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Dependencies:   CMSIS_STM32L4xx CMSIS_DSP_401 STM32L4xx_HAL_Driver

Dependents:   DiscoAudioRecord

Disco/stm32l476g_discovery_gyroscope.c@0:ad9dfc0179dc, 2015-11-02 (annotated)

Committer:
EricLew
Date:
Mon Nov 02 19:38:36 2015 +0000
Revision:
0:ad9dfc0179dc
commit

Who changed what in which revision?

UserRevisionLine numberNew contents of line
EricLew 0:ad9dfc0179dc 1 /**
EricLew 0:ad9dfc0179dc 2 ******************************************************************************
EricLew 0:ad9dfc0179dc 3 * @file stm32l476g_discovery_gyroscope.c
EricLew 0:ad9dfc0179dc 4 * @author MCD Application Team
EricLew 0:ad9dfc0179dc 5 * @version V1.0.1
EricLew 0:ad9dfc0179dc 6 * @date 16-September-2015
EricLew 0:ad9dfc0179dc 7 * @brief This file provides a set of functions needed to manage the L3GD20
EricLew 0:ad9dfc0179dc 8 * MEMS accelerometer available on STM32L476G-Discovery board.
EricLew 0:ad9dfc0179dc 9 ******************************************************************************
EricLew 0:ad9dfc0179dc 10 * @attention
EricLew 0:ad9dfc0179dc 11 *
EricLew 0:ad9dfc0179dc 12 * <h2><center>&copy; COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
EricLew 0:ad9dfc0179dc 13 *
EricLew 0:ad9dfc0179dc 14 * Redistribution and use in source and binary forms, with or without modification,
EricLew 0:ad9dfc0179dc 15 * are permitted provided that the following conditions are met:
EricLew 0:ad9dfc0179dc 16 * 1. Redistributions of source code must retain the above copyright notice,
EricLew 0:ad9dfc0179dc 17 * this list of conditions and the following disclaimer.
EricLew 0:ad9dfc0179dc 18 * 2. Redistributions in binary form must reproduce the above copyright notice,
EricLew 0:ad9dfc0179dc 19 * this list of conditions and the following disclaimer in the documentation
EricLew 0:ad9dfc0179dc 20 * and/or other materials provided with the distribution.
EricLew 0:ad9dfc0179dc 21 * 3. Neither the name of STMicroelectronics nor the names of its contributors
EricLew 0:ad9dfc0179dc 22 * may be used to endorse or promote products derived from this software
EricLew 0:ad9dfc0179dc 23 * without specific prior written permission.
EricLew 0:ad9dfc0179dc 24 *
EricLew 0:ad9dfc0179dc 25 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
EricLew 0:ad9dfc0179dc 26 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
EricLew 0:ad9dfc0179dc 27 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
EricLew 0:ad9dfc0179dc 28 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
EricLew 0:ad9dfc0179dc 29 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
EricLew 0:ad9dfc0179dc 30 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
EricLew 0:ad9dfc0179dc 31 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
EricLew 0:ad9dfc0179dc 32 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
EricLew 0:ad9dfc0179dc 33 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
EricLew 0:ad9dfc0179dc 34 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
EricLew 0:ad9dfc0179dc 35 *
EricLew 0:ad9dfc0179dc 36 ******************************************************************************
EricLew 0:ad9dfc0179dc 37 */
EricLew 0:ad9dfc0179dc 38
EricLew 0:ad9dfc0179dc 39 /* Includes ------------------------------------------------------------------*/
EricLew 0:ad9dfc0179dc 40 #include "stm32l476g_discovery_gyroscope.h"
EricLew 0:ad9dfc0179dc 41
EricLew 0:ad9dfc0179dc 42 /** @addtogroup BSP
EricLew 0:ad9dfc0179dc 43 * @{
EricLew 0:ad9dfc0179dc 44 */
EricLew 0:ad9dfc0179dc 45
EricLew 0:ad9dfc0179dc 46 /** @addtogroup STM32L476G_DISCOVERY
EricLew 0:ad9dfc0179dc 47 * @{
EricLew 0:ad9dfc0179dc 48 */
EricLew 0:ad9dfc0179dc 49
EricLew 0:ad9dfc0179dc 50 /** @defgroup STM32L476G_DISCOVERY_GYROSCOPE STM32L476G-DISCOVERY GYROSCOPE
EricLew 0:ad9dfc0179dc 51 * @{
EricLew 0:ad9dfc0179dc 52 */
EricLew 0:ad9dfc0179dc 53
EricLew 0:ad9dfc0179dc 54 /* Private typedef -----------------------------------------------------------*/
EricLew 0:ad9dfc0179dc 55 /** @defgroup STM32L476G_DISCOVERY_GYROSCOPE_Private_Types Private Types
EricLew 0:ad9dfc0179dc 56 * @{
EricLew 0:ad9dfc0179dc 57 */
EricLew 0:ad9dfc0179dc 58 /**
EricLew 0:ad9dfc0179dc 59 * @}
EricLew 0:ad9dfc0179dc 60 */
EricLew 0:ad9dfc0179dc 61
EricLew 0:ad9dfc0179dc 62 /* Private defines ------------------------------------------------------------*/
EricLew 0:ad9dfc0179dc 63 /** @defgroup STM32L476G_DISCOVERY_GYROSCOPE_Private_Constants Private Constants
EricLew 0:ad9dfc0179dc 64 * @{
EricLew 0:ad9dfc0179dc 65 */
EricLew 0:ad9dfc0179dc 66 /**
EricLew 0:ad9dfc0179dc 67 * @}
EricLew 0:ad9dfc0179dc 68 */
EricLew 0:ad9dfc0179dc 69
EricLew 0:ad9dfc0179dc 70 /* Private macros ------------------------------------------------------------*/
EricLew 0:ad9dfc0179dc 71 /** @defgroup STM32L476G_DISCOVERY_GYROSCOPE_Private_Macros Private Macros
EricLew 0:ad9dfc0179dc 72 * @{
EricLew 0:ad9dfc0179dc 73 */
EricLew 0:ad9dfc0179dc 74 /**
EricLew 0:ad9dfc0179dc 75 * @}
EricLew 0:ad9dfc0179dc 76 */
EricLew 0:ad9dfc0179dc 77
EricLew 0:ad9dfc0179dc 78 /* Private variables ---------------------------------------------------------*/
EricLew 0:ad9dfc0179dc 79 /** @defgroup STM32L476G_DISCOVERY_GYROSCOPE_Private_Variables Private Variables
EricLew 0:ad9dfc0179dc 80 * @{
EricLew 0:ad9dfc0179dc 81 */
EricLew 0:ad9dfc0179dc 82 static GYRO_DrvTypeDef *GyroscopeDrv;
EricLew 0:ad9dfc0179dc 83
EricLew 0:ad9dfc0179dc 84 /**
EricLew 0:ad9dfc0179dc 85 * @}
EricLew 0:ad9dfc0179dc 86 */
EricLew 0:ad9dfc0179dc 87
EricLew 0:ad9dfc0179dc 88 /* Private function prototypes -----------------------------------------------*/
EricLew 0:ad9dfc0179dc 89 /** @defgroup STM32L476G_DISCOVERY_GYROSCOPE_Private_FunctionPrototypes Private Functions
EricLew 0:ad9dfc0179dc 90 * @{
EricLew 0:ad9dfc0179dc 91 */
EricLew 0:ad9dfc0179dc 92 /**
EricLew 0:ad9dfc0179dc 93 * @}
EricLew 0:ad9dfc0179dc 94 */
EricLew 0:ad9dfc0179dc 95
EricLew 0:ad9dfc0179dc 96 /* Exported functions --------------------------------------------------------*/
EricLew 0:ad9dfc0179dc 97 /** @addtogroup STM32L476G_DISCOVERY_GYROSCOPE_Exported_Functions
EricLew 0:ad9dfc0179dc 98 * @{
EricLew 0:ad9dfc0179dc 99 */
EricLew 0:ad9dfc0179dc 100
EricLew 0:ad9dfc0179dc 101 /**
EricLew 0:ad9dfc0179dc 102 * @brief Initialize Gyroscope.
EricLew 0:ad9dfc0179dc 103 * @retval GYRO_OK or GYRO_ERROR
EricLew 0:ad9dfc0179dc 104 */
EricLew 0:ad9dfc0179dc 105 uint8_t BSP_GYRO_Init(void)
EricLew 0:ad9dfc0179dc 106 {
EricLew 0:ad9dfc0179dc 107 uint8_t ret = GYRO_ERROR;
EricLew 0:ad9dfc0179dc 108 uint16_t ctrl = 0x0000;
EricLew 0:ad9dfc0179dc 109 GYRO_InitTypeDef L3GD20_InitStructure;
EricLew 0:ad9dfc0179dc 110 GYRO_FilterConfigTypeDef L3GD20_FilterStructure={0,0};
EricLew 0:ad9dfc0179dc 111
EricLew 0:ad9dfc0179dc 112 if((L3gd20Drv.ReadID() == I_AM_L3GD20) || (L3gd20Drv.ReadID() == I_AM_L3GD20_TR))
EricLew 0:ad9dfc0179dc 113 {
EricLew 0:ad9dfc0179dc 114 /* Initialize the gyroscope driver structure */
EricLew 0:ad9dfc0179dc 115 GyroscopeDrv = &L3gd20Drv;
EricLew 0:ad9dfc0179dc 116
EricLew 0:ad9dfc0179dc 117 /* Configure Mems : data rate, power mode, full scale and axes */
EricLew 0:ad9dfc0179dc 118 L3GD20_InitStructure.Power_Mode = L3GD20_MODE_ACTIVE;
EricLew 0:ad9dfc0179dc 119 L3GD20_InitStructure.Output_DataRate = L3GD20_OUTPUT_DATARATE_1;
EricLew 0:ad9dfc0179dc 120 L3GD20_InitStructure.Axes_Enable = L3GD20_AXES_ENABLE;
EricLew 0:ad9dfc0179dc 121 L3GD20_InitStructure.Band_Width = L3GD20_BANDWIDTH_4;
EricLew 0:ad9dfc0179dc 122 L3GD20_InitStructure.BlockData_Update = L3GD20_BlockDataUpdate_Continous;
EricLew 0:ad9dfc0179dc 123 L3GD20_InitStructure.Endianness = L3GD20_BLE_LSB;
EricLew 0:ad9dfc0179dc 124 L3GD20_InitStructure.Full_Scale = L3GD20_FULLSCALE_500;
EricLew 0:ad9dfc0179dc 125
EricLew 0:ad9dfc0179dc 126 /* Configure MEMS: data rate, power mode, full scale and axes */
EricLew 0:ad9dfc0179dc 127 ctrl = (uint16_t) (L3GD20_InitStructure.Power_Mode | L3GD20_InitStructure.Output_DataRate | \
EricLew 0:ad9dfc0179dc 128 L3GD20_InitStructure.Axes_Enable | L3GD20_InitStructure.Band_Width);
EricLew 0:ad9dfc0179dc 129
EricLew 0:ad9dfc0179dc 130 ctrl |= (uint16_t) ((L3GD20_InitStructure.BlockData_Update | L3GD20_InitStructure.Endianness | \
EricLew 0:ad9dfc0179dc 131 L3GD20_InitStructure.Full_Scale) << 8);
EricLew 0:ad9dfc0179dc 132
EricLew 0:ad9dfc0179dc 133 /* Initialize component */
EricLew 0:ad9dfc0179dc 134 GyroscopeDrv->Init(ctrl);
EricLew 0:ad9dfc0179dc 135
EricLew 0:ad9dfc0179dc 136 L3GD20_FilterStructure.HighPassFilter_Mode_Selection =L3GD20_HPM_NORMAL_MODE_RES;
EricLew 0:ad9dfc0179dc 137 L3GD20_FilterStructure.HighPassFilter_CutOff_Frequency = L3GD20_HPFCF_0;
EricLew 0:ad9dfc0179dc 138
EricLew 0:ad9dfc0179dc 139 ctrl = (uint8_t) ((L3GD20_FilterStructure.HighPassFilter_Mode_Selection |\
EricLew 0:ad9dfc0179dc 140 L3GD20_FilterStructure.HighPassFilter_CutOff_Frequency));
EricLew 0:ad9dfc0179dc 141
EricLew 0:ad9dfc0179dc 142 /* Configure component filter */
EricLew 0:ad9dfc0179dc 143 GyroscopeDrv->FilterConfig(ctrl) ;
EricLew 0:ad9dfc0179dc 144
EricLew 0:ad9dfc0179dc 145 /* Enable component filter */
EricLew 0:ad9dfc0179dc 146 GyroscopeDrv->FilterCmd(L3GD20_HIGHPASSFILTER_ENABLE);
EricLew 0:ad9dfc0179dc 147
EricLew 0:ad9dfc0179dc 148 ret = GYRO_OK;
EricLew 0:ad9dfc0179dc 149 }
EricLew 0:ad9dfc0179dc 150 else
EricLew 0:ad9dfc0179dc 151 {
EricLew 0:ad9dfc0179dc 152 ret = GYRO_ERROR;
EricLew 0:ad9dfc0179dc 153 }
EricLew 0:ad9dfc0179dc 154
EricLew 0:ad9dfc0179dc 155 return ret;
EricLew 0:ad9dfc0179dc 156 }
EricLew 0:ad9dfc0179dc 157
EricLew 0:ad9dfc0179dc 158
EricLew 0:ad9dfc0179dc 159 /**
EricLew 0:ad9dfc0179dc 160 * @brief DeInitialize Gyroscope.
EricLew 0:ad9dfc0179dc 161 * @retval None
EricLew 0:ad9dfc0179dc 162 */
EricLew 0:ad9dfc0179dc 163 void BSP_GYRO_DeInit(void)
EricLew 0:ad9dfc0179dc 164 {
EricLew 0:ad9dfc0179dc 165 GYRO_IO_DeInit();
EricLew 0:ad9dfc0179dc 166 }
EricLew 0:ad9dfc0179dc 167
EricLew 0:ad9dfc0179dc 168
EricLew 0:ad9dfc0179dc 169 /**
EricLew 0:ad9dfc0179dc 170 * @brief Put Gyroscope in low power mode.
EricLew 0:ad9dfc0179dc 171 * @retval None
EricLew 0:ad9dfc0179dc 172 */
EricLew 0:ad9dfc0179dc 173 void BSP_GYRO_LowPower(void)
EricLew 0:ad9dfc0179dc 174 {
EricLew 0:ad9dfc0179dc 175 uint16_t ctrl = 0x0000;
EricLew 0:ad9dfc0179dc 176 GYRO_InitTypeDef L3GD20_InitStructure;
EricLew 0:ad9dfc0179dc 177
EricLew 0:ad9dfc0179dc 178 /* configure only Power_Mode field */
EricLew 0:ad9dfc0179dc 179 L3GD20_InitStructure.Power_Mode = L3GD20_MODE_POWERDOWN;
EricLew 0:ad9dfc0179dc 180
EricLew 0:ad9dfc0179dc 181 ctrl = (uint16_t) (L3GD20_InitStructure.Power_Mode);
EricLew 0:ad9dfc0179dc 182
EricLew 0:ad9dfc0179dc 183 /* Set component in low-power mode */
EricLew 0:ad9dfc0179dc 184 GyroscopeDrv->LowPower(ctrl);
EricLew 0:ad9dfc0179dc 185
EricLew 0:ad9dfc0179dc 186
EricLew 0:ad9dfc0179dc 187 }
EricLew 0:ad9dfc0179dc 188
EricLew 0:ad9dfc0179dc 189 /**
EricLew 0:ad9dfc0179dc 190 * @brief Read ID of Gyroscope component.
EricLew 0:ad9dfc0179dc 191 * @retval ID
EricLew 0:ad9dfc0179dc 192 */
EricLew 0:ad9dfc0179dc 193 uint8_t BSP_GYRO_ReadID(void)
EricLew 0:ad9dfc0179dc 194 {
EricLew 0:ad9dfc0179dc 195 uint8_t id = 0x00;
EricLew 0:ad9dfc0179dc 196
EricLew 0:ad9dfc0179dc 197 if(GyroscopeDrv->ReadID != NULL)
EricLew 0:ad9dfc0179dc 198 {
EricLew 0:ad9dfc0179dc 199 id = GyroscopeDrv->ReadID();
EricLew 0:ad9dfc0179dc 200 }
EricLew 0:ad9dfc0179dc 201 return id;
EricLew 0:ad9dfc0179dc 202 }
EricLew 0:ad9dfc0179dc 203
EricLew 0:ad9dfc0179dc 204 /**
EricLew 0:ad9dfc0179dc 205 * @brief Reboot memory content of Gyroscope.
EricLew 0:ad9dfc0179dc 206 * @retval None
EricLew 0:ad9dfc0179dc 207 */
EricLew 0:ad9dfc0179dc 208 void BSP_GYRO_Reset(void)
EricLew 0:ad9dfc0179dc 209 {
EricLew 0:ad9dfc0179dc 210 if(GyroscopeDrv->Reset != NULL)
EricLew 0:ad9dfc0179dc 211 {
EricLew 0:ad9dfc0179dc 212 GyroscopeDrv->Reset();
EricLew 0:ad9dfc0179dc 213 }
EricLew 0:ad9dfc0179dc 214 }
EricLew 0:ad9dfc0179dc 215
EricLew 0:ad9dfc0179dc 216 /**
EricLew 0:ad9dfc0179dc 217 * @brief Configure Gyroscope interrupts (INT1 or INT2).
EricLew 0:ad9dfc0179dc 218 * @param pIntConfig: pointer to a GYRO_InterruptConfigTypeDef
EricLew 0:ad9dfc0179dc 219 * structure that contains the configuration setting for the L3GD20 Interrupt.
EricLew 0:ad9dfc0179dc 220 * @retval None
EricLew 0:ad9dfc0179dc 221 */
EricLew 0:ad9dfc0179dc 222 void BSP_GYRO_ITConfig(GYRO_InterruptConfigTypeDef *pIntConfig)
EricLew 0:ad9dfc0179dc 223 {
EricLew 0:ad9dfc0179dc 224 uint16_t interruptconfig = 0x0000;
EricLew 0:ad9dfc0179dc 225
EricLew 0:ad9dfc0179dc 226 if(GyroscopeDrv->ConfigIT != NULL)
EricLew 0:ad9dfc0179dc 227 {
EricLew 0:ad9dfc0179dc 228 /* Configure latch Interrupt request and axe interrupts */
EricLew 0:ad9dfc0179dc 229 interruptconfig |= ((uint8_t)(pIntConfig->Latch_Request| \
EricLew 0:ad9dfc0179dc 230 pIntConfig->Interrupt_Axes) << 8);
EricLew 0:ad9dfc0179dc 231
EricLew 0:ad9dfc0179dc 232 interruptconfig |= (uint8_t)(pIntConfig->Interrupt_ActiveEdge);
EricLew 0:ad9dfc0179dc 233
EricLew 0:ad9dfc0179dc 234 GyroscopeDrv->ConfigIT(interruptconfig);
EricLew 0:ad9dfc0179dc 235 }
EricLew 0:ad9dfc0179dc 236 }
EricLew 0:ad9dfc0179dc 237
EricLew 0:ad9dfc0179dc 238 /**
EricLew 0:ad9dfc0179dc 239 * @brief Enable Gyroscope interrupts (INT1 or INT2).
EricLew 0:ad9dfc0179dc 240 * @param IntPin: Interrupt pin
EricLew 0:ad9dfc0179dc 241 * This parameter can be:
EricLew 0:ad9dfc0179dc 242 * @arg L3GD20_INT1
EricLew 0:ad9dfc0179dc 243 * @arg L3GD20_INT2
EricLew 0:ad9dfc0179dc 244 * @retval None
EricLew 0:ad9dfc0179dc 245 */
EricLew 0:ad9dfc0179dc 246 void BSP_GYRO_EnableIT(uint8_t IntPin)
EricLew 0:ad9dfc0179dc 247 {
EricLew 0:ad9dfc0179dc 248 if(GyroscopeDrv->EnableIT != NULL)
EricLew 0:ad9dfc0179dc 249 {
EricLew 0:ad9dfc0179dc 250 GyroscopeDrv->EnableIT(IntPin);
EricLew 0:ad9dfc0179dc 251 }
EricLew 0:ad9dfc0179dc 252 }
EricLew 0:ad9dfc0179dc 253
EricLew 0:ad9dfc0179dc 254 /**
EricLew 0:ad9dfc0179dc 255 * @brief Disable Gyroscope interrupts (INT1 or INT2).
EricLew 0:ad9dfc0179dc 256 * @param IntPin: Interrupt pin
EricLew 0:ad9dfc0179dc 257 * This parameter can be:
EricLew 0:ad9dfc0179dc 258 * @arg L3GD20_INT1
EricLew 0:ad9dfc0179dc 259 * @arg L3GD20_INT2
EricLew 0:ad9dfc0179dc 260 * @retval None
EricLew 0:ad9dfc0179dc 261 */
EricLew 0:ad9dfc0179dc 262 void BSP_GYRO_DisableIT(uint8_t IntPin)
EricLew 0:ad9dfc0179dc 263 {
EricLew 0:ad9dfc0179dc 264 if(GyroscopeDrv->DisableIT != NULL)
EricLew 0:ad9dfc0179dc 265 {
EricLew 0:ad9dfc0179dc 266 GyroscopeDrv->DisableIT(IntPin);
EricLew 0:ad9dfc0179dc 267 }
EricLew 0:ad9dfc0179dc 268 }
EricLew 0:ad9dfc0179dc 269
EricLew 0:ad9dfc0179dc 270 /**
EricLew 0:ad9dfc0179dc 271 * @brief Get XYZ angular acceleration from the Gyroscope.
EricLew 0:ad9dfc0179dc 272 * @param pfData: pointer on floating array
EricLew 0:ad9dfc0179dc 273 * @retval None
EricLew 0:ad9dfc0179dc 274 */
EricLew 0:ad9dfc0179dc 275 void BSP_GYRO_GetXYZ(float* pfData)
EricLew 0:ad9dfc0179dc 276 {
EricLew 0:ad9dfc0179dc 277 if(GyroscopeDrv->GetXYZ!= NULL)
EricLew 0:ad9dfc0179dc 278 {
EricLew 0:ad9dfc0179dc 279 GyroscopeDrv->GetXYZ(pfData);
EricLew 0:ad9dfc0179dc 280 }
EricLew 0:ad9dfc0179dc 281 }
EricLew 0:ad9dfc0179dc 282
EricLew 0:ad9dfc0179dc 283 /**
EricLew 0:ad9dfc0179dc 284 * @}
EricLew 0:ad9dfc0179dc 285 */
EricLew 0:ad9dfc0179dc 286
EricLew 0:ad9dfc0179dc 287 /**
EricLew 0:ad9dfc0179dc 288 * @}
EricLew 0:ad9dfc0179dc 289 */
EricLew 0:ad9dfc0179dc 290
EricLew 0:ad9dfc0179dc 291 /**
EricLew 0:ad9dfc0179dc 292 * @}
EricLew 0:ad9dfc0179dc 293 */
EricLew 0:ad9dfc0179dc 294
EricLew 0:ad9dfc0179dc 295 /**
EricLew 0:ad9dfc0179dc 296 * @}
EricLew 0:ad9dfc0179dc 297 */
EricLew 0:ad9dfc0179dc 298
EricLew 0:ad9dfc0179dc 299 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
EricLew 0:ad9dfc0179dc 300