From 16eb9bd9a6895dc9b5b812f46e9477039c018ec1 Mon Sep 17 00:00:00 2001
From: Rocco Marco Guglielmi <roccomarco.guglielmi@live.com>
Date: Wed, 31 Aug 2016 17:51:29 +0000
Subject: Minor fixes on L3GD20 Drivers

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@9755 35acf78f-673a-0410-8e92-d51de3d6d3f4
---
 os/ex/ST/l3gd20.c | 18 +++++++++++++++---
 os/ex/ST/l3gd20.h |  4 ++--
 2 files changed, 17 insertions(+), 5 deletions(-)

diff --git a/os/ex/ST/l3gd20.c b/os/ex/ST/l3gd20.c
index fba1440da..6f090d32e 100644
--- a/os/ex/ST/l3gd20.c
+++ b/os/ex/ST/l3gd20.c
@@ -145,14 +145,17 @@ static msg_t sample_bias(void *ip) {
   uint32_t i, j;
   int32_t raw[L3GD20_NUMBER_OF_AXES];
   int32_t buff[L3GD20_NUMBER_OF_AXES] = {0, 0, 0};
-
+  msg_t msg;
+	
   osalDbgCheck(ip != NULL);
 
   osalDbgAssert((((L3GD20Driver *)ip)->state == L3GD20_READY),
                 "sample_bias(), invalid state");
 
   for(i = 0; i < L3GD20_BIAS_ACQ_TIMES; i++){
-    read_raw(ip, raw);
+    msg = read_raw(ip, raw);
+		if(msg != MSG_OK)
+			return msg;
     for(j = 0; j < L3GD20_NUMBER_OF_AXES; j++){
       buff[j] += raw[j];
     }
@@ -163,7 +166,7 @@ static msg_t sample_bias(void *ip) {
     ((L3GD20Driver *)ip)->bias[i] = (buff[i] / L3GD20_BIAS_ACQ_TIMES);
     ((L3GD20Driver *)ip)->bias[i] *= ((L3GD20Driver *)ip)->sensitivity[i];
   }
-  return MSG_OK;
+  return msg;
 }
 
 static msg_t set_bias(void *ip, int32_t *bp) {
@@ -254,6 +257,12 @@ static msg_t set_full_scale(void *ip, l3gd20_fs_t fs) {
     scale = newfs / ((L3GD20Driver *)ip)->fullscale;
     ((L3GD20Driver *)ip)->fullscale = newfs;
 
+#if	L3GD20_SHARED_SPI
+		spiAcquireBus(((L3GD20Driver *)ip)->config->spip);
+		spiStart(((L3GD20Driver *)ip)->config->spip,
+						 ((L3GD20Driver *)ip)->config->spicfg);
+#endif /* L3GD20_SHARED_SPI */ 
+
     /* Updating register.*/
     l3gd20SPIReadRegister(((L3GD20Driver *)ip)->config->spip,
                           L3GD20_AD_CTRL_REG4, 1, &cr);
@@ -261,6 +270,9 @@ static msg_t set_full_scale(void *ip, l3gd20_fs_t fs) {
     cr |= fs;
     l3gd20SPIWriteRegister(((L3GD20Driver *)ip)->config->spip,
                            L3GD20_AD_CTRL_REG4, 1, &cr);
+#if	L3GD20_SHARED_SPI
+		spiReleaseBus(((L3GD20Driver *)ip)->config->spip);
+#endif /* L3GD20_SHARED_SPI */ 
 
     /* Scaling sensitivity and bias. Re-calibration is suggested anyway. */
     for(i = 0; i < L3GD20_NUMBER_OF_AXES; i++) {
diff --git a/os/ex/ST/l3gd20.h b/os/ex/ST/l3gd20.h
index e74837978..9f0377db9 100644
--- a/os/ex/ST/l3gd20.h
+++ b/os/ex/ST/l3gd20.h
@@ -40,7 +40,7 @@
 /**
  * @brief   L3GD20 driver version string.
  */
-#define EX_L3GD20_VERSION           "1.0.0"
+#define EX_L3GD20_VERSION           "1.0.1"
 
 /**
  * @brief   L3GD20 driver version major number.
@@ -55,7 +55,7 @@
 /**
  * @brief   L3GD20 driver version patch number.
  */
-#define EX_L3GD20_PATCH             0
+#define EX_L3GD20_PATCH             1
 /** @} */
 
 /**
-- 
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