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diff --git a/os/various/devices_lib/mems/l3gd20.c b/os/various/devices_lib/mems/l3gd20.c
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+++ b/os/various/devices_lib/mems/l3gd20.c
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+/*
+    Pretty LAYer for ChibiOS/RT - Copyright (C) 2015 Rocco Marco Guglielmi
+	
+    This file is part of PLAY for ChibiOS/RT.
+
+    PLAY is free software; you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation; either version 3 of the License, or
+    (at your option) any later version.
+
+    PLAY is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program.  If not, see <http://www.gnu.org/licenses/>.
+*/
+
+/*
+    Special thanks to Giovanni Di Sirio for teachings, his moral support and
+    friendship. Note that some or every piece of this file could be part of
+    the ChibiOS project that is intellectual property of Giovanni Di Sirio.
+    Please refer to ChibiOS/RT license before use this file.
+	
+	For suggestion or Bug report - roccomarco.guglielmi@playembedded.org
+ */
+
+/**
+ * @file    l3gd20.c
+ * @brief   L3GD20 MEMS interface module code.
+ *
+ * @addtogroup l3gd20
+ * @{
+ */
+
+#include "ch.h"
+#include "hal.h"
+
+#include "l3gd20.h"
+
+/*===========================================================================*/
+/* Driver local definitions.                                                 */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver exported variables.                                                */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver local variables and types.                                         */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver local functions.                                                   */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver exported functions.                                                */
+/*===========================================================================*/
+
+/**
+ * @brief   Reads a generic register value.
+ * @pre     The SPI interface must be initialized and the driver started.
+ *
+ * @param[in] spip      pointer to the SPI interface
+ * @param[in] reg       register number
+ * @return              register value.
+ */
+uint8_t l3gd20ReadRegister(SPIDriver *spip, uint8_t reg) {
+  uint8_t txbuf[2] = {L3GD20_RW | reg, 0xFF};
+  uint8_t rxbuf[2] = {0x00, 0x00};
+  spiSelect(spip);
+  spiExchange(spip, 2, txbuf, rxbuf);
+  spiUnselect(spip);
+  return rxbuf[1];
+}
+
+
+void l3gd20WriteRegister(SPIDriver *spip, uint8_t reg, uint8_t value) {
+
+  switch (reg) {
+
+    default:
+      /* Reserved register must not be written, according to the datasheet
+       * this could permanently damage the device.
+       */
+      chDbgAssert(FALSE, "lg3d20WriteRegister(), reserved register");
+    case L3GD20_AD_WHO_AM_I:
+    case L3GD20_AD_OUT_TEMP :
+    case L3GD20_AD_STATUS_REG:
+    case L3GD20_AD_OUT_X_L:
+    case L3GD20_AD_OUT_X_H:
+    case L3GD20_AD_OUT_Y_L:
+    case L3GD20_AD_OUT_Y_H:
+    case L3GD20_AD_OUT_Z_L:
+    case L3GD20_AD_OUT_Z_H:
+    case L3GD20_AD_FIFO_SRC_REG:
+    case L3GD20_AD_INT1_SRC:
+    /* Read only registers cannot be written, the command is ignored.*/
+      return;
+    case L3GD20_AD_CTRL_REG1:
+    case L3GD20_AD_CTRL_REG2:
+    case L3GD20_AD_CTRL_REG3:
+    case L3GD20_AD_CTRL_REG4:
+    case L3GD20_AD_CTRL_REG5:
+    case L3GD20_AD_REFERENCE:
+    case L3GD20_AD_FIFO_CTRL_REG:
+    case L3GD20_AD_INT1_CFG:
+    case L3GD20_AD_INT1_TSH_XH:
+    case L3GD20_AD_INT1_TSH_XL:
+    case L3GD20_AD_INT1_TSH_YH:
+    case L3GD20_AD_INT1_TSH_YL:
+    case L3GD20_AD_INT1_TSH_ZH:
+    case L3GD20_AD_INT1_TSH_ZL:
+    case L3GD20_AD_INT1_DURATION:
+      spiSelect(spip);
+      uint8_t txbuf[2] = {reg, value};
+      spiSend(spip, 2, txbuf);
+      spiUnselect(spip);
+  }
+}
+/** @} */