Revision 3:d06d6759139b, committed 2021-12-15

Comitter:

ovcharka132

Date:

Wed Dec 15 15:20:57 2021 +0000

Parent:

2:53d9067a4feb

Commit message:

Changed gyroscope driver to i3g4250d for f429-DISC1 board

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Drivers/BSP/Components/i3g4250d/i3g4250d.c	Wed Dec 15 15:20:57 2021 +0000
@@ -0,0 +1,399 @@
+/**
+  ******************************************************************************
+  * @file    i3g4250d.c
+  * @author  MCD Application Team
+  * @brief   This file provides a set of functions needed to manage the I3G4250D,
+  *          ST MEMS motion sensor, 3-axis digital output gyroscope.
+  ******************************************************************************
+  * @attention
+  *
+  * <h2><center>&copy; Copyright (c) 2020 STMicroelectronics.
+  * All rights reserved.</center></h2>
+  *
+  * This software component is licensed by ST under BSD 3-Clause license,
+  * the "License"; You may not use this file except in compliance with the
+  * License. You may obtain a copy of the License at:
+  *                        opensource.org/licenses/BSD-3-Clause
+  *
+  ******************************************************************************
+  */
+/* Includes ------------------------------------------------------------------*/
+#include "i3g4250d.h"
+
+/** @addtogroup BSP
+  * @{
+  */
+
+/** @addtogroup Components
+  * @{
+  */
+
+/** @addtogroup I3G4250D
+  * @{
+  */
+
+/** @defgroup I3G4250D_Private_TypesDefinitions Private Types Definitions
+  * @{
+  */
+
+/**
+  * @}
+  */
+
+/** @defgroup I3G4250D_Private_Defines Private Defines
+  * @{
+  */
+
+/**
+  * @}
+  */
+
+/** @defgroup I3G4250D_Private_Macros Private Macros
+  * @{
+  */
+
+/**
+  * @}
+  */
+
+/** @defgroup I3G4250D_Private_Variables Private Variables
+  * @{
+  */
+GYRO_DrvTypeDef I3g4250Drv =
+{
+  I3G4250D_Init,
+  I3G4250D_DeInit,
+  I3G4250D_ReadID,
+  I3G4250D_RebootCmd,
+  I3G4250D_LowPower,
+  I3G4250D_INT1InterruptConfig,
+  I3G4250D_EnableIT,
+  I3G4250D_DisableIT,
+  0,
+  0,
+  I3G4250D_FilterConfig,
+  I3G4250D_FilterCmd,
+  I3G4250D_ReadXYZAngRate
+};
+
+/**
+  * @}
+  */
+
+/** @defgroup I3G4250D_Private_FunctionPrototypes Private Function Prototypes
+  * @{
+  */
+
+/**
+  * @}
+  */
+
+/** @defgroup I3G4250D_Private_Functions Private Functions
+  * @{
+  */
+
+/**
+  * @brief  Set I3G4250D Initialization.
+  * @param  I3G4250D_InitStruct: pointer to a I3G4250D_InitTypeDef structure
+  *         that contains the configuration setting for the I3G4250D.
+  * @retval None
+  */
+void I3G4250D_Init(uint16_t InitStruct)
+{
+  uint8_t ctrl = 0x00;
+
+  /* Configure the low level interface */
+  GYRO_IO_Init();
+
+  /* Write value to MEMS CTRL_REG1 register */
+  ctrl = (uint8_t) InitStruct;
+  GYRO_IO_Write(&ctrl, I3G4250D_CTRL_REG1_ADDR, 1);
+
+  /* Write value to MEMS CTRL_REG4 register */
+  ctrl = (uint8_t)(InitStruct >> 8);
+  GYRO_IO_Write(&ctrl, I3G4250D_CTRL_REG4_ADDR, 1);
+}
+
+
+
+/**
+  * @brief I3G4250D De-initialization
+  * @param  None
+  * @retval None
+  */
+void I3G4250D_DeInit(void)
+{
+}
+
+/**
+  * @brief  Read ID address of I3G4250D
+  * @param  None
+  * @retval ID name
+  */
+uint8_t I3G4250D_ReadID(void)
+{
+  uint8_t tmp;
+
+  /* Configure the low level interface */
+  GYRO_IO_Init();
+
+  /* Read WHO I AM register */
+  GYRO_IO_Read(&tmp, I3G4250D_WHO_AM_I_ADDR, 1);
+
+  /* Return the ID */
+  return (uint8_t)tmp;
+}
+
+/**
+  * @brief  Reboot memory content of I3G4250D
+  * @param  None
+  * @retval None
+  */
+void I3G4250D_RebootCmd(void)
+{
+  uint8_t tmpreg;
+
+  /* Read CTRL_REG5 register */
+  GYRO_IO_Read(&tmpreg, I3G4250D_CTRL_REG5_ADDR, 1);
+
+  /* Enable or Disable the reboot memory */
+  tmpreg |= I3G4250D_BOOT_REBOOTMEMORY;
+
+  /* Write value to MEMS CTRL_REG5 register */
+  GYRO_IO_Write(&tmpreg, I3G4250D_CTRL_REG5_ADDR, 1);
+}
+
+/**
+  * @brief  Set I3G4250D in low-power mode
+  * @param  I3G4250D_InitStruct: pointer to a I3G4250D_InitTypeDef structure
+  *         that contains the configuration setting for the I3G4250D.
+  * @retval None
+  */
+void I3G4250D_LowPower(uint16_t InitStruct)
+{
+  uint8_t ctrl = 0x00;
+
+  /* Write value to MEMS CTRL_REG1 register */
+  ctrl = (uint8_t) InitStruct;
+  GYRO_IO_Write(&ctrl, I3G4250D_CTRL_REG1_ADDR, 1);
+}
+
+/**
+  * @brief  Set I3G4250D Interrupt INT1 configuration
+  * @param  Int1Config: the configuration setting for the I3G4250D Interrupt.
+  * @retval None
+  */
+void I3G4250D_INT1InterruptConfig(uint16_t Int1Config)
+{
+  uint8_t ctrl_cfr = 0x00, ctrl3 = 0x00;
+
+  /* Read INT1_CFG register */
+  GYRO_IO_Read(&ctrl_cfr, I3G4250D_INT1_CFG_ADDR, 1);
+
+  /* Read CTRL_REG3 register */
+  GYRO_IO_Read(&ctrl3, I3G4250D_CTRL_REG3_ADDR, 1);
+
+  ctrl_cfr &= 0x80;
+  ctrl_cfr |= ((uint8_t) Int1Config >> 8);
+
+  ctrl3 &= 0xDF;
+  ctrl3 |= ((uint8_t) Int1Config);
+
+  /* Write value to MEMS INT1_CFG register */
+  GYRO_IO_Write(&ctrl_cfr, I3G4250D_INT1_CFG_ADDR, 1);
+
+  /* Write value to MEMS CTRL_REG3 register */
+  GYRO_IO_Write(&ctrl3, I3G4250D_CTRL_REG3_ADDR, 1);
+}
+
+/**
+  * @brief  Enable INT1 or INT2 interrupt
+  * @param  IntSel: choice of INT1 or INT2
+  *      This parameter can be:
+  *        @arg I3G4250D_INT1
+  *        @arg I3G4250D_INT2
+  * @retval None
+  */
+void I3G4250D_EnableIT(uint8_t IntSel)
+{
+  uint8_t tmpreg;
+
+  /* Read CTRL_REG3 register */
+  GYRO_IO_Read(&tmpreg, I3G4250D_CTRL_REG3_ADDR, 1);
+
+  if (IntSel == I3G4250D_INT1)
+  {
+    tmpreg &= 0x7F;
+    tmpreg |= I3G4250D_INT1INTERRUPT_ENABLE;
+  }
+  else if (IntSel == I3G4250D_INT2)
+  {
+    tmpreg &= 0xF7;
+    tmpreg |= I3G4250D_INT2INTERRUPT_ENABLE;
+  }
+
+  /* Write value to MEMS CTRL_REG3 register */
+  GYRO_IO_Write(&tmpreg, I3G4250D_CTRL_REG3_ADDR, 1);
+}
+
+/**
+  * @brief  Disable  INT1 or INT2 interrupt
+  * @param  IntSel: choice of INT1 or INT2
+  *      This parameter can be:
+  *        @arg I3G4250D_INT1
+  *        @arg I3G4250D_INT2
+  * @retval None
+  */
+void I3G4250D_DisableIT(uint8_t IntSel)
+{
+  uint8_t tmpreg;
+
+  /* Read CTRL_REG3 register */
+  GYRO_IO_Read(&tmpreg, I3G4250D_CTRL_REG3_ADDR, 1);
+
+  if (IntSel == I3G4250D_INT1)
+  {
+    tmpreg &= 0x7F;
+    tmpreg |= I3G4250D_INT1INTERRUPT_DISABLE;
+  }
+  else if (IntSel == I3G4250D_INT2)
+  {
+    tmpreg &= 0xF7;
+    tmpreg |= I3G4250D_INT2INTERRUPT_DISABLE;
+  }
+
+  /* Write value to MEMS CTRL_REG3 register */
+  GYRO_IO_Write(&tmpreg, I3G4250D_CTRL_REG3_ADDR, 1);
+}
+
+/**
+  * @brief  Set High Pass Filter Modality
+  * @param  FilterStruct: contains the configuration setting for the L3GD20.
+  * @retval None
+  */
+void I3G4250D_FilterConfig(uint8_t FilterStruct)
+{
+  uint8_t tmpreg;
+
+  /* Read CTRL_REG2 register */
+  GYRO_IO_Read(&tmpreg, I3G4250D_CTRL_REG2_ADDR, 1);
+
+  tmpreg &= 0xC0;
+
+  /* Configure MEMS: mode and cutoff frequency */
+  tmpreg |= FilterStruct;
+
+  /* Write value to MEMS CTRL_REG2 register */
+  GYRO_IO_Write(&tmpreg, I3G4250D_CTRL_REG2_ADDR, 1);
+}
+
+/**
+  * @brief  Enable or Disable High Pass Filter
+  * @param  HighPassFilterState: new state of the High Pass Filter feature.
+  *      This parameter can be:
+  *         @arg: I3G4250D_HIGHPASSFILTER_DISABLE
+  *         @arg: I3G4250D_HIGHPASSFILTER_ENABLE
+  * @retval None
+  */
+void I3G4250D_FilterCmd(uint8_t HighPassFilterState)
+{
+  uint8_t tmpreg;
+
+  /* Read CTRL_REG5 register */
+  GYRO_IO_Read(&tmpreg, I3G4250D_CTRL_REG5_ADDR, 1);
+
+  tmpreg &= 0xEF;
+
+  tmpreg |= HighPassFilterState;
+
+  /* Write value to MEMS CTRL_REG5 register */
+  GYRO_IO_Write(&tmpreg, I3G4250D_CTRL_REG5_ADDR, 1);
+}
+
+/**
+  * @brief  Get status for I3G4250D data
+  * @param  None
+  * @retval Data status in a I3G4250D Data
+  */
+uint8_t I3G4250D_GetDataStatus(void)
+{
+  uint8_t tmpreg;
+
+  /* Read STATUS_REG register */
+  GYRO_IO_Read(&tmpreg, I3G4250D_STATUS_REG_ADDR, 1);
+
+  return tmpreg;
+}
+
+/**
+* @brief  Calculate the I3G4250D angular data.
+* @param  pfData: Data out pointer
+* @retval None
+*/
+void I3G4250D_ReadXYZAngRate(float *pfData)
+{
+  uint8_t tmpbuffer[6] = {0};
+  int16_t RawData[3] = {0};
+  uint8_t tmpreg = 0;
+  float sensitivity = 0;
+  int i = 0;
+
+  GYRO_IO_Read(&tmpreg, I3G4250D_CTRL_REG4_ADDR, 1);
+
+  GYRO_IO_Read(tmpbuffer, I3G4250D_OUT_X_L_ADDR, 6);
+
+  /* check in the control register 4 the data alignment (Big Endian or Little Endian)*/
+  if (!(tmpreg & I3G4250D_BLE_MSB))
+  {
+    for (i = 0; i < 3; i++)
+    {
+      RawData[i] = (int16_t)(((uint16_t)tmpbuffer[2 * i + 1] << 8) + tmpbuffer[2 * i]);
+    }
+  }
+  else
+  {
+    for (i = 0; i < 3; i++)
+    {
+      RawData[i] = (int16_t)(((uint16_t)tmpbuffer[2 * i] << 8) + tmpbuffer[2 * i + 1]);
+    }
+  }
+
+  /* Switch the sensitivity value set in the CRTL4 */
+  switch (tmpreg & I3G4250D_FULLSCALE_SELECTION)
+  {
+    case I3G4250D_FULLSCALE_245:
+      sensitivity = I3G4250D_SENSITIVITY_245DPS;
+      break;
+
+    case I3G4250D_FULLSCALE_500:
+      sensitivity = I3G4250D_SENSITIVITY_500DPS;
+      break;
+
+    case I3G4250D_FULLSCALE_2000:
+      sensitivity = I3G4250D_SENSITIVITY_2000DPS;
+      break;
+  }
+  /* Multiplied by sensitivity */
+  for (i = 0; i < 3; i++)
+  {
+    pfData[i] = (float)(RawData[i] * sensitivity);
+  }
+}
+
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Drivers/BSP/Components/i3g4250d/i3g4250d.h	Wed Dec 15 15:20:57 2021 +0000
@@ -0,0 +1,305 @@
+/**
+  ******************************************************************************
+  * @file    i3g4250d.h
+  * @author  MCD Application Team
+  * @brief   This file contains all the functions prototypes for the i3g4250d.c driver.
+  ******************************************************************************
+  * @attention
+  *
+  * <h2><center>&copy; Copyright (c) 2020 STMicroelectronics.
+  * All rights reserved.</center></h2>
+  *
+  * This software component is licensed by ST under BSD 3-Clause license,
+  * the "License"; You may not use this file except in compliance with the
+  * License. You may obtain a copy of the License at:
+  *                        opensource.org/licenses/BSD-3-Clause
+  *
+  ******************************************************************************
+  */
+
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef __I3G4250D_H
+#define __I3G4250D_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Includes ------------------------------------------------------------------*/
+#include "../Common/gyro.h"
+
+/** @addtogroup BSP
+  * @{
+  */
+
+/** @addtogroup Components
+  * @{
+  */
+
+/** @addtogroup I3G4250D
+  * @{
+  */
+
+/** @defgroup I3G4250D_Exported_Constants
+  * @{
+  */
+
+/******************************************************************************/
+/*************************** START REGISTER MAPPING  **************************/
+/******************************************************************************/
+#define I3G4250D_WHO_AM_I_ADDR          0x0F  /* device identification register */
+#define I3G4250D_CTRL_REG1_ADDR         0x20  /* Control register 1 */
+#define I3G4250D_CTRL_REG2_ADDR         0x21  /* Control register 2 */
+#define I3G4250D_CTRL_REG3_ADDR         0x22  /* Control register 3 */
+#define I3G4250D_CTRL_REG4_ADDR         0x23  /* Control register 4 */
+#define I3G4250D_CTRL_REG5_ADDR         0x24  /* Control register 5 */
+#define I3G4250D_REFERENCE_REG_ADDR     0x25  /* Reference register */
+#define I3G4250D_OUT_TEMP_ADDR          0x26  /* Out temp register */
+#define I3G4250D_STATUS_REG_ADDR        0x27  /* Status register */
+#define I3G4250D_OUT_X_L_ADDR           0x28  /* Output Register X */
+#define I3G4250D_OUT_X_H_ADDR           0x29  /* Output Register X */
+#define I3G4250D_OUT_Y_L_ADDR           0x2A  /* Output Register Y */
+#define I3G4250D_OUT_Y_H_ADDR           0x2B  /* Output Register Y */
+#define I3G4250D_OUT_Z_L_ADDR           0x2C  /* Output Register Z */
+#define I3G4250D_OUT_Z_H_ADDR           0x2D  /* Output Register Z */
+#define I3G4250D_FIFO_CTRL_REG_ADDR     0x2E  /* Fifo control Register */
+#define I3G4250D_FIFO_SRC_REG_ADDR      0x2F  /* Fifo src Register */
+
+#define I3G4250D_INT1_CFG_ADDR          0x30  /* Interrupt 1 configuration Register */
+#define I3G4250D_INT1_SRC_ADDR          0x31  /* Interrupt 1 source Register */
+#define I3G4250D_INT1_TSH_XH_ADDR       0x32  /* Interrupt 1 Threshold X register */
+#define I3G4250D_INT1_TSH_XL_ADDR       0x33  /* Interrupt 1 Threshold X register */
+#define I3G4250D_INT1_TSH_YH_ADDR       0x34  /* Interrupt 1 Threshold Y register */
+#define I3G4250D_INT1_TSH_YL_ADDR       0x35  /* Interrupt 1 Threshold Y register */
+#define I3G4250D_INT1_TSH_ZH_ADDR       0x36  /* Interrupt 1 Threshold Z register */
+#define I3G4250D_INT1_TSH_ZL_ADDR       0x37  /* Interrupt 1 Threshold Z register */
+#define I3G4250D_INT1_DURATION_ADDR     0x38  /* Interrupt 1 DURATION register */
+
+/******************************************************************************/
+/**************************** END REGISTER MAPPING  ***************************/
+/******************************************************************************/
+
+#define I_AM_I3G4250D                 ((uint8_t)0xD3)
+
+/** @defgroup Power_Mode_selection Power Mode selection
+  * @{
+  */
+#define I3G4250D_MODE_POWERDOWN       ((uint8_t)0x00)
+#define I3G4250D_MODE_ACTIVE          ((uint8_t)0x08)
+/**
+  * @}
+  */
+
+/** @defgroup OutPut_DataRate_Selection OutPut DataRate Selection
+  * @{
+  */
+#define I3G4250D_OUTPUT_DATARATE_1    ((uint8_t)0x00)
+#define I3G4250D_OUTPUT_DATARATE_2    ((uint8_t)0x40)
+#define I3G4250D_OUTPUT_DATARATE_3    ((uint8_t)0x80)
+#define I3G4250D_OUTPUT_DATARATE_4    ((uint8_t)0xC0)
+/**
+  * @}
+  */
+
+/** @defgroup Axes_Selection Axes Selection
+  * @{
+  */
+#define I3G4250D_X_ENABLE            ((uint8_t)0x02)
+#define I3G4250D_Y_ENABLE            ((uint8_t)0x01)
+#define I3G4250D_Z_ENABLE            ((uint8_t)0x04)
+#define I3G4250D_AXES_ENABLE         ((uint8_t)0x07)
+#define I3G4250D_AXES_DISABLE        ((uint8_t)0x00)
+/**
+  * @}
+  */
+
+/** @defgroup Bandwidth_Selection Bandwidth Selection
+  * @{
+  */
+#define I3G4250D_BANDWIDTH_1         ((uint8_t)0x00)
+#define I3G4250D_BANDWIDTH_2         ((uint8_t)0x10)
+#define I3G4250D_BANDWIDTH_3         ((uint8_t)0x20)
+#define I3G4250D_BANDWIDTH_4         ((uint8_t)0x30)
+/**
+  * @}
+  */
+
+/** @defgroup Full_Scale_Selection Full Scale Selection
+  * @{
+  */
+#define I3G4250D_FULLSCALE_245       ((uint8_t)0x00)
+#define I3G4250D_FULLSCALE_500       ((uint8_t)0x10)
+#define I3G4250D_FULLSCALE_2000      ((uint8_t)0x20)
+#define I3G4250D_FULLSCALE_SELECTION ((uint8_t)0x30)
+/**
+  * @}
+  */
+
+/** @defgroup Full_Scale_Sensitivity Full Scale Sensitivity
+  * @{
+  */
+#define I3G4250D_SENSITIVITY_245DPS  ((float)8.75f)         /*!< gyroscope sensitivity with 250 dps full scale [DPS/LSB]  */
+#define I3G4250D_SENSITIVITY_500DPS  ((float)17.50f)        /*!< gyroscope sensitivity with 500 dps full scale [DPS/LSB]  */
+#define I3G4250D_SENSITIVITY_2000DPS ((float)70.00f)        /*!< gyroscope sensitivity with 2000 dps full scale [DPS/LSB] */
+/**
+  * @}
+  */
+
+
+/** @defgroup Block_Data_Update Block Data Update
+  * @{
+  */
+#define I3G4250D_BlockDataUpdate_Continous   ((uint8_t)0x00)
+#define I3G4250D_BlockDataUpdate_Single      ((uint8_t)0x80)
+/**
+  * @}
+  */
+
+/** @defgroup Endian_Data_selection Endian Data selection
+  * @{
+  */
+#define I3G4250D_BLE_LSB                     ((uint8_t)0x00)
+#define I3G4250D_BLE_MSB                     ((uint8_t)0x40)
+/**
+  * @}
+  */
+
+/** @defgroup High_Pass_Filter_status High Pass Filter status
+  * @{
+  */
+#define I3G4250D_HIGHPASSFILTER_DISABLE      ((uint8_t)0x00)
+#define I3G4250D_HIGHPASSFILTER_ENABLE       ((uint8_t)0x10)
+/**
+  * @}
+  */
+
+/** @defgroup INT1_INT2_selection Selection
+  * @{
+  */
+#define I3G4250D_INT1                        ((uint8_t)0x00)
+#define I3G4250D_INT2                        ((uint8_t)0x01)
+/**
+  * @}
+  */
+
+/** @defgroup INT1_Interrupt_status Interrupt Status
+  * @{
+  */
+#define I3G4250D_INT1INTERRUPT_DISABLE       ((uint8_t)0x00)
+#define I3G4250D_INT1INTERRUPT_ENABLE        ((uint8_t)0x80)
+/**
+  * @}
+  */
+
+/** @defgroup INT2_Interrupt_status Interrupt Status
+  * @{
+  */
+#define I3G4250D_INT2INTERRUPT_DISABLE       ((uint8_t)0x00)
+#define I3G4250D_INT2INTERRUPT_ENABLE        ((uint8_t)0x08)
+/**
+  * @}
+  */
+
+/** @defgroup INT1_Interrupt_ActiveEdge Interrupt Active Edge
+  * @{
+  */
+#define I3G4250D_INT1INTERRUPT_LOW_EDGE      ((uint8_t)0x20)
+#define I3G4250D_INT1INTERRUPT_HIGH_EDGE     ((uint8_t)0x00)
+/**
+  * @}
+  */
+
+/** @defgroup Boot_Mode_selection Boot Mode Selection
+  * @{
+  */
+#define I3G4250D_BOOT_NORMALMODE             ((uint8_t)0x00)
+#define I3G4250D_BOOT_REBOOTMEMORY           ((uint8_t)0x80)
+/**
+  * @}
+  */
+
+/** @defgroup High_Pass_Filter_Mode High Pass Filter Mode
+  * @{
+  */
+#define I3G4250D_HPM_NORMAL_MODE_RES         ((uint8_t)0x00)
+#define I3G4250D_HPM_REF_SIGNAL              ((uint8_t)0x10)
+#define I3G4250D_HPM_NORMAL_MODE             ((uint8_t)0x20)
+#define I3G4250D_HPM_AUTORESET_INT           ((uint8_t)0x30)
+/**
+  * @}
+  */
+
+/** @defgroup High_Pass_CUT OFF_Frequency High Pass CUT OFF Frequency
+  * @{
+  */
+#define I3G4250D_HPFCF_0              0x00
+#define I3G4250D_HPFCF_1              0x01
+#define I3G4250D_HPFCF_2              0x02
+#define I3G4250D_HPFCF_3              0x03
+#define I3G4250D_HPFCF_4              0x04
+#define I3G4250D_HPFCF_5              0x05
+#define I3G4250D_HPFCF_6              0x06
+#define I3G4250D_HPFCF_7              0x07
+#define I3G4250D_HPFCF_8              0x08
+#define I3G4250D_HPFCF_9              0x09
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */
+/** @defgroup I3G4250D_Exported_Functions Exported Functions
+  * @{
+  */
+/* Sensor Configuration Functions */
+void    I3G4250D_Init(uint16_t InitStruct);
+void    I3G4250D_DeInit(void);
+void    I3G4250D_LowPower(uint16_t InitStruct);
+uint8_t I3G4250D_ReadID(void);
+void    I3G4250D_RebootCmd(void);
+
+/* Interrupt Configuration Functions */
+void    I3G4250D_INT1InterruptConfig(uint16_t Int1Config);
+void    I3G4250D_EnableIT(uint8_t IntSel);
+void    I3G4250D_DisableIT(uint8_t IntSel);
+
+/* High Pass Filter Configuration Functions */
+void    I3G4250D_FilterConfig(uint8_t FilterStruct);
+void    I3G4250D_FilterCmd(uint8_t HighPassFilterState);
+void    I3G4250D_ReadXYZAngRate(float *pfData);
+uint8_t I3G4250D_GetDataStatus(void);
+
+/* Gyroscope IO functions */
+void    GYRO_IO_Init(void);
+void    GYRO_IO_DeInit(void);
+void    GYRO_IO_Write(uint8_t *pBuffer, uint8_t WriteAddr, uint16_t NumByteToWrite);
+void    GYRO_IO_Read(uint8_t *pBuffer, uint8_t ReadAddr, uint16_t NumByteToRead);
+
+/* Gyroscope driver structure */
+extern GYRO_DrvTypeDef I3g4250Drv;
+
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __I3G4250D_H */
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
\ No newline at end of file

--- a/Drivers/BSP/Components/l3gd20/l3gd20.c	Wed Feb 28 13:17:14 2018 +0100
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,416 +0,0 @@
-/**
-  ******************************************************************************
-  * @file    l3gd20.c
-  * @author  MCD Application Team
-  * @version V2.0.0
-  * @date    26-June-2015
-  * @brief   This file provides a set of functions needed to manage the L3GD20,
-  *          ST MEMS motion sensor, 3-axis digital output gyroscope.  
-  ******************************************************************************
-  * @attention
-  *
-  * <h2><center>&copy; COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
-  *
-  * Redistribution and use in source and binary forms, with or without modification,
-  * are permitted provided that the following conditions are met:
-  *   1. Redistributions of source code must retain the above copyright notice,
-  *      this list of conditions and the following disclaimer.
-  *   2. Redistributions in binary form must reproduce the above copyright notice,
-  *      this list of conditions and the following disclaimer in the documentation
-  *      and/or other materials provided with the distribution.
-  *   3. Neither the name of STMicroelectronics nor the names of its contributors
-  *      may be used to endorse or promote products derived from this software
-  *      without specific prior written permission.
-  *
-  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
-  * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
-  * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
-  * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
-  * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
-  * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
-  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-  *
-  ******************************************************************************
-  */
-/* Includes ------------------------------------------------------------------*/
-#include "l3gd20.h"
-
-/** @addtogroup BSP
-  * @{
-  */ 
-
-/** @addtogroup Components
-  * @{
-  */ 
-
-/** @addtogroup L3GD20
-  * @{
-  */
-
-/** @defgroup L3GD20_Private_TypesDefinitions
-  * @{
-  */
-  
-/**
-  * @}
-  */
-
-/** @defgroup L3GD20_Private_Defines
-  * @{
-  */
-
-/**
-  * @}
-  */
-
-/** @defgroup L3GD20_Private_Macros
-  * @{
-  */
-
-/**
-  * @}
-  */ 
-  
-/** @defgroup L3GD20_Private_Variables
-  * @{
-  */ 
-GYRO_DrvTypeDef L3gd20Drv =
-{
-  L3GD20_Init,
-  L3GD20_DeInit,
-  L3GD20_ReadID,
-  L3GD20_RebootCmd,
-  L3GD20_LowPower,
-  L3GD20_INT1InterruptConfig,
-  L3GD20_EnableIT,
-  L3GD20_DisableIT,
-  0,
-  0,
-  L3GD20_FilterConfig,
-  L3GD20_FilterCmd,
-  L3GD20_ReadXYZAngRate
-};
-
-/**
-  * @}
-  */
-
-/** @defgroup L3GD20_Private_FunctionPrototypes
-  * @{
-  */
-
-/**
-  * @}
-  */
-
-/** @defgroup L3GD20_Private_Functions
-  * @{
-  */
-
-/**
-  * @brief  Set L3GD20 Initialization.
-  * @param  L3GD20_InitStruct: pointer to a L3GD20_InitTypeDef structure 
-  *         that contains the configuration setting for the L3GD20.
-  * @retval None
-  */
-void L3GD20_Init(uint16_t InitStruct)
-{  
-  uint8_t ctrl = 0x00;
-  
-  /* Configure the low level interface */
-  GYRO_IO_Init();
-  
-  /* Write value to MEMS CTRL_REG1 register */
-  ctrl = (uint8_t) InitStruct;
-  GYRO_IO_Write(&ctrl, L3GD20_CTRL_REG1_ADDR, 1);
-  
-  /* Write value to MEMS CTRL_REG4 register */  
-  ctrl = (uint8_t) (InitStruct >> 8);
-  GYRO_IO_Write(&ctrl, L3GD20_CTRL_REG4_ADDR, 1);
-}
-
-
-
-/**
-  * @brief L3GD20 De-initialization
-  * @param  None
-  * @retval None
-  */
-void L3GD20_DeInit(void)
-{
-}
-
-/**
-  * @brief  Read ID address of L3GD20
-  * @param  None
-  * @retval ID name
-  */
-uint8_t L3GD20_ReadID(void)
-{
-  uint8_t tmp;
-  
-  /* Configure the low level interface */
-  GYRO_IO_Init();
-  
-  /* Read WHO I AM register */
-  GYRO_IO_Read(&tmp, L3GD20_WHO_AM_I_ADDR, 1);
-  
-  /* Return the ID */
-  return (uint8_t)tmp;
-}
-
-/**
-  * @brief  Reboot memory content of L3GD20
-  * @param  None
-  * @retval None
-  */
-void L3GD20_RebootCmd(void)
-{
-  uint8_t tmpreg;
-  
-  /* Read CTRL_REG5 register */
-  GYRO_IO_Read(&tmpreg, L3GD20_CTRL_REG5_ADDR, 1);
-  
-  /* Enable or Disable the reboot memory */
-  tmpreg |= L3GD20_BOOT_REBOOTMEMORY;
-  
-  /* Write value to MEMS CTRL_REG5 register */
-  GYRO_IO_Write(&tmpreg, L3GD20_CTRL_REG5_ADDR, 1);
-}
-
-/**
-  * @brief Set L3GD20 in low-power mode
-  * @param 
-  * @retval  None
-  */
-void L3GD20_LowPower(uint16_t InitStruct)
-{  
-  uint8_t ctrl = 0x00;
-
-  /* Write value to MEMS CTRL_REG1 register */
-  ctrl = (uint8_t) InitStruct;
-  GYRO_IO_Write(&ctrl, L3GD20_CTRL_REG1_ADDR, 1);
-}
-
-/**
-  * @brief  Set L3GD20 Interrupt INT1 configuration
-  * @param  Int1Config: the configuration setting for the L3GD20 Interrupt.
-  * @retval None
-  */
-void L3GD20_INT1InterruptConfig(uint16_t Int1Config)
-{
-  uint8_t ctrl_cfr = 0x00, ctrl3 = 0x00;
-  
-  /* Read INT1_CFG register */
-  GYRO_IO_Read(&ctrl_cfr, L3GD20_INT1_CFG_ADDR, 1);
-  
-  /* Read CTRL_REG3 register */
-  GYRO_IO_Read(&ctrl3, L3GD20_CTRL_REG3_ADDR, 1);
-  
-  ctrl_cfr &= 0x80;
-  ctrl_cfr |= ((uint8_t) Int1Config >> 8);
-  
-  ctrl3 &= 0xDF;
-  ctrl3 |= ((uint8_t) Int1Config);   
-  
-  /* Write value to MEMS INT1_CFG register */
-  GYRO_IO_Write(&ctrl_cfr, L3GD20_INT1_CFG_ADDR, 1);
-  
-  /* Write value to MEMS CTRL_REG3 register */
-  GYRO_IO_Write(&ctrl3, L3GD20_CTRL_REG3_ADDR, 1);
-}
-
-/**
-  * @brief  Enable INT1 or INT2 interrupt
-  * @param  IntSel: choice of INT1 or INT2 
-  *      This parameter can be: 
-  *        @arg L3GD20_INT1
-  *        @arg L3GD20_INT2   
-  * @retval None
-  */
-void L3GD20_EnableIT(uint8_t IntSel)
-{  
-  uint8_t tmpreg;
-  
-  /* Read CTRL_REG3 register */
-  GYRO_IO_Read(&tmpreg, L3GD20_CTRL_REG3_ADDR, 1);
-  
-  if(IntSel == L3GD20_INT1)
-  {
-    tmpreg &= 0x7F;	
-    tmpreg |= L3GD20_INT1INTERRUPT_ENABLE;
-  }
-  else if(IntSel == L3GD20_INT2)
-  {
-    tmpreg &= 0xF7;
-    tmpreg |= L3GD20_INT2INTERRUPT_ENABLE;
-  }
-  
-  /* Write value to MEMS CTRL_REG3 register */
-  GYRO_IO_Write(&tmpreg, L3GD20_CTRL_REG3_ADDR, 1);
-}
-
-/**
-  * @brief  Disable  INT1 or INT2 interrupt
-  * @param  IntSel: choice of INT1 or INT2 
-  *      This parameter can be: 
-  *        @arg L3GD20_INT1
-  *        @arg L3GD20_INT2   
-  * @retval None
-  */
-void L3GD20_DisableIT(uint8_t IntSel)
-{  
-  uint8_t tmpreg;
-  
-  /* Read CTRL_REG3 register */
-  GYRO_IO_Read(&tmpreg, L3GD20_CTRL_REG3_ADDR, 1);
-  
-  if(IntSel == L3GD20_INT1)
-  {
-    tmpreg &= 0x7F;	
-    tmpreg |= L3GD20_INT1INTERRUPT_DISABLE;
-  }
-  else if(IntSel == L3GD20_INT2)
-  {
-    tmpreg &= 0xF7;
-    tmpreg |= L3GD20_INT2INTERRUPT_DISABLE;
-  }
-  
-  /* Write value to MEMS CTRL_REG3 register */
-  GYRO_IO_Write(&tmpreg, L3GD20_CTRL_REG3_ADDR, 1);
-}
-
-/**
-  * @brief  Set High Pass Filter Modality
-  * @param  FilterStruct: contains the configuration setting for the L3GD20.        
-  * @retval None
-  */
-void L3GD20_FilterConfig(uint8_t FilterStruct) 
-{
-  uint8_t tmpreg;
-  
-  /* Read CTRL_REG2 register */
-  GYRO_IO_Read(&tmpreg, L3GD20_CTRL_REG2_ADDR, 1);
-  
-  tmpreg &= 0xC0;
-  
-  /* Configure MEMS: mode and cutoff frequency */
-  tmpreg |= FilterStruct;
-  
-  /* Write value to MEMS CTRL_REG2 register */
-  GYRO_IO_Write(&tmpreg, L3GD20_CTRL_REG2_ADDR, 1);
-}
-
-/**
-  * @brief  Enable or Disable High Pass Filter
-  * @param  HighPassFilterState: new state of the High Pass Filter feature.
-  *      This parameter can be: 
-  *         @arg: L3GD20_HIGHPASSFILTER_DISABLE 
-  *         @arg: L3GD20_HIGHPASSFILTER_ENABLE          
-  * @retval None
-  */
-void L3GD20_FilterCmd(uint8_t HighPassFilterState)
-{
-  uint8_t tmpreg;
-  
-  /* Read CTRL_REG5 register */
-  GYRO_IO_Read(&tmpreg, L3GD20_CTRL_REG5_ADDR, 1);
-  
-  tmpreg &= 0xEF;
-  
-  tmpreg |= HighPassFilterState;
-  
-  /* Write value to MEMS CTRL_REG5 register */
-  GYRO_IO_Write(&tmpreg, L3GD20_CTRL_REG5_ADDR, 1);
-}
-
-/**
-  * @brief  Get status for L3GD20 data
-  * @param  None         
-  * @retval Data status in a L3GD20 Data
-  */
-uint8_t L3GD20_GetDataStatus(void)
-{
-  uint8_t tmpreg;
-  
-  /* Read STATUS_REG register */
-  GYRO_IO_Read(&tmpreg, L3GD20_STATUS_REG_ADDR, 1);
-  
-  return tmpreg;
-}
-
-/**
-* @brief  Calculate the L3GD20 angular data.
-* @param  pfData: Data out pointer
-* @retval None
-*/
-void L3GD20_ReadXYZAngRate(float *pfData)
-{
-  uint8_t tmpbuffer[6] ={0};
-  int16_t RawData[3] = {0};
-  uint8_t tmpreg = 0;
-  float sensitivity = 0;
-  int i =0;
-  
-  GYRO_IO_Read(&tmpreg,L3GD20_CTRL_REG4_ADDR,1);
-  
-  GYRO_IO_Read(tmpbuffer,L3GD20_OUT_X_L_ADDR,6);
-  
-  /* check in the control register 4 the data alignment (Big Endian or Little Endian)*/
-  if(!(tmpreg & L3GD20_BLE_MSB))
-  {
-    for(i=0; i<3; i++)
-    {
-      RawData[i]=(int16_t)(((uint16_t)tmpbuffer[2*i+1] << 8) + tmpbuffer[2*i]);
-    }
-  }
-  else
-  {
-    for(i=0; i<3; i++)
-    {
-      RawData[i]=(int16_t)(((uint16_t)tmpbuffer[2*i] << 8) + tmpbuffer[2*i+1]);
-    }
-  }
-  
-  /* Switch the sensitivity value set in the CRTL4 */
-  switch(tmpreg & L3GD20_FULLSCALE_SELECTION)
-  {
-  case L3GD20_FULLSCALE_250:
-    sensitivity=L3GD20_SENSITIVITY_250DPS;
-    break;
-    
-  case L3GD20_FULLSCALE_500:
-    sensitivity=L3GD20_SENSITIVITY_500DPS;
-    break;
-    
-  case L3GD20_FULLSCALE_2000:
-    sensitivity=L3GD20_SENSITIVITY_2000DPS;
-    break;
-  }
-  /* Divide by sensitivity */
-  for(i=0; i<3; i++)
-  {
-    pfData[i]=(float)(RawData[i] * sensitivity);
-  }
-}
-
-/**
-  * @}
-  */ 
-
-/**
-  * @}
-  */ 
-
-/**
-  * @}
-  */ 
-
-/**
-  * @}
-  */ 
-
-/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/     

--- a/Drivers/BSP/Components/l3gd20/l3gd20.h	Wed Feb 28 13:17:14 2018 +0100
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,324 +0,0 @@
-/**
-  ******************************************************************************
-  * @file    l3gd20.h
-  * @author  MCD Application Team
-  * @version V2.0.0
-  * @date    26-June-2015
-  * @brief   This file contains all the functions prototypes for the l3gd20.c driver.
-  ******************************************************************************
-  * @attention
-  *
-  * <h2><center>&copy; COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
-  *
-  * Redistribution and use in source and binary forms, with or without modification,
-  * are permitted provided that the following conditions are met:
-  *   1. Redistributions of source code must retain the above copyright notice,
-  *      this list of conditions and the following disclaimer.
-  *   2. Redistributions in binary form must reproduce the above copyright notice,
-  *      this list of conditions and the following disclaimer in the documentation
-  *      and/or other materials provided with the distribution.
-  *   3. Neither the name of STMicroelectronics nor the names of its contributors
-  *      may be used to endorse or promote products derived from this software
-  *      without specific prior written permission.
-  *
-  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
-  * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
-  * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
-  * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
-  * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
-  * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
-  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-  *
-  ******************************************************************************
-  */
-  
-
-/* Define to prevent recursive inclusion -------------------------------------*/
-#ifndef __L3GD20_H
-#define __L3GD20_H
-
-#ifdef __cplusplus
- extern "C" {
-#endif
-
-/* Includes ------------------------------------------------------------------*/
-#include "../Common/gyro.h"
-
-/** @addtogroup BSP
-  * @{
-  */ 
-
-/** @addtogroup Components
-  * @{
-  */ 
-
-/** @addtogroup L3GD20
-  * @{
-  */
-  
-/** @defgroup L3GD20_Exported_Constants
-  * @{
-  */
-
-/******************************************************************************/
-/*************************** START REGISTER MAPPING  **************************/
-/******************************************************************************/
-#define L3GD20_WHO_AM_I_ADDR          0x0F  /* device identification register */
-#define L3GD20_CTRL_REG1_ADDR         0x20  /* Control register 1 */
-#define L3GD20_CTRL_REG2_ADDR         0x21  /* Control register 2 */
-#define L3GD20_CTRL_REG3_ADDR         0x22  /* Control register 3 */
-#define L3GD20_CTRL_REG4_ADDR         0x23  /* Control register 4 */
-#define L3GD20_CTRL_REG5_ADDR         0x24  /* Control register 5 */
-#define L3GD20_REFERENCE_REG_ADDR     0x25  /* Reference register */
-#define L3GD20_OUT_TEMP_ADDR          0x26  /* Out temp register */
-#define L3GD20_STATUS_REG_ADDR        0x27  /* Status register */
-#define L3GD20_OUT_X_L_ADDR           0x28  /* Output Register X */
-#define L3GD20_OUT_X_H_ADDR           0x29  /* Output Register X */
-#define L3GD20_OUT_Y_L_ADDR           0x2A  /* Output Register Y */
-#define L3GD20_OUT_Y_H_ADDR           0x2B  /* Output Register Y */
-#define L3GD20_OUT_Z_L_ADDR           0x2C  /* Output Register Z */
-#define L3GD20_OUT_Z_H_ADDR           0x2D  /* Output Register Z */ 
-#define L3GD20_FIFO_CTRL_REG_ADDR     0x2E  /* Fifo control Register */
-#define L3GD20_FIFO_SRC_REG_ADDR      0x2F  /* Fifo src Register */
-
-#define L3GD20_INT1_CFG_ADDR          0x30  /* Interrupt 1 configuration Register */
-#define L3GD20_INT1_SRC_ADDR          0x31  /* Interrupt 1 source Register */
-#define L3GD20_INT1_TSH_XH_ADDR       0x32  /* Interrupt 1 Threshold X register */
-#define L3GD20_INT1_TSH_XL_ADDR       0x33  /* Interrupt 1 Threshold X register */
-#define L3GD20_INT1_TSH_YH_ADDR       0x34  /* Interrupt 1 Threshold Y register */
-#define L3GD20_INT1_TSH_YL_ADDR       0x35  /* Interrupt 1 Threshold Y register */
-#define L3GD20_INT1_TSH_ZH_ADDR       0x36  /* Interrupt 1 Threshold Z register */
-#define L3GD20_INT1_TSH_ZL_ADDR       0x37  /* Interrupt 1 Threshold Z register */
-#define L3GD20_INT1_DURATION_ADDR     0x38  /* Interrupt 1 DURATION register */
-
-/******************************************************************************/
-/**************************** END REGISTER MAPPING  ***************************/
-/******************************************************************************/
-
-#define I_AM_L3GD20                 ((uint8_t)0xD4)
-#define I_AM_L3GD20_TR              ((uint8_t)0xD5)
-
-/** @defgroup Power_Mode_selection 
-  * @{
-  */
-#define L3GD20_MODE_POWERDOWN       ((uint8_t)0x00)
-#define L3GD20_MODE_ACTIVE          ((uint8_t)0x08)
-/**
-  * @}
-  */
-
-/** @defgroup OutPut_DataRate_Selection 
-  * @{
-  */
-#define L3GD20_OUTPUT_DATARATE_1    ((uint8_t)0x00)
-#define L3GD20_OUTPUT_DATARATE_2    ((uint8_t)0x40)
-#define L3GD20_OUTPUT_DATARATE_3    ((uint8_t)0x80)
-#define L3GD20_OUTPUT_DATARATE_4    ((uint8_t)0xC0)
-/**
-  * @}
-  */
-
-/** @defgroup Axes_Selection 
-  * @{
-  */
-#define L3GD20_X_ENABLE            ((uint8_t)0x02)
-#define L3GD20_Y_ENABLE            ((uint8_t)0x01)
-#define L3GD20_Z_ENABLE            ((uint8_t)0x04)
-#define L3GD20_AXES_ENABLE         ((uint8_t)0x07)
-#define L3GD20_AXES_DISABLE        ((uint8_t)0x00)
-/**
-  * @}
-  */
-
-/** @defgroup Bandwidth_Selection 
-  * @{
-  */
-#define L3GD20_BANDWIDTH_1         ((uint8_t)0x00)
-#define L3GD20_BANDWIDTH_2         ((uint8_t)0x10)
-#define L3GD20_BANDWIDTH_3         ((uint8_t)0x20)
-#define L3GD20_BANDWIDTH_4         ((uint8_t)0x30)
-/**
-  * @}
-  */
-
-/** @defgroup Full_Scale_Selection 
-  * @{
-  */
-#define L3GD20_FULLSCALE_250       ((uint8_t)0x00)
-#define L3GD20_FULLSCALE_500       ((uint8_t)0x10)
-#define L3GD20_FULLSCALE_2000      ((uint8_t)0x20) 
-#define L3GD20_FULLSCALE_SELECTION ((uint8_t)0x30)
-/**
-  * @}
-  */
-
-/** @defgroup Full_Scale_Sensitivity 
-  * @{
-  */
-#define L3GD20_SENSITIVITY_250DPS  ((float)8.75f)         /*!< gyroscope sensitivity with 250 dps full scale [DPS/LSB]  */
-#define L3GD20_SENSITIVITY_500DPS  ((float)17.50f)        /*!< gyroscope sensitivity with 500 dps full scale [DPS/LSB]  */
-#define L3GD20_SENSITIVITY_2000DPS ((float)70.00f)        /*!< gyroscope sensitivity with 2000 dps full scale [DPS/LSB] */
-/**
-  * @}
-  */
-
-  
-/** @defgroup Block_Data_Update 
-  * @{
-  */  
-#define L3GD20_BlockDataUpdate_Continous   ((uint8_t)0x00)
-#define L3GD20_BlockDataUpdate_Single      ((uint8_t)0x80)
-/**
-  * @}
-  */
-  
-/** @defgroup Endian_Data_selection
-  * @{
-  */  
-#define L3GD20_BLE_LSB                     ((uint8_t)0x00)
-#define L3GD20_BLE_MSB	                   ((uint8_t)0x40)
-/**
-  * @}
-  */
-  
-/** @defgroup High_Pass_Filter_status 
-  * @{
-  */   
-#define L3GD20_HIGHPASSFILTER_DISABLE      ((uint8_t)0x00)
-#define L3GD20_HIGHPASSFILTER_ENABLE	     ((uint8_t)0x10)
-/**
-  * @}
-  */
-
-/** @defgroup INT1_INT2_selection 
-  * @{
-  */   
-#define L3GD20_INT1                        ((uint8_t)0x00)
-#define L3GD20_INT2                        ((uint8_t)0x01)
-/**
-  * @}
-  */
-
-/** @defgroup INT1_Interrupt_status 
-  * @{
-  */   
-#define L3GD20_INT1INTERRUPT_DISABLE       ((uint8_t)0x00)
-#define L3GD20_INT1INTERRUPT_ENABLE        ((uint8_t)0x80)
-/**
-  * @}
-  */
-
-/** @defgroup INT2_Interrupt_status 
-  * @{
-  */   
-#define L3GD20_INT2INTERRUPT_DISABLE       ((uint8_t)0x00)
-#define L3GD20_INT2INTERRUPT_ENABLE        ((uint8_t)0x08)
-/**
-  * @}
-  */
-
-/** @defgroup INT1_Interrupt_ActiveEdge 
-  * @{
-  */   
-#define L3GD20_INT1INTERRUPT_LOW_EDGE      ((uint8_t)0x20)
-#define L3GD20_INT1INTERRUPT_HIGH_EDGE     ((uint8_t)0x00)
-/**
-  * @}
-  */
-  
-/** @defgroup Boot_Mode_selection 
-  * @{
-  */
-#define L3GD20_BOOT_NORMALMODE             ((uint8_t)0x00)
-#define L3GD20_BOOT_REBOOTMEMORY           ((uint8_t)0x80)
-/**
-  * @}
-  */  
- 
-/** @defgroup High_Pass_Filter_Mode 
-  * @{
-  */   
-#define L3GD20_HPM_NORMAL_MODE_RES         ((uint8_t)0x00)
-#define L3GD20_HPM_REF_SIGNAL              ((uint8_t)0x10)
-#define L3GD20_HPM_NORMAL_MODE             ((uint8_t)0x20)
-#define L3GD20_HPM_AUTORESET_INT           ((uint8_t)0x30)
-/**
-  * @}
-  */
-
-/** @defgroup High_Pass_CUT OFF_Frequency 
-  * @{
-  */   
-#define L3GD20_HPFCF_0              0x00
-#define L3GD20_HPFCF_1              0x01
-#define L3GD20_HPFCF_2              0x02
-#define L3GD20_HPFCF_3              0x03
-#define L3GD20_HPFCF_4              0x04
-#define L3GD20_HPFCF_5              0x05
-#define L3GD20_HPFCF_6              0x06
-#define L3GD20_HPFCF_7              0x07
-#define L3GD20_HPFCF_8              0x08
-#define L3GD20_HPFCF_9              0x09
-/**
-  * @}
-  */
-
-/**
-  * @}
-  */
-/** @defgroup L3GD20_Exported_Functions
-  * @{
-  */
-/* Sensor Configuration Functions */ 
-void    L3GD20_Init(uint16_t InitStruct);
-void    L3GD20_DeInit(void);
-void    L3GD20_LowPower(uint16_t InitStruct);
-uint8_t L3GD20_ReadID(void);
-void    L3GD20_RebootCmd(void);
-
-/* Interrupt Configuration Functions */
-void    L3GD20_INT1InterruptConfig(uint16_t Int1Config);
-void    L3GD20_EnableIT(uint8_t IntSel);
-void    L3GD20_DisableIT(uint8_t IntSel);
-
-/* High Pass Filter Configuration Functions */
-void    L3GD20_FilterConfig(uint8_t FilterStruct);
-void    L3GD20_FilterCmd(uint8_t HighPassFilterState);
-void    L3GD20_ReadXYZAngRate(float *pfData);
-uint8_t L3GD20_GetDataStatus(void);
-
-/* Gyroscope IO functions */
-void    GYRO_IO_Init(void);
-void    GYRO_IO_DeInit(void);
-void    GYRO_IO_Write(uint8_t *pBuffer, uint8_t WriteAddr, uint16_t NumByteToWrite);
-void    GYRO_IO_Read(uint8_t *pBuffer, uint8_t ReadAddr, uint16_t NumByteToRead);
-
-/* Gyroscope driver structure */
-extern GYRO_DrvTypeDef L3gd20Drv;
-
-/**
-  * @}
-  */
-
-/**
-  * @}
-  */
-
-/**
-  * @}
-  */ 
-  
-/**
-  * @}
-  */ 
-
-#ifdef __cplusplus
-  }
-#endif
-  
-#endif /* __L3GD20_H */
-
-/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ 

--- a/Drivers/BSP/STM32F429I-Discovery/stm32f429i_discovery_gyroscope.c	Wed Feb 28 13:17:14 2018 +0100
+++ b/Drivers/BSP/STM32F429I-Discovery/stm32f429i_discovery_gyroscope.c	Wed Dec 15 15:20:57 2021 +0000
@@ -97,44 +97,44 @@
 {  
   uint8_t ret = GYRO_ERROR;
   uint16_t ctrl = 0x0000;
-  GYRO_InitTypeDef L3GD20_InitStructure;
-  GYRO_FilterConfigTypeDef L3GD20_FilterStructure={0,0};
+  GYRO_InitTypeDef I3G4250D_InitStructure;
+  GYRO_FilterConfigTypeDef I3G4250D_FilterStructure={0,0};
 
-  if((L3gd20Drv.ReadID() == I_AM_L3GD20) || (L3gd20Drv.ReadID() == I_AM_L3GD20_TR))
+  if((I3g4250Drv.ReadID() == I_AM_I3G4250D) || (I3g4250Drv.ReadID() == I_AM_I3G4250D))
   {	
     /* Initialize the Gyroscope driver structure */
-    GyroscopeDrv = &L3gd20Drv;
+    GyroscopeDrv = &I3g4250Drv;
 
     /* MEMS configuration ----------------------------------------------------*/
     /* Fill the Gyroscope structure */
-    L3GD20_InitStructure.Power_Mode = L3GD20_MODE_ACTIVE;
-    L3GD20_InitStructure.Output_DataRate = L3GD20_OUTPUT_DATARATE_1;
-    L3GD20_InitStructure.Axes_Enable = L3GD20_AXES_ENABLE;
-    L3GD20_InitStructure.Band_Width = L3GD20_BANDWIDTH_4;
-    L3GD20_InitStructure.BlockData_Update = L3GD20_BlockDataUpdate_Continous;
-    L3GD20_InitStructure.Endianness = L3GD20_BLE_LSB;
-    L3GD20_InitStructure.Full_Scale = L3GD20_FULLSCALE_500; 
+    I3G4250D_InitStructure.Power_Mode = I3G4250D_MODE_ACTIVE;
+    I3G4250D_InitStructure.Output_DataRate = I3G4250D_OUTPUT_DATARATE_1;
+    I3G4250D_InitStructure.Axes_Enable = I3G4250D_AXES_ENABLE;
+    I3G4250D_InitStructure.Band_Width = I3G4250D_BANDWIDTH_4;
+    I3G4250D_InitStructure.BlockData_Update = I3G4250D_BlockDataUpdate_Continous;
+    I3G4250D_InitStructure.Endianness = I3G4250D_BLE_LSB;
+    I3G4250D_InitStructure.Full_Scale = I3G4250D_FULLSCALE_500; 
 
     /* Configure MEMS: data rate, power mode, full scale and axes */
-    ctrl = (uint16_t) (L3GD20_InitStructure.Power_Mode | L3GD20_InitStructure.Output_DataRate | \
-                       L3GD20_InitStructure.Axes_Enable | L3GD20_InitStructure.Band_Width);
+    ctrl = (uint16_t) (I3G4250D_InitStructure.Power_Mode | I3G4250D_InitStructure.Output_DataRate | \
+                       I3G4250D_InitStructure.Axes_Enable | I3G4250D_InitStructure.Band_Width);
 
-    ctrl |= (uint16_t) ((L3GD20_InitStructure.BlockData_Update | L3GD20_InitStructure.Endianness | \
-                         L3GD20_InitStructure.Full_Scale) << 8);
+    ctrl |= (uint16_t) ((I3G4250D_InitStructure.BlockData_Update | I3G4250D_InitStructure.Endianness | \
+                         I3G4250D_InitStructure.Full_Scale) << 8);
     
     /* Configure the Gyroscope main parameters */	 
     GyroscopeDrv->Init(ctrl);
 
-    L3GD20_FilterStructure.HighPassFilter_Mode_Selection = L3GD20_HPM_NORMAL_MODE_RES;
-    L3GD20_FilterStructure.HighPassFilter_CutOff_Frequency = L3GD20_HPFCF_0;
+    I3G4250D_FilterStructure.HighPassFilter_Mode_Selection = I3G4250D_HPM_NORMAL_MODE_RES;
+    I3G4250D_FilterStructure.HighPassFilter_CutOff_Frequency = I3G4250D_HPFCF_0;
 
-    ctrl = (uint8_t) ((L3GD20_FilterStructure.HighPassFilter_Mode_Selection |\
-                       L3GD20_FilterStructure.HighPassFilter_CutOff_Frequency));
+    ctrl = (uint8_t) ((I3G4250D_FilterStructure.HighPassFilter_Mode_Selection |\
+                       I3G4250D_FilterStructure.HighPassFilter_CutOff_Frequency));
 
     /* Configure the Gyroscope main parameters */
     GyroscopeDrv->FilterConfig(ctrl) ;
 
-    GyroscopeDrv->FilterCmd(L3GD20_HIGHPASSFILTER_ENABLE);
+    GyroscopeDrv->FilterCmd(I3G4250D_HIGHPASSFILTER_ENABLE);
 
     ret = GYRO_OK;
   }
@@ -173,8 +173,8 @@
 
 /**
   * @brief  Configures INT1 interrupt.
-  * @param  pIntConfig: pointer to a L3GD20_InterruptConfig_TypeDef 
-  *         structure that contains the configuration setting for the L3GD20 Interrupt.
+  * @param  pIntConfig: pointer to a I3G4250D_InterruptConfig_TypeDef 
+  *         structure that contains the configuration setting for the I3G4250D Interrupt.
   */
 void BSP_GYRO_ITConfig(GYRO_InterruptConfigTypeDef *pIntConfig)
 {  
@@ -196,8 +196,8 @@
   * @brief  Enables INT1 or INT2 interrupt.
   * @param  IntPin: Interrupt pin 
   *      This parameter can be: 
-  *        @arg L3GD20_INT1
-  *        @arg L3GD20_INT2
+  *        @arg I3G4250D_INT1
+  *        @arg I3G4250D_INT2
   */
 void BSP_GYRO_EnableIT(uint8_t IntPin)
 {  
@@ -211,8 +211,8 @@
   * @brief  Disables INT1 or INT2 interrupt.
   * @param  IntPin: Interrupt pin 
   *      This parameter can be: 
-  *        @arg L3GD20_INT1
-  *        @arg L3GD20_INT2
+  *        @arg I3G4250D_INT1
+  *        @arg I3G4250D_INT2
   */
 void BSP_GYRO_DisableIT(uint8_t IntPin)
 {  

--- a/Drivers/BSP/STM32F429I-Discovery/stm32f429i_discovery_gyroscope.h	Wed Feb 28 13:17:14 2018 +0100
+++ b/Drivers/BSP/STM32F429I-Discovery/stm32f429i_discovery_gyroscope.h	Wed Dec 15 15:20:57 2021 +0000
@@ -45,7 +45,7 @@
 /* Includes ------------------------------------------------------------------*/
 #include "stm32f429i_discovery.h"
 /* Include Gyroscope component driver */
-#include "../Components/l3gd20/l3gd20.h"
+#include "../Components/i3g4250d/i3g4250d.h"
 
 /** @addtogroup BSP
   * @{