l3gd20.h

00001 /**
00002   ******************************************************************************
00003   * @file    l3gd20.h
00004   * @author  MCD Application Team
00005   * @brief   This file contains all the functions prototypes for the l3gd20.c driver.
00006   ******************************************************************************
00007   * @attention
00008   *
00009   * <h2><center>&copy; Copyright (c) 2015 STMicroelectronics.
00010   * All rights reserved.</center></h2>
00011   *
00012   * This software component is licensed by ST under BSD 3-Clause license,
00013   * the "License"; You may not use this file except in compliance with the
00014   * License. You may obtain a copy of the License at:
00015   *                        opensource.org/licenses/BSD-3-Clause
00016   *
00017   ******************************************************************************
00018   */
00019   
00020 
00021 /* Define to prevent recursive inclusion -------------------------------------*/
00022 #ifndef __L3GD20_H
00023 #define __L3GD20_H
00024 
00025 #ifdef __cplusplus
00026  extern "C" {
00027 #endif
00028 
00029 /* Includes ------------------------------------------------------------------*/
00030 #include "../Common/gyro.h"
00031 
00032 /** @addtogroup BSP
00033   * @{
00034   */ 
00035 
00036 /** @addtogroup Components
00037   * @{
00038   */ 
00039 
00040 /** @addtogroup L3GD20
00041   * @{
00042   */
00043   
00044 /** @defgroup L3GD20_Exported_Constants
00045   * @{
00046   */
00047 
00048 /******************************************************************************/
00049 /*************************** START REGISTER MAPPING  **************************/
00050 /******************************************************************************/
00051 #define L3GD20_WHO_AM_I_ADDR          0x0F  /* device identification register */
00052 #define L3GD20_CTRL_REG1_ADDR         0x20  /* Control register 1 */
00053 #define L3GD20_CTRL_REG2_ADDR         0x21  /* Control register 2 */
00054 #define L3GD20_CTRL_REG3_ADDR         0x22  /* Control register 3 */
00055 #define L3GD20_CTRL_REG4_ADDR         0x23  /* Control register 4 */
00056 #define L3GD20_CTRL_REG5_ADDR         0x24  /* Control register 5 */
00057 #define L3GD20_REFERENCE_REG_ADDR     0x25  /* Reference register */
00058 #define L3GD20_OUT_TEMP_ADDR          0x26  /* Out temp register */
00059 #define L3GD20_STATUS_REG_ADDR        0x27  /* Status register */
00060 #define L3GD20_OUT_X_L_ADDR           0x28  /* Output Register X */
00061 #define L3GD20_OUT_X_H_ADDR           0x29  /* Output Register X */
00062 #define L3GD20_OUT_Y_L_ADDR           0x2A  /* Output Register Y */
00063 #define L3GD20_OUT_Y_H_ADDR           0x2B  /* Output Register Y */
00064 #define L3GD20_OUT_Z_L_ADDR           0x2C  /* Output Register Z */
00065 #define L3GD20_OUT_Z_H_ADDR           0x2D  /* Output Register Z */ 
00066 #define L3GD20_FIFO_CTRL_REG_ADDR     0x2E  /* Fifo control Register */
00067 #define L3GD20_FIFO_SRC_REG_ADDR      0x2F  /* Fifo src Register */
00068 
00069 #define L3GD20_INT1_CFG_ADDR          0x30  /* Interrupt 1 configuration Register */
00070 #define L3GD20_INT1_SRC_ADDR          0x31  /* Interrupt 1 source Register */
00071 #define L3GD20_INT1_TSH_XH_ADDR       0x32  /* Interrupt 1 Threshold X register */
00072 #define L3GD20_INT1_TSH_XL_ADDR       0x33  /* Interrupt 1 Threshold X register */
00073 #define L3GD20_INT1_TSH_YH_ADDR       0x34  /* Interrupt 1 Threshold Y register */
00074 #define L3GD20_INT1_TSH_YL_ADDR       0x35  /* Interrupt 1 Threshold Y register */
00075 #define L3GD20_INT1_TSH_ZH_ADDR       0x36  /* Interrupt 1 Threshold Z register */
00076 #define L3GD20_INT1_TSH_ZL_ADDR       0x37  /* Interrupt 1 Threshold Z register */
00077 #define L3GD20_INT1_DURATION_ADDR     0x38  /* Interrupt 1 DURATION register */
00078 
00079 /******************************************************************************/
00080 /**************************** END REGISTER MAPPING  ***************************/
00081 /******************************************************************************/
00082 
00083 #define I_AM_L3GD20                 ((uint8_t)0xD4)
00084 #define I_AM_L3GD20_TR              ((uint8_t)0xD5)
00085 
00086 /** @defgroup Power_Mode_selection 
00087   * @{
00088   */
00089 #define L3GD20_MODE_POWERDOWN       ((uint8_t)0x00)
00090 #define L3GD20_MODE_ACTIVE          ((uint8_t)0x08)
00091 /**
00092   * @}
00093   */
00094 
00095 /** @defgroup OutPut_DataRate_Selection 
00096   * @{
00097   */
00098 #define L3GD20_OUTPUT_DATARATE_1    ((uint8_t)0x00)
00099 #define L3GD20_OUTPUT_DATARATE_2    ((uint8_t)0x40)
00100 #define L3GD20_OUTPUT_DATARATE_3    ((uint8_t)0x80)
00101 #define L3GD20_OUTPUT_DATARATE_4    ((uint8_t)0xC0)
00102 /**
00103   * @}
00104   */
00105 
00106 /** @defgroup Axes_Selection 
00107   * @{
00108   */
00109 #define L3GD20_X_ENABLE            ((uint8_t)0x02)
00110 #define L3GD20_Y_ENABLE            ((uint8_t)0x01)
00111 #define L3GD20_Z_ENABLE            ((uint8_t)0x04)
00112 #define L3GD20_AXES_ENABLE         ((uint8_t)0x07)
00113 #define L3GD20_AXES_DISABLE        ((uint8_t)0x00)
00114 /**
00115   * @}
00116   */
00117 
00118 /** @defgroup Bandwidth_Selection 
00119   * @{
00120   */
00121 #define L3GD20_BANDWIDTH_1         ((uint8_t)0x00)
00122 #define L3GD20_BANDWIDTH_2         ((uint8_t)0x10)
00123 #define L3GD20_BANDWIDTH_3         ((uint8_t)0x20)
00124 #define L3GD20_BANDWIDTH_4         ((uint8_t)0x30)
00125 /**
00126   * @}
00127   */
00128 
00129 /** @defgroup Full_Scale_Selection 
00130   * @{
00131   */
00132 #define L3GD20_FULLSCALE_250       ((uint8_t)0x00)
00133 #define L3GD20_FULLSCALE_500       ((uint8_t)0x10)
00134 #define L3GD20_FULLSCALE_2000      ((uint8_t)0x20) 
00135 #define L3GD20_FULLSCALE_SELECTION ((uint8_t)0x30)
00136 /**
00137   * @}
00138   */
00139 
00140 /** @defgroup Full_Scale_Sensitivity 
00141   * @{
00142   */
00143 #define L3GD20_SENSITIVITY_250DPS  ((float)8.75f)         /*!< gyroscope sensitivity with 250 dps full scale [DPS/LSB]  */
00144 #define L3GD20_SENSITIVITY_500DPS  ((float)17.50f)        /*!< gyroscope sensitivity with 500 dps full scale [DPS/LSB]  */
00145 #define L3GD20_SENSITIVITY_2000DPS ((float)70.00f)        /*!< gyroscope sensitivity with 2000 dps full scale [DPS/LSB] */
00146 /**
00147   * @}
00148   */
00149 
00150   
00151 /** @defgroup Block_Data_Update 
00152   * @{
00153   */  
00154 #define L3GD20_BlockDataUpdate_Continous   ((uint8_t)0x00)
00155 #define L3GD20_BlockDataUpdate_Single      ((uint8_t)0x80)
00156 /**
00157   * @}
00158   */
00159   
00160 /** @defgroup Endian_Data_selection
00161   * @{
00162   */  
00163 #define L3GD20_BLE_LSB                     ((uint8_t)0x00)
00164 #define L3GD20_BLE_MSB                     ((uint8_t)0x40)
00165 /**
00166   * @}
00167   */
00168   
00169 /** @defgroup High_Pass_Filter_status 
00170   * @{
00171   */   
00172 #define L3GD20_HIGHPASSFILTER_DISABLE      ((uint8_t)0x00)
00173 #define L3GD20_HIGHPASSFILTER_ENABLE         ((uint8_t)0x10)
00174 /**
00175   * @}
00176   */
00177 
00178 /** @defgroup INT1_INT2_selection 
00179   * @{
00180   */   
00181 #define L3GD20_INT1                        ((uint8_t)0x00)
00182 #define L3GD20_INT2                        ((uint8_t)0x01)
00183 /**
00184   * @}
00185   */
00186 
00187 /** @defgroup INT1_Interrupt_status 
00188   * @{
00189   */   
00190 #define L3GD20_INT1INTERRUPT_DISABLE       ((uint8_t)0x00)
00191 #define L3GD20_INT1INTERRUPT_ENABLE        ((uint8_t)0x80)
00192 /**
00193   * @}
00194   */
00195 
00196 /** @defgroup INT2_Interrupt_status 
00197   * @{
00198   */   
00199 #define L3GD20_INT2INTERRUPT_DISABLE       ((uint8_t)0x00)
00200 #define L3GD20_INT2INTERRUPT_ENABLE        ((uint8_t)0x08)
00201 /**
00202   * @}
00203   */
00204 
00205 /** @defgroup INT1_Interrupt_ActiveEdge 
00206   * @{
00207   */   
00208 #define L3GD20_INT1INTERRUPT_LOW_EDGE      ((uint8_t)0x20)
00209 #define L3GD20_INT1INTERRUPT_HIGH_EDGE     ((uint8_t)0x00)
00210 /**
00211   * @}
00212   */
00213   
00214 /** @defgroup Boot_Mode_selection 
00215   * @{
00216   */
00217 #define L3GD20_BOOT_NORMALMODE             ((uint8_t)0x00)
00218 #define L3GD20_BOOT_REBOOTMEMORY           ((uint8_t)0x80)
00219 /**
00220   * @}
00221   */  
00222  
00223 /** @defgroup High_Pass_Filter_Mode 
00224   * @{
00225   */   
00226 #define L3GD20_HPM_NORMAL_MODE_RES         ((uint8_t)0x00)
00227 #define L3GD20_HPM_REF_SIGNAL              ((uint8_t)0x10)
00228 #define L3GD20_HPM_NORMAL_MODE             ((uint8_t)0x20)
00229 #define L3GD20_HPM_AUTORESET_INT           ((uint8_t)0x30)
00230 /**
00231   * @}
00232   */
00233 
00234 /** @defgroup High_Pass_CUT OFF_Frequency 
00235   * @{
00236   */   
00237 #define L3GD20_HPFCF_0              0x00
00238 #define L3GD20_HPFCF_1              0x01
00239 #define L3GD20_HPFCF_2              0x02
00240 #define L3GD20_HPFCF_3              0x03
00241 #define L3GD20_HPFCF_4              0x04
00242 #define L3GD20_HPFCF_5              0x05
00243 #define L3GD20_HPFCF_6              0x06
00244 #define L3GD20_HPFCF_7              0x07
00245 #define L3GD20_HPFCF_8              0x08
00246 #define L3GD20_HPFCF_9              0x09
00247 /**
00248   * @}
00249   */
00250 
00251 /**
00252   * @}
00253   */
00254 /** @defgroup L3GD20_Exported_Functions
00255   * @{
00256   */
00257 /* Sensor Configuration Functions */ 
00258 void    L3GD20_Init(uint16_t InitStruct);
00259 void    L3GD20_DeInit(void);
00260 void    L3GD20_LowPower(uint16_t InitStruct);
00261 uint8_t L3GD20_ReadID(void);
00262 void    L3GD20_RebootCmd(void);
00263 
00264 /* Interrupt Configuration Functions */
00265 void    L3GD20_INT1InterruptConfig(uint16_t Int1Config);
00266 void    L3GD20_EnableIT(uint8_t IntSel);
00267 void    L3GD20_DisableIT(uint8_t IntSel);
00268 
00269 /* High Pass Filter Configuration Functions */
00270 void    L3GD20_FilterConfig(uint8_t FilterStruct);
00271 void    L3GD20_FilterCmd(uint8_t HighPassFilterState);
00272 void    L3GD20_ReadXYZAngRate(float *pfData);
00273 uint8_t L3GD20_GetDataStatus(void);
00274 
00275 /* Gyroscope IO functions */
00276 void    GYRO_IO_Init(void);
00277 void    GYRO_IO_DeInit(void);
00278 void    GYRO_IO_Write(uint8_t *pBuffer, uint8_t WriteAddr, uint16_t NumByteToWrite);
00279 void    GYRO_IO_Read(uint8_t *pBuffer, uint8_t ReadAddr, uint16_t NumByteToRead);
00280 
00281 /* Gyroscope driver structure */
00282 extern GYRO_DrvTypeDef L3gd20Drv;
00283 
00284 /**
00285   * @}
00286   */
00287 
00288 /**
00289   * @}
00290   */
00291 
00292 /**
00293   * @}
00294   */ 
00295   
00296 /**
00297   * @}
00298   */ 
00299 
00300 #ifdef __cplusplus
00301   }
00302 #endif
00303   
00304 #endif /* __L3GD20_H */
00305 
00306 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/