From 3d535a83adf8335313449d9e6d0321338b34d720 Mon Sep 17 00:00:00 2001
From: Rocco Marco Guglielmi <roccomarco.guglielmi@live.com>
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 <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
--
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