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+/*
 AMiRo-LLD is a compilation of low-level hardware drivers for the Autonomous Mini Robot (AMiRo) platform.
-            f125ae07
+Copyright (C) 2016..2019  Thomas Schöpping et al.
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+            Thomas Schöpping
 This program is free software: you can redistribute it and/or modify
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+it under the terms of the GNU Lesser General Public License as published by
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+the Free Software Foundation, either version 3 of the License, or
 (at your option) any later version.
 This program is distributed in the hope that it will be useful,
 but WITHOUT ANY WARRANTY; without even the implied warranty of
 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
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+GNU Lesser General Public License for more details.
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+            Thomas Schöpping
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+You should have received a copy of the GNU Lesser General Public License
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+along with this program.  If not, see <http://www.gnu.org/licenses/>.
 */
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+/**
  * @file    alld_l3g4200d.c
  * @brief   Gyroscope function implementations.
+ *
  * @addtogroup lld_gyroscope
  * @{
  */
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+#include<alld_l3g4200d.h>
 #if defined(AMIROLLD_CFG_USE_L3G4200D) || defined(__DOXYGEN__)
 #include <string.h>
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+/******************************************************************************/
 /* LOCAL DEFINITIONS                                                          */
 /******************************************************************************/
 /******************************************************************************/
 /* EXPORTED VARIABLES                                                         */
 /******************************************************************************/
 /******************************************************************************/
 /* LOCAL TYPES                                                                */
 /******************************************************************************/
 /******************************************************************************/
 /* LOCAL VARIABLES                                                            */
 /******************************************************************************/
 /******************************************************************************/
 /* LOCAL FUNCTIONS                                                            */
 /******************************************************************************/
 /******************************************************************************/
 /* EXPORTED FUNCTIONS                                                         */
 /******************************************************************************/
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+/**
  * @brief Read the content of one or more registers.
  * @param[in]   l3gd      The L3G4200D driver to use.
  * @param[in]   regaddr   The address of the first register.
  * @param[out]  data      The data read from the registers.
  * @param[in]   length    Number of registers to read.
+ *
  * @return  The return status indicates whether the function call was succesfull or a timeout occurred.
  */
 inline apalExitStatus_t
 l3g4200d_lld_read_register(const L3G4200DDriver* const l3gd, const l3g4200d_lld_register_t regaddr, uint8_t* const data, const uint8_t length)
+{
   apalDbgAssert(l3gd != NULL && l3gd->spid != NULL);
   apalDbgAssert(data != NULL);
   uint8_t buffer[length+1];
   buffer[0] = regaddr | L3G4200D_LLD_SPI_READ | ((length > 1) ? L3G4200D_LLD_SPI_MULT : 0);
   apalExitStatus_t status = apalSPIExchange(l3gd->spid, buffer, buffer, length+1);
   memcpy(data, buffer+1, length);
   return status;
+}
 /**
  * @brief Write to one or more registers.
  * @param[in]   l3gd      The L3G4200D driver to use.
  * @param[in]   regaddr   The address of the first register.
  * @param[in]   data      The data to be written to the registers.
  * @param[in]   length    Number of registers to write.
+ *
  * @return  The return status indicates whether the function call was succesfull or a timeout occurred.
  */
 inline apalExitStatus_t
 l3g4200d_lld_write_register(const L3G4200DDriver* const l3gd, const l3g4200d_lld_register_t regaddr, const uint8_t* const data, const uint8_t length)
+{
   apalDbgAssert(l3gd != NULL && l3gd->spid != NULL);
   apalDbgAssert(data != NULL);
   uint8_t buffer[length+1];
   buffer[0] = regaddr | L3G4200D_LLD_SPI_WRITE | ((length > 1) ? L3G4200D_LLD_SPI_MULT : 0);
   memcpy(buffer+1, data, length);
   return apalSPITransmit(l3gd->spid, buffer, length+1);
+}
 /**
  * @brief Read the sensor data of all 3 axes.
  * @param[in]   l3gd      The L3G4200D driver to use.
  * @param[out]  data      The sensor data.
  * @param[in]   cfg       The current configuration. Needed to find out if the data is saved as little or big endian.
+ *
  * @return  The return status indicates whether the function call was succesfull or a timeout occurred.
  */
 inline apalExitStatus_t
 l3g4200d_lld_read_all_data(const L3G4200DDriver* const l3gd, int16_t* const data, const l3g4200d_lld_cfg_t* const cfg)
+{
   apalDbgAssert(data != NULL);
   apalDbgAssert(cfg != NULL);
   uint8_t buffer[6];
   apalExitStatus_t status = l3g4200d_lld_read_register(l3gd, L3G4200D_LLD_REGISTER_OUT_X_L, buffer, 6);
   if (!(cfg->registers.ctrl_reg4 & L3G4200D_LLD_BLE_MSB)) {
     data[0] = (int16_t) (buffer[0] | (buffer[1] << 8));
     data[1] = (int16_t) (buffer[2] | (buffer[3] << 8));
     data[2] = (int16_t) (buffer[4] | (buffer[5] << 8));
   } else {
     data[0] = (int16_t) (buffer[1] | (buffer[0] << 8));
     data[1] = (int16_t) (buffer[3] | (buffer[2] << 8));
     data[2] = (int16_t) (buffer[5] | (buffer[4] << 8));
+  }
   return status;
+}
 /**
  * @brief Read the sensor data of one axis.
  * @param[in]   l3gd      The L3G4200D driver to use.
  * @param[out]  data      The sensor data.
  * @param[in]   axis      The axis for which the data should be read.
  * @param[in]   cfg       The current configuration. Needed to find out if the data is saved as little or big endian.
+ *
  * @return  The return status indicates whether the function call was succesfull or a timeout occurred.
  */
 inline apalExitStatus_t
 l3g4200d_lld_read_data(const L3G4200DDriver* const l3gd, int16_t* const data, const l3g4200d_lld_axis_t axis, const l3g4200d_lld_cfg_t* const cfg)
+{
   apalDbgAssert(data != NULL);
   apalDbgAssert(cfg != NULL);
   apalExitStatus_t status = APAL_STATUS_SUCCESS;
   uint8_t buffer[2];
   switch (axis) {
     case L3G4200D_LLD_X_AXIS:
       status = l3g4200d_lld_read_register(l3gd, L3G4200D_LLD_REGISTER_OUT_X_L, buffer, 2);
       break;
     case L3G4200D_LLD_Y_AXIS:
       status = l3g4200d_lld_read_register(l3gd, L3G4200D_LLD_REGISTER_OUT_Y_L, buffer, 2);
       break;
     case L3G4200D_LLD_Z_AXIS:
       status = l3g4200d_lld_read_register(l3gd, L3G4200D_LLD_REGISTER_OUT_Z_L, buffer, 2);
       break;
     default:
       return APAL_STATUS_INVALIDARGUMENTS;
+  }
   // entweder jedes mal endian abfragen oder config mit übergeben
   if (!(cfg->registers.ctrl_reg4 & L3G4200D_LLD_BLE_MSB)) {
     *data = (int16_t) (buffer[0] | (buffer[1] << 8));
   } else {
     *data = (int16_t) (buffer[1] | (buffer[0] << 8));
+  }
   return status;
+}
 /**
  * @brief Read the current configuration
  * @param[in]   l3gd      The L3G4200D driver to use.
  * @param[out]  cfg       The current configuration.
+ *
  * @return  The return status indicates whether the function call was succesfull or a timeout occurred.
  */
 inline apalExitStatus_t
 l3g4200d_lld_read_config(const L3G4200DDriver* const l3gd, l3g4200d_lld_cfg_t* const cfg)
+{
   apalDbgAssert(cfg != NULL);
   return l3g4200d_lld_read_register(l3gd, L3G4200D_LLD_REGISTER_CTRL_REG1, cfg->data, 5);
+}
 /**
  * @brief Write the a configuration
  * @param[in]   l3gd      The L3G4200D driver to use.
  * @param[in]   cfg       The new configuration.
+ *
  * @return  The return status indicates whether the function call was succesfull or a timeout occurred.
  */
 inline apalExitStatus_t
 l3g4200d_lld_write_config(const L3G4200DDriver* const l3gd, const l3g4200d_lld_cfg_t cfg)
+{
   return l3g4200d_lld_write_register(l3gd, L3G4200D_LLD_REGISTER_CTRL_REG1, cfg.data, 5);
+}
 /**
  * @brief Read the interrupt configuration of one of the interrupts.
  * @param[in]   spid        The SPI driver to use.
  * @param[out]  cfg         The current interrupt configuration.
+ *
  * @return  The return status indicates whether the function call was succesfull or a timeout occurred.
  */
 inline apalExitStatus_t
 l3g4200d_lld_read_int_config(const L3G4200DDriver* const l3gd, l3g4200d_lld_int_cfg_t* const cfg)
+{
   apalDbgAssert(cfg != NULL);
   return l3g4200d_lld_read_register(l3gd, L3G4200D_LLD_REGISTER_INT1_CFG, cfg->data, 9);
+}
 /**
  * @brief Write the interrupt configuration.
  * @param[in]   spid        The SPI driver to use.
  * @param[in]   cfg         The current new configuration.
+ *
  * @return  The return status indicates whether the function call was succesfull or a timeout occurred.
  */
 inline apalExitStatus_t
 l3g4200d_lld_write_int_config(const L3G4200DDriver* const l3gd, const l3g4200d_lld_int_cfg_t cfg)
+{
   apalExitStatus_t status = l3g4200d_lld_write_register(l3gd, L3G4200D_LLD_REGISTER_INT1_CFG, cfg.data, 1);
   if (status != APAL_STATUS_OK) {
     return status;
+  }
   return l3g4200d_lld_write_register(l3gd, L3G4200D_LLD_REGISTER_INT1_TSH_XH, &cfg.data[2], 7);
+}
 /**
  * @brief Read the status register.
  * @param[in]   spid        The SPI driver to use.
  * @param[out]  status      The current status register.
+ *
  * @return  The return status indicates whether the function call was succesfull or a timeout occurred.
  */
 inline apalExitStatus_t
 l3g4200d_lld_read_status_register(const L3G4200DDriver* const l3gd, uint8_t* const status)
+{
   apalDbgAssert(status != NULL);
   return l3g4200d_lld_read_register(l3gd, L3G4200D_LLD_REGISTER_STATUS_REG, status, 1);
+}
 /**
  * @brief Read the fifo ctrl register.
  * @param[in]   spid        The SPI driver to use.
  * @param[out]  fifo        The current fifo ctrl register.
+ *
  * @return  The return status indicates whether the function call was succesfull or a timeout occurred.
  */
 inline apalExitStatus_t
 l3g4200d_lld_read_fifo_ctrl_register(const L3G4200DDriver* const l3gd, uint8_t* const fifo)
+{
   apalDbgAssert(fifo != NULL);
   return l3g4200d_lld_read_register(l3gd, L3G4200D_LLD_REGISTER_FIFO_CTRL_REG, fifo, 1);
+}
 /**
  * @brief Write the fifo ctrl register.
  * @param[in]   spid        The SPI driver to use.
  * @param[in]   fifo        The new fifo ctrl register.
+ *
  * @return  The return status indicates whether the function call was succesfull or a timeout occurred.
  */
 inline apalExitStatus_t
 l3g4200d_lld_write_fifo_ctrl_register(const L3G4200DDriver* const l3gd, const uint8_t fifo)
+{
   return l3g4200d_lld_write_register(l3gd, L3G4200D_LLD_REGISTER_FIFO_CTRL_REG, &fifo, 1);
+}
 /**
  * @brief Read the fifo src register.
  * @param[in]   spid        The SPI driver to use.
  * @param[out]  fifo        The current fifo src register.
+ *
  * @return  The return status indicates whether the function call was succesfull or a timeout occurred.
  */
 inline apalExitStatus_t
 l3g4200d_lld_read_fifo_src_register(const L3G4200DDriver* const l3gd, uint8_t* const fifo)
+{
   apalDbgAssert(fifo != NULL);
   return l3g4200d_lld_read_register(l3gd, L3G4200D_LLD_REGISTER_FIFO_SRC_REG, fifo, 1);
+}
 /**
  * @brief Read the interrupt src register.
  * @param[in]   spid        The SPI driver to use.
  * @param[out]  cfg         The current fifo src register.
+ *
  * @return  The return status indicates whether the function call was succesfull or a timeout occurred.
  */
 inline apalExitStatus_t
 l3g4200d_lld_read_int_src(const L3G4200DDriver* const l3gd, uint8_t* const cfg)
+{
   apalDbgAssert(cfg != NULL);
   return l3g4200d_lld_read_register(l3gd, L3G4200D_LLD_REGISTER_INT1_SRC, cfg, 1);
+}
 #endif /* defined(AMIROLLD_CFG_USE_L3G4200D) */
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+            Marc Rothmann
 /** @} */