From beabb0d0ae02cb747e9be9cbfdc3b0ea9bd8b7dd Mon Sep 17 00:00:00 2001
From: Rocco Marco Guglielmi <roccomarco.guglielmi@live.com>
Date: Fri, 17 Jun 2016 11:32:10 +0000
Subject: Starting EX improvements: improved L3GD20 driver.
git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@9638 35acf78f-673a-0410-8e92-d51de3d6d3f4
---
os/ex/ST/l3gd20.h | 795 ++++++++++++++++++++++++++++++++++--------------------
1 file changed, 502 insertions(+), 293 deletions(-)
(limited to 'os/ex/ST/l3gd20.h')
diff --git a/os/ex/ST/l3gd20.h b/os/ex/ST/l3gd20.h
index 5e7011a76..49b11130e 100644
--- a/os/ex/ST/l3gd20.h
+++ b/os/ex/ST/l3gd20.h
@@ -35,296 +35,505 @@
/*===========================================================================*/
/**
- * @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_ */
-
-/** @} */
-
+ * @brief L3GD20 characteristics
+ */
+#define L3GD20_NUMBER_OF_AXES 3U
+
+#define L3GD20_250DPS 250.0f
+#define L3GD20_500DPS 500.0f
+#define L3GD20_2000DPS 2000.0f
+
+#define L3GD20_SENS_250DPS 0.00875f
+#define L3GD20_SENS_500DPS 0.01750f
+#define L3GD20_SENS_2000DPS 0.07000f
+/** @} */
+
+/**
+ * @name L3GD20 communication interfaces related bit masks
+ * @{
+ */
+#define L3GD20_DI_MASK 0xFF /**< Data In mask */
+#define L3GD20_DI(n) (1 << n) /**< Data In bit n */
+#define L3GD20_AD_MASK 0x3F /**< Address Data mask */
+#define L3GD20_AD(n) (1 << n) /**< Address Data bit n */
+#define L3GD20_MS (1 << 6) /**< Multiple read write */
+#define L3GD20_RW (1 << 7) /**< Read Write selector */
+/** @} */
+
+/**
+ * @name L3GD20 register addresses
+ * @{
+ */
+#define L3GD20_AD_WHO_AM_I 0x0F
+#define L3GD20_AD_CTRL_REG1 0x20
+#define L3GD20_AD_CTRL_REG2 0x21
+#define L3GD20_AD_CTRL_REG3 0x22
+#define L3GD20_AD_CTRL_REG4 0x23
+#define L3GD20_AD_CTRL_REG5 0x24
+#define L3GD20_AD_REFERENCE 0x25
+#define L3GD20_AD_OUT_TEMP 0x26
+#define L3GD20_AD_STATUS_REG 0x27
+#define L3GD20_AD_OUT_X_L 0x28
+#define L3GD20_AD_OUT_X_H 0x29
+#define L3GD20_AD_OUT_Y_L 0x2A
+#define L3GD20_AD_OUT_Y_H 0x2B
+#define L3GD20_AD_OUT_Z_L 0x2C
+#define L3GD20_AD_OUT_Z_H 0x2D
+#define L3GD20_AD_FIFO_CTRL_REG 0x2E
+#define L3GD20_AD_FIFO_SRC_REG 0x2F
+#define L3GD20_AD_INT1_CFG 0x30
+#define L3GD20_AD_INT1_SRC 0x31
+#define L3GD20_AD_INT1_TSH_XH 0x32
+#define L3GD20_AD_INT1_TSH_XL 0x33
+#define L3GD20_AD_INT1_TSH_YH 0x34
+#define L3GD20_AD_INT1_TSH_YL 0x35
+#define L3GD20_AD_INT1_TSH_ZH 0x36
+#define L3GD20_AD_INT1_TSH_ZL 0x37
+#define L3GD20_AD_INT1_DURATION 0x38
+/** @} */
+
+/**
+ * @name L3GD20_CTRL_REG1 register bits definitions
+ * @{
+ */
+#define L3GD20_CTRL_REG1_MASK 0xFF /**< L3GD20_CTRL_REG1 mask */
+#define L3GD20_CTRL_REG1_XEN (1 << 0) /**< X axis enable */
+#define L3GD20_CTRL_REG1_YEN (1 << 1) /**< Y axis enable */
+#define L3GD20_CTRL_REG1_ZEN (1 << 2) /**< Z axis enable */
+#define L3GD20_CTRL_REG1_PD (1 << 3) /**< Power-down mode enable */
+#define L3GD20_CTRL_REG1_BW0 (1 << 4) /**< Bandwidth bit 0 */
+#define L3GD20_CTRL_REG1_BW1 (1 << 5) /**< Bandwidth bit 1 */
+#define L3GD20_CTRL_REG1_DR0 (1 << 6) /**< Output data rate bit 0 */
+#define L3GD20_CTRL_REG1_DR1 (1 << 7) /**< Output data rate bit 1 */
+/** @} */
+
+/**
+ * @name L3GD20_CTRL_REG2 register bits definitions
+ * @{
+ */
+#define L3GD20_CTRL_REG2_MASK 0x3F /**< L3GD20_CTRL_REG2 mask */
+#define L3GD20_CTRL_REG2_HPCF0 (1 << 0) /**< HP filter cutoff bit 0 */
+#define L3GD20_CTRL_REG2_HPCF1 (1 << 1) /**< HP filter cutoff bit 1 */
+#define L3GD20_CTRL_REG2_HPCF2 (1 << 2) /**< HP filter cutoff bit 2 */
+#define L3GD20_CTRL_REG2_HPCF3 (1 << 3) /**< HP filter cutoff bit 3 */
+#define L3GD20_CTRL_REG2_HPM0 (1 << 4) /**< HP filter mode bit 0 */
+#define L3GD20_CTRL_REG2_HPM1 (1 << 5) /**< HP filter mode bit 1 */
+/** @} */
+
+/**
+ * @name L3GD20_CTRL_REG3 register bits definitions
+ * @{
+ */
+#define L3GD20_CTRL_REG3_MASK 0xFF /**< L3GD20_CTRL_REG3 mask */
+#define L3GD20_CTRL_REG3_I2_EMPTY (1 << 0) /**< FIFO empty IRQ */
+#define L3GD20_CTRL_REG3_I2_ORUN (1 << 1) /**< FIFO overrun IRQ */
+#define L3GD20_CTRL_REG3_I2_WTM (1 << 2) /**< FIFO watermark IRQ */
+#define L3GD20_CTRL_REG3_I2_DRDY (1 << 3) /**< Data ready */
+#define L3GD20_CTRL_REG3_PP_OD (1 << 4) /**< Push-pull / Open Drain */
+#define L3GD20_CTRL_REG3_H_LACTIVE (1 << 5) /**< IRQ active */
+#define L3GD20_CTRL_REG3_I1_BOOT (1 << 6) /**< Boot status available */
+#define L3GD20_CTRL_REG3_I1_INT1 (1 << 7) /**< IRQ enable */
+/** @} */
+
+/**
+ * @name L3GD20_CTRL_REG4 register bits definitions
+ * @{
+ */
+#define L3GD20_CTRL_REG4_MASK 0xF1 /**< L3GD20_CTRL_REG4 mask */
+#define L3GD20_CTRL_REG4_SIM (1 << 0) /**< SPI mode */
+#define L3GD20_CTRL_REG4_FS_MASK (3 << 4) /**< Full scale mask */
+#define L3GD20_CTRL_REG4_FS0 (1 << 4) /**< Full scale bit 0 */
+#define L3GD20_CTRL_REG4_FS1 (1 << 5) /**< Full scale bit 1 */
+#define L3GD20_CTRL_REG4_BLE (1 << 6) /**< Big/little endian data */
+#define L3GD20_CTRL_REG4_BDU (1 << 7) /**< Block data update */
+/** @} */
+
+/**
+ * @name L3GD20_CTRL_REG5 register bits definitions
+ * @{
+ */
+#define L3GD20_CTRL_REG5_MASK 0xDF /**< L3GD20_CTRL_REG5 mask */
+#define L3GD20_CTRL_REG5_OUT_SEL0 (1 << 0) /**< Out selection bit 0 */
+#define L3GD20_CTRL_REG5_OUT_SEL1 (1 << 1) /**< Out selection bit 1 */
+#define L3GD20_CTRL_REG5_INT1_SEL0 (1 << 2) /**< INT1 selection bit 0 */
+#define L3GD20_CTRL_REG5_INT1_SEL1 (1 << 3) /**< INT1 selection bit 1 */
+#define L3GD20_CTRL_REG5_HPEN (1 << 4) /**< HP filter enable */
+#define L3GD20_CTRL_REG5_FIFO_EN (1 << 6) /**< FIFO enable */
+#define L3GD20_CTRL_REG5_BOOT (1 << 7) /**< Reboot memory content */
+/** @} */
+
+/*===========================================================================*/
+/* 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 advanced configurations switch.
+ * @details If set to @p TRUE more configurations are available.
+ * @note The default is @p FALSE.
+ */
+#if !defined(L3GD20_USE_ADVANCED) || defined(__DOXYGEN__)
+#define L3GD20_USE_ADVANCED 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 = 0x00, /**< Output data rate 95 Hz. */
+ L3GD20_ODR_190HZ = 0x40, /**< Output data rate 190 Hz. */
+ L3GD20_ODR_380HZ = 0x80, /**< Output data rate 380 Hz. */
+ L3GD20_ODR_760HZ = 0xC0 /**< Output data rate 760 Hz. */
+}l3gd20_odr_t;
+
+/**
+ * @brief L3GD20 low pass filter 1 bandwidth.
+ */
+typedef enum {
+ L3GD20_BW0 = 0x00, /**< LPF1 bandwidth. Depends on ODR. */
+ L3GD20_BW1 = 0x40, /**< LPF1 bandwidth. Depends on ODR. */
+ L3GD20_BW2 = 0x80, /**< LPF1 bandwidth. Depends on ODR. */
+ L3GD20_BW3 = 0xC0 /**< LPF1 bandwidth. Depends on ODR. */
+}l3gd20_bw_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 HP filter mode.
+ */
+typedef enum {
+ L3GD20_HPM_NORMAL = 0x00, /**< Normal mode. */
+ L3GD20_HPM_REFERENCE = 0x10, /**< Reference signal for filtering. */
+ L3GD20_HPM_AUTORESET = 0x30, /**< Autoreset on interrupt event. */
+ L3GD20_HPM_BYPASSED = 0xFF /**< HP filter bypassed */
+}l3gd20_hpm_t;
+
+/**
+ * @brief L3GD20 HP configuration.
+ */
+typedef enum {
+ L3GD20_HPCF_0 = 0x00, /**< Depends on ODR (Table 26 for more).*/
+ L3GD20_HPCF_1 = 0x01, /**< Depends on ODR (Table 26 for more).*/
+ L3GD20_HPCF_2 = 0x02, /**< Depends on ODR (Table 26 for more).*/
+ L3GD20_HPCF_3 = 0x03, /**< Depends on ODR (Table 26 for more).*/
+ L3GD20_HPCF_4 = 0x04, /**< Depends on ODR (Table 26 for more).*/
+ L3GD20_HPCF_5 = 0x05, /**< Depends on ODR (Table 26 for more).*/
+ L3GD20_HPCF_6 = 0x06, /**< Depends on ODR (Table 26 for more).*/
+ L3GD20_HPCF_7 = 0x07, /**< Depends on ODR (Table 26 for more).*/
+ L3GD20_HPCF_8 = 0x08, /**< Depends on ODR (Table 26 for more).*/
+ L3GD20_HPCF_9 = 0x09 /**< Depends on ODR (Table 26 for more).*/
+}l3gd20_hpcf_t;
+
+/**
+ * @brief L3GD20 LP2 filter mode.
+ * @detail To activate LP2 HP should be active
+ */
+typedef enum {
+ L3GD20_LP2M_ON = 0x00, /**< LP2 filter activated. */
+ L3GD20_LP2M_BYPASSED = 0xFF, /**< LP2 filter bypassed. */
+}l3gd20_lp2m_t;
+
+/**
+ * @brief L3GD20 endianness.
+ */
+typedef enum {
+ L3GD20_END_LITTLE = 0x00, /**< Little endian. */
+ L3GD20_END_BIG = 0x40 /**< Big endian. */
+}l3gd20_end_t;
+
+/**
+ * @brief L3GD20 measurement unit.
+ */
+typedef enum {
+ L3GD20_UNIT_DPS = 0x00, /**< Cooked data in degrees per seconds.*/
+ L3GD20_UNIT_RPS = 0x01, /**< Cooked data in radians per seconds.*/
+} l3gd20_unit_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 initial sensitivity.
+ */
+ float sensitivity[L3GD20_NUMBER_OF_AXES];
+ /**
+ * @brief L3GD20 initial bias.
+ */
+ float bias[L3GD20_NUMBER_OF_AXES];
+ /**
+ * @brief L3GD20 initial full scale value.
+ */
+ l3gd20_fs_t fullscale;
+ /**
+ * @brief L3GD20 output data rate selection.
+ */
+ l3gd20_odr_t outputdatarate;
+#if L3GD20_USE_ADVANCED || defined(__DOXYGEN__)
+ /**
+ * @brief L3GD20 block data update.
+ */
+ l3gd20_bdu_t blockdataupdate;
+ /**
+ * @brief L3GD20 endianness.
+ */
+ l3gd20_end_t endianness;
+ /**
+ * @brief L3GD20 LP1 filter bandwidth.
+ */
+ l3gd20_bw_t bandwidth;
+ /**
+ * @brief L3GD20 HP filter mode.
+ */
+ l3gd20_hpm_t hpmode;
+ /**
+ * @brief L3GD20 HP configuration.
+ */
+ l3gd20_hpcf_t hpconfiguration;
+ /**
+ * @brief L3GD20 LP2 filter mode.
+ * @detail To activate LP2 HP should be active
+ */
+ l3gd20_lp2m_t lp2mode;
+#endif
+ /**
+ * @brief L3GD20 initial measurement unit.
+ */
+ l3gd20_unit_t unit;
+} L3GD20Config;
+
+/**
+ * @brief Structure representing a L3GD20 driver.
+ */
+typedef struct L3GD20Driver L3GD20Driver;
+
+/**
+ * @brief @p L3GD20 specific methods.
+ */
+#define _l3gd20_methods \
+ _base_gyroscope_methods \
+ /* Change full scale value of L3GD20 .*/ \
+ msg_t (*set_full_scale)(void *instance, l3gd20_fs_t fs); \
+ /* Get full scale value of L3GD20 .*/ \
+ l3gd20_fs_t (*get_full_scale)(void *instance); \
+ /* Change measurement unit of L3GD20 .*/ \
+ msg_t (*set_meas_unit)(void *instance, l3gd20_unit_t unit); \
+ /* Get measurement unit of L3GD20 .*/ \
+ l3gd20_unit_t (*get_meas_unit)(void *instance);
+
+/**
+ * @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 data.*/ \
+ float sensitivity[L3GD20_NUMBER_OF_AXES]; \
+ /* Current Bias data.*/ \
+ float bias[L3GD20_NUMBER_OF_AXES]; \
+ /* Current full scale value.*/ \
+ float fullscale; \
+ /* Measurement unit.*/ \
+ l3gd20_unit_t meas_unit;
+
+/**
+ * @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 Change initial fullscale value.
+ *
+ * @param[in] ip pointer to a @p BaseGyroscope class.
+ * @param[in] fs the new full scale value.
+ *
+ * @return The operation status.
+ * @retval MSG_OK if the function succeeded.
+ * @retval MSG_RESET if one or more errors occurred.
+ * @api
+ */
+#define gyroscopeSetFullScale(ip, fs) \
+ (ip)->vmt_l3gd20->set_full_scale(ip, fs)
+
+/**
+ * @brief Set gyroscope cooked data measurement unit.
+ *
+ * @param[in] ip pointer to a @p BaseGyroscope class.
+ * @param[in] unit the MEMS measurement unit.
+ *
+ * @return The operation status.
+ * @retval MSG_OK if the function succeeded.
+ * @retval MSG_RESET if one or more errors occurred.
+ * @api
+ */
+#define gyroscopeSetMeasurementUnit(ip, unit) \
+ (ip)->vmt_l3gd20->set_meas_unit(ip, unit)
+
+/*===========================================================================*/
+/* 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_ */
+
+/** @} */
+
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