/**
******************************************************************************
* @file ism330dhcx.c
* @author MEMS Software Solutions Team
* @brief ISM330DHCX 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.
*
******************************************************************************
*/
/* Includes ------------------------------------------------------------------*/
#include "ism330dhcx.h"
/** @addtogroup BSP BSP
* @{
*/
/** @addtogroup Component Component
* @{
*/
/** @defgroup ISM330DHCX ISM330DHCX
* @{
*/
/** @defgroup ISM330DHCX_Exported_Variables ISM330DHCX Exported Variables
* @{
*/
ISM330DHCX_CommonDrv_t ISM330DHCX_COMMON_Driver =
{
ISM330DHCX_Init,
ISM330DHCX_DeInit,
ISM330DHCX_ReadID,
ISM330DHCX_GetCapabilities,
};
ISM330DHCX_ACC_Drv_t ISM330DHCX_ACC_Driver =
{
ISM330DHCX_ACC_Enable,
ISM330DHCX_ACC_Disable,
ISM330DHCX_ACC_GetSensitivity,
ISM330DHCX_ACC_GetOutputDataRate,
ISM330DHCX_ACC_SetOutputDataRate,
ISM330DHCX_ACC_GetFullScale,
ISM330DHCX_ACC_SetFullScale,
ISM330DHCX_ACC_GetAxes,
ISM330DHCX_ACC_GetAxesRaw,
};
ISM330DHCX_GYRO_Drv_t ISM330DHCX_GYRO_Driver =
{
ISM330DHCX_GYRO_Enable,
ISM330DHCX_GYRO_Disable,
ISM330DHCX_GYRO_GetSensitivity,
ISM330DHCX_GYRO_GetOutputDataRate,
ISM330DHCX_GYRO_SetOutputDataRate,
ISM330DHCX_GYRO_GetFullScale,
ISM330DHCX_GYRO_SetFullScale,
ISM330DHCX_GYRO_GetAxes,
ISM330DHCX_GYRO_GetAxesRaw,
};
/**
* @}
*/
/** @defgroup ISM330DHCX_Private_Function_Prototypes ISM330DHCX Private Function Prototypes
* @{
*/
static int32_t ReadRegWrap(void *Handle, uint8_t Reg, uint8_t *pData, uint16_t Length);
static int32_t WriteRegWrap(void *Handle, uint8_t Reg, uint8_t *pData, uint16_t Length);
static int32_t ISM330DHCX_ACC_SetOutputDataRate_When_Enabled(ISM330DHCX_Object_t *pObj, float Odr);
static int32_t ISM330DHCX_ACC_SetOutputDataRate_When_Disabled(ISM330DHCX_Object_t *pObj, float Odr);
static int32_t ISM330DHCX_GYRO_SetOutputDataRate_When_Enabled(ISM330DHCX_Object_t *pObj, float Odr);
static int32_t ISM330DHCX_GYRO_SetOutputDataRate_When_Disabled(ISM330DHCX_Object_t *pObj, float Odr);
/**
* @}
*/
/** @defgroup ISM330DHCX_Exported_Functions ISM330DHCX Exported Functions
* @{
*/
/**
* @brief Register Component Bus IO operations
* @param pObj the device pObj
* @retval 0 in case of success, an error code otherwise
*/
int32_t ISM330DHCX_RegisterBusIO(ISM330DHCX_Object_t *pObj, ISM330DHCX_IO_t *pIO)
{
int32_t ret = ISM330DHCX_OK;
if (pObj == NULL)
{
ret = ISM330DHCX_ERROR;
}
else
{
pObj->IO.Init = pIO->Init;
pObj->IO.DeInit = pIO->DeInit;
pObj->IO.BusType = pIO->BusType;
pObj->IO.Address = pIO->Address;
pObj->IO.WriteReg = pIO->WriteReg;
pObj->IO.ReadReg = pIO->ReadReg;
pObj->IO.GetTick = pIO->GetTick;
pObj->Ctx.read_reg = ReadRegWrap;
pObj->Ctx.write_reg = WriteRegWrap;
pObj->Ctx.handle = pObj;
if (pObj->IO.Init == NULL)
{
ret = ISM330DHCX_ERROR;
}
else if (pObj->IO.Init() != ISM330DHCX_OK)
{
ret = ISM330DHCX_ERROR;
}
else
{
if (pObj->IO.BusType == ISM330DHCX_SPI_3WIRES_BUS) /* SPI 3-Wires */
{
/* Enable the SPI 3-Wires support only the first time */
if (pObj->is_initialized == 0U)
{
/* Enable SPI 3-Wires on the component */
uint8_t data = 0x0C;
if (ISM330DHCX_Write_Reg(pObj, ISM330DHCX_CTRL3_C, data) != ISM330DHCX_OK)
{
ret = ISM330DHCX_ERROR;
}
}
}
}
}
return ret;
}
/**
* @brief Initialize the ISM330DHCX sensor
* @param pObj the device pObj
* @retval 0 in case of success, an error code otherwise
*/
int32_t ISM330DHCX_Init(ISM330DHCX_Object_t *pObj)
{
/* Set DEVICE_CONF bit */
if (ism330dhcx_device_conf_set(&(pObj->Ctx), PROPERTY_ENABLE) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
/* Enable register address automatically incremented during a multiple byte
access with a serial interface. */
if (ism330dhcx_auto_increment_set(&(pObj->Ctx), PROPERTY_ENABLE) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
/* SW reset */
if (ism330dhcx_reset_set(&(pObj->Ctx), PROPERTY_ENABLE) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
/* Enable register address automatically incremented during a multiple byte
access with a serial interface. */
if (ism330dhcx_auto_increment_set(&(pObj->Ctx), PROPERTY_ENABLE) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
/* Enable BDU */
if (ism330dhcx_block_data_update_set(&(pObj->Ctx), PROPERTY_ENABLE) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
/* FIFO mode selection */
if (ism330dhcx_fifo_mode_set(&(pObj->Ctx), ISM330DHCX_BYPASS_MODE) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
/* Select default output data rate. */
pObj->acc_odr = ISM330DHCX_XL_ODR_104Hz;
/* Output data rate selection - power down. */
if (ism330dhcx_xl_data_rate_set(&(pObj->Ctx), ISM330DHCX_XL_ODR_OFF) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
/* Full scale selection. */
if (ism330dhcx_xl_full_scale_set(&(pObj->Ctx), ISM330DHCX_2g) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
/* Select default output data rate. */
pObj->gyro_odr = ISM330DHCX_GY_ODR_104Hz;
/* Output data rate selection - power down. */
if (ism330dhcx_gy_data_rate_set(&(pObj->Ctx), ISM330DHCX_GY_ODR_OFF) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
/* Full scale selection. */
if (ism330dhcx_gy_full_scale_set(&(pObj->Ctx), ISM330DHCX_2000dps) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
pObj->is_initialized = 1;
return ISM330DHCX_OK;
}
/**
* @brief Deinitialize the ISM330DHCX sensor
* @param pObj the device pObj
* @retval 0 in case of success, an error code otherwise
*/
int32_t ISM330DHCX_DeInit(ISM330DHCX_Object_t *pObj)
{
/* Disable the component */
if (ISM330DHCX_ACC_Disable(pObj) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
if (ISM330DHCX_GYRO_Disable(pObj) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
/* Reset output data rate. */
pObj->acc_odr = ISM330DHCX_XL_ODR_OFF;
pObj->gyro_odr = ISM330DHCX_GY_ODR_OFF;
pObj->is_initialized = 0;
return ISM330DHCX_OK;
}
/**
* @brief Read component ID
* @param pObj the device pObj
* @param Id the WHO_AM_I value
* @retval 0 in case of success, an error code otherwise
*/
int32_t ISM330DHCX_ReadID(ISM330DHCX_Object_t *pObj, uint8_t *Id)
{
if (ism330dhcx_device_id_get(&(pObj->Ctx), Id) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
return ISM330DHCX_OK;
}
/**
* @brief Get ISM330DHCX sensor capabilities
* @param pObj Component object pointer
* @param Capabilities pointer to ISM330DHCX sensor capabilities
* @retval 0 in case of success, an error code otherwise
*/
int32_t ISM330DHCX_GetCapabilities(ISM330DHCX_Object_t *pObj, ISM330DHCX_Capabilities_t *Capabilities)
{
/* Prevent unused argument(s) compilation warning */
(void)(pObj);
Capabilities->Acc = 1;
Capabilities->Gyro = 1;
Capabilities->Magneto = 0;
Capabilities->LowPower = 0;
Capabilities->GyroMaxFS = 4000;
Capabilities->AccMaxFS = 16;
Capabilities->MagMaxFS = 0;
Capabilities->GyroMaxOdr = 6667.0f;
Capabilities->AccMaxOdr = 6667.0f;
Capabilities->MagMaxOdr = 0.0f;
return ISM330DHCX_OK;
}
/**
* @brief Enable the ISM330DHCX accelerometer sensor
* @param pObj the device pObj
* @retval 0 in case of success, an error code otherwise
*/
int32_t ISM330DHCX_ACC_Enable(ISM330DHCX_Object_t *pObj)
{
/* Check if the component is already enabled */
if (pObj->acc_is_enabled == 1U)
{
return ISM330DHCX_OK;
}
/* Output data rate selection. */
if (ism330dhcx_xl_data_rate_set(&(pObj->Ctx), pObj->acc_odr) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
pObj->acc_is_enabled = 1;
return ISM330DHCX_OK;
}
/**
* @brief Disable the ISM330DHCX accelerometer sensor
* @param pObj the device pObj
* @retval 0 in case of success, an error code otherwise
*/
int32_t ISM330DHCX_ACC_Disable(ISM330DHCX_Object_t *pObj)
{
/* Check if the component is already disabled */
if (pObj->acc_is_enabled == 0U)
{
return ISM330DHCX_OK;
}
/* Get current output data rate. */
if (ism330dhcx_xl_data_rate_get(&(pObj->Ctx), &pObj->acc_odr) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
/* Output data rate selection - power down. */
if (ism330dhcx_xl_data_rate_set(&(pObj->Ctx), ISM330DHCX_XL_ODR_OFF) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
pObj->acc_is_enabled = 0;
return ISM330DHCX_OK;
}
/**
* @brief Get the ISM330DHCX accelerometer sensor sensitivity
* @param pObj the device pObj
* @param Sensitivity pointer
* @retval 0 in case of success, an error code otherwise
*/
int32_t ISM330DHCX_ACC_GetSensitivity(ISM330DHCX_Object_t *pObj, float *Sensitivity)
{
int32_t ret = ISM330DHCX_OK;
ism330dhcx_fs_xl_t full_scale;
/* Read actual full scale selection from sensor. */
if (ism330dhcx_xl_full_scale_get(&(pObj->Ctx), &full_scale) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
/* Store the Sensitivity based on actual full scale. */
switch (full_scale)
{
case ISM330DHCX_2g:
*Sensitivity = ISM330DHCX_ACC_SENSITIVITY_FS_2G;
break;
case ISM330DHCX_4g:
*Sensitivity = ISM330DHCX_ACC_SENSITIVITY_FS_4G;
break;
case ISM330DHCX_8g:
*Sensitivity = ISM330DHCX_ACC_SENSITIVITY_FS_8G;
break;
case ISM330DHCX_16g:
*Sensitivity = ISM330DHCX_ACC_SENSITIVITY_FS_16G;
break;
default:
ret = ISM330DHCX_ERROR;
break;
}
return ret;
}
/**
* @brief Get the ISM330DHCX accelerometer sensor output data rate
* @param pObj the device pObj
* @param Odr pointer where the output data rate is written
* @retval 0 in case of success, an error code otherwise
*/
int32_t ISM330DHCX_ACC_GetOutputDataRate(ISM330DHCX_Object_t *pObj, float *Odr)
{
int32_t ret = ISM330DHCX_OK;
ism330dhcx_odr_xl_t odr_low_level;
/* Get current output data rate. */
if (ism330dhcx_xl_data_rate_get(&(pObj->Ctx), &odr_low_level) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
switch (odr_low_level)
{
case ISM330DHCX_XL_ODR_OFF:
*Odr = 0.0f;
break;
case ISM330DHCX_XL_ODR_12Hz5:
*Odr = 12.5f;
break;
case ISM330DHCX_XL_ODR_26Hz:
*Odr = 26.0f;
break;
case ISM330DHCX_XL_ODR_52Hz:
*Odr = 52.0f;
break;
case ISM330DHCX_XL_ODR_104Hz:
*Odr = 104.0f;
break;
case ISM330DHCX_XL_ODR_208Hz:
*Odr = 208.0f;
break;
case ISM330DHCX_XL_ODR_416Hz:
*Odr = 416.0f;
break;
case ISM330DHCX_XL_ODR_833Hz:
*Odr = 833.0f;
break;
case ISM330DHCX_XL_ODR_1666Hz:
*Odr = 1666.0f;
break;
case ISM330DHCX_XL_ODR_3332Hz:
*Odr = 3332.0f;
break;
case ISM330DHCX_XL_ODR_6667Hz:
*Odr = 6667.0f;
break;
default:
ret = ISM330DHCX_ERROR;
break;
}
return ret;
}
/**
* @brief Set the ISM330DHCX accelerometer sensor output data rate
* @param pObj the device pObj
* @param Odr the output data rate value to be set
* @retval 0 in case of success, an error code otherwise
*/
int32_t ISM330DHCX_ACC_SetOutputDataRate(ISM330DHCX_Object_t *pObj, float Odr)
{
/* Check if the component is enabled */
if (pObj->acc_is_enabled == 1U)
{
return ISM330DHCX_ACC_SetOutputDataRate_When_Enabled(pObj, Odr);
}
else
{
return ISM330DHCX_ACC_SetOutputDataRate_When_Disabled(pObj, Odr);
}
}
/**
* @brief Get the ISM330DHCX accelerometer sensor full scale
* @param pObj the device pObj
* @param FullScale pointer where the full scale is written
* @retval 0 in case of success, an error code otherwise
*/
int32_t ISM330DHCX_ACC_GetFullScale(ISM330DHCX_Object_t *pObj, int32_t *FullScale)
{
int32_t ret = ISM330DHCX_OK;
ism330dhcx_fs_xl_t fs_low_level;
/* Read actual full scale selection from sensor. */
if (ism330dhcx_xl_full_scale_get(&(pObj->Ctx), &fs_low_level) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
switch (fs_low_level)
{
case ISM330DHCX_2g:
*FullScale = 2;
break;
case ISM330DHCX_4g:
*FullScale = 4;
break;
case ISM330DHCX_8g:
*FullScale = 8;
break;
case ISM330DHCX_16g:
*FullScale = 16;
break;
default:
ret = ISM330DHCX_ERROR;
break;
}
return ret;
}
/**
* @brief Set the ISM330DHCX accelerometer sensor full scale
* @param pObj the device pObj
* @param FullScale the functional full scale to be set
* @retval 0 in case of success, an error code otherwise
*/
int32_t ISM330DHCX_ACC_SetFullScale(ISM330DHCX_Object_t *pObj, int32_t FullScale)
{
ism330dhcx_fs_xl_t new_fs;
/* Seems like MISRA C-2012 rule 14.3a violation but only from single file statical analysis point of view because
the parameter passed to the function is not known at the moment of analysis */
new_fs = (FullScale <= 2) ? ISM330DHCX_2g
: (FullScale <= 4) ? ISM330DHCX_4g
: (FullScale <= 8) ? ISM330DHCX_8g
: ISM330DHCX_16g;
if (ism330dhcx_xl_full_scale_set(&(pObj->Ctx), new_fs) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
return ISM330DHCX_OK;
}
/**
* @brief Get the ISM330DHCX accelerometer sensor raw axes
* @param pObj the device pObj
* @param Value pointer where the raw values of the axes are written
* @retval 0 in case of success, an error code otherwise
*/
int32_t ISM330DHCX_ACC_GetAxesRaw(ISM330DHCX_Object_t *pObj, ISM330DHCX_AxesRaw_t *Value)
{
ism330dhcx_axis3bit16_t data_raw;
/* Read raw data values. */
if (ism330dhcx_acceleration_raw_get(&(pObj->Ctx), data_raw.i16bit) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
/* Format the data. */
Value->x = data_raw.i16bit[0];
Value->y = data_raw.i16bit[1];
Value->z = data_raw.i16bit[2];
return ISM330DHCX_OK;
}
/**
* @brief Get the ISM330DHCX accelerometer sensor axes
* @param pObj the device pObj
* @param Acceleration pointer where the values of the axes are written
* @retval 0 in case of success, an error code otherwise
*/
int32_t ISM330DHCX_ACC_GetAxes(ISM330DHCX_Object_t *pObj, ISM330DHCX_Axes_t *Acceleration)
{
ism330dhcx_axis3bit16_t data_raw;
float sensitivity = 0.0f;
/* Read raw data values. */
if (ism330dhcx_acceleration_raw_get(&(pObj->Ctx), data_raw.i16bit) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
/* Get ISM330DHCX actual sensitivity. */
if (ISM330DHCX_ACC_GetSensitivity(pObj, &sensitivity) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
/* Calculate the data. */
Acceleration->x = (int32_t)((float)((float)data_raw.i16bit[0] * sensitivity));
Acceleration->y = (int32_t)((float)((float)data_raw.i16bit[1] * sensitivity));
Acceleration->z = (int32_t)((float)((float)data_raw.i16bit[2] * sensitivity));
return ISM330DHCX_OK;
}
/**
* @brief Enable the ISM330DHCX gyroscope sensor
* @param pObj the device pObj
* @retval 0 in case of success, an error code otherwise
*/
int32_t ISM330DHCX_GYRO_Enable(ISM330DHCX_Object_t *pObj)
{
/* Check if the component is already enabled */
if (pObj->gyro_is_enabled == 1U)
{
return ISM330DHCX_OK;
}
/* Output data rate selection. */
if (ism330dhcx_gy_data_rate_set(&(pObj->Ctx), pObj->gyro_odr) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
pObj->gyro_is_enabled = 1;
return ISM330DHCX_OK;
}
/**
* @brief Disable the ISM330DHCX gyroscope sensor
* @param pObj the device pObj
* @retval 0 in case of success, an error code otherwise
*/
int32_t ISM330DHCX_GYRO_Disable(ISM330DHCX_Object_t *pObj)
{
/* Check if the component is already disabled */
if (pObj->gyro_is_enabled == 0U)
{
return ISM330DHCX_OK;
}
/* Get current output data rate. */
if (ism330dhcx_gy_data_rate_get(&(pObj->Ctx), &pObj->gyro_odr) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
/* Output data rate selection - power down. */
if (ism330dhcx_gy_data_rate_set(&(pObj->Ctx), ISM330DHCX_GY_ODR_OFF) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
pObj->gyro_is_enabled = 0;
return ISM330DHCX_OK;
}
/**
* @brief Get the ISM330DHCX gyroscope sensor sensitivity
* @param pObj the device pObj
* @param Sensitivity pointer
* @retval 0 in case of success, an error code otherwise
*/
int32_t ISM330DHCX_GYRO_GetSensitivity(ISM330DHCX_Object_t *pObj, float *Sensitivity)
{
int32_t ret = ISM330DHCX_OK;
ism330dhcx_fs_g_t full_scale;
/* Read actual full scale selection from sensor. */
if (ism330dhcx_gy_full_scale_get(&(pObj->Ctx), &full_scale) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
/* Store the sensitivity based on actual full scale. */
switch (full_scale)
{
case ISM330DHCX_125dps:
*Sensitivity = ISM330DHCX_GYRO_SENSITIVITY_FS_125DPS;
break;
case ISM330DHCX_250dps:
*Sensitivity = ISM330DHCX_GYRO_SENSITIVITY_FS_250DPS;
break;
case ISM330DHCX_500dps:
*Sensitivity = ISM330DHCX_GYRO_SENSITIVITY_FS_500DPS;
break;
case ISM330DHCX_1000dps:
*Sensitivity = ISM330DHCX_GYRO_SENSITIVITY_FS_1000DPS;
break;
case ISM330DHCX_2000dps:
*Sensitivity = ISM330DHCX_GYRO_SENSITIVITY_FS_2000DPS;
break;
case ISM330DHCX_4000dps:
*Sensitivity = ISM330DHCX_GYRO_SENSITIVITY_FS_4000DPS;
break;
default:
ret = ISM330DHCX_ERROR;
break;
}
return ret;
}
/**
* @brief Get the ISM330DHCX gyroscope sensor output data rate
* @param pObj the device pObj
* @param Odr pointer where the output data rate is written
* @retval 0 in case of success, an error code otherwise
*/
int32_t ISM330DHCX_GYRO_GetOutputDataRate(ISM330DHCX_Object_t *pObj, float *Odr)
{
int32_t ret = ISM330DHCX_OK;
ism330dhcx_odr_g_t odr_low_level;
/* Get current output data rate. */
if (ism330dhcx_gy_data_rate_get(&(pObj->Ctx), &odr_low_level) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
switch (odr_low_level)
{
case ISM330DHCX_GY_ODR_OFF:
*Odr = 0.0f;
break;
case ISM330DHCX_GY_ODR_12Hz5:
*Odr = 12.5f;
break;
case ISM330DHCX_GY_ODR_26Hz:
*Odr = 26.0f;
break;
case ISM330DHCX_GY_ODR_52Hz:
*Odr = 52.0f;
break;
case ISM330DHCX_GY_ODR_104Hz:
*Odr = 104.0f;
break;
case ISM330DHCX_GY_ODR_208Hz:
*Odr = 208.0f;
break;
case ISM330DHCX_GY_ODR_416Hz:
*Odr = 416.0f;
break;
case ISM330DHCX_GY_ODR_833Hz:
*Odr = 833.0f;
break;
case ISM330DHCX_GY_ODR_1666Hz:
*Odr = 1666.0f;
break;
case ISM330DHCX_GY_ODR_3332Hz:
*Odr = 3332.0f;
break;
case ISM330DHCX_GY_ODR_6667Hz:
*Odr = 6667.0f;
break;
default:
ret = ISM330DHCX_ERROR;
break;
}
return ret;
}
/**
* @brief Set the ISM330DHCX gyroscope sensor output data rate
* @param pObj the device pObj
* @param Odr the output data rate value to be set
* @retval 0 in case of success, an error code otherwise
*/
int32_t ISM330DHCX_GYRO_SetOutputDataRate(ISM330DHCX_Object_t *pObj, float Odr)
{
/* Check if the component is enabled */
if (pObj->gyro_is_enabled == 1U)
{
return ISM330DHCX_GYRO_SetOutputDataRate_When_Enabled(pObj, Odr);
}
else
{
return ISM330DHCX_GYRO_SetOutputDataRate_When_Disabled(pObj, Odr);
}
}
/**
* @brief Get the ISM330DHCX gyroscope sensor full scale
* @param pObj the device pObj
* @param FullScale pointer where the full scale is written
* @retval 0 in case of success, an error code otherwise
*/
int32_t ISM330DHCX_GYRO_GetFullScale(ISM330DHCX_Object_t *pObj, int32_t *FullScale)
{
int32_t ret = ISM330DHCX_OK;
ism330dhcx_fs_g_t fs_low_level;
/* Read actual full scale selection from sensor. */
if (ism330dhcx_gy_full_scale_get(&(pObj->Ctx), &fs_low_level) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
switch (fs_low_level)
{
case ISM330DHCX_125dps:
*FullScale = 125;
break;
case ISM330DHCX_250dps:
*FullScale = 250;
break;
case ISM330DHCX_500dps:
*FullScale = 500;
break;
case ISM330DHCX_1000dps:
*FullScale = 1000;
break;
case ISM330DHCX_2000dps:
*FullScale = 2000;
break;
case ISM330DHCX_4000dps:
*FullScale = 4000;
break;
default:
ret = ISM330DHCX_ERROR;
break;
}
return ret;
}
/**
* @brief Set the ISM330DHCX gyroscope sensor full scale
* @param pObj the device pObj
* @param FullScale the functional full scale to be set
* @retval 0 in case of success, an error code otherwise
*/
int32_t ISM330DHCX_GYRO_SetFullScale(ISM330DHCX_Object_t *pObj, int32_t FullScale)
{
ism330dhcx_fs_g_t new_fs;
new_fs = (FullScale <= 125) ? ISM330DHCX_125dps
: (FullScale <= 250) ? ISM330DHCX_250dps
: (FullScale <= 500) ? ISM330DHCX_500dps
: (FullScale <= 1000) ? ISM330DHCX_1000dps
: (FullScale <= 2000) ? ISM330DHCX_2000dps
: ISM330DHCX_4000dps;
if (ism330dhcx_gy_full_scale_set(&(pObj->Ctx), new_fs) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
return ISM330DHCX_OK;
}
/**
* @brief Get the ISM330DHCX gyroscope sensor raw axes
* @param pObj the device pObj
* @param Value pointer where the raw values of the axes are written
* @retval 0 in case of success, an error code otherwise
*/
int32_t ISM330DHCX_GYRO_GetAxesRaw(ISM330DHCX_Object_t *pObj, ISM330DHCX_AxesRaw_t *Value)
{
ism330dhcx_axis3bit16_t data_raw;
/* Read raw data values. */
if (ism330dhcx_angular_rate_raw_get(&(pObj->Ctx), data_raw.i16bit) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
/* Format the data. */
Value->x = data_raw.i16bit[0];
Value->y = data_raw.i16bit[1];
Value->z = data_raw.i16bit[2];
return ISM330DHCX_OK;
}
/**
* @brief Get the ISM330DHCX gyroscope sensor axes
* @param pObj the device pObj
* @param AngularRate pointer where the values of the axes are written
* @retval 0 in case of success, an error code otherwise
*/
int32_t ISM330DHCX_GYRO_GetAxes(ISM330DHCX_Object_t *pObj, ISM330DHCX_Axes_t *AngularRate)
{
ism330dhcx_axis3bit16_t data_raw;
float sensitivity;
/* Read raw data values. */
if (ism330dhcx_angular_rate_raw_get(&(pObj->Ctx), data_raw.i16bit) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
/* Get ISM330DHCX actual sensitivity. */
if (ISM330DHCX_GYRO_GetSensitivity(pObj, &sensitivity) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
/* Calculate the data. */
AngularRate->x = (int32_t)((float)((float)data_raw.i16bit[0] * sensitivity));
AngularRate->y = (int32_t)((float)((float)data_raw.i16bit[1] * sensitivity));
AngularRate->z = (int32_t)((float)((float)data_raw.i16bit[2] * sensitivity));
return ISM330DHCX_OK;
}
/**
* @brief Get the ISM330DHCX register value
* @param pObj the device pObj
* @param Reg address to be read
* @param Data pointer where the value is written
* @retval 0 in case of success, an error code otherwise
*/
int32_t ISM330DHCX_Read_Reg(ISM330DHCX_Object_t *pObj, uint8_t Reg, uint8_t *Data)
{
if (ism330dhcx_read_reg(&(pObj->Ctx), Reg, Data, 1) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
return ISM330DHCX_OK;
}
/**
* @brief Set the ISM330DHCX register value
* @param pObj the device pObj
* @param Reg address to be written
* @param Data value to be written
* @retval 0 in case of success, an error code otherwise
*/
int32_t ISM330DHCX_Write_Reg(ISM330DHCX_Object_t *pObj, uint8_t Reg, uint8_t Data)
{
if (ism330dhcx_write_reg(&(pObj->Ctx), Reg, &Data, 1) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
return ISM330DHCX_OK;
}
/**
* @brief Set the interrupt latch
* @param pObj the device pObj
* @param Status value to be written
* @retval 0 in case of success, an error code otherwise
*/
int32_t ISM330DHCX_Set_Interrupt_Latch(ISM330DHCX_Object_t *pObj, uint8_t Status)
{
if (Status > 1U)
{
return ISM330DHCX_ERROR;
}
if (ism330dhcx_int_notification_set(&(pObj->Ctx), (ism330dhcx_lir_t)Status) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
return ISM330DHCX_OK;
}
/**
* @brief Set the ISM330DHCX FIFO full interrupt on INT1 pin
* @param pObj the device pObj
* @param Status DRDY interrupt on INT1 pin status
* @retval 0 in case of success, an error code otherwise
*/
int32_t ISM330DHCX_Set_INT1_Drdy(ISM330DHCX_Object_t *pObj, uint8_t Status)
{
ism330dhcx_reg_t reg;
if (ism330dhcx_read_reg(&(pObj->Ctx), ISM330DHCX_INT1_CTRL, ®.byte, 1) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
reg.int1_ctrl.int1_drdy_xl = Status;
if (ism330dhcx_write_reg(&(pObj->Ctx), ISM330DHCX_INT1_CTRL, ®.byte, 1) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
return ISM330DHCX_OK;
}
/**
* @brief Set the ISM330DHCX FIFO full interrupt on INT1 pin
* @param pObj the device pObj
* @param Status DRDY interrupt on INT1 pin status
* @retval 0 in case of success, an error code otherwise
*/
int32_t ISM330DHCX_Set_Drdy_Mode(ISM330DHCX_Object_t *pObj, uint8_t Status)
{
if (ism330dhcx_data_ready_mode_set(&(pObj->Ctx), (ism330dhcx_dataready_pulsed_t)Status) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
return ISM330DHCX_OK;
}
/**
* @brief Enable free fall detection
* @param pObj the device pObj
* @param IntPin interrupt pin line to be used
* @retval 0 in case of success, an error code otherwise
*/
int32_t ISM330DHCX_ACC_Enable_Free_Fall_Detection(ISM330DHCX_Object_t *pObj, ISM330DHCX_SensorIntPin_t IntPin)
{
int32_t ret = ISM330DHCX_OK;
ism330dhcx_pin_int1_route_t val1;
ism330dhcx_pin_int2_route_t val2;
/* Output Data Rate selection */
if (ISM330DHCX_ACC_SetOutputDataRate(pObj, 416.0f) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
/* Full scale selection */
if (ISM330DHCX_ACC_SetFullScale(pObj, 2) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
/* FF_DUR setting */
if (ism330dhcx_ff_dur_set(&(pObj->Ctx), 0x06) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
/* WAKE_DUR setting */
if (ism330dhcx_wkup_dur_set(&(pObj->Ctx), 0x00) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
/* SLEEP_DUR setting */
if (ism330dhcx_act_sleep_dur_set(&(pObj->Ctx), 0x00) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
/* FF_THS setting */
if (ism330dhcx_ff_threshold_set(&(pObj->Ctx), ISM330DHCX_FF_TSH_312mg) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
/* Enable free fall event on either INT1 or INT2 pin */
switch (IntPin)
{
case ISM330DHCX_INT1_PIN:
if (ism330dhcx_pin_int1_route_get(&(pObj->Ctx), &val1) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
val1.md1_cfg.int1_ff = PROPERTY_ENABLE;
if (ism330dhcx_pin_int1_route_set(&(pObj->Ctx), &val1) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
break;
case ISM330DHCX_INT2_PIN:
if (ism330dhcx_pin_int2_route_get(&(pObj->Ctx), &val2) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
val2.md2_cfg.int2_ff = PROPERTY_ENABLE;
if (ism330dhcx_pin_int2_route_set(&(pObj->Ctx), &val2) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
break;
default:
ret = ISM330DHCX_ERROR;
break;
}
return ret;
}
/**
* @brief Disable free fall detection
* @param pObj the device pObj
* @retval 0 in case of success, an error code otherwise
*/
int32_t ISM330DHCX_ACC_Disable_Free_Fall_Detection(ISM330DHCX_Object_t *pObj)
{
ism330dhcx_pin_int1_route_t val1;
ism330dhcx_pin_int2_route_t val2;
/* Disable free fall event on both INT1 and INT2 pins */
if (ism330dhcx_pin_int1_route_get(&(pObj->Ctx), &val1) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
val1.md1_cfg.int1_ff = PROPERTY_DISABLE;
if (ism330dhcx_pin_int1_route_set(&(pObj->Ctx), &val1) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
if (ism330dhcx_pin_int2_route_get(&(pObj->Ctx), &val2) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
val2.md2_cfg.int2_ff = PROPERTY_DISABLE;
if (ism330dhcx_pin_int2_route_set(&(pObj->Ctx), &val2) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
/* FF_DUR setting */
if (ism330dhcx_ff_dur_set(&(pObj->Ctx), 0x00) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
/* FF_THS setting */
if (ism330dhcx_ff_threshold_set(&(pObj->Ctx), ISM330DHCX_FF_TSH_156mg) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
return ISM330DHCX_OK;
}
/**
* @brief Set free fall threshold
* @param pObj the device pObj
* @param Threshold free fall detection threshold
* @retval 0 in case of success, an error code otherwise
*/
int32_t ISM330DHCX_ACC_Set_Free_Fall_Threshold(ISM330DHCX_Object_t *pObj, uint8_t Threshold)
{
if (ism330dhcx_ff_threshold_set(&(pObj->Ctx), (ism330dhcx_ff_ths_t)Threshold) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
return ISM330DHCX_OK;
}
/**
* @brief Set free fall duration
* @param pObj the device pObj
* @param Duration free fall detection duration
* @retval 0 in case of success, an error code otherwise
*/
int32_t ISM330DHCX_ACC_Set_Free_Fall_Duration(ISM330DHCX_Object_t *pObj, uint8_t Duration)
{
if (ism330dhcx_ff_dur_set(&(pObj->Ctx), Duration) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
return ISM330DHCX_OK;
}
/**
* @brief Enable wake up detection
* @param pObj the device pObj
* @param IntPin interrupt pin line to be used
* @retval 0 in case of success, an error code otherwise
*/
int32_t ISM330DHCX_ACC_Enable_Wake_Up_Detection(ISM330DHCX_Object_t *pObj, ISM330DHCX_SensorIntPin_t IntPin)
{
int32_t ret = ISM330DHCX_OK;
ism330dhcx_pin_int1_route_t val1;
ism330dhcx_pin_int2_route_t val2;
/* Output Data Rate selection */
if (ISM330DHCX_ACC_SetOutputDataRate(pObj, 416.0f) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
/* Full scale selection */
if (ISM330DHCX_ACC_SetFullScale(pObj, 2) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
/* WAKE_DUR setting */
if (ism330dhcx_wkup_dur_set(&(pObj->Ctx), 0x00) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
/* Set wake up threshold. */
if (ism330dhcx_wkup_threshold_set(&(pObj->Ctx), 0x02) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
/* Enable wake up event on either INT1 or INT2 pin */
switch (IntPin)
{
case ISM330DHCX_INT1_PIN:
if (ism330dhcx_pin_int1_route_get(&(pObj->Ctx), &val1) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
val1.md1_cfg.int1_wu = PROPERTY_ENABLE;
if (ism330dhcx_pin_int1_route_set(&(pObj->Ctx), &val1) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
break;
case ISM330DHCX_INT2_PIN:
if (ism330dhcx_pin_int2_route_get(&(pObj->Ctx), &val2) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
val2.md2_cfg.int2_wu = PROPERTY_ENABLE;
if (ism330dhcx_pin_int2_route_set(&(pObj->Ctx), &val2) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
break;
default:
ret = ISM330DHCX_ERROR;
break;
}
return ret;
}
/**
* @brief Disable wake up detection
* @param pObj the device pObj
* @retval 0 in case of success, an error code otherwise
*/
int32_t ISM330DHCX_ACC_Disable_Wake_Up_Detection(ISM330DHCX_Object_t *pObj)
{
ism330dhcx_pin_int1_route_t val1;
ism330dhcx_pin_int2_route_t val2;
/* Disable wake up event on both INT1 and INT2 pins */
if (ism330dhcx_pin_int1_route_get(&(pObj->Ctx), &val1) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
val1.md1_cfg.int1_wu = PROPERTY_DISABLE;
if (ism330dhcx_pin_int1_route_set(&(pObj->Ctx), &val1) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
if (ism330dhcx_pin_int2_route_get(&(pObj->Ctx), &val2) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
val2.md2_cfg.int2_wu = PROPERTY_DISABLE;
if (ism330dhcx_pin_int2_route_set(&(pObj->Ctx), &val2) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
/* Reset wake up threshold. */
if (ism330dhcx_wkup_threshold_set(&(pObj->Ctx), 0x00) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
/* WAKE_DUR setting */
if (ism330dhcx_wkup_dur_set(&(pObj->Ctx), 0x00) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
return ISM330DHCX_OK;
}
/**
* @brief Set wake up threshold
* @param pObj the device pObj
* @param Threshold wake up detection threshold
* @retval 0 in case of success, an error code otherwise
*/
int32_t ISM330DHCX_ACC_Set_Wake_Up_Threshold(ISM330DHCX_Object_t *pObj, uint8_t Threshold)
{
/* Set wake up threshold. */
if (ism330dhcx_wkup_threshold_set(&(pObj->Ctx), Threshold) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
return ISM330DHCX_OK;
}
/**
* @brief Set wake up duration
* @param pObj the device pObj
* @param Duration wake up detection duration
* @retval 0 in case of success, an error code otherwise
*/
int32_t ISM330DHCX_ACC_Set_Wake_Up_Duration(ISM330DHCX_Object_t *pObj, uint8_t Duration)
{
/* Set wake up duration. */
if (ism330dhcx_wkup_dur_set(&(pObj->Ctx), Duration) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
return ISM330DHCX_OK;
}
/**
* @brief Enable single tap detection
* @param pObj the device pObj
* @param IntPin interrupt pin line to be used
* @retval 0 in case of success, an error code otherwise
*/
int32_t ISM330DHCX_ACC_Enable_Single_Tap_Detection(ISM330DHCX_Object_t *pObj, ISM330DHCX_SensorIntPin_t IntPin)
{
int32_t ret = ISM330DHCX_OK;
ism330dhcx_pin_int1_route_t val1;
ism330dhcx_pin_int2_route_t val2;
/* Output Data Rate selection */
if (ISM330DHCX_ACC_SetOutputDataRate(pObj, 416.0f) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
/* Full scale selection */
if (ISM330DHCX_ACC_SetFullScale(pObj, 2) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
/* Enable X direction in tap recognition. */
if (ism330dhcx_tap_detection_on_x_set(&(pObj->Ctx), PROPERTY_ENABLE) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
/* Enable Y direction in tap recognition. */
if (ism330dhcx_tap_detection_on_y_set(&(pObj->Ctx), PROPERTY_ENABLE) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
/* Enable Z direction in tap recognition. */
if (ism330dhcx_tap_detection_on_z_set(&(pObj->Ctx), PROPERTY_ENABLE) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
/* Set tap threshold. */
if (ism330dhcx_tap_threshold_x_set(&(pObj->Ctx), 0x08) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
/* Set tap shock time window. */
if (ism330dhcx_tap_shock_set(&(pObj->Ctx), 0x02) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
/* Set tap quiet time window. */
if (ism330dhcx_tap_quiet_set(&(pObj->Ctx), 0x01) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
/* _NOTE_: Tap duration time window - don't care for single tap. */
/* _NOTE_: Single/Double Tap event - don't care of this flag for single tap. */
/* Enable single tap event on either INT1 or INT2 pin */
switch (IntPin)
{
case ISM330DHCX_INT1_PIN:
if (ism330dhcx_pin_int1_route_get(&(pObj->Ctx), &val1) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
val1.md1_cfg.int1_single_tap = PROPERTY_ENABLE;
if (ism330dhcx_pin_int1_route_set(&(pObj->Ctx), &val1) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
break;
case ISM330DHCX_INT2_PIN:
if (ism330dhcx_pin_int2_route_get(&(pObj->Ctx), &val2) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
val2.md2_cfg.int2_single_tap = PROPERTY_ENABLE;
if (ism330dhcx_pin_int2_route_set(&(pObj->Ctx), &val2) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
break;
default:
ret = ISM330DHCX_ERROR;
break;
}
return ret;
}
/**
* @brief Disable single tap detection
* @param pObj the device pObj
* @retval 0 in case of success, an error code otherwise
*/
int32_t ISM330DHCX_ACC_Disable_Single_Tap_Detection(ISM330DHCX_Object_t *pObj)
{
ism330dhcx_pin_int1_route_t val1;
ism330dhcx_pin_int2_route_t val2;
/* Disable single tap event on both INT1 and INT2 pins */
if (ism330dhcx_pin_int1_route_get(&(pObj->Ctx), &val1) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
val1.md1_cfg.int1_single_tap = PROPERTY_DISABLE;
if (ism330dhcx_pin_int1_route_set(&(pObj->Ctx), &val1) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
if (ism330dhcx_pin_int2_route_get(&(pObj->Ctx), &val2) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
val2.md2_cfg.int2_single_tap = PROPERTY_DISABLE;
if (ism330dhcx_pin_int2_route_set(&(pObj->Ctx), &val2) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
/* Reset tap quiet time window. */
if (ism330dhcx_tap_quiet_set(&(pObj->Ctx), 0x00) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
/* Reset tap shock time window. */
if (ism330dhcx_tap_shock_set(&(pObj->Ctx), 0x00) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
/* Reset tap threshold. */
if (ism330dhcx_tap_threshold_x_set(&(pObj->Ctx), 0x00) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
/* Disable Z direction in tap recognition. */
if (ism330dhcx_tap_detection_on_z_set(&(pObj->Ctx), PROPERTY_DISABLE) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
/* Disable Y direction in tap recognition. */
if (ism330dhcx_tap_detection_on_y_set(&(pObj->Ctx), PROPERTY_DISABLE) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
/* Disable X direction in tap recognition. */
if (ism330dhcx_tap_detection_on_x_set(&(pObj->Ctx), PROPERTY_DISABLE) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
return ISM330DHCX_OK;
}
/**
* @brief Enable double tap detection
* @param pObj the device pObj
* @param IntPin interrupt pin line to be used
* @retval 0 in case of success, an error code otherwise
*/
int32_t ISM330DHCX_ACC_Enable_Double_Tap_Detection(ISM330DHCX_Object_t *pObj, ISM330DHCX_SensorIntPin_t IntPin)
{
int32_t ret = ISM330DHCX_OK;
ism330dhcx_pin_int1_route_t val1;
ism330dhcx_pin_int2_route_t val2;
/* Output Data Rate selection */
if (ISM330DHCX_ACC_SetOutputDataRate(pObj, 416.0f) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
/* Full scale selection */
if (ISM330DHCX_ACC_SetFullScale(pObj, 2) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
/* Enable X direction in tap recognition. */
if (ism330dhcx_tap_detection_on_x_set(&(pObj->Ctx), PROPERTY_ENABLE) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
/* Enable Y direction in tap recognition. */
if (ism330dhcx_tap_detection_on_y_set(&(pObj->Ctx), PROPERTY_ENABLE) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
/* Enable Z direction in tap recognition. */
if (ism330dhcx_tap_detection_on_z_set(&(pObj->Ctx), PROPERTY_ENABLE) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
/* Set tap threshold. */
if (ism330dhcx_tap_threshold_x_set(&(pObj->Ctx), 0x08) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
/* Set tap shock time window. */
if (ism330dhcx_tap_shock_set(&(pObj->Ctx), 0x03) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
/* Set tap quiet time window. */
if (ism330dhcx_tap_quiet_set(&(pObj->Ctx), 0x03) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
/* Set tap duration time window. */
if (ism330dhcx_tap_dur_set(&(pObj->Ctx), 0x08) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
/* Single and double tap enabled. */
if (ism330dhcx_tap_mode_set(&(pObj->Ctx), ISM330DHCX_BOTH_SINGLE_DOUBLE) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
/* Enable double tap event on either INT1 or INT2 pin */
switch (IntPin)
{
case ISM330DHCX_INT1_PIN:
if (ism330dhcx_pin_int1_route_get(&(pObj->Ctx), &val1) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
val1.md1_cfg.int1_double_tap = PROPERTY_ENABLE;
if (ism330dhcx_pin_int1_route_set(&(pObj->Ctx), &val1) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
break;
case ISM330DHCX_INT2_PIN:
if (ism330dhcx_pin_int2_route_get(&(pObj->Ctx), &val2) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
val2.md2_cfg.int2_double_tap = PROPERTY_ENABLE;
if (ism330dhcx_pin_int2_route_set(&(pObj->Ctx), &val2) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
break;
default:
ret = ISM330DHCX_ERROR;
break;
}
return ret;
}
/**
* @brief Disable double tap detection
* @param pObj the device pObj
* @retval 0 in case of success, an error code otherwise
*/
int32_t ISM330DHCX_ACC_Disable_Double_Tap_Detection(ISM330DHCX_Object_t *pObj)
{
ism330dhcx_pin_int1_route_t val1;
ism330dhcx_pin_int2_route_t val2;
/* Disable double tap event on both INT1 and INT2 pins */
if (ism330dhcx_pin_int1_route_get(&(pObj->Ctx), &val1) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
val1.md1_cfg.int1_double_tap = PROPERTY_DISABLE;
if (ism330dhcx_pin_int1_route_set(&(pObj->Ctx), &val1) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
if (ism330dhcx_pin_int2_route_get(&(pObj->Ctx), &val2) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
val2.md2_cfg.int2_double_tap = PROPERTY_DISABLE;
if (ism330dhcx_pin_int2_route_set(&(pObj->Ctx), &val2) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
/* Only single tap enabled. */
if (ism330dhcx_tap_mode_set(&(pObj->Ctx), ISM330DHCX_ONLY_SINGLE) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
/* Reset tap duration time window. */
if (ism330dhcx_tap_dur_set(&(pObj->Ctx), 0x00) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
/* Reset tap quiet time window. */
if (ism330dhcx_tap_quiet_set(&(pObj->Ctx), 0x00) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
/* Reset tap shock time window. */
if (ism330dhcx_tap_shock_set(&(pObj->Ctx), 0x00) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
/* Reset tap threshold. */
if (ism330dhcx_tap_threshold_x_set(&(pObj->Ctx), 0x00) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
/* Disable Z direction in tap recognition. */
if (ism330dhcx_tap_detection_on_z_set(&(pObj->Ctx), PROPERTY_DISABLE) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
/* Disable Y direction in tap recognition. */
if (ism330dhcx_tap_detection_on_y_set(&(pObj->Ctx), PROPERTY_DISABLE) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
/* Disable X direction in tap recognition. */
if (ism330dhcx_tap_detection_on_x_set(&(pObj->Ctx), PROPERTY_DISABLE) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
return ISM330DHCX_OK;
}
/**
* @brief Set tap threshold
* @param pObj the device pObj
* @param Threshold tap threshold
* @retval 0 in case of success, an error code otherwise
*/
int32_t ISM330DHCX_ACC_Set_Tap_Threshold(ISM330DHCX_Object_t *pObj, uint8_t Threshold)
{
/* Set tap threshold. */
if (ism330dhcx_tap_threshold_x_set(&(pObj->Ctx), Threshold) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
return ISM330DHCX_OK;
}
/**
* @brief Set tap shock time
* @param pObj the device pObj
* @param Time tap shock time
* @retval 0 in case of success, an error code otherwise
*/
int32_t ISM330DHCX_ACC_Set_Tap_Shock_Time(ISM330DHCX_Object_t *pObj, uint8_t Time)
{
/* Set tap shock time window. */
if (ism330dhcx_tap_shock_set(&(pObj->Ctx), Time) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
return ISM330DHCX_OK;
}
/**
* @brief Set tap quiet time
* @param pObj the device pObj
* @param Time tap quiet time
* @retval 0 in case of success, an error code otherwise
*/
int32_t ISM330DHCX_ACC_Set_Tap_Quiet_Time(ISM330DHCX_Object_t *pObj, uint8_t Time)
{
/* Set tap quiet time window. */
if (ism330dhcx_tap_quiet_set(&(pObj->Ctx), Time) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
return ISM330DHCX_OK;
}
/**
* @brief Set tap duration time
* @param pObj the device pObj
* @param Time tap duration time
* @retval 0 in case of success, an error code otherwise
*/
int32_t ISM330DHCX_ACC_Set_Tap_Duration_Time(ISM330DHCX_Object_t *pObj, uint8_t Time)
{
/* Set tap duration time window. */
if (ism330dhcx_tap_dur_set(&(pObj->Ctx), Time) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
return ISM330DHCX_OK;
}
/**
* @brief Enable 6D orientation detection
* @param pObj the device pObj
* @param IntPin interrupt pin line to be used
* @retval 0 in case of success, an error code otherwise
*/
int32_t ISM330DHCX_ACC_Enable_6D_Orientation(ISM330DHCX_Object_t *pObj, ISM330DHCX_SensorIntPin_t IntPin)
{
int32_t ret = ISM330DHCX_OK;
ism330dhcx_pin_int1_route_t val1;
ism330dhcx_pin_int2_route_t val2;
/* Output Data Rate selection */
if (ISM330DHCX_ACC_SetOutputDataRate(pObj, 416.0f) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
/* Full scale selection */
if (ISM330DHCX_ACC_SetFullScale(pObj, 2) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
/* 6D orientation enabled. */
if (ism330dhcx_6d_threshold_set(&(pObj->Ctx), ISM330DHCX_DEG_60) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
/* Enable 6D orientation event on either INT1 or INT2 pin */
switch (IntPin)
{
case ISM330DHCX_INT1_PIN:
if (ism330dhcx_pin_int1_route_get(&(pObj->Ctx), &val1) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
val1.md1_cfg.int1_6d = PROPERTY_ENABLE;
if (ism330dhcx_pin_int1_route_set(&(pObj->Ctx), &val1) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
break;
case ISM330DHCX_INT2_PIN:
if (ism330dhcx_pin_int2_route_get(&(pObj->Ctx), &val2) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
val2.md2_cfg.int2_6d = PROPERTY_ENABLE;
if (ism330dhcx_pin_int2_route_set(&(pObj->Ctx), &val2) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
break;
default:
ret = ISM330DHCX_ERROR;
break;
}
return ret;
}
/**
* @brief Disable 6D orientation detection
* @param pObj the device pObj
* @retval 0 in case of success, an error code otherwise
*/
int32_t ISM330DHCX_ACC_Disable_6D_Orientation(ISM330DHCX_Object_t *pObj)
{
ism330dhcx_pin_int1_route_t val1;
ism330dhcx_pin_int2_route_t val2;
/* Disable 6D orientation event on both INT1 and INT2 pins */
if (ism330dhcx_pin_int1_route_get(&(pObj->Ctx), &val1) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
val1.md1_cfg.int1_6d = PROPERTY_DISABLE;
if (ism330dhcx_pin_int1_route_set(&(pObj->Ctx), &val1) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
if (ism330dhcx_pin_int2_route_get(&(pObj->Ctx), &val2) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
val2.md2_cfg.int2_6d = PROPERTY_DISABLE;
if (ism330dhcx_pin_int2_route_set(&(pObj->Ctx), &val2) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
/* Reset 6D orientation. */
if (ism330dhcx_6d_threshold_set(&(pObj->Ctx), ISM330DHCX_DEG_80) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
return ISM330DHCX_OK;
}
/**
* @brief Set 6D orientation threshold
* @param pObj the device pObj
* @param Threshold free fall detection threshold
* @retval 0 in case of success, an error code otherwise
*/
int32_t ISM330DHCX_ACC_Set_6D_Orientation_Threshold(ISM330DHCX_Object_t *pObj, uint8_t Threshold)
{
if (ism330dhcx_6d_threshold_set(&(pObj->Ctx), (ism330dhcx_sixd_ths_t)Threshold) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
return ISM330DHCX_OK;
}
/**
* @brief Get the status of XLow orientation
* @param pObj the device pObj
* @param XLow the status of XLow orientation
* @retval 0 in case of success, an error code otherwise
*/
int32_t ISM330DHCX_ACC_Get_6D_Orientation_XL(ISM330DHCX_Object_t *pObj, uint8_t *XLow)
{
ism330dhcx_d6d_src_t data;
if (ism330dhcx_read_reg(&(pObj->Ctx), ISM330DHCX_D6D_SRC, (uint8_t *)&data, 1) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
*XLow = data.xl;
return ISM330DHCX_OK;
}
/**
* @brief Get the status of XHigh orientation
* @param pObj the device pObj
* @param XHigh the status of XHigh orientation
* @retval 0 in case of success, an error code otherwise
*/
int32_t ISM330DHCX_ACC_Get_6D_Orientation_XH(ISM330DHCX_Object_t *pObj, uint8_t *XHigh)
{
ism330dhcx_d6d_src_t data;
if (ism330dhcx_read_reg(&(pObj->Ctx), ISM330DHCX_D6D_SRC, (uint8_t *)&data, 1) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
*XHigh = data.xh;
return ISM330DHCX_OK;
}
/**
* @brief Get the status of YLow orientation
* @param pObj the device pObj
* @param YLow the status of YLow orientation
* @retval 0 in case of success, an error code otherwise
*/
int32_t ISM330DHCX_ACC_Get_6D_Orientation_YL(ISM330DHCX_Object_t *pObj, uint8_t *YLow)
{
ism330dhcx_d6d_src_t data;
if (ism330dhcx_read_reg(&(pObj->Ctx), ISM330DHCX_D6D_SRC, (uint8_t *)&data, 1) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
*YLow = data.yl;
return ISM330DHCX_OK;
}
/**
* @brief Get the status of YHigh orientation
* @param pObj the device pObj
* @param YHigh the status of YHigh orientation
* @retval 0 in case of success, an error code otherwise
*/
int32_t ISM330DHCX_ACC_Get_6D_Orientation_YH(ISM330DHCX_Object_t *pObj, uint8_t *YHigh)
{
ism330dhcx_d6d_src_t data;
if (ism330dhcx_read_reg(&(pObj->Ctx), ISM330DHCX_D6D_SRC, (uint8_t *)&data, 1) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
*YHigh = data.yh;
return ISM330DHCX_OK;
}
/**
* @brief Get the status of ZLow orientation
* @param pObj the device pObj
* @param ZLow the status of ZLow orientation
* @retval 0 in case of success, an error code otherwise
*/
int32_t ISM330DHCX_ACC_Get_6D_Orientation_ZL(ISM330DHCX_Object_t *pObj, uint8_t *ZLow)
{
ism330dhcx_d6d_src_t data;
if (ism330dhcx_read_reg(&(pObj->Ctx), ISM330DHCX_D6D_SRC, (uint8_t *)&data, 1) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
*ZLow = data.zl;
return ISM330DHCX_OK;
}
/**
* @brief Get the status of ZHigh orientation
* @param pObj the device pObj
* @param ZHigh the status of ZHigh orientation
* @retval 0 in case of success, an error code otherwise
*/
int32_t ISM330DHCX_ACC_Get_6D_Orientation_ZH(ISM330DHCX_Object_t *pObj, uint8_t *ZHigh)
{
ism330dhcx_d6d_src_t data;
if (ism330dhcx_read_reg(&(pObj->Ctx), ISM330DHCX_D6D_SRC, (uint8_t *)&data, 1) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
*ZHigh = data.zh;
return ISM330DHCX_OK;
}
/**
* @brief Get the status of all hardware events
* @param pObj the device pObj
* @param Status the status of all hardware events
* @retval 0 in case of success, an error code otherwise
*/
int32_t ISM330DHCX_ACC_Get_Event_Status(ISM330DHCX_Object_t *pObj, ISM330DHCX_Event_Status_t *Status)
{
ism330dhcx_wake_up_src_t wake_up_src;
ism330dhcx_tap_src_t tap_src;
ism330dhcx_d6d_src_t d6d_src;
ism330dhcx_md1_cfg_t md1_cfg;
ism330dhcx_md2_cfg_t md2_cfg;
ism330dhcx_int1_ctrl_t int1_ctrl;
(void)memset((void *)Status, 0x0, sizeof(ISM330DHCX_Event_Status_t));
if (ism330dhcx_read_reg(&(pObj->Ctx), ISM330DHCX_WAKE_UP_SRC, (uint8_t *)&wake_up_src, 1) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
if (ism330dhcx_read_reg(&(pObj->Ctx), ISM330DHCX_TAP_SRC, (uint8_t *)&tap_src, 1) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
if (ism330dhcx_read_reg(&(pObj->Ctx), ISM330DHCX_D6D_SRC, (uint8_t *)&d6d_src, 1) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
if (ism330dhcx_read_reg(&(pObj->Ctx), ISM330DHCX_MD1_CFG, (uint8_t *)&md1_cfg, 1) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
if (ism330dhcx_read_reg(&(pObj->Ctx), ISM330DHCX_MD2_CFG, (uint8_t *)&md2_cfg, 1) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
if (ism330dhcx_read_reg(&(pObj->Ctx), ISM330DHCX_INT1_CTRL, (uint8_t *)&int1_ctrl, 1) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
if ((md1_cfg.int1_ff == 1U) || (md2_cfg.int2_ff == 1U))
{
if (wake_up_src.ff_ia == 1U)
{
Status->FreeFallStatus = 1;
}
}
if ((md1_cfg.int1_wu == 1U) || (md2_cfg.int2_wu == 1U))
{
if (wake_up_src.wu_ia == 1U)
{
Status->WakeUpStatus = 1;
}
}
if ((md1_cfg.int1_single_tap == 1U) || (md2_cfg.int2_single_tap == 1U))
{
if (tap_src.single_tap == 1U)
{
Status->TapStatus = 1;
}
}
if ((md1_cfg.int1_double_tap == 1U) || (md2_cfg.int2_double_tap == 1U))
{
if (tap_src.double_tap == 1U)
{
Status->DoubleTapStatus = 1;
}
}
if ((md1_cfg.int1_6d == 1U) || (md2_cfg.int2_6d == 1U))
{
if (d6d_src.d6d_ia == 1U)
{
Status->D6DOrientationStatus = 1;
}
}
return ISM330DHCX_OK;
}
/**
* @brief Set self test
* @param pObj the device pObj
* @param val the value of st_xl in reg CTRL5_C
* @retval 0 in case of success, an error code otherwise
*/
int32_t ISM330DHCX_ACC_Set_SelfTest(ISM330DHCX_Object_t *pObj, uint8_t val)
{
ism330dhcx_st_xl_t reg;
reg = (val == 0U) ? ISM330DHCX_XL_ST_DISABLE
: (val == 1U) ? ISM330DHCX_XL_ST_POSITIVE
: (val == 2U) ? ISM330DHCX_XL_ST_NEGATIVE
: ISM330DHCX_XL_ST_DISABLE;
if (ism330dhcx_xl_self_test_set(&(pObj->Ctx), reg) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
return ISM330DHCX_OK;
}
/**
* @brief Get the ISM330DHCX ACC data ready bit value
* @param pObj the device pObj
* @param Status the status of data ready bit
* @retval 0 in case of success, an error code otherwise
*/
int32_t ISM330DHCX_ACC_Get_DRDY_Status(ISM330DHCX_Object_t *pObj, uint8_t *Status)
{
if (ism330dhcx_xl_flag_data_ready_get(&(pObj->Ctx), Status) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
return ISM330DHCX_OK;
}
/**
* @brief Get the ISM330DHCX ACC initialization status
* @param pObj the device pObj
* @param Status 1 if initialized, 0 otherwise
* @retval 0 in case of success, an error code otherwise
*/
int32_t ISM330DHCX_ACC_Get_Init_Status(ISM330DHCX_Object_t *pObj, uint8_t *Status)
{
if (pObj == NULL)
{
return ISM330DHCX_ERROR;
}
*Status = pObj->is_initialized;
return ISM330DHCX_OK;
}
/**
* @brief Set HP filter
* @param pObj the device pObj
* @param CutOff frequency
* @retval 0 in case of success, an error code otherwise
*/
int32_t ISM330DHCX_ACC_Enable_HP_Filter(ISM330DHCX_Object_t *pObj, ism330dhcx_hp_slope_xl_en_t CutOff)
{
if (ism330dhcx_xl_hp_path_on_out_set(&(pObj->Ctx), CutOff) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
return ISM330DHCX_OK;
}
/**
* @brief Set self test
* @param pObj the device pObj
* @param val the value of st_xl in reg CTRL5_C
* @retval 0 in case of success, an error code otherwise
*/
int32_t ISM330DHCX_GYRO_Set_SelfTest(ISM330DHCX_Object_t *pObj, uint8_t val)
{
ism330dhcx_st_g_t reg;
reg = (val == 0U) ? ISM330DHCX_GY_ST_DISABLE
: (val == 1U) ? ISM330DHCX_GY_ST_POSITIVE
: (val == 3U) ? ISM330DHCX_GY_ST_NEGATIVE
: ISM330DHCX_GY_ST_DISABLE;
if (ism330dhcx_gy_self_test_set(&(pObj->Ctx), reg) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
return ISM330DHCX_OK;
}
/**
* @brief Get the ISM330DHCX GYRO data ready bit value
* @param pObj the device pObj
* @param Status the status of data ready bit
* @retval 0 in case of success, an error code otherwise
*/
int32_t ISM330DHCX_GYRO_Get_DRDY_Status(ISM330DHCX_Object_t *pObj, uint8_t *Status)
{
if (ism330dhcx_gy_flag_data_ready_get(&(pObj->Ctx), Status) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
return ISM330DHCX_OK;
}
/**
* @brief Get the ISM330DHCX GYRO initialization status
* @param pObj the device pObj
* @param Status 1 if initialized, 0 otherwise
* @retval 0 in case of success, an error code otherwise
*/
int32_t ISM330DHCX_GYRO_Get_Init_Status(ISM330DHCX_Object_t *pObj, uint8_t *Status)
{
if (pObj == NULL)
{
return ISM330DHCX_ERROR;
}
*Status = pObj->is_initialized;
return ISM330DHCX_OK;
}
/**
* @brief Get the ISM330DHCX FIFO number of samples
* @param pObj the device pObj
* @param NumSamples number of samples
* @retval 0 in case of success, an error code otherwise
*/
int32_t ISM330DHCX_FIFO_Get_Num_Samples(ISM330DHCX_Object_t *pObj, uint16_t *NumSamples)
{
if (ism330dhcx_fifo_data_level_get(&(pObj->Ctx), NumSamples) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
return ISM330DHCX_OK;
}
/**
* @brief Get the ISM330DHCX FIFO full status
* @param pObj the device pObj
* @param Status FIFO full status
* @retval 0 in case of success, an error code otherwise
*/
int32_t ISM330DHCX_FIFO_Get_Full_Status(ISM330DHCX_Object_t *pObj, uint8_t *Status)
{
ism330dhcx_reg_t reg;
if (ism330dhcx_read_reg(&(pObj->Ctx), ISM330DHCX_FIFO_STATUS2, ®.byte, 1) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
*Status = reg.fifo_status2.fifo_full_ia;
return ISM330DHCX_OK;
}
/**
* @brief Set the ISM330DHCX FIFO ACC ODR value
* @param pObj the device pObj
* @param Odr FIFO ODR value
* @retval 0 in case of success, an error code otherwise
*/
int32_t ISM330DHCX_FIFO_ACC_Set_BDR(ISM330DHCX_Object_t *pObj, float Bdr)
{
ism330dhcx_bdr_xl_t new_odr;
new_odr = (Bdr <= 12.5f) ? ISM330DHCX_XL_BATCHED_AT_12Hz5
: (Bdr <= 26.0f) ? ISM330DHCX_XL_BATCHED_AT_26Hz
: (Bdr <= 52.0f) ? ISM330DHCX_XL_BATCHED_AT_52Hz
: (Bdr <= 104.0f) ? ISM330DHCX_XL_BATCHED_AT_104Hz
: (Bdr <= 208.0f) ? ISM330DHCX_XL_BATCHED_AT_208Hz
: (Bdr <= 417.0f) ? ISM330DHCX_XL_BATCHED_AT_417Hz
: (Bdr <= 833.0f) ? ISM330DHCX_XL_BATCHED_AT_833Hz
: (Bdr <= 1667.0f) ? ISM330DHCX_XL_BATCHED_AT_1667Hz
: (Bdr <= 3333.0f) ? ISM330DHCX_XL_BATCHED_AT_3333Hz
: ISM330DHCX_XL_BATCHED_AT_6667Hz;
if (ism330dhcx_fifo_xl_batch_set(&(pObj->Ctx), new_odr) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
return ISM330DHCX_OK;
}
/**
* @brief Set the ISM330DHCX FIFO GYRO ODR value
* @param pObj the device pObj
* @param Odr FIFO ODR value
* @retval 0 in case of success, an error code otherwise
*/
int32_t ISM330DHCX_FIFO_GYRO_Set_BDR(ISM330DHCX_Object_t *pObj, float Bdr)
{
ism330dhcx_bdr_gy_t new_odr;
new_odr = (Bdr <= 12.5f) ? ISM330DHCX_GY_BATCHED_AT_12Hz5
: (Bdr <= 26.0f) ? ISM330DHCX_GY_BATCHED_AT_26Hz
: (Bdr <= 52.0f) ? ISM330DHCX_GY_BATCHED_AT_52Hz
: (Bdr <= 104.0f) ? ISM330DHCX_GY_BATCHED_AT_104Hz
: (Bdr <= 208.0f) ? ISM330DHCX_GY_BATCHED_AT_208Hz
: (Bdr <= 417.0f) ? ISM330DHCX_GY_BATCHED_AT_417Hz
: (Bdr <= 833.0f) ? ISM330DHCX_GY_BATCHED_AT_833Hz
: (Bdr <= 1667.0f) ? ISM330DHCX_GY_BATCHED_AT_1667Hz
: (Bdr <= 3333.0f) ? ISM330DHCX_GY_BATCHED_AT_3333Hz
: ISM330DHCX_GY_BATCHED_AT_6667Hz;
if (ism330dhcx_fifo_gy_batch_set(&(pObj->Ctx), new_odr) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
return ISM330DHCX_OK;
}
/**
* @brief Set the ISM330DHCX FIFO full interrupt on INT1 pin
* @param pObj the device pObj
* @param Status FIFO full interrupt on INT1 pin status
* @retval 0 in case of success, an error code otherwise
*/
int32_t ISM330DHCX_FIFO_Set_INT1_FIFO_Full(ISM330DHCX_Object_t *pObj, uint8_t Status)
{
ism330dhcx_reg_t reg;
if (ism330dhcx_read_reg(&(pObj->Ctx), ISM330DHCX_INT1_CTRL, ®.byte, 1) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
reg.int1_ctrl.int1_fifo_full = Status;
if (ism330dhcx_write_reg(&(pObj->Ctx), ISM330DHCX_INT1_CTRL, ®.byte, 1) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
return ISM330DHCX_OK;
}
/**
* @brief Set the ISM330DHCX FIFO full interrupt on INT2 pin
* @param pObj the device pObj
* @param Status FIFO full interrupt on INT1 pin status
* @retval 0 in case of success, an error code otherwise
*/
int32_t ISM330DHCX_FIFO_Set_INT2_FIFO_Full(ISM330DHCX_Object_t *pObj, uint8_t Status)
{
ism330dhcx_reg_t reg;
if (ism330dhcx_read_reg(&(pObj->Ctx), ISM330DHCX_INT2_CTRL, ®.byte, 1) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
reg.int2_ctrl.int2_fifo_full = Status;
if (ism330dhcx_write_reg(&(pObj->Ctx), ISM330DHCX_INT2_CTRL, ®.byte, 1) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
return ISM330DHCX_OK;
}
/**
* @brief Set the ISM330DHCX FIFO watermark level
* @param pObj the device pObj
* @param Watermark FIFO watermark level
* @retval 0 in case of success, an error code otherwise
*/
int32_t ISM330DHCX_FIFO_Set_Watermark_Level(ISM330DHCX_Object_t *pObj, uint16_t Watermark)
{
if (ism330dhcx_fifo_watermark_set(&(pObj->Ctx), Watermark) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
return ISM330DHCX_OK;
}
/**
* @brief Set the ISM330DHCX FIFO stop on watermark
* @param pObj the device pObj
* @param Status FIFO stop on watermark status
* @retval 0 in case of success, an error code otherwise
*/
int32_t ISM330DHCX_FIFO_Set_Stop_On_Fth(ISM330DHCX_Object_t *pObj, uint8_t Status)
{
if (ism330dhcx_fifo_stop_on_wtm_set(&(pObj->Ctx), Status) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
return ISM330DHCX_OK;
}
/**
* @brief Set the ISM330DHCX FIFO mode
* @param pObj the device pObj
* @param Mode FIFO mode
* @retval 0 in case of success, an error code otherwise
*/
int32_t ISM330DHCX_FIFO_Set_Mode(ISM330DHCX_Object_t *pObj, uint8_t Mode)
{
int32_t ret = ISM330DHCX_OK;
/* Verify that the passed parameter contains one of the valid values. */
switch ((ism330dhcx_fifo_mode_t)Mode)
{
case ISM330DHCX_BYPASS_MODE:
case ISM330DHCX_FIFO_MODE:
case ISM330DHCX_STREAM_TO_FIFO_MODE:
case ISM330DHCX_BYPASS_TO_STREAM_MODE:
case ISM330DHCX_STREAM_MODE:
break;
default:
ret = ISM330DHCX_ERROR;
break;
}
if (ret == ISM330DHCX_ERROR)
{
return ret;
}
if (ism330dhcx_fifo_mode_set(&(pObj->Ctx), (ism330dhcx_fifo_mode_t)Mode) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
return ret;
}
/**
* @brief Get the ISM330DHCX FIFO tag
* @param pObj the device pObj
* @param Tag FIFO tag
* @retval 0 in case of success, an error code otherwise
*/
int32_t ISM330DHCX_FIFO_Get_Tag(ISM330DHCX_Object_t *pObj, uint8_t *Tag)
{
ism330dhcx_fifo_tag_t tag_local;
if (ism330dhcx_fifo_sensor_tag_get(&(pObj->Ctx), &tag_local) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
*Tag = (uint8_t)tag_local;
return ISM330DHCX_OK;
}
/**
* @brief Get the ISM330DHCX FIFO raw data
* @param pObj the device pObj
* @param Data FIFO raw data array [6]
* @retval 0 in case of success, an error code otherwise
*/
int32_t ISM330DHCX_FIFO_Get_Data(ISM330DHCX_Object_t *pObj, uint8_t *Data)
{
if (ism330dhcx_fifo_out_raw_get(&(pObj->Ctx), Data) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
return ISM330DHCX_OK;
}
/**
* @brief Get the ISM330DHCX FIFO accelero single sample (16-bit data per 3 axes) and calculate acceleration [mg]
* @param pObj the device pObj
* @param Acceleration FIFO accelero axes [mg]
* @retval 0 in case of success, an error code otherwise
*/
int32_t ISM330DHCX_FIFO_ACC_Get_Axes(ISM330DHCX_Object_t *pObj, ISM330DHCX_Axes_t *Acceleration)
{
uint8_t data[6];
int16_t data_raw[3];
float sensitivity = 0.0f;
float acceleration_float[3];
if (ISM330DHCX_FIFO_Get_Data(pObj, data) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
data_raw[0] = ((int16_t)data[1] << 8) | data[0];
data_raw[1] = ((int16_t)data[3] << 8) | data[2];
data_raw[2] = ((int16_t)data[5] << 8) | data[4];
if (ISM330DHCX_ACC_GetSensitivity(pObj, &sensitivity) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
acceleration_float[0] = (float)data_raw[0] * sensitivity;
acceleration_float[1] = (float)data_raw[1] * sensitivity;
acceleration_float[2] = (float)data_raw[2] * sensitivity;
Acceleration->x = (int32_t)acceleration_float[0];
Acceleration->y = (int32_t)acceleration_float[1];
Acceleration->z = (int32_t)acceleration_float[2];
return ISM330DHCX_OK;
}
/**
* @brief Get the ISM330DHCX FIFO gyro single sample (16-bit data per 3 axes) and calculate angular velocity [mDPS]
* @param pObj the device pObj
* @param AngularVelocity FIFO gyro axes [mDPS]
* @retval 0 in case of success, an error code otherwise
*/
int32_t ISM330DHCX_FIFO_GYRO_Get_Axes(ISM330DHCX_Object_t *pObj, ISM330DHCX_Axes_t *AngularVelocity)
{
uint8_t data[6];
int16_t data_raw[3];
float sensitivity = 0.0f;
float angular_velocity_float[3];
if (ISM330DHCX_FIFO_Get_Data(pObj, data) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
data_raw[0] = ((int16_t)data[1] << 8) | data[0];
data_raw[1] = ((int16_t)data[3] << 8) | data[2];
data_raw[2] = ((int16_t)data[5] << 8) | data[4];
if (ISM330DHCX_GYRO_GetSensitivity(pObj, &sensitivity) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
angular_velocity_float[0] = (float)data_raw[0] * sensitivity;
angular_velocity_float[1] = (float)data_raw[1] * sensitivity;
angular_velocity_float[2] = (float)data_raw[2] * sensitivity;
AngularVelocity->x = (int32_t)angular_velocity_float[0];
AngularVelocity->y = (int32_t)angular_velocity_float[1];
AngularVelocity->z = (int32_t)angular_velocity_float[2];
return ISM330DHCX_OK;
}
/**
* @brief Set the ISM330DHCX FIFO full interrupt on INT1 pin
* @param pObj the device pObj
* @param Status FIFO full interrupt on INT1 pin status
* @retval 0 in case of success, an error code otherwise
*/
int32_t ISM330DHCX_FIFO_Full_Set_INT1(ISM330DHCX_Object_t *pObj, uint8_t Status)
{
ism330dhcx_reg_t reg;
if (ism330dhcx_read_reg(&(pObj->Ctx), ISM330DHCX_INT1_CTRL, ®.byte, 1) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
reg.int1_ctrl.int1_fifo_full = Status;
if (ism330dhcx_write_reg(&(pObj->Ctx), ISM330DHCX_INT1_CTRL, ®.byte, 1) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
return ISM330DHCX_OK;
}
/**
* @brief Get the ISM330DHCX FIFO accelero single sample (16-bit data) and calculate acceleration [mg]
* @param pObj the device pObj
* @param Acceleration FIFO single accelero axis [mg]
* @retval 0 in case of success, an error code otherwise
*/
int32_t ISM330DHCX_FIFO_ACC_Get_Axis(ISM330DHCX_Object_t *pObj, ISM330DHCX_Axes_t *Acceleration)
{
uint8_t data[6];
int16_t data_raw[3];
float sensitivity = 0.0f;
float acceleration_float[3];
if (ISM330DHCX_FIFO_Get_Data(pObj, data) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
data_raw[0] = ((int16_t)data[1] << 8) | data[0];
data_raw[1] = ((int16_t)data[3] << 8) | data[2];
data_raw[2] = ((int16_t)data[5] << 8) | data[4];
if (ISM330DHCX_ACC_GetSensitivity(pObj, &sensitivity) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
acceleration_float[0] = (float)data_raw[0] * sensitivity;
acceleration_float[1] = (float)data_raw[1] * sensitivity;
acceleration_float[2] = (float)data_raw[2] * sensitivity;
Acceleration->x = (int32_t)acceleration_float[0];
Acceleration->y = (int32_t)acceleration_float[1];
Acceleration->z = (int32_t)acceleration_float[2];
return ISM330DHCX_OK;
}
/**
* @brief Get the ISM330DHCX FIFO accelero single word (16-bit data)
* @param pObj the device pObj
* @param Acceleration FIFO single data
* @retval 0 in case of success, an error code otherwise
*/
int32_t ISM330DHCX_FIFO_Get_Data_Word(ISM330DHCX_Object_t *pObj, int16_t *data_raw)
{
uint8_t data[6];
if (ISM330DHCX_FIFO_Get_Data(pObj, data) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
data_raw[0] = ((int16_t)data[1] << 8) | data[0];
data_raw[1] = ((int16_t)data[3] << 8) | data[2];
data_raw[2] = ((int16_t)data[5] << 8) | data[4];
return ISM330DHCX_OK;
}
/**
* @brief Get the ISM330DHCX FIFO gyro single sample (16-bit data) and calculate angular velocity [mDPS]
* @param pObj the device pObj
* @param AngularVelocity FIFO single gyro axis [mDPS]
* @retval 0 in case of success, an error code otherwise
*/
int32_t ISM330DHCX_FIFO_GYRO_Get_Axis(ISM330DHCX_Object_t *pObj, ISM330DHCX_Axes_t *AngularVelocity)
{
uint8_t data[6];
int16_t data_raw[3];
float sensitivity = 0.0f;
float angular_velocity_float[3];
if (ISM330DHCX_FIFO_Get_Data(pObj, data) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
data_raw[0] = ((int16_t)data[1] << 8) | data[0];
data_raw[1] = ((int16_t)data[3] << 8) | data[2];
data_raw[2] = ((int16_t)data[5] << 8) | data[4];
if (ISM330DHCX_GYRO_GetSensitivity(pObj, &sensitivity) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
angular_velocity_float[0] = (float)data_raw[0] * sensitivity;
angular_velocity_float[1] = (float)data_raw[1] * sensitivity;
angular_velocity_float[2] = (float)data_raw[2] * sensitivity;
AngularVelocity->x = (int32_t)angular_velocity_float[0];
AngularVelocity->y = (int32_t)angular_velocity_float[1];
AngularVelocity->z = (int32_t)angular_velocity_float[2];
return ISM330DHCX_OK;
}
/**
* @brief Enable ISM330DHCX accelerometer DRDY interrupt on INT1
* @param pObj the device pObj
* @retval 0 in case of success, an error code otherwise
*/
int32_t ISM330DHCX_ACC_Enable_DRDY_On_INT1(ISM330DHCX_Object_t *pObj)
{
ism330dhcx_pin_int1_route_t pin_int1_route;
/* Enable accelerometer DRDY Interrupt on INT1 */
if (ism330dhcx_pin_int1_route_get(&(pObj->Ctx), &pin_int1_route) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
pin_int1_route.int1_ctrl.int1_drdy_xl = 1;
pin_int1_route.int1_ctrl.int1_drdy_g = 0;
if (ism330dhcx_pin_int1_route_set(&(pObj->Ctx), &pin_int1_route) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
return ISM330DHCX_OK;
}
/**
* @brief Disable ISM330DHCX accelerometer DRDY interrupt on INT1
* @param pObj the device pObj
* @retval 0 in case of success, an error code otherwise
*/
int32_t ISM330DHCX_ACC_Disable_DRDY_On_INT1(ISM330DHCX_Object_t *pObj)
{
ism330dhcx_pin_int1_route_t pin_int1_route;
/* Disable accelerometer DRDY Interrupt on INT1 */
if (ism330dhcx_pin_int1_route_get(&(pObj->Ctx), &pin_int1_route) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
pin_int1_route.int1_ctrl.int1_drdy_xl = 0;
if (ism330dhcx_pin_int1_route_set(&(pObj->Ctx), &pin_int1_route) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
return ISM330DHCX_OK;
}
/**
* @brief Enable ISM330DHCX gyroscope DRDY interrupt on INT2
* @param pObj the device pObj
* @retval 0 in case of success, an error code otherwise
*/
int32_t ISM330DHCX_GYRO_Enable_DRDY_On_INT2(ISM330DHCX_Object_t *pObj)
{
ism330dhcx_pin_int2_route_t pin_int2_route;
/* Enable gyroscope DRDY Interrupt on INT2 */
if (ism330dhcx_pin_int2_route_get(&(pObj->Ctx), &pin_int2_route) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
pin_int2_route.int2_ctrl.int2_drdy_xl = 0;
pin_int2_route.int2_ctrl.int2_drdy_g = 1;
if (ism330dhcx_pin_int2_route_set(&(pObj->Ctx), &pin_int2_route) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
return ISM330DHCX_OK;
}
/**
* @brief Disable ISM330DHCX gyroscope DRDY interrupt on INT2
* @param pObj the device pObj
* @retval 0 in case of success, an error code otherwise
*/
int32_t ISM330DHCX_GYRO_Disable_DRDY_On_INT2(ISM330DHCX_Object_t *pObj)
{
ism330dhcx_pin_int2_route_t pin_int2_route;
/* Disable gyroscope DRDY Interrupt on INT2 */
if (ism330dhcx_pin_int2_route_get(&(pObj->Ctx), &pin_int2_route) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
pin_int2_route.int2_ctrl.int2_drdy_g = 0;
if (ism330dhcx_pin_int2_route_set(&(pObj->Ctx), &pin_int2_route) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
return ISM330DHCX_OK;
}
/**
* @brief Set ISM330DHCX DRDY mode
* @param pObj the device pObj
* @param Mode DRDY mode
* @retval 0 in case of success, an error code otherwise
*/
int32_t ISM330DHCX_DRDY_Set_Mode(ISM330DHCX_Object_t *pObj, uint8_t Mode)
{
/* Set DRDY mode */
if (ism330dhcx_data_ready_mode_set(&(pObj->Ctx), (ism330dhcx_dataready_pulsed_t)Mode) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
return ISM330DHCX_OK;
}
/**
* @}
*/
/** @defgroup ISM330DHCX_Private_Functions ISM330DHCX Private Functions
* @{
*/
/**
* @brief Set the ISM330DHCX accelerometer sensor output data rate when enabled
* @param pObj the device pObj
* @param Odr the functional output data rate to be set
* @retval 0 in case of success, an error code otherwise
*/
static int32_t ISM330DHCX_ACC_SetOutputDataRate_When_Enabled(ISM330DHCX_Object_t *pObj, float Odr)
{
ism330dhcx_odr_xl_t new_odr;
new_odr = (Odr <= 12.5f) ? ISM330DHCX_XL_ODR_12Hz5
: (Odr <= 26.0f) ? ISM330DHCX_XL_ODR_26Hz
: (Odr <= 52.0f) ? ISM330DHCX_XL_ODR_52Hz
: (Odr <= 104.0f) ? ISM330DHCX_XL_ODR_104Hz
: (Odr <= 208.0f) ? ISM330DHCX_XL_ODR_208Hz
: (Odr <= 416.0f) ? ISM330DHCX_XL_ODR_416Hz
: (Odr <= 833.0f) ? ISM330DHCX_XL_ODR_833Hz
: (Odr <= 1666.0f) ? ISM330DHCX_XL_ODR_1666Hz
: (Odr <= 3332.0f) ? ISM330DHCX_XL_ODR_3332Hz
: ISM330DHCX_XL_ODR_6667Hz;
/* Output data rate selection. */
if (ism330dhcx_xl_data_rate_set(&(pObj->Ctx), new_odr) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
return ISM330DHCX_OK;
}
/**
* @brief Set the ISM330DHCX accelerometer sensor output data rate when disabled
* @param pObj the device pObj
* @param Odr the functional output data rate to be set
* @retval 0 in case of success, an error code otherwise
*/
static int32_t ISM330DHCX_ACC_SetOutputDataRate_When_Disabled(ISM330DHCX_Object_t *pObj, float Odr)
{
pObj->acc_odr = (Odr <= 12.5f) ? ISM330DHCX_XL_ODR_12Hz5
: (Odr <= 26.0f) ? ISM330DHCX_XL_ODR_26Hz
: (Odr <= 52.0f) ? ISM330DHCX_XL_ODR_52Hz
: (Odr <= 104.0f) ? ISM330DHCX_XL_ODR_104Hz
: (Odr <= 208.0f) ? ISM330DHCX_XL_ODR_208Hz
: (Odr <= 416.0f) ? ISM330DHCX_XL_ODR_416Hz
: (Odr <= 833.0f) ? ISM330DHCX_XL_ODR_833Hz
: (Odr <= 1666.0f) ? ISM330DHCX_XL_ODR_1666Hz
: (Odr <= 3332.0f) ? ISM330DHCX_XL_ODR_3332Hz
: ISM330DHCX_XL_ODR_6667Hz;
return ISM330DHCX_OK;
}
/**
* @brief Set the ISM330DHCX gyroscope sensor output data rate when enabled
* @param pObj the device pObj
* @param Odr the functional output data rate to be set
* @retval 0 in case of success, an error code otherwise
*/
static int32_t ISM330DHCX_GYRO_SetOutputDataRate_When_Enabled(ISM330DHCX_Object_t *pObj, float Odr)
{
ism330dhcx_odr_g_t new_odr;
new_odr = (Odr <= 12.5f) ? ISM330DHCX_GY_ODR_12Hz5
: (Odr <= 26.0f) ? ISM330DHCX_GY_ODR_26Hz
: (Odr <= 52.0f) ? ISM330DHCX_GY_ODR_52Hz
: (Odr <= 104.0f) ? ISM330DHCX_GY_ODR_104Hz
: (Odr <= 208.0f) ? ISM330DHCX_GY_ODR_208Hz
: (Odr <= 416.0f) ? ISM330DHCX_GY_ODR_416Hz
: (Odr <= 833.0f) ? ISM330DHCX_GY_ODR_833Hz
: (Odr <= 1666.0f) ? ISM330DHCX_GY_ODR_1666Hz
: (Odr <= 3332.0f) ? ISM330DHCX_GY_ODR_3332Hz
: ISM330DHCX_GY_ODR_6667Hz;
/* Output data rate selection. */
if (ism330dhcx_gy_data_rate_set(&(pObj->Ctx), new_odr) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
return ISM330DHCX_OK;
}
/**
* @brief Set the ISM330DHCX gyroscope sensor output data rate when disabled
* @param pObj the device pObj
* @param Odr the functional output data rate to be set
* @retval 0 in case of success, an error code otherwise
*/
static int32_t ISM330DHCX_GYRO_SetOutputDataRate_When_Disabled(ISM330DHCX_Object_t *pObj, float Odr)
{
pObj->gyro_odr = (Odr <= 12.5f) ? ISM330DHCX_GY_ODR_12Hz5
: (Odr <= 26.0f) ? ISM330DHCX_GY_ODR_26Hz
: (Odr <= 52.0f) ? ISM330DHCX_GY_ODR_52Hz
: (Odr <= 104.0f) ? ISM330DHCX_GY_ODR_104Hz
: (Odr <= 208.0f) ? ISM330DHCX_GY_ODR_208Hz
: (Odr <= 416.0f) ? ISM330DHCX_GY_ODR_416Hz
: (Odr <= 833.0f) ? ISM330DHCX_GY_ODR_833Hz
: (Odr <= 1666.0f) ? ISM330DHCX_GY_ODR_1666Hz
: (Odr <= 3332.0f) ? ISM330DHCX_GY_ODR_3332Hz
: ISM330DHCX_GY_ODR_6667Hz;
return ISM330DHCX_OK;
}
/**
* @brief Set the ISM330DHCX FIFO full interrupt on INT2 pin
* @param pObj the device pObj
* @param Status FIFO full interrupt on INT2 pin status
* @retval 0 in case of success, an error code otherwise
*/
int32_t ISM330DHCX_FIFO_Set_INT2_Drdy(ISM330DHCX_Object_t *pObj, uint8_t Status)
{
ism330dhcx_reg_t reg;
if (ism330dhcx_read_reg(&(pObj->Ctx), ISM330DHCX_INT2_CTRL, ®.byte, 1) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
reg.int2_ctrl.int2_fifo_full = Status;
if (ism330dhcx_write_reg(&(pObj->Ctx), ISM330DHCX_INT2_CTRL, ®.byte, 1) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
return ISM330DHCX_OK;
}
/**
* @brief Set the ISM330DHCX FIFO full interrupt on INT2 pin
* @param pObj the device pObj
* @param Status DRDY interrupt on INT2 pin status
* @retval 0 in case of success, an error code otherwise
*/
int32_t ISM330DHCX_Set_INT2_Drdy(ISM330DHCX_Object_t *pObj, uint8_t Status)
{
ism330dhcx_reg_t reg;
if (ism330dhcx_read_reg(&(pObj->Ctx), ISM330DHCX_INT2_CTRL, ®.byte, 1) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
reg.int2_ctrl.int2_drdy_xl = Status;
if (ism330dhcx_write_reg(&(pObj->Ctx), ISM330DHCX_INT2_CTRL, ®.byte, 1) != ISM330DHCX_OK)
{
return ISM330DHCX_ERROR;
}
return ISM330DHCX_OK;
}
/**
* @brief Wrap Read register component function to Bus IO function
* @param Handle the device handler
* @param Reg the register address
* @param pData the stored data pointer
* @param Length the length
* @retval 0 in case of success, an error code otherwise
*/
static int32_t ReadRegWrap(void *Handle, uint8_t Reg, uint8_t *pData, uint16_t Length)
{
ISM330DHCX_Object_t *pObj = (ISM330DHCX_Object_t *)Handle;
return pObj->IO.ReadReg(pObj->IO.Address, Reg, pData, Length);
}
/**
* @brief Wrap Write register component function to Bus IO function
* @param Handle the device handler
* @param Reg the register address
* @param pData the stored data pointer
* @param Length the length
* @retval 0 in case of success, an error code otherwise
*/
static int32_t WriteRegWrap(void *Handle, uint8_t Reg, uint8_t *pData, uint16_t Length)
{
ISM330DHCX_Object_t *pObj = (ISM330DHCX_Object_t *)Handle;
return pObj->IO.WriteReg(pObj->IO.Address, Reg, pData, Length);
}
/**
* @}
*/
/**
* @}
*/
/**
* @}
*/
/**
* @}
*/