L3GD20 documentation fixes,

Improved get_temperature() implementation.

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@9348 35acf78f-673a-0410-8e92-d51de3d6d3f4

2 files changed, 20 insertions, 12 deletions

diff --git a/os/ex/ST/l3gd20.c b/os/ex/ST/l3gd20.c
index 2b4e2cc22..d1ba6a7e0 100644
--- a/os/ex/ST/l3gd20.c
+++ b/os/ex/ST/l3gd20.c
@@ -228,7 +228,7 @@ static msg_t read_raw(void *ip, int32_t axes[L3GD20_NUMBER_OF_AXES]) {
 #if	L3GD20_SHARED_SPI
   spiReleaseBus(((L3GD20Driver *)ip)->config->spip);
 #endif /* L3GD20_SHARED_SPI */   
-#endif
+#endif /* L3GD20_USE_SPI */ 
   return MSG_OK;
 }
 
@@ -295,7 +295,7 @@ static msg_t reset_bias(void *ip) {
 
   osalDbgAssert((((L3GD20Driver *)ip)->state == L3GD20_READY) ||
                 (((L3GD20Driver *)ip)->state == L3GD20_STOP),
-              "reset_calibration(), invalid state");
+              "reset_bias(), invalid state");
 
   for(i = 0; i < L3GD20_NUMBER_OF_AXES; i++)
     ((L3GD20Driver *)ip)->bias[i] = 0;
@@ -337,10 +337,21 @@ static msg_t reset_sensivity(void *ip) {
 }
 
 static msg_t get_temperature(void *ip, float* tempp) {
-
+	
+#if L3GD20_USE_SPI
+  osalDbgAssert((((L3GD20Driver *)ip)->config->spip->state == SPI_READY),
+                "read_raw(), channel not ready");
+#if	L3GD20_SHARED_SPI
+  spiAcquireBus(((L3GD20Driver *)ip)->config->spip);
+  spiStart(((L3GD20Driver *)ip)->config->spip,
+           ((L3GD20Driver *)ip)->config->spicfg);
+#endif /* L3GD20_SHARED_SPI */   
   *tempp = (int8_t)l3gd20SPIReadRegister(((L3GD20Driver *)ip)->config->spip,
                                        L3GD20_AD_OUT_TEMP);
-
+#if	L3GD20_SHARED_SPI
+  spiReleaseBus(((L3GD20Driver *)ip)->config->spip);
+#endif /* L3GD20_SHARED_SPI */   
+#endif /* L3GD20_USE_SPI */ 
   return MSG_OK;
 }
 
@@ -373,14 +384,13 @@ static const struct L3GD20VMT vmt_l3gd20 = {
  */
 void l3gd20ObjectInit(L3GD20Driver *devp) {
   uint32_t i;
-
   devp->vmt_basesensor = &vmt_basesensor;
   devp->vmt_basegyroscope = &vmt_basegyroscope;
   devp->vmt_l3gd20 = &vmt_l3gd20;
-  devp->state  = L3GD20_STOP;
   devp->config = NULL;
   for(i = 0; i < L3GD20_NUMBER_OF_AXES; i++)
     devp->bias[i] = 0;
+  devp->state  = L3GD20_STOP;
 }
 
 /**
@@ -392,7 +402,7 @@ void l3gd20ObjectInit(L3GD20Driver *devp) {
  * @api
  */
 void l3gd20Start(L3GD20Driver *devp, const L3GD20Config *config) {
-  uint8_t i;
+  uint32_t i;
   osalDbgCheck((devp != NULL) && (config != NULL));
 
   osalDbgAssert((devp->state == L3GD20_STOP) || (devp->state == L3GD20_READY),
diff --git a/os/ex/ST/l3gd20.h b/os/ex/ST/l3gd20.h
index ddd21a543..98e41cfbc 100644
--- a/os/ex/ST/l3gd20.h
+++ b/os/ex/ST/l3gd20.h
@@ -281,13 +281,11 @@ struct L3GD20VMT {
  *          driver implementation.
  */
 struct L3GD20Driver {
-  /** @brief Base Sensor Virtual Methods Table.*/
+  /** @brief BaseSensor Virtual Methods Table. */
   const struct BaseSensorVMT *vmt_basesensor;
-  /** @brief Base Gyroscope Virtual Methods Table.
-    * @note  Extend BaseSensor VMT.*/
+  /** @brief BaseGyroscope Virtual Methods Table. */
   const struct BaseGyroscopeVMT *vmt_basegyroscope;
-  /** @brief L3GD20 Virtual Methods Table.
-   * @note  Extend BaseGyroscope VMT.*/
+  /** @brief L3GD20 Virtual Methods Table. */
   const struct L3GD20VMT *vmt_l3gd20;
   _l3gd20_data
 };