Merge #1723

1723: capsule for l3gd20 3 axis gyro and temperature sensor r=bradjc a=alexandruradovici

### Pull Request Overview

This pull request adds a capsule for the L3GD20 3 axis gyro and temperature sensor over SPI.

### Testing Strategy

This pull request was tested using an stm32f3discovery board

### TODO or Help Wanted

This PR adds the sensor integrated in #1674.

Any feedback is welcome.

### Documentation Updated

- [x] Updated the relevant files in `/docs`, or no updates are required.

### Formatting

- [x] Ran `make formatall`.


Co-authored-by: Alexandru Radovici <msg4alex@gmail.com>

boards/components/src/l3gd20.rs

@@ -0,0 +1,75 @@
+//! Components for the L3GD20 sensor.
+//!
+//! SPI Interface
+//!
+//! Usage
+//! -----
+//! ```rust
+//! let lcd = components::l3gd20::L3gd20SpiComponent::new(board_kernel).finalize(
+//!     components::l3gd20_spi_component_helper!(
+//!         // spi type
+//!         stm32f4xx::spi::Spi,
+//!         // chip select
+//!         stm32f4xx::gpio::PinId::PE03,
+//!         // spi mux
+//!         spi_mux
+//!     )
+//! );
+//! ```
+use capsules::l3gd20::L3gd20Spi;
+use capsules::virtual_spi::VirtualSpiMasterDevice;
+use core::marker::PhantomData;
+use core::mem::MaybeUninit;
+use kernel::component::Component;
+use kernel::hil::spi;
+use kernel::static_init_half;
+
+// Setup static space for the objects.
+#[macro_export]
+macro_rules! l3gd20_spi_component_helper {
+    ($A:ty, $select: expr, $spi_mux: expr) => {{
+        use capsules::l3gd20::L3gd20Spi;
+        use core::mem::MaybeUninit;
+        let mut l3gd20_spi: &'static capsules::virtual_spi::VirtualSpiMasterDevice<'static, $A> =
+            components::spi::SpiComponent::new($spi_mux, $select)
+                .finalize(components::spi_component_helper!($A));
+        static mut l3gd20spi: MaybeUninit<L3gd20Spi<'static>> = MaybeUninit::uninit();
+        (&mut l3gd20_spi, &mut l3gd20spi)
+    };};
+}
+
+pub struct L3gd20SpiComponent<S: 'static + spi::SpiMaster> {
+    _select: PhantomData<S>,
+}
+
+impl<S: 'static + spi::SpiMaster> L3gd20SpiComponent<S> {
+    pub fn new() -> L3gd20SpiComponent<S> {
+        L3gd20SpiComponent {
+            _select: PhantomData,
+        }
+    }
+}
+
+impl<S: 'static + spi::SpiMaster> Component for L3gd20SpiComponent<S> {
+    type StaticInput = (
+        &'static VirtualSpiMasterDevice<'static, S>,
+        &'static mut MaybeUninit<L3gd20Spi<'static>>,
+    );
+    type Output = &'static L3gd20Spi<'static>;
+
+    unsafe fn finalize(self, static_buffer: Self::StaticInput) -> Self::Output {
+        let l3gd20 = static_init_half!(
+            static_buffer.1,
+            L3gd20Spi<'static>,
+            L3gd20Spi::new(
+                static_buffer.0,
+                &mut capsules::l3gd20::TXBUFFER,
+                &mut capsules::l3gd20::RXBUFFER
+            )
+        );
+        static_buffer.0.set_client(l3gd20);
+        l3gd20.configure();
+
+        l3gd20
+    }
+}

boards/components/src/lib.rs

@@ -15,6 +15,7 @@ pub mod debug_writer;
 pub mod hd44780;
 pub mod i2c;
 pub mod isl29035;
+pub mod l3gd20;
 pub mod lldb;
 pub mod nrf51822;
 pub mod panic_button;

capsules/README.md

@@ -31,6 +31,7 @@ These implement a driver to setup and read various physical sensors.
 - **[Analog Sensors](src/analog_sensor.rs)**: Single ADC pin sensors.
 - **[FXOS8700CQ](src/fxos8700cq.rs)**: Accelerometer and magnetometer.
 - **[ISL29035](src/isl29035.rs)**: Light sensor.
+- **[L3GD20](src/l3gd20.rs)**: MEMS 3 axys digital gyroscope and temperature sensor.
 - **[LPS25HB](src/lps25hb.rs)**: Pressure sensor.
 - **[SI7021](src/si7021.rs)**: Temperature and humidity sensor.
 - **[TMP006](src/tmp006.rs)**: Infrared temperature sensor.

capsules/src/driver.rs

@@ -50,6 +50,7 @@ pub enum NUM {
     Tsl2561               = 0x70000,
     Tmp006                = 0x70001,
     Lps25hb               = 0x70004,
+    L3gd20                = 0x70005,
 
     // Other ICs
     Ltc294x               = 0x80000,