From 3d535a83adf8335313449d9e6d0321338b34d720 Mon Sep 17 00:00:00 2001 From: Rocco Marco Guglielmi Date: Sun, 6 Mar 2016 14:40:17 +0000 Subject: 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 --- os/ex/gyroscope/ST/l3gd20.c | 361 +++++++++++++++++++++++++++++++++++++++++++ os/ex/gyroscope/ST/l3gd20.h | 294 +++++++++++++++++++++++++++++++++++ os/ex/gyroscope/ST/l3gd20.mk | 6 + 3 files changed, 661 insertions(+) create mode 100644 os/ex/gyroscope/ST/l3gd20.c create mode 100644 os/ex/gyroscope/ST/l3gd20.h create mode 100644 os/ex/gyroscope/ST/l3gd20.mk 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 . + +*/ + +/** + * @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 . + +*/ + +/** + * @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 -- cgit v1.2.3