trying Drivers/BSP/STM32F429I-Discovery
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/**
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******************************************************************************
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* @file stm32f429i_discovery_gyroscope.c
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* @author MCD Application Team
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* @brief This file provides a set of functions needed to manage the
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* MEMS gyroscope available on STM32F429I-Discovery Kit.
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******************************************************************************
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* @attention
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*
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* Copyright (c) 2017 STMicroelectronics.
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* All rights reserved.
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*
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* This software is licensed under terms that can be found in the LICENSE file
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* in the root directory of this software component.
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* If no LICENSE file comes with this software, it is provided AS-IS.
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*
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******************************************************************************
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*/
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/* Includes ------------------------------------------------------------------*/
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#include "stm32f429i_discovery_gyroscope.h"
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/** @addtogroup BSP
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* @{
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*/
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/** @addtogroup STM32F429I_DISCOVERY
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* @{
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*/
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/** @defgroup STM32F429I_DISCOVERY_GYROSCOPE STM32F429I DISCOVERY GYROSCOPE
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* @{
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*/
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/** @defgroup STM32F429I_DISCOVERY_GYROSCOPE_Private_TypesDefinitions STM32F429I DISCOVERY GYROSCOPE 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 STM32F429I_DISCOVERY_GYROSCOPE_Private_Defines STM32F429I DISCOVERY GYROSCOPE 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 STM32F429I_DISCOVERY_GYROSCOPE_Private_Macros STM32F429I DISCOVERY GYROSCOPE 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 STM32F429I_DISCOVERY_GYROSCOPE_Private_Variables STM32F429I DISCOVERY GYROSCOPE Private Variables
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* @{
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*/
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static GYRO_DrvTypeDef *GyroscopeDrv;
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/**
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* @}
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*/
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/** @defgroup STM32F429I_DISCOVERY_GYROSCOPE_Private_FunctionPrototypes STM32F429I DISCOVERY GYROSCOPE 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 STM32F429I_DISCOVERY_GYROSCOPE_Private_Functions STM32F429I DISCOVERY GYROSCOPE Private Functions
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* @{
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*/
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/**
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* @brief Set gyroscope Initialization.
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* @retval GYRO_OK if no problem during initialization
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*/
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uint8_t BSP_GYRO_Init(void)
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{
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uint8_t ret = GYRO_ERROR;
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uint16_t ctrl = 0x0000;
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GYRO_InitTypeDef Gyro_InitStructure;
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GYRO_FilterConfigTypeDef Gyro_FilterStructure = {0, 0};
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if ((L3gd20Drv.ReadID() == I_AM_L3GD20) || (L3gd20Drv.ReadID() == I_AM_L3GD20_TR))
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{
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/* Initialize the gyroscope driver structure */
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GyroscopeDrv = &L3gd20Drv;
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/* MEMS configuration ----------------------------------------------------*/
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/* Fill the gyroscope structure */
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Gyro_InitStructure.Power_Mode = L3GD20_MODE_ACTIVE;
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Gyro_InitStructure.Output_DataRate = L3GD20_OUTPUT_DATARATE_1;
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Gyro_InitStructure.Axes_Enable = L3GD20_AXES_ENABLE;
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Gyro_InitStructure.Band_Width = L3GD20_BANDWIDTH_4;
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Gyro_InitStructure.BlockData_Update = L3GD20_BlockDataUpdate_Continous;
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Gyro_InitStructure.Endianness = L3GD20_BLE_LSB;
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Gyro_InitStructure.Full_Scale = L3GD20_FULLSCALE_500;
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/* Configure MEMS: data rate, power mode, full scale and axes */
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ctrl = (uint16_t)(Gyro_InitStructure.Power_Mode | Gyro_InitStructure.Output_DataRate | \
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Gyro_InitStructure.Axes_Enable | Gyro_InitStructure.Band_Width);
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ctrl |= (uint16_t)((Gyro_InitStructure.BlockData_Update | Gyro_InitStructure.Endianness | \
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Gyro_InitStructure.Full_Scale) << 8);
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/* Initialize the gyroscope */
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GyroscopeDrv->Init(ctrl);
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Gyro_FilterStructure.HighPassFilter_Mode_Selection = L3GD20_HPM_NORMAL_MODE_RES;
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Gyro_FilterStructure.HighPassFilter_CutOff_Frequency = L3GD20_HPFCF_0;
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ctrl = (uint8_t)((Gyro_FilterStructure.HighPassFilter_Mode_Selection | \
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Gyro_FilterStructure.HighPassFilter_CutOff_Frequency));
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/* Configure the gyroscope main parameters */
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GyroscopeDrv->FilterConfig(ctrl) ;
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GyroscopeDrv->FilterCmd(L3GD20_HIGHPASSFILTER_ENABLE);
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ret = GYRO_OK;
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}
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#if defined(USE_STM32F429I_DISCOVERY_REVD)
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else if (I3g4250Drv.ReadID() == I_AM_I3G4250D)
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{
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/* Initialize the gyroscope driver structure */
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GyroscopeDrv = &I3g4250Drv;
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/* Configure Mems : data rate, power mode, full scale and axes */
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Gyro_InitStructure.Power_Mode = I3G4250D_MODE_ACTIVE;
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Gyro_InitStructure.Output_DataRate = I3G4250D_OUTPUT_DATARATE_1;
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Gyro_InitStructure.Axes_Enable = I3G4250D_AXES_ENABLE;
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Gyro_InitStructure.Band_Width = I3G4250D_BANDWIDTH_4;
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Gyro_InitStructure.BlockData_Update = I3G4250D_BlockDataUpdate_Continous;
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Gyro_InitStructure.Endianness = I3G4250D_BLE_LSB;
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Gyro_InitStructure.Full_Scale = I3G4250D_FULLSCALE_500;
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/* Configure MEMS: data rate, power mode, full scale and axes */
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ctrl = (uint16_t)(Gyro_InitStructure.Power_Mode | Gyro_InitStructure.Output_DataRate | \
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Gyro_InitStructure.Axes_Enable | Gyro_InitStructure.Band_Width);
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ctrl |= (uint16_t)((Gyro_InitStructure.BlockData_Update | Gyro_InitStructure.Endianness | \
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Gyro_InitStructure.Full_Scale) << 8);
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/* Initialize the gyroscope */
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GyroscopeDrv->Init(ctrl);
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Gyro_FilterStructure.HighPassFilter_Mode_Selection = I3G4250D_HPM_NORMAL_MODE_RES;
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Gyro_FilterStructure.HighPassFilter_CutOff_Frequency = I3G4250D_HPFCF_0;
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ctrl = (uint8_t)((Gyro_FilterStructure.HighPassFilter_Mode_Selection | \
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Gyro_FilterStructure.HighPassFilter_CutOff_Frequency));
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/* Configure the gyroscope main parameters */
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GyroscopeDrv->FilterConfig(ctrl);
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GyroscopeDrv->FilterCmd(I3G4250D_HIGHPASSFILTER_ENABLE);
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ret = GYRO_OK;
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}
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#endif /* USE_STM32F429I_DISCOVERY_REVD */
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return ret;
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}
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/**
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* @brief Read ID of gyroscope component.
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* @retval ID
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*/
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uint8_t BSP_GYRO_ReadID(void)
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{
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uint8_t id = 0x00;
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if (GyroscopeDrv->ReadID != NULL)
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{
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id = GyroscopeDrv->ReadID();
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}
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return id;
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}
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/**
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* @brief Reboot memory content of Gyroscope.
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*/
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void BSP_GYRO_Reset(void)
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{
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if (GyroscopeDrv->Reset != NULL)
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{
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GyroscopeDrv->Reset();
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}
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}
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/**
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* @brief Configures INT1 interrupt.
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* @param pIntConfig: pointer to a L3GD20_InterruptConfig_TypeDef
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* structure that contains the configuration setting for the L3GD20 Interrupt.
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*/
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void BSP_GYRO_ITConfig(GYRO_InterruptConfigTypeDef *pIntConfig)
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{
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uint16_t interruptconfig = 0x0000;
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if (GyroscopeDrv->ConfigIT != NULL)
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{
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/* Configure latch Interrupt request and axe interrupts */
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interruptconfig |= ((uint8_t)(pIntConfig->Latch_Request | \
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pIntConfig->Interrupt_Axes) << 8);
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interruptconfig |= (uint8_t)(pIntConfig->Interrupt_ActiveEdge);
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GyroscopeDrv->ConfigIT(interruptconfig);
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}
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}
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/**
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* @brief Enables INT1 or INT2 interrupt.
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* @param IntPin: Interrupt pin
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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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* @arg I3G4250D_INT1
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* @arg I3G4250D_INT2
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*/
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void BSP_GYRO_EnableIT(uint8_t IntPin)
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{
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if (GyroscopeDrv->EnableIT != NULL)
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{
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GyroscopeDrv->EnableIT(IntPin);
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}
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}
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/**
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* @brief Disables INT1 or INT2 interrupt.
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* @param IntPin: Interrupt pin
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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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* @arg I3G4250D_INT1
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* @arg I3G4250D_INT2
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*/
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void BSP_GYRO_DisableIT(uint8_t IntPin)
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{
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if (GyroscopeDrv->DisableIT != NULL)
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{
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GyroscopeDrv->DisableIT(IntPin);
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}
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}
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/**
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* @brief Get XYZ angular acceleration.
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* @param pfData: pointer on floating array
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*/
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void BSP_GYRO_GetXYZ(float *pfData)
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{
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if (GyroscopeDrv->GetXYZ != NULL)
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{
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GyroscopeDrv->GetXYZ(pfData);
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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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