Set up the SPI interface to the l3gd20

flight/CopterControl/Makefile

@@ -223,6 +223,7 @@ SRC += $(PIOSCOMMON)/pios_crc.c
 SRC += $(PIOSCOMMON)/pios_flashfs_objlist.c
 SRC += $(PIOSCOMMON)/pios_flash_w25x.c
 SRC += $(PIOSCOMMON)/pios_adxl345.c
+SRC += $(PIOSSTM32F10X)/pios_l3gd20.c
 SRC += $(PIOSCOMMON)/pios_com.c
 SRC += $(PIOSCOMMON)/pios_i2c_esc.c
 SRC += $(PIOSCOMMON)/pios_bmp085.c

flight/CopterControl/System/pios_board.c

@@ -38,6 +38,107 @@
 
 #include <pios_spi_priv.h>
 
+/* Gyro interface */
+void PIOS_SPI_gyro_irq_handler(void);
+void DMA1_Channel2_IRQHandler() __attribute__ ((alias ("PIOS_SPI_gyro_irq_handler")));
+void DMA1_Channel3_IRQHandler() __attribute__ ((alias ("PIOS_SPI_gyro_irq_handler")));
+static const struct pios_spi_cfg pios_spi_gyro_cfg = {
+	.regs   = SPI1,
+	.init   = {
+		.SPI_Mode              = SPI_Mode_Master,
+		.SPI_Direction         = SPI_Direction_2Lines_FullDuplex,
+		.SPI_DataSize          = SPI_DataSize_8b,
+		.SPI_NSS               = SPI_NSS_Soft,
+		.SPI_FirstBit          = SPI_FirstBit_MSB,
+		.SPI_CRCPolynomial     = 7,
+		.SPI_CPOL              = SPI_CPOL_High,
+		.SPI_CPHA              = SPI_CPHA_2Edge,
+		.SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_8, /* 10 Mhz */
+	},
+	.dma = {
+		.ahb_clk  = RCC_AHBPeriph_DMA1,
+		
+		.irq = {
+			.flags   = (DMA1_FLAG_TC2 | DMA1_FLAG_TE2 | DMA1_FLAG_HT2 | DMA1_FLAG_GL2),
+			.init    = {
+				.NVIC_IRQChannel                   = DMA1_Channel2_IRQn,
+				.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
+				.NVIC_IRQChannelSubPriority        = 0,
+				.NVIC_IRQChannelCmd                = ENABLE,
+			},
+		},
+		
+		.rx = {
+			.channel = DMA1_Channel2,
+			.init    = {
+				.DMA_PeripheralBaseAddr = (uint32_t)&(SPI1->DR),
+				.DMA_DIR                = DMA_DIR_PeripheralSRC,
+				.DMA_PeripheralInc      = DMA_PeripheralInc_Disable,
+				.DMA_MemoryInc          = DMA_MemoryInc_Enable,
+				.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte,
+				.DMA_MemoryDataSize     = DMA_MemoryDataSize_Byte,
+				.DMA_Mode               = DMA_Mode_Normal,
+				.DMA_Priority           = DMA_Priority_Medium,
+				.DMA_M2M                = DMA_M2M_Disable,
+			},
+		},
+		.tx = {
+			.channel = DMA1_Channel3,
+			.init    = {
+				.DMA_PeripheralBaseAddr = (uint32_t)&(SPI1->DR),
+				.DMA_DIR                = DMA_DIR_PeripheralDST,
+				.DMA_PeripheralInc      = DMA_PeripheralInc_Disable,
+				.DMA_MemoryInc          = DMA_MemoryInc_Enable,
+				.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte,
+				.DMA_MemoryDataSize     = DMA_MemoryDataSize_Byte,
+				.DMA_Mode               = DMA_Mode_Normal,
+				.DMA_Priority           = DMA_Priority_Medium,
+				.DMA_M2M                = DMA_M2M_Disable,
+			},
+		},
+	},
+	.ssel = {
+		.gpio = GPIOA,
+		.init = {
+			.GPIO_Pin   = GPIO_Pin_4,
+			.GPIO_Speed = GPIO_Speed_50MHz,
+			.GPIO_Mode  = GPIO_Mode_Out_PP,
+		},
+	},
+	.sclk = {
+		.gpio = GPIOA,
+		.init = {
+			.GPIO_Pin   = GPIO_Pin_5,
+			.GPIO_Speed = GPIO_Speed_50MHz,
+			.GPIO_Mode  = GPIO_Mode_AF_PP,
+		},
+	},
+	.miso = {
+		.gpio = GPIOA,
+		.init = {
+			.GPIO_Pin   = GPIO_Pin_6,
+			.GPIO_Speed = GPIO_Speed_50MHz,
+			.GPIO_Mode  = GPIO_Mode_IPU,
+		},
+	},
+	.mosi = {
+		.gpio = GPIOA,
+		.init = {
+			.GPIO_Pin   = GPIO_Pin_7,
+			.GPIO_Speed = GPIO_Speed_50MHz,
+			.GPIO_Mode  = GPIO_Mode_AF_PP,
+		},
+	},
+};
+
+static uint32_t pios_spi_gyro_id;
+void PIOS_SPI_gyro_irq_handler(void)
+{
+	/* Call into the generic code to handle the IRQ for this specific device */
+	PIOS_SPI_IRQ_Handler(pios_spi_gyro_id);
+}
+
+
 /* Flash/Accel Interface
  * 
  * NOTE: Leave this declared as const data so that it ends up in the 
@@ -1034,6 +1135,35 @@ uint32_t pios_com_vcp_id;
 uint32_t pios_com_gps_id;
 uint32_t pios_com_bridge_id;
 
+#include "pios_l3gd20.h"
+static const struct pios_l3gd20_cfg pios_l3gd20_cfg = {
+	.drdy = {
+		.gpio = GPIOA,
+		.init = {
+			.GPIO_Pin   = GPIO_Pin_3,
+			.GPIO_Speed = GPIO_Speed_10MHz,
+			.GPIO_Mode  = GPIO_Mode_IPU,
+		},
+	},
+	.eoc_exti = {
+		.init = {
+			.EXTI_Line = EXTI_Line3, // matches above GPIO pin
+			.EXTI_Mode = EXTI_Mode_Interrupt,
+			.EXTI_Trigger = EXTI_Trigger_Rising,
+			.EXTI_LineCmd = ENABLE,
+		},
+	},
+	.eoc_irq = {
+		.init = {
+			.NVIC_IRQChannel = EXTI3_IRQn,
+			.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
+			.NVIC_IRQChannelSubPriority = 0,
+			.NVIC_IRQChannelCmd = ENABLE,
+		},
+	},
+	.gyro_range = PIOS_L3GD20_SCALE_500_DEG,
+};
+
 /**
  * PIOS_Board_Init()
  * initializes all the core subsystems on this specific hardware

flight/PiOS/inc/pios_stm32.h

@@ -53,6 +53,12 @@ struct stm32_gpio {
 	GPIO_InitTypeDef init;
 };
 
+struct stm32_exti {
+	uint8_t pin_source;
+	uint8_t port_source;
+	EXTI_InitTypeDef init;
+};
+
 /**
   * @}
   * @}