STM32F429I-Discovery BSP User Manual: stm32f429i_discovery_gyroscope.c Source File

00001 /**
00002   ******************************************************************************
00003   * @file    stm32f429i_discovery_gyroscope.c
00004   * @author  MCD Application Team
00005   * @version V2.1.3
00006   * @date    13-January-2016
00007   * @brief   This file provides a set of functions needed to manage the
00008   *          MEMS gyroscope available on STM32F429I-Discovery Kit.
00009   ******************************************************************************
00010   * @attention
00011   *
00012   * <h2><center>&copy; COPYRIGHT(c) 2015 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 "stm32f429i_discovery_gyroscope.h"
00040 
00041 /** @addtogroup BSP
00042   * @{
00043   */ 
00044 
00045 /** @addtogroup STM32F429I_DISCOVERY
00046   * @{
00047   */ 
00048 
00049 /** @defgroup STM32F429I_DISCOVERY_GYROSCOPE STM32F429I DISCOVERY GYROSCOPE
00050   * @{
00051   */
00052 
00053 /** @defgroup STM32F429I_DISCOVERY_GYROSCOPE_Private_TypesDefinitions STM32F429I DISCOVERY GYROSCOPE Private TypesDefinitions
00054   * @{
00055   */
00056 /**
00057   * @}
00058   */
00059 
00060 /** @defgroup STM32F429I_DISCOVERY_GYROSCOPE_Private_Defines STM32F429I DISCOVERY GYROSCOPE Private Defines
00061   * @{
00062   */
00063 /**
00064   * @}
00065   */
00066 
00067 /** @defgroup STM32F429I_DISCOVERY_GYROSCOPE_Private_Macros STM32F429I DISCOVERY GYROSCOPE Private Macros
00068   * @{
00069   */
00070 /**
00071   * @}
00072   */ 
00073   
00074 /** @defgroup STM32F429I_DISCOVERY_GYROSCOPE_Private_Variables STM32F429I DISCOVERY GYROSCOPE Private Variables
00075   * @{
00076   */ 
00077 static GYRO_DrvTypeDef *GyroscopeDrv;
00078 
00079 /**
00080   * @}
00081   */
00082 
00083 /** @defgroup STM32F429I_DISCOVERY_GYROSCOPE_Private_FunctionPrototypes STM32F429I DISCOVERY GYROSCOPE Private FunctionPrototypes
00084   * @{
00085   */
00086 /**
00087   * @}
00088   */
00089 
00090 /** @defgroup STM32F429I_DISCOVERY_GYROSCOPE_Private_Functions STM32F429I 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   else
00144   {
00145     ret = GYRO_ERROR;
00146   }
00147   return ret;
00148 }
00149 
00150 /**
00151   * @brief  Read ID of Gyroscope component.
00152   * @retval ID
00153   */
00154 uint8_t BSP_GYRO_ReadID(void)
00155 {
00156   uint8_t id = 0x00;
00157   
00158   if(GyroscopeDrv->ReadID != NULL)
00159   {
00160     id = GyroscopeDrv->ReadID();
00161   }  
00162   return id;
00163 }
00164 
00165 /**
00166   * @brief  Reboot memory content of Gyroscope.
00167   */
00168 void BSP_GYRO_Reset(void)
00169 {
00170   if(GyroscopeDrv->Reset != NULL)
00171   {
00172     GyroscopeDrv->Reset();
00173   }
00174 }
00175 
00176 /**
00177   * @brief  Configures INT1 interrupt.
00178   * @param  pIntConfig: pointer to a L3GD20_InterruptConfig_TypeDef 
00179   *         structure that contains the configuration setting for the L3GD20 Interrupt.
00180   */
00181 void BSP_GYRO_ITConfig(GYRO_InterruptConfigTypeDef *pIntConfig)
00182 {  
00183   uint16_t interruptconfig = 0x0000;
00184   
00185   if(GyroscopeDrv->ConfigIT != NULL)
00186   {
00187     /* Configure latch Interrupt request and axe interrupts */                   
00188     interruptconfig |= ((uint8_t)(pIntConfig->Latch_Request| \
00189                                   pIntConfig->Interrupt_Axes) << 8);
00190     
00191     interruptconfig |= (uint8_t)(pIntConfig->Interrupt_ActiveEdge);
00192     
00193     GyroscopeDrv->ConfigIT(interruptconfig);
00194   }  
00195 }
00196 
00197 /**
00198   * @brief  Enables INT1 or INT2 interrupt.
00199   * @param  IntPin: Interrupt pin 
00200   *      This parameter can be: 
00201   *        @arg L3GD20_INT1
00202   *        @arg L3GD20_INT2
00203   */
00204 void BSP_GYRO_EnableIT(uint8_t IntPin)
00205 {  
00206   if(GyroscopeDrv->EnableIT != NULL)
00207   {
00208     GyroscopeDrv->EnableIT(IntPin);
00209   }
00210 }
00211 
00212 /**
00213   * @brief  Disables INT1 or INT2 interrupt.
00214   * @param  IntPin: Interrupt pin 
00215   *      This parameter can be: 
00216   *        @arg L3GD20_INT1
00217   *        @arg L3GD20_INT2
00218   */
00219 void BSP_GYRO_DisableIT(uint8_t IntPin)
00220 {  
00221   if(GyroscopeDrv->DisableIT != NULL)
00222   {
00223     GyroscopeDrv->DisableIT(IntPin);
00224   }
00225 }
00226 
00227 /**
00228   * @brief  Gets XYZ angular acceleration/
00229   * @param  pfData: pointer on floating array         
00230   */
00231 void BSP_GYRO_GetXYZ(float *pfData)
00232 {
00233   if(GyroscopeDrv->GetXYZ!= NULL)
00234   {
00235     GyroscopeDrv->GetXYZ(pfData);
00236   }
00237 }
00238 
00239 /**
00240   * @}
00241   */ 
00242 
00243 /**
00244   * @}
00245   */ 
00246   
00247 /**
00248   * @}
00249   */ 
00250 
00251 /**
00252   * @}
00253   */ 
00254 
00255 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/