text: /**
    ******************************************************************************
    * @file    stm32f411e_discovery_gyroscope.c
    * @author  MCD Application Team
    * @version V1.0.1
    * @date    12-January-2016
    * @brief   This file provides a set of functions needed to manage the
    *          MEMS gyroscope available on STM32F411E-Discovery Kit.
    ******************************************************************************
    * @attention
    *
    * <h2><center>&copy; COPYRIGHT(c) 2016 STMicroelectronics</center></h2>
    *
    * Redistribution and use in source and binary forms, with or without modification,
    * are permitted provided that the following conditions are met:
    *   1. Redistributions of source code must retain the above copyright notice,
    *      this list of conditions and the following disclaimer.
    *   2. Redistributions in binary form must reproduce the above copyright notice,
    *      this list of conditions and the following disclaimer in the documentation
    *      and/or other materials provided with the distribution.
    *   3. Neither the name of STMicroelectronics nor the names of its contributors
    *      may be used to endorse or promote products derived from this software
    *      without specific prior written permission.
    *
    * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
    * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
    * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
    * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
    * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
    * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
    * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
    * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
    * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
    * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
    *
    ******************************************************************************
    */
  /* 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         L3GD20_InitStructure;
    GYRO_FilterConfigTypeDef L3GD20_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 */
      L3GD20_InitStructure.Power_Mode = L3GD20_MODE_ACTIVE;
      L3GD20_InitStructure.Output_DataRate = L3GD20_OUTPUT_DATARATE_1;
      L3GD20_InitStructure.Axes_Enable = L3GD20_AXES_ENABLE;
      L3GD20_InitStructure.Band_Width = L3GD20_BANDWIDTH_4;
      L3GD20_InitStructure.BlockData_Update = L3GD20_BlockDataUpdate_Continous;
      L3GD20_InitStructure.Endianness = L3GD20_BLE_LSB;
      L3GD20_InitStructure.Full_Scale = L3GD20_FULLSCALE_500; 
    
      /* Configure MEMS: data rate, power mode, full scale and axes */
      ctrl = (uint16_t) (L3GD20_InitStructure.Power_Mode | L3GD20_InitStructure.Output_DataRate | \
                        L3GD20_InitStructure.Axes_Enable | L3GD20_InitStructure.Band_Width);
    
      ctrl |= (uint16_t) ((L3GD20_InitStructure.BlockData_Update | L3GD20_InitStructure.Endianness | \
                          L3GD20_InitStructure.Full_Scale) << 8);
  
      /* Configure the Gyroscope main parameters */
      GyroscopeDrv->Init(ctrl);
    
      L3GD20_FilterStructure.HighPassFilter_Mode_Selection =L3GD20_HPM_NORMAL_MODE_RES;
      L3GD20_FilterStructure.HighPassFilter_CutOff_Frequency = L3GD20_HPFCF_0;
    
      ctrl = (uint8_t) ((L3GD20_FilterStructure.HighPassFilter_Mode_Selection |\
                         L3GD20_FilterStructure.HighPassFilter_CutOff_Frequency));    
    
      /* Configure the Gyroscope main parameters */
      GyroscopeDrv->FilterConfig(ctrl) ;
    
      GyroscopeDrv->FilterCmd(L3GD20_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
    */
  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
    */
  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);
    }
  }
  
  /**
    * @}
    */ 
  
  /**
    * @}
    */ 
    
  /**
    * @}
    */ 
  
  /**
    * @}
    */ 
  
  /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/     
  