ADD_L;
io_ctx.Init = B_WL5M_SUBG_I2C_Init;
io_ctx.DeInit = B_WL5M_SUBG_I2C_DeInit;
io_ctx.ReadReg = B_WL5M_SUBG_I2C_ReadReg;
io_ctx.WriteReg = B_WL5M_SUBG_I2C_WriteReg;
io_ctx.GetTick = B_WL5M_SUBG_GetTick;
if (ISM330DHCX_RegisterBusIO(&ism330dhcx_obj_0, &io_ctx) != ISM330DHCX_OK)
{
ret = BSP_ERROR_UNKNOWN_COMPONENT;
}
else if (ISM330DHCX_ReadID(&ism330dhcx_obj_0, &id) != ISM330DHCX_OK)
{
ret = BSP_ERROR_UNKNOWN_COMPONENT;
}
else if (id != ISM330DHCX_ID)
{
ret = BSP_ERROR_UNKNOWN_COMPONENT;
}
else
{
(void)ISM330DHCX_GetCapabilities(&ism330dhcx_obj_0, &cap);
MotionCtx[MOTION_SENSOR_ISM330DHCX_0].Functions = ((uint32_t)cap.Gyro)
| ((uint32_t)cap.Acc << 1U)
| ((uint32_t)cap.Magneto << 2U);
MotionCompObj[MOTION_SENSOR_ISM330DHCX_0] = &ism330dhcx_obj_0;
/* The second cast (void *) is added to bypass Misra R11.3 rule */
MotionDrv[MOTION_SENSOR_ISM330DHCX_0] = (MOTION_SENSOR_CommonDrv_t *)(void *)&ISM330DHCX_COMMON_Driver;
if ((ret == BSP_ERROR_NONE) && ((Functions & MOTION_GYRO) == MOTION_GYRO) && (cap.Gyro == 1U))
{
/* The second cast (void *) is added to bypass Misra R11.3 rule */
MotionFuncDrv[MOTION_SENSOR_ISM330DHCX_0][FunctionIndex[MOTION_GYRO]] = (MOTION_SENSOR_FuncDrv_t *)(
void *)&ISM330DHCX_GYRO_Driver;
if (MotionDrv[MOTION_SENSOR_ISM330DHCX_0]->Init(MotionCompObj[MOTION_SENSOR_ISM330DHCX_0]) != ISM330DHCX_OK)
{
ret = BSP_ERROR_COMPONENT_FAILURE;
}
else
{
ret = BSP_ERROR_NONE;
}
}
if ((ret == BSP_ERROR_NONE) && ((Functions & MOTION_ACCELERO) == MOTION_ACCELERO) && (cap.Acc == 1U))
{
/* The second cast (void *) is added to bypass Misra R11.3 rule */
MotionFuncDrv[MOTION_SENSOR_ISM330DHCX_0][FunctionIndex[MOTION_ACCELERO]] = (MOTION_SENSOR_FuncDrv_t *)(
void *)&ISM330DHCX_ACC_Driver;
if (MotionDrv[MOTION_SENSOR_ISM330DHCX_0]->Init(MotionCompObj[MOTION_SENSOR_ISM330DHCX_0]) != ISM330DHCX_OK)
{
ret = BSP_ERROR_COMPONENT_FAILURE;
}
else
{
ret = BSP_ERROR_NONE;
}
}
if ((ret == BSP_ERROR_NONE) && ((Functions & MOTION_MAGNETO) == MOTION_MAGNETO))
{
/* Return an error if the application try to initialize a function not supported by the component */
ret = BSP_ERROR_COMPONENT_FAILURE;
}
}
return ret;
}
#endif /* USE_MOTION_SENSOR_ISM330DHCX_0 == 1 */
/**
* @}
*/
/**
* @}
*/
/**
* @}
*/
/**
* @}
*/