git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@9627 35acf78f-673a-0410-8e92-d51de3d6d3f4

1 files changed, 330 insertions, 330 deletions

diff --git a/os/ex/ST/l3gd20.h b/os/ex/ST/l3gd20.h
index f798d0c25..5e7011a76 100644
--- a/os/ex/ST/l3gd20.h
+++ b/os/ex/ST/l3gd20.h
@@ -1,330 +1,330 @@
-/*
-    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 switch.
- * @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 switch.
- * @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   L3GD20 shared SPI switch.
- * @details If set to @p TRUE the device acquires SPI bus ownership
- *          on each transaction.
- * @note    The default is @p FALSE. Requires SPI_USE_MUTUAL_EXCLUSION
- */
-#if !defined(L3GD20_SHARED_SPI) || defined(__DOXYGEN__)
-#define L3GD20_SHARED_SPI                   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 or both false"
-#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_I2C requires HAL_USE_I2C"
-#endif
-
-#if L3GD20_SHARED_SPI && !SPI_USE_MUTUAL_EXCLUSION
-#error "L3GD20_SHARED_SPI requires SPI_USE_MUTUAL_EXCLUSION"
-#endif
-
-/*===========================================================================*/
-/* Driver data structures and types.                                         */
-/*===========================================================================*/
-
-/**
- * @name    L3GD20 data structures and types
- * @{
- */
-/**
- * @brief   L3GD20 full scale
- */
-typedef enum {
-  L3GD20_FS_250DPS = 0x00,          /**< Full scale 250 degree per second.  */
-  L3GD20_FS_500DPS = 0x10,          /**< Full scale 500 degree per second.  */
-  L3GD20_FS_2000DPS = 0x20          /**< Full scale 2000 degree per second. */
-}l3gd20_fs_t;
-
-/**
- * @brief   L3GD20 output data rate and bandwidth
- */
-typedef enum {
-  L3GD20_ODR_95HZ_FC_12_5 = 0x00,   /**< ODR 95 Hz, BW 12.5 Hz.             */
-  L3GD20_ODR_95HZ_FC_25 = 0x10,     /**< ODR 95 Hz, BW 25Hz.                */
-  L3GD20_ODR_190HZ_FC_12_5 = 0x40,  /**< ODR 190 Hz, BW 12.5 Hz.            */
-  L3GD20_ODR_190HZ_FC_25 = 0x50,    /**< ODR 190 Hz, BW 25 Hz.              */
-  L3GD20_ODR_190HZ_FC_50 = 0x60,    /**< ODR 190 Hz, BW 50 Hz.              */
-  L3GD20_ODR_190HZ_FC_70 = 0x70,    /**< ODR 190 Hz, BW 70 Hz.              */
-  L3GD20_ODR_380HZ_FC_20 = 0x80,    /**< ODR 380 Hz, BW 20 Hz.              */
-  L3GD20_ODR_380HZ_FC_25 = 0x90,    /**< ODR 380 Hz, BW 25 Hz.              */
-  L3GD20_ODR_380HZ_FC_50 = 0xA0,    /**< ODR 380 Hz, BW 50 Hz.              */
-  L3GD20_ODR_380HZ_FC_100 = 0xB0,   /**< ODR 380 Hz, BW 100 Hz.             */
-  L3GD20_ODR_760HZ_FC_30 = 0xC0,    /**< ODR 760 Hz, BW 30 Hz.              */
-  L3GD20_ODR_760HZ_FC_35 = 0xD0,    /**< ODR 760 Hz, BW 35 Hz.              */
-  L3GD20_ODR_760HZ_FC_50 = 0xE0,    /**< ODR 760 Hz, BW 50 Hz.              */
-  L3GD20_ODR_760HZ_FC_100 = 0xF0    /**< ODR 760 Hz, BW 100 Hz.             */
-}l3gd20_odr_t;
-
-/**
- * @brief   L3GD20 axes enabling
- */
-typedef enum {
-  L3GD20_AE_DISABLED = 0x00,        /**< All axes disabled.                 */
-  L3GD20_AE_X = 0x01,               /**< Only X-axis enabled.               */
-  L3GD20_AE_Y = 0x02,               /**< Only Y-axis enabled.               */
-  L3GD20_AE_XY = 0x03,              /**< X and Y axes enabled.              */
-  L3GD20_AE_Z = 0x04,               /**< Only Z-axis enabled.               */
-  L3GD20_AE_XZ = 0x05,              /**< X and Z axes enabled.              */
-  L3GD20_AE_YZ = 0x06,              /**< Y and Z axes enabled.              */
-  L3GD20_AE_XYZ = 0x07              /**< All axes enabled.                  */
-}l3gd20_ae_t;
-
-/**
- * @brief   L3GD20 block data update
- */
-typedef enum {
-  L3GD20_BDU_CONTINUOUS = 0x00,     /**< Block data continuously updated.   */
-  L3GD20_BDU_BLOCKED = 0x80         /**< Block data updated after reading.  */
-}l3gd20_bdu_t;
-
-/**
- * @brief   L3GD20 endianness
- */
-typedef enum {
-  L3GD20_END_LITTLE = 0x00,         /**< Little endian.                     */
-  L3GD20_END_BIG = 0x40             /**< Big endian.                        */
-}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 block data update.
-   */
-  l3gd20_bdu_t              blockdataupdate;
-  /**
-   * @brief L3GD20 endianness.
-   */
-  l3gd20_end_t              endianness;
-} L3GD20Config;
-
-/**
- * @brief   Structure representing a L3GD20 driver.
- */
-typedef struct L3GD20Driver L3GD20Driver;
-
-/**
- * @brief   @p L3GD20 specific methods.
- */
-#define _l3gd20_methods                                                     \
-  _base_gyroscope_methods                                                   \
-  /* Retrieve the temperature of L3GD20 chip.*/                             \
-  msg_t (*get_temperature)(void *instance, float* temperature);
-
-
-/**
- * @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[L3GD20_NUMBER_OF_AXES];             \
-  /* 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 BaseSensor Virtual Methods Table. */
-  const struct BaseSensorVMT *vmt_basesensor;
-  /** @brief BaseGyroscope Virtual Methods Table. */
-  const struct BaseGyroscopeVMT *vmt_basegyroscope;
-  /** @brief L3GD20 Virtual Methods Table. */
-  const struct L3GD20VMT *vmt_l3gd20;
-  _l3gd20_data
-};
-/** @} */
-
-/*===========================================================================*/
-/* Driver macros.                                                            */
-/*===========================================================================*/
-
-/**
- * @brief   Get current MEMS temperature.
- * @detail  This information is very useful especially for high accuracy IMU
- *
- * @param[in] ip        pointer to a @p BaseGyroscope class.
- * @param[out] temp     the MEMS temperature as single precision floating.
- *
- * @return              The operation status.
- * @retval MSG_OK       if the function succeeded.
- * @retval MSG_RESET    if one or more errors occurred.
- * @api
- */
-#define gyroscopeGetTemp(ip, tpp)                                           \
-        (ip)->vmt_l3gd20->get_temperature(ip, tpp)
-
-/*===========================================================================*/
-/* 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_ */
-
-/** @} */
-
+/*

+    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 switch.

+ * @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 switch.

+ * @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   L3GD20 shared SPI switch.

+ * @details If set to @p TRUE the device acquires SPI bus ownership

+ *          on each transaction.

+ * @note    The default is @p FALSE. Requires SPI_USE_MUTUAL_EXCLUSION

+ */

+#if !defined(L3GD20_SHARED_SPI) || defined(__DOXYGEN__)

+#define L3GD20_SHARED_SPI                   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 or both false"

+#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_I2C requires HAL_USE_I2C"

+#endif

+

+#if L3GD20_SHARED_SPI && !SPI_USE_MUTUAL_EXCLUSION

+#error "L3GD20_SHARED_SPI requires SPI_USE_MUTUAL_EXCLUSION"

+#endif

+

+/*===========================================================================*/

+/* Driver data structures and types.                                         */

+/*===========================================================================*/

+

+/**

+ * @name    L3GD20 data structures and types

+ * @{

+ */

+/**

+ * @brief   L3GD20 full scale

+ */

+typedef enum {

+  L3GD20_FS_250DPS = 0x00,          /**< Full scale 250 degree per second.  */

+  L3GD20_FS_500DPS = 0x10,          /**< Full scale 500 degree per second.  */

+  L3GD20_FS_2000DPS = 0x20          /**< Full scale 2000 degree per second. */

+}l3gd20_fs_t;

+

+/**

+ * @brief   L3GD20 output data rate and bandwidth

+ */

+typedef enum {

+  L3GD20_ODR_95HZ_FC_12_5 = 0x00,   /**< ODR 95 Hz, BW 12.5 Hz.             */

+  L3GD20_ODR_95HZ_FC_25 = 0x10,     /**< ODR 95 Hz, BW 25Hz.                */

+  L3GD20_ODR_190HZ_FC_12_5 = 0x40,  /**< ODR 190 Hz, BW 12.5 Hz.            */

+  L3GD20_ODR_190HZ_FC_25 = 0x50,    /**< ODR 190 Hz, BW 25 Hz.              */

+  L3GD20_ODR_190HZ_FC_50 = 0x60,    /**< ODR 190 Hz, BW 50 Hz.              */

+  L3GD20_ODR_190HZ_FC_70 = 0x70,    /**< ODR 190 Hz, BW 70 Hz.              */

+  L3GD20_ODR_380HZ_FC_20 = 0x80,    /**< ODR 380 Hz, BW 20 Hz.              */

+  L3GD20_ODR_380HZ_FC_25 = 0x90,    /**< ODR 380 Hz, BW 25 Hz.              */

+  L3GD20_ODR_380HZ_FC_50 = 0xA0,    /**< ODR 380 Hz, BW 50 Hz.              */

+  L3GD20_ODR_380HZ_FC_100 = 0xB0,   /**< ODR 380 Hz, BW 100 Hz.             */

+  L3GD20_ODR_760HZ_FC_30 = 0xC0,    /**< ODR 760 Hz, BW 30 Hz.              */

+  L3GD20_ODR_760HZ_FC_35 = 0xD0,    /**< ODR 760 Hz, BW 35 Hz.              */

+  L3GD20_ODR_760HZ_FC_50 = 0xE0,    /**< ODR 760 Hz, BW 50 Hz.              */

+  L3GD20_ODR_760HZ_FC_100 = 0xF0    /**< ODR 760 Hz, BW 100 Hz.             */

+}l3gd20_odr_t;

+

+/**

+ * @brief   L3GD20 axes enabling

+ */

+typedef enum {

+  L3GD20_AE_DISABLED = 0x00,        /**< All axes disabled.                 */

+  L3GD20_AE_X = 0x01,               /**< Only X-axis enabled.               */

+  L3GD20_AE_Y = 0x02,               /**< Only Y-axis enabled.               */

+  L3GD20_AE_XY = 0x03,              /**< X and Y axes enabled.              */

+  L3GD20_AE_Z = 0x04,               /**< Only Z-axis enabled.               */

+  L3GD20_AE_XZ = 0x05,              /**< X and Z axes enabled.              */

+  L3GD20_AE_YZ = 0x06,              /**< Y and Z axes enabled.              */

+  L3GD20_AE_XYZ = 0x07              /**< All axes enabled.                  */

+}l3gd20_ae_t;

+

+/**

+ * @brief   L3GD20 block data update

+ */

+typedef enum {

+  L3GD20_BDU_CONTINUOUS = 0x00,     /**< Block data continuously updated.   */

+  L3GD20_BDU_BLOCKED = 0x80         /**< Block data updated after reading.  */

+}l3gd20_bdu_t;

+

+/**

+ * @brief   L3GD20 endianness

+ */

+typedef enum {

+  L3GD20_END_LITTLE = 0x00,         /**< Little endian.                     */

+  L3GD20_END_BIG = 0x40             /**< Big endian.                        */

+}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 block data update.

+   */

+  l3gd20_bdu_t              blockdataupdate;

+  /**

+   * @brief L3GD20 endianness.

+   */

+  l3gd20_end_t              endianness;

+} L3GD20Config;

+

+/**

+ * @brief   Structure representing a L3GD20 driver.

+ */

+typedef struct L3GD20Driver L3GD20Driver;

+

+/**

+ * @brief   @p L3GD20 specific methods.

+ */

+#define _l3gd20_methods                                                     \

+  _base_gyroscope_methods                                                   \

+  /* Retrieve the temperature of L3GD20 chip.*/                             \

+  msg_t (*get_temperature)(void *instance, float* temperature);

+

+

+/**

+ * @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[L3GD20_NUMBER_OF_AXES];             \

+  /* 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 BaseSensor Virtual Methods Table. */

+  const struct BaseSensorVMT *vmt_basesensor;

+  /** @brief BaseGyroscope Virtual Methods Table. */

+  const struct BaseGyroscopeVMT *vmt_basegyroscope;

+  /** @brief L3GD20 Virtual Methods Table. */

+  const struct L3GD20VMT *vmt_l3gd20;

+  _l3gd20_data

+};

+/** @} */

+

+/*===========================================================================*/

+/* Driver macros.                                                            */

+/*===========================================================================*/

+

+/**

+ * @brief   Get current MEMS temperature.

+ * @detail  This information is very useful especially for high accuracy IMU

+ *

+ * @param[in] ip        pointer to a @p BaseGyroscope class.

+ * @param[out] temp     the MEMS temperature as single precision floating.

+ *

+ * @return              The operation status.

+ * @retval MSG_OK       if the function succeeded.

+ * @retval MSG_RESET    if one or more errors occurred.

+ * @api

+ */

+#define gyroscopeGetTemp(ip, tpp)                                           \

+        (ip)->vmt_l3gd20->get_temperature(ip, tpp)

+

+/*===========================================================================*/

+/* 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_ */

+

+/** @} */

+