ref: a8d8a94bfac9a6dfcbbfb463f62444f968637d5a
dir: /demos/stm32f429_disco/stm/stm32f429/stm32f429i_discovery_l3gd20.c/
/**
******************************************************************************
* @file stm32f429i_discovery_l3gd20.c
* @author MCD Application Team
* @version V1.0.1
* @date 28-October-2013
* @brief This file provides a set of functions needed to manage the l3gd20
* MEMS three-axis digital output gyroscope available on STM32F429I-DISCO Kit.
******************************************************************************
* @attention
*
* <h2><center>© COPYRIGHT 2013 STMicroelectronics</center></h2>
*
* Licensed under MCD-ST Liberty SW License Agreement V2, (the "License");
* You may not use this file except in compliance with the License.
* You may obtain a copy of the License at:
*
* http://www.st.com/software_license_agreement_liberty_v2
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*
******************************************************************************
*/
/* Includes ------------------------------------------------------------------*/
#include "stm32f429i_discovery_l3gd20.h"
/** @addtogroup Utilities
* @{
*/
/** @addtogroup STM32F4_DISCOVERY
* @{
*/
/** @addtogroup STM32429I_DISCO
* @{
*/
/** @addtogroup STM32F429I_DISCOVERY_L3GD20
* @{
*/
/** @defgroup STM32F429I_DISCOVERY_L3GD20_Private_TypesDefinitions
* @{
*/
/**
* @}
*/
/** @defgroup STM32F429I_DISCOVERY_L3GD20_Private_Defines
* @{
*/
/**
* @}
*/
/** @defgroup STM32F429I_DISCOVERY_L3GD20_Private_Macros
* @{
*/
/**
* @}
*/
/** @defgroup STM32F429I_DISCOVERY_L3GD20_Private_Variables
* @{
*/
__IO uint32_t L3GD20Timeout = L3GD20_FLAG_TIMEOUT;
/**
* @}
*/
/** @defgroup STM32F429I_DISCOVERY_L3GD20_Private_FunctionPrototypes
* @{
*/
static uint8_t L3GD20_SendByte(uint8_t byte);
static void L3GD20_LowLevel_Init(void);
/**
* @}
*/
/** @defgroup STM32F429I_DISCOVERY_L3GD20_Private_Functions
* @{
*/
/**
* @brief Set L3GD20 Initialization.
* @param L3GD20_InitStruct: pointer to a L3GD20_InitTypeDef structure
* that contains the configuration setting for the L3GD20.
* @retval None
*/
void L3GD20_Init(L3GD20_InitTypeDef *L3GD20_InitStruct)
{
uint8_t ctrl1 = 0x00, ctrl4 = 0x00;
/* Configure the low level interface ---------------------------------------*/
L3GD20_LowLevel_Init();
/* Configure MEMS: data rate, power mode, full scale and axes */
ctrl1 |= (uint8_t) (L3GD20_InitStruct->Power_Mode | L3GD20_InitStruct->Output_DataRate | \
L3GD20_InitStruct->Axes_Enable | L3GD20_InitStruct->Band_Width);
ctrl4 |= (uint8_t) (L3GD20_InitStruct->BlockData_Update | L3GD20_InitStruct->Endianness | \
L3GD20_InitStruct->Full_Scale);
/* Write value to MEMS CTRL_REG1 regsister */
L3GD20_Write(&ctrl1, L3GD20_CTRL_REG1_ADDR, 1);
/* Write value to MEMS CTRL_REG4 regsister */
L3GD20_Write(&ctrl4, L3GD20_CTRL_REG4_ADDR, 1);
}
/**
* @brief Reboot memory content of L3GD20
* @param None
* @retval None
*/
void L3GD20_RebootCmd(void)
{
uint8_t tmpreg;
/* Read CTRL_REG5 register */
L3GD20_Read(&tmpreg, L3GD20_CTRL_REG5_ADDR, 1);
/* Enable the reboot memory */
tmpreg |= L3GD20_BOOT_REBOOTMEMORY;
/* Write value to MEMS CTRL_REG5 regsister */
L3GD20_Write(&tmpreg, L3GD20_CTRL_REG5_ADDR, 1);
}
/**
* @brief Set L3GD20 Interrupt configuration
* @param L3GD20_InterruptConfig_TypeDef: pointer to a L3GD20_InterruptConfig_TypeDef
* structure that contains the configuration setting for the L3GD20 Interrupt.
* @retval None
*/
void L3GD20_INT1InterruptConfig(L3GD20_InterruptConfigTypeDef *L3GD20_IntConfigStruct)
{
uint8_t ctrl_cfr = 0x00, ctrl3 = 0x00;
/* Read INT1_CFG register */
L3GD20_Read(&ctrl_cfr, L3GD20_INT1_CFG_ADDR, 1);
/* Read CTRL_REG3 register */
L3GD20_Read(&ctrl3, L3GD20_CTRL_REG3_ADDR, 1);
ctrl_cfr &= 0x80;
ctrl3 &= 0xDF;
/* Configure latch Interrupt request and axe interrupts */
ctrl_cfr |= (uint8_t)(L3GD20_IntConfigStruct->Latch_Request| \
L3GD20_IntConfigStruct->Interrupt_Axes);
ctrl3 |= (uint8_t)(L3GD20_IntConfigStruct->Interrupt_ActiveEdge);
/* Write value to MEMS INT1_CFG register */
L3GD20_Write(&ctrl_cfr, L3GD20_INT1_CFG_ADDR, 1);
/* Write value to MEMS CTRL_REG3 register */
L3GD20_Write(&ctrl3, L3GD20_CTRL_REG3_ADDR, 1);
}
/**
* @brief Enable or disable INT1 interrupt
* @param InterruptState: State of INT1 Interrupt
* This parameter can be:
* @arg L3GD20_INT1INTERRUPT_DISABLE
* @arg L3GD20_INT1INTERRUPT_ENABLE
* @retval None
*/
void L3GD20_INT1InterruptCmd(uint8_t InterruptState)
{
uint8_t tmpreg;
/* Read CTRL_REG3 register */
L3GD20_Read(&tmpreg, L3GD20_CTRL_REG3_ADDR, 1);
tmpreg &= 0x7F;
tmpreg |= InterruptState;
/* Write value to MEMS CTRL_REG3 regsister */
L3GD20_Write(&tmpreg, L3GD20_CTRL_REG3_ADDR, 1);
}
/**
* @brief Enable or disable INT2 interrupt
* @param InterruptState: State of INT1 Interrupt
* This parameter can be:
* @arg L3GD20_INT2INTERRUPT_DISABLE
* @arg L3GD20_INT2INTERRUPT_ENABLE
* @retval None
*/
void L3GD20_INT2InterruptCmd(uint8_t InterruptState)
{
uint8_t tmpreg;
/* Read CTRL_REG3 register */
L3GD20_Read(&tmpreg, L3GD20_CTRL_REG3_ADDR, 1);
tmpreg &= 0xF7;
tmpreg |= InterruptState;
/* Write value to MEMS CTRL_REG3 regsister */
L3GD20_Write(&tmpreg, L3GD20_CTRL_REG3_ADDR, 1);
}
/**
* @brief Set High Pass Filter Modality
* @param L3GD20_FilterStruct: pointer to a L3GD20_FilterConfigTypeDef structure
* that contains the configuration setting for the L3GD20.
* @retval None
*/
void L3GD20_FilterConfig(L3GD20_FilterConfigTypeDef *L3GD20_FilterStruct)
{
uint8_t tmpreg;
/* Read CTRL_REG2 register */
L3GD20_Read(&tmpreg, L3GD20_CTRL_REG2_ADDR, 1);
tmpreg &= 0xC0;
/* Configure MEMS: mode and cutoff frquency */
tmpreg |= (uint8_t) (L3GD20_FilterStruct->HighPassFilter_Mode_Selection |\
L3GD20_FilterStruct->HighPassFilter_CutOff_Frequency);
/* Write value to MEMS CTRL_REG2 regsister */
L3GD20_Write(&tmpreg, L3GD20_CTRL_REG2_ADDR, 1);
}
/**
* @brief Enable or Disable High Pass Filter
* @param HighPassFilterState: new state of the High Pass Filter feature.
* This parameter can be:
* @arg: L3GD20_HIGHPASSFILTER_DISABLE
* @arg: L3GD20_HIGHPASSFILTER_ENABLE
* @retval None
*/
void L3GD20_FilterCmd(uint8_t HighPassFilterState)
{
uint8_t tmpreg;
/* Read CTRL_REG5 register */
L3GD20_Read(&tmpreg, L3GD20_CTRL_REG5_ADDR, 1);
tmpreg &= 0xEF;
tmpreg |= HighPassFilterState;
/* Write value to MEMS CTRL_REG5 regsister */
L3GD20_Write(&tmpreg, L3GD20_CTRL_REG5_ADDR, 1);
}
/**
* @brief Get status for L3GD20 data
* @param None
* @retval L3GD20 status
*/
uint8_t L3GD20_GetDataStatus(void)
{
uint8_t tmpreg;
/* Read STATUS_REG register */
L3GD20_Read(&tmpreg, L3GD20_STATUS_REG_ADDR, 1);
return tmpreg;
}
/**
* @brief Writes a block of data to the L3GD20.
* @param pBuffer : pointer to the buffer containing the data to be written to the L3GD20.
* @param WriteAddr : L3GD20's internal address to write to.
* @param NumByteToWrite: Number of bytes to write.
* @retval None
*/
void L3GD20_Write(uint8_t* pBuffer, uint8_t WriteAddr, uint16_t NumByteToWrite)
{
/* Configure the MS bit:
- When 0, the address will remain unchanged in multiple read/write commands.
- When 1, the address will be auto incremented in multiple read/write commands.
*/
if(NumByteToWrite > 0x01)
{
WriteAddr |= (uint8_t)MULTIPLEBYTE_CMD;
}
/* Set chip select Low at the start of the transmission */
L3GD20_CS_LOW();
/* Send the Address of the indexed register */
L3GD20_SendByte(WriteAddr);
/* Send the data that will be written into the device (MSB First) */
while(NumByteToWrite >= 0x01)
{
L3GD20_SendByte(*pBuffer);
NumByteToWrite--;
pBuffer++;
}
/* Set chip select High at the end of the transmission */
L3GD20_CS_HIGH();
}
/**
* @brief Reads a block of data from the L3GD20.
* @param pBuffer : pointer to the buffer that receives the data read from the L3GD20.
* @param ReadAddr : L3GD20's internal address to read from.
* @param NumByteToRead : number of bytes to read from the L3GD20.
* @retval None
*/
void L3GD20_Read(uint8_t* pBuffer, uint8_t ReadAddr, uint16_t NumByteToRead)
{
if(NumByteToRead > 0x01)
{
ReadAddr |= (uint8_t)(READWRITE_CMD | MULTIPLEBYTE_CMD);
}
else
{
ReadAddr |= (uint8_t)READWRITE_CMD;
}
/* Set chip select Low at the start of the transmission */
L3GD20_CS_LOW();
/* Send the Address of the indexed register */
L3GD20_SendByte(ReadAddr);
/* Receive the data that will be read from the device (MSB First) */
while(NumByteToRead > 0x00)
{
/* Send dummy byte (0x00) to generate the SPI clock to L3GD20 (Slave device) */
*pBuffer = L3GD20_SendByte(DUMMY_BYTE);
NumByteToRead--;
pBuffer++;
}
/* Set chip select High at the end of the transmission */
L3GD20_CS_HIGH();
}
/**
* @brief Initializes the low level interface used to drive the L3GD20
* @param None
* @retval None
*/
static void L3GD20_LowLevel_Init(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
SPI_InitTypeDef SPI_InitStructure;
/* Enable the SPI periph */
RCC_APB2PeriphClockCmd(L3GD20_SPI_CLK, ENABLE);
/* Enable SCK, MOSI and MISO GPIO clocks */
RCC_AHB1PeriphClockCmd(L3GD20_SPI_SCK_GPIO_CLK | L3GD20_SPI_MISO_GPIO_CLK | L3GD20_SPI_MOSI_GPIO_CLK, ENABLE);
/* Enable CS GPIO clock */
RCC_AHB1PeriphClockCmd(L3GD20_SPI_CS_GPIO_CLK, ENABLE);
/* Enable INT1 GPIO clock */
RCC_AHB1PeriphClockCmd(L3GD20_SPI_INT1_GPIO_CLK, ENABLE);
/* Enable INT2 GPIO clock */
RCC_AHB1PeriphClockCmd(L3GD20_SPI_INT2_GPIO_CLK, ENABLE);
GPIO_PinAFConfig(L3GD20_SPI_SCK_GPIO_PORT, L3GD20_SPI_SCK_SOURCE, L3GD20_SPI_SCK_AF);
GPIO_PinAFConfig(L3GD20_SPI_MISO_GPIO_PORT, L3GD20_SPI_MISO_SOURCE, L3GD20_SPI_MISO_AF);
GPIO_PinAFConfig(L3GD20_SPI_MOSI_GPIO_PORT, L3GD20_SPI_MOSI_SOURCE, L3GD20_SPI_MOSI_AF);
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_DOWN;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_25MHz;
/* SPI SCK pin configuration */
GPIO_InitStructure.GPIO_Pin = L3GD20_SPI_SCK_PIN;
GPIO_Init(L3GD20_SPI_SCK_GPIO_PORT, &GPIO_InitStructure);
/* SPI MOSI pin configuration */
GPIO_InitStructure.GPIO_Pin = L3GD20_SPI_MOSI_PIN;
GPIO_Init(L3GD20_SPI_MOSI_GPIO_PORT, &GPIO_InitStructure);
/* SPI MISO pin configuration */
GPIO_InitStructure.GPIO_Pin = L3GD20_SPI_MISO_PIN;
GPIO_Init(L3GD20_SPI_MISO_GPIO_PORT, &GPIO_InitStructure);
/* SPI configuration -------------------------------------------------------*/
SPI_I2S_DeInit(L3GD20_SPI);
SPI_InitStructure.SPI_Direction = SPI_Direction_2Lines_FullDuplex;
SPI_InitStructure.SPI_Mode = SPI_Mode_Master;
SPI_InitStructure.SPI_DataSize = SPI_DataSize_8b;
SPI_InitStructure.SPI_CPOL = SPI_CPOL_Low;
SPI_InitStructure.SPI_CPHA = SPI_CPHA_1Edge;
SPI_InitStructure.SPI_NSS = SPI_NSS_Soft;
/* SPI baudrate is set to 5.6 MHz (PCLK2/SPI_BaudRatePrescaler = 90/16 = 5.625 MHz)
to verify these constraints:
- ILI9341 LCD SPI interface max baudrate is 10MHz for write and 6.66MHz for read
- l3gd20 SPI interface max baudrate is 10MHz for write/read
- PCLK2 frequency is set to 90 MHz
*/
SPI_InitStructure.SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_16;
SPI_InitStructure.SPI_FirstBit = SPI_FirstBit_MSB;
SPI_InitStructure.SPI_CRCPolynomial = 7;
SPI_Init(L3GD20_SPI, &SPI_InitStructure);
/* Enable L3GD20_SPI */
SPI_Cmd(L3GD20_SPI, ENABLE);
/* Configure GPIO PIN for Lis Chip select */
GPIO_InitStructure.GPIO_Pin = L3GD20_SPI_CS_PIN;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_25MHz;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
GPIO_Init(L3GD20_SPI_CS_GPIO_PORT, &GPIO_InitStructure);
/* Deselect : Chip Select high */
GPIO_SetBits(L3GD20_SPI_CS_GPIO_PORT, L3GD20_SPI_CS_PIN);
/* Configure GPIO PINs to detect Interrupts */
GPIO_InitStructure.GPIO_Pin = L3GD20_SPI_INT1_PIN;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
GPIO_Init(L3GD20_SPI_INT1_GPIO_PORT, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = L3GD20_SPI_INT2_PIN;
GPIO_Init(L3GD20_SPI_INT2_GPIO_PORT, &GPIO_InitStructure);
}
/**
* @brief Sends a Byte through the SPI interface and return the Byte received
* from the SPI bus.
* @param Byte : Byte send.
* @retval The received byte value
*/
static uint8_t L3GD20_SendByte(uint8_t byte)
{
/* Loop while DR register in not empty */
L3GD20Timeout = L3GD20_FLAG_TIMEOUT;
while (SPI_I2S_GetFlagStatus(L3GD20_SPI, SPI_I2S_FLAG_TXE) == RESET)
{
if((L3GD20Timeout--) == 0) return L3GD20_TIMEOUT_UserCallback();
}
/* Send a Byte through the SPI peripheral */
SPI_I2S_SendData(L3GD20_SPI, (uint16_t)byte);
/* Wait to receive a Byte */
L3GD20Timeout = L3GD20_FLAG_TIMEOUT;
while (SPI_I2S_GetFlagStatus(L3GD20_SPI, SPI_I2S_FLAG_RXNE) == RESET)
{
if((L3GD20Timeout--) == 0) return L3GD20_TIMEOUT_UserCallback();
}
/* Return the Byte read from the SPI bus */
return (uint8_t)SPI_I2S_ReceiveData(L3GD20_SPI);
}
#ifdef USE_DEFAULT_TIMEOUT_CALLBACK
/**
* @brief Basic management of the timeout situation.
* @param None.
* @retval None.
*/
uint32_t L3GD20_TIMEOUT_UserCallback(void)
{
/* Block communication and all processes */
while (1)
{
}
}
#endif /* USE_DEFAULT_TIMEOUT_CALLBACK */
/**
* @}
*/
/**
* @}
*/
/**
* @}
*/
/**
* @}
*/
/**
* @}
*/
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/