STM32F401-Discovery BSP User Manual: stm32f401_discovery_gyroscope.c Source File

00001 /**
00002   ******************************************************************************
00003   * @file    stm32f401_discovery_gyroscope.c
00004   * @author  MCD Application Team
00005   * @version V2.2.2
00006   * @date    31-January-2017
00007   * @brief   This file provides a set of functions needed to manage the
00008   *          MEMS gyroscope available on STM32F401-Discovery Kit.
00009   ******************************************************************************
00010   * @attention
00011   *
00012   * <h2><center>&copy; COPYRIGHT(c) 2017 STMicroelectronics</center></h2>
00013   *
00014   * Redistribution and use in source and binary forms, with or without modification,
00015   * are permitted provided that the following conditions are met:
00016   *   1. Redistributions of source code must retain the above copyright notice,
00017   *      this list of conditions and the following disclaimer.
00018   *   2. Redistributions in binary form must reproduce the above copyright notice,
00019   *      this list of conditions and the following disclaimer in the documentation
00020   *      and/or other materials provided with the distribution.
00021   *   3. Neither the name of STMicroelectronics nor the names of its contributors
00022   *      may be used to endorse or promote products derived from this software
00023   *      without specific prior written permission.
00024   *
00025   * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00026   * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00027   * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
00028   * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
00029   * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
00030   * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
00031   * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00032   * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
00033   * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
00034   * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00035   *
00036   ******************************************************************************
00037   */
00038 /* Includes ------------------------------------------------------------------*/
00039 #include "stm32f401_discovery_gyroscope.h"
00040 
00041 /** @addtogroup BSP
00042   * @{
00043   */ 
00044 
00045 /** @addtogroup STM32F401_DISCOVERY
00046   * @{
00047   */  
00048   
00049 /** @defgroup STM32F401_DISCOVERY_GYROSCOPE STM32F401 DISCOVERY GYROSCOPE
00050   * @{
00051   */
00052 
00053 
00054 /** @defgroup STM32F401_DISCOVERY_GYROSCOPE_Private_TypesDefinitions STM32F401 DISCOVERY GYROSCOPE Private TypesDefinitions
00055   * @{
00056   */ 
00057 /**
00058   * @}
00059   */
00060 
00061 /** @defgroup STM32F401_DISCOVERY_GYROSCOPE_Private_Defines STM32F401 DISCOVERY GYROSCOPE Private Defines
00062   * @{
00063   */
00064 /**
00065   * @}
00066   */
00067 
00068 /** @defgroup STM32F401_DISCOVERY_GYROSCOPE_Private_Macros STM32F401 DISCOVERY GYROSCOPE Private Macros
00069   * @{
00070   */
00071 /**
00072   * @}
00073   */ 
00074   
00075 /** @defgroup STM32F401_DISCOVERY_GYROSCOPE_Private_Variables STM32F401 DISCOVERY GYROSCOPE Private Variables
00076   * @{
00077   */ 
00078 static GYRO_DrvTypeDef *GyroscopeDrv;
00079 /**
00080   * @}
00081   */
00082 
00083 /** @defgroup STM32F401_DISCOVERY_GYROSCOPE_Private_FunctionPrototypes STM32F401 DISCOVERY GYROSCOPE Private FunctionPrototypes
00084   * @{
00085   */
00086 /**
00087   * @}
00088   */
00089 
00090 /** @defgroup STM32F401_DISCOVERY_GYROSCOPE_Private_Functions STM32F401 DISCOVERY GYROSCOPE Private Functions
00091   * @{
00092   */
00093 
00094 /**
00095   * @brief  Set Gyroscope Initialization.
00096   * @retval GYRO_OK if no problem during initialization
00097   */
00098 uint8_t BSP_GYRO_Init(void)
00099 {  
00100   uint8_t ret = GYRO_ERROR;
00101   uint16_t ctrl = 0x0000;
00102   GYRO_InitTypeDef         L3GD20_InitStructure;
00103   GYRO_FilterConfigTypeDef L3GD20_FilterStructure = {0,0};
00104  
00105   if((L3gd20Drv.ReadID() == I_AM_L3GD20) || (L3gd20Drv.ReadID() == I_AM_L3GD20_TR))
00106   {
00107     /* Initialize the Gyroscope driver structure */
00108     GyroscopeDrv = &L3gd20Drv;
00109 
00110     /* MEMS configuration ----------------------------------------------------*/
00111     /* Fill the Gyroscope structure */
00112     L3GD20_InitStructure.Power_Mode = L3GD20_MODE_ACTIVE;
00113     L3GD20_InitStructure.Output_DataRate = L3GD20_OUTPUT_DATARATE_1;
00114     L3GD20_InitStructure.Axes_Enable = L3GD20_AXES_ENABLE;
00115     L3GD20_InitStructure.Band_Width = L3GD20_BANDWIDTH_4;
00116     L3GD20_InitStructure.BlockData_Update = L3GD20_BlockDataUpdate_Continous;
00117     L3GD20_InitStructure.Endianness = L3GD20_BLE_LSB;
00118     L3GD20_InitStructure.Full_Scale = L3GD20_FULLSCALE_500; 
00119   
00120     /* Configure MEMS: data rate, power mode, full scale and axes */
00121     ctrl = (uint16_t) (L3GD20_InitStructure.Power_Mode | L3GD20_InitStructure.Output_DataRate | \
00122                       L3GD20_InitStructure.Axes_Enable | L3GD20_InitStructure.Band_Width);
00123   
00124     ctrl |= (uint16_t) ((L3GD20_InitStructure.BlockData_Update | L3GD20_InitStructure.Endianness | \
00125                         L3GD20_InitStructure.Full_Scale) << 8);
00126 
00127     /* Configure the Gyroscope main parameters */
00128     GyroscopeDrv->Init(ctrl);
00129   
00130     L3GD20_FilterStructure.HighPassFilter_Mode_Selection =L3GD20_HPM_NORMAL_MODE_RES;
00131     L3GD20_FilterStructure.HighPassFilter_CutOff_Frequency = L3GD20_HPFCF_0;
00132   
00133     ctrl = (uint8_t) ((L3GD20_FilterStructure.HighPassFilter_Mode_Selection |\
00134                        L3GD20_FilterStructure.HighPassFilter_CutOff_Frequency));    
00135   
00136     /* Configure the Gyroscope main parameters */
00137     GyroscopeDrv->FilterConfig(ctrl) ;
00138   
00139     GyroscopeDrv->FilterCmd(L3GD20_HIGHPASSFILTER_ENABLE);
00140   
00141     ret = GYRO_OK;
00142   }
00143   return ret;
00144 }
00145 
00146 /**
00147   * @brief  Read ID of Gyroscope component.
00148   * @retval ID
00149   */
00150 uint8_t BSP_GYRO_ReadID(void)
00151 {
00152   uint8_t id = 0x00;
00153   
00154   if(GyroscopeDrv->ReadID != NULL)
00155   {
00156     id = GyroscopeDrv->ReadID();
00157   }  
00158   return id;
00159 }
00160 
00161 /**
00162   * @brief  Reboot memory content of Gyroscope.
00163   */
00164 void BSP_GYRO_Reset(void)
00165 {  
00166   if(GyroscopeDrv->Reset != NULL)
00167   {
00168     GyroscopeDrv->Reset();
00169   }  
00170 }
00171 
00172 /**
00173   * @brief  Configures INT1 interrupt.
00174   * @param  pIntConfig: pointer to a L3GD20_InterruptConfig_TypeDef 
00175   *         structure that contains the configuration setting for the L3GD20 Interrupt.
00176   */
00177 void BSP_GYRO_ITConfig(GYRO_InterruptConfigTypeDef *pIntConfig)
00178 {
00179   uint16_t interruptconfig = 0x0000;
00180   
00181   if(GyroscopeDrv->ConfigIT != NULL)
00182   {
00183     /* Configure latch Interrupt request and axe interrupts */                   
00184     interruptconfig |= ((uint8_t)(pIntConfig->Latch_Request| \
00185                                   pIntConfig->Interrupt_Axes) << 8);
00186     
00187     interruptconfig |= (uint8_t)(pIntConfig->Interrupt_ActiveEdge);
00188     
00189     GyroscopeDrv->ConfigIT(interruptconfig);
00190   }  
00191 }
00192 
00193 /**
00194   * @brief  Enables INT1 or INT2 interrupt.
00195   * @param  IntPin: Interrupt pin 
00196   *      This parameter can be: 
00197   *        @arg L3GD20_INT1
00198   *        @arg L3GD20_INT2
00199   */
00200 void BSP_GYRO_EnableIT(uint8_t IntPin)
00201 {
00202   if(GyroscopeDrv->EnableIT != NULL)
00203   {
00204     GyroscopeDrv->EnableIT(IntPin);
00205   }
00206 }
00207 
00208 /**
00209   * @brief  Disables INT1 or INT2 interrupt.
00210   * @param  IntPin: Interrupt pin 
00211   *      This parameter can be: 
00212   *        @arg L3GD20_INT1
00213   *        @arg L3GD20_INT2
00214   */
00215 void BSP_GYRO_DisableIT(uint8_t IntPin)
00216 {
00217   if(GyroscopeDrv->DisableIT != NULL)
00218   {
00219     GyroscopeDrv->DisableIT(IntPin);
00220   }
00221 }
00222   
00223 /**
00224   * @brief  Get XYZ angular acceleration.
00225   * @param  pfData: pointer on floating array         
00226   */
00227 void BSP_GYRO_GetXYZ(float *pfData)
00228 {
00229   if(GyroscopeDrv->GetXYZ!= NULL)
00230   {   
00231     GyroscopeDrv->GetXYZ(pfData);
00232   }
00233 }
00234 
00235 /**
00236   * @}
00237   */ 
00238 
00239 /**
00240   * @}
00241   */ 
00242   
00243 /**
00244   * @}
00245   */ 
00246 
00247 /**
00248   * @}
00249   */ 
00250 
00251 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/