EX: Added L3GD20 over SPI support (First commit)

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@9038 35acf78f-673a-0410-8e92-d51de3d6d3f4

3 files changed, 661 insertions, 0 deletions

diff --git a/os/ex/gyroscope/ST/l3gd20.c b/os/ex/gyroscope/ST/l3gd20.c
new file mode 100644
index 000000000..a7be3347d
--- /dev/null
+++ b/os/ex/gyroscope/ST/l3gd20.c
@@ -0,0 +1,361 @@
+/*
+    ChibiOS - Copyright (C) 2016 Rocco Marco Guglielmi
+
+    This file is part of ChibiOS.
+
+    ChibiOS 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.
+
+    ChibiOS 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/>.
+	
+*/
+
+/**
+ * @file    l3gd20.c
+ * @brief   L3GD20 MEMS interface module code.
+ *
+ * @addtogroup l3gd20
+ * @{
+ */
+
+#include "ch.h"
+#include "hal.h"
+
+#include "l3gd20.h"
+
+/*===========================================================================*/
+/* Driver local definitions.                                                 */
+/*===========================================================================*/
+
+#define  L3GD20_SENS_250DPS                      ((float)0.00875f)
+#define  L3GD20_SENS_500DPS                      ((float)0.01750f)
+#define  L3GD20_SENS_2000DPS                     ((float)0.07000f)
+
+#define  L3GD20_DI                               ((uint8_t)0xFF)
+#define  L3GD20_DI_0                             ((uint8_t)0x01)
+#define  L3GD20_DI_1                             ((uint8_t)0x02)
+#define  L3GD20_DI_2                             ((uint8_t)0x04)
+#define  L3GD20_DI_3                             ((uint8_t)0x08)
+#define  L3GD20_DI_4                             ((uint8_t)0x10)
+#define  L3GD20_DI_5                             ((uint8_t)0x20)
+#define  L3GD20_DI_6                             ((uint8_t)0x40)
+#define  L3GD20_DI_7                             ((uint8_t)0x80)
+
+#define  L3GD20_AD                               ((uint8_t)0x3F)
+#define  L3GD20_AD_0                             ((uint8_t)0x01)
+#define  L3GD20_AD_1                             ((uint8_t)0x02)
+#define  L3GD20_AD_2                             ((uint8_t)0x04)
+#define  L3GD20_AD_3                             ((uint8_t)0x08)
+#define  L3GD20_AD_4                             ((uint8_t)0x10)
+#define  L3GD20_AD_5                             ((uint8_t)0x20)
+
+#define  L3GD20_MS                               ((uint8_t)0x40)
+#define  L3GD20_RW                               ((uint8_t)0x80)
+
+#define  L3GD20_AD_WHO_AM_I                      ((uint8_t)0x0F)
+#define  L3GD20_AD_CTRL_REG1                     ((uint8_t)0x20)
+#define  L3GD20_AD_CTRL_REG2                     ((uint8_t)0x21)
+#define  L3GD20_AD_CTRL_REG3                     ((uint8_t)0x22)
+#define  L3GD20_AD_CTRL_REG4                     ((uint8_t)0x23)
+#define  L3GD20_AD_CTRL_REG5                     ((uint8_t)0x24)
+#define  L3GD20_AD_REFERENCE                     ((uint8_t)0x25)
+#define  L3GD20_AD_OUT_TEMP                      ((uint8_t)0x26)
+#define  L3GD20_AD_STATUS_REG                    ((uint8_t)0x27)
+#define  L3GD20_AD_OUT_X_L                       ((uint8_t)0x28)
+#define  L3GD20_AD_OUT_X_H                       ((uint8_t)0x29)
+#define  L3GD20_AD_OUT_Y_L                       ((uint8_t)0x2A)
+#define  L3GD20_AD_OUT_Y_H                       ((uint8_t)0x2B)
+#define  L3GD20_AD_OUT_Z_L                       ((uint8_t)0x2C)
+#define  L3GD20_AD_OUT_Z_H                       ((uint8_t)0x2D)
+#define  L3GD20_AD_FIFO_CTRL_REG                 ((uint8_t)0x2E)
+#define  L3GD20_AD_FIFO_SRC_REG                  ((uint8_t)0x2F)
+#define  L3GD20_AD_INT1_CFG                      ((uint8_t)0x30)
+#define  L3GD20_AD_INT1_SRC                      ((uint8_t)0x31)
+#define  L3GD20_AD_INT1_TSH_XH                   ((uint8_t)0x32)
+#define  L3GD20_AD_INT1_TSH_XL                   ((uint8_t)0x33)
+#define  L3GD20_AD_INT1_TSH_YH                   ((uint8_t)0x34)
+#define  L3GD20_AD_INT1_TSH_YL                   ((uint8_t)0x35)
+#define  L3GD20_AD_INT1_TSH_ZH                   ((uint8_t)0x36)
+#define  L3GD20_AD_INT1_TSH_ZL                   ((uint8_t)0x37)
+#define  L3GD20_AD_INT1_DURATION                 ((uint8_t)0x38)
+
+#define  L3GD20_CTRL_REG4_FS                     ((uint8_t)0x30)
+
+/*===========================================================================*/
+/* Driver exported variables.                                                */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver local variables and types.                                         */
+/*===========================================================================*/
+
+/**
+ * @brief  L3GD20 Power Mode
+ */
+typedef enum {
+  L3GD20_PM_POWER_DOWN   = 0x00,            
+  L3GD20_PM_SLEEP_NORMAL = 0x08             
+}l3gd20_pm_t;
+
+/*===========================================================================*/
+/* Driver local functions.                                                   */
+/*===========================================================================*/
+
+#if (L3GD20_USE_SPI) || defined(__DOXYGEN__)
+/**
+ * @brief   Reads a generic register value using SPI.
+ * @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.
+ */
+static uint8_t l3gd20SPIReadRegister(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];
+}
+
+/**
+ * @brief   Writes a value into a generic register using SPI.
+ * @pre     The SPI interface must be initialized and the driver started.
+ *
+ * @param[in] spip      pointer to the SPI interface
+ * @param[in] reg       register number
+ * @param[in] value     register value.
+ */
+static void l3gd20SPIWriteRegister(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.
+       */
+      osalDbgAssert(FALSE, "l3gd20SPIWriteRegister(), 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);
+  }
+}
+#endif /* L3GD20_USE_SPI */
+
+/*
+ * Interface implementation.
+ */
+
+static size_t get_axes_number(void *ip) {
+
+  (void) ip;
+  return L3GD20_NUMBER_OF_AXES;
+}
+
+static msg_t read_raw(void *ip, int32_t axes[L3GD20_NUMBER_OF_AXES]) {
+
+#if L3GD20_USE_SPI
+  osalDbgAssert((((L3GD20Driver *)ip)->config->spip->state == SPI_READY),
+                "read_raw(), channel not ready");
+  spiAcquireBus(((L3GD20Driver *)ip)->config->spip);
+  spiStart(((L3GD20Driver *)ip)->config->spip,
+           ((L3GD20Driver *)ip)->config->spicfg);
+  if(((L3GD20Driver *)ip)->config->axesenabling & L3GD20_AE_X){
+    axes[0] = (int16_t)(l3gd20SPIReadRegister(((L3GD20Driver *)ip)->config->spip,
+                                       L3GD20_AD_OUT_X_L));
+    axes[0] += (int16_t)(l3gd20SPIReadRegister(((L3GD20Driver *)ip)->config->spip,
+                                        L3GD20_AD_OUT_X_H) << 8);
+    axes[0] -= ((L3GD20Driver *)ip)->bias[0];
+  }
+  if(((L3GD20Driver *)ip)->config->axesenabling & L3GD20_AE_Y){
+    axes[1] = (int16_t)(l3gd20SPIReadRegister(((L3GD20Driver *)ip)->config->spip,
+                                       L3GD20_AD_OUT_Y_L));
+    axes[1] += (int16_t)(l3gd20SPIReadRegister(((L3GD20Driver *)ip)->config->spip,
+                                        L3GD20_AD_OUT_Y_H) << 8);
+    axes[1] -= ((L3GD20Driver *)ip)->bias[1];
+  }
+  if(((L3GD20Driver *)ip)->config->axesenabling & L3GD20_AE_Z){
+    axes[2] = (int16_t)(l3gd20SPIReadRegister(((L3GD20Driver *)ip)->config->spip,
+                                       L3GD20_AD_OUT_Y_L));
+    axes[2] += (int16_t)(l3gd20SPIReadRegister(((L3GD20Driver *)ip)->config->spip,
+                                        L3GD20_AD_OUT_Y_H) << 8);
+    axes[2] -= ((L3GD20Driver *)ip)->bias[2];
+  }
+  spiReleaseBus(((L3GD20Driver *)ip)->config->spip);
+#endif
+  return MSG_OK;
+}
+
+
+static msg_t read_cooked(void *ip, float axes[]) {
+  uint32_t i;
+  int32_t raw[L3GD20_NUMBER_OF_AXES];
+  msg_t msg = read_raw(ip, raw);
+  for(i = 0; i < L3GD20_NUMBER_OF_AXES ; i++){
+    axes[i] = raw[i] * ((L3GD20Driver *)ip)->sensitivity;
+  }
+  return msg;
+}
+
+static msg_t reset_calibration(void *ip) {
+  uint32_t i;
+  for(i = 0; i < L3GD20_NUMBER_OF_AXES; i++)
+    ((L3GD20Driver *)ip)->bias[i] = 0;
+  return MSG_OK;
+}
+
+static msg_t calibrate(void *ip) {
+  uint32_t i, j;
+    int32_t raw[L3GD20_NUMBER_OF_AXES];
+    int32_t buff[L3GD20_NUMBER_OF_AXES] = {0, 0, 0};
+
+    for(i = 0; i < L3GD20_BIAS_ACQ_TIMES; i++){
+      read_raw(ip, raw);
+      for(j = 0; j < L3GD20_NUMBER_OF_AXES; j++){
+        buff[j] += raw[j];
+      }
+      osalThreadSleepMicroseconds(L3GD20_BIAS_SETTLING_uS);
+    }
+
+    for(i = 0; i < L3GD20_NUMBER_OF_AXES; i++){
+      ((L3GD20Driver *)ip)->bias[i] = buff[i] / L3GD20_BIAS_ACQ_TIMES;
+    }
+  return MSG_OK;
+}
+
+static const struct L3GD20VMT vmt = {
+  get_axes_number, read_raw, read_cooked,
+  reset_calibration, calibrate
+};
+/*===========================================================================*/
+/* Driver exported functions.                                                */
+/*===========================================================================*/
+
+/**
+ * @brief   Initializes an instance.
+ *
+ * @param[out] devp      pointer to the @p L3GD20Driver object
+ *
+ * @init
+ */
+void l3gd20ObjectInit(L3GD20Driver *devp) {
+  uint32_t i;
+  devp->vmt = &vmt;
+  devp->state  = L3GD20_STOP;
+  devp->config = NULL;
+  for(i = 0; i < L3GD20_NUMBER_OF_AXES; i++)
+    devp->bias[i] = 0;
+}
+
+/**
+ * @brief   Configures and activates L3GD20 Complex Driver peripheral.
+ *
+ * @param[in] devp       pointer to the @p L3GD20Driver object
+ * @param[in] config     pointer to the @p L3GD20Config object
+ *
+ * @api
+ */
+void l3gd20Start(L3GD20Driver *devp, const L3GD20Config *config) {
+
+  osalDbgCheck((devp != NULL) && (config != NULL));
+  osalDbgAssert((devp->state == L3GD20_STOP) || (devp->state == L3GD20_READY),
+              "l3gd20Start(), invalid state");			  
+
+  devp->config = config;
+  
+#if (L3GD20_USE_SPI)
+  spiAcquireBus((devp)->config->spip);
+  spiStart((devp)->config->spip,
+           (devp)->config->spicfg);
+  l3gd20SPIWriteRegister(devp->config->spip, L3GD20_AD_CTRL_REG1,
+                         devp->config->axesenabling |
+                         L3GD20_PM_SLEEP_NORMAL |
+                         devp->config->outputdatarate);
+  l3gd20SPIWriteRegister(devp->config->spip, L3GD20_AD_CTRL_REG4,
+                         devp->config->fullscale |
+                         devp->config->blockdataupdate |
+                         devp->config->endianness);
+  spiReleaseBus((devp)->config->spip);
+#endif /* L3GD20_USE_SPI */
+  
+  /* Storing sensitivity information according to full scale value */
+  if(devp->config->fullscale == L3GD20_FS_250DPS)
+    devp->sensitivity = L3GD20_SENS_250DPS;
+  else if(devp->config->fullscale == L3GD20_FS_500DPS)
+    devp->sensitivity = L3GD20_SENS_500DPS;
+  else if(devp->config->fullscale == L3GD20_FS_2000DPS)
+    devp->sensitivity = L3GD20_SENS_2000DPS;
+  else
+    osalDbgAssert(FALSE, "l3gd20Start(), full scale issue");
+  /* This is the Gyroscope transient recovery time */
+  osalThreadSleepMilliseconds(10);
+
+  devp->state = L3GD20_READY;
+} 
+
+/**
+ * @brief   Deactivates the L3GD20 Complex Driver peripheral.
+ *
+ * @param[in] devp        pointer to the @p L3GD20Driver object
+ *
+ * @api
+ */
+void l3gd20Stop(L3GD20Driver *devp) {
+
+  osalDbgCheck(devp != NULL);
+
+  osalDbgAssert((devp->state == L3GD20_STOP) || (devp->state == L3GD20_READY),
+                "l3gd20Stop(), invalid state");				
+#if (L3GD20_USE_SPI)
+  if (devp->state == L3GD20_STOP) {
+    spiAcquireBus((devp)->config->spip);
+    spiStart((devp)->config->spip,
+             (devp)->config->spicfg);
+    l3gd20SPIWriteRegister(devp->config->spip, L3GD20_AD_CTRL_REG1,
+                           L3GD20_PM_POWER_DOWN | L3GD20_AE_DISABLED);
+    spiStop((devp)->config->spip);
+    spiReleaseBus((devp)->config->spip);
+  }			  
+#endif /* L3GD20_USE_SPI */
+  devp->state = L3GD20_STOP;
+}
+
+/** @} */
diff --git a/os/ex/gyroscope/ST/l3gd20.h b/os/ex/gyroscope/ST/l3gd20.h
new file mode 100644
index 000000000..9951d5041
--- /dev/null
+++ b/os/ex/gyroscope/ST/l3gd20.h
@@ -0,0 +1,294 @@
+/*
+    ChibiOS - Copyright (C) 2016 Rocco Marco Guglielmi
+
+    This file is part of ChibiOS.
+
+    ChibiOS 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.
+
+    ChibiOS 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/>.
+	
+*/
+
+/**
+ * @file    l3gd20.h
+ * @brief   L3GD20 MEMS interface module header.
+ *
+ * @{
+ */
+
+#ifndef _L3GD20_H_
+#define _L3GD20_H_
+
+#include "hal_gyroscope.h"
+
+/*===========================================================================*/
+/* Driver constants.                                                         */
+/*===========================================================================*/
+
+/**
+ * @brief   L3GD20 number of axes.
+ */
+#define  L3GD20_NUMBER_OF_AXES                   ((size_t)   3U)
+
+/*===========================================================================*/
+/* Driver pre-compile time settings.                                         */
+/*===========================================================================*/
+
+/**
+ * @name    Configuration options
+ * @{
+ */
+/**
+ * @brief   L3GD20 SPI interface selector.
+ * @details If set to @p TRUE the support for SPI is included.
+ * @note    The default is @p TRUE.
+ */
+#if !defined(L3GD20_USE_SPI) || defined(__DOXYGEN__)
+#define L3GD20_USE_SPI              TRUE
+#endif
+
+/**
+ * @brief   L3GD20 I2C interface selector.
+ * @details If set to @p TRUE the support for I2C is included.
+ * @note    The default is @p FALSE.
+ */
+#if !defined(L3GD20_USE_I2C) || defined(__DOXYGEN__)
+#define L3GD20_USE_I2C              FALSE
+#endif
+
+/**
+ * @brief   Number of acquisitions for bias removal
+ * @details This is the number of acquisitions performed to compute the
+ *          bias. A repetition is required in order to remove noise.
+ */
+#if !defined(L3GD20_BIAS_ACQ_TIMES) || defined(__DOXYGEN__)
+#define L3GD20_BIAS_ACQ_TIMES       50
+#endif
+
+/**
+ * @brief   Settling time for bias removal
+ * @details This is the time between each bias acquisition.
+ */
+#if !defined(L3GD20_BIAS_SETTLING_uS) || defined(__DOXYGEN__)
+#define L3GD20_BIAS_SETTLING_uS     5000
+#endif
+/** @} */
+
+/*===========================================================================*/
+/* Derived constants and error checks.                                       */
+/*===========================================================================*/
+
+#if L3GD20_USE_SPI && L3GD20_USE_I2C
+#error "L3GD20_USE_SPI and L3GD20_USE_I2C cannot be both true"
+#endif
+
+#if L3GD20_USE_SPI && !HAL_USE_SPI
+#error "L3GD20_USE_SPI requires HAL_USE_SPI"
+#endif
+
+#if L3GD20_USE_I2C && !HAL_USE_I2C
+#error "L3GD20_USE_SPI requires HAL_USE_I2C"
+#endif
+/*===========================================================================*/
+/* Driver data structures and types.                                         */
+/*===========================================================================*/
+
+/**
+ * @name    L3GD20 data structures and types
+ * @{
+ */
+
+/**
+ * @brief  L3GD20 Output Data Rate
+ */
+typedef enum {
+  L3GD20_ODR_95HZ_FC_12_5  = 0x00,          
+  L3GD20_ODR_95HZ_FC_25    = 0x10,          
+  L3GD20_ODR_190HZ_FC_12_5 = 0x40,          
+  L3GD20_ODR_190HZ_FC_25   = 0x50,          
+  L3GD20_ODR_190HZ_FC_50   = 0x60,          
+  L3GD20_ODR_190HZ_FC_70   = 0x70,          
+  L3GD20_ODR_380HZ_FC_20   = 0x80,          
+  L3GD20_ODR_380HZ_FC_25   = 0x90,          
+  L3GD20_ODR_380HZ_FC_50   = 0xA0,          
+  L3GD20_ODR_380HZ_FC_100  = 0xB0,          
+  L3GD20_ODR_760HZ_FC_30   = 0xC0,          
+  L3GD20_ODR_760HZ_FC_35   = 0xD0,          
+  L3GD20_ODR_760HZ_FC_50   = 0xE0,          
+  L3GD20_ODR_760HZ_FC_100  = 0xF0           
+}l3gd20_odr_t;
+
+/**
+ * @brief  L3GD20 Full Scale
+ */
+typedef enum {
+  L3GD20_FS_250DPS  = 0x00,                 
+  L3GD20_FS_500DPS  = 0x10,                 
+  L3GD20_FS_2000DPS = 0x20                  
+}l3gd20_fs_t;
+
+/**
+ * @brief   L3GD20 Axes Enabling
+ */
+typedef enum {
+  L3GD20_AE_DISABLED = 0x00,                
+  L3GD20_AE_X        = 0x01,                
+  L3GD20_AE_Y        = 0x02,                
+  L3GD20_AE_XY       = 0x03,                
+  L3GD20_AE_Z        = 0x04,                
+  L3GD20_AE_XZ       = 0x05,                
+  L3GD20_AE_YZ       = 0x06,                
+  L3GD20_AE_XYZ      = 0x07                 
+}l3gd20_ae_t;
+
+/**
+ * @brief  L3GD20 Block Data Update
+ */
+typedef enum {
+  L3GD20_BDU_CONTINOUS = 0x00,              
+  L3GD20_BDU_BLOCKED   = 0x80               
+}l3gd20_bdu_t;
+
+/**
+ * @brief  L3GD20 Endianness
+ */
+typedef enum {
+  L3GD20_END_LITTLE = 0x00,
+  L3GD20_END_BIG    = 0x40
+}l3gd20_end_t;
+
+/**
+ * @brief   Driver state machine possible states.
+ */
+typedef enum {
+  L3GD20_UNINIT = 0,                 /**< Not initialized. */
+  L3GD20_STOP = 1,                   /**< Stopped.         */
+  L3GD20_READY = 2,                  /**< Ready.           */
+} l3gd20_state_t;
+
+/**
+ * @brief   L3GD20 configuration structure.
+ */
+typedef struct {
+
+#if (L3GD20_USE_SPI) || defined(__DOXYGEN__)
+  /**
+   * @brief SPI driver associated to this L3GD20.
+   */
+  SPIDriver      *spip;
+  /**
+   * @brief SPI configuration associated to this L3GD20.
+   */
+  const SPIConfig      *spicfg;
+#endif /* L3GD20_USE_SPI */
+#if (L3GD20_USE_I2C) || defined(__DOXYGEN__)
+  /**
+   * @brief I2C driver associated to this L3GD20.
+   */
+  I2CDriver      *i2cp;
+  /**
+   * @brief I2C configuration associated to this L3GD20.
+   */
+  const I2CConfig      *i2ccfg;
+#endif /* L3GD20_USE_I2C */
+  /**
+   * @brief L3GD20 full scale value.
+   */
+  l3gd20_fs_t    fullscale;
+  /**
+   * @brief L3GD20 output data rate selection.
+   */
+  l3gd20_odr_t   outputdatarate;
+  /**
+   * @brief L3GD20 axes enabling.
+   */
+  l3gd20_ae_t    axesenabling;
+  /**
+   * @brief L3GD20 endianness.
+   */
+  l3gd20_end_t   endianness;
+  /**
+   * @brief L3GD20 block data update.
+   */
+  l3gd20_bdu_t   blockdataupdate;
+} L3GD20Config;
+
+/**
+ * @brief   Structure representing a L3GD20 driver.
+ */
+typedef struct L3GD20Driver L3GD20Driver;
+
+/**
+ * @brief   @p L3GD20 specific methods.
+ */
+#define _l3gd20_methods                                                     \
+  _base_gyroscope_methods
+
+/**
+ * @extends BaseGyroscopeVMT
+ *
+ * @brief   @p L3GD20 virtual methods table.
+ */
+struct L3GD20VMT {
+  _l3gd20_methods
+};
+
+/**
+ * @brief   @p L3GD20Driver specific data.
+ */
+#define _l3gd20_data                                                        \
+    _base_gyroscope_data                                                    \
+    /* Driver state.*/                                                      \
+    l3gd20_state_t             state;                                       \
+    /* Current configuration data.*/                                        \
+    const L3GD20Config         *config;                                     \
+    /* Current sensitivity.*/                                               \
+    float                      sensitivity;                                 \
+	/* Bias data.*/                                                       \
+	int32_t                    bias[L3GD20_NUMBER_OF_AXES];
+
+/**
+ * @extends BaseGyroscope
+ *
+ * @brief   L3GD20 3-axis gyroscope class.
+ * @details This class extends @p BaseGyroscope by adding physical
+ *          driver implementation.
+ */
+struct L3GD20Driver {
+  /** @brief Virtual Methods Table.*/
+  const struct L3GD20VMT *vmt;
+  _l3gd20_data
+};
+/** @} */
+
+/*===========================================================================*/
+/* Driver macros.                                                            */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* External declarations.                                                    */
+/*===========================================================================*/
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+  void l3gd20ObjectInit(L3GD20Driver *devp);
+  void l3gd20Start(L3GD20Driver *devp, const L3GD20Config *config);
+  void l3gd20Stop(L3GD20Driver *devp);
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* _L3GD20_H_ */
+
+/** @} */
+
diff --git a/os/ex/gyroscope/ST/l3gd20.mk b/os/ex/gyroscope/ST/l3gd20.mk
new file mode 100644
index 000000000..7671addbd
--- /dev/null
+++ b/os/ex/gyroscope/ST/l3gd20.mk
@@ -0,0 +1,6 @@
+# List of all the L3GD20 device files.

+L3GD20SRC := $(CHIBIOS)/os/ex/gyroscope/ST/l3gd20.c

+

+# Required include directories

+L3GD20INC := $(CHIBIOS)/os/hal/lib/peripherals/include \

+             $(CHIBIOS)/os/ex/gyroscope/ST
\ No newline at end of file