Diff: Disco/stm32l476g_discovery_gyroscope.c

Revision:

0:ad9dfc0179dc

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Disco/stm32l476g_discovery_gyroscope.c	Mon Nov 02 19:38:36 2015 +0000
@@ -0,0 +1,300 @@
+/**
+  ******************************************************************************
+  * @file    stm32l476g_discovery_gyroscope.c
+  * @author  MCD Application Team
+  * @version V1.0.1
+  * @date    16-September-2015
+  * @brief   This file provides a set of functions needed to manage the L3GD20
+  *          MEMS accelerometer available on STM32L476G-Discovery board.
+  ******************************************************************************
+  * @attention
+  *
+  * <h2><center>&copy; COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
+  *
+  * Redistribution and use in source and binary forms, with or without modification,
+  * are permitted provided that the following conditions are met:
+  *   1. Redistributions of source code must retain the above copyright notice,
+  *      this list of conditions and the following disclaimer.
+  *   2. Redistributions in binary form must reproduce the above copyright notice,
+  *      this list of conditions and the following disclaimer in the documentation
+  *      and/or other materials provided with the distribution.
+  *   3. Neither the name of STMicroelectronics nor the names of its contributors
+  *      may be used to endorse or promote products derived from this software
+  *      without specific prior written permission.
+  *
+  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+  * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+  * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+  * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+  * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+  * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+  *
+  ******************************************************************************
+  */
+
+/* Includes ------------------------------------------------------------------*/
+#include "stm32l476g_discovery_gyroscope.h"
+
+/** @addtogroup BSP
+  * @{
+  */
+
+/** @addtogroup STM32L476G_DISCOVERY
+  * @{
+  */
+
+/** @defgroup STM32L476G_DISCOVERY_GYROSCOPE STM32L476G-DISCOVERY GYROSCOPE
+  * @{
+  */
+
+/* Private typedef -----------------------------------------------------------*/
+/** @defgroup STM32L476G_DISCOVERY_GYROSCOPE_Private_Types Private Types
+  * @{
+  */
+/**
+  * @}
+  */
+
+/* Private defines ------------------------------------------------------------*/
+/** @defgroup STM32L476G_DISCOVERY_GYROSCOPE_Private_Constants Private Constants
+  * @{
+  */
+/**
+  * @}
+  */
+
+/* Private macros ------------------------------------------------------------*/
+/** @defgroup STM32L476G_DISCOVERY_GYROSCOPE_Private_Macros Private Macros
+  * @{
+  */
+/**
+  * @}
+  */
+
+/* Private variables ---------------------------------------------------------*/
+/** @defgroup STM32L476G_DISCOVERY_GYROSCOPE_Private_Variables Private Variables
+  * @{
+  */
+static GYRO_DrvTypeDef *GyroscopeDrv;
+
+/**
+  * @}
+  */
+
+/* Private function prototypes -----------------------------------------------*/
+/** @defgroup STM32L476G_DISCOVERY_GYROSCOPE_Private_FunctionPrototypes Private Functions
+  * @{
+  */
+/**
+  * @}
+  */
+
+/* Exported functions --------------------------------------------------------*/
+/** @addtogroup STM32L476G_DISCOVERY_GYROSCOPE_Exported_Functions
+  * @{
+  */
+
+/**
+  * @brief  Initialize Gyroscope.
+  * @retval GYRO_OK or GYRO_ERROR
+  */
+uint8_t BSP_GYRO_Init(void)
+{  
+  uint8_t ret = GYRO_ERROR;
+  uint16_t ctrl = 0x0000;
+  GYRO_InitTypeDef L3GD20_InitStructure;
+  GYRO_FilterConfigTypeDef L3GD20_FilterStructure={0,0};
+
+  if((L3gd20Drv.ReadID() == I_AM_L3GD20) || (L3gd20Drv.ReadID() == I_AM_L3GD20_TR))
+  {
+    /* Initialize the gyroscope driver structure */
+    GyroscopeDrv = &L3gd20Drv;
+
+    /* Configure Mems : data rate, power mode, full scale and axes */
+    L3GD20_InitStructure.Power_Mode = L3GD20_MODE_ACTIVE;
+    L3GD20_InitStructure.Output_DataRate = L3GD20_OUTPUT_DATARATE_1;
+    L3GD20_InitStructure.Axes_Enable = L3GD20_AXES_ENABLE;
+    L3GD20_InitStructure.Band_Width = L3GD20_BANDWIDTH_4;
+    L3GD20_InitStructure.BlockData_Update = L3GD20_BlockDataUpdate_Continous;
+    L3GD20_InitStructure.Endianness = L3GD20_BLE_LSB;
+    L3GD20_InitStructure.Full_Scale = L3GD20_FULLSCALE_500; 
+
+    /* Configure MEMS: data rate, power mode, full scale and axes */
+    ctrl = (uint16_t) (L3GD20_InitStructure.Power_Mode | L3GD20_InitStructure.Output_DataRate | \
+                       L3GD20_InitStructure.Axes_Enable | L3GD20_InitStructure.Band_Width);
+
+    ctrl |= (uint16_t) ((L3GD20_InitStructure.BlockData_Update | L3GD20_InitStructure.Endianness | \
+                        L3GD20_InitStructure.Full_Scale) << 8);
+
+    /* Initialize component */
+    GyroscopeDrv->Init(ctrl);
+  
+    L3GD20_FilterStructure.HighPassFilter_Mode_Selection =L3GD20_HPM_NORMAL_MODE_RES;
+    L3GD20_FilterStructure.HighPassFilter_CutOff_Frequency = L3GD20_HPFCF_0;
+
+    ctrl = (uint8_t) ((L3GD20_FilterStructure.HighPassFilter_Mode_Selection |\
+                       L3GD20_FilterStructure.HighPassFilter_CutOff_Frequency));
+
+    /* Configure component filter */
+    GyroscopeDrv->FilterConfig(ctrl) ;
+  
+    /* Enable component filter */
+    GyroscopeDrv->FilterCmd(L3GD20_HIGHPASSFILTER_ENABLE);
+    
+    ret = GYRO_OK;
+  }
+  else
+  {
+    ret = GYRO_ERROR;
+  }
+  
+  return ret;
+}
+
+
+/**
+  * @brief  DeInitialize Gyroscope.
+  * @retval None
+  */
+void BSP_GYRO_DeInit(void)
+{
+  GYRO_IO_DeInit();  
+}
+
+
+/**
+  * @brief  Put Gyroscope in low power mode.
+  * @retval None
+  */
+void BSP_GYRO_LowPower(void)
+{
+  uint16_t ctrl = 0x0000;
+  GYRO_InitTypeDef L3GD20_InitStructure;
+  
+  /* configure only Power_Mode field */ 
+  L3GD20_InitStructure.Power_Mode = L3GD20_MODE_POWERDOWN;
+  
+  ctrl = (uint16_t) (L3GD20_InitStructure.Power_Mode);
+  
+  /* Set component in low-power mode */
+  GyroscopeDrv->LowPower(ctrl);
+
+
+}
+
+/**
+  * @brief  Read ID of Gyroscope component.
+  * @retval ID
+  */
+uint8_t BSP_GYRO_ReadID(void)
+{
+  uint8_t id = 0x00;
+
+  if(GyroscopeDrv->ReadID != NULL)
+  {
+    id = GyroscopeDrv->ReadID();
+  }  
+  return id;
+}
+
+/**
+  * @brief  Reboot memory content of Gyroscope.
+  * @retval None
+  */
+void BSP_GYRO_Reset(void)
+{
+  if(GyroscopeDrv->Reset != NULL)
+  {
+    GyroscopeDrv->Reset();
+  }  
+}
+
+/**
+  * @brief  Configure Gyroscope interrupts (INT1 or INT2).
+  * @param  pIntConfig: pointer to a GYRO_InterruptConfigTypeDef 
+  *         structure that contains the configuration setting for the L3GD20 Interrupt.
+  * @retval None
+  */
+void BSP_GYRO_ITConfig(GYRO_InterruptConfigTypeDef *pIntConfig)
+{  
+  uint16_t interruptconfig = 0x0000;
+
+  if(GyroscopeDrv->ConfigIT != NULL)
+  {
+    /* Configure latch Interrupt request and axe interrupts */                   
+    interruptconfig |= ((uint8_t)(pIntConfig->Latch_Request| \
+                                  pIntConfig->Interrupt_Axes) << 8);
+
+    interruptconfig |= (uint8_t)(pIntConfig->Interrupt_ActiveEdge);
+
+    GyroscopeDrv->ConfigIT(interruptconfig);
+  }
+}
+
+/**
+  * @brief  Enable Gyroscope interrupts (INT1 or INT2).
+  * @param  IntPin: Interrupt pin 
+  *      This parameter can be: 
+  *        @arg L3GD20_INT1
+  *        @arg L3GD20_INT2
+  * @retval None
+  */
+void BSP_GYRO_EnableIT(uint8_t IntPin)
+{
+  if(GyroscopeDrv->EnableIT != NULL)
+  {
+    GyroscopeDrv->EnableIT(IntPin);
+  }
+}
+
+/**
+  * @brief  Disable Gyroscope interrupts (INT1 or INT2).
+  * @param  IntPin: Interrupt pin 
+  *      This parameter can be: 
+  *        @arg L3GD20_INT1
+  *        @arg L3GD20_INT2
+  * @retval None
+  */
+void BSP_GYRO_DisableIT(uint8_t IntPin)
+{
+  if(GyroscopeDrv->DisableIT != NULL)
+  {
+    GyroscopeDrv->DisableIT(IntPin);
+  }
+}
+
+/**
+  * @brief  Get XYZ angular acceleration from the Gyroscope.
+  * @param  pfData: pointer on floating array         
+  * @retval None
+  */
+void BSP_GYRO_GetXYZ(float* pfData)
+{
+  if(GyroscopeDrv->GetXYZ!= NULL)
+  {
+    GyroscopeDrv->GetXYZ(pfData);
+  }
+}
+
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
+