Senior Design: Sound Monitor / BSP

BSP Drivers

Dependencies:   CMSIS_STM32L4xx CMSIS_DSP_401 STM32L4xx_HAL_Driver

Dependents:   DiscoAudioRecord

Components/l3gd20/l3gd20.c@0:ad9dfc0179dc, 2015-11-02 (annotated)

Committer:
EricLew
Date:
Mon Nov 02 19:38:36 2015 +0000
Revision:
0:ad9dfc0179dc
commit

Who changed what in which revision?

UserRevisionLine numberNew contents of line
EricLew 0:ad9dfc0179dc 1 /**
EricLew 0:ad9dfc0179dc 2 ******************************************************************************
EricLew 0:ad9dfc0179dc 3 * @file l3gd20.c
EricLew 0:ad9dfc0179dc 4 * @author MCD Application Team
EricLew 0:ad9dfc0179dc 5 * @version V2.0.0
EricLew 0:ad9dfc0179dc 6 * @date 26-June-2015
EricLew 0:ad9dfc0179dc 7 * @brief This file provides a set of functions needed to manage the L3GD20,
EricLew 0:ad9dfc0179dc 8 * ST MEMS motion sensor, 3-axis digital output gyroscope.
EricLew 0:ad9dfc0179dc 9 ******************************************************************************
EricLew 0:ad9dfc0179dc 10 * @attention
EricLew 0:ad9dfc0179dc 11 *
EricLew 0:ad9dfc0179dc 12 * <h2><center>&copy; COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
EricLew 0:ad9dfc0179dc 13 *
EricLew 0:ad9dfc0179dc 14 * Redistribution and use in source and binary forms, with or without modification,
EricLew 0:ad9dfc0179dc 15 * are permitted provided that the following conditions are met:
EricLew 0:ad9dfc0179dc 16 * 1. Redistributions of source code must retain the above copyright notice,
EricLew 0:ad9dfc0179dc 17 * this list of conditions and the following disclaimer.
EricLew 0:ad9dfc0179dc 18 * 2. Redistributions in binary form must reproduce the above copyright notice,
EricLew 0:ad9dfc0179dc 19 * this list of conditions and the following disclaimer in the documentation
EricLew 0:ad9dfc0179dc 20 * and/or other materials provided with the distribution.
EricLew 0:ad9dfc0179dc 21 * 3. Neither the name of STMicroelectronics nor the names of its contributors
EricLew 0:ad9dfc0179dc 22 * may be used to endorse or promote products derived from this software
EricLew 0:ad9dfc0179dc 23 * without specific prior written permission.
EricLew 0:ad9dfc0179dc 24 *
EricLew 0:ad9dfc0179dc 25 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
EricLew 0:ad9dfc0179dc 26 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
EricLew 0:ad9dfc0179dc 27 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
EricLew 0:ad9dfc0179dc 28 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
EricLew 0:ad9dfc0179dc 29 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
EricLew 0:ad9dfc0179dc 30 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
EricLew 0:ad9dfc0179dc 31 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
EricLew 0:ad9dfc0179dc 32 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
EricLew 0:ad9dfc0179dc 33 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
EricLew 0:ad9dfc0179dc 34 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
EricLew 0:ad9dfc0179dc 35 *
EricLew 0:ad9dfc0179dc 36 ******************************************************************************
EricLew 0:ad9dfc0179dc 37 */
EricLew 0:ad9dfc0179dc 38 /* Includes ------------------------------------------------------------------*/
EricLew 0:ad9dfc0179dc 39 #include "l3gd20.h"
EricLew 0:ad9dfc0179dc 40
EricLew 0:ad9dfc0179dc 41 /** @addtogroup BSP
EricLew 0:ad9dfc0179dc 42 * @{
EricLew 0:ad9dfc0179dc 43 */
EricLew 0:ad9dfc0179dc 44
EricLew 0:ad9dfc0179dc 45 /** @addtogroup Components
EricLew 0:ad9dfc0179dc 46 * @{
EricLew 0:ad9dfc0179dc 47 */
EricLew 0:ad9dfc0179dc 48
EricLew 0:ad9dfc0179dc 49 /** @addtogroup L3GD20
EricLew 0:ad9dfc0179dc 50 * @{
EricLew 0:ad9dfc0179dc 51 */
EricLew 0:ad9dfc0179dc 52
EricLew 0:ad9dfc0179dc 53 /** @defgroup L3GD20_Private_TypesDefinitions
EricLew 0:ad9dfc0179dc 54 * @{
EricLew 0:ad9dfc0179dc 55 */
EricLew 0:ad9dfc0179dc 56
EricLew 0:ad9dfc0179dc 57 /**
EricLew 0:ad9dfc0179dc 58 * @}
EricLew 0:ad9dfc0179dc 59 */
EricLew 0:ad9dfc0179dc 60
EricLew 0:ad9dfc0179dc 61 /** @defgroup L3GD20_Private_Defines
EricLew 0:ad9dfc0179dc 62 * @{
EricLew 0:ad9dfc0179dc 63 */
EricLew 0:ad9dfc0179dc 64
EricLew 0:ad9dfc0179dc 65 /**
EricLew 0:ad9dfc0179dc 66 * @}
EricLew 0:ad9dfc0179dc 67 */
EricLew 0:ad9dfc0179dc 68
EricLew 0:ad9dfc0179dc 69 /** @defgroup L3GD20_Private_Macros
EricLew 0:ad9dfc0179dc 70 * @{
EricLew 0:ad9dfc0179dc 71 */
EricLew 0:ad9dfc0179dc 72
EricLew 0:ad9dfc0179dc 73 /**
EricLew 0:ad9dfc0179dc 74 * @}
EricLew 0:ad9dfc0179dc 75 */
EricLew 0:ad9dfc0179dc 76
EricLew 0:ad9dfc0179dc 77 /** @defgroup L3GD20_Private_Variables
EricLew 0:ad9dfc0179dc 78 * @{
EricLew 0:ad9dfc0179dc 79 */
EricLew 0:ad9dfc0179dc 80 GYRO_DrvTypeDef L3gd20Drv =
EricLew 0:ad9dfc0179dc 81 {
EricLew 0:ad9dfc0179dc 82 L3GD20_Init,
EricLew 0:ad9dfc0179dc 83 L3GD20_DeInit,
EricLew 0:ad9dfc0179dc 84 L3GD20_ReadID,
EricLew 0:ad9dfc0179dc 85 L3GD20_RebootCmd,
EricLew 0:ad9dfc0179dc 86 L3GD20_LowPower,
EricLew 0:ad9dfc0179dc 87 L3GD20_INT1InterruptConfig,
EricLew 0:ad9dfc0179dc 88 L3GD20_EnableIT,
EricLew 0:ad9dfc0179dc 89 L3GD20_DisableIT,
EricLew 0:ad9dfc0179dc 90 0,
EricLew 0:ad9dfc0179dc 91 0,
EricLew 0:ad9dfc0179dc 92 L3GD20_FilterConfig,
EricLew 0:ad9dfc0179dc 93 L3GD20_FilterCmd,
EricLew 0:ad9dfc0179dc 94 L3GD20_ReadXYZAngRate
EricLew 0:ad9dfc0179dc 95 };
EricLew 0:ad9dfc0179dc 96
EricLew 0:ad9dfc0179dc 97 /**
EricLew 0:ad9dfc0179dc 98 * @}
EricLew 0:ad9dfc0179dc 99 */
EricLew 0:ad9dfc0179dc 100
EricLew 0:ad9dfc0179dc 101 /** @defgroup L3GD20_Private_FunctionPrototypes
EricLew 0:ad9dfc0179dc 102 * @{
EricLew 0:ad9dfc0179dc 103 */
EricLew 0:ad9dfc0179dc 104
EricLew 0:ad9dfc0179dc 105 /**
EricLew 0:ad9dfc0179dc 106 * @}
EricLew 0:ad9dfc0179dc 107 */
EricLew 0:ad9dfc0179dc 108
EricLew 0:ad9dfc0179dc 109 /** @defgroup L3GD20_Private_Functions
EricLew 0:ad9dfc0179dc 110 * @{
EricLew 0:ad9dfc0179dc 111 */
EricLew 0:ad9dfc0179dc 112
EricLew 0:ad9dfc0179dc 113 /**
EricLew 0:ad9dfc0179dc 114 * @brief Set L3GD20 Initialization.
EricLew 0:ad9dfc0179dc 115 * @param L3GD20_InitStruct: pointer to a L3GD20_InitTypeDef structure
EricLew 0:ad9dfc0179dc 116 * that contains the configuration setting for the L3GD20.
EricLew 0:ad9dfc0179dc 117 * @retval None
EricLew 0:ad9dfc0179dc 118 */
EricLew 0:ad9dfc0179dc 119 void L3GD20_Init(uint16_t InitStruct)
EricLew 0:ad9dfc0179dc 120 {
EricLew 0:ad9dfc0179dc 121 uint8_t ctrl = 0x00;
EricLew 0:ad9dfc0179dc 122
EricLew 0:ad9dfc0179dc 123 /* Configure the low level interface */
EricLew 0:ad9dfc0179dc 124 GYRO_IO_Init();
EricLew 0:ad9dfc0179dc 125
EricLew 0:ad9dfc0179dc 126 /* Write value to MEMS CTRL_REG1 register */
EricLew 0:ad9dfc0179dc 127 ctrl = (uint8_t) InitStruct;
EricLew 0:ad9dfc0179dc 128 GYRO_IO_Write(&ctrl, L3GD20_CTRL_REG1_ADDR, 1);
EricLew 0:ad9dfc0179dc 129
EricLew 0:ad9dfc0179dc 130 /* Write value to MEMS CTRL_REG4 register */
EricLew 0:ad9dfc0179dc 131 ctrl = (uint8_t) (InitStruct >> 8);
EricLew 0:ad9dfc0179dc 132 GYRO_IO_Write(&ctrl, L3GD20_CTRL_REG4_ADDR, 1);
EricLew 0:ad9dfc0179dc 133 }
EricLew 0:ad9dfc0179dc 134
EricLew 0:ad9dfc0179dc 135
EricLew 0:ad9dfc0179dc 136
EricLew 0:ad9dfc0179dc 137 /**
EricLew 0:ad9dfc0179dc 138 * @brief L3GD20 De-initialization
EricLew 0:ad9dfc0179dc 139 * @param None
EricLew 0:ad9dfc0179dc 140 * @retval None
EricLew 0:ad9dfc0179dc 141 */
EricLew 0:ad9dfc0179dc 142 void L3GD20_DeInit(void)
EricLew 0:ad9dfc0179dc 143 {
EricLew 0:ad9dfc0179dc 144 }
EricLew 0:ad9dfc0179dc 145
EricLew 0:ad9dfc0179dc 146 /**
EricLew 0:ad9dfc0179dc 147 * @brief Read ID address of L3GD20
EricLew 0:ad9dfc0179dc 148 * @param None
EricLew 0:ad9dfc0179dc 149 * @retval ID name
EricLew 0:ad9dfc0179dc 150 */
EricLew 0:ad9dfc0179dc 151 uint8_t L3GD20_ReadID(void)
EricLew 0:ad9dfc0179dc 152 {
EricLew 0:ad9dfc0179dc 153 uint8_t tmp;
EricLew 0:ad9dfc0179dc 154
EricLew 0:ad9dfc0179dc 155 /* Configure the low level interface */
EricLew 0:ad9dfc0179dc 156 GYRO_IO_Init();
EricLew 0:ad9dfc0179dc 157
EricLew 0:ad9dfc0179dc 158 /* Read WHO I AM register */
EricLew 0:ad9dfc0179dc 159 GYRO_IO_Read(&tmp, L3GD20_WHO_AM_I_ADDR, 1);
EricLew 0:ad9dfc0179dc 160
EricLew 0:ad9dfc0179dc 161 /* Return the ID */
EricLew 0:ad9dfc0179dc 162 return (uint8_t)tmp;
EricLew 0:ad9dfc0179dc 163 }
EricLew 0:ad9dfc0179dc 164
EricLew 0:ad9dfc0179dc 165 /**
EricLew 0:ad9dfc0179dc 166 * @brief Reboot memory content of L3GD20
EricLew 0:ad9dfc0179dc 167 * @param None
EricLew 0:ad9dfc0179dc 168 * @retval None
EricLew 0:ad9dfc0179dc 169 */
EricLew 0:ad9dfc0179dc 170 void L3GD20_RebootCmd(void)
EricLew 0:ad9dfc0179dc 171 {
EricLew 0:ad9dfc0179dc 172 uint8_t tmpreg;
EricLew 0:ad9dfc0179dc 173
EricLew 0:ad9dfc0179dc 174 /* Read CTRL_REG5 register */
EricLew 0:ad9dfc0179dc 175 GYRO_IO_Read(&tmpreg, L3GD20_CTRL_REG5_ADDR, 1);
EricLew 0:ad9dfc0179dc 176
EricLew 0:ad9dfc0179dc 177 /* Enable or Disable the reboot memory */
EricLew 0:ad9dfc0179dc 178 tmpreg |= L3GD20_BOOT_REBOOTMEMORY;
EricLew 0:ad9dfc0179dc 179
EricLew 0:ad9dfc0179dc 180 /* Write value to MEMS CTRL_REG5 register */
EricLew 0:ad9dfc0179dc 181 GYRO_IO_Write(&tmpreg, L3GD20_CTRL_REG5_ADDR, 1);
EricLew 0:ad9dfc0179dc 182 }
EricLew 0:ad9dfc0179dc 183
EricLew 0:ad9dfc0179dc 184 /**
EricLew 0:ad9dfc0179dc 185 * @brief Set L3GD20 in low-power mode
EricLew 0:ad9dfc0179dc 186 * @param
EricLew 0:ad9dfc0179dc 187 * @retval None
EricLew 0:ad9dfc0179dc 188 */
EricLew 0:ad9dfc0179dc 189 void L3GD20_LowPower(uint16_t InitStruct)
EricLew 0:ad9dfc0179dc 190 {
EricLew 0:ad9dfc0179dc 191 uint8_t ctrl = 0x00;
EricLew 0:ad9dfc0179dc 192
EricLew 0:ad9dfc0179dc 193 /* Write value to MEMS CTRL_REG1 register */
EricLew 0:ad9dfc0179dc 194 ctrl = (uint8_t) InitStruct;
EricLew 0:ad9dfc0179dc 195 GYRO_IO_Write(&ctrl, L3GD20_CTRL_REG1_ADDR, 1);
EricLew 0:ad9dfc0179dc 196 }
EricLew 0:ad9dfc0179dc 197
EricLew 0:ad9dfc0179dc 198 /**
EricLew 0:ad9dfc0179dc 199 * @brief Set L3GD20 Interrupt INT1 configuration
EricLew 0:ad9dfc0179dc 200 * @param Int1Config: the configuration setting for the L3GD20 Interrupt.
EricLew 0:ad9dfc0179dc 201 * @retval None
EricLew 0:ad9dfc0179dc 202 */
EricLew 0:ad9dfc0179dc 203 void L3GD20_INT1InterruptConfig(uint16_t Int1Config)
EricLew 0:ad9dfc0179dc 204 {
EricLew 0:ad9dfc0179dc 205 uint8_t ctrl_cfr = 0x00, ctrl3 = 0x00;
EricLew 0:ad9dfc0179dc 206
EricLew 0:ad9dfc0179dc 207 /* Read INT1_CFG register */
EricLew 0:ad9dfc0179dc 208 GYRO_IO_Read(&ctrl_cfr, L3GD20_INT1_CFG_ADDR, 1);
EricLew 0:ad9dfc0179dc 209
EricLew 0:ad9dfc0179dc 210 /* Read CTRL_REG3 register */
EricLew 0:ad9dfc0179dc 211 GYRO_IO_Read(&ctrl3, L3GD20_CTRL_REG3_ADDR, 1);
EricLew 0:ad9dfc0179dc 212
EricLew 0:ad9dfc0179dc 213 ctrl_cfr &= 0x80;
EricLew 0:ad9dfc0179dc 214 ctrl_cfr |= ((uint8_t) Int1Config >> 8);
EricLew 0:ad9dfc0179dc 215
EricLew 0:ad9dfc0179dc 216 ctrl3 &= 0xDF;
EricLew 0:ad9dfc0179dc 217 ctrl3 |= ((uint8_t) Int1Config);
EricLew 0:ad9dfc0179dc 218
EricLew 0:ad9dfc0179dc 219 /* Write value to MEMS INT1_CFG register */
EricLew 0:ad9dfc0179dc 220 GYRO_IO_Write(&ctrl_cfr, L3GD20_INT1_CFG_ADDR, 1);
EricLew 0:ad9dfc0179dc 221
EricLew 0:ad9dfc0179dc 222 /* Write value to MEMS CTRL_REG3 register */
EricLew 0:ad9dfc0179dc 223 GYRO_IO_Write(&ctrl3, L3GD20_CTRL_REG3_ADDR, 1);
EricLew 0:ad9dfc0179dc 224 }
EricLew 0:ad9dfc0179dc 225
EricLew 0:ad9dfc0179dc 226 /**
EricLew 0:ad9dfc0179dc 227 * @brief Enable INT1 or INT2 interrupt
EricLew 0:ad9dfc0179dc 228 * @param IntSel: choice of INT1 or INT2
EricLew 0:ad9dfc0179dc 229 * This parameter can be:
EricLew 0:ad9dfc0179dc 230 * @arg L3GD20_INT1
EricLew 0:ad9dfc0179dc 231 * @arg L3GD20_INT2
EricLew 0:ad9dfc0179dc 232 * @retval None
EricLew 0:ad9dfc0179dc 233 */
EricLew 0:ad9dfc0179dc 234 void L3GD20_EnableIT(uint8_t IntSel)
EricLew 0:ad9dfc0179dc 235 {
EricLew 0:ad9dfc0179dc 236 uint8_t tmpreg;
EricLew 0:ad9dfc0179dc 237
EricLew 0:ad9dfc0179dc 238 /* Read CTRL_REG3 register */
EricLew 0:ad9dfc0179dc 239 GYRO_IO_Read(&tmpreg, L3GD20_CTRL_REG3_ADDR, 1);
EricLew 0:ad9dfc0179dc 240
EricLew 0:ad9dfc0179dc 241 if(IntSel == L3GD20_INT1)
EricLew 0:ad9dfc0179dc 242 {
EricLew 0:ad9dfc0179dc 243 tmpreg &= 0x7F;
EricLew 0:ad9dfc0179dc 244 tmpreg |= L3GD20_INT1INTERRUPT_ENABLE;
EricLew 0:ad9dfc0179dc 245 }
EricLew 0:ad9dfc0179dc 246 else if(IntSel == L3GD20_INT2)
EricLew 0:ad9dfc0179dc 247 {
EricLew 0:ad9dfc0179dc 248 tmpreg &= 0xF7;
EricLew 0:ad9dfc0179dc 249 tmpreg |= L3GD20_INT2INTERRUPT_ENABLE;
EricLew 0:ad9dfc0179dc 250 }
EricLew 0:ad9dfc0179dc 251
EricLew 0:ad9dfc0179dc 252 /* Write value to MEMS CTRL_REG3 register */
EricLew 0:ad9dfc0179dc 253 GYRO_IO_Write(&tmpreg, L3GD20_CTRL_REG3_ADDR, 1);
EricLew 0:ad9dfc0179dc 254 }
EricLew 0:ad9dfc0179dc 255
EricLew 0:ad9dfc0179dc 256 /**
EricLew 0:ad9dfc0179dc 257 * @brief Disable INT1 or INT2 interrupt
EricLew 0:ad9dfc0179dc 258 * @param IntSel: choice of INT1 or INT2
EricLew 0:ad9dfc0179dc 259 * This parameter can be:
EricLew 0:ad9dfc0179dc 260 * @arg L3GD20_INT1
EricLew 0:ad9dfc0179dc 261 * @arg L3GD20_INT2
EricLew 0:ad9dfc0179dc 262 * @retval None
EricLew 0:ad9dfc0179dc 263 */
EricLew 0:ad9dfc0179dc 264 void L3GD20_DisableIT(uint8_t IntSel)
EricLew 0:ad9dfc0179dc 265 {
EricLew 0:ad9dfc0179dc 266 uint8_t tmpreg;
EricLew 0:ad9dfc0179dc 267
EricLew 0:ad9dfc0179dc 268 /* Read CTRL_REG3 register */
EricLew 0:ad9dfc0179dc 269 GYRO_IO_Read(&tmpreg, L3GD20_CTRL_REG3_ADDR, 1);
EricLew 0:ad9dfc0179dc 270
EricLew 0:ad9dfc0179dc 271 if(IntSel == L3GD20_INT1)
EricLew 0:ad9dfc0179dc 272 {
EricLew 0:ad9dfc0179dc 273 tmpreg &= 0x7F;
EricLew 0:ad9dfc0179dc 274 tmpreg |= L3GD20_INT1INTERRUPT_DISABLE;
EricLew 0:ad9dfc0179dc 275 }
EricLew 0:ad9dfc0179dc 276 else if(IntSel == L3GD20_INT2)
EricLew 0:ad9dfc0179dc 277 {
EricLew 0:ad9dfc0179dc 278 tmpreg &= 0xF7;
EricLew 0:ad9dfc0179dc 279 tmpreg |= L3GD20_INT2INTERRUPT_DISABLE;
EricLew 0:ad9dfc0179dc 280 }
EricLew 0:ad9dfc0179dc 281
EricLew 0:ad9dfc0179dc 282 /* Write value to MEMS CTRL_REG3 register */
EricLew 0:ad9dfc0179dc 283 GYRO_IO_Write(&tmpreg, L3GD20_CTRL_REG3_ADDR, 1);
EricLew 0:ad9dfc0179dc 284 }
EricLew 0:ad9dfc0179dc 285
EricLew 0:ad9dfc0179dc 286 /**
EricLew 0:ad9dfc0179dc 287 * @brief Set High Pass Filter Modality
EricLew 0:ad9dfc0179dc 288 * @param FilterStruct: contains the configuration setting for the L3GD20.
EricLew 0:ad9dfc0179dc 289 * @retval None
EricLew 0:ad9dfc0179dc 290 */
EricLew 0:ad9dfc0179dc 291 void L3GD20_FilterConfig(uint8_t FilterStruct)
EricLew 0:ad9dfc0179dc 292 {
EricLew 0:ad9dfc0179dc 293 uint8_t tmpreg;
EricLew 0:ad9dfc0179dc 294
EricLew 0:ad9dfc0179dc 295 /* Read CTRL_REG2 register */
EricLew 0:ad9dfc0179dc 296 GYRO_IO_Read(&tmpreg, L3GD20_CTRL_REG2_ADDR, 1);
EricLew 0:ad9dfc0179dc 297
EricLew 0:ad9dfc0179dc 298 tmpreg &= 0xC0;
EricLew 0:ad9dfc0179dc 299
EricLew 0:ad9dfc0179dc 300 /* Configure MEMS: mode and cutoff frequency */
EricLew 0:ad9dfc0179dc 301 tmpreg |= FilterStruct;
EricLew 0:ad9dfc0179dc 302
EricLew 0:ad9dfc0179dc 303 /* Write value to MEMS CTRL_REG2 register */
EricLew 0:ad9dfc0179dc 304 GYRO_IO_Write(&tmpreg, L3GD20_CTRL_REG2_ADDR, 1);
EricLew 0:ad9dfc0179dc 305 }
EricLew 0:ad9dfc0179dc 306
EricLew 0:ad9dfc0179dc 307 /**
EricLew 0:ad9dfc0179dc 308 * @brief Enable or Disable High Pass Filter
EricLew 0:ad9dfc0179dc 309 * @param HighPassFilterState: new state of the High Pass Filter feature.
EricLew 0:ad9dfc0179dc 310 * This parameter can be:
EricLew 0:ad9dfc0179dc 311 * @arg: L3GD20_HIGHPASSFILTER_DISABLE
EricLew 0:ad9dfc0179dc 312 * @arg: L3GD20_HIGHPASSFILTER_ENABLE
EricLew 0:ad9dfc0179dc 313 * @retval None
EricLew 0:ad9dfc0179dc 314 */
EricLew 0:ad9dfc0179dc 315 void L3GD20_FilterCmd(uint8_t HighPassFilterState)
EricLew 0:ad9dfc0179dc 316 {
EricLew 0:ad9dfc0179dc 317 uint8_t tmpreg;
EricLew 0:ad9dfc0179dc 318
EricLew 0:ad9dfc0179dc 319 /* Read CTRL_REG5 register */
EricLew 0:ad9dfc0179dc 320 GYRO_IO_Read(&tmpreg, L3GD20_CTRL_REG5_ADDR, 1);
EricLew 0:ad9dfc0179dc 321
EricLew 0:ad9dfc0179dc 322 tmpreg &= 0xEF;
EricLew 0:ad9dfc0179dc 323
EricLew 0:ad9dfc0179dc 324 tmpreg |= HighPassFilterState;
EricLew 0:ad9dfc0179dc 325
EricLew 0:ad9dfc0179dc 326 /* Write value to MEMS CTRL_REG5 register */
EricLew 0:ad9dfc0179dc 327 GYRO_IO_Write(&tmpreg, L3GD20_CTRL_REG5_ADDR, 1);
EricLew 0:ad9dfc0179dc 328 }
EricLew 0:ad9dfc0179dc 329
EricLew 0:ad9dfc0179dc 330 /**
EricLew 0:ad9dfc0179dc 331 * @brief Get status for L3GD20 data
EricLew 0:ad9dfc0179dc 332 * @param None
EricLew 0:ad9dfc0179dc 333 * @retval Data status in a L3GD20 Data
EricLew 0:ad9dfc0179dc 334 */
EricLew 0:ad9dfc0179dc 335 uint8_t L3GD20_GetDataStatus(void)
EricLew 0:ad9dfc0179dc 336 {
EricLew 0:ad9dfc0179dc 337 uint8_t tmpreg;
EricLew 0:ad9dfc0179dc 338
EricLew 0:ad9dfc0179dc 339 /* Read STATUS_REG register */
EricLew 0:ad9dfc0179dc 340 GYRO_IO_Read(&tmpreg, L3GD20_STATUS_REG_ADDR, 1);
EricLew 0:ad9dfc0179dc 341
EricLew 0:ad9dfc0179dc 342 return tmpreg;
EricLew 0:ad9dfc0179dc 343 }
EricLew 0:ad9dfc0179dc 344
EricLew 0:ad9dfc0179dc 345 /**
EricLew 0:ad9dfc0179dc 346 * @brief Calculate the L3GD20 angular data.
EricLew 0:ad9dfc0179dc 347 * @param pfData: Data out pointer
EricLew 0:ad9dfc0179dc 348 * @retval None
EricLew 0:ad9dfc0179dc 349 */
EricLew 0:ad9dfc0179dc 350 void L3GD20_ReadXYZAngRate(float *pfData)
EricLew 0:ad9dfc0179dc 351 {
EricLew 0:ad9dfc0179dc 352 uint8_t tmpbuffer[6] ={0};
EricLew 0:ad9dfc0179dc 353 int16_t RawData[3] = {0};
EricLew 0:ad9dfc0179dc 354 uint8_t tmpreg = 0;
EricLew 0:ad9dfc0179dc 355 float sensitivity = 0;
EricLew 0:ad9dfc0179dc 356 int i =0;
EricLew 0:ad9dfc0179dc 357
EricLew 0:ad9dfc0179dc 358 GYRO_IO_Read(&tmpreg,L3GD20_CTRL_REG4_ADDR,1);
EricLew 0:ad9dfc0179dc 359
EricLew 0:ad9dfc0179dc 360 GYRO_IO_Read(tmpbuffer,L3GD20_OUT_X_L_ADDR,6);
EricLew 0:ad9dfc0179dc 361
EricLew 0:ad9dfc0179dc 362 /* check in the control register 4 the data alignment (Big Endian or Little Endian)*/
EricLew 0:ad9dfc0179dc 363 if(!(tmpreg & L3GD20_BLE_MSB))
EricLew 0:ad9dfc0179dc 364 {
EricLew 0:ad9dfc0179dc 365 for(i=0; i<3; i++)
EricLew 0:ad9dfc0179dc 366 {
EricLew 0:ad9dfc0179dc 367 RawData[i]=(int16_t)(((uint16_t)tmpbuffer[2*i+1] << 8) + tmpbuffer[2*i]);
EricLew 0:ad9dfc0179dc 368 }
EricLew 0:ad9dfc0179dc 369 }
EricLew 0:ad9dfc0179dc 370 else
EricLew 0:ad9dfc0179dc 371 {
EricLew 0:ad9dfc0179dc 372 for(i=0; i<3; i++)
EricLew 0:ad9dfc0179dc 373 {
EricLew 0:ad9dfc0179dc 374 RawData[i]=(int16_t)(((uint16_t)tmpbuffer[2*i] << 8) + tmpbuffer[2*i+1]);
EricLew 0:ad9dfc0179dc 375 }
EricLew 0:ad9dfc0179dc 376 }
EricLew 0:ad9dfc0179dc 377
EricLew 0:ad9dfc0179dc 378 /* Switch the sensitivity value set in the CRTL4 */
EricLew 0:ad9dfc0179dc 379 switch(tmpreg & L3GD20_FULLSCALE_SELECTION)
EricLew 0:ad9dfc0179dc 380 {
EricLew 0:ad9dfc0179dc 381 case L3GD20_FULLSCALE_250:
EricLew 0:ad9dfc0179dc 382 sensitivity=L3GD20_SENSITIVITY_250DPS;
EricLew 0:ad9dfc0179dc 383 break;
EricLew 0:ad9dfc0179dc 384
EricLew 0:ad9dfc0179dc 385 case L3GD20_FULLSCALE_500:
EricLew 0:ad9dfc0179dc 386 sensitivity=L3GD20_SENSITIVITY_500DPS;
EricLew 0:ad9dfc0179dc 387 break;
EricLew 0:ad9dfc0179dc 388
EricLew 0:ad9dfc0179dc 389 case L3GD20_FULLSCALE_2000:
EricLew 0:ad9dfc0179dc 390 sensitivity=L3GD20_SENSITIVITY_2000DPS;
EricLew 0:ad9dfc0179dc 391 break;
EricLew 0:ad9dfc0179dc 392 }
EricLew 0:ad9dfc0179dc 393 /* Divide by sensitivity */
EricLew 0:ad9dfc0179dc 394 for(i=0; i<3; i++)
EricLew 0:ad9dfc0179dc 395 {
EricLew 0:ad9dfc0179dc 396 pfData[i]=(float)(RawData[i] * sensitivity);
EricLew 0:ad9dfc0179dc 397 }
EricLew 0:ad9dfc0179dc 398 }
EricLew 0:ad9dfc0179dc 399
EricLew 0:ad9dfc0179dc 400 /**
EricLew 0:ad9dfc0179dc 401 * @}
EricLew 0:ad9dfc0179dc 402 */
EricLew 0:ad9dfc0179dc 403
EricLew 0:ad9dfc0179dc 404 /**
EricLew 0:ad9dfc0179dc 405 * @}
EricLew 0:ad9dfc0179dc 406 */
EricLew 0:ad9dfc0179dc 407
EricLew 0:ad9dfc0179dc 408 /**
EricLew 0:ad9dfc0179dc 409 * @}
EricLew 0:ad9dfc0179dc 410 */
EricLew 0:ad9dfc0179dc 411
EricLew 0:ad9dfc0179dc 412 /**
EricLew 0:ad9dfc0179dc 413 * @}
EricLew 0:ad9dfc0179dc 414 */
EricLew 0:ad9dfc0179dc 415
EricLew 0:ad9dfc0179dc 416 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
EricLew 0:ad9dfc0179dc 417