From 327a4a58b21deb0fdd847675863e4280f1e684ac Mon Sep 17 00:00:00 2001
From: Gunar Schorcht <gunar@schorcht.net>
Date: Sun, 7 Nov 2021 23:42:16 +0100
Subject: [PATCH] boards: add ST L3Gxxxx 3-axis gyro family

---
 boards/stm32f3discovery/Kconfig         |  5 +++++
 boards/stm32f3discovery/Makefile.dep    |  7 +++++++
 boards/stm32f3discovery/doc.txt         |  9 ++++++---
 boards/stm32f3discovery/include/board.h | 10 ++++++++++
 boards/stm32f429i-disc1/Kconfig         |  5 +++++
 boards/stm32f429i-disc1/Makefile.dep    |  7 +++++++
 boards/stm32f429i-disc1/include/board.h | 14 ++++++++++++--
 7 files changed, 52 insertions(+), 5 deletions(-)

diff --git a/boards/stm32f3discovery/Kconfig b/boards/stm32f3discovery/Kconfig
index fdad3c17cf..aecb3f95f2 100644
--- a/boards/stm32f3discovery/Kconfig
+++ b/boards/stm32f3discovery/Kconfig
@@ -28,4 +28,9 @@ config BOARD_STM32F3DISCOVERY
     select HAVE_SAUL_GPIO
     select HAVE_LSM303DLHC
 
+    # L3Gxxxx gyro
+    select HAVE_L3GXXXX_SPI
+    select HAVE_I3G4250D
+    select HAVE_L3GD20
+
 source "$(RIOTBOARD)/common/stm32/Kconfig"
diff --git a/boards/stm32f3discovery/Makefile.dep b/boards/stm32f3discovery/Makefile.dep
index a5757c8067..670da09ba2 100644
--- a/boards/stm32f3discovery/Makefile.dep
+++ b/boards/stm32f3discovery/Makefile.dep
@@ -1,4 +1,11 @@
 ifneq (,$(filter saul_default,$(USEMODULE)))
   USEMODULE += saul_gpio
   USEMODULE += lsm303dlhc
+  USEMODULE += l3gxxxx
+endif
+
+ifneq (,$(filter l3gxxxx,$(USEMODULE)))
+  USEMODULE += i3g4250d
+  USEMODULE += l3gd20
+  USEMODULE += l3gxxxx_spi
 endif
diff --git a/boards/stm32f3discovery/doc.txt b/boards/stm32f3discovery/doc.txt
index 10d96f9123..f509d5c261 100644
--- a/boards/stm32f3discovery/doc.txt
+++ b/boards/stm32f3discovery/doc.txt
@@ -92,11 +92,12 @@ e-compass.
 
 An 3-axis gyroscope is soldered on the board.
 
-| Sensor | L3GD20        |
+| Sensor | L3GD20/I3G4250D [1] |
 |:------------- |:--------------------- |
 | Type       | Gyroscope     |
 | Vendor | ST Microelectronics   |
-| Datasheet  | [Datasheet](https://www.mouser.de/datasheet/2/389/l3gd20-954745.pdf)    |
+| Datasheet L3GD20 | [Datasheet](https://www.mouser.de/datasheet/2/389/l3gd20-954745.pdf) |
+| Datasheet I3G4250D | [Datasheet](https://www.st.com/resource/en/datasheet/i3g4250d.pdf) |
 | Connected to   | SPI_0         |
 | Pin Config:    | |
 | Device | SPI1          |
@@ -107,6 +108,8 @@ An 3-axis gyroscope is soldered on the board.
 | INT1       | PE0 (IN)      |
 | INT2/DRDY  | PE1 (IN)      |
 
+[1] L3GD20 (up to rev. D01), IG34250D (from rev. E02)
+The driver detects automatically which sensor variant is on the board.
 
 ## Implementation Status
 
@@ -123,7 +126,7 @@ An 3-axis gyroscope is soldered on the board.
 |        | Inpute Capture| no        | |
 | Accelerometer  | LSM303DLHC    | no        | planned |
 | Magnetometer   | LSM303DLHC    | no        | planned |
-| Gyroscope  | L3GD20    | no        | planned |
+| Gyroscope  | L3GD20/I3G4250D | yes        | |
 
 
 ## Flashing the device
diff --git a/boards/stm32f3discovery/include/board.h b/boards/stm32f3discovery/include/board.h
index 7f0f9c99b8..384f6edf26 100644
--- a/boards/stm32f3discovery/include/board.h
+++ b/boards/stm32f3discovery/include/board.h
@@ -97,6 +97,16 @@ extern "C" {
 #define LSM303DLHC_PARAM_MAG_PIN    GPIO_PIN(PORT_E, 2)
 /** @} */
 
+/**
+ * @name L3GD20 (Rev. C01, D01), I3G4250D (Rev. E02)
+ * @{
+ */
+#define L3GXXXX_SPI_DEV     SPI_DEV(0)          /**< SPI bus used for L3Gxxxx */
+#define L3GXXXX_SPI_CS      GPIO_PIN(PORT_E, 3) /**< SPI CS pin used for L3Gxxxx */
+#define L3GXXXX_INT1_PIN    GPIO_PIN(PORT_E, 0) /**< INT1 pin used for L3Gxxxx */
+#define L3GXXXX_INT2_PIN    GPIO_PIN(PORT_E, 1) /**< INT2/DRDY pin used for L3Gxxxx */
+/** @} */
+
 #ifdef __cplusplus
 }
 #endif
diff --git a/boards/stm32f429i-disc1/Kconfig b/boards/stm32f429i-disc1/Kconfig
index 9c629325c4..98929a0101 100644
--- a/boards/stm32f429i-disc1/Kconfig
+++ b/boards/stm32f429i-disc1/Kconfig
@@ -32,4 +32,9 @@ config BOARD_STM32F429I_DISC1
     select HAVE_ILI9341
     select HAVE_STMPE811_I2C
 
+    # L3Gxxxx gyro
+    select HAVE_L3GXXXX_SPI
+    select HAVE_I3G4250D
+    select HAVE_L3GD20
+
 source "$(RIOTBOARD)/common/stm32/Kconfig"
diff --git a/boards/stm32f429i-disc1/Makefile.dep b/boards/stm32f429i-disc1/Makefile.dep
index a5fa0c5e0b..1b5ae322af 100644
--- a/boards/stm32f429i-disc1/Makefile.dep
+++ b/boards/stm32f429i-disc1/Makefile.dep
@@ -1,5 +1,6 @@
 ifneq (,$(filter saul_default,$(USEMODULE)))
   USEMODULE += saul_gpio
+  USEMODULE += l3gxxxx
 endif
 
 ifneq (,$(filter disp_dev,$(USEMODULE)))
@@ -9,3 +10,9 @@ endif
 ifneq (,$(filter touch_dev,$(USEMODULE)))
   USEMODULE += stmpe811_i2c
 endif
+
+ifneq (,$(filter l3gxxxx,$(USEMODULE)))
+  USEMODULE += i3g4250d
+  USEMODULE += l3gd20
+  USEMODULE += l3gxxxx_spi
+endif
diff --git a/boards/stm32f429i-disc1/include/board.h b/boards/stm32f429i-disc1/include/board.h
index 733bee800e..3fcb6d1888 100644
--- a/boards/stm32f429i-disc1/include/board.h
+++ b/boards/stm32f429i-disc1/include/board.h
@@ -46,13 +46,23 @@ extern "C" {
 /** @} */
 
 /**
- * @brief User button
+ * @name User button
  * @{
  */
-#define BTN0_PIN            GPIO_PIN(PORT_A, 0)
+#define BTN0_PIN            GPIO_PIN(PORT_A, 0) /**< GPIO used for BTN0 */
 #define BTN0_MODE           GPIO_IN
 /** @} */
 
+/**
+ * @name L3GD20 (Rev. B01, C01), I3G4250D (Rev. D02, E01)
+ * @{
+ */
+#define L3GXXXX_SPI_DEV     SPI_DEV(0)          /**< SPI bus used for L3Gxxxx */
+#define L3GXXXX_SPI_CS      GPIO_PIN(PORT_C, 1) /**< SPI CS pin used for L3Gxxxx */
+#define L3GXXXX_INT1_PIN    GPIO_PIN(PORT_A, 1) /**< INT1 pin used for L3Gxxxx */
+#define L3GXXXX_INT2_PIN    GPIO_PIN(PORT_A, 2) /**< INT2/DRDY pin used for L3Gxxxx */
+/** @} */
+
 #ifdef __cplusplus
 }
 #endif