stm32l476g_discovery_gyroscope.c

00001 /**
00002   ******************************************************************************
00003   * @file    stm32l476g_discovery_gyroscope.c
00004   * @author  MCD Application Team
00005   * @brief   This file provides a set of functions needed to manage the L3GD20
00006   *          MEMS accelerometer available on STM32L476G-Discovery board.
00007   ******************************************************************************
00008   * @attention
00009   *
00010   * <h2><center>&copy; Copyright (c) 2016 STMicroelectronics.
00011   * All rights reserved.</center></h2>
00012   *
00013   * This software component is licensed by ST under BSD 3-Clause license,
00014   * the "License"; You may not use this file except in compliance with the
00015   * License. You may obtain a copy of the License at:
00016   *                        opensource.org/licenses/BSD-3-Clause
00017   *
00018   ******************************************************************************
00019   */
00020 
00021 /* Includes ------------------------------------------------------------------*/
00022 #include "stm32l476g_discovery_gyroscope.h"
00023 
00024 /** @addtogroup BSP
00025   * @{
00026   */
00027 
00028 /** @addtogroup STM32L476G_DISCOVERY
00029   * @{
00030   */
00031 
00032 /** @defgroup STM32L476G_DISCOVERY_GYROSCOPE STM32L476G-DISCOVERY GYROSCOPE
00033   * @{
00034   */
00035 
00036 /* Private typedef -----------------------------------------------------------*/
00037 /** @defgroup STM32L476G_DISCOVERY_GYROSCOPE_Private_Types Private Types
00038   * @{
00039   */
00040 /**
00041   * @}
00042   */
00043 
00044 /* Private defines ------------------------------------------------------------*/
00045 /** @defgroup STM32L476G_DISCOVERY_GYROSCOPE_Private_Constants Private Constants
00046   * @{
00047   */
00048 /**
00049   * @}
00050   */
00051 
00052 /* Private macros ------------------------------------------------------------*/
00053 /** @defgroup STM32L476G_DISCOVERY_GYROSCOPE_Private_Macros Private Macros
00054   * @{
00055   */
00056 /**
00057   * @}
00058   */
00059 
00060 /* Private variables ---------------------------------------------------------*/
00061 /** @defgroup STM32L476G_DISCOVERY_GYROSCOPE_Private_Variables Private Variables
00062   * @{
00063   */
00064 static GYRO_DrvTypeDef *GyroscopeDrv;
00065 
00066 /**
00067   * @}
00068   */
00069 
00070 /* Private function prototypes -----------------------------------------------*/
00071 /** @defgroup STM32L476G_DISCOVERY_GYROSCOPE_Private_FunctionPrototypes Private Functions
00072   * @{
00073   */
00074 /**
00075   * @}
00076   */
00077 
00078 /* Exported functions --------------------------------------------------------*/
00079 /** @addtogroup STM32L476G_DISCOVERY_GYROSCOPE_Exported_Functions
00080   * @{
00081   */
00082 
00083 /**
00084   * @brief  Initialize Gyroscope.
00085   * @retval GYRO_OK or GYRO_ERROR
00086   */
00087 uint8_t BSP_GYRO_Init(void)
00088 {
00089   uint8_t ret = GYRO_ERROR;
00090   uint16_t ctrl = 0x0000;
00091   GYRO_InitTypeDef L3GD20_InitStructure;
00092   GYRO_FilterConfigTypeDef L3GD20_FilterStructure = {0, 0};
00093 
00094   if ((L3gd20Drv.ReadID() == I_AM_L3GD20) || (L3gd20Drv.ReadID() == I_AM_L3GD20_TR))
00095   {
00096     /* Initialize the gyroscope driver structure */
00097     GyroscopeDrv = &L3gd20Drv;
00098 
00099     /* Configure Mems : data rate, power mode, full scale and axes */
00100     L3GD20_InitStructure.Power_Mode = L3GD20_MODE_ACTIVE;
00101     L3GD20_InitStructure.Output_DataRate = L3GD20_OUTPUT_DATARATE_1;
00102     L3GD20_InitStructure.Axes_Enable = L3GD20_AXES_ENABLE;
00103     L3GD20_InitStructure.Band_Width = L3GD20_BANDWIDTH_4;
00104     L3GD20_InitStructure.BlockData_Update = L3GD20_BlockDataUpdate_Continous;
00105     L3GD20_InitStructure.Endianness = L3GD20_BLE_LSB;
00106     L3GD20_InitStructure.Full_Scale = L3GD20_FULLSCALE_500;
00107 
00108     /* Configure MEMS: data rate, power mode, full scale and axes */
00109     ctrl = (uint16_t)(L3GD20_InitStructure.Power_Mode | L3GD20_InitStructure.Output_DataRate | \
00110                       L3GD20_InitStructure.Axes_Enable | L3GD20_InitStructure.Band_Width);
00111 
00112     ctrl |= (uint16_t)((L3GD20_InitStructure.BlockData_Update | L3GD20_InitStructure.Endianness | \
00113                         L3GD20_InitStructure.Full_Scale) << 8);
00114 
00115     /* Initialize component */
00116     GyroscopeDrv->Init(ctrl);
00117 
00118     L3GD20_FilterStructure.HighPassFilter_Mode_Selection = L3GD20_HPM_NORMAL_MODE_RES;
00119     L3GD20_FilterStructure.HighPassFilter_CutOff_Frequency = L3GD20_HPFCF_0;
00120 
00121     ctrl = (uint8_t)((L3GD20_FilterStructure.HighPassFilter_Mode_Selection | \
00122                       L3GD20_FilterStructure.HighPassFilter_CutOff_Frequency));
00123 
00124     /* Configure component filter */
00125     GyroscopeDrv->FilterConfig(ctrl) ;
00126 
00127     /* Enable component filter */
00128     GyroscopeDrv->FilterCmd(L3GD20_HIGHPASSFILTER_ENABLE);
00129 
00130     ret = GYRO_OK;
00131   }
00132   else
00133   {
00134     ret = GYRO_ERROR;
00135   }
00136 
00137   return ret;
00138 }
00139 
00140 
00141 /**
00142   * @brief  DeInitialize Gyroscope.
00143   * @retval None
00144   */
00145 void BSP_GYRO_DeInit(void)
00146 {
00147   GYRO_IO_DeInit();
00148 }
00149 
00150 
00151 /**
00152   * @brief  Put Gyroscope in low power mode.
00153   * @retval None
00154   */
00155 void BSP_GYRO_LowPower(void)
00156 {
00157   uint16_t ctrl = 0x0000;
00158   GYRO_InitTypeDef L3GD20_InitStructure;
00159 
00160   /* configure only Power_Mode field */
00161   L3GD20_InitStructure.Power_Mode = L3GD20_MODE_POWERDOWN;
00162 
00163   ctrl = (uint16_t)(L3GD20_InitStructure.Power_Mode);
00164 
00165   /* Set component in low-power mode */
00166   GyroscopeDrv->LowPower(ctrl);
00167 
00168 
00169 }
00170 
00171 /**
00172   * @brief  Read ID of Gyroscope component.
00173   * @retval ID
00174   */
00175 uint8_t BSP_GYRO_ReadID(void)
00176 {
00177   uint8_t id = 0x00;
00178 
00179   if (GyroscopeDrv->ReadID != NULL)
00180   {
00181     id = GyroscopeDrv->ReadID();
00182   }
00183   return id;
00184 }
00185 
00186 /**
00187   * @brief  Reboot memory content of Gyroscope.
00188   * @retval None
00189   */
00190 void BSP_GYRO_Reset(void)
00191 {
00192   if (GyroscopeDrv->Reset != NULL)
00193   {
00194     GyroscopeDrv->Reset();
00195   }
00196 }
00197 
00198 /**
00199   * @brief  Configure Gyroscope interrupts (INT1 or INT2).
00200   * @param  pIntConfig: pointer to a GYRO_InterruptConfigTypeDef
00201   *         structure that contains the configuration setting for the L3GD20 Interrupt.
00202   * @retval None
00203   */
00204 void BSP_GYRO_ITConfig(GYRO_InterruptConfigTypeDef *pIntConfig)
00205 {
00206   uint16_t interruptconfig = 0x0000;
00207 
00208   if (GyroscopeDrv->ConfigIT != NULL)
00209   {
00210     /* Configure latch Interrupt request and axe interrupts */
00211     interruptconfig |= ((uint8_t)(pIntConfig->Latch_Request | \
00212                                   pIntConfig->Interrupt_Axes) << 8);
00213 
00214     interruptconfig |= (uint8_t)(pIntConfig->Interrupt_ActiveEdge);
00215 
00216     GyroscopeDrv->ConfigIT(interruptconfig);
00217   }
00218 }
00219 
00220 /**
00221   * @brief  Enable Gyroscope interrupts (INT1 or INT2).
00222   * @param  IntPin: Interrupt pin
00223   *      This parameter can be:
00224   *        @arg L3GD20_INT1
00225   *        @arg L3GD20_INT2
00226   * @retval None
00227   */
00228 void BSP_GYRO_EnableIT(uint8_t IntPin)
00229 {
00230   if (GyroscopeDrv->EnableIT != NULL)
00231   {
00232     GyroscopeDrv->EnableIT(IntPin);
00233   }
00234 }
00235 
00236 /**
00237   * @brief  Disable Gyroscope interrupts (INT1 or INT2).
00238   * @param  IntPin: Interrupt pin
00239   *      This parameter can be:
00240   *        @arg L3GD20_INT1
00241   *        @arg L3GD20_INT2
00242   * @retval None
00243   */
00244 void BSP_GYRO_DisableIT(uint8_t IntPin)
00245 {
00246   if (GyroscopeDrv->DisableIT != NULL)
00247   {
00248     GyroscopeDrv->DisableIT(IntPin);
00249   }
00250 }
00251 
00252 /**
00253   * @brief  Get XYZ angular acceleration from the Gyroscope.
00254   * @param  pfData: pointer on floating array
00255   * @retval None
00256   */
00257 void BSP_GYRO_GetXYZ(float *pfData)
00258 {
00259   if (GyroscopeDrv->GetXYZ != NULL)
00260   {
00261     GyroscopeDrv->GetXYZ(pfData);
00262   }
00263 }
00264 
00265 /**
00266   * @}
00267   */
00268 
00269 /**
00270   * @}
00271   */
00272 
00273 /**
00274   * @}
00275   */
00276 
00277 /**
00278   * @}
00279   */
00280 
00281 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/