[讨论] (已解决)Sensor Tile 的源码中 传感器的ODR FS设置

static DrvStatusTypeDef LSM6DSM_G_Init( DrvContextTypeDef *handle )

{

  GYRO_Data_t *pData = ( GYRO_Data_t * )handle->pData;

  LSM6DSM_G_Data_t *pComponentData = ( LSM6DSM_G_Data_t * )pData->pComponentData;

  LSM6DSM_Combo_Data_t *comboData = pComponentData->comboData;

  if ( LSM6DSM_Check_WhoAmI( handle ) == COMPONENT_ERROR )

  {

    return COMPONENT_ERROR;

  }

  /* Enable register address automatically incremented during a multiple byte

     access with a serial interface. */

  if ( LSM6DSM_ACC_GYRO_W_IF_Addr_Incr( (void *)handle, LSM6DSM_ACC_GYRO_IF_INC_ENABLED ) == MEMS_ERROR )

  {

    return COMPONENT_ERROR;

  }

  /* Enable BDU */

  if ( LSM6DSM_ACC_GYRO_W_BDU( (void *)handle, LSM6DSM_ACC_GYRO_BDU_BLOCK_UPDATE ) == MEMS_ERROR )

  {

    return COMPONENT_ERROR;

  }

  /* FIFO mode selection */

  if ( LSM6DSM_ACC_GYRO_W_FIFO_MODE( (void *)handle, LSM6DSM_ACC_GYRO_FIFO_MODE_BYPASS ) == MEMS_ERROR )

  {

    return COMPONENT_ERROR;

  }

  /* Select default output data rate. */

  pComponentData->Previous_ODR = 104.0f;

  /* Output data rate selection - power down */

  if ( LSM6DSM_ACC_GYRO_W_ODR_G( (void *)handle, LSM6DSM_ACC_GYRO_ODR_G_POWER_DOWN ) == MEMS_ERROR )

  {

    return COMPONENT_ERROR;

  }

  /* Full scale selection. */

  if ( LSM6DSM_G_Set_FS( handle, FS_HIGH ) == COMPONENT_ERROR )

  {

    return COMPONENT_ERROR;

  }

  comboData->isGyroInitialized = 1;

  handle->isInitialized = 1;

  return COMPONENT_OK;

}