Diff: mylib/devices/src/L3GD20.cpp

Revision:

0:fb4269aa5fb4

diff -r 000000000000 -r fb4269aa5fb4 mylib/devices/src/L3GD20.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mylib/devices/src/L3GD20.cpp	Fri May 26 03:51:19 2017 +0000
@@ -0,0 +1,69 @@
+#include "L3GD20.h"
+
+#define CS_GPIOx    GPIOA
+#define CS_GPIO_Pin GPIO_PIN_3
+
+gyro_t l3gd20;
+
+/*----------------SPI module-----------------*/
+static SPI *spi_ptr = &spi1;			//use SPI1
+static DigitalOut *cs_ptr = &spi1_cs1;	//CS pin
+/*-------------------------------------------*/
+
+void L3GD20_Init()
+{
+	*cs_ptr = 1;	//CS high
+	HAL_Delay(10);
+	
+	/*-----configuration-----*/
+	*cs_ptr = 0;	//CS low
+	(*spi_ptr).write(CTRL_REG1);
+	(*spi_ptr).write(0xCF);
+	*cs_ptr = 1;	//CS high
+	HAL_Delay(50);
+	
+	*cs_ptr = 0;	//CS low
+	(*spi_ptr).write(CTRL_REG4);
+	(*spi_ptr).write(0x30);
+	*cs_ptr = 1;	//CS high
+	/*-----------------------*/
+
+#if 0
+			spi_tx[0] = WHO_AM_I | L3GD20_RW;
+			spi_tx[1] = 0x00;
+			HAL_GPIO_WritePin(CS_GPIOx, CS_GPIO_Pin, GPIO_PIN_RESET);
+			HAL_SPI_TransmitReceive(&hspi1, spi_tx, spi_rx, 2, 10);
+			HAL_GPIO_WritePin(CS_GPIOx, CS_GPIO_Pin, GPIO_PIN_SET);
+
+			//printf("who am i = 0x%x\n", spi_rx[1]);
+			//while(spi_rx[1] == 0xFF);
+#endif
+	
+}
+
+void L3GD20_Read()
+{
+    uint32_t i;
+    
+    *cs_ptr = 0;	//CS low
+    //"0x40" MUST be added to increment the resister address
+    (*spi_ptr).write(OUT_X_L | L3GD20_RW | 0x40);
+    
+	for(i = 0; i < 6; i ++)
+	{
+		//spi_rx[0] is an invalid byte
+		//so this process starts with spi_rx[1]
+		spi_rx[i+1] = (*spi_ptr).write(0x00);	//dummy data
+	}
+	
+	*cs_ptr = 1;	//CS high
+	
+	l3gd20.x = ((int32_t)spi_rx[1]+((int32_t)spi_rx[2]<<8));
+	l3gd20.y = ((int32_t)spi_rx[3]+((int32_t)spi_rx[4]<<8));
+	l3gd20.z = ((int32_t)spi_rx[5]+((int32_t)spi_rx[6]<<8));
+	
+	if(l3gd20.z > 32768)
+	{
+		l3gd20.z = l3gd20.z - 65535 + 6;
+	}
+}