Andrew Lindsay
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****/