Fixed Bug #943

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@11985 110e8d01-0319-4d1e-a829-52ad28d1bb01

1 files changed, 339 insertions, 339 deletions

diff --git a/os/ex/ST/l3gd20.h b/os/ex/ST/l3gd20.h
index fdeb600f6..bea56432c 100644
--- a/os/ex/ST/l3gd20.h
+++ b/os/ex/ST/l3gd20.h
@@ -1,72 +1,72 @@
-/*

-    ChibiOS - Copyright (C) 2016..2018 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.

- *

- * @addtogroup L3GD20

- * @ingroup EX_ST

- * @{

- */

-#ifndef _L3GD20_H_

-#define _L3GD20_H_

-

-#include "hal_gyroscope.h"

-

-/*===========================================================================*/

-/* Driver constants.                                                         */

-/*===========================================================================*/

-

-/**

- * @name    Version identification

- * @{

- */

-/**

- * @brief   L3GD20 driver version string.

- */

-#define EX_L3GD20_VERSION                   "1.1.0"

-

-/**

- * @brief   L3GD20 driver version major number.

- */

-#define EX_L3GD20_MAJOR                     1

-

-/**

- * @brief   L3GD20 driver version minor number.

- */

-#define EX_L3GD20_MINOR                     1

-

-/**

- * @brief   L3GD20 driver version patch number.

- */

-#define EX_L3GD20_PATCH                     0

-/** @} */

-

-/**

- * @brief   L3GD20 gyroscope system characteristics.

- * @note    Sensitivity is expressed as DPS/LSB whereas DPS stand for Degree

- *          per second [°/s].

- * @note    Bias is expressed as DPS.

- *

- * @{

+/*
+    ChibiOS - Copyright (C) 2016..2018 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.
+ *
+ * @addtogroup L3GD20
+ * @ingroup EX_ST
+ * @{
+ */
+#ifndef _L3GD20_H_
+#define _L3GD20_H_
+
+#include "hal_gyroscope.h"
+
+/*===========================================================================*/
+/* Driver constants.                                                         */
+/*===========================================================================*/
+
+/**
+ * @name    Version identification
+ * @{
+ */
+/**
+ * @brief   L3GD20 driver version string.
+ */
+#define EX_L3GD20_VERSION                   "1.1.1"
+
+/**
+ * @brief   L3GD20 driver version major number.
+ */
+#define EX_L3GD20_MAJOR                     1
+
+/**
+ * @brief   L3GD20 driver version minor number.
+ */
+#define EX_L3GD20_MINOR                     1
+
+/**
+ * @brief   L3GD20 driver version patch number.
+ */
+#define EX_L3GD20_PATCH                     1
+/** @} */
+
+/**
+ * @brief   L3GD20 gyroscope system characteristics.
+ * @note    Sensitivity is expressed as DPS/LSB whereas DPS stand for Degree
+ *          per second [°/s].
+ * @note    Bias is expressed as DPS.
+ *
+ * @{
  */
 #define L3GD20_GYRO_NUMBER_OF_AXES          3U
                                             
@@ -76,8 +76,8 @@
                                             
 #define L3GD20_GYRO_SENS_250DPS             0.00875f
 #define L3GD20_GYRO_SENS_500DPS             0.01750f
-#define L3GD20_GYRO_SENS_2000DPS            0.07000f

-

+#define L3GD20_GYRO_SENS_2000DPS            0.07000f
+
 #define L3GD20_GYRO_BIAS                    0.0f
 /** @} */
 
@@ -194,36 +194,36 @@
 #define L3GD20_CTRL_REG5_FIFO_EN            (1 << 6)
 #define L3GD20_CTRL_REG5_BOOT               (1 << 7)
 /** @} */
-

-/**

- * @name    L3GD20_INT1_CFG register bits definitions

- * @{

- */

-#define L3GD20_INT1_CFG_MASK                0xFF

-#define L3GD20_INT1_CFG_XLIE                (1 << 0)

-#define L3GD20_INT1_CFG_XHIE                (1 << 1)

-#define L3GD20_INT1_CFG_YLIE                (1 << 2)

-#define L3GD20_INT1_CFG_YHIE                (1 << 3)

-#define L3GD20_INT1_CFG_ZLIE                (1 << 4)

-#define L3GD20_INT1_CFG_ZHIE                (1 << 5)

-#define L3GD20_INT1_CFG_LIR                 (1 << 6)

-#define L3GD20_INT1_CFG_AND_OR              (1 << 7)

-/** @} */

-

-/**

- * @name    L3GD20_INT1_SRC register bits definitions

- * @{

- */

-#define L3GD20_INT1_SRC_MASK                0x7F

-#define L3GD20_INT1_SRC_XL                  (1 << 0)

-#define L3GD20_INT1_SRC_XH                  (1 << 1)

-#define L3GD20_INT1_SRC_YL                  (1 << 2)

-#define L3GD20_INT1_SRC_YH                  (1 << 3)

-#define L3GD20_INT1_SRC_ZL                  (1 << 4)

-#define L3GD20_INT1_SRC_ZH                  (1 << 5)

-#define L3GD20_INT1_SRC_IA                  (1 << 6)

-/** @} */

-

+
+/**
+ * @name    L3GD20_INT1_CFG register bits definitions
+ * @{
+ */
+#define L3GD20_INT1_CFG_MASK                0xFF
+#define L3GD20_INT1_CFG_XLIE                (1 << 0)
+#define L3GD20_INT1_CFG_XHIE                (1 << 1)
+#define L3GD20_INT1_CFG_YLIE                (1 << 2)
+#define L3GD20_INT1_CFG_YHIE                (1 << 3)
+#define L3GD20_INT1_CFG_ZLIE                (1 << 4)
+#define L3GD20_INT1_CFG_ZHIE                (1 << 5)
+#define L3GD20_INT1_CFG_LIR                 (1 << 6)
+#define L3GD20_INT1_CFG_AND_OR              (1 << 7)
+/** @} */
+
+/**
+ * @name    L3GD20_INT1_SRC register bits definitions
+ * @{
+ */
+#define L3GD20_INT1_SRC_MASK                0x7F
+#define L3GD20_INT1_SRC_XL                  (1 << 0)
+#define L3GD20_INT1_SRC_XH                  (1 << 1)
+#define L3GD20_INT1_SRC_YL                  (1 << 2)
+#define L3GD20_INT1_SRC_YH                  (1 << 3)
+#define L3GD20_INT1_SRC_ZL                  (1 << 4)
+#define L3GD20_INT1_SRC_ZH                  (1 << 5)
+#define L3GD20_INT1_SRC_IA                  (1 << 6)
+/** @} */
+
 /*===========================================================================*/
 /* Driver pre-compile time settings.                                         */
 /*===========================================================================*/
@@ -232,52 +232,52 @@
  * @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 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   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 I2C switch.

- * @details If set to @p TRUE the device acquires I2C bus ownership

- *          on each transaction.

- * @note    The default is @p FALSE. Requires I2C_USE_MUTUAL_EXCLUSION.

- */

-#if !defined(L3GD20_SHARED_I2C) || defined(__DOXYGEN__)

-#define L3GD20_SHARED_I2C                   FALSE

-#endif

-

-/**

- * @brief   L3GD20 accelerometer subsystem advanced configurations

- *          switch.

- * @details If set to @p TRUE more configurations are available.

- * @note    The default is @p FALSE.

- */

-#if !defined(L3GD20_GYRO_USE_ADVANCED) || defined(__DOXYGEN__)

-#define L3GD20_GYRO_USE_ADVANCED            FALSE

+/**
+ * @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 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   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 I2C switch.
+ * @details If set to @p TRUE the device acquires I2C bus ownership
+ *          on each transaction.
+ * @note    The default is @p FALSE. Requires I2C_USE_MUTUAL_EXCLUSION.
+ */
+#if !defined(L3GD20_SHARED_I2C) || defined(__DOXYGEN__)
+#define L3GD20_SHARED_I2C                   FALSE
+#endif
+
+/**
+ * @brief   L3GD20 accelerometer subsystem advanced configurations
+ *          switch.
+ * @details If set to @p TRUE more configurations are available.
+ * @note    The default is @p FALSE.
+ */
+#if !defined(L3GD20_GYRO_USE_ADVANCED) || defined(__DOXYGEN__)
+#define L3GD20_GYRO_USE_ADVANCED            FALSE
 #endif
 
 /**
@@ -302,32 +302,32 @@
 /* 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_SHARED_SPI && !SPI_USE_MUTUAL_EXCLUSION

-#error "L3GD20_SHARED_SPI requires SPI_USE_MUTUAL_EXCLUSION"

-#endif

-

-#if L3GD20_USE_I2C && !HAL_USE_I2C

-#error "L3GD20_USE_I2C requires HAL_USE_I2C"

-#endif

-

-#if L3GD20_SHARED_I2C && !I2C_USE_MUTUAL_EXCLUSION

-#error "L3GD20_SHARED_I2C requires I2C_USE_MUTUAL_EXCLUSION"

-#endif

-

-/**

- * @todo    Add support for L3GD20 over I2C.

- */

-#if L3GD20_USE_I2C

-#error "L3GD20 over I2C still not supported"

-#endif

+#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_SHARED_SPI && !SPI_USE_MUTUAL_EXCLUSION
+#error "L3GD20_SHARED_SPI requires SPI_USE_MUTUAL_EXCLUSION"
+#endif
+
+#if L3GD20_USE_I2C && !HAL_USE_I2C
+#error "L3GD20_USE_I2C requires HAL_USE_I2C"
+#endif
+
+#if L3GD20_SHARED_I2C && !I2C_USE_MUTUAL_EXCLUSION
+#error "L3GD20_SHARED_I2C requires I2C_USE_MUTUAL_EXCLUSION"
+#endif
+
+/**
+ * @todo    Add support for L3GD20 over I2C.
+ */
+#if L3GD20_USE_I2C
+#error "L3GD20 over I2C still not supported"
+#endif
 
 /*===========================================================================*/
 /* Driver data structures and types.                                         */
@@ -336,11 +336,11 @@
 /**
  * @name    L3GD20 data structures and types.
  * @{
- */

-/**

- * @brief   Structure representing a L3GD20 driver.

- */

-typedef struct L3GD20Driver L3GD20Driver;

+ */
+/**
+ * @brief   Structure representing a L3GD20 driver.
+ */
+typedef struct L3GD20Driver L3GD20Driver;
 
 /**
  * @brief   L3GD20 full scale.
@@ -369,7 +369,7 @@ typedef enum {
   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;

+} l3gd20_bw_t;
 
 /**
  * @brief   L3GD20 block data update.
@@ -430,7 +430,7 @@ typedef enum {
   L3GD20_STOP = 1,                  /**< Stopped.                           */
   L3GD20_READY = 2                  /**< Ready.                             */
 } l3gd20_state_t;
-

+
 /**
  * @brief   L3GD20 configuration structure.
  */
@@ -463,7 +463,7 @@ typedef struct {
   /**
    * @brief   L3GD20 gyroscope system initial bias.
    */
-  float                     *gyrobias;

+  float                     *gyrobias;
   /** 
    * @brief   L3GD20 gyroscope system initial full scale value.
    */
@@ -500,20 +500,20 @@ typedef struct {
   l3gd20_lp2m_t             gyrolp2mode;
 #endif
 } L3GD20Config;
-

-/**

- * @brief   @p L3GD20 specific methods.

- */

-#define _l3gd20_methods_alone                                               \

-  /* Change full scale value of L3GD20.*/                                   \

-  msg_t (*gyro_set_full_scale)(L3GD20Driver *devp, l3gd20_fs_t fs);

+
+/**
+ * @brief   @p L3GD20 specific methods.
+ */
+#define _l3gd20_methods_alone                                               \
+  /* Change full scale value of L3GD20.*/                                   \
+  msg_t (*gyro_set_full_scale)(L3GD20Driver *devp, l3gd20_fs_t fs);
 
 /**
  * @brief   @p L3GD20 specific methods with inherited ones.
  */
 #define _l3gd20_methods                                                     \
   _base_object_methods                                                      \
-  _l3gd20_methods_alone

+  _l3gd20_methods_alone
 
 /**
  * @extends BaseObjectVMT
@@ -532,8 +532,8 @@ struct L3GD20VMT {
   /* Driver state.*/                                                        \
   l3gd20_state_t            state;                                          \
   /* Current configuration data.*/                                          \
-  const L3GD20Config        *config;                                        \

-  /* Gyroscope subsystem axes number.*/                                     \

+  const L3GD20Config        *config;                                        \
+  /* Gyroscope subsystem axes number.*/                                     \
   size_t                    gyroaxes;                                       \
   /* Gyroscope subsystem current sensitivity.*/                             \
   float                     gyrosensitivity[L3GD20_GYRO_NUMBER_OF_AXES];    \
@@ -547,8 +547,8 @@ struct L3GD20VMT {
  */
 struct L3GD20Driver {
   /** @brief Virtual Methods Table. */
-  const struct L3GD20VMT    *vmt;

-  /** @brief Base gyroscope interface.*/

+  const struct L3GD20VMT    *vmt;
+  /** @brief Base gyroscope interface.*/
   BaseGyroscope             gyro_if;
   _l3gd20_data
 };
@@ -557,154 +557,154 @@ struct L3GD20Driver {
 /*===========================================================================*/
 /* Driver macros.                                                            */
 /*===========================================================================*/
-

-/**

- * @brief   Return the number of axes of the BaseGyroscope.

- *

- * @param[in] devp      pointer to @p L3GD20Driver.

- *

- * @return              the number of axes.

- *

- * @api

- */

-#define l3gd20GyroscopeGetAxesNumber(devp)                                  \

-        gyroscopeGetAxesNumber(&((devp)->gyro_if))

+
+/**
+ * @brief   Return the number of axes of the BaseGyroscope.
+ *
+ * @param[in] devp      pointer to @p L3GD20Driver.
+ *
+ * @return              the number of axes.
+ *
+ * @api
+ */
+#define l3gd20GyroscopeGetAxesNumber(devp)                                  \
+        gyroscopeGetAxesNumber(&((devp)->gyro_if))
         
-/**

- * @brief   Retrieves raw data from the BaseGyroscope.

- * @note    This data is retrieved from MEMS register without any algebraical

- *          manipulation.

- * @note    The axes array must be at least the same size of the

- *          BaseGyroscope axes number.

- *

- * @param[in] devp      pointer to @p L3GD20Driver.

- * @param[out] axes     a buffer which would be filled with raw data.

- *

- * @return              The operation status.

- * @retval MSG_OK       if the function succeeded.

- *

- * @api

- */

-#define l3gd20GyroscopeReadRaw(devp, axes)                                  \

+/**
+ * @brief   Retrieves raw data from the BaseGyroscope.
+ * @note    This data is retrieved from MEMS register without any algebraical
+ *          manipulation.
+ * @note    The axes array must be at least the same size of the
+ *          BaseGyroscope axes number.
+ *
+ * @param[in] devp      pointer to @p L3GD20Driver.
+ * @param[out] axes     a buffer which would be filled with raw data.
+ *
+ * @return              The operation status.
+ * @retval MSG_OK       if the function succeeded.
+ *
+ * @api
+ */
+#define l3gd20GyroscopeReadRaw(devp, axes)                                  \
         gyroscopeReadRaw(&((devp)->gyro_if), axes)
-

-/**

- * @brief   Retrieves cooked data from the BaseGyroscope.

- * @note    This data is manipulated according to the formula

- *          cooked = (raw * sensitivity) - bias.

- * @note    Final data is expressed as DPS.

- * @note    The axes array must be at least the same size of the

- *          BaseGyroscope axes number.

- *

- * @param[in] devp      pointer to @p L3GD20Driver.

- * @param[out] axes     a buffer which would be filled with cooked data.

- *

- * @return              The operation status.

- * @retval MSG_OK       if the function succeeded.

- *

- * @api

- */

-#define l3gd20GyroscopeReadCooked(devp, axes)                               \

-        gyroscopeReadCooked(&((devp)->gyro_if), axes)

-

-/**

- * @brief   Samples bias values for the BaseGyroscope.

- * @note    The L3GD20 shall not be moved during the whole procedure.

- * @note    After this function internal bias is automatically updated.

- * @note    The behavior of this function depends on @P L3GD20_BIAS_ACQ_TIMES

- *          and @p L3GD20_BIAS_SETTLING_US.

- *

- * @param[in] devp      pointer to @p L3GD20Driver.

- *

- * @return              The operation status.

- * @retval MSG_OK       if the function succeeded.

- *

- * @api

- */

-#define l3gd20GyroscopeSampleBias(devp)                                      \

-        gyroscopeSampleBias(&((devp)->gyro_if))

-

-/**

- * @brief   Set bias values for the BaseGyroscope.

- * @note    Bias must be expressed as DPS.

- * @note    The bias buffer must be at least the same size of the BaseGyroscope

- *          axes number.

- *

- * @param[in] devp      pointer to @p L3GD20Driver.

- * @param[in] bp        a buffer which contains biases.

- *

- * @return              The operation status.

- * @retval MSG_OK       if the function succeeded.

- *

- * @api

- */

-#define l3gd20GyroscopeSetBias(devp, bp)                                    \

-        gyroscopeSetBias(&((devp)->gyro_if), bp)

-

-/**

- * @brief   Reset bias values for the BaseGyroscope.

- * @note    Default biases value are obtained from device datasheet when

- *          available otherwise they are considered zero.

- *

- * @param[in] devp      pointer to @p L3GD20Driver.

- *

- * @return              The operation status.

- * @retval MSG_OK       if the function succeeded.

- *

- * @api

- */

-#define l3gd20GyroscopeResetBias(devp)                                      \

-        gyroscopeResetBias(&((devp)->gyro_if))

-

-/**

- * @brief   Set sensitivity values for the BaseGyroscope.

- * @note    Sensitivity must be expressed as DPS/LSB.

- * @note    The sensitivity buffer must be at least the same size of the

- *          BaseGyroscope axes number.

- *

- * @param[in] devp      pointer to @p L3GD20Driver.

- * @param[in] sp        a buffer which contains sensitivities.

- *

- * @return              The operation status.

- * @retval MSG_OK       if the function succeeded.

- *

- * @api

- */

-#define l3gd20GyroscopeSetSensitivity(devp, sp)                             \

-        gyroscopeSetSensitivity(&((devp)->gyro_if), sp)

-

-/**

- * @brief   Reset sensitivity values for the BaseGyroscope.

- * @note    Default sensitivities value are obtained from device datasheet.

- *

- * @param[in] devp      pointer to @p L3GD20Driver.

- *

- * @return              The operation status.

- * @retval MSG_OK       if the function succeeded.

- * @retval MSG_RESET    otherwise.

- *

- * @api

- */

-#define l3gd20GyroscopeResetSensitivity(devp)                               \

-        gyroscopeResetSensitivity(&((devp)->gyro_if))

-

-/**

- * @brief   Changes the L3GD20Driver gyroscope fullscale value.

- * @note    This function also rescale sensitivities and biases based on

- *          previous and next fullscale value.

- * @note    A recalibration is highly suggested after calling this function.

- *

- * @param[in] devp      pointer to @p L3GD20Driver.

- * @param[in] fs        new fullscale value.

- *

- * @return              The operation status.

- * @retval MSG_OK       if the function succeeded.

- * @retval MSG_RESET    otherwise.

- *

- * @api

- */

-#define l3gd20GyroscopeSetFullScale(devp, fs)                               \

-        (devp)->vmt->acc_set_full_scale(devp, fs)

+
+/**
+ * @brief   Retrieves cooked data from the BaseGyroscope.
+ * @note    This data is manipulated according to the formula
+ *          cooked = (raw * sensitivity) - bias.
+ * @note    Final data is expressed as DPS.
+ * @note    The axes array must be at least the same size of the
+ *          BaseGyroscope axes number.
+ *
+ * @param[in] devp      pointer to @p L3GD20Driver.
+ * @param[out] axes     a buffer which would be filled with cooked data.
+ *
+ * @return              The operation status.
+ * @retval MSG_OK       if the function succeeded.
+ *
+ * @api
+ */
+#define l3gd20GyroscopeReadCooked(devp, axes)                               \
+        gyroscopeReadCooked(&((devp)->gyro_if), axes)
+
+/**
+ * @brief   Samples bias values for the BaseGyroscope.
+ * @note    The L3GD20 shall not be moved during the whole procedure.
+ * @note    After this function internal bias is automatically updated.
+ * @note    The behavior of this function depends on @p L3GD20_BIAS_ACQ_TIMES
+ *          and @p L3GD20_BIAS_SETTLING_US.
+ *
+ * @param[in] devp      pointer to @p L3GD20Driver.
+ *
+ * @return              The operation status.
+ * @retval MSG_OK       if the function succeeded.
+ *
+ * @api
+ */
+#define l3gd20GyroscopeSampleBias(devp)                                      \
+        gyroscopeSampleBias(&((devp)->gyro_if))
+
+/**
+ * @brief   Set bias values for the BaseGyroscope.
+ * @note    Bias must be expressed as DPS.
+ * @note    The bias buffer must be at least the same size of the BaseGyroscope
+ *          axes number.
+ *
+ * @param[in] devp      pointer to @p L3GD20Driver.
+ * @param[in] bp        a buffer which contains biases.
+ *
+ * @return              The operation status.
+ * @retval MSG_OK       if the function succeeded.
+ *
+ * @api
+ */
+#define l3gd20GyroscopeSetBias(devp, bp)                                    \
+        gyroscopeSetBias(&((devp)->gyro_if), bp)
+
+/**
+ * @brief   Reset bias values for the BaseGyroscope.
+ * @note    Default biases value are obtained from device datasheet when
+ *          available otherwise they are considered zero.
+ *
+ * @param[in] devp      pointer to @p L3GD20Driver.
+ *
+ * @return              The operation status.
+ * @retval MSG_OK       if the function succeeded.
+ *
+ * @api
+ */
+#define l3gd20GyroscopeResetBias(devp)                                      \
+        gyroscopeResetBias(&((devp)->gyro_if))
+
+/**
+ * @brief   Set sensitivity values for the BaseGyroscope.
+ * @note    Sensitivity must be expressed as DPS/LSB.
+ * @note    The sensitivity buffer must be at least the same size of the
+ *          BaseGyroscope axes number.
+ *
+ * @param[in] devp      pointer to @p L3GD20Driver.
+ * @param[in] sp        a buffer which contains sensitivities.
+ *
+ * @return              The operation status.
+ * @retval MSG_OK       if the function succeeded.
+ *
+ * @api
+ */
+#define l3gd20GyroscopeSetSensitivity(devp, sp)                             \
+        gyroscopeSetSensitivity(&((devp)->gyro_if), sp)
+
+/**
+ * @brief   Reset sensitivity values for the BaseGyroscope.
+ * @note    Default sensitivities value are obtained from device datasheet.
+ *
+ * @param[in] devp      pointer to @p L3GD20Driver.
+ *
+ * @return              The operation status.
+ * @retval MSG_OK       if the function succeeded.
+ * @retval MSG_RESET    otherwise.
+ *
+ * @api
+ */
+#define l3gd20GyroscopeResetSensitivity(devp)                               \
+        gyroscopeResetSensitivity(&((devp)->gyro_if))
+
+/**
+ * @brief   Changes the L3GD20Driver gyroscope fullscale value.
+ * @note    This function also rescale sensitivities and biases based on
+ *          previous and next fullscale value.
+ * @note    A recalibration is highly suggested after calling this function.
+ *
+ * @param[in] devp      pointer to @p L3GD20Driver.
+ * @param[in] fs        new fullscale value.
+ *
+ * @return              The operation status.
+ * @retval MSG_OK       if the function succeeded.
+ * @retval MSG_RESET    otherwise.
+ *
+ * @api
+ */
+#define l3gd20GyroscopeSetFullScale(devp, fs)                               \
+        (devp)->vmt->acc_set_full_scale(devp, fs)
         
 /*===========================================================================*/
 /* External declarations.                                                    */