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/**
******************************************************************************
* @file l3gd20.c
* @author MCD Application Team
* @brief This file provides a set of functions needed to manage the L3GD20,
* ST MEMS motion sensor, 3-axis digital output gyroscope.
******************************************************************************
* @attention
*
* Copyright (c) 2015 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 "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);
}
}
/**
* @}
*/
/**
* @}
*/
/**
* @}
*/
/**
* @}
*/