Minor fixes on L3GD20 Drivers

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@9755 35acf78f-673a-0410-8e92-d51de3d6d3f4

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

 /** @} */

 

 /**