/*******************************************************************************
* Function Name : L3G4200D_SetMode
* Description : Sets L3G4200D Operating Mode
* Input : Modality (NORMAL, SLEEP, POWER_DOWN)
* Output : None
* Return : Status [MEMS_ERROR, MEMS_SUCCESS]
*******************************************************************************/
status_t L3G4200D_SetMode(L3G4200D_Mode_t md) {
u8_t value;
if( !L3G4200D_ReadReg(L3G4200D_CTRL_REG1, &value) )
return MEMS_ERROR;
switch(md) {
case L3G4200D_POWER_DOWN:
value &= 0xF7;
value |= (MEMS_RESET<<L3G4200D_PD);
break;
case L3G4200D_NORMAL:
value &= 0xF7;
value |= (MEMS_SET<<L3G4200D_PD);
break;
case L3G4200D_SLEEP:
value &= 0xF0;
value |= ( (MEMS_SET<<L3G4200D_PD) | (MEMS_RESET<<L3G4200D_ZEN) | (MEMS_RESET<<L3G4200D_YEN) | (MEMS_RESET<<L3G4200D_XEN) );
break;
default:
return MEMS_ERROR;
}
if( !L3G4200D_WriteReg(L3G4200D_CTRL_REG1, value) )
return MEMS_ERROR;
return MEMS_SUCCESS;
}
/*******************************************************************************
* Function Name : L3G4200D_SetIntConfiguration
* Description : Interrupt 1 Configuration
* Input : AND/OR, INT1_LIR ZHIE_ENABLE/DISABLE | INT1_ZLIE_ENABLE/DISABLE...
* Output : None
* Return : Status [MEMS_ERROR, MEMS_SUCCESS]
*******************************************************************************/
status_t L3G4200D_SetIntConfiguration(L3G4200D_Int1Conf_t ic) {
u8_t value;
value = ic;
if( !L3G4200D_WriteReg(L3G4200D_INT1_CFG, value) )
return MEMS_ERROR;
return MEMS_SUCCESS;
}
/*******************************************************************************
* Function Name : L3G4200D_SetInt1Duration
* Description : Sets Interrupt 1 Duration
* Input : Duration value
* Output : None
* Return : Status [MEMS_ERROR, MEMS_SUCCESS]
*******************************************************************************/
status_t L3G4200D_SetInt1Duration(L3G4200D_Int1Conf_t id) {
if (id > 127)
return MEMS_ERROR;
if( !L3G4200D_WriteReg(L3G4200D_INT1_DURATION, id) )
return MEMS_ERROR;
return MEMS_SUCCESS;
}
/*******************************************************************************
* Function Name : L3G4200D_FIFOModeEnable
* Description : Sets Fifo Modality
* Input :
* Output : None
* Return : Status [MEMS_ERROR, MEMS_SUCCESS]
*******************************************************************************/
status_t L3G4200D_FIFOModeEnable(L3G4200D_FifoMode_t fm) {
u8_t value;
if(fm == L3G4200D_FIFO_DISABLE) {
if( !L3G4200D_ReadReg(L3G4200D_CTRL_REG5, &value) )
return MEMS_ERROR;
value &= 0xBF;
if( !L3G4200D_WriteReg(L3G4200D_CTRL_REG5, value) )
return MEMS_ERROR;
}
else {
if( !L3G4200D_ReadReg(L3G4200D_CTRL_REG5, &value) )
return MEMS_ERROR;
value &= 0xBF;
value |= MEMS_SET<<L3G4200D_FIFO_EN;
if( !L3G4200D_WriteReg(L3G4200D_CTRL_REG5, value) )
return MEMS_ERROR;
if( !L3G4200D_ReadReg(L3G4200D_FIFO_CTRL_REG, &value) )
return MEMS_ERROR;
value &= 0x1f;
value |= (fm<<L3G4200D_FM0);
if( !L3G4200D_WriteReg(L3G4200D_FIFO_CTRL_REG, value) )
return MEMS_ERROR;
}
return MEMS_SUCCESS;
}
/*******************************************************************************
* Function Name : L3G4200D_SetAxis
* Description : Enable/Disable L3G4200D Axis
* Input : X_ENABLE/X_DISABLE | Y_ENABLE/Y_DISABLE | Z_ENABLE/Z_DISABLE
* Output : None
* Return : Status [MEMS_ERROR, MEMS_SUCCESS]
*******************************************************************************/
status_t L3G4200D_SetAxis(L3G4200D_Axis_t axis) {
u8_t value;
if( !L3G4200D_ReadReg(L3G4200D_CTRL_REG1, &value) )
return MEMS_ERROR;
value &= 0xf8;
value |= axis;
if( !L3G4200D_WriteReg(L3G4200D_CTRL_REG1, value) )
return MEMS_ERROR;
return MEMS_SUCCESS;
}
/*******************************************************************************
* Function Name : L3G4200D_SetInt2Pin
* Description : Set Interrupt2 pin Function
* Input : L3G4200D_I2_DRDY_ON_INT2_ENABLE/DISABLE |
L3G4200D_WTM_ON_INT2_ENABLE/DISABLE |
L3G4200D_OVERRUN_ON_INT2_ENABLE/DISABLE |
L3G4200D_EMPTY_ON_INT2_ENABLE/DISABLE
* Output : None
* Return : Status [MEMS_ERROR, MEMS_SUCCESS]
*******************************************************************************/
status_t L3G4200D_SetInt2Pin(L3G4200D_Int2PinConf_t pinConf) {
u8_t value;
if( !L3G4200D_ReadReg(L3G4200D_CTRL_REG3, &value) )
return MEMS_ERROR;
value &= 0xF0;
value |= pinConf;
if( !L3G4200D_WriteReg(L3G4200D_CTRL_REG3, value) )
return MEMS_ERROR;
return MEMS_SUCCESS;
}
/*******************************************************************************
* Function Name : L3G4200D_SetIntPinMode
* Description : Set Interrupt Pin Modality (push pull or Open drain)
* Input : PUSH_PULL/OPEN_DRAIN
* Output : None
* Return : Status [MEMS_ERROR, MEMS_SUCCESS]
*******************************************************************************/
status_t L3G4200D_SetIntPinMode(L3G4200D_IntPinMode_t pm) {
u8_t value;
if( !L3G4200D_ReadReg(L3G4200D_CTRL_REG3, &value) )
return MEMS_ERROR;
value &= 0xEF;
value |= (pm<<L3G4200D_PP_OD);
if( !L3G4200D_WriteReg(L3G4200D_CTRL_REG3, value) )
return MEMS_ERROR;
return MEMS_SUCCESS;
}
/*******************************************************************************
* Function Name : L3G4200D_SetHPFMode
* Description : Set High Pass Filter Modality
* Input : HPM_NORMAL_MODE_RES/HPM_REF_SIGNAL/HPM_NORMAL_MODE/HPM_AUTORESET_INT
* Output : None
* Return : Status [MEMS_ERROR, MEMS_SUCCESS]
*******************************************************************************/
status_t L3G4200D_SetHPFMode(L3G4200D_HPFMode_t hpf) {
u8_t value;
if( !L3G4200D_ReadReg(L3G4200D_CTRL_REG2, &value) )
return MEMS_ERROR;
value &= 0xCF;
value |= (hpf<<L3G4200D_HPM);
if( !L3G4200D_WriteReg(L3G4200D_CTRL_REG2, value) )
return MEMS_ERROR;
return MEMS_SUCCESS;
}
/*******************************************************************************
* Function Name : L3G4200D_HPFEnable
* Description : Enable/Disable High Pass Filter
* Input : ENABLE/DISABLE
* Output : None
* Return : Status [MEMS_ERROR, MEMS_SUCCESS]
*******************************************************************************/
status_t L3G4200D_HPFEnable(State_t hpf) {
u8_t value;
if( !L3G4200D_ReadReg(L3G4200D_CTRL_REG5, &value) )
return MEMS_ERROR;
value &= 0xEF;
value |= (hpf<<L3G4200D_HPEN);
if( !L3G4200D_WriteReg(L3G4200D_CTRL_REG5, value) )
return MEMS_ERROR;
return MEMS_SUCCESS;
}
/*******************************************************************************
* Function Name : L3G4200D_SetBLE
* Description : Set Endianess (MSB/LSB)
* Input : BLE_LSB / BLE_MSB
* Output : None
* Return : Status [MEMS_ERROR, MEMS_SUCCESS]
*******************************************************************************/
status_t L3G4200D_SetBLE(L3G4200D_Endianess_t ble) {
u8_t value;
if( !L3G4200D_ReadReg(L3G4200D_CTRL_REG4, &value) )
return MEMS_ERROR;
value &= 0xBF;
value |= (ble<<L3G4200D_BLE);
if( !L3G4200D_WriteReg(L3G4200D_CTRL_REG4, value) )
return MEMS_ERROR;
return MEMS_SUCCESS;
}
/*******************************************************************************
* Function Name : L3G4200D_SetBDU
* Description : Enable/Disable Block Data Update Functionality
* Input : ENABLE/DISABLE
* Output : None
* Return : Status [MEMS_ERROR, MEMS_SUCCESS]
*******************************************************************************/
status_t L3G4200D_SetBDU(State_t bdu) {
u8_t value;
if( !L3G4200D_ReadReg(L3G4200D_CTRL_REG4, &value) )
return MEMS_ERROR;
value &= 0x7F;
value |= (bdu<<L3G4200D_BDU);
if( !L3G4200D_WriteReg(L3G4200D_CTRL_REG4, value) )
return MEMS_ERROR;
return MEMS_SUCCESS;
}
/*******************************************************************************
* Function Name : L3G4200D_SetFullScale
* Description : Sets the L3G4200D FullScale
* Input : FS_250/FS_500/FS_2000
* Output : None
* Return : Status [MEMS_ERROR, MEMS_SUCCESS]
*******************************************************************************/
status_t L3G4200D_SetFullScale(L3G4200D_Fullscale_t fs) {
u8_t value;
if( !L3G4200D_ReadReg(L3G4200D_CTRL_REG4, &value) )
return MEMS_ERROR;
value &= 0xCF;
value |= (fs<<L3G4200D_FS);
if( !L3G4200D_WriteReg(L3G4200D_CTRL_REG4, value) )
return MEMS_ERROR;
return MEMS_SUCCESS;
}
/*******************************************************************************
* Function Name : L3G4200D_Int1LatchEnable
* Description : Enable Interrupt 1 Latching function
* Input : ENABLE/DISABLE
* Output : None
* Return : Status [MEMS_ERROR, MEMS_SUCCESS]
*******************************************************************************/
status_t L3G4200D_Int1LatchEnable(State_t latch) {
u8_t value;
if( !L3G4200D_ReadReg(L3G4200D_INT1_CFG, &value) )
return MEMS_ERROR;
value &= 0xBF;
value |= latch<<L3G4200D_LIR;
if( !L3G4200D_WriteReg(L3G4200D_INT1_CFG, value) )
return MEMS_ERROR;
return MEMS_SUCCESS;
}
/*******************************************************************************
* Function Name : L3G4200D_SetODR
* Description : Sets L3G4200D Output Data Rate
* Input : Output Data Rate
* Output : None
* Return : Status [MEMS_ERROR, MEMS_SUCCESS]
*******************************************************************************/
status_t L3G4200D_SetODR(L3G4200D_ODR_t ov){
u8_t value;
if( !L3G4200D_ReadReg(L3G4200D_CTRL_REG1, &value) )
return MEMS_ERROR;
value &= 0x0f;
value |= ov<<4;
if( !L3G4200D_WriteReg(L3G4200D_CTRL_REG1, value) )
return MEMS_ERROR;
return MEMS_SUCCESS;
}
/*******************************************************************************
* Function Name : L3G4200D_SetSPIInterface
* Description : Set SPI mode: 3 Wire Interface OR 4 Wire Interface
* Input : L3G4200D_SPI_3_WIRE, L3G4200D_SPI_4_WIRE
* Output : None
* Return : Status [MEMS_ERROR, MEMS_SUCCESS]
*******************************************************************************/
status_t L3G4200D_SetSPIInterface(L3G4200D_SPIMode_t spi) {
u8_t value;
if( !L3G4200D_ReadReg(L3G4200D_CTRL_REG4, &value) )
return MEMS_ERROR;
value &= 0xFE;
value |= spi<<L3G4200D_SIM;
if( !L3G4200D_WriteReg(L3G4200D_CTRL_REG4, value) )
return MEMS_ERROR;
return MEMS_SUCCESS;
}
/*******************************************************************************
* Function Name : L3G4200D_SetHPFCutOFF
* Description : Set High Pass CUT OFF Freq
* Input : HPFCF_0,HPFCF_1,HPFCF_2... See Table 27 of the datasheet
* Output : None
* Return : Status [MEMS_ERROR, MEMS_SUCCESS]
*******************************************************************************/
status_t L3G4200D_SetHPFCutOFF(L3G4200D_HPFCutOffFreq_t hpf) {
u8_t value;
if( !L3G4200D_ReadReg(L3G4200D_CTRL_REG2, &value) )
return MEMS_ERROR;
value &= 0xF0;
value |= (hpf<<L3G4200D_HPFC0);
if( !L3G4200D_WriteReg(L3G4200D_CTRL_REG2, value) )
return MEMS_ERROR;
return MEMS_SUCCESS;
}
/*******************************************************************************
* Function Name : L3G4200D_SetWaterMark
* Description : Sets Watermark Value
* Input : Watermark = [0,31]
* Output : None
* Return : Status [MEMS_ERROR, MEMS_SUCCESS]
*******************************************************************************/
status_t L3G4200D_SetWaterMark(u8_t wtm) {
u8_t value;
if(wtm > 31)
return MEMS_ERROR;
if( !L3G4200D_ReadReg(L3G4200D_FIFO_CTRL_REG, &value) )
return MEMS_ERROR;
value &= 0xE0;
value |= wtm;
if( !L3G4200D_WriteReg(L3G4200D_FIFO_CTRL_REG, value) )
return MEMS_ERROR;
return MEMS_SUCCESS;
}
/*******************************************************************************
* Function Name : L3G4200D_SetInt1Threshold
* Description : Sets Interrupt 1 Threshold
* Input : Threshold = [0,31]
* Output : None
* Return : Status [MEMS_ERROR, MEMS_SUCCESS]
*******************************************************************************/
status_t L3G4200D_SetInt1Threshold(L3G4200D_IntThsAxis axis, u16_t ths) {
u8_t value;
switch (axis) {
case L3G4200D_THS_X:
//write the threshold LSB
value = (u8_t)( ths & 0x00ff);
if( !L3G4200D_WriteReg(L3G4200D_INT1_THS_XL, value) )
return MEMS_ERROR;
//write the threshold LSB
value = (u8_t)( ths >> 8);
if( !L3G4200D_WriteReg(L3G4200D_INT1_THS_XH, value) )
return MEMS_ERROR;
break;
case L3G4200D_THS_Y:
//write the threshold LSB
value = (u8_t)( ths & 0x00ff);
if( !L3G4200D_WriteReg(L3G4200D_INT1_THS_YL, value) )
return MEMS_ERROR;
//write the threshold LSB
value = (u8_t)( ths >> 8);
if( !L3G4200D_WriteReg(L3G4200D_INT1_THS_YH, value) )
return MEMS_ERROR;
break;
case L3G4200D_THS_Z:
//write the threshold LSB
value = (u8_t)( ths & 0x00ff);
if( !L3G4200D_WriteReg(L3G4200D_INT1_THS_ZL, value) )
return MEMS_ERROR;
//write the threshold LSB
value = (u8_t)( ths >> 8);
if( !L3G4200D_WriteReg(L3G4200D_INT1_THS_ZH, value) )
return MEMS_ERROR;
break;
}
return MEMS_SUCCESS;
}
/*******************************************************************************
* Function Name : L3G4200D_SetInt1Filters
* Description : ENABLE/DISABLE HIGH PASS and LOW PASS filters applied to Int1 circuitery
* : See Table 9 of AN3393 for more details
* Input : NONE, HPH, LPF2, HPFLPF2
* Output : None
* Return : Status [MEMS_ERROR, MEMS_SUCCESS]
*******************************************************************************/
status_t L3G4200D_SetInt1Filters(L3G4200D_HPF_LPF2_Enable hpf){
u8_t value;
//HPF
if( !L3G4200D_ReadReg(L3G4200D_CTRL_REG5, &value) )
return MEMS_ERROR;
switch(hpf) {
case L3G4200D_NONE:
value &= 0xf3;
value |= 0x00<<L3G4200D_INT1_SEL0; //hpen = x, Int1_sel_1 = 0, Int1_sel_0 = 0
break;
case L3G4200D_HPF:
value &= 0xf3;
value |= 0x01<<L3G4200D_INT1_SEL0; //hpen = x, Int1_sel_1 = 0, Int1_sel_0 = 1
break;
case L3G4200D_LPF2:
value &= 0xe7;
value |= 0x02<<L3G4200D_INT1_SEL0; //hpen = 0, Int1_sel_1 = 1, Int1_sel_0 = x
break;
case L3G4200D_HPFLPF2:
value &= 0xe7;
value |= 0x01<<L3G4200D_HPEN;
value |= 0x02<<L3G4200D_INT1_SEL0; //hpen = 1, Int1_sel_1 = 1, Int1_sel_0 = x
break;
}
if( !L3G4200D_WriteReg(L3G4200D_CTRL_REG5, value) )
return MEMS_ERROR;
return MEMS_SUCCESS;
}
/*******************************************************************************
* Function Name : L3G4200D_SetOutputDataAndFifoFilters
* Description : ENABLE/DISABLE HIGH PASS and LOW PASS filters applied to output and fifo registers
* : See Table 8 of AN3393 for more details
* Input : L3G4200D_NONE, L3G4200D_HPH, L3G4200D_LPF2, L3G4200D_HPFLPF2
* Output : None
* Return : Status [MEMS_ERROR, MEMS_SUCCESS]
*******************************************************************************/
status_t L3G4200D_SetOutputDataAndFifoFilters(L3G4200D_HPF_LPF2_Enable hpf){
u8_t value;
//HPF
if( !L3G4200D_ReadReg(L3G4200D_CTRL_REG5, &value) )
return MEMS_ERROR;
switch(hpf) {
case L3G4200D_NONE:
value &= 0xfc;
value |= 0x00; //hpen = x, Out_sel_1 = 0, Out_sel_0 = 0
break;
case L3G4200D_HPF:
value &= 0xfc;
value |= 0x01; //hpen = x, Out_sel_1 = 0, Out_sel_0 = 1
break;
case L3G4200D_LPF2:
value &= 0xed;
value |= 0x02; //hpen = 0, Out_sel_1 = 1, Out_sel_0 = x
break;
case L3G4200D_HPFLPF2:
value &= 0xed;
value |= 0x12; //hpen = 1, Out_sel_1 = 1, Out_sel_0 = x
break;
}
if( !L3G4200D_WriteReg(L3G4200D_CTRL_REG5, value) )
return MEMS_ERROR;
return MEMS_SUCCESS;
}
/*===============================================================================
Function : Init_L3G4200D();
Parameters : None
Description : Initialises L3G4200D gyroscope module.
It is automatically called in InitPeripherals() function in main.c,
if GYROSCOPE is defined in Hardwareprofile.h
Preconditions : uncomment GYROSCOPE definition in Hardwareprofile.h
===============================================================================*/
void Init_L3G4200D(void)
{
L3G4200D_WriteReg(L3G4200D_CTRL_REG1,0x0F); //ODR=100Hz, BW = 12.5,Normal Mode, XYZ enable
L3G4200D_WriteReg(L3G4200D_CTRL_REG4,0x90); //BDU update, 500DPS
Delay();
}