l3gd20.c

00001 /**
00002   ******************************************************************************
00003   * @file    l3gd20.c
00004   * @author  MCD Application Team
00005   * @version V2.0.0
00006   * @date    26-June-2015
00007   * @brief   This file provides a set of functions needed to manage the L3GD20,
00008   *          ST MEMS motion sensor, 3-axis digital output gyroscope.  
00009   ******************************************************************************
00010   * @attention
00011   *
00012   * <h2><center>&copy; COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
00013   *
00014   * Redistribution and use in source and binary forms, with or without modification,
00015   * are permitted provided that the following conditions are met:
00016   *   1. Redistributions of source code must retain the above copyright notice,
00017   *      this list of conditions and the following disclaimer.
00018   *   2. Redistributions in binary form must reproduce the above copyright notice,
00019   *      this list of conditions and the following disclaimer in the documentation
00020   *      and/or other materials provided with the distribution.
00021   *   3. Neither the name of STMicroelectronics nor the names of its contributors
00022   *      may be used to endorse or promote products derived from this software
00023   *      without specific prior written permission.
00024   *
00025   * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00026   * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00027   * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
00028   * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
00029   * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
00030   * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
00031   * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00032   * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
00033   * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
00034   * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00035   *
00036   ******************************************************************************
00037   */
00038 /* Includes ------------------------------------------------------------------*/
00039 #include "l3gd20.h"
00040 
00041 /** @addtogroup BSP
00042   * @{
00043   */ 
00044 
00045 /** @addtogroup Components
00046   * @{
00047   */ 
00048 
00049 /** @addtogroup L3GD20
00050   * @{
00051   */
00052 
00053 /** @defgroup L3GD20_Private_TypesDefinitions
00054   * @{
00055   */
00056   
00057 /**
00058   * @}
00059   */
00060 
00061 /** @defgroup L3GD20_Private_Defines
00062   * @{
00063   */
00064 
00065 /**
00066   * @}
00067   */
00068 
00069 /** @defgroup L3GD20_Private_Macros
00070   * @{
00071   */
00072 
00073 /**
00074   * @}
00075   */ 
00076   
00077 /** @defgroup L3GD20_Private_Variables
00078   * @{
00079   */ 
00080 GYRO_DrvTypeDef L3gd20Drv =
00081 {
00082   L3GD20_Init,
00083   L3GD20_DeInit,
00084   L3GD20_ReadID,
00085   L3GD20_RebootCmd,
00086   L3GD20_LowPower,
00087   L3GD20_INT1InterruptConfig,
00088   L3GD20_EnableIT,
00089   L3GD20_DisableIT,
00090   0,
00091   0,
00092   L3GD20_FilterConfig,
00093   L3GD20_FilterCmd,
00094   L3GD20_ReadXYZAngRate
00095 };
00096 
00097 /**
00098   * @}
00099   */
00100 
00101 /** @defgroup L3GD20_Private_FunctionPrototypes
00102   * @{
00103   */
00104 
00105 /**
00106   * @}
00107   */
00108 
00109 /** @defgroup L3GD20_Private_Functions
00110   * @{
00111   */
00112 
00113 /**
00114   * @brief  Set L3GD20 Initialization.
00115   * @param  L3GD20_InitStruct: pointer to a L3GD20_InitTypeDef structure 
00116   *         that contains the configuration setting for the L3GD20.
00117   * @retval None
00118   */
00119 void L3GD20_Init(uint16_t InitStruct)
00120 {  
00121   uint8_t ctrl = 0x00;
00122   
00123   /* Configure the low level interface */
00124   GYRO_IO_Init();
00125   
00126   /* Write value to MEMS CTRL_REG1 register */
00127   ctrl = (uint8_t) InitStruct;
00128   GYRO_IO_Write(&ctrl, L3GD20_CTRL_REG1_ADDR, 1);
00129   
00130   /* Write value to MEMS CTRL_REG4 register */  
00131   ctrl = (uint8_t) (InitStruct >> 8);
00132   GYRO_IO_Write(&ctrl, L3GD20_CTRL_REG4_ADDR, 1);
00133 }
00134 
00135 
00136 
00137 /**
00138   * @brief L3GD20 De-initialization
00139   * @param  None
00140   * @retval None
00141   */
00142 void L3GD20_DeInit(void)
00143 {
00144 }
00145 
00146 /**
00147   * @brief  Read ID address of L3GD20
00148   * @param  None
00149   * @retval ID name
00150   */
00151 uint8_t L3GD20_ReadID(void)
00152 {
00153   uint8_t tmp;
00154   
00155   /* Configure the low level interface */
00156   GYRO_IO_Init();
00157   
00158   /* Read WHO I AM register */
00159   GYRO_IO_Read(&tmp, L3GD20_WHO_AM_I_ADDR, 1);
00160   
00161   /* Return the ID */
00162   return (uint8_t)tmp;
00163 }
00164 
00165 /**
00166   * @brief  Reboot memory content of L3GD20
00167   * @param  None
00168   * @retval None
00169   */
00170 void L3GD20_RebootCmd(void)
00171 {
00172   uint8_t tmpreg;
00173   
00174   /* Read CTRL_REG5 register */
00175   GYRO_IO_Read(&tmpreg, L3GD20_CTRL_REG5_ADDR, 1);
00176   
00177   /* Enable or Disable the reboot memory */
00178   tmpreg |= L3GD20_BOOT_REBOOTMEMORY;
00179   
00180   /* Write value to MEMS CTRL_REG5 register */
00181   GYRO_IO_Write(&tmpreg, L3GD20_CTRL_REG5_ADDR, 1);
00182 }
00183 
00184 /**
00185   * @brief Set L3GD20 in low-power mode
00186   * @param 
00187   * @retval  None
00188   */
00189 void L3GD20_LowPower(uint16_t InitStruct)
00190 {  
00191   uint8_t ctrl = 0x00;
00192 
00193   /* Write value to MEMS CTRL_REG1 register */
00194   ctrl = (uint8_t) InitStruct;
00195   GYRO_IO_Write(&ctrl, L3GD20_CTRL_REG1_ADDR, 1);
00196 }
00197 
00198 /**
00199   * @brief  Set L3GD20 Interrupt INT1 configuration
00200   * @param  Int1Config: the configuration setting for the L3GD20 Interrupt.
00201   * @retval None
00202   */
00203 void L3GD20_INT1InterruptConfig(uint16_t Int1Config)
00204 {
00205   uint8_t ctrl_cfr = 0x00, ctrl3 = 0x00;
00206   
00207   /* Read INT1_CFG register */
00208   GYRO_IO_Read(&ctrl_cfr, L3GD20_INT1_CFG_ADDR, 1);
00209   
00210   /* Read CTRL_REG3 register */
00211   GYRO_IO_Read(&ctrl3, L3GD20_CTRL_REG3_ADDR, 1);
00212   
00213   ctrl_cfr &= 0x80;
00214   ctrl_cfr |= ((uint8_t) Int1Config >> 8);
00215   
00216   ctrl3 &= 0xDF;
00217   ctrl3 |= ((uint8_t) Int1Config);   
00218   
00219   /* Write value to MEMS INT1_CFG register */
00220   GYRO_IO_Write(&ctrl_cfr, L3GD20_INT1_CFG_ADDR, 1);
00221   
00222   /* Write value to MEMS CTRL_REG3 register */
00223   GYRO_IO_Write(&ctrl3, L3GD20_CTRL_REG3_ADDR, 1);
00224 }
00225 
00226 /**
00227   * @brief  Enable INT1 or INT2 interrupt
00228   * @param  IntSel: choice of INT1 or INT2 
00229   *      This parameter can be: 
00230   *        @arg L3GD20_INT1
00231   *        @arg L3GD20_INT2   
00232   * @retval None
00233   */
00234 void L3GD20_EnableIT(uint8_t IntSel)
00235 {  
00236   uint8_t tmpreg;
00237   
00238   /* Read CTRL_REG3 register */
00239   GYRO_IO_Read(&tmpreg, L3GD20_CTRL_REG3_ADDR, 1);
00240   
00241   if(IntSel == L3GD20_INT1)
00242   {
00243     tmpreg &= 0x7F; 
00244     tmpreg |= L3GD20_INT1INTERRUPT_ENABLE;
00245   }
00246   else if(IntSel == L3GD20_INT2)
00247   {
00248     tmpreg &= 0xF7;
00249     tmpreg |= L3GD20_INT2INTERRUPT_ENABLE;
00250   }
00251   
00252   /* Write value to MEMS CTRL_REG3 register */
00253   GYRO_IO_Write(&tmpreg, L3GD20_CTRL_REG3_ADDR, 1);
00254 }
00255 
00256 /**
00257   * @brief  Disable  INT1 or INT2 interrupt
00258   * @param  IntSel: choice of INT1 or INT2 
00259   *      This parameter can be: 
00260   *        @arg L3GD20_INT1
00261   *        @arg L3GD20_INT2   
00262   * @retval None
00263   */
00264 void L3GD20_DisableIT(uint8_t IntSel)
00265 {  
00266   uint8_t tmpreg;
00267   
00268   /* Read CTRL_REG3 register */
00269   GYRO_IO_Read(&tmpreg, L3GD20_CTRL_REG3_ADDR, 1);
00270   
00271   if(IntSel == L3GD20_INT1)
00272   {
00273     tmpreg &= 0x7F; 
00274     tmpreg |= L3GD20_INT1INTERRUPT_DISABLE;
00275   }
00276   else if(IntSel == L3GD20_INT2)
00277   {
00278     tmpreg &= 0xF7;
00279     tmpreg |= L3GD20_INT2INTERRUPT_DISABLE;
00280   }
00281   
00282   /* Write value to MEMS CTRL_REG3 register */
00283   GYRO_IO_Write(&tmpreg, L3GD20_CTRL_REG3_ADDR, 1);
00284 }
00285 
00286 /**
00287   * @brief  Set High Pass Filter Modality
00288   * @param  FilterStruct: contains the configuration setting for the L3GD20.        
00289   * @retval None
00290   */
00291 void L3GD20_FilterConfig(uint8_t FilterStruct) 
00292 {
00293   uint8_t tmpreg;
00294   
00295   /* Read CTRL_REG2 register */
00296   GYRO_IO_Read(&tmpreg, L3GD20_CTRL_REG2_ADDR, 1);
00297   
00298   tmpreg &= 0xC0;
00299   
00300   /* Configure MEMS: mode and cutoff frequency */
00301   tmpreg |= FilterStruct;
00302   
00303   /* Write value to MEMS CTRL_REG2 register */
00304   GYRO_IO_Write(&tmpreg, L3GD20_CTRL_REG2_ADDR, 1);
00305 }
00306 
00307 /**
00308   * @brief  Enable or Disable High Pass Filter
00309   * @param  HighPassFilterState: new state of the High Pass Filter feature.
00310   *      This parameter can be: 
00311   *         @arg: L3GD20_HIGHPASSFILTER_DISABLE 
00312   *         @arg: L3GD20_HIGHPASSFILTER_ENABLE          
00313   * @retval None
00314   */
00315 void L3GD20_FilterCmd(uint8_t HighPassFilterState)
00316 {
00317   uint8_t tmpreg;
00318   
00319   /* Read CTRL_REG5 register */
00320   GYRO_IO_Read(&tmpreg, L3GD20_CTRL_REG5_ADDR, 1);
00321   
00322   tmpreg &= 0xEF;
00323   
00324   tmpreg |= HighPassFilterState;
00325   
00326   /* Write value to MEMS CTRL_REG5 register */
00327   GYRO_IO_Write(&tmpreg, L3GD20_CTRL_REG5_ADDR, 1);
00328 }
00329 
00330 /**
00331   * @brief  Get status for L3GD20 data
00332   * @param  None         
00333   * @retval Data status in a L3GD20 Data
00334   */
00335 uint8_t L3GD20_GetDataStatus(void)
00336 {
00337   uint8_t tmpreg;
00338   
00339   /* Read STATUS_REG register */
00340   GYRO_IO_Read(&tmpreg, L3GD20_STATUS_REG_ADDR, 1);
00341   
00342   return tmpreg;
00343 }
00344 
00345 /**
00346 * @brief  Calculate the L3GD20 angular data.
00347 * @param  pfData: Data out pointer
00348 * @retval None
00349 */
00350 void L3GD20_ReadXYZAngRate(float *pfData)
00351 {
00352   uint8_t tmpbuffer[6] ={0};
00353   int16_t RawData[3] = {0};
00354   uint8_t tmpreg = 0;
00355   float sensitivity = 0;
00356   int i =0;
00357   
00358   GYRO_IO_Read(&tmpreg,L3GD20_CTRL_REG4_ADDR,1);
00359   
00360   GYRO_IO_Read(tmpbuffer,L3GD20_OUT_X_L_ADDR,6);
00361   
00362   /* check in the control register 4 the data alignment (Big Endian or Little Endian)*/
00363   if(!(tmpreg & L3GD20_BLE_MSB))
00364   {
00365     for(i=0; i<3; i++)
00366     {
00367       RawData[i]=(int16_t)(((uint16_t)tmpbuffer[2*i+1] << 8) + tmpbuffer[2*i]);
00368     }
00369   }
00370   else
00371   {
00372     for(i=0; i<3; i++)
00373     {
00374       RawData[i]=(int16_t)(((uint16_t)tmpbuffer[2*i] << 8) + tmpbuffer[2*i+1]);
00375     }
00376   }
00377   
00378   /* Switch the sensitivity value set in the CRTL4 */
00379   switch(tmpreg & L3GD20_FULLSCALE_SELECTION)
00380   {
00381   case L3GD20_FULLSCALE_250:
00382     sensitivity=L3GD20_SENSITIVITY_250DPS;
00383     break;
00384     
00385   case L3GD20_FULLSCALE_500:
00386     sensitivity=L3GD20_SENSITIVITY_500DPS;
00387     break;
00388     
00389   case L3GD20_FULLSCALE_2000:
00390     sensitivity=L3GD20_SENSITIVITY_2000DPS;
00391     break;
00392   }
00393   /* Divide by sensitivity */
00394   for(i=0; i<3; i++)
00395   {
00396     pfData[i]=(float)(RawData[i] * sensitivity);
00397   }
00398 }
00399 
00400 /**
00401   * @}
00402   */ 
00403 
00404 /**
00405   * @}
00406   */ 
00407 
00408 /**
00409   * @}
00410   */ 
00411 
00412 /**
00413   * @}
00414   */ 
00415 
00416 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/