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/**
******************************************************************************
* @file stm32f411e_discovery_gyroscope.c
* @author MCD Application Team
* @brief This file provides a set of functions needed to manage the
* MEMS gyroscope available on STM32F411E-Discovery Kit.
******************************************************************************
* @attention
*
* Copyright (c) 2017 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
/* Includes ------------------------------------------------------------------*/
#include "stm32f411e_discovery_gyroscope.h"
/** @addtogroup BSP
* @{
*/
/** @addtogroup STM32F411E_DISCOVERY
* @{
*/
/** @defgroup STM32F411E_DISCOVERY_GYROSCOPE STM32F411E DISCOVERY GYROSCOPE
* @{
*/
/** @defgroup STM32F411E_DISCOVERY_GYROSCOPE_Private_TypesDefinitions STM32F411E DISCOVERY GYROSCOPE Private TypesDefinitions
* @{
*/
/**
* @}
*/
/** @defgroup STM32F411E_DISCOVERY_GYROSCOPE_Private_Defines STM32F411E DISCOVERY GYROSCOPE Private Defines
* @{
*/
/**
* @}
*/
/** @defgroup STM32F411E_DISCOVERY_GYROSCOPE_Private_Macros STM32F411E DISCOVERY GYROSCOPE Private Macros
* @{
*/
/**
* @}
*/
/** @defgroup STM32F411E_DISCOVERY_GYROSCOPE_Private_Variables STM32F411E DISCOVERY GYROSCOPE Private Variables
* @{
*/
static GYRO_DrvTypeDef *GyroscopeDrv;
/**
* @}
*/
/** @defgroup STM32F411E_DISCOVERY_GYROSCOPE_Private_FunctionPrototypes STM32F411E DISCOVERY GYROSCOPE Private FunctionPrototypes
* @{
*/
/**
* @}
*/
/** @defgroup STM32F411E_DISCOVERY_GYROSCOPE_Private_Functions STM32F411E DISCOVERY GYROSCOPE Private Functions
* @{
*/
/**
* @brief Set gyroscope Initialization.
* @retval GYRO_OK if no problem during initialization
*/
uint8_t BSP_GYRO_Init(void)
{
uint8_t ret = GYRO_ERROR;
uint16_t ctrl = 0x0000;
GYRO_InitTypeDef Gyro_InitStructure;
GYRO_FilterConfigTypeDef Gyro_FilterStructure = {0,0};
if((L3gd20Drv.ReadID() == I_AM_L3GD20) || (L3gd20Drv.ReadID() == I_AM_L3GD20_TR))
{
/* Initialize the gyroscope driver structure */
GyroscopeDrv = &L3gd20Drv;
/* MEMS configuration ----------------------------------------------------*/
/* Fill the gyroscope structure */
Gyro_InitStructure.Power_Mode = L3GD20_MODE_ACTIVE;
Gyro_InitStructure.Output_DataRate = L3GD20_OUTPUT_DATARATE_1;
Gyro_InitStructure.Axes_Enable = L3GD20_AXES_ENABLE;
Gyro_InitStructure.Band_Width = L3GD20_BANDWIDTH_4;
Gyro_InitStructure.BlockData_Update = L3GD20_BlockDataUpdate_Continous;
Gyro_InitStructure.Endianness = L3GD20_BLE_LSB;
Gyro_InitStructure.Full_Scale = L3GD20_FULLSCALE_500;
/* Configure MEMS: data rate, power mode, full scale and axes */
ctrl = (uint16_t) (Gyro_InitStructure.Power_Mode | Gyro_InitStructure.Output_DataRate | \
Gyro_InitStructure.Axes_Enable | Gyro_InitStructure.Band_Width);
ctrl |= (uint16_t) ((Gyro_InitStructure.BlockData_Update | Gyro_InitStructure.Endianness | \
Gyro_InitStructure.Full_Scale) << 8);
/* Initialize the gyroscope */
GyroscopeDrv->Init(ctrl);
Gyro_FilterStructure.HighPassFilter_Mode_Selection = L3GD20_HPM_NORMAL_MODE_RES;
Gyro_FilterStructure.HighPassFilter_CutOff_Frequency = L3GD20_HPFCF_0;
ctrl = (uint8_t) ((Gyro_FilterStructure.HighPassFilter_Mode_Selection |\
Gyro_FilterStructure.HighPassFilter_CutOff_Frequency));
/* Configure the gyroscope main parameters */
GyroscopeDrv->FilterConfig(ctrl);
GyroscopeDrv->FilterCmd(L3GD20_HIGHPASSFILTER_ENABLE);
ret = GYRO_OK;
}
else if (I3g4250Drv.ReadID() == I_AM_I3G4250D)
{
/* Initialize the gyroscope driver structure */
GyroscopeDrv = &I3g4250Drv;
/* Configure Mems : data rate, power mode, full scale and axes */
Gyro_InitStructure.Power_Mode = I3G4250D_MODE_ACTIVE;
Gyro_InitStructure.Output_DataRate = I3G4250D_OUTPUT_DATARATE_1;
Gyro_InitStructure.Axes_Enable = I3G4250D_AXES_ENABLE;
Gyro_InitStructure.Band_Width = I3G4250D_BANDWIDTH_4;
Gyro_InitStructure.BlockData_Update = I3G4250D_BlockDataUpdate_Continous;
Gyro_InitStructure.Endianness = I3G4250D_BLE_LSB;
Gyro_InitStructure.Full_Scale = I3G4250D_FULLSCALE_500;
/* Configure MEMS: data rate, power mode, full scale and axes */
ctrl = (uint16_t) (Gyro_InitStructure.Power_Mode | Gyro_InitStructure.Output_DataRate | \
Gyro_InitStructure.Axes_Enable | Gyro_InitStructure.Band_Width);
ctrl |= (uint16_t) ((Gyro_InitStructure.BlockData_Update | Gyro_InitStructure.Endianness | \
Gyro_InitStructure.Full_Scale) << 8);
/* Initialize the gyroscope */
GyroscopeDrv->Init(ctrl);
Gyro_FilterStructure.HighPassFilter_Mode_Selection = I3G4250D_HPM_NORMAL_MODE_RES;
Gyro_FilterStructure.HighPassFilter_CutOff_Frequency = I3G4250D_HPFCF_0;
ctrl = (uint8_t) ((Gyro_FilterStructure.HighPassFilter_Mode_Selection |\
Gyro_FilterStructure.HighPassFilter_CutOff_Frequency));
/* Configure the gyroscope main parameters */
GyroscopeDrv->FilterConfig(ctrl);
GyroscopeDrv->FilterCmd(I3G4250D_HIGHPASSFILTER_ENABLE);
ret = GYRO_OK;
}
return ret;
}
/**
* @brief Read ID of gyroscope component.
* @retval ID
*/
uint8_t BSP_GYRO_ReadID(void)
{
uint8_t id = 0x00;
if(GyroscopeDrv->ReadID != NULL)
{
id = GyroscopeDrv->ReadID();
}
return id;
}
/**
* @brief Reboot memory content of Gyroscope.
*/
void BSP_GYRO_Reset(void)
{
if(GyroscopeDrv->Reset != NULL)
{
GyroscopeDrv->Reset();
}
}
/**
* @brief Configures INT1 interrupt.
* @param pIntConfig: pointer to a L3GD20_InterruptConfig_TypeDef
* structure that contains the configuration setting for the L3GD20 Interrupt.
*/
void BSP_GYRO_ITConfig(GYRO_InterruptConfigTypeDef *pIntConfig)
{
uint16_t interruptconfig = 0x0000;
if(GyroscopeDrv->ConfigIT != NULL)
{
/* Configure latch Interrupt request and axe interrupts */
interruptconfig |= ((uint8_t)(pIntConfig->Latch_Request| \
pIntConfig->Interrupt_Axes) << 8);
interruptconfig |= (uint8_t)(pIntConfig->Interrupt_ActiveEdge);
GyroscopeDrv->ConfigIT(interruptconfig);
}
}
/**
* @brief Enables INT1 or INT2 interrupt.
* @param IntPin: Interrupt pin
* This parameter can be:
* @arg L3GD20_INT1
* @arg L3GD20_INT2
* @arg I3G4250D_INT1
* @arg I3G4250D_INT2
*/
void BSP_GYRO_EnableIT(uint8_t IntPin)
{
if(GyroscopeDrv->EnableIT != NULL)
{
GyroscopeDrv->EnableIT(IntPin);
}
}
/**
* @brief Disables INT1 or INT2 interrupt.
* @param IntPin: Interrupt pin
* This parameter can be:
* @arg L3GD20_INT1
* @arg L3GD20_INT2
* @arg I3G4250D_INT1
* @arg I3G4250D_INT2
*/
void BSP_GYRO_DisableIT(uint8_t IntPin)
{
if(GyroscopeDrv->DisableIT != NULL)
{
GyroscopeDrv->DisableIT(IntPin);
}
}
/**
* @brief Get XYZ angular acceleration.
* @param pfData: pointer on floating array
*/
void BSP_GYRO_GetXYZ(float *pfData)
{
if(GyroscopeDrv->GetXYZ!= NULL)
{
GyroscopeDrv->GetXYZ(pfData);
}
}
/**
* @}
*/
/**
* @}
*/
/**
* @}
*/
/**
* @}
*/
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