High-accuracy ODR mode support#2
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Summary
This PR adds support for the high-accuracy ODR mode specified in section 6.3 of the ISM6HG256X datasheet.
The existing library mode-setting functions simply error on trying to configure high-accuracy ODR mode. This made some sense, since the gyro and accelerometer have to be powered off when high-accuracy mode is configured (which was not possible in the previous structure).
In applications where consistency of sample/output rate is necessary, this mode may be useful.
Due to the
HAODR_CFGregister changing how the ODR register values are interpreted, I also changed the ODRs internal toISM6HG256XSensorto be stored as floats, to be converted to register value as necessary (so as to not lose information on writes toHAODR_CFG).Some of the enumeration to float conversions for data rates relating to the high-accuracy ODRs were also incorrect (
HAODR_SEL_[1:0]= 2 was treated as 3, and the constants forHAODR_SEL_[1:0]= 2 were omitted) so I fixed those as well.