STM32F072B-Discovery BSP User Manual: stm32f072b_discovery_gyroscope.c Source File

00001 /**
00002   ******************************************************************************
00003   * @file    stm32f072b_discovery_gyroscope.c
00004   * @author  MCD Application Team
00005   * @brief   This file provides a set of functions needed to manage the l3gd20
00006   *          MEMS accelerometer available on STM32F072B-Discovery Kit.
00007   ******************************************************************************
00008   * @attention
00009   *
00010   * <h2><center>&copy; COPYRIGHT(c) 2016 STMicroelectronics</center></h2>
00011   *
00012   * Redistribution and use in source and binary forms, with or without modification,
00013   * are permitted provided that the following conditions are met:
00014   *   1. Redistributions of source code must retain the above copyright notice,
00015   *      this list of conditions and the following disclaimer.
00016   *   2. Redistributions in binary form must reproduce the above copyright notice,
00017   *      this list of conditions and the following disclaimer in the documentation
00018   *      and/or other materials provided with the distribution.
00019   *   3. Neither the name of STMicroelectronics nor the names of its contributors
00020   *      may be used to endorse or promote products derived from this software
00021   *      without specific prior written permission.
00022   *
00023   * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00024   * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00025   * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
00026   * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
00027   * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
00028   * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
00029   * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00030   * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
00031   * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
00032   * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00033   *
00034   ******************************************************************************
00035   */
00036 /* Includes ------------------------------------------------------------------*/
00037 #include "stm32f072b_discovery_gyroscope.h"
00038 
00039 /** @addtogroup BSP
00040   * @{
00041   */ 
00042 
00043 /** @addtogroup STM32F072B_DISCOVERY
00044   * @{
00045   */
00046 
00047 /** @addtogroup STM32F072B_DISCOVERY_GYRO
00048   * @{
00049   */
00050 
00051 /** @defgroup STM32F072B_DISCOVERY_GYRO_Private_Variables Private Variables
00052   * @{
00053   */ 
00054 static GYRO_DrvTypeDef *GyroscopeDrv;
00055 
00056 /**
00057   * @}
00058   */
00059 
00060 /** @addtogroup STM32F072B_DISCOVERY_GYRO_Exported_Functions
00061   * @{
00062   */
00063 
00064 /**
00065   * @brief  Set GYRO Initialization.
00066   * @retval GYRO_OK if no problem during initialization
00067   */
00068 uint8_t BSP_GYRO_Init(void)
00069 {  
00070   uint8_t ret = GYRO_ERROR;
00071   uint16_t ctrl = 0x0000;
00072   GYRO_InitTypeDef L3GD20_InitStructure;
00073   GYRO_FilterConfigTypeDef L3GD20_FilterStructure={0,0};
00074 
00075   if((L3gd20Drv.ReadID() == I_AM_L3GD20) || (L3gd20Drv.ReadID() == I_AM_L3GD20_TR))
00076   {
00077     /* Initialize the gyroscope driver structure */
00078     GyroscopeDrv = &L3gd20Drv;
00079 
00080     /* Configure Mems : data rate, power mode, full scale and axes */
00081     L3GD20_InitStructure.Power_Mode = L3GD20_MODE_ACTIVE;
00082     L3GD20_InitStructure.Output_DataRate = L3GD20_OUTPUT_DATARATE_1;
00083     L3GD20_InitStructure.Axes_Enable = L3GD20_AXES_ENABLE;
00084     L3GD20_InitStructure.Band_Width = L3GD20_BANDWIDTH_4;
00085     L3GD20_InitStructure.BlockData_Update = L3GD20_BlockDataUpdate_Continous;
00086     L3GD20_InitStructure.Endianness = L3GD20_BLE_LSB;
00087     L3GD20_InitStructure.Full_Scale = L3GD20_FULLSCALE_500; 
00088         
00089     /* Configure MEMS: data rate, power mode, full scale and axes */
00090     ctrl = (uint16_t) (L3GD20_InitStructure.Power_Mode | L3GD20_InitStructure.Output_DataRate | \
00091                       L3GD20_InitStructure.Axes_Enable | L3GD20_InitStructure.Band_Width);
00092         
00093     ctrl |= (uint16_t) ((L3GD20_InitStructure.BlockData_Update | L3GD20_InitStructure.Endianness | \
00094                         L3GD20_InitStructure.Full_Scale) << 8);
00095 
00096     /* L3gd20 Init */    
00097     GyroscopeDrv->Init(ctrl);
00098   
00099     L3GD20_FilterStructure.HighPassFilter_Mode_Selection =L3GD20_HPM_NORMAL_MODE_RES;
00100     L3GD20_FilterStructure.HighPassFilter_CutOff_Frequency = L3GD20_HPFCF_0;
00101         
00102     ctrl = (uint8_t) ((L3GD20_FilterStructure.HighPassFilter_Mode_Selection |\
00103                        L3GD20_FilterStructure.HighPassFilter_CutOff_Frequency));                
00104         
00105     GyroscopeDrv->FilterConfig(ctrl) ;
00106   
00107     GyroscopeDrv->FilterCmd(L3GD20_HIGHPASSFILTER_ENABLE);
00108         
00109     ret = GYRO_OK;
00110   }
00111   else
00112   {
00113     ret = GYRO_ERROR;
00114   }
00115   
00116   return ret;
00117 }
00118 
00119 /**
00120   * @brief  Read ID of Gyroscope component
00121   * @retval ID
00122   */
00123 uint8_t BSP_GYRO_ReadID(void)
00124 {
00125   uint8_t id = 0x00;
00126 
00127   if(GyroscopeDrv->ReadID != NULL)
00128   {
00129     id = GyroscopeDrv->ReadID();
00130   }  
00131   return id;
00132 }
00133 
00134 /**
00135   * @brief  Reboot memory content of GYRO
00136   * @retval None
00137   */
00138 void BSP_GYRO_Reset(void)
00139 {
00140   if(GyroscopeDrv->Reset != NULL)
00141   {
00142     GyroscopeDrv->Reset();
00143   }  
00144 }
00145 
00146 /**
00147   * @brief  Configure INT1 interrupt
00148   * @param  pIntConfig pointer to a L3GD20_InterruptConfig_TypeDef 
00149   *         structure that contains the configuration setting for the L3GD20 Interrupt.
00150   * @retval None
00151   */
00152 void BSP_GYRO_ITConfig(GYRO_InterruptConfigTypeDef *pIntConfig)
00153 {  
00154 uint16_t interruptconfig = 0x0000;
00155 
00156   if(GyroscopeDrv->ConfigIT != NULL)
00157   {
00158     /* Configure latch Interrupt request and axe interrupts */                   
00159     interruptconfig |= ((uint8_t)(pIntConfig->Latch_Request| \
00160                                   pIntConfig->Interrupt_Axes) << 8);
00161                    
00162     interruptconfig |= (uint8_t)(pIntConfig->Interrupt_ActiveEdge);
00163  
00164         GyroscopeDrv->ConfigIT(interruptconfig);
00165   }  
00166 }
00167 
00168 /**
00169   * @brief  Enable INT1 or INT2 interrupt
00170   * @param  IntPin Interrupt pin 
00171   *      This parameter can be: 
00172   *        @arg L3GD20_INT1
00173   *        @arg L3GD20_INT2
00174   * @retval None
00175   */
00176 void BSP_GYRO_EnableIT(uint8_t IntPin)
00177 {  
00178   if(GyroscopeDrv->EnableIT != NULL)
00179   {
00180         GyroscopeDrv->EnableIT(IntPin);
00181   }  
00182 }
00183 
00184 /**
00185   * @brief  Disable INT1 or INT2 interrupt
00186   * @param  IntPin Interrupt pin 
00187   *      This parameter can be: 
00188   *        @arg L3GD20_INT1
00189   *        @arg L3GD20_INT2
00190   * @retval None
00191   */
00192 void BSP_GYRO_DisableIT(uint8_t IntPin)
00193 {  
00194   if(GyroscopeDrv->DisableIT != NULL)
00195   {
00196     GyroscopeDrv->DisableIT(IntPin);
00197   }  
00198 }
00199 
00200 /**
00201   * @brief  Get XYZ angular acceleration
00202   * @param pfData pointer on floating array         
00203   * @retval None
00204   */
00205 void BSP_GYRO_GetXYZ(float* pfData)
00206 {
00207   if(GyroscopeDrv->GetXYZ!= NULL)
00208   {
00209         GyroscopeDrv->GetXYZ(pfData);
00210   }  
00211 }
00212 
00213 /**
00214   * @}
00215   */ 
00216 
00217 /**
00218   * @}
00219   */
00220 
00221 /**
00222   * @}
00223   */
00224 
00225 /**
00226   * @}
00227   */
00228   
00229 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/