ST / BSP_DISCO_L476VG

STM32L476G-Discovery board drivers V1.0.0

Dependents:   DiscoLogger DISCO_L476VG_GlassLCD DISCO_L476VG_MicrophoneRecorder DISCO_L476VG_UART ... more

Drivers/BSP/Components/l3gd20/l3gd20.c@5:4943b15cce9f, 2019-09-24 (annotated)

Committer:
jeromecoutant
Date:
Tue Sep 24 18:00:58 2019 +0200
Revision:
5:4943b15cce9f
Parent:
1:917af0ca86df 
Update BSP files with CubeL4 V1.14.0

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 * @brief This file provides a set of functions needed to manage the L3GD20,
Jerome Coutant 1:917af0ca86df 6 * ST MEMS motion sensor, 3-axis digital output gyroscope.
Jerome Coutant 1:917af0ca86df 7 ******************************************************************************
Jerome Coutant 1:917af0ca86df 8 * @attention
Jerome Coutant 1:917af0ca86df 9 *
jeromecoutant 5:4943b15cce9f 10 * <h2><center>&copy; Copyright (c) 2015 STMicroelectronics.
jeromecoutant 5:4943b15cce9f 11 * All rights reserved.</center></h2>
Jerome Coutant 1:917af0ca86df 12 *
jeromecoutant 5:4943b15cce9f 13 * This software component is licensed by ST under BSD 3-Clause license,
jeromecoutant 5:4943b15cce9f 14 * the "License"; You may not use this file except in compliance with the
jeromecoutant 5:4943b15cce9f 15 * License. You may obtain a copy of the License at:
jeromecoutant 5:4943b15cce9f 16 * opensource.org/licenses/BSD-3-Clause
Jerome Coutant 1:917af0ca86df 17 *
Jerome Coutant 1:917af0ca86df 18 ******************************************************************************
Jerome Coutant 1:917af0ca86df 19 */
Jerome Coutant 1:917af0ca86df 20 /* Includes ------------------------------------------------------------------*/
Jerome Coutant 1:917af0ca86df 21 #include "l3gd20.h"
Jerome Coutant 1:917af0ca86df 22
Jerome Coutant 1:917af0ca86df 23 /** @addtogroup BSP
Jerome Coutant 1:917af0ca86df 24 * @{
Jerome Coutant 1:917af0ca86df 25 */
Jerome Coutant 1:917af0ca86df 26
Jerome Coutant 1:917af0ca86df 27 /** @addtogroup Components
Jerome Coutant 1:917af0ca86df 28 * @{
Jerome Coutant 1:917af0ca86df 29 */
Jerome Coutant 1:917af0ca86df 30
Jerome Coutant 1:917af0ca86df 31 /** @addtogroup L3GD20
Jerome Coutant 1:917af0ca86df 32 * @{
Jerome Coutant 1:917af0ca86df 33 */
Jerome Coutant 1:917af0ca86df 34
Jerome Coutant 1:917af0ca86df 35 /** @defgroup L3GD20_Private_TypesDefinitions
Jerome Coutant 1:917af0ca86df 36 * @{
Jerome Coutant 1:917af0ca86df 37 */
Jerome Coutant 1:917af0ca86df 38
Jerome Coutant 1:917af0ca86df 39 /**
Jerome Coutant 1:917af0ca86df 40 * @}
Jerome Coutant 1:917af0ca86df 41 */
Jerome Coutant 1:917af0ca86df 42
Jerome Coutant 1:917af0ca86df 43 /** @defgroup L3GD20_Private_Defines
Jerome Coutant 1:917af0ca86df 44 * @{
Jerome Coutant 1:917af0ca86df 45 */
Jerome Coutant 1:917af0ca86df 46
Jerome Coutant 1:917af0ca86df 47 /**
Jerome Coutant 1:917af0ca86df 48 * @}
Jerome Coutant 1:917af0ca86df 49 */
Jerome Coutant 1:917af0ca86df 50
Jerome Coutant 1:917af0ca86df 51 /** @defgroup L3GD20_Private_Macros
Jerome Coutant 1:917af0ca86df 52 * @{
Jerome Coutant 1:917af0ca86df 53 */
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 /** @defgroup L3GD20_Private_Variables
Jerome Coutant 1:917af0ca86df 60 * @{
Jerome Coutant 1:917af0ca86df 61 */
Jerome Coutant 1:917af0ca86df 62 GYRO_DrvTypeDef L3gd20Drv =
Jerome Coutant 1:917af0ca86df 63 {
Jerome Coutant 1:917af0ca86df 64 L3GD20_Init,
Jerome Coutant 1:917af0ca86df 65 L3GD20_DeInit,
Jerome Coutant 1:917af0ca86df 66 L3GD20_ReadID,
Jerome Coutant 1:917af0ca86df 67 L3GD20_RebootCmd,
Jerome Coutant 1:917af0ca86df 68 L3GD20_LowPower,
Jerome Coutant 1:917af0ca86df 69 L3GD20_INT1InterruptConfig,
Jerome Coutant 1:917af0ca86df 70 L3GD20_EnableIT,
Jerome Coutant 1:917af0ca86df 71 L3GD20_DisableIT,
Jerome Coutant 1:917af0ca86df 72 0,
Jerome Coutant 1:917af0ca86df 73 0,
Jerome Coutant 1:917af0ca86df 74 L3GD20_FilterConfig,
Jerome Coutant 1:917af0ca86df 75 L3GD20_FilterCmd,
Jerome Coutant 1:917af0ca86df 76 L3GD20_ReadXYZAngRate
Jerome Coutant 1:917af0ca86df 77 };
Jerome Coutant 1:917af0ca86df 78
Jerome Coutant 1:917af0ca86df 79 /**
Jerome Coutant 1:917af0ca86df 80 * @}
Jerome Coutant 1:917af0ca86df 81 */
Jerome Coutant 1:917af0ca86df 82
Jerome Coutant 1:917af0ca86df 83 /** @defgroup L3GD20_Private_FunctionPrototypes
Jerome Coutant 1:917af0ca86df 84 * @{
Jerome Coutant 1:917af0ca86df 85 */
Jerome Coutant 1:917af0ca86df 86
Jerome Coutant 1:917af0ca86df 87 /**
Jerome Coutant 1:917af0ca86df 88 * @}
Jerome Coutant 1:917af0ca86df 89 */
Jerome Coutant 1:917af0ca86df 90
Jerome Coutant 1:917af0ca86df 91 /** @defgroup L3GD20_Private_Functions
Jerome Coutant 1:917af0ca86df 92 * @{
Jerome Coutant 1:917af0ca86df 93 */
Jerome Coutant 1:917af0ca86df 94
Jerome Coutant 1:917af0ca86df 95 /**
Jerome Coutant 1:917af0ca86df 96 * @brief Set L3GD20 Initialization.
Jerome Coutant 1:917af0ca86df 97 * @param L3GD20_InitStruct: pointer to a L3GD20_InitTypeDef structure
Jerome Coutant 1:917af0ca86df 98 * that contains the configuration setting for the L3GD20.
Jerome Coutant 1:917af0ca86df 99 * @retval None
Jerome Coutant 1:917af0ca86df 100 */
Jerome Coutant 1:917af0ca86df 101 void L3GD20_Init(uint16_t InitStruct)
Jerome Coutant 1:917af0ca86df 102 {
Jerome Coutant 1:917af0ca86df 103 uint8_t ctrl = 0x00;
Jerome Coutant 1:917af0ca86df 104
Jerome Coutant 1:917af0ca86df 105 /* Configure the low level interface */
Jerome Coutant 1:917af0ca86df 106 GYRO_IO_Init();
Jerome Coutant 1:917af0ca86df 107
Jerome Coutant 1:917af0ca86df 108 /* Write value to MEMS CTRL_REG1 register */
Jerome Coutant 1:917af0ca86df 109 ctrl = (uint8_t) InitStruct;
Jerome Coutant 1:917af0ca86df 110 GYRO_IO_Write(&ctrl, L3GD20_CTRL_REG1_ADDR, 1);
Jerome Coutant 1:917af0ca86df 111
Jerome Coutant 1:917af0ca86df 112 /* Write value to MEMS CTRL_REG4 register */
Jerome Coutant 1:917af0ca86df 113 ctrl = (uint8_t) (InitStruct >> 8);
Jerome Coutant 1:917af0ca86df 114 GYRO_IO_Write(&ctrl, L3GD20_CTRL_REG4_ADDR, 1);
Jerome Coutant 1:917af0ca86df 115 }
Jerome Coutant 1:917af0ca86df 116
Jerome Coutant 1:917af0ca86df 117
Jerome Coutant 1:917af0ca86df 118
Jerome Coutant 1:917af0ca86df 119 /**
Jerome Coutant 1:917af0ca86df 120 * @brief L3GD20 De-initialization
Jerome Coutant 1:917af0ca86df 121 * @param None
Jerome Coutant 1:917af0ca86df 122 * @retval None
Jerome Coutant 1:917af0ca86df 123 */
Jerome Coutant 1:917af0ca86df 124 void L3GD20_DeInit(void)
Jerome Coutant 1:917af0ca86df 125 {
Jerome Coutant 1:917af0ca86df 126 }
Jerome Coutant 1:917af0ca86df 127
Jerome Coutant 1:917af0ca86df 128 /**
Jerome Coutant 1:917af0ca86df 129 * @brief Read ID address of L3GD20
Jerome Coutant 1:917af0ca86df 130 * @param None
Jerome Coutant 1:917af0ca86df 131 * @retval ID name
Jerome Coutant 1:917af0ca86df 132 */
Jerome Coutant 1:917af0ca86df 133 uint8_t L3GD20_ReadID(void)
Jerome Coutant 1:917af0ca86df 134 {
Jerome Coutant 1:917af0ca86df 135 uint8_t tmp;
Jerome Coutant 1:917af0ca86df 136
Jerome Coutant 1:917af0ca86df 137 /* Configure the low level interface */
Jerome Coutant 1:917af0ca86df 138 GYRO_IO_Init();
Jerome Coutant 1:917af0ca86df 139
Jerome Coutant 1:917af0ca86df 140 /* Read WHO I AM register */
Jerome Coutant 1:917af0ca86df 141 GYRO_IO_Read(&tmp, L3GD20_WHO_AM_I_ADDR, 1);
Jerome Coutant 1:917af0ca86df 142
Jerome Coutant 1:917af0ca86df 143 /* Return the ID */
Jerome Coutant 1:917af0ca86df 144 return (uint8_t)tmp;
Jerome Coutant 1:917af0ca86df 145 }
Jerome Coutant 1:917af0ca86df 146
Jerome Coutant 1:917af0ca86df 147 /**
Jerome Coutant 1:917af0ca86df 148 * @brief Reboot memory content of L3GD20
Jerome Coutant 1:917af0ca86df 149 * @param None
Jerome Coutant 1:917af0ca86df 150 * @retval None
Jerome Coutant 1:917af0ca86df 151 */
Jerome Coutant 1:917af0ca86df 152 void L3GD20_RebootCmd(void)
Jerome Coutant 1:917af0ca86df 153 {
Jerome Coutant 1:917af0ca86df 154 uint8_t tmpreg;
Jerome Coutant 1:917af0ca86df 155
Jerome Coutant 1:917af0ca86df 156 /* Read CTRL_REG5 register */
Jerome Coutant 1:917af0ca86df 157 GYRO_IO_Read(&tmpreg, L3GD20_CTRL_REG5_ADDR, 1);
Jerome Coutant 1:917af0ca86df 158
Jerome Coutant 1:917af0ca86df 159 /* Enable or Disable the reboot memory */
Jerome Coutant 1:917af0ca86df 160 tmpreg |= L3GD20_BOOT_REBOOTMEMORY;
Jerome Coutant 1:917af0ca86df 161
Jerome Coutant 1:917af0ca86df 162 /* Write value to MEMS CTRL_REG5 register */
Jerome Coutant 1:917af0ca86df 163 GYRO_IO_Write(&tmpreg, L3GD20_CTRL_REG5_ADDR, 1);
Jerome Coutant 1:917af0ca86df 164 }
Jerome Coutant 1:917af0ca86df 165
Jerome Coutant 1:917af0ca86df 166 /**
Jerome Coutant 1:917af0ca86df 167 * @brief Set L3GD20 in low-power mode
Jerome Coutant 1:917af0ca86df 168 * @param
Jerome Coutant 1:917af0ca86df 169 * @retval None
Jerome Coutant 1:917af0ca86df 170 */
Jerome Coutant 1:917af0ca86df 171 void L3GD20_LowPower(uint16_t InitStruct)
Jerome Coutant 1:917af0ca86df 172 {
Jerome Coutant 1:917af0ca86df 173 uint8_t ctrl = 0x00;
Jerome Coutant 1:917af0ca86df 174
Jerome Coutant 1:917af0ca86df 175 /* Write value to MEMS CTRL_REG1 register */
Jerome Coutant 1:917af0ca86df 176 ctrl = (uint8_t) InitStruct;
Jerome Coutant 1:917af0ca86df 177 GYRO_IO_Write(&ctrl, L3GD20_CTRL_REG1_ADDR, 1);
Jerome Coutant 1:917af0ca86df 178 }
Jerome Coutant 1:917af0ca86df 179
Jerome Coutant 1:917af0ca86df 180 /**
Jerome Coutant 1:917af0ca86df 181 * @brief Set L3GD20 Interrupt INT1 configuration
Jerome Coutant 1:917af0ca86df 182 * @param Int1Config: the configuration setting for the L3GD20 Interrupt.
Jerome Coutant 1:917af0ca86df 183 * @retval None
Jerome Coutant 1:917af0ca86df 184 */
Jerome Coutant 1:917af0ca86df 185 void L3GD20_INT1InterruptConfig(uint16_t Int1Config)
Jerome Coutant 1:917af0ca86df 186 {
Jerome Coutant 1:917af0ca86df 187 uint8_t ctrl_cfr = 0x00, ctrl3 = 0x00;
Jerome Coutant 1:917af0ca86df 188
Jerome Coutant 1:917af0ca86df 189 /* Read INT1_CFG register */
Jerome Coutant 1:917af0ca86df 190 GYRO_IO_Read(&ctrl_cfr, L3GD20_INT1_CFG_ADDR, 1);
Jerome Coutant 1:917af0ca86df 191
Jerome Coutant 1:917af0ca86df 192 /* Read CTRL_REG3 register */
Jerome Coutant 1:917af0ca86df 193 GYRO_IO_Read(&ctrl3, L3GD20_CTRL_REG3_ADDR, 1);
Jerome Coutant 1:917af0ca86df 194
Jerome Coutant 1:917af0ca86df 195 ctrl_cfr &= 0x80;
Jerome Coutant 1:917af0ca86df 196 ctrl_cfr |= ((uint8_t) Int1Config >> 8);
Jerome Coutant 1:917af0ca86df 197
Jerome Coutant 1:917af0ca86df 198 ctrl3 &= 0xDF;
Jerome Coutant 1:917af0ca86df 199 ctrl3 |= ((uint8_t) Int1Config);
Jerome Coutant 1:917af0ca86df 200
Jerome Coutant 1:917af0ca86df 201 /* Write value to MEMS INT1_CFG register */
Jerome Coutant 1:917af0ca86df 202 GYRO_IO_Write(&ctrl_cfr, L3GD20_INT1_CFG_ADDR, 1);
Jerome Coutant 1:917af0ca86df 203
Jerome Coutant 1:917af0ca86df 204 /* Write value to MEMS CTRL_REG3 register */
Jerome Coutant 1:917af0ca86df 205 GYRO_IO_Write(&ctrl3, L3GD20_CTRL_REG3_ADDR, 1);
Jerome Coutant 1:917af0ca86df 206 }
Jerome Coutant 1:917af0ca86df 207
Jerome Coutant 1:917af0ca86df 208 /**
Jerome Coutant 1:917af0ca86df 209 * @brief Enable INT1 or INT2 interrupt
Jerome Coutant 1:917af0ca86df 210 * @param IntSel: choice of INT1 or INT2
Jerome Coutant 1:917af0ca86df 211 * This parameter can be:
Jerome Coutant 1:917af0ca86df 212 * @arg L3GD20_INT1
Jerome Coutant 1:917af0ca86df 213 * @arg L3GD20_INT2
Jerome Coutant 1:917af0ca86df 214 * @retval None
Jerome Coutant 1:917af0ca86df 215 */
Jerome Coutant 1:917af0ca86df 216 void L3GD20_EnableIT(uint8_t IntSel)
Jerome Coutant 1:917af0ca86df 217 {
Jerome Coutant 1:917af0ca86df 218 uint8_t tmpreg;
Jerome Coutant 1:917af0ca86df 219
Jerome Coutant 1:917af0ca86df 220 /* Read CTRL_REG3 register */
Jerome Coutant 1:917af0ca86df 221 GYRO_IO_Read(&tmpreg, L3GD20_CTRL_REG3_ADDR, 1);
Jerome Coutant 1:917af0ca86df 222
Jerome Coutant 1:917af0ca86df 223 if(IntSel == L3GD20_INT1)
Jerome Coutant 1:917af0ca86df 224 {
Jerome Coutant 1:917af0ca86df 225 tmpreg &= 0x7F;
Jerome Coutant 1:917af0ca86df 226 tmpreg |= L3GD20_INT1INTERRUPT_ENABLE;
Jerome Coutant 1:917af0ca86df 227 }
Jerome Coutant 1:917af0ca86df 228 else if(IntSel == L3GD20_INT2)
Jerome Coutant 1:917af0ca86df 229 {
Jerome Coutant 1:917af0ca86df 230 tmpreg &= 0xF7;
Jerome Coutant 1:917af0ca86df 231 tmpreg |= L3GD20_INT2INTERRUPT_ENABLE;
Jerome Coutant 1:917af0ca86df 232 }
Jerome Coutant 1:917af0ca86df 233
Jerome Coutant 1:917af0ca86df 234 /* Write value to MEMS CTRL_REG3 register */
Jerome Coutant 1:917af0ca86df 235 GYRO_IO_Write(&tmpreg, L3GD20_CTRL_REG3_ADDR, 1);
Jerome Coutant 1:917af0ca86df 236 }
Jerome Coutant 1:917af0ca86df 237
Jerome Coutant 1:917af0ca86df 238 /**
Jerome Coutant 1:917af0ca86df 239 * @brief Disable INT1 or INT2 interrupt
Jerome Coutant 1:917af0ca86df 240 * @param IntSel: choice of INT1 or INT2
Jerome Coutant 1:917af0ca86df 241 * This parameter can be:
Jerome Coutant 1:917af0ca86df 242 * @arg L3GD20_INT1
Jerome Coutant 1:917af0ca86df 243 * @arg L3GD20_INT2
Jerome Coutant 1:917af0ca86df 244 * @retval None
Jerome Coutant 1:917af0ca86df 245 */
Jerome Coutant 1:917af0ca86df 246 void L3GD20_DisableIT(uint8_t IntSel)
Jerome Coutant 1:917af0ca86df 247 {
Jerome Coutant 1:917af0ca86df 248 uint8_t tmpreg;
Jerome Coutant 1:917af0ca86df 249
Jerome Coutant 1:917af0ca86df 250 /* Read CTRL_REG3 register */
Jerome Coutant 1:917af0ca86df 251 GYRO_IO_Read(&tmpreg, L3GD20_CTRL_REG3_ADDR, 1);
Jerome Coutant 1:917af0ca86df 252
Jerome Coutant 1:917af0ca86df 253 if(IntSel == L3GD20_INT1)
Jerome Coutant 1:917af0ca86df 254 {
Jerome Coutant 1:917af0ca86df 255 tmpreg &= 0x7F;
Jerome Coutant 1:917af0ca86df 256 tmpreg |= L3GD20_INT1INTERRUPT_DISABLE;
Jerome Coutant 1:917af0ca86df 257 }
Jerome Coutant 1:917af0ca86df 258 else if(IntSel == L3GD20_INT2)
Jerome Coutant 1:917af0ca86df 259 {
Jerome Coutant 1:917af0ca86df 260 tmpreg &= 0xF7;
Jerome Coutant 1:917af0ca86df 261 tmpreg |= L3GD20_INT2INTERRUPT_DISABLE;
Jerome Coutant 1:917af0ca86df 262 }
Jerome Coutant 1:917af0ca86df 263
Jerome Coutant 1:917af0ca86df 264 /* Write value to MEMS CTRL_REG3 register */
Jerome Coutant 1:917af0ca86df 265 GYRO_IO_Write(&tmpreg, L3GD20_CTRL_REG3_ADDR, 1);
Jerome Coutant 1:917af0ca86df 266 }
Jerome Coutant 1:917af0ca86df 267
Jerome Coutant 1:917af0ca86df 268 /**
Jerome Coutant 1:917af0ca86df 269 * @brief Set High Pass Filter Modality
Jerome Coutant 1:917af0ca86df 270 * @param FilterStruct: contains the configuration setting for the L3GD20.
Jerome Coutant 1:917af0ca86df 271 * @retval None
Jerome Coutant 1:917af0ca86df 272 */
Jerome Coutant 1:917af0ca86df 273 void L3GD20_FilterConfig(uint8_t FilterStruct)
Jerome Coutant 1:917af0ca86df 274 {
Jerome Coutant 1:917af0ca86df 275 uint8_t tmpreg;
Jerome Coutant 1:917af0ca86df 276
Jerome Coutant 1:917af0ca86df 277 /* Read CTRL_REG2 register */
Jerome Coutant 1:917af0ca86df 278 GYRO_IO_Read(&tmpreg, L3GD20_CTRL_REG2_ADDR, 1);
Jerome Coutant 1:917af0ca86df 279
Jerome Coutant 1:917af0ca86df 280 tmpreg &= 0xC0;
Jerome Coutant 1:917af0ca86df 281
Jerome Coutant 1:917af0ca86df 282 /* Configure MEMS: mode and cutoff frequency */
Jerome Coutant 1:917af0ca86df 283 tmpreg |= FilterStruct;
Jerome Coutant 1:917af0ca86df 284
Jerome Coutant 1:917af0ca86df 285 /* Write value to MEMS CTRL_REG2 register */
Jerome Coutant 1:917af0ca86df 286 GYRO_IO_Write(&tmpreg, L3GD20_CTRL_REG2_ADDR, 1);
Jerome Coutant 1:917af0ca86df 287 }
Jerome Coutant 1:917af0ca86df 288
Jerome Coutant 1:917af0ca86df 289 /**
Jerome Coutant 1:917af0ca86df 290 * @brief Enable or Disable High Pass Filter
Jerome Coutant 1:917af0ca86df 291 * @param HighPassFilterState: new state of the High Pass Filter feature.
Jerome Coutant 1:917af0ca86df 292 * This parameter can be:
Jerome Coutant 1:917af0ca86df 293 * @arg: L3GD20_HIGHPASSFILTER_DISABLE
Jerome Coutant 1:917af0ca86df 294 * @arg: L3GD20_HIGHPASSFILTER_ENABLE
Jerome Coutant 1:917af0ca86df 295 * @retval None
Jerome Coutant 1:917af0ca86df 296 */
Jerome Coutant 1:917af0ca86df 297 void L3GD20_FilterCmd(uint8_t HighPassFilterState)
Jerome Coutant 1:917af0ca86df 298 {
Jerome Coutant 1:917af0ca86df 299 uint8_t tmpreg;
Jerome Coutant 1:917af0ca86df 300
Jerome Coutant 1:917af0ca86df 301 /* Read CTRL_REG5 register */
Jerome Coutant 1:917af0ca86df 302 GYRO_IO_Read(&tmpreg, L3GD20_CTRL_REG5_ADDR, 1);
Jerome Coutant 1:917af0ca86df 303
Jerome Coutant 1:917af0ca86df 304 tmpreg &= 0xEF;
Jerome Coutant 1:917af0ca86df 305
Jerome Coutant 1:917af0ca86df 306 tmpreg |= HighPassFilterState;
Jerome Coutant 1:917af0ca86df 307
Jerome Coutant 1:917af0ca86df 308 /* Write value to MEMS CTRL_REG5 register */
Jerome Coutant 1:917af0ca86df 309 GYRO_IO_Write(&tmpreg, L3GD20_CTRL_REG5_ADDR, 1);
Jerome Coutant 1:917af0ca86df 310 }
Jerome Coutant 1:917af0ca86df 311
Jerome Coutant 1:917af0ca86df 312 /**
Jerome Coutant 1:917af0ca86df 313 * @brief Get status for L3GD20 data
Jerome Coutant 1:917af0ca86df 314 * @param None
Jerome Coutant 1:917af0ca86df 315 * @retval Data status in a L3GD20 Data
Jerome Coutant 1:917af0ca86df 316 */
Jerome Coutant 1:917af0ca86df 317 uint8_t L3GD20_GetDataStatus(void)
Jerome Coutant 1:917af0ca86df 318 {
Jerome Coutant 1:917af0ca86df 319 uint8_t tmpreg;
Jerome Coutant 1:917af0ca86df 320
Jerome Coutant 1:917af0ca86df 321 /* Read STATUS_REG register */
Jerome Coutant 1:917af0ca86df 322 GYRO_IO_Read(&tmpreg, L3GD20_STATUS_REG_ADDR, 1);
Jerome Coutant 1:917af0ca86df 323
Jerome Coutant 1:917af0ca86df 324 return tmpreg;
Jerome Coutant 1:917af0ca86df 325 }
Jerome Coutant 1:917af0ca86df 326
Jerome Coutant 1:917af0ca86df 327 /**
Jerome Coutant 1:917af0ca86df 328 * @brief Calculate the L3GD20 angular data.
Jerome Coutant 1:917af0ca86df 329 * @param pfData: Data out pointer
Jerome Coutant 1:917af0ca86df 330 * @retval None
Jerome Coutant 1:917af0ca86df 331 */
Jerome Coutant 1:917af0ca86df 332 void L3GD20_ReadXYZAngRate(float *pfData)
Jerome Coutant 1:917af0ca86df 333 {
Jerome Coutant 1:917af0ca86df 334 uint8_t tmpbuffer[6] ={0};
Jerome Coutant 1:917af0ca86df 335 int16_t RawData[3] = {0};
Jerome Coutant 1:917af0ca86df 336 uint8_t tmpreg = 0;
Jerome Coutant 1:917af0ca86df 337 float sensitivity = 0;
Jerome Coutant 1:917af0ca86df 338 int i =0;
Jerome Coutant 1:917af0ca86df 339
Jerome Coutant 1:917af0ca86df 340 GYRO_IO_Read(&tmpreg,L3GD20_CTRL_REG4_ADDR,1);
Jerome Coutant 1:917af0ca86df 341
Jerome Coutant 1:917af0ca86df 342 GYRO_IO_Read(tmpbuffer,L3GD20_OUT_X_L_ADDR,6);
Jerome Coutant 1:917af0ca86df 343
Jerome Coutant 1:917af0ca86df 344 /* check in the control register 4 the data alignment (Big Endian or Little Endian)*/
Jerome Coutant 1:917af0ca86df 345 if(!(tmpreg & L3GD20_BLE_MSB))
Jerome Coutant 1:917af0ca86df 346 {
Jerome Coutant 1:917af0ca86df 347 for(i=0; i<3; i++)
Jerome Coutant 1:917af0ca86df 348 {
Jerome Coutant 1:917af0ca86df 349 RawData[i]=(int16_t)(((uint16_t)tmpbuffer[2*i+1] << 8) + tmpbuffer[2*i]);
Jerome Coutant 1:917af0ca86df 350 }
Jerome Coutant 1:917af0ca86df 351 }
Jerome Coutant 1:917af0ca86df 352 else
Jerome Coutant 1:917af0ca86df 353 {
Jerome Coutant 1:917af0ca86df 354 for(i=0; i<3; i++)
Jerome Coutant 1:917af0ca86df 355 {
Jerome Coutant 1:917af0ca86df 356 RawData[i]=(int16_t)(((uint16_t)tmpbuffer[2*i] << 8) + tmpbuffer[2*i+1]);
Jerome Coutant 1:917af0ca86df 357 }
Jerome Coutant 1:917af0ca86df 358 }
Jerome Coutant 1:917af0ca86df 359
Jerome Coutant 1:917af0ca86df 360 /* Switch the sensitivity value set in the CRTL4 */
Jerome Coutant 1:917af0ca86df 361 switch(tmpreg & L3GD20_FULLSCALE_SELECTION)
Jerome Coutant 1:917af0ca86df 362 {
Jerome Coutant 1:917af0ca86df 363 case L3GD20_FULLSCALE_250:
Jerome Coutant 1:917af0ca86df 364 sensitivity=L3GD20_SENSITIVITY_250DPS;
Jerome Coutant 1:917af0ca86df 365 break;
Jerome Coutant 1:917af0ca86df 366
Jerome Coutant 1:917af0ca86df 367 case L3GD20_FULLSCALE_500:
Jerome Coutant 1:917af0ca86df 368 sensitivity=L3GD20_SENSITIVITY_500DPS;
Jerome Coutant 1:917af0ca86df 369 break;
Jerome Coutant 1:917af0ca86df 370
Jerome Coutant 1:917af0ca86df 371 case L3GD20_FULLSCALE_2000:
Jerome Coutant 1:917af0ca86df 372 sensitivity=L3GD20_SENSITIVITY_2000DPS;
Jerome Coutant 1:917af0ca86df 373 break;
Jerome Coutant 1:917af0ca86df 374 }
Jerome Coutant 1:917af0ca86df 375 /* Divide by sensitivity */
Jerome Coutant 1:917af0ca86df 376 for(i=0; i<3; i++)
Jerome Coutant 1:917af0ca86df 377 {
Jerome Coutant 1:917af0ca86df 378 pfData[i]=(float)(RawData[i] * sensitivity);
Jerome Coutant 1:917af0ca86df 379 }
Jerome Coutant 1:917af0ca86df 380 }
Jerome Coutant 1:917af0ca86df 381
Jerome Coutant 1:917af0ca86df 382 /**
Jerome Coutant 1:917af0ca86df 383 * @}
Jerome Coutant 1:917af0ca86df 384 */
Jerome Coutant 1:917af0ca86df 385
Jerome Coutant 1:917af0ca86df 386 /**
Jerome Coutant 1:917af0ca86df 387 * @}
Jerome Coutant 1:917af0ca86df 388 */
Jerome Coutant 1:917af0ca86df 389
Jerome Coutant 1:917af0ca86df 390 /**
Jerome Coutant 1:917af0ca86df 391 * @}
Jerome Coutant 1:917af0ca86df 392 */
Jerome Coutant 1:917af0ca86df 393
Jerome Coutant 1:917af0ca86df 394 /**
Jerome Coutant 1:917af0ca86df 395 * @}
Jerome Coutant 1:917af0ca86df 396 */
Jerome Coutant 1:917af0ca86df 397
Jerome Coutant 1:917af0ca86df 398 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/