Additional font macro
Diff: Components/l3gd20/l3gd20.c
- Revision:
- 0:e1d164542663
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Components/l3gd20/l3gd20.c Thu Dec 17 10:27:15 2015 +0000 @@ -0,0 +1,416 @@ +/** + ****************************************************************************** + * @file l3gd20.c + * @author MCD Application Team + * @version V2.0.0 + * @date 26-June-2015 + * @brief This file provides a set of functions needed to manage the L3GD20, + * ST MEMS motion sensor, 3-axis digital output gyroscope. + ****************************************************************************** + * @attention + * + * <h2><center>© 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 "l3gd20.h" + +/** @addtogroup BSP + * @{ + */ + +/** @addtogroup Components + * @{ + */ + +/** @addtogroup L3GD20 + * @{ + */ + +/** @defgroup L3GD20_Private_TypesDefinitions + * @{ + */ + +/** + * @} + */ + +/** @defgroup L3GD20_Private_Defines + * @{ + */ + +/** + * @} + */ + +/** @defgroup L3GD20_Private_Macros + * @{ + */ + +/** + * @} + */ + +/** @defgroup L3GD20_Private_Variables + * @{ + */ +GYRO_DrvTypeDef L3gd20Drv = +{ + L3GD20_Init, + L3GD20_DeInit, + L3GD20_ReadID, + L3GD20_RebootCmd, + L3GD20_LowPower, + L3GD20_INT1InterruptConfig, + L3GD20_EnableIT, + L3GD20_DisableIT, + 0, + 0, + L3GD20_FilterConfig, + L3GD20_FilterCmd, + L3GD20_ReadXYZAngRate +}; + +/** + * @} + */ + +/** @defgroup L3GD20_Private_FunctionPrototypes + * @{ + */ + +/** + * @} + */ + +/** @defgroup L3GD20_Private_Functions + * @{ + */ + +/** + * @brief Set L3GD20 Initialization. + * @param L3GD20_InitStruct: pointer to a L3GD20_InitTypeDef structure + * that contains the configuration setting for the L3GD20. + * @retval None + */ +void L3GD20_Init(uint16_t InitStruct) +{ + uint8_t ctrl = 0x00; + + /* Configure the low level interface */ + GYRO_IO_Init(); + + /* Write value to MEMS CTRL_REG1 register */ + ctrl = (uint8_t) InitStruct; + GYRO_IO_Write(&ctrl, L3GD20_CTRL_REG1_ADDR, 1); + + /* Write value to MEMS CTRL_REG4 register */ + ctrl = (uint8_t) (InitStruct >> 8); + GYRO_IO_Write(&ctrl, L3GD20_CTRL_REG4_ADDR, 1); +} + + + +/** + * @brief L3GD20 De-initialization + * @param None + * @retval None + */ +void L3GD20_DeInit(void) +{ +} + +/** + * @brief Read ID address of L3GD20 + * @param None + * @retval ID name + */ +uint8_t L3GD20_ReadID(void) +{ + uint8_t tmp; + + /* Configure the low level interface */ + GYRO_IO_Init(); + + /* Read WHO I AM register */ + GYRO_IO_Read(&tmp, L3GD20_WHO_AM_I_ADDR, 1); + + /* Return the ID */ + return (uint8_t)tmp; +} + +/** + * @brief Reboot memory content of L3GD20 + * @param None + * @retval None + */ +void L3GD20_RebootCmd(void) +{ + uint8_t tmpreg; + + /* Read CTRL_REG5 register */ + GYRO_IO_Read(&tmpreg, L3GD20_CTRL_REG5_ADDR, 1); + + /* Enable or Disable the reboot memory */ + tmpreg |= L3GD20_BOOT_REBOOTMEMORY; + + /* Write value to MEMS CTRL_REG5 register */ + GYRO_IO_Write(&tmpreg, L3GD20_CTRL_REG5_ADDR, 1); +} + +/** + * @brief Set L3GD20 in low-power mode + * @param + * @retval None + */ +void L3GD20_LowPower(uint16_t InitStruct) +{ + uint8_t ctrl = 0x00; + + /* Write value to MEMS CTRL_REG1 register */ + ctrl = (uint8_t) InitStruct; + GYRO_IO_Write(&ctrl, L3GD20_CTRL_REG1_ADDR, 1); +} + +/** + * @brief Set L3GD20 Interrupt INT1 configuration + * @param Int1Config: the configuration setting for the L3GD20 Interrupt. + * @retval None + */ +void L3GD20_INT1InterruptConfig(uint16_t Int1Config) +{ + uint8_t ctrl_cfr = 0x00, ctrl3 = 0x00; + + /* Read INT1_CFG register */ + GYRO_IO_Read(&ctrl_cfr, L3GD20_INT1_CFG_ADDR, 1); + + /* Read CTRL_REG3 register */ + GYRO_IO_Read(&ctrl3, L3GD20_CTRL_REG3_ADDR, 1); + + ctrl_cfr &= 0x80; + ctrl_cfr |= ((uint8_t) Int1Config >> 8); + + ctrl3 &= 0xDF; + ctrl3 |= ((uint8_t) Int1Config); + + /* Write value to MEMS INT1_CFG register */ + GYRO_IO_Write(&ctrl_cfr, L3GD20_INT1_CFG_ADDR, 1); + + /* Write value to MEMS CTRL_REG3 register */ + GYRO_IO_Write(&ctrl3, L3GD20_CTRL_REG3_ADDR, 1); +} + +/** + * @brief Enable INT1 or INT2 interrupt + * @param IntSel: choice of INT1 or INT2 + * This parameter can be: + * @arg L3GD20_INT1 + * @arg L3GD20_INT2 + * @retval None + */ +void L3GD20_EnableIT(uint8_t IntSel) +{ + uint8_t tmpreg; + + /* Read CTRL_REG3 register */ + GYRO_IO_Read(&tmpreg, L3GD20_CTRL_REG3_ADDR, 1); + + if(IntSel == L3GD20_INT1) + { + tmpreg &= 0x7F; + tmpreg |= L3GD20_INT1INTERRUPT_ENABLE; + } + else if(IntSel == L3GD20_INT2) + { + tmpreg &= 0xF7; + tmpreg |= L3GD20_INT2INTERRUPT_ENABLE; + } + + /* Write value to MEMS CTRL_REG3 register */ + GYRO_IO_Write(&tmpreg, L3GD20_CTRL_REG3_ADDR, 1); +} + +/** + * @brief Disable INT1 or INT2 interrupt + * @param IntSel: choice of INT1 or INT2 + * This parameter can be: + * @arg L3GD20_INT1 + * @arg L3GD20_INT2 + * @retval None + */ +void L3GD20_DisableIT(uint8_t IntSel) +{ + uint8_t tmpreg; + + /* Read CTRL_REG3 register */ + GYRO_IO_Read(&tmpreg, L3GD20_CTRL_REG3_ADDR, 1); + + if(IntSel == L3GD20_INT1) + { + tmpreg &= 0x7F; + tmpreg |= L3GD20_INT1INTERRUPT_DISABLE; + } + else if(IntSel == L3GD20_INT2) + { + tmpreg &= 0xF7; + tmpreg |= L3GD20_INT2INTERRUPT_DISABLE; + } + + /* Write value to MEMS CTRL_REG3 register */ + GYRO_IO_Write(&tmpreg, L3GD20_CTRL_REG3_ADDR, 1); +} + +/** + * @brief Set High Pass Filter Modality + * @param FilterStruct: contains the configuration setting for the L3GD20. + * @retval None + */ +void L3GD20_FilterConfig(uint8_t FilterStruct) +{ + uint8_t tmpreg; + + /* Read CTRL_REG2 register */ + GYRO_IO_Read(&tmpreg, L3GD20_CTRL_REG2_ADDR, 1); + + tmpreg &= 0xC0; + + /* Configure MEMS: mode and cutoff frequency */ + tmpreg |= FilterStruct; + + /* Write value to MEMS CTRL_REG2 register */ + GYRO_IO_Write(&tmpreg, L3GD20_CTRL_REG2_ADDR, 1); +} + +/** + * @brief Enable or Disable High Pass Filter + * @param HighPassFilterState: new state of the High Pass Filter feature. + * This parameter can be: + * @arg: L3GD20_HIGHPASSFILTER_DISABLE + * @arg: L3GD20_HIGHPASSFILTER_ENABLE + * @retval None + */ +void L3GD20_FilterCmd(uint8_t HighPassFilterState) +{ + uint8_t tmpreg; + + /* Read CTRL_REG5 register */ + GYRO_IO_Read(&tmpreg, L3GD20_CTRL_REG5_ADDR, 1); + + tmpreg &= 0xEF; + + tmpreg |= HighPassFilterState; + + /* Write value to MEMS CTRL_REG5 register */ + GYRO_IO_Write(&tmpreg, L3GD20_CTRL_REG5_ADDR, 1); +} + +/** + * @brief Get status for L3GD20 data + * @param None + * @retval Data status in a L3GD20 Data + */ +uint8_t L3GD20_GetDataStatus(void) +{ + uint8_t tmpreg; + + /* Read STATUS_REG register */ + GYRO_IO_Read(&tmpreg, L3GD20_STATUS_REG_ADDR, 1); + + return tmpreg; +} + +/** +* @brief Calculate the L3GD20 angular data. +* @param pfData: Data out pointer +* @retval None +*/ +void L3GD20_ReadXYZAngRate(float *pfData) +{ + uint8_t tmpbuffer[6] ={0}; + int16_t RawData[3] = {0}; + uint8_t tmpreg = 0; + float sensitivity = 0; + int i =0; + + GYRO_IO_Read(&tmpreg,L3GD20_CTRL_REG4_ADDR,1); + + GYRO_IO_Read(tmpbuffer,L3GD20_OUT_X_L_ADDR,6); + + /* check in the control register 4 the data alignment (Big Endian or Little Endian)*/ + if(!(tmpreg & L3GD20_BLE_MSB)) + { + for(i=0; i<3; i++) + { + RawData[i]=(int16_t)(((uint16_t)tmpbuffer[2*i+1] << 8) + tmpbuffer[2*i]); + } + } + else + { + for(i=0; i<3; i++) + { + RawData[i]=(int16_t)(((uint16_t)tmpbuffer[2*i] << 8) + tmpbuffer[2*i+1]); + } + } + + /* Switch the sensitivity value set in the CRTL4 */ + switch(tmpreg & L3GD20_FULLSCALE_SELECTION) + { + case L3GD20_FULLSCALE_250: + sensitivity=L3GD20_SENSITIVITY_250DPS; + break; + + case L3GD20_FULLSCALE_500: + sensitivity=L3GD20_SENSITIVITY_500DPS; + break; + + case L3GD20_FULLSCALE_2000: + sensitivity=L3GD20_SENSITIVITY_2000DPS; + break; + } + /* Divide by sensitivity */ + for(i=0; i<3; i++) + { + pfData[i]=(float)(RawData[i] * sensitivity); + } +} + +/** + * @} + */ + +/** + * @} + */ + +/** + * @} + */ + +/** + * @} + */ + +/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/