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/**
******************************************************************************
* @file i3g4250d.c
* @author MCD Application Team
* @brief This file provides a set of functions needed to manage the I3G4250D,
* ST MEMS motion sensor, 3-axis digital output gyroscope.
******************************************************************************
* @attention
*
* Copyright (c) 2020 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
/* Includes ------------------------------------------------------------------*/
#include "i3g4250d.h"
/** @addtogroup BSP
* @{
*/
/** @addtogroup Components
* @{
*/
/** @addtogroup I3G4250D
* @{
*/
/** @defgroup I3G4250D_Private_TypesDefinitions Private Types Definitions
* @{
*/
/**
* @}
*/
/** @defgroup I3G4250D_Private_Defines Private Defines
* @{
*/
/**
* @}
*/
/** @defgroup I3G4250D_Private_Macros Private Macros
* @{
*/
/**
* @}
*/
/** @defgroup I3G4250D_Private_Variables Private Variables
* @{
*/
GYRO_DrvTypeDef I3g4250Drv =
{
I3G4250D_Init,
I3G4250D_DeInit,
I3G4250D_ReadID,
I3G4250D_RebootCmd,
I3G4250D_LowPower,
I3G4250D_INT1InterruptConfig,
I3G4250D_EnableIT,
I3G4250D_DisableIT,
0,
0,
I3G4250D_FilterConfig,
I3G4250D_FilterCmd,
I3G4250D_ReadXYZAngRate
};
/**
* @}
*/
/** @defgroup I3G4250D_Private_FunctionPrototypes Private Function Prototypes
* @{
*/
/**
* @}
*/
/** @defgroup I3G4250D_Private_Functions Private Functions
* @{
*/
/**
* @brief Set I3G4250D Initialization.
* @param I3G4250D_InitStruct: pointer to a I3G4250D_InitTypeDef structure
* that contains the configuration setting for the I3G4250D.
* @retval None
*/
void I3G4250D_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, I3G4250D_CTRL_REG1_ADDR, 1);
/* Write value to MEMS CTRL_REG4 register */
ctrl = (uint8_t)(InitStruct >> 8);
GYRO_IO_Write(&ctrl, I3G4250D_CTRL_REG4_ADDR, 1);
}
/**
* @brief I3G4250D De-initialization
* @param None
* @retval None
*/
void I3G4250D_DeInit(void)
{
}
/**
* @brief Read ID address of I3G4250D
* @param None
* @retval ID name
*/
uint8_t I3G4250D_ReadID(void)
{
uint8_t tmp;
/* Configure the low level interface */
GYRO_IO_Init();
/* Read WHO I AM register */
GYRO_IO_Read(&tmp, I3G4250D_WHO_AM_I_ADDR, 1);
/* Return the ID */
return (uint8_t)tmp;
}
/**
* @brief Reboot memory content of I3G4250D
* @param None
* @retval None
*/
void I3G4250D_RebootCmd(void)
{
uint8_t tmpreg;
/* Read CTRL_REG5 register */
GYRO_IO_Read(&tmpreg, I3G4250D_CTRL_REG5_ADDR, 1);
/* Enable or Disable the reboot memory */
tmpreg |= I3G4250D_BOOT_REBOOTMEMORY;
/* Write value to MEMS CTRL_REG5 register */
GYRO_IO_Write(&tmpreg, I3G4250D_CTRL_REG5_ADDR, 1);
}
/**
* @brief Set I3G4250D in low-power mode
* @param I3G4250D_InitStruct: pointer to a I3G4250D_InitTypeDef structure
* that contains the configuration setting for the I3G4250D.
* @retval None
*/
void I3G4250D_LowPower(uint16_t InitStruct)
{
uint8_t ctrl = 0x00;
/* Write value to MEMS CTRL_REG1 register */
ctrl = (uint8_t) InitStruct;
GYRO_IO_Write(&ctrl, I3G4250D_CTRL_REG1_ADDR, 1);
}
/**
* @brief Set I3G4250D Interrupt INT1 configuration
* @param Int1Config: the configuration setting for the I3G4250D Interrupt.
* @retval None
*/
void I3G4250D_INT1InterruptConfig(uint16_t Int1Config)
{
uint8_t ctrl_cfr = 0x00, ctrl3 = 0x00;
/* Read INT1_CFG register */
GYRO_IO_Read(&ctrl_cfr, I3G4250D_INT1_CFG_ADDR, 1);
/* Read CTRL_REG3 register */
GYRO_IO_Read(&ctrl3, I3G4250D_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, I3G4250D_INT1_CFG_ADDR, 1);
/* Write value to MEMS CTRL_REG3 register */
GYRO_IO_Write(&ctrl3, I3G4250D_CTRL_REG3_ADDR, 1);
}
/**
* @brief Enable INT1 or INT2 interrupt
* @param IntSel: choice of INT1 or INT2
* This parameter can be:
* @arg I3G4250D_INT1
* @arg I3G4250D_INT2
* @retval None
*/
void I3G4250D_EnableIT(uint8_t IntSel)
{
uint8_t tmpreg;
/* Read CTRL_REG3 register */
GYRO_IO_Read(&tmpreg, I3G4250D_CTRL_REG3_ADDR, 1);
if (IntSel == I3G4250D_INT1)
{
tmpreg &= 0x7F;
tmpreg |= I3G4250D_INT1INTERRUPT_ENABLE;
}
else if (IntSel == I3G4250D_INT2)
{
tmpreg &= 0xF7;
tmpreg |= I3G4250D_INT2INTERRUPT_ENABLE;
}
/* Write value to MEMS CTRL_REG3 register */
GYRO_IO_Write(&tmpreg, I3G4250D_CTRL_REG3_ADDR, 1);
}
/**
* @brief Disable INT1 or INT2 interrupt
* @param IntSel: choice of INT1 or INT2
* This parameter can be:
* @arg I3G4250D_INT1
* @arg I3G4250D_INT2
* @retval None
*/
void I3G4250D_DisableIT(uint8_t IntSel)
{
uint8_t tmpreg;
/* Read CTRL_REG3 register */
GYRO_IO_Read(&tmpreg, I3G4250D_CTRL_REG3_ADDR, 1);
if (IntSel == I3G4250D_INT1)
{
tmpreg &= 0x7F;
tmpreg |= I3G4250D_INT1INTERRUPT_DISABLE;
}
else if (IntSel == I3G4250D_INT2)
{
tmpreg &= 0xF7;
tmpreg |= I3G4250D_INT2INTERRUPT_DISABLE;
}
/* Write value to MEMS CTRL_REG3 register */
GYRO_IO_Write(&tmpreg, I3G4250D_CTRL_REG3_ADDR, 1);
}
/**
* @brief Set High Pass Filter Modality
* @param FilterStruct: contains the configuration setting for the L3GD20.
* @retval None
*/
void I3G4250D_FilterConfig(uint8_t FilterStruct)
{
uint8_t tmpreg;
/* Read CTRL_REG2 register */
GYRO_IO_Read(&tmpreg, I3G4250D_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, I3G4250D_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: I3G4250D_HIGHPASSFILTER_DISABLE
* @arg: I3G4250D_HIGHPASSFILTER_ENABLE
* @retval None
*/
void I3G4250D_FilterCmd(uint8_t HighPassFilterState)
{
uint8_t tmpreg;
/* Read CTRL_REG5 register */
GYRO_IO_Read(&tmpreg, I3G4250D_CTRL_REG5_ADDR, 1);
tmpreg &= 0xEF;
tmpreg |= HighPassFilterState;
/* Write value to MEMS CTRL_REG5 register */
GYRO_IO_Write(&tmpreg, I3G4250D_CTRL_REG5_ADDR, 1);
}
/**
* @brief Get status for I3G4250D data
* @param None
* @retval Data status in a I3G4250D Data
*/
uint8_t I3G4250D_GetDataStatus(void)
{
uint8_t tmpreg;
/* Read STATUS_REG register */
GYRO_IO_Read(&tmpreg, I3G4250D_STATUS_REG_ADDR, 1);
return tmpreg;
}
/**
* @brief Calculate the I3G4250D angular data.
* @param pfData: Data out pointer
* @retval None
*/
void I3G4250D_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, I3G4250D_CTRL_REG4_ADDR, 1);
GYRO_IO_Read(tmpbuffer, I3G4250D_OUT_X_L_ADDR, 6);
/* check in the control register 4 the data alignment (Big Endian or Little Endian)*/
if (!(tmpreg & I3G4250D_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 & I3G4250D_FULLSCALE_SELECTION)
{
case I3G4250D_FULLSCALE_245:
sensitivity = I3G4250D_SENSITIVITY_245DPS;
break;
case I3G4250D_FULLSCALE_500:
sensitivity = I3G4250D_SENSITIVITY_500DPS;
break;
case I3G4250D_FULLSCALE_2000:
sensitivity = I3G4250D_SENSITIVITY_2000DPS;
break;
}
/* Multiplied by sensitivity */
for (i = 0; i < 3; i++)
{
pfData[i] = (float)(RawData[i] * sensitivity);
}
}
/**
* @}
*/
/**
* @}
*/
/**
* @}
*/
/**
* @}
*/