stm32l476g_discovery_gyroscope.c

00001 /**
00002   ******************************************************************************
00003   * @file    stm32l476g_discovery_gyroscope.c
00004   * @author  MCD Application Team
00005   * @version V1.0.0
00006   * @date    26-June-2015
00007   * @brief   This file provides a set of functions needed to manage the L3GD20
00008   *          MEMS accelerometer available on STM32L476G-Discovery board.
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 
00039 /* Includes ------------------------------------------------------------------*/
00040 #include "stm32l476g_discovery_gyroscope.h"
00041 
00042 /** @addtogroup BSP
00043   * @{
00044   */
00045 
00046 /** @addtogroup STM32L476G_DISCOVERY
00047   * @{
00048   */
00049 
00050 /** @defgroup STM32L476G_DISCOVERY_GYROSCOPE STM32L476G-DISCOVERY GYROSCOPE
00051   * @{
00052   */
00053 
00054 /* Private typedef -----------------------------------------------------------*/
00055 /** @defgroup STM32L476G_DISCOVERY_GYROSCOPE_Private_Types Private Types
00056   * @{
00057   */
00058 /**
00059   * @}
00060   */
00061 
00062 /* Private defines ------------------------------------------------------------*/
00063 /** @defgroup STM32L476G_DISCOVERY_GYROSCOPE_Private_Constants Private Constants
00064   * @{
00065   */
00066 /**
00067   * @}
00068   */
00069 
00070 /* Private macros ------------------------------------------------------------*/
00071 /** @defgroup STM32L476G_DISCOVERY_GYROSCOPE_Private_Macros Private Macros
00072   * @{
00073   */
00074 /**
00075   * @}
00076   */
00077 
00078 /* Private variables ---------------------------------------------------------*/
00079 /** @defgroup STM32L476G_DISCOVERY_GYROSCOPE_Private_Variables Private Variables
00080   * @{
00081   */
00082 static GYRO_DrvTypeDef *GyroscopeDrv;
00083 
00084 /**
00085   * @}
00086   */
00087 
00088 /* Private function prototypes -----------------------------------------------*/
00089 /** @defgroup STM32L476G_DISCOVERY_GYROSCOPE_Private_FunctionPrototypes Private Functions
00090   * @{
00091   */
00092 /**
00093   * @}
00094   */
00095 
00096 /* Exported functions --------------------------------------------------------*/
00097 /** @addtogroup STM32L476G_DISCOVERY_GYROSCOPE_Exported_Functions
00098   * @{
00099   */
00100 
00101 /**
00102   * @brief  Initialize Gyroscope.
00103   * @retval GYRO_OK or GYRO_ERROR
00104   */
00105 uint8_t BSP_GYRO_Init(void)
00106 {  
00107   uint8_t ret = GYRO_ERROR;
00108   uint16_t ctrl = 0x0000;
00109   GYRO_InitTypeDef L3GD20_InitStructure;
00110   GYRO_FilterConfigTypeDef L3GD20_FilterStructure={0,0};
00111 
00112   if((L3gd20Drv.ReadID() == I_AM_L3GD20) || (L3gd20Drv.ReadID() == I_AM_L3GD20_TR))
00113   {
00114     /* Initialize the gyroscope driver structure */
00115     GyroscopeDrv = &L3gd20Drv;
00116 
00117     /* Configure Mems : data rate, power mode, full scale and axes */
00118     L3GD20_InitStructure.Power_Mode = L3GD20_MODE_ACTIVE;
00119     L3GD20_InitStructure.Output_DataRate = L3GD20_OUTPUT_DATARATE_1;
00120     L3GD20_InitStructure.Axes_Enable = L3GD20_AXES_ENABLE;
00121     L3GD20_InitStructure.Band_Width = L3GD20_BANDWIDTH_4;
00122     L3GD20_InitStructure.BlockData_Update = L3GD20_BlockDataUpdate_Continous;
00123     L3GD20_InitStructure.Endianness = L3GD20_BLE_LSB;
00124     L3GD20_InitStructure.Full_Scale = L3GD20_FULLSCALE_500; 
00125 
00126     /* Configure MEMS: data rate, power mode, full scale and axes */
00127     ctrl = (uint16_t) (L3GD20_InitStructure.Power_Mode | L3GD20_InitStructure.Output_DataRate | \
00128                        L3GD20_InitStructure.Axes_Enable | L3GD20_InitStructure.Band_Width);
00129 
00130     ctrl |= (uint16_t) ((L3GD20_InitStructure.BlockData_Update | L3GD20_InitStructure.Endianness | \
00131                         L3GD20_InitStructure.Full_Scale) << 8);
00132 
00133     /* Initialize component */
00134     GyroscopeDrv->Init(ctrl);
00135   
00136     L3GD20_FilterStructure.HighPassFilter_Mode_Selection =L3GD20_HPM_NORMAL_MODE_RES;
00137     L3GD20_FilterStructure.HighPassFilter_CutOff_Frequency = L3GD20_HPFCF_0;
00138 
00139     ctrl = (uint8_t) ((L3GD20_FilterStructure.HighPassFilter_Mode_Selection |\
00140                        L3GD20_FilterStructure.HighPassFilter_CutOff_Frequency));
00141 
00142     /* Configure component filter */
00143     GyroscopeDrv->FilterConfig(ctrl) ;
00144   
00145     /* Enable component filter */
00146     GyroscopeDrv->FilterCmd(L3GD20_HIGHPASSFILTER_ENABLE);
00147     
00148     ret = GYRO_OK;
00149   }
00150   else
00151   {
00152     ret = GYRO_ERROR;
00153   }
00154   
00155   return ret;
00156 }
00157 
00158 
00159 /**
00160   * @brief  DeInitialize Gyroscope.
00161   * @retval None
00162   */
00163 void BSP_GYRO_DeInit(void)
00164 {
00165   GYRO_IO_DeInit();  
00166 }
00167 
00168 
00169 /**
00170   * @brief  Put Gyroscope in low power mode.
00171   * @retval None
00172   */
00173 void BSP_GYRO_LowPower(void)
00174 {
00175   uint16_t ctrl = 0x0000;
00176   GYRO_InitTypeDef L3GD20_InitStructure;
00177   
00178   /* configure only Power_Mode field */ 
00179   L3GD20_InitStructure.Power_Mode = L3GD20_MODE_POWERDOWN;
00180   
00181   ctrl = (uint16_t) (L3GD20_InitStructure.Power_Mode);
00182   
00183   /* Set component in low-power mode */
00184   GyroscopeDrv->LowPower(ctrl);
00185 
00186 
00187 }
00188 
00189 /**
00190   * @brief  Read ID of Gyroscope component.
00191   * @retval ID
00192   */
00193 uint8_t BSP_GYRO_ReadID(void)
00194 {
00195   uint8_t id = 0x00;
00196 
00197   if(GyroscopeDrv->ReadID != NULL)
00198   {
00199     id = GyroscopeDrv->ReadID();
00200   }  
00201   return id;
00202 }
00203 
00204 /**
00205   * @brief  Reboot memory content of Gyroscope.
00206   * @retval None
00207   */
00208 void BSP_GYRO_Reset(void)
00209 {
00210   if(GyroscopeDrv->Reset != NULL)
00211   {
00212     GyroscopeDrv->Reset();
00213   }  
00214 }
00215 
00216 /**
00217   * @brief  Configure Gyroscope interrupts (INT1 or INT2).
00218   * @param  pIntConfig: pointer to a GYRO_InterruptConfigTypeDef 
00219   *         structure that contains the configuration setting for the L3GD20 Interrupt.
00220   * @retval None
00221   */
00222 void BSP_GYRO_ITConfig(GYRO_InterruptConfigTypeDef *pIntConfig)
00223 {  
00224   uint16_t interruptconfig = 0x0000;
00225 
00226   if(GyroscopeDrv->ConfigIT != NULL)
00227   {
00228     /* Configure latch Interrupt request and axe interrupts */                   
00229     interruptconfig |= ((uint8_t)(pIntConfig->Latch_Request| \
00230                                   pIntConfig->Interrupt_Axes) << 8);
00231 
00232     interruptconfig |= (uint8_t)(pIntConfig->Interrupt_ActiveEdge);
00233 
00234     GyroscopeDrv->ConfigIT(interruptconfig);
00235   }
00236 }
00237 
00238 /**
00239   * @brief  Enable Gyroscope interrupts (INT1 or INT2).
00240   * @param  IntPin: Interrupt pin 
00241   *      This parameter can be: 
00242   *        @arg L3GD20_INT1
00243   *        @arg L3GD20_INT2
00244   * @retval None
00245   */
00246 void BSP_GYRO_EnableIT(uint8_t IntPin)
00247 {
00248   if(GyroscopeDrv->EnableIT != NULL)
00249   {
00250     GyroscopeDrv->EnableIT(IntPin);
00251   }
00252 }
00253 
00254 /**
00255   * @brief  Disable Gyroscope interrupts (INT1 or INT2).
00256   * @param  IntPin: Interrupt pin 
00257   *      This parameter can be: 
00258   *        @arg L3GD20_INT1
00259   *        @arg L3GD20_INT2
00260   * @retval None
00261   */
00262 void BSP_GYRO_DisableIT(uint8_t IntPin)
00263 {
00264   if(GyroscopeDrv->DisableIT != NULL)
00265   {
00266     GyroscopeDrv->DisableIT(IntPin);
00267   }
00268 }
00269 
00270 /**
00271   * @brief  Get XYZ angular acceleration from the Gyroscope.
00272   * @param  pfData: pointer on floating array         
00273   * @retval None
00274   */
00275 void BSP_GYRO_GetXYZ(float* pfData)
00276 {
00277   if(GyroscopeDrv->GetXYZ!= NULL)
00278   {
00279     GyroscopeDrv->GetXYZ(pfData);
00280   }
00281 }
00282 
00283 /**
00284   * @}
00285   */
00286 
00287 /**
00288   * @}
00289   */
00290 
00291 /**
00292   * @}
00293   */
00294 
00295 /**
00296   * @}
00297   */
00298 
00299 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/