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ism330dlc.c
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/**
******************************************************************************
* @file ism330dlc.c
* @author MEMS Software Solutions Team
* @brief ISM330DLC driver file
******************************************************************************
* @attention
*
* <h2><center>© Copyright (c) 2019 STMicroelectronics.
* All rights reserved.</center></h2>
*
* This software component is licensed by ST under BSD 3-Clause license,
* the "License"; You may not use this file except in compliance with the
* License. You may obtain a copy of the License at:
* opensource.org/licenses/BSD-3-Clause
*
******************************************************************************
*/
/* Includes ------------------------------------------------------------------*/
#include "ism330dlc.h"
/** @addtogroup BSP BSP
* @{
*/
/** @addtogroup Component Component
* @{
*/
/** @defgroup ISM330DLC ISM330DLC
* @{
*/
/** @defgroup ISM330DLC_Exported_Variables ISM330DLC Exported Variables
* @{
*/
ISM330DLC_CommonDrv_t ISM330DLC_COMMON_Driver =
{
ISM330DLC_Init,
ISM330DLC_DeInit,
ISM330DLC_ReadID,
ISM330DLC_GetCapabilities,
};
ISM330DLC_ACC_Drv_t ISM330DLC_ACC_Driver =
{
ISM330DLC_ACC_Enable,
ISM330DLC_ACC_Disable,
ISM330DLC_ACC_GetSensitivity,
ISM330DLC_ACC_GetOutputDataRate,
ISM330DLC_ACC_SetOutputDataRate,
ISM330DLC_ACC_GetFullScale,
ISM330DLC_ACC_SetFullScale,
ISM330DLC_ACC_GetAxes,
ISM330DLC_ACC_GetAxesRaw,
};
ISM330DLC_GYRO_Drv_t ISM330DLC_GYRO_Driver =
{
ISM330DLC_GYRO_Enable,
ISM330DLC_GYRO_Disable,
ISM330DLC_GYRO_GetSensitivity,
ISM330DLC_GYRO_GetOutputDataRate,
ISM330DLC_GYRO_SetOutputDataRate,
ISM330DLC_GYRO_GetFullScale,
ISM330DLC_GYRO_SetFullScale,
ISM330DLC_GYRO_GetAxes,
ISM330DLC_GYRO_GetAxesRaw,
};
/**
* @}
*/
/** @defgroup ISM330DLC_Private_Function_Prototypes ISM330DLC 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 ISM330DLC_ACC_SetOutputDataRate_When_Enabled(ISM330DLC_Object_t *pObj, float Odr);
static int32_t ISM330DLC_ACC_SetOutputDataRate_When_Disabled(ISM330DLC_Object_t *pObj, float Odr);
static int32_t ISM330DLC_GYRO_SetOutputDataRate_When_Enabled(ISM330DLC_Object_t *pObj, float Odr);
static int32_t ISM330DLC_GYRO_SetOutputDataRate_When_Disabled(ISM330DLC_Object_t *pObj, float Odr);
/**
* @}
*/
/** @defgroup ISM330DLC_Exported_Functions ISM330DLC 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 ISM330DLC_RegisterBusIO(ISM330DLC_Object_t *pObj, ISM330DLC_IO_t *pIO)
{
int32_t ret = ISM330DLC_OK;
if (pObj == NULL)
{
ret = ISM330DLC_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 = ISM330DLC_ERROR;
}
else if (pObj->IO.Init() != ISM330DLC_OK)
{
ret = ISM330DLC_ERROR;
}
else
{
if (pObj->IO.BusType == ISM330DLC_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 (ISM330DLC_Write_Reg(pObj, ISM330DLC_CTRL3_C, data) != ISM330DLC_OK)
{
ret = ISM330DLC_ERROR;
}
}
}
}
}
return ret;
}
/**
* @brief Initialize the ISM330DLC sensor
* @param pObj the device pObj
* @retval 0 in case of success, an error code otherwise
*/
int32_t ISM330DLC_Init(ISM330DLC_Object_t *pObj)
{
/* Reset all the configuration registers in order to set correctly */
if (ism330dlc_reset_set(&(pObj->Ctx),PROPERTY_ENABLE) != ISM330DLC_OK)
{
return ISM330DLC_ERROR;
}
/* Enable register address automatically incremented during a multiple byte
access with a serial interface. */
if (ism330dlc_auto_increment_set(&(pObj->Ctx), PROPERTY_ENABLE) != ISM330DLC_OK)
{
return ISM330DLC_ERROR;
}
/* Enable BDU */
if (ism330dlc_block_data_update_set(&(pObj->Ctx), PROPERTY_ENABLE) != ISM330DLC_OK)
{
return ISM330DLC_ERROR;
}
/* FIFO mode selection */
if (ism330dlc_fifo_mode_set(&(pObj->Ctx), ISM330DLC_BYPASS_MODE) != ISM330DLC_OK)
{
return ISM330DLC_ERROR;
}
/* Select default output data rate. */
pObj->acc_odr = ISM330DLC_XL_ODR_104Hz;
/* Output data rate selection - power down. */
if (ism330dlc_xl_data_rate_set(&(pObj->Ctx), ISM330DLC_XL_ODR_OFF) != ISM330DLC_OK)
{
return ISM330DLC_ERROR;
}
/* Full scale selection. */
if (ism330dlc_xl_full_scale_set(&(pObj->Ctx), ISM330DLC_2g) != ISM330DLC_OK)
{
return ISM330DLC_ERROR;
}
/* Select default output data rate. */
pObj->gyro_odr = ISM330DLC_GY_ODR_104Hz;
/* Output data rate selection - power down. */
if (ism330dlc_gy_data_rate_set(&(pObj->Ctx), ISM330DLC_GY_ODR_OFF) != ISM330DLC_OK)
{
return ISM330DLC_ERROR;
}
/* Full scale selection. */
if (ism330dlc_gy_full_scale_set(&(pObj->Ctx), ISM330DLC_2000dps) != ISM330DLC_OK)
{
return ISM330DLC_ERROR;
}
pObj->is_initialized = 1;
return ISM330DLC_OK;
}
/**
* @brief Deinitialize the ISM330DLC sensor
* @param pObj the device pObj
* @retval 0 in case of success, an error code otherwise
*/
int32_t ISM330DLC_DeInit(ISM330DLC_Object_t *pObj)
{
/* Disable the component */
if (ISM330DLC_ACC_Disable(pObj) != ISM330DLC_OK)
{
return ISM330DLC_ERROR;
}
if (ISM330DLC_GYRO_Disable(pObj) != ISM330DLC_OK)
{
return ISM330DLC_ERROR;
}
/* Reset output data rate. */
pObj->acc_odr = ISM330DLC_XL_ODR_OFF;
pObj->gyro_odr = ISM330DLC_GY_ODR_OFF;
pObj->is_initialized = 0;
return ISM330DLC_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 ISM330DLC_ReadID(ISM330DLC_Object_t *pObj, uint8_t *Id)
{
if (ism330dlc_device_id_get(&(pObj->Ctx), Id) != ISM330DLC_OK)
{
return ISM330DLC_ERROR;
}
return ISM330DLC_OK;
}
/**
* @brief Get ISM330DLC sensor capabilities
* @param pObj Component object pointer
* @param Capabilities pointer to ISM330DLC sensor capabilities
* @retval 0 in case of success, an error code otherwise
*/
int32_t ISM330DLC_GetCapabilities(ISM330DLC_Object_t *pObj, ISM330DLC_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 = 2000;
Capabilities->AccMaxFS = 16;
Capabilities->MagMaxFS = 0;
Capabilities->GyroMaxOdr = 6660.0f;
Capabilities->AccMaxOdr = 6660.0f;
Capabilities->MagMaxOdr = 0.0f;
return ISM330DLC_OK;
}
/**
* @brief Enable the ISM330DLC accelerometer sensor
* @param pObj the device pObj
* @retval 0 in case of success, an error code otherwise
*/
int32_t ISM330DLC_ACC_Enable(ISM330DLC_Object_t *pObj)
{
/* Check if the component is already enabled */
if (pObj->acc_is_enabled == 1U)
{
return ISM330DLC_OK;
}
/* Output data rate selection. */
if (ism330dlc_xl_data_rate_set(&(pObj->Ctx), pObj->acc_odr) != ISM330DLC_OK)
{
return ISM330DLC_ERROR;
}
pObj->acc_is_enabled = 1;
return ISM330DLC_OK;
}
/**
* @brief Disable the ISM330DLC accelerometer sensor
* @param pObj the device pObj
* @retval 0 in case of success, an error code otherwise
*/
int32_t ISM330DLC_ACC_Disable(ISM330DLC_Object_t *pObj)
{
/* Check if the component is already disabled */
if (pObj->acc_is_enabled == 0U)
{
return ISM330DLC_OK;
}
/* Get current output data rate. */
if (ism330dlc_xl_data_rate_get(&(pObj->Ctx), &pObj->acc_odr) != ISM330DLC_OK)
{
return ISM330DLC_ERROR;
}
/* Output data rate selection - power down. */
if (ism330dlc_xl_data_rate_set(&(pObj->Ctx), ISM330DLC_XL_ODR_OFF) != ISM330DLC_OK)
{
return ISM330DLC_ERROR;
}
pObj->acc_is_enabled = 0;
return ISM330DLC_OK;
}
/**
* @brief Get the ISM330DLC accelerometer sensor sensitivity
* @param pObj the device pObj
* @param Sensitivity pointer
* @retval 0 in case of success, an error code otherwise
*/
int32_t ISM330DLC_ACC_GetSensitivity(ISM330DLC_Object_t *pObj, float *Sensitivity)
{
int32_t ret = ISM330DLC_OK;
ism330dlc_fs_xl_t full_scale;
/* Read actual full scale selection from sensor. */
if (ism330dlc_xl_full_scale_get(&(pObj->Ctx), &full_scale) != ISM330DLC_OK)
{
return ISM330DLC_ERROR;
}
/* Store the Sensitivity based on actual full scale. */
switch (full_scale)
{
case ISM330DLC_2g:
*Sensitivity = ISM330DLC_ACC_SENSITIVITY_FS_2G;
break;
case ISM330DLC_4g:
*Sensitivity = ISM330DLC_ACC_SENSITIVITY_FS_4G;
break;
case ISM330DLC_8g:
*Sensitivity = ISM330DLC_ACC_SENSITIVITY_FS_8G;
break;
case ISM330DLC_16g:
*Sensitivity = ISM330DLC_ACC_SENSITIVITY_FS_16G;
break;
default:
ret = ISM330DLC_ERROR;
break;
}
return ret;
}
/**
* @brief Get the ISM330DLC 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 ISM330DLC_ACC_GetOutputDataRate(ISM330DLC_Object_t *pObj, float *Odr)
{
int32_t ret = ISM330DLC_OK;
ism330dlc_odr_xl_t odr_low_level;
/* Get current output data rate. */
if (ism330dlc_xl_data_rate_get(&(pObj->Ctx), &odr_low_level) != ISM330DLC_OK)
{
return ISM330DLC_ERROR;
}
switch (odr_low_level)
{
case ISM330DLC_XL_ODR_OFF:
*Odr = 0.0f;
break;
case ISM330DLC_XL_ODR_1Hz6:
*Odr = 1.6f;
break;
case ISM330DLC_XL_ODR_12Hz5:
*Odr = 12.5f;
break;
case ISM330DLC_XL_ODR_26Hz:
*Odr = 26.0f;
break;
case ISM330DLC_XL_ODR_52Hz:
*Odr = 52.0f;
break;
case ISM330DLC_XL_ODR_104Hz:
*Odr = 104.0f;
break;
case ISM330DLC_XL_ODR_208Hz:
*Odr = 208.0f;
break;
case ISM330DLC_XL_ODR_416Hz:
*Odr = 416.0f;
break;
case ISM330DLC_XL_ODR_833Hz:
*Odr = 833.0f;
break;
case ISM330DLC_XL_ODR_1k66Hz:
*Odr = 1660.0f;
break;
case ISM330DLC_XL_ODR_3k33Hz:
*Odr = 3330.0f;
break;
case ISM330DLC_XL_ODR_6k66Hz:
*Odr = 6660.0f;
break;
default:
ret = ISM330DLC_ERROR;
break;
}
return ret;
}
/**
* @brief Set the ISM330DLC 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 ISM330DLC_ACC_SetOutputDataRate(ISM330DLC_Object_t *pObj, float Odr)
{
/* Check if the component is enabled */
if (pObj->acc_is_enabled == 1U)
{
return ISM330DLC_ACC_SetOutputDataRate_When_Enabled(pObj, Odr);
}
else
{
return ISM330DLC_ACC_SetOutputDataRate_When_Disabled(pObj, Odr);
}
}
/**
* @brief Get the ISM330DLC 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 ISM330DLC_ACC_GetFullScale(ISM330DLC_Object_t *pObj, int32_t *FullScale)
{
int32_t ret = ISM330DLC_OK;
ism330dlc_fs_xl_t fs_low_level;
/* Read actual full scale selection from sensor. */
if (ism330dlc_xl_full_scale_get(&(pObj->Ctx), &fs_low_level) != ISM330DLC_OK)
{
return ISM330DLC_ERROR;
}
switch (fs_low_level)
{
case ISM330DLC_2g:
*FullScale = 2;
break;
case ISM330DLC_4g:
*FullScale = 4;
break;
case ISM330DLC_8g:
*FullScale = 8;
break;
case ISM330DLC_16g:
*FullScale = 16;
break;
default:
ret = ISM330DLC_ERROR;
break;
}
return ret;
}
/**
* @brief Set the ISM330DLC 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 ISM330DLC_ACC_SetFullScale(ISM330DLC_Object_t *pObj, int32_t FullScale)
{
ism330dlc_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) ? ISM330DLC_2g
: (FullScale <= 4) ? ISM330DLC_4g
: (FullScale <= 8) ? ISM330DLC_8g
: ISM330DLC_16g;
if (ism330dlc_xl_full_scale_set(&(pObj->Ctx), new_fs) != ISM330DLC_OK)
{
return ISM330DLC_ERROR;
}
return ISM330DLC_OK;
}
/**
* @brief Get the ISM330DLC 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 ISM330DLC_ACC_GetAxesRaw(ISM330DLC_Object_t *pObj, ISM330DLC_AxesRaw_t *Value)
{
ism330dlc_axis3bit16_t data_raw;
/* Read raw data values. */
if (ism330dlc_acceleration_raw_get(&(pObj->Ctx), data_raw.i16bit) != ISM330DLC_OK)
{
return ISM330DLC_ERROR;
}
/* Format the data. */
Value->x = data_raw.i16bit[0];
Value->y = data_raw.i16bit[1];
Value->z = data_raw.i16bit[2];
return ISM330DLC_OK;
}
/**
* @brief Get the ISM330DLC 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 ISM330DLC_ACC_GetAxes(ISM330DLC_Object_t *pObj, ISM330DLC_Axes_t *Acceleration)
{
ism330dlc_axis3bit16_t data_raw;
float sensitivity = 0.0f;
/* Read raw data values. */
if (ism330dlc_acceleration_raw_get(&(pObj->Ctx), data_raw.i16bit) != ISM330DLC_OK)
{
return ISM330DLC_ERROR;
}
/* Get ISM330DLC actual sensitivity. */
if (ISM330DLC_ACC_GetSensitivity(pObj, &sensitivity) != ISM330DLC_OK)
{
return ISM330DLC_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 ISM330DLC_OK;
}
/**
* @brief Enable the ISM330DLC gyroscope sensor
* @param pObj the device pObj
* @retval 0 in case of success, an error code otherwise
*/
int32_t ISM330DLC_GYRO_Enable(ISM330DLC_Object_t *pObj)
{
/* Check if the component is already enabled */
if (pObj->gyro_is_enabled == 1U)
{
return ISM330DLC_OK;
}
/* Output data rate selection. */
if (ism330dlc_gy_data_rate_set(&(pObj->Ctx), pObj->gyro_odr) != ISM330DLC_OK)
{
return ISM330DLC_ERROR;
}
pObj->gyro_is_enabled = 1;
return ISM330DLC_OK;
}
/**
* @brief Disable the ISM330DLC gyroscope sensor
* @param pObj the device pObj
* @retval 0 in case of success, an error code otherwise
*/
int32_t ISM330DLC_GYRO_Disable(ISM330DLC_Object_t *pObj)
{
/* Check if the component is already disabled */
if (pObj->gyro_is_enabled == 0U)
{
return ISM330DLC_OK;
}
/* Get current output data rate. */
if (ism330dlc_gy_data_rate_get(&(pObj->Ctx), &pObj->gyro_odr) != ISM330DLC_OK)
{
return ISM330DLC_ERROR;
}
/* Output data rate selection - power down. */
if (ism330dlc_gy_data_rate_set(&(pObj->Ctx), ISM330DLC_GY_ODR_OFF) != ISM330DLC_OK)
{
return ISM330DLC_ERROR;
}
pObj->gyro_is_enabled = 0;
return ISM330DLC_OK;
}
/**
* @brief Get the ISM330DLC gyroscope sensor sensitivity
* @param pObj the device pObj
* @param Sensitivity pointer
* @retval 0 in case of success, an error code otherwise
*/
int32_t ISM330DLC_GYRO_GetSensitivity(ISM330DLC_Object_t *pObj, float *Sensitivity)
{
int32_t ret = ISM330DLC_OK;
ism330dlc_fs_g_t full_scale;
/* Read actual full scale selection from sensor. */
if (ism330dlc_gy_full_scale_get(&(pObj->Ctx), &full_scale) != ISM330DLC_OK)
{
return ISM330DLC_ERROR;
}
/* Store the sensitivity based on actual full scale. */
switch (full_scale)
{
case ISM330DLC_125dps:
*Sensitivity = ISM330DLC_GYRO_SENSITIVITY_FS_125DPS;
break;
case ISM330DLC_250dps:
*Sensitivity = ISM330DLC_GYRO_SENSITIVITY_FS_250DPS;
break;
case ISM330DLC_500dps:
*Sensitivity = ISM330DLC_GYRO_SENSITIVITY_FS_500DPS;
break;
case ISM330DLC_1000dps:
*Sensitivity = ISM330DLC_GYRO_SENSITIVITY_FS_1000DPS;
break;
case ISM330DLC_2000dps:
*Sensitivity = ISM330DLC_GYRO_SENSITIVITY_FS_2000DPS;
break;
default:
ret = ISM330DLC_ERROR;
break;
}
return ret;
}
/**
* @brief Get the ISM330DLC 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 ISM330DLC_GYRO_GetOutputDataRate(ISM330DLC_Object_t *pObj, float *Odr)
{
int32_t ret = ISM330DLC_OK;
ism330dlc_odr_g_t odr_low_level;
/* Get current output data rate. */
if (ism330dlc_gy_data_rate_get(&(pObj->Ctx), &odr_low_level) != ISM330DLC_OK)
{
return ISM330DLC_ERROR;
}
switch (odr_low_level)
{
case ISM330DLC_GY_ODR_OFF:
*Odr = 0.0f;
break;
case ISM330DLC_GY_ODR_12Hz5:
*Odr = 12.5f;
break;
case ISM330DLC_GY_ODR_26Hz:
*Odr = 26.0f;
break;
case ISM330DLC_GY_ODR_52Hz:
*Odr = 52.0f;
break;
case ISM330DLC_GY_ODR_104Hz:
*Odr = 104.0f;
break;
case ISM330DLC_GY_ODR_208Hz:
*Odr = 208.0f;
break;
case ISM330DLC_GY_ODR_416Hz:
*Odr = 416.0f;
break;
case ISM330DLC_GY_ODR_833Hz:
*Odr = 833.0f;
break;
case ISM330DLC_GY_ODR_1k66Hz:
*Odr = 1660.0f;
break;
case ISM330DLC_GY_ODR_3k33Hz:
*Odr = 3330.0f;
break;
case ISM330DLC_GY_ODR_6k66Hz:
*Odr = 6660.0f;
break;
default:
ret = ISM330DLC_ERROR;
break;
}
return ret;
}
/**
* @brief Set the ISM330DLC 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 ISM330DLC_GYRO_SetOutputDataRate(ISM330DLC_Object_t *pObj, float Odr)
{
/* Check if the component is enabled */
if (pObj->gyro_is_enabled == 1U)
{
return ISM330DLC_GYRO_SetOutputDataRate_When_Enabled(pObj, Odr);
}
else
{
return ISM330DLC_GYRO_SetOutputDataRate_When_Disabled(pObj, Odr);
}
}
/**
* @brief Get the ISM330DLC 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 ISM330DLC_GYRO_GetFullScale(ISM330DLC_Object_t *pObj, int32_t *FullScale)
{
int32_t ret = ISM330DLC_OK;
ism330dlc_fs_g_t fs_low_level;
/* Read actual full scale selection from sensor. */
if (ism330dlc_gy_full_scale_get(&(pObj->Ctx), &fs_low_level) != ISM330DLC_OK)
{
return ISM330DLC_ERROR;
}
switch (fs_low_level)
{
case ISM330DLC_125dps:
*FullScale = 125;
break;
case ISM330DLC_250dps:
*FullScale = 250;
break;
case ISM330DLC_500dps:
*FullScale = 500;
break;
case ISM330DLC_1000dps:
*FullScale = 1000;
break;
case ISM330DLC_2000dps:
*FullScale = 2000;
break;
default:
ret = ISM330DLC_ERROR;
break;
}
return ret;
}
/**
* @brief Set the ISM330DLC 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 ISM330DLC_GYRO_SetFullScale(ISM330DLC_Object_t *pObj, int32_t FullScale)
{
ism330dlc_fs_g_t new_fs;
new_fs = (FullScale <= 125) ? ISM330DLC_125dps
: (FullScale <= 250) ? ISM330DLC_250dps
: (FullScale <= 500) ? ISM330DLC_500dps
: (FullScale <= 1000) ? ISM330DLC_1000dps
: ISM330DLC_2000dps;
if (ism330dlc_gy_full_scale_set(&(pObj->Ctx), new_fs) != ISM330DLC_OK)
{
return ISM330DLC_ERROR;
}
return ISM330DLC_OK;
}
/**
* @brief Get the ISM330DLC 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 ISM330DLC_GYRO_GetAxesRaw(ISM330DLC_Object_t *pObj, ISM330DLC_AxesRaw_t *Value)
{
ism330dlc_axis3bit16_t data_raw;
/* Read raw data values. */
if (ism330dlc_angular_rate_raw_get(&(pObj->Ctx), data_raw.i16bit) != ISM330DLC_OK)
{
return ISM330DLC_ERROR;
}
/* Format the data. */
Value->x = data_raw.i16bit[0];
Value->y = data_raw.i16bit[1];
Value->z = data_raw.i16bit[2];
return ISM330DLC_OK;
}
/**
* @brief Get the ISM330DLC 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 ISM330DLC_GYRO_GetAxes(ISM330DLC_Object_t *pObj, ISM330DLC_Axes_t *AngularRate)
{
ism330dlc_axis3bit16_t data_raw;
float sensitivity;
/* Read raw data values. */
if (ism330dlc_angular_rate_raw_get(&(pObj->Ctx), data_raw.i16bit) != ISM330DLC_OK)
{
return ISM330DLC_ERROR;
}
/* Get ISM330DLC actual sensitivity. */
if (ISM330DLC_GYRO_GetSensitivity(pObj, &sensitivity) != ISM330DLC_OK)
{
return ISM330DLC_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 ISM330DLC_OK;
}
/**
* @brief Get the ISM330DLC 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 ISM330DLC_Read_Reg(ISM330DLC_Object_t *pObj, uint8_t Reg, uint8_t *Data)
{
if (ism330dlc_read_reg(&(pObj->Ctx), Reg, Data, 1) != ISM330DLC_OK)
{
return ISM330DLC_ERROR;
}
return ISM330DLC_OK;
}
/**
* @brief Set the ISM330DLC 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 ISM330DLC_Write_Reg(ISM330DLC_Object_t *pObj, uint8_t Reg, uint8_t Data)
{
if (ism330dlc_write_reg(&(pObj->Ctx), Reg, &Data, 1) != ISM330DLC_OK)
{
return ISM330DLC_ERROR;
}
return ISM330DLC_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 ISM330DLC_Set_Interrupt_Latch(ISM330DLC_Object_t *pObj, uint8_t Status)
{
if (Status > 1U)
{
return ISM330DLC_ERROR;
}
if (ism330dlc_int_notification_set(&(pObj->Ctx), (ism330dlc_lir_t)Status) != ISM330DLC_OK)
{
return ISM330DLC_ERROR;
}
return ISM330DLC_OK;
}
/**
* @brief Set the ISM330DLC 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 ISM330DLC_Set_INT1_Drdy(ISM330DLC_Object_t *pObj, uint8_t Status)
{
ism330dlc_reg_t reg;
if (ism330dlc_read_reg(&(pObj->Ctx), ISM330DLC_INT1_CTRL, ®.byte, 1) != ISM330DLC_OK)
{
return ISM330DLC_ERROR;
}
reg.int1_ctrl.int1_drdy_xl = Status;
if (ism330dlc_write_reg(&(pObj->Ctx), ISM330DLC_INT1_CTRL, ®.byte, 1) != ISM330DLC_OK)
{
return ISM330DLC_ERROR;
}
return ISM330DLC_OK;
}
/**