E&R S3 prime / BSP_DISCO_L476VG

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Drivers/BSP/Components/l3gd20/l3gd20.c@1:917af0ca86df, 2017-07-05 (annotated)

Committer:
Jerome Coutant
Date:
Wed Jul 05 10:51:49 2017 +0200
Revision:
1:917af0ca86df
Child:
5:4943b15cce9f
Update with STM32Cube_FW_L4_V1.8.0

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Jerome Coutant 1:917af0ca86df 1 /**
Jerome Coutant 1:917af0ca86df 2 ******************************************************************************
Jerome Coutant 1:917af0ca86df 3 * @file l3gd20.c
Jerome Coutant 1:917af0ca86df 4 * @author MCD Application Team
Jerome Coutant 1:917af0ca86df 5 * @version V2.0.0
Jerome Coutant 1:917af0ca86df 6 * @date 26-June-2015
Jerome Coutant 1:917af0ca86df 7 * @brief This file provides a set of functions needed to manage the L3GD20,
Jerome Coutant 1:917af0ca86df 8 * ST MEMS motion sensor, 3-axis digital output gyroscope.
Jerome Coutant 1:917af0ca86df 9 ******************************************************************************
Jerome Coutant 1:917af0ca86df 10 * @attention
Jerome Coutant 1:917af0ca86df 11 *
Jerome Coutant 1:917af0ca86df 12 * <h2><center>&copy; COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
Jerome Coutant 1:917af0ca86df 13 *
Jerome Coutant 1:917af0ca86df 14 * Redistribution and use in source and binary forms, with or without modification,
Jerome Coutant 1:917af0ca86df 15 * are permitted provided that the following conditions are met:
Jerome Coutant 1:917af0ca86df 16 * 1. Redistributions of source code must retain the above copyright notice,
Jerome Coutant 1:917af0ca86df 17 * this list of conditions and the following disclaimer.
Jerome Coutant 1:917af0ca86df 18 * 2. Redistributions in binary form must reproduce the above copyright notice,
Jerome Coutant 1:917af0ca86df 19 * this list of conditions and the following disclaimer in the documentation
Jerome Coutant 1:917af0ca86df 20 * and/or other materials provided with the distribution.
Jerome Coutant 1:917af0ca86df 21 * 3. Neither the name of STMicroelectronics nor the names of its contributors
Jerome Coutant 1:917af0ca86df 22 * may be used to endorse or promote products derived from this software
Jerome Coutant 1:917af0ca86df 23 * without specific prior written permission.
Jerome Coutant 1:917af0ca86df 24 *
Jerome Coutant 1:917af0ca86df 25 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
Jerome Coutant 1:917af0ca86df 26 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
Jerome Coutant 1:917af0ca86df 27 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
Jerome Coutant 1:917af0ca86df 28 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
Jerome Coutant 1:917af0ca86df 29 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
Jerome Coutant 1:917af0ca86df 30 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
Jerome Coutant 1:917af0ca86df 31 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
Jerome Coutant 1:917af0ca86df 32 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
Jerome Coutant 1:917af0ca86df 33 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
Jerome Coutant 1:917af0ca86df 34 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
Jerome Coutant 1:917af0ca86df 35 *
Jerome Coutant 1:917af0ca86df 36 ******************************************************************************
Jerome Coutant 1:917af0ca86df 37 */
Jerome Coutant 1:917af0ca86df 38 /* Includes ------------------------------------------------------------------*/
Jerome Coutant 1:917af0ca86df 39 #include "l3gd20.h"
Jerome Coutant 1:917af0ca86df 40
Jerome Coutant 1:917af0ca86df 41 /** @addtogroup BSP
Jerome Coutant 1:917af0ca86df 42 * @{
Jerome Coutant 1:917af0ca86df 43 */
Jerome Coutant 1:917af0ca86df 44
Jerome Coutant 1:917af0ca86df 45 /** @addtogroup Components
Jerome Coutant 1:917af0ca86df 46 * @{
Jerome Coutant 1:917af0ca86df 47 */
Jerome Coutant 1:917af0ca86df 48
Jerome Coutant 1:917af0ca86df 49 /** @addtogroup L3GD20
Jerome Coutant 1:917af0ca86df 50 * @{
Jerome Coutant 1:917af0ca86df 51 */
Jerome Coutant 1:917af0ca86df 52
Jerome Coutant 1:917af0ca86df 53 /** @defgroup L3GD20_Private_TypesDefinitions
Jerome Coutant 1:917af0ca86df 54 * @{
Jerome Coutant 1:917af0ca86df 55 */
Jerome Coutant 1:917af0ca86df 56
Jerome Coutant 1:917af0ca86df 57 /**
Jerome Coutant 1:917af0ca86df 58 * @}
Jerome Coutant 1:917af0ca86df 59 */
Jerome Coutant 1:917af0ca86df 60
Jerome Coutant 1:917af0ca86df 61 /** @defgroup L3GD20_Private_Defines
Jerome Coutant 1:917af0ca86df 62 * @{
Jerome Coutant 1:917af0ca86df 63 */
Jerome Coutant 1:917af0ca86df 64
Jerome Coutant 1:917af0ca86df 65 /**
Jerome Coutant 1:917af0ca86df 66 * @}
Jerome Coutant 1:917af0ca86df 67 */
Jerome Coutant 1:917af0ca86df 68
Jerome Coutant 1:917af0ca86df 69 /** @defgroup L3GD20_Private_Macros
Jerome Coutant 1:917af0ca86df 70 * @{
Jerome Coutant 1:917af0ca86df 71 */
Jerome Coutant 1:917af0ca86df 72
Jerome Coutant 1:917af0ca86df 73 /**
Jerome Coutant 1:917af0ca86df 74 * @}
Jerome Coutant 1:917af0ca86df 75 */
Jerome Coutant 1:917af0ca86df 76
Jerome Coutant 1:917af0ca86df 77 /** @defgroup L3GD20_Private_Variables
Jerome Coutant 1:917af0ca86df 78 * @{
Jerome Coutant 1:917af0ca86df 79 */
Jerome Coutant 1:917af0ca86df 80 GYRO_DrvTypeDef L3gd20Drv =
Jerome Coutant 1:917af0ca86df 81 {
Jerome Coutant 1:917af0ca86df 82 L3GD20_Init,
Jerome Coutant 1:917af0ca86df 83 L3GD20_DeInit,
Jerome Coutant 1:917af0ca86df 84 L3GD20_ReadID,
Jerome Coutant 1:917af0ca86df 85 L3GD20_RebootCmd,
Jerome Coutant 1:917af0ca86df 86 L3GD20_LowPower,
Jerome Coutant 1:917af0ca86df 87 L3GD20_INT1InterruptConfig,
Jerome Coutant 1:917af0ca86df 88 L3GD20_EnableIT,
Jerome Coutant 1:917af0ca86df 89 L3GD20_DisableIT,
Jerome Coutant 1:917af0ca86df 90 0,
Jerome Coutant 1:917af0ca86df 91 0,
Jerome Coutant 1:917af0ca86df 92 L3GD20_FilterConfig,
Jerome Coutant 1:917af0ca86df 93 L3GD20_FilterCmd,
Jerome Coutant 1:917af0ca86df 94 L3GD20_ReadXYZAngRate
Jerome Coutant 1:917af0ca86df 95 };
Jerome Coutant 1:917af0ca86df 96
Jerome Coutant 1:917af0ca86df 97 /**
Jerome Coutant 1:917af0ca86df 98 * @}
Jerome Coutant 1:917af0ca86df 99 */
Jerome Coutant 1:917af0ca86df 100
Jerome Coutant 1:917af0ca86df 101 /** @defgroup L3GD20_Private_FunctionPrototypes
Jerome Coutant 1:917af0ca86df 102 * @{
Jerome Coutant 1:917af0ca86df 103 */
Jerome Coutant 1:917af0ca86df 104
Jerome Coutant 1:917af0ca86df 105 /**
Jerome Coutant 1:917af0ca86df 106 * @}
Jerome Coutant 1:917af0ca86df 107 */
Jerome Coutant 1:917af0ca86df 108
Jerome Coutant 1:917af0ca86df 109 /** @defgroup L3GD20_Private_Functions
Jerome Coutant 1:917af0ca86df 110 * @{
Jerome Coutant 1:917af0ca86df 111 */
Jerome Coutant 1:917af0ca86df 112
Jerome Coutant 1:917af0ca86df 113 /**
Jerome Coutant 1:917af0ca86df 114 * @brief Set L3GD20 Initialization.
Jerome Coutant 1:917af0ca86df 115 * @param L3GD20_InitStruct: pointer to a L3GD20_InitTypeDef structure
Jerome Coutant 1:917af0ca86df 116 * that contains the configuration setting for the L3GD20.
Jerome Coutant 1:917af0ca86df 117 * @retval None
Jerome Coutant 1:917af0ca86df 118 */
Jerome Coutant 1:917af0ca86df 119 void L3GD20_Init(uint16_t InitStruct)
Jerome Coutant 1:917af0ca86df 120 {
Jerome Coutant 1:917af0ca86df 121 uint8_t ctrl = 0x00;
Jerome Coutant 1:917af0ca86df 122
Jerome Coutant 1:917af0ca86df 123 /* Configure the low level interface */
Jerome Coutant 1:917af0ca86df 124 GYRO_IO_Init();
Jerome Coutant 1:917af0ca86df 125
Jerome Coutant 1:917af0ca86df 126 /* Write value to MEMS CTRL_REG1 register */
Jerome Coutant 1:917af0ca86df 127 ctrl = (uint8_t) InitStruct;
Jerome Coutant 1:917af0ca86df 128 GYRO_IO_Write(&ctrl, L3GD20_CTRL_REG1_ADDR, 1);
Jerome Coutant 1:917af0ca86df 129
Jerome Coutant 1:917af0ca86df 130 /* Write value to MEMS CTRL_REG4 register */
Jerome Coutant 1:917af0ca86df 131 ctrl = (uint8_t) (InitStruct >> 8);
Jerome Coutant 1:917af0ca86df 132 GYRO_IO_Write(&ctrl, L3GD20_CTRL_REG4_ADDR, 1);
Jerome Coutant 1:917af0ca86df 133 }
Jerome Coutant 1:917af0ca86df 134
Jerome Coutant 1:917af0ca86df 135
Jerome Coutant 1:917af0ca86df 136
Jerome Coutant 1:917af0ca86df 137 /**
Jerome Coutant 1:917af0ca86df 138 * @brief L3GD20 De-initialization
Jerome Coutant 1:917af0ca86df 139 * @param None
Jerome Coutant 1:917af0ca86df 140 * @retval None
Jerome Coutant 1:917af0ca86df 141 */
Jerome Coutant 1:917af0ca86df 142 void L3GD20_DeInit(void)
Jerome Coutant 1:917af0ca86df 143 {
Jerome Coutant 1:917af0ca86df 144 }
Jerome Coutant 1:917af0ca86df 145
Jerome Coutant 1:917af0ca86df 146 /**
Jerome Coutant 1:917af0ca86df 147 * @brief Read ID address of L3GD20
Jerome Coutant 1:917af0ca86df 148 * @param None
Jerome Coutant 1:917af0ca86df 149 * @retval ID name
Jerome Coutant 1:917af0ca86df 150 */
Jerome Coutant 1:917af0ca86df 151 uint8_t L3GD20_ReadID(void)
Jerome Coutant 1:917af0ca86df 152 {
Jerome Coutant 1:917af0ca86df 153 uint8_t tmp;
Jerome Coutant 1:917af0ca86df 154
Jerome Coutant 1:917af0ca86df 155 /* Configure the low level interface */
Jerome Coutant 1:917af0ca86df 156 GYRO_IO_Init();
Jerome Coutant 1:917af0ca86df 157
Jerome Coutant 1:917af0ca86df 158 /* Read WHO I AM register */
Jerome Coutant 1:917af0ca86df 159 GYRO_IO_Read(&tmp, L3GD20_WHO_AM_I_ADDR, 1);
Jerome Coutant 1:917af0ca86df 160
Jerome Coutant 1:917af0ca86df 161 /* Return the ID */
Jerome Coutant 1:917af0ca86df 162 return (uint8_t)tmp;
Jerome Coutant 1:917af0ca86df 163 }
Jerome Coutant 1:917af0ca86df 164
Jerome Coutant 1:917af0ca86df 165 /**
Jerome Coutant 1:917af0ca86df 166 * @brief Reboot memory content of L3GD20
Jerome Coutant 1:917af0ca86df 167 * @param None
Jerome Coutant 1:917af0ca86df 168 * @retval None
Jerome Coutant 1:917af0ca86df 169 */
Jerome Coutant 1:917af0ca86df 170 void L3GD20_RebootCmd(void)
Jerome Coutant 1:917af0ca86df 171 {
Jerome Coutant 1:917af0ca86df 172 uint8_t tmpreg;
Jerome Coutant 1:917af0ca86df 173
Jerome Coutant 1:917af0ca86df 174 /* Read CTRL_REG5 register */
Jerome Coutant 1:917af0ca86df 175 GYRO_IO_Read(&tmpreg, L3GD20_CTRL_REG5_ADDR, 1);
Jerome Coutant 1:917af0ca86df 176
Jerome Coutant 1:917af0ca86df 177 /* Enable or Disable the reboot memory */
Jerome Coutant 1:917af0ca86df 178 tmpreg |= L3GD20_BOOT_REBOOTMEMORY;
Jerome Coutant 1:917af0ca86df 179
Jerome Coutant 1:917af0ca86df 180 /* Write value to MEMS CTRL_REG5 register */
Jerome Coutant 1:917af0ca86df 181 GYRO_IO_Write(&tmpreg, L3GD20_CTRL_REG5_ADDR, 1);
Jerome Coutant 1:917af0ca86df 182 }
Jerome Coutant 1:917af0ca86df 183
Jerome Coutant 1:917af0ca86df 184 /**
Jerome Coutant 1:917af0ca86df 185 * @brief Set L3GD20 in low-power mode
Jerome Coutant 1:917af0ca86df 186 * @param
Jerome Coutant 1:917af0ca86df 187 * @retval None
Jerome Coutant 1:917af0ca86df 188 */
Jerome Coutant 1:917af0ca86df 189 void L3GD20_LowPower(uint16_t InitStruct)
Jerome Coutant 1:917af0ca86df 190 {
Jerome Coutant 1:917af0ca86df 191 uint8_t ctrl = 0x00;
Jerome Coutant 1:917af0ca86df 192
Jerome Coutant 1:917af0ca86df 193 /* Write value to MEMS CTRL_REG1 register */
Jerome Coutant 1:917af0ca86df 194 ctrl = (uint8_t) InitStruct;
Jerome Coutant 1:917af0ca86df 195 GYRO_IO_Write(&ctrl, L3GD20_CTRL_REG1_ADDR, 1);
Jerome Coutant 1:917af0ca86df 196 }
Jerome Coutant 1:917af0ca86df 197
Jerome Coutant 1:917af0ca86df 198 /**
Jerome Coutant 1:917af0ca86df 199 * @brief Set L3GD20 Interrupt INT1 configuration
Jerome Coutant 1:917af0ca86df 200 * @param Int1Config: the configuration setting for the L3GD20 Interrupt.
Jerome Coutant 1:917af0ca86df 201 * @retval None
Jerome Coutant 1:917af0ca86df 202 */
Jerome Coutant 1:917af0ca86df 203 void L3GD20_INT1InterruptConfig(uint16_t Int1Config)
Jerome Coutant 1:917af0ca86df 204 {
Jerome Coutant 1:917af0ca86df 205 uint8_t ctrl_cfr = 0x00, ctrl3 = 0x00;
Jerome Coutant 1:917af0ca86df 206
Jerome Coutant 1:917af0ca86df 207 /* Read INT1_CFG register */
Jerome Coutant 1:917af0ca86df 208 GYRO_IO_Read(&ctrl_cfr, L3GD20_INT1_CFG_ADDR, 1);
Jerome Coutant 1:917af0ca86df 209
Jerome Coutant 1:917af0ca86df 210 /* Read CTRL_REG3 register */
Jerome Coutant 1:917af0ca86df 211 GYRO_IO_Read(&ctrl3, L3GD20_CTRL_REG3_ADDR, 1);
Jerome Coutant 1:917af0ca86df 212
Jerome Coutant 1:917af0ca86df 213 ctrl_cfr &= 0x80;
Jerome Coutant 1:917af0ca86df 214 ctrl_cfr |= ((uint8_t) Int1Config >> 8);
Jerome Coutant 1:917af0ca86df 215
Jerome Coutant 1:917af0ca86df 216 ctrl3 &= 0xDF;
Jerome Coutant 1:917af0ca86df 217 ctrl3 |= ((uint8_t) Int1Config);
Jerome Coutant 1:917af0ca86df 218
Jerome Coutant 1:917af0ca86df 219 /* Write value to MEMS INT1_CFG register */
Jerome Coutant 1:917af0ca86df 220 GYRO_IO_Write(&ctrl_cfr, L3GD20_INT1_CFG_ADDR, 1);
Jerome Coutant 1:917af0ca86df 221
Jerome Coutant 1:917af0ca86df 222 /* Write value to MEMS CTRL_REG3 register */
Jerome Coutant 1:917af0ca86df 223 GYRO_IO_Write(&ctrl3, L3GD20_CTRL_REG3_ADDR, 1);
Jerome Coutant 1:917af0ca86df 224 }
Jerome Coutant 1:917af0ca86df 225
Jerome Coutant 1:917af0ca86df 226 /**
Jerome Coutant 1:917af0ca86df 227 * @brief Enable INT1 or INT2 interrupt
Jerome Coutant 1:917af0ca86df 228 * @param IntSel: choice of INT1 or INT2
Jerome Coutant 1:917af0ca86df 229 * This parameter can be:
Jerome Coutant 1:917af0ca86df 230 * @arg L3GD20_INT1
Jerome Coutant 1:917af0ca86df 231 * @arg L3GD20_INT2
Jerome Coutant 1:917af0ca86df 232 * @retval None
Jerome Coutant 1:917af0ca86df 233 */
Jerome Coutant 1:917af0ca86df 234 void L3GD20_EnableIT(uint8_t IntSel)
Jerome Coutant 1:917af0ca86df 235 {
Jerome Coutant 1:917af0ca86df 236 uint8_t tmpreg;
Jerome Coutant 1:917af0ca86df 237
Jerome Coutant 1:917af0ca86df 238 /* Read CTRL_REG3 register */
Jerome Coutant 1:917af0ca86df 239 GYRO_IO_Read(&tmpreg, L3GD20_CTRL_REG3_ADDR, 1);
Jerome Coutant 1:917af0ca86df 240
Jerome Coutant 1:917af0ca86df 241 if(IntSel == L3GD20_INT1)
Jerome Coutant 1:917af0ca86df 242 {
Jerome Coutant 1:917af0ca86df 243 tmpreg &= 0x7F;
Jerome Coutant 1:917af0ca86df 244 tmpreg |= L3GD20_INT1INTERRUPT_ENABLE;
Jerome Coutant 1:917af0ca86df 245 }
Jerome Coutant 1:917af0ca86df 246 else if(IntSel == L3GD20_INT2)
Jerome Coutant 1:917af0ca86df 247 {
Jerome Coutant 1:917af0ca86df 248 tmpreg &= 0xF7;
Jerome Coutant 1:917af0ca86df 249 tmpreg |= L3GD20_INT2INTERRUPT_ENABLE;
Jerome Coutant 1:917af0ca86df 250 }
Jerome Coutant 1:917af0ca86df 251
Jerome Coutant 1:917af0ca86df 252 /* Write value to MEMS CTRL_REG3 register */
Jerome Coutant 1:917af0ca86df 253 GYRO_IO_Write(&tmpreg, L3GD20_CTRL_REG3_ADDR, 1);
Jerome Coutant 1:917af0ca86df 254 }
Jerome Coutant 1:917af0ca86df 255
Jerome Coutant 1:917af0ca86df 256 /**
Jerome Coutant 1:917af0ca86df 257 * @brief Disable INT1 or INT2 interrupt
Jerome Coutant 1:917af0ca86df 258 * @param IntSel: choice of INT1 or INT2
Jerome Coutant 1:917af0ca86df 259 * This parameter can be:
Jerome Coutant 1:917af0ca86df 260 * @arg L3GD20_INT1
Jerome Coutant 1:917af0ca86df 261 * @arg L3GD20_INT2
Jerome Coutant 1:917af0ca86df 262 * @retval None
Jerome Coutant 1:917af0ca86df 263 */
Jerome Coutant 1:917af0ca86df 264 void L3GD20_DisableIT(uint8_t IntSel)
Jerome Coutant 1:917af0ca86df 265 {
Jerome Coutant 1:917af0ca86df 266 uint8_t tmpreg;
Jerome Coutant 1:917af0ca86df 267
Jerome Coutant 1:917af0ca86df 268 /* Read CTRL_REG3 register */
Jerome Coutant 1:917af0ca86df 269 GYRO_IO_Read(&tmpreg, L3GD20_CTRL_REG3_ADDR, 1);
Jerome Coutant 1:917af0ca86df 270
Jerome Coutant 1:917af0ca86df 271 if(IntSel == L3GD20_INT1)
Jerome Coutant 1:917af0ca86df 272 {
Jerome Coutant 1:917af0ca86df 273 tmpreg &= 0x7F;
Jerome Coutant 1:917af0ca86df 274 tmpreg |= L3GD20_INT1INTERRUPT_DISABLE;
Jerome Coutant 1:917af0ca86df 275 }
Jerome Coutant 1:917af0ca86df 276 else if(IntSel == L3GD20_INT2)
Jerome Coutant 1:917af0ca86df 277 {
Jerome Coutant 1:917af0ca86df 278 tmpreg &= 0xF7;
Jerome Coutant 1:917af0ca86df 279 tmpreg |= L3GD20_INT2INTERRUPT_DISABLE;
Jerome Coutant 1:917af0ca86df 280 }
Jerome Coutant 1:917af0ca86df 281
Jerome Coutant 1:917af0ca86df 282 /* Write value to MEMS CTRL_REG3 register */
Jerome Coutant 1:917af0ca86df 283 GYRO_IO_Write(&tmpreg, L3GD20_CTRL_REG3_ADDR, 1);
Jerome Coutant 1:917af0ca86df 284 }
Jerome Coutant 1:917af0ca86df 285
Jerome Coutant 1:917af0ca86df 286 /**
Jerome Coutant 1:917af0ca86df 287 * @brief Set High Pass Filter Modality
Jerome Coutant 1:917af0ca86df 288 * @param FilterStruct: contains the configuration setting for the L3GD20.
Jerome Coutant 1:917af0ca86df 289 * @retval None
Jerome Coutant 1:917af0ca86df 290 */
Jerome Coutant 1:917af0ca86df 291 void L3GD20_FilterConfig(uint8_t FilterStruct)
Jerome Coutant 1:917af0ca86df 292 {
Jerome Coutant 1:917af0ca86df 293 uint8_t tmpreg;
Jerome Coutant 1:917af0ca86df 294
Jerome Coutant 1:917af0ca86df 295 /* Read CTRL_REG2 register */
Jerome Coutant 1:917af0ca86df 296 GYRO_IO_Read(&tmpreg, L3GD20_CTRL_REG2_ADDR, 1);
Jerome Coutant 1:917af0ca86df 297
Jerome Coutant 1:917af0ca86df 298 tmpreg &= 0xC0;
Jerome Coutant 1:917af0ca86df 299
Jerome Coutant 1:917af0ca86df 300 /* Configure MEMS: mode and cutoff frequency */
Jerome Coutant 1:917af0ca86df 301 tmpreg |= FilterStruct;
Jerome Coutant 1:917af0ca86df 302
Jerome Coutant 1:917af0ca86df 303 /* Write value to MEMS CTRL_REG2 register */
Jerome Coutant 1:917af0ca86df 304 GYRO_IO_Write(&tmpreg, L3GD20_CTRL_REG2_ADDR, 1);
Jerome Coutant 1:917af0ca86df 305 }
Jerome Coutant 1:917af0ca86df 306
Jerome Coutant 1:917af0ca86df 307 /**
Jerome Coutant 1:917af0ca86df 308 * @brief Enable or Disable High Pass Filter
Jerome Coutant 1:917af0ca86df 309 * @param HighPassFilterState: new state of the High Pass Filter feature.
Jerome Coutant 1:917af0ca86df 310 * This parameter can be:
Jerome Coutant 1:917af0ca86df 311 * @arg: L3GD20_HIGHPASSFILTER_DISABLE
Jerome Coutant 1:917af0ca86df 312 * @arg: L3GD20_HIGHPASSFILTER_ENABLE
Jerome Coutant 1:917af0ca86df 313 * @retval None
Jerome Coutant 1:917af0ca86df 314 */
Jerome Coutant 1:917af0ca86df 315 void L3GD20_FilterCmd(uint8_t HighPassFilterState)
Jerome Coutant 1:917af0ca86df 316 {
Jerome Coutant 1:917af0ca86df 317 uint8_t tmpreg;
Jerome Coutant 1:917af0ca86df 318
Jerome Coutant 1:917af0ca86df 319 /* Read CTRL_REG5 register */
Jerome Coutant 1:917af0ca86df 320 GYRO_IO_Read(&tmpreg, L3GD20_CTRL_REG5_ADDR, 1);
Jerome Coutant 1:917af0ca86df 321
Jerome Coutant 1:917af0ca86df 322 tmpreg &= 0xEF;
Jerome Coutant 1:917af0ca86df 323
Jerome Coutant 1:917af0ca86df 324 tmpreg |= HighPassFilterState;
Jerome Coutant 1:917af0ca86df 325
Jerome Coutant 1:917af0ca86df 326 /* Write value to MEMS CTRL_REG5 register */
Jerome Coutant 1:917af0ca86df 327 GYRO_IO_Write(&tmpreg, L3GD20_CTRL_REG5_ADDR, 1);
Jerome Coutant 1:917af0ca86df 328 }
Jerome Coutant 1:917af0ca86df 329
Jerome Coutant 1:917af0ca86df 330 /**
Jerome Coutant 1:917af0ca86df 331 * @brief Get status for L3GD20 data
Jerome Coutant 1:917af0ca86df 332 * @param None
Jerome Coutant 1:917af0ca86df 333 * @retval Data status in a L3GD20 Data
Jerome Coutant 1:917af0ca86df 334 */
Jerome Coutant 1:917af0ca86df 335 uint8_t L3GD20_GetDataStatus(void)
Jerome Coutant 1:917af0ca86df 336 {
Jerome Coutant 1:917af0ca86df 337 uint8_t tmpreg;
Jerome Coutant 1:917af0ca86df 338
Jerome Coutant 1:917af0ca86df 339 /* Read STATUS_REG register */
Jerome Coutant 1:917af0ca86df 340 GYRO_IO_Read(&tmpreg, L3GD20_STATUS_REG_ADDR, 1);
Jerome Coutant 1:917af0ca86df 341
Jerome Coutant 1:917af0ca86df 342 return tmpreg;
Jerome Coutant 1:917af0ca86df 343 }
Jerome Coutant 1:917af0ca86df 344
Jerome Coutant 1:917af0ca86df 345 /**
Jerome Coutant 1:917af0ca86df 346 * @brief Calculate the L3GD20 angular data.
Jerome Coutant 1:917af0ca86df 347 * @param pfData: Data out pointer
Jerome Coutant 1:917af0ca86df 348 * @retval None
Jerome Coutant 1:917af0ca86df 349 */
Jerome Coutant 1:917af0ca86df 350 void L3GD20_ReadXYZAngRate(float *pfData)
Jerome Coutant 1:917af0ca86df 351 {
Jerome Coutant 1:917af0ca86df 352 uint8_t tmpbuffer[6] ={0};
Jerome Coutant 1:917af0ca86df 353 int16_t RawData[3] = {0};
Jerome Coutant 1:917af0ca86df 354 uint8_t tmpreg = 0;
Jerome Coutant 1:917af0ca86df 355 float sensitivity = 0;
Jerome Coutant 1:917af0ca86df 356 int i =0;
Jerome Coutant 1:917af0ca86df 357
Jerome Coutant 1:917af0ca86df 358 GYRO_IO_Read(&tmpreg,L3GD20_CTRL_REG4_ADDR,1);
Jerome Coutant 1:917af0ca86df 359
Jerome Coutant 1:917af0ca86df 360 GYRO_IO_Read(tmpbuffer,L3GD20_OUT_X_L_ADDR,6);
Jerome Coutant 1:917af0ca86df 361
Jerome Coutant 1:917af0ca86df 362 /* check in the control register 4 the data alignment (Big Endian or Little Endian)*/
Jerome Coutant 1:917af0ca86df 363 if(!(tmpreg & L3GD20_BLE_MSB))
Jerome Coutant 1:917af0ca86df 364 {
Jerome Coutant 1:917af0ca86df 365 for(i=0; i<3; i++)
Jerome Coutant 1:917af0ca86df 366 {
Jerome Coutant 1:917af0ca86df 367 RawData[i]=(int16_t)(((uint16_t)tmpbuffer[2*i+1] << 8) + tmpbuffer[2*i]);
Jerome Coutant 1:917af0ca86df 368 }
Jerome Coutant 1:917af0ca86df 369 }
Jerome Coutant 1:917af0ca86df 370 else
Jerome Coutant 1:917af0ca86df 371 {
Jerome Coutant 1:917af0ca86df 372 for(i=0; i<3; i++)
Jerome Coutant 1:917af0ca86df 373 {
Jerome Coutant 1:917af0ca86df 374 RawData[i]=(int16_t)(((uint16_t)tmpbuffer[2*i] << 8) + tmpbuffer[2*i+1]);
Jerome Coutant 1:917af0ca86df 375 }
Jerome Coutant 1:917af0ca86df 376 }
Jerome Coutant 1:917af0ca86df 377
Jerome Coutant 1:917af0ca86df 378 /* Switch the sensitivity value set in the CRTL4 */
Jerome Coutant 1:917af0ca86df 379 switch(tmpreg & L3GD20_FULLSCALE_SELECTION)
Jerome Coutant 1:917af0ca86df 380 {
Jerome Coutant 1:917af0ca86df 381 case L3GD20_FULLSCALE_250:
Jerome Coutant 1:917af0ca86df 382 sensitivity=L3GD20_SENSITIVITY_250DPS;
Jerome Coutant 1:917af0ca86df 383 break;
Jerome Coutant 1:917af0ca86df 384
Jerome Coutant 1:917af0ca86df 385 case L3GD20_FULLSCALE_500:
Jerome Coutant 1:917af0ca86df 386 sensitivity=L3GD20_SENSITIVITY_500DPS;
Jerome Coutant 1:917af0ca86df 387 break;
Jerome Coutant 1:917af0ca86df 388
Jerome Coutant 1:917af0ca86df 389 case L3GD20_FULLSCALE_2000:
Jerome Coutant 1:917af0ca86df 390 sensitivity=L3GD20_SENSITIVITY_2000DPS;
Jerome Coutant 1:917af0ca86df 391 break;
Jerome Coutant 1:917af0ca86df 392 }
Jerome Coutant 1:917af0ca86df 393 /* Divide by sensitivity */
Jerome Coutant 1:917af0ca86df 394 for(i=0; i<3; i++)
Jerome Coutant 1:917af0ca86df 395 {
Jerome Coutant 1:917af0ca86df 396 pfData[i]=(float)(RawData[i] * sensitivity);
Jerome Coutant 1:917af0ca86df 397 }
Jerome Coutant 1:917af0ca86df 398 }
Jerome Coutant 1:917af0ca86df 399
Jerome Coutant 1:917af0ca86df 400 /**
Jerome Coutant 1:917af0ca86df 401 * @}
Jerome Coutant 1:917af0ca86df 402 */
Jerome Coutant 1:917af0ca86df 403
Jerome Coutant 1:917af0ca86df 404 /**
Jerome Coutant 1:917af0ca86df 405 * @}
Jerome Coutant 1:917af0ca86df 406 */
Jerome Coutant 1:917af0ca86df 407
Jerome Coutant 1:917af0ca86df 408 /**
Jerome Coutant 1:917af0ca86df 409 * @}
Jerome Coutant 1:917af0ca86df 410 */
Jerome Coutant 1:917af0ca86df 411
Jerome Coutant 1:917af0ca86df 412 /**
Jerome Coutant 1:917af0ca86df 413 * @}
Jerome Coutant 1:917af0ca86df 414 */
Jerome Coutant 1:917af0ca86df 415
Jerome Coutant 1:917af0ca86df 416 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/