L3GD20陀螺仪应用单片机程序---STM32F303

1.初始化L3GD20端口配置。将端口配置为SPI通信接口。
单片机端口初始化包括I/O端口，I/O端口spi系统时钟。
以STM32F303为例配置端口如下：
staticvoidL3GD20_LowLevel_Init(void)
{
GPIO_InitTypeDefGPIO_InitStructure;
SPI_InitTypeDefSPI_InitStructure;

RCC_APB2PeriphClockCmd(L3GD20_SPI_CLK,ENABLE);

RCC_AHBPeriphClockCmd(L3GD20_SPI_SCK_GPIO_CLK|L3GD20_SPI_MISO_GPIO_CLK|L3GD20_SPI_MOSI_GPIO_CLK,ENABLE);

RCC_AHBPeriphClockCmd(L3GD20_SPI_CS_GPIO_CLK,ENABLE);

RCC_AHBPeriphClockCmd(L3GD20_SPI_INT1_GPIO_CLK,ENABLE);

RCC_AHBPeriphClockCmd(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_NOPULL;//GPIO_PuPd_DOWN;
GPIO_InitStructure.GPIO_Speed=GPIO_Speed_50MHz;


GPIO_InitStructure.GPIO_Pin=L3GD20_SPI_SCK_PIN;
GPIO_Init(L3GD20_SPI_SCK_GPIO_PORT,&GPIO_InitStructure);


GPIO_InitStructure.GPIO_Pin=L3GD20_SPI_MOSI_PIN;
GPIO_Init(L3GD20_SPI_MOSI_GPIO_PORT,&GPIO_InitStructure);


GPIO_InitStructure.GPIO_Pin=L3GD20_SPI_MISO_PIN;
GPIO_Init(L3GD20_SPI_MISO_GPIO_PORT,&GPIO_InitStructure);


SPI_I2S_DeInit(L3GD20_SPI);
SPI_InitStructure.SPI_Direction=SPI_Direction_2Lines_FullDuplex;
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_InitStructure.SPI_BaudRatePrescaler=SPI_BaudRatePrescaler_8;
SPI_InitStructure.SPI_FirstBit=SPI_FirstBit_MSB;
SPI_InitStructure.SPI_CRCPolynomial=7;
SPI_InitStructure.SPI_Mode=SPI_Mode_Master;
SPI_Init(L3GD20_SPI,&SPI_InitStructure);

SPI_RxFIFOThresholdConfig(L3GD20_SPI,SPI_RxFIFOThreshold_QF);

SPI_Cmd(L3GD20_SPI,ENABLE);

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_50MHz;
GPIO_Init(L3GD20_SPI_CS_GPIO_PORT,&GPIO_InitStructure);

GPIO_SetBits(L3GD20_SPI_CS_GPIO_PORT,L3GD20_SPI_CS_PIN);

GPIO_InitStructure.GPIO_Pin=L3GD20_SPI_INT1_PIN;
GPIO_InitStructure.GPIO_Mode=GPIO_Mode_IN;
GPIO_InitStructure.GPIO_OType=GPIO_OType_PP;
GPIO_InitStructure.GPIO_Speed=GPIO_Speed_50MHz;
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);
}
2.陀螺仪初始化配置
配置陀螺仪芯片功能和芯片初始化设置
对应寄存器配置及功能参考LG3D20数据手册
代码示例如下：
voidL3GD20_Init(L3GD20_InitTypeDef*L3GD20_InitStruct)
{
uint8_tctrl1=0x00,ctrl4=0x00;

L3GD20_LowLevel_Init();

L3GD20_InitStructure.Power_Mode=L3GD20_MODE_ACTIVE; //配置值0x08
L3GD20_InitStructure.Output_DataRate=L3GD20_OUTPUT_DATARATE_1; //配置值0x00
L3GD20_InitStructure.Axes_Enable=L3GD20_AXES_ENABLE; //配置值0x07
L3GD20_InitStructure.Band_Width=L3GD20_BANDWIDTH_4; //配置值0x30
L3GD20_InitStructure.BlockData_Update=L3GD20_BlockDataUpdate_Continous; //配置值0x00
L3GD20_InitStructure.Endianness=L3GD20_BLE_LSB; //配置值0x00
L3GD20_InitStructure.Full_Scale=L3GD20_FULLSCALE_500; //配置值0x10

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);

L3GD20_Write(&ctrl1,L3GD20_CTRL_REG1_ADDR,1);


L3GD20_Write(&ctrl4,L3GD20_CTRL_REG4_ADDR,1);
}

voidL3GD20_FilterConfig(L3GD20_FilterConfigTypeDef*L3GD20_FilterStruct)
{
uint8_ttmpreg;

L3GD20_Read(&tmpreg,L3GD20_CTRL_REG2_ADDR,1);
tmpreg&=0xC0;
L3GD20_FilterStructure.HighPassFilter_Mode_Selection=L3GD20_HPM_NORMAL_MODE_RES; //配置值0x00
L3GD20_FilterStructure.HighPassFilter_CutOff_Fr