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https://github.com/STMicroelectronics/STM32CubeF4.git
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417 lines
9.4 KiB
C
417 lines
9.4 KiB
C
/**
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******************************************************************************
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* @file l3gd20.c
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* @author MCD Application Team
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* @version V2.0.0
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* @date 26-June-2015
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* @brief This file provides a set of functions needed to manage the L3GD20,
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* ST MEMS motion sensor, 3-axis digital output gyroscope.
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******************************************************************************
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* @attention
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*
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* <h2><center>© COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
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*
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* Redistribution and use in source and binary forms, with or without modification,
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* are permitted provided that the following conditions are met:
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* 1. Redistributions of source code must retain the above copyright notice,
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* this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright notice,
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* this list of conditions and the following disclaimer in the documentation
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* and/or other materials provided with the distribution.
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* 3. Neither the name of STMicroelectronics nor the names of its contributors
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* may be used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
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* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
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* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
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* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
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* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*
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******************************************************************************
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*/
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/* Includes ------------------------------------------------------------------*/
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#include "l3gd20.h"
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/** @addtogroup BSP
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* @{
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*/
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/** @addtogroup Components
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* @{
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*/
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/** @addtogroup L3GD20
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* @{
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*/
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/** @defgroup L3GD20_Private_TypesDefinitions
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* @{
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*/
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/**
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* @}
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*/
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/** @defgroup L3GD20_Private_Defines
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* @{
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*/
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/**
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* @}
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*/
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/** @defgroup L3GD20_Private_Macros
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* @{
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*/
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/**
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* @}
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*/
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/** @defgroup L3GD20_Private_Variables
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* @{
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*/
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GYRO_DrvTypeDef L3gd20Drv =
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{
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L3GD20_Init,
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L3GD20_DeInit,
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L3GD20_ReadID,
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L3GD20_RebootCmd,
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L3GD20_LowPower,
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L3GD20_INT1InterruptConfig,
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L3GD20_EnableIT,
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L3GD20_DisableIT,
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0,
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0,
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L3GD20_FilterConfig,
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L3GD20_FilterCmd,
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L3GD20_ReadXYZAngRate
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};
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/**
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* @}
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*/
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/** @defgroup L3GD20_Private_FunctionPrototypes
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* @{
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*/
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/**
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* @}
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*/
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/** @defgroup L3GD20_Private_Functions
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* @{
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*/
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/**
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* @brief Set L3GD20 Initialization.
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* @param L3GD20_InitStruct: pointer to a L3GD20_InitTypeDef structure
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* that contains the configuration setting for the L3GD20.
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* @retval None
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*/
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void L3GD20_Init(uint16_t InitStruct)
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{
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uint8_t ctrl = 0x00;
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/* Configure the low level interface */
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GYRO_IO_Init();
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/* Write value to MEMS CTRL_REG1 register */
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ctrl = (uint8_t) InitStruct;
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GYRO_IO_Write(&ctrl, L3GD20_CTRL_REG1_ADDR, 1);
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/* Write value to MEMS CTRL_REG4 register */
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ctrl = (uint8_t) (InitStruct >> 8);
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GYRO_IO_Write(&ctrl, L3GD20_CTRL_REG4_ADDR, 1);
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}
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/**
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* @brief L3GD20 De-initialization
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* @param None
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* @retval None
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*/
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void L3GD20_DeInit(void)
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{
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}
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/**
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* @brief Read ID address of L3GD20
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* @param None
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* @retval ID name
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*/
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uint8_t L3GD20_ReadID(void)
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{
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uint8_t tmp;
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/* Configure the low level interface */
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GYRO_IO_Init();
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/* Read WHO I AM register */
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GYRO_IO_Read(&tmp, L3GD20_WHO_AM_I_ADDR, 1);
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/* Return the ID */
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return (uint8_t)tmp;
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}
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/**
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* @brief Reboot memory content of L3GD20
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* @param None
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* @retval None
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*/
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void L3GD20_RebootCmd(void)
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{
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uint8_t tmpreg;
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/* Read CTRL_REG5 register */
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GYRO_IO_Read(&tmpreg, L3GD20_CTRL_REG5_ADDR, 1);
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/* Enable or Disable the reboot memory */
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tmpreg |= L3GD20_BOOT_REBOOTMEMORY;
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/* Write value to MEMS CTRL_REG5 register */
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GYRO_IO_Write(&tmpreg, L3GD20_CTRL_REG5_ADDR, 1);
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}
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/**
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* @brief Set L3GD20 in low-power mode
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* @param
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* @retval None
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*/
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void L3GD20_LowPower(uint16_t InitStruct)
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{
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uint8_t ctrl = 0x00;
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/* Write value to MEMS CTRL_REG1 register */
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ctrl = (uint8_t) InitStruct;
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GYRO_IO_Write(&ctrl, L3GD20_CTRL_REG1_ADDR, 1);
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}
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/**
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* @brief Set L3GD20 Interrupt INT1 configuration
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* @param Int1Config: the configuration setting for the L3GD20 Interrupt.
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* @retval None
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*/
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void L3GD20_INT1InterruptConfig(uint16_t Int1Config)
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{
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uint8_t ctrl_cfr = 0x00, ctrl3 = 0x00;
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/* Read INT1_CFG register */
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GYRO_IO_Read(&ctrl_cfr, L3GD20_INT1_CFG_ADDR, 1);
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/* Read CTRL_REG3 register */
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GYRO_IO_Read(&ctrl3, L3GD20_CTRL_REG3_ADDR, 1);
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ctrl_cfr &= 0x80;
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ctrl_cfr |= ((uint8_t) Int1Config >> 8);
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ctrl3 &= 0xDF;
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ctrl3 |= ((uint8_t) Int1Config);
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/* Write value to MEMS INT1_CFG register */
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GYRO_IO_Write(&ctrl_cfr, L3GD20_INT1_CFG_ADDR, 1);
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/* Write value to MEMS CTRL_REG3 register */
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GYRO_IO_Write(&ctrl3, L3GD20_CTRL_REG3_ADDR, 1);
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}
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/**
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* @brief Enable INT1 or INT2 interrupt
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* @param IntSel: choice of INT1 or INT2
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* This parameter can be:
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* @arg L3GD20_INT1
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* @arg L3GD20_INT2
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* @retval None
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*/
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void L3GD20_EnableIT(uint8_t IntSel)
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{
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uint8_t tmpreg;
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/* Read CTRL_REG3 register */
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GYRO_IO_Read(&tmpreg, L3GD20_CTRL_REG3_ADDR, 1);
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if(IntSel == L3GD20_INT1)
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{
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tmpreg &= 0x7F;
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tmpreg |= L3GD20_INT1INTERRUPT_ENABLE;
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}
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else if(IntSel == L3GD20_INT2)
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{
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tmpreg &= 0xF7;
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tmpreg |= L3GD20_INT2INTERRUPT_ENABLE;
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}
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/* Write value to MEMS CTRL_REG3 register */
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GYRO_IO_Write(&tmpreg, L3GD20_CTRL_REG3_ADDR, 1);
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}
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/**
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* @brief Disable INT1 or INT2 interrupt
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* @param IntSel: choice of INT1 or INT2
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* This parameter can be:
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* @arg L3GD20_INT1
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* @arg L3GD20_INT2
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* @retval None
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*/
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void L3GD20_DisableIT(uint8_t IntSel)
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{
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uint8_t tmpreg;
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/* Read CTRL_REG3 register */
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GYRO_IO_Read(&tmpreg, L3GD20_CTRL_REG3_ADDR, 1);
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if(IntSel == L3GD20_INT1)
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{
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tmpreg &= 0x7F;
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tmpreg |= L3GD20_INT1INTERRUPT_DISABLE;
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}
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else if(IntSel == L3GD20_INT2)
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{
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tmpreg &= 0xF7;
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tmpreg |= L3GD20_INT2INTERRUPT_DISABLE;
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}
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/* Write value to MEMS CTRL_REG3 register */
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GYRO_IO_Write(&tmpreg, L3GD20_CTRL_REG3_ADDR, 1);
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}
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/**
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* @brief Set High Pass Filter Modality
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* @param FilterStruct: contains the configuration setting for the L3GD20.
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* @retval None
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*/
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void L3GD20_FilterConfig(uint8_t FilterStruct)
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{
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uint8_t tmpreg;
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/* Read CTRL_REG2 register */
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GYRO_IO_Read(&tmpreg, L3GD20_CTRL_REG2_ADDR, 1);
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tmpreg &= 0xC0;
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/* Configure MEMS: mode and cutoff frequency */
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tmpreg |= FilterStruct;
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/* Write value to MEMS CTRL_REG2 register */
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GYRO_IO_Write(&tmpreg, L3GD20_CTRL_REG2_ADDR, 1);
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}
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/**
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* @brief Enable or Disable High Pass Filter
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* @param HighPassFilterState: new state of the High Pass Filter feature.
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* This parameter can be:
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* @arg: L3GD20_HIGHPASSFILTER_DISABLE
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* @arg: L3GD20_HIGHPASSFILTER_ENABLE
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* @retval None
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*/
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void L3GD20_FilterCmd(uint8_t HighPassFilterState)
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{
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uint8_t tmpreg;
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/* Read CTRL_REG5 register */
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GYRO_IO_Read(&tmpreg, L3GD20_CTRL_REG5_ADDR, 1);
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tmpreg &= 0xEF;
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tmpreg |= HighPassFilterState;
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/* Write value to MEMS CTRL_REG5 register */
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GYRO_IO_Write(&tmpreg, L3GD20_CTRL_REG5_ADDR, 1);
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}
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/**
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* @brief Get status for L3GD20 data
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* @param None
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* @retval Data status in a L3GD20 Data
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*/
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uint8_t L3GD20_GetDataStatus(void)
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{
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uint8_t tmpreg;
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/* Read STATUS_REG register */
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GYRO_IO_Read(&tmpreg, L3GD20_STATUS_REG_ADDR, 1);
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return tmpreg;
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}
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/**
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* @brief Calculate the L3GD20 angular data.
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* @param pfData: Data out pointer
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* @retval None
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*/
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void L3GD20_ReadXYZAngRate(float *pfData)
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{
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uint8_t tmpbuffer[6] ={0};
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int16_t RawData[3] = {0};
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uint8_t tmpreg = 0;
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float sensitivity = 0;
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int i =0;
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GYRO_IO_Read(&tmpreg,L3GD20_CTRL_REG4_ADDR,1);
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GYRO_IO_Read(tmpbuffer,L3GD20_OUT_X_L_ADDR,6);
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/* check in the control register 4 the data alignment (Big Endian or Little Endian)*/
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if(!(tmpreg & L3GD20_BLE_MSB))
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{
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for(i=0; i<3; i++)
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{
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RawData[i]=(int16_t)(((uint16_t)tmpbuffer[2*i+1] << 8) + tmpbuffer[2*i]);
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}
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}
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else
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{
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for(i=0; i<3; i++)
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{
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RawData[i]=(int16_t)(((uint16_t)tmpbuffer[2*i] << 8) + tmpbuffer[2*i+1]);
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}
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}
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/* Switch the sensitivity value set in the CRTL4 */
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switch(tmpreg & L3GD20_FULLSCALE_SELECTION)
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{
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case L3GD20_FULLSCALE_250:
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sensitivity=L3GD20_SENSITIVITY_250DPS;
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break;
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case L3GD20_FULLSCALE_500:
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sensitivity=L3GD20_SENSITIVITY_500DPS;
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break;
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case L3GD20_FULLSCALE_2000:
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sensitivity=L3GD20_SENSITIVITY_2000DPS;
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break;
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}
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/* Divide by sensitivity */
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for(i=0; i<3; i++)
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{
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pfData[i]=(float)(RawData[i] * sensitivity);
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}
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}
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/**
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* @}
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*/
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/**
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* @}
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*/
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/**
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* @}
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*/
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/**
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* @}
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*/
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/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
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