STM32F3-Discovery BSP User Manual: stm32f3_discovery_gyroscope.c Source File

00001 /**
00002   ******************************************************************************
00003   * @file    stm32f3_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 STM32F3-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 "stm32f3_discovery_gyroscope.h"
00038 
00039 /** @addtogroup BSP
00040   * @{
00041   */ 
00042 
00043 /** @addtogroup STM32F3_DISCOVERY
00044   * @{
00045   */ 
00046 
00047 /** @defgroup STM32F3_DISCOVERY_GYROSCOPE STM32F3-DISCOVERY GYROSCOPE
00048   * @{
00049   */
00050 
00051 /* Private typedef -----------------------------------------------------------*/
00052 /** @defgroup STM32F3_DISCOVERY_GYROSCOPE_Private_Types Private Types
00053   * @{
00054   */
00055 /**
00056   * @}
00057   */
00058 
00059 /* Private defines ------------------------------------------------------------*/
00060 /** @defgroup STM32F3_DISCOVERY_GYROSCOPE_Private_Constants Private Constants
00061   * @{
00062   */
00063 /**
00064   * @}
00065   */
00066 
00067 /* Private macros ------------------------------------------------------------*/
00068 /** @defgroup STM32F3_DISCOVERY_GYROSCOPE_Private_Macros Private Macros
00069   * @{
00070   */
00071 /**
00072   * @}
00073   */ 
00074   
00075 /* Private variables ---------------------------------------------------------*/
00076 /** @defgroup STM32F3_DISCOVERY_GYROSCOPE_Private_Variables Private Variables
00077   * @{
00078   */ 
00079 static GYRO_DrvTypeDef *GyroscopeDrv;
00080 
00081 /**
00082   * @}
00083   */
00084 
00085 /* Private function prototypes -----------------------------------------------*/
00086 /** @defgroup STM32F3_DISCOVERY_GYROSCOPE_Private_FunctionPrototypes Private Functions
00087   * @{
00088   */
00089 /**
00090   * @}
00091   */
00092 
00093 /* Exported functions --------------------------------------------------------*/
00094 /** @addtogroup STM32F3_DISCOVERY_GYROSCOPE_Exported_Functions
00095   * @{
00096   */
00097 
00098 /**
00099   * @brief  Set GYROSCOPE Initialization.
00100   * @retval GYRO_OK if no problem during initialization
00101   */
00102 uint8_t BSP_GYRO_Init(void)
00103 {  
00104   uint8_t ret = GYRO_ERROR;
00105   uint16_t ctrl = 0x0000;
00106   GYRO_InitTypeDef L3GD20_InitStructure;
00107   GYRO_FilterConfigTypeDef L3GD20_FilterStructure;
00108 
00109   if((L3gd20Drv.ReadID() == I_AM_L3GD20) || (L3gd20Drv.ReadID() == I_AM_L3GD20_TR))
00110   {
00111     /* Initialize the gyroscope driver structure */
00112     GyroscopeDrv = &L3gd20Drv;
00113 
00114     /* Configure Mems : data rate, power mode, full scale and axes */
00115     L3GD20_InitStructure.Power_Mode = L3GD20_MODE_ACTIVE;
00116     L3GD20_InitStructure.Output_DataRate = L3GD20_OUTPUT_DATARATE_1;
00117     L3GD20_InitStructure.Axes_Enable = L3GD20_AXES_ENABLE;
00118     L3GD20_InitStructure.Band_Width = L3GD20_BANDWIDTH_4;
00119     L3GD20_InitStructure.BlockData_Update = L3GD20_BlockDataUpdate_Continous;
00120     L3GD20_InitStructure.Endianness = L3GD20_BLE_LSB;
00121     L3GD20_InitStructure.Full_Scale = L3GD20_FULLSCALE_500; 
00122         
00123     /* Configure MEMS: data rate, power mode, full scale and axes */
00124     ctrl = (uint16_t) (L3GD20_InitStructure.Power_Mode | L3GD20_InitStructure.Output_DataRate | \
00125                       L3GD20_InitStructure.Axes_Enable | L3GD20_InitStructure.Band_Width);
00126         
00127     ctrl |= (uint16_t) ((L3GD20_InitStructure.BlockData_Update | L3GD20_InitStructure.Endianness | \
00128                         L3GD20_InitStructure.Full_Scale) << 8);
00129 
00130     /* L3gd20 Init */    
00131     GyroscopeDrv->Init(ctrl);
00132   
00133     L3GD20_FilterStructure.HighPassFilter_Mode_Selection =L3GD20_HPM_NORMAL_MODE_RES;
00134     L3GD20_FilterStructure.HighPassFilter_CutOff_Frequency = L3GD20_HPFCF_0;
00135         
00136     ctrl = (uint8_t) ((L3GD20_FilterStructure.HighPassFilter_Mode_Selection |\
00137                        L3GD20_FilterStructure.HighPassFilter_CutOff_Frequency));                
00138         
00139     GyroscopeDrv->FilterConfig(ctrl) ;
00140   
00141     GyroscopeDrv->FilterCmd(L3GD20_HIGHPASSFILTER_ENABLE);
00142         
00143     ret = GYRO_OK;
00144   }
00145   else
00146   {
00147     ret = GYRO_ERROR;
00148   }
00149   
00150   return ret;
00151 }
00152 
00153 /**
00154   * @brief  Read ID of Gyroscope component
00155   * @retval ID
00156   */
00157 uint8_t BSP_GYRO_ReadID(void)
00158 {
00159   uint8_t id = 0x00;
00160 
00161   if(GyroscopeDrv->ReadID != NULL)
00162   {
00163     id = GyroscopeDrv->ReadID();
00164   }  
00165   return id;
00166 }
00167 
00168 /**
00169   * @brief  Reboot memory content of GYROSCOPE
00170   * @retval None
00171   */
00172 void BSP_GYRO_Reset(void)
00173 {
00174   if(GyroscopeDrv->Reset != NULL)
00175   {
00176     GyroscopeDrv->Reset();
00177   }  
00178 }
00179 
00180 
00181 /**
00182   * @brief  Configure INT1 interrupt
00183   * @param  pIntConfig pointer to a L3GD20_InterruptConfig_TypeDef 
00184   *         structure that contains the configuration setting for the L3GD20 Interrupt.
00185   * @retval None
00186   */
00187 void BSP_GYRO_ITConfig(GYRO_InterruptConfigTypeDef *pIntConfig)
00188 {  
00189 uint16_t interruptconfig = 0x0000;
00190 
00191   if(GyroscopeDrv->ConfigIT != NULL)
00192   {
00193     /* Configure latch Interrupt request and axe interrupts */                   
00194     interruptconfig |= ((uint8_t)(pIntConfig->Latch_Request| \
00195                                   pIntConfig->Interrupt_Axes) << 8);
00196                    
00197     interruptconfig |= (uint8_t)(pIntConfig->Interrupt_ActiveEdge);
00198  
00199         GyroscopeDrv->ConfigIT(interruptconfig);
00200   }  
00201 }
00202 
00203 /**
00204   * @brief  Enable INT1 or INT2 interrupt
00205   * @param  IntPin Interrupt pin 
00206   *      This parameter can be: 
00207   *        @arg L3GD20_INT1
00208   *        @arg L3GD20_INT2
00209   * @retval None
00210   */
00211 void BSP_GYRO_EnableIT(uint8_t IntPin)
00212 {  
00213   if(GyroscopeDrv->EnableIT != NULL)
00214   {
00215         GyroscopeDrv->EnableIT(IntPin);
00216   }  
00217 }
00218 
00219 /**
00220   * @brief  Disable INT1 or INT2 interrupt
00221   * @param  IntPin Interrupt pin 
00222   *      This parameter can be: 
00223   *        @arg L3GD20_INT1
00224   *        @arg L3GD20_INT2
00225   * @retval None
00226   */
00227 void BSP_GYRO_DisableIT(uint8_t IntPin)
00228 {  
00229   if(GyroscopeDrv->DisableIT != NULL)
00230   {
00231     GyroscopeDrv->DisableIT(IntPin);
00232   }  
00233 }
00234 
00235 /**
00236   * @brief  Get XYZ angular acceleration
00237   * @param pfData pointer on floating array         
00238   * @retval None
00239   */
00240 void BSP_GYRO_GetXYZ(float* pfData)
00241 {
00242   if(GyroscopeDrv->GetXYZ!= NULL)
00243   {
00244         GyroscopeDrv->GetXYZ(pfData);
00245   }  
00246 }
00247 
00248 /**
00249   * @}
00250   */ 
00251 
00252 /**
00253   * @}
00254   */ 
00255   
00256 /**
00257   * @}
00258   */ 
00259 
00260 /**
00261   * @}
00262   */ 
00263   
00264 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/