Fixed Bug #943

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@11985 110e8d01-0319-4d1e-a829-52ad28d1bb01

20 files changed, 570 insertions, 572 deletions

diff --git a/os/ex/ST/hts221.c b/os/ex/ST/hts221.c
index 622956693..59a020926 100644
--- a/os/ex/ST/hts221.c
+++ b/os/ex/ST/hts221.c
@@ -460,7 +460,7 @@ static msg_t thermo_read_raw(void *ip, int32_t axes[]) {
  *          BaseThermometer axes number.

  *

  * @param[in] ip        pointer to @p BaseThermometer interface.

- * @param[out] axes     a buffer which would be filled with cooked data.

+ * @param[out] axis     a buffer which would be filled with cooked data.

  *

  * @return              The operation status.

  * @retval MSG_OK       if the function succeeded.

diff --git a/os/ex/ST/hts221.h b/os/ex/ST/hts221.h
index 1bd064523..da2fa2d1d 100644
--- a/os/ex/ST/hts221.h
+++ b/os/ex/ST/hts221.h
@@ -44,7 +44,7 @@
 /**

  * @brief   HTS221 driver version string.

  */

-#define EX_HTS221_VERSION                   "1.1.0"

+#define EX_HTS221_VERSION                   "1.1.1"

 

 /**

  * @brief   HTS221 driver version major number.

@@ -59,7 +59,7 @@
 /**

  * @brief   HTS221 driver version patch number.

  */

-#define EX_HTS221_PATCH                     0

+#define EX_HTS221_PATCH                     1

 /** @} */

 

 /**

diff --git a/os/ex/ST/l3gd20.c b/os/ex/ST/l3gd20.c
index b520aaf38..9fa670260 100644
--- a/os/ex/ST/l3gd20.c
+++ b/os/ex/ST/l3gd20.c
@@ -189,7 +189,7 @@ static msg_t gyro_read_cooked(void *ip, float axes[]) {
  * @brief   Samples bias values for the BaseGyroscope.

  * @note    The L3GD20 shall not be moved during the whole procedure.

  * @note    After this function internal bias is automatically updated.

- * @note    The behavior of this function depends on @P L3GD20_BIAS_ACQ_TIMES

+ * @note    The behavior of this function depends on @p L3GD20_BIAS_ACQ_TIMES

  *          and @p L3GD20_BIAS_SETTLING_US.

  *

  * @param[in] ip        pointer to @p BaseGyroscope interface.

@@ -368,7 +368,7 @@ static msg_t gyro_reset_sensivity(void *ip) {
  *          previous and next fullscale value.

  * @note    A recalibration is highly suggested after calling this function.

  *

- * @param[in] ip        pointer to @p BaseGyroscope interface.

+ * @param[in] devp      pointer to @p BaseGyroscope interface.

  * @param[in] fs        new fullscale value.

  *

  * @return              The operation status.

diff --git a/os/ex/ST/l3gd20.h b/os/ex/ST/l3gd20.h
index fdeb600f6..bea56432c 100644
--- a/os/ex/ST/l3gd20.h
+++ b/os/ex/ST/l3gd20.h
@@ -1,72 +1,72 @@
-/*

-    ChibiOS - Copyright (C) 2016..2018 Rocco Marco Guglielmi

-

-    This file is part of ChibiOS.

-

-    ChibiOS is free software; you can redistribute it and/or modify

-    it under the terms of the GNU General Public License as published by

-    the Free Software Foundation; either version 3 of the License, or

-    (at your option) any later version.

-

-    ChibiOS 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

-    GNU General Public License for more details.

-

-    You should have received a copy of the GNU General Public License

-    along with this program.  If not, see <http://www.gnu.org/licenses/>.

-	

-*/

-

-/**

- * @file    l3gd20.h

- * @brief   L3GD20 MEMS interface module header.

- *

- * @addtogroup L3GD20

- * @ingroup EX_ST

- * @{

- */

-#ifndef _L3GD20_H_

-#define _L3GD20_H_

-

-#include "hal_gyroscope.h"

-

-/*===========================================================================*/

-/* Driver constants.                                                         */

-/*===========================================================================*/

-

-/**

- * @name    Version identification

- * @{

- */

-/**

- * @brief   L3GD20 driver version string.

- */

-#define EX_L3GD20_VERSION                   "1.1.0"

-

-/**

- * @brief   L3GD20 driver version major number.

- */

-#define EX_L3GD20_MAJOR                     1

-

-/**

- * @brief   L3GD20 driver version minor number.

- */

-#define EX_L3GD20_MINOR                     1

-

-/**

- * @brief   L3GD20 driver version patch number.

- */

-#define EX_L3GD20_PATCH                     0

-/** @} */

-

-/**

- * @brief   L3GD20 gyroscope system characteristics.

- * @note    Sensitivity is expressed as DPS/LSB whereas DPS stand for Degree

- *          per second [°/s].

- * @note    Bias is expressed as DPS.

- *

- * @{

+/*
+    ChibiOS - Copyright (C) 2016..2018 Rocco Marco Guglielmi
+
+    This file is part of ChibiOS.
+
+    ChibiOS is free software; you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation; either version 3 of the License, or
+    (at your option) any later version.
+
+    ChibiOS 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
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program.  If not, see <http://www.gnu.org/licenses/>.
+	
+*/
+
+/**
+ * @file    l3gd20.h
+ * @brief   L3GD20 MEMS interface module header.
+ *
+ * @addtogroup L3GD20
+ * @ingroup EX_ST
+ * @{
+ */
+#ifndef _L3GD20_H_
+#define _L3GD20_H_
+
+#include "hal_gyroscope.h"
+
+/*===========================================================================*/
+/* Driver constants.                                                         */
+/*===========================================================================*/
+
+/**
+ * @name    Version identification
+ * @{
+ */
+/**
+ * @brief   L3GD20 driver version string.
+ */
+#define EX_L3GD20_VERSION                   "1.1.1"
+
+/**
+ * @brief   L3GD20 driver version major number.
+ */
+#define EX_L3GD20_MAJOR                     1
+
+/**
+ * @brief   L3GD20 driver version minor number.
+ */
+#define EX_L3GD20_MINOR                     1
+
+/**
+ * @brief   L3GD20 driver version patch number.
+ */
+#define EX_L3GD20_PATCH                     1
+/** @} */
+
+/**
+ * @brief   L3GD20 gyroscope system characteristics.
+ * @note    Sensitivity is expressed as DPS/LSB whereas DPS stand for Degree
+ *          per second [°/s].
+ * @note    Bias is expressed as DPS.
+ *
+ * @{
  */
 #define L3GD20_GYRO_NUMBER_OF_AXES          3U
                                             
@@ -76,8 +76,8 @@
                                             
 #define L3GD20_GYRO_SENS_250DPS             0.00875f
 #define L3GD20_GYRO_SENS_500DPS             0.01750f
-#define L3GD20_GYRO_SENS_2000DPS            0.07000f

-

+#define L3GD20_GYRO_SENS_2000DPS            0.07000f
+
 #define L3GD20_GYRO_BIAS                    0.0f
 /** @} */
 
@@ -194,36 +194,36 @@
 #define L3GD20_CTRL_REG5_FIFO_EN            (1 << 6)
 #define L3GD20_CTRL_REG5_BOOT               (1 << 7)
 /** @} */
-

-/**

- * @name    L3GD20_INT1_CFG register bits definitions

- * @{

- */

-#define L3GD20_INT1_CFG_MASK                0xFF

-#define L3GD20_INT1_CFG_XLIE                (1 << 0)

-#define L3GD20_INT1_CFG_XHIE                (1 << 1)

-#define L3GD20_INT1_CFG_YLIE                (1 << 2)

-#define L3GD20_INT1_CFG_YHIE                (1 << 3)

-#define L3GD20_INT1_CFG_ZLIE                (1 << 4)

-#define L3GD20_INT1_CFG_ZHIE                (1 << 5)

-#define L3GD20_INT1_CFG_LIR                 (1 << 6)

-#define L3GD20_INT1_CFG_AND_OR              (1 << 7)

-/** @} */

-

-/**

- * @name    L3GD20_INT1_SRC register bits definitions

- * @{

- */

-#define L3GD20_INT1_SRC_MASK                0x7F

-#define L3GD20_INT1_SRC_XL                  (1 << 0)

-#define L3GD20_INT1_SRC_XH                  (1 << 1)

-#define L3GD20_INT1_SRC_YL                  (1 << 2)

-#define L3GD20_INT1_SRC_YH                  (1 << 3)

-#define L3GD20_INT1_SRC_ZL                  (1 << 4)

-#define L3GD20_INT1_SRC_ZH                  (1 << 5)

-#define L3GD20_INT1_SRC_IA                  (1 << 6)

-/** @} */

-

+
+/**
+ * @name    L3GD20_INT1_CFG register bits definitions
+ * @{
+ */
+#define L3GD20_INT1_CFG_MASK                0xFF
+#define L3GD20_INT1_CFG_XLIE                (1 << 0)
+#define L3GD20_INT1_CFG_XHIE                (1 << 1)
+#define L3GD20_INT1_CFG_YLIE                (1 << 2)
+#define L3GD20_INT1_CFG_YHIE                (1 << 3)
+#define L3GD20_INT1_CFG_ZLIE                (1 << 4)
+#define L3GD20_INT1_CFG_ZHIE                (1 << 5)
+#define L3GD20_INT1_CFG_LIR                 (1 << 6)
+#define L3GD20_INT1_CFG_AND_OR              (1 << 7)
+/** @} */
+
+/**
+ * @name    L3GD20_INT1_SRC register bits definitions
+ * @{
+ */
+#define L3GD20_INT1_SRC_MASK                0x7F
+#define L3GD20_INT1_SRC_XL                  (1 << 0)
+#define L3GD20_INT1_SRC_XH                  (1 << 1)
+#define L3GD20_INT1_SRC_YL                  (1 << 2)
+#define L3GD20_INT1_SRC_YH                  (1 << 3)
+#define L3GD20_INT1_SRC_ZL                  (1 << 4)
+#define L3GD20_INT1_SRC_ZH                  (1 << 5)
+#define L3GD20_INT1_SRC_IA                  (1 << 6)
+/** @} */
+
 /*===========================================================================*/
 /* Driver pre-compile time settings.                                         */
 /*===========================================================================*/
@@ -232,52 +232,52 @@
  * @name    Configuration options
  * @{
  */
-/**

- * @brief   L3GD20 SPI interface switch.

- * @details If set to @p TRUE the support for SPI is included.

- * @note    The default is @p TRUE.

- */

-#if !defined(L3GD20_USE_SPI) || defined(__DOXYGEN__)

-#define L3GD20_USE_SPI                      TRUE

-#endif

-

-/**

- * @brief   L3GD20 shared SPI switch.

- * @details If set to @p TRUE the device acquires SPI bus ownership

- *          on each transaction.

- * @note    The default is @p FALSE. Requires SPI_USE_MUTUAL_EXCLUSION.

- */

-#if !defined(L3GD20_SHARED_SPI) || defined(__DOXYGEN__)

-#define L3GD20_SHARED_SPI                   FALSE

-#endif

-

-/**

- * @brief   L3GD20 I2C interface switch.

- * @details If set to @p TRUE the support for I2C is included.

- * @note    The default is @p FALSE.

- */

-#if !defined(L3GD20_USE_I2C) || defined(__DOXYGEN__)

-#define L3GD20_USE_I2C                      FALSE

-#endif

-

-/**

- * @brief   L3GD20 shared I2C switch.

- * @details If set to @p TRUE the device acquires I2C bus ownership

- *          on each transaction.

- * @note    The default is @p FALSE. Requires I2C_USE_MUTUAL_EXCLUSION.

- */

-#if !defined(L3GD20_SHARED_I2C) || defined(__DOXYGEN__)

-#define L3GD20_SHARED_I2C                   FALSE

-#endif

-

-/**

- * @brief   L3GD20 accelerometer subsystem advanced configurations

- *          switch.

- * @details If set to @p TRUE more configurations are available.

- * @note    The default is @p FALSE.

- */

-#if !defined(L3GD20_GYRO_USE_ADVANCED) || defined(__DOXYGEN__)

-#define L3GD20_GYRO_USE_ADVANCED            FALSE

+/**
+ * @brief   L3GD20 SPI interface switch.
+ * @details If set to @p TRUE the support for SPI is included.
+ * @note    The default is @p TRUE.
+ */
+#if !defined(L3GD20_USE_SPI) || defined(__DOXYGEN__)
+#define L3GD20_USE_SPI                      TRUE
+#endif
+
+/**
+ * @brief   L3GD20 shared SPI switch.
+ * @details If set to @p TRUE the device acquires SPI bus ownership
+ *          on each transaction.
+ * @note    The default is @p FALSE. Requires SPI_USE_MUTUAL_EXCLUSION.
+ */
+#if !defined(L3GD20_SHARED_SPI) || defined(__DOXYGEN__)
+#define L3GD20_SHARED_SPI                   FALSE
+#endif
+
+/**
+ * @brief   L3GD20 I2C interface switch.
+ * @details If set to @p TRUE the support for I2C is included.
+ * @note    The default is @p FALSE.
+ */
+#if !defined(L3GD20_USE_I2C) || defined(__DOXYGEN__)
+#define L3GD20_USE_I2C                      FALSE
+#endif
+
+/**
+ * @brief   L3GD20 shared I2C switch.
+ * @details If set to @p TRUE the device acquires I2C bus ownership
+ *          on each transaction.
+ * @note    The default is @p FALSE. Requires I2C_USE_MUTUAL_EXCLUSION.
+ */
+#if !defined(L3GD20_SHARED_I2C) || defined(__DOXYGEN__)
+#define L3GD20_SHARED_I2C                   FALSE
+#endif
+
+/**
+ * @brief   L3GD20 accelerometer subsystem advanced configurations
+ *          switch.
+ * @details If set to @p TRUE more configurations are available.
+ * @note    The default is @p FALSE.
+ */
+#if !defined(L3GD20_GYRO_USE_ADVANCED) || defined(__DOXYGEN__)
+#define L3GD20_GYRO_USE_ADVANCED            FALSE
 #endif
 
 /**
@@ -302,32 +302,32 @@
 /* Derived constants and error checks.                                       */
 /*===========================================================================*/
 
-#if !(L3GD20_USE_SPI ^ L3GD20_USE_I2C)

-#error "L3GD20_USE_SPI and L3GD20_USE_I2C cannot be both true or both false"

-#endif

-

-#if L3GD20_USE_SPI && !HAL_USE_SPI

-#error "L3GD20_USE_SPI requires HAL_USE_SPI"

-#endif

-

-#if L3GD20_SHARED_SPI && !SPI_USE_MUTUAL_EXCLUSION

-#error "L3GD20_SHARED_SPI requires SPI_USE_MUTUAL_EXCLUSION"

-#endif

-

-#if L3GD20_USE_I2C && !HAL_USE_I2C

-#error "L3GD20_USE_I2C requires HAL_USE_I2C"

-#endif

-

-#if L3GD20_SHARED_I2C && !I2C_USE_MUTUAL_EXCLUSION

-#error "L3GD20_SHARED_I2C requires I2C_USE_MUTUAL_EXCLUSION"

-#endif

-

-/**

- * @todo    Add support for L3GD20 over I2C.

- */

-#if L3GD20_USE_I2C

-#error "L3GD20 over I2C still not supported"

-#endif

+#if !(L3GD20_USE_SPI ^ L3GD20_USE_I2C)
+#error "L3GD20_USE_SPI and L3GD20_USE_I2C cannot be both true or both false"
+#endif
+
+#if L3GD20_USE_SPI && !HAL_USE_SPI
+#error "L3GD20_USE_SPI requires HAL_USE_SPI"
+#endif
+
+#if L3GD20_SHARED_SPI && !SPI_USE_MUTUAL_EXCLUSION
+#error "L3GD20_SHARED_SPI requires SPI_USE_MUTUAL_EXCLUSION"
+#endif
+
+#if L3GD20_USE_I2C && !HAL_USE_I2C
+#error "L3GD20_USE_I2C requires HAL_USE_I2C"
+#endif
+
+#if L3GD20_SHARED_I2C && !I2C_USE_MUTUAL_EXCLUSION
+#error "L3GD20_SHARED_I2C requires I2C_USE_MUTUAL_EXCLUSION"
+#endif
+
+/**
+ * @todo    Add support for L3GD20 over I2C.
+ */
+#if L3GD20_USE_I2C
+#error "L3GD20 over I2C still not supported"
+#endif
 
 /*===========================================================================*/
 /* Driver data structures and types.                                         */
@@ -336,11 +336,11 @@
 /**
  * @name    L3GD20 data structures and types.
  * @{
- */

-/**

- * @brief   Structure representing a L3GD20 driver.

- */

-typedef struct L3GD20Driver L3GD20Driver;

+ */
+/**
+ * @brief   Structure representing a L3GD20 driver.
+ */
+typedef struct L3GD20Driver L3GD20Driver;
 
 /**
  * @brief   L3GD20 full scale.
@@ -369,7 +369,7 @@ typedef enum {
   L3GD20_BW1 = 0x40,                /**< LPF1 bandwidth. Depends on ODR.    */
   L3GD20_BW2 = 0x80,                /**< LPF1 bandwidth. Depends on ODR.    */
   L3GD20_BW3 = 0xC0                 /**< LPF1 bandwidth. Depends on ODR.    */
-} l3gd20_bw_t;

+} l3gd20_bw_t;
 
 /**
  * @brief   L3GD20 block data update.
@@ -430,7 +430,7 @@ typedef enum {
   L3GD20_STOP = 1,                  /**< Stopped.                           */
   L3GD20_READY = 2                  /**< Ready.                             */
 } l3gd20_state_t;
-

+
 /**
  * @brief   L3GD20 configuration structure.
  */
@@ -463,7 +463,7 @@ typedef struct {
   /**
    * @brief   L3GD20 gyroscope system initial bias.
    */
-  float                     *gyrobias;

+  float                     *gyrobias;
   /** 
    * @brief   L3GD20 gyroscope system initial full scale value.
    */
@@ -500,20 +500,20 @@ typedef struct {
   l3gd20_lp2m_t             gyrolp2mode;
 #endif
 } L3GD20Config;
-

-/**

- * @brief   @p L3GD20 specific methods.

- */

-#define _l3gd20_methods_alone                                               \

-  /* Change full scale value of L3GD20.*/                                   \

-  msg_t (*gyro_set_full_scale)(L3GD20Driver *devp, l3gd20_fs_t fs);

+
+/**
+ * @brief   @p L3GD20 specific methods.
+ */
+#define _l3gd20_methods_alone                                               \
+  /* Change full scale value of L3GD20.*/                                   \
+  msg_t (*gyro_set_full_scale)(L3GD20Driver *devp, l3gd20_fs_t fs);
 
 /**
  * @brief   @p L3GD20 specific methods with inherited ones.
  */
 #define _l3gd20_methods                                                     \
   _base_object_methods                                                      \
-  _l3gd20_methods_alone

+  _l3gd20_methods_alone
 
 /**
  * @extends BaseObjectVMT
@@ -532,8 +532,8 @@ struct L3GD20VMT {
   /* Driver state.*/                                                        \
   l3gd20_state_t            state;                                          \
   /* Current configuration data.*/                                          \
-  const L3GD20Config        *config;                                        \

-  /* Gyroscope subsystem axes number.*/                                     \

+  const L3GD20Config        *config;                                        \
+  /* Gyroscope subsystem axes number.*/                                     \
   size_t                    gyroaxes;                                       \
   /* Gyroscope subsystem current sensitivity.*/                             \
   float                     gyrosensitivity[L3GD20_GYRO_NUMBER_OF_AXES];    \
@@ -547,8 +547,8 @@ struct L3GD20VMT {
  */
 struct L3GD20Driver {
   /** @brief Virtual Methods Table. */
-  const struct L3GD20VMT    *vmt;

-  /** @brief Base gyroscope interface.*/

+  const struct L3GD20VMT    *vmt;
+  /** @brief Base gyroscope interface.*/
   BaseGyroscope             gyro_if;
   _l3gd20_data
 };
@@ -557,154 +557,154 @@ struct L3GD20Driver {
 /*===========================================================================*/
 /* Driver macros.                                                            */
 /*===========================================================================*/
-

-/**

- * @brief   Return the number of axes of the BaseGyroscope.

- *

- * @param[in] devp      pointer to @p L3GD20Driver.

- *

- * @return              the number of axes.

- *

- * @api

- */

-#define l3gd20GyroscopeGetAxesNumber(devp)                                  \

-        gyroscopeGetAxesNumber(&((devp)->gyro_if))

+
+/**
+ * @brief   Return the number of axes of the BaseGyroscope.
+ *
+ * @param[in] devp      pointer to @p L3GD20Driver.
+ *
+ * @return              the number of axes.
+ *
+ * @api
+ */
+#define l3gd20GyroscopeGetAxesNumber(devp)                                  \
+        gyroscopeGetAxesNumber(&((devp)->gyro_if))
         
-/**

- * @brief   Retrieves raw data from the BaseGyroscope.

- * @note    This data is retrieved from MEMS register without any algebraical

- *          manipulation.

- * @note    The axes array must be at least the same size of the

- *          BaseGyroscope axes number.

- *

- * @param[in] devp      pointer to @p L3GD20Driver.

- * @param[out] axes     a buffer which would be filled with raw data.

- *

- * @return              The operation status.

- * @retval MSG_OK       if the function succeeded.

- *

- * @api

- */

-#define l3gd20GyroscopeReadRaw(devp, axes)                                  \

+/**
+ * @brief   Retrieves raw data from the BaseGyroscope.
+ * @note    This data is retrieved from MEMS register without any algebraical
+ *          manipulation.
+ * @note    The axes array must be at least the same size of the
+ *          BaseGyroscope axes number.
+ *
+ * @param[in] devp      pointer to @p L3GD20Driver.
+ * @param[out] axes     a buffer which would be filled with raw data.
+ *
+ * @return              The operation status.
+ * @retval MSG_OK       if the function succeeded.
+ *
+ * @api
+ */
+#define l3gd20GyroscopeReadRaw(devp, axes)                                  \
         gyroscopeReadRaw(&((devp)->gyro_if), axes)
-

-/**

- * @brief   Retrieves cooked data from the BaseGyroscope.

- * @note    This data is manipulated according to the formula

- *          cooked = (raw * sensitivity) - bias.

- * @note    Final data is expressed as DPS.

- * @note    The axes array must be at least the same size of the

- *          BaseGyroscope axes number.

- *

- * @param[in] devp      pointer to @p L3GD20Driver.

- * @param[out] axes     a buffer which would be filled with cooked data.

- *

- * @return              The operation status.

- * @retval MSG_OK       if the function succeeded.

- *

- * @api

- */

-#define l3gd20GyroscopeReadCooked(devp, axes)                               \

-        gyroscopeReadCooked(&((devp)->gyro_if), axes)

-

-/**

- * @brief   Samples bias values for the BaseGyroscope.

- * @note    The L3GD20 shall not be moved during the whole procedure.

- * @note    After this function internal bias is automatically updated.

- * @note    The behavior of this function depends on @P L3GD20_BIAS_ACQ_TIMES

- *          and @p L3GD20_BIAS_SETTLING_US.

- *

- * @param[in] devp      pointer to @p L3GD20Driver.

- *

- * @return              The operation status.

- * @retval MSG_OK       if the function succeeded.

- *

- * @api

- */

-#define l3gd20GyroscopeSampleBias(devp)                                      \

-        gyroscopeSampleBias(&((devp)->gyro_if))

-

-/**

- * @brief   Set bias values for the BaseGyroscope.

- * @note    Bias must be expressed as DPS.

- * @note    The bias buffer must be at least the same size of the BaseGyroscope

- *          axes number.

- *

- * @param[in] devp      pointer to @p L3GD20Driver.

- * @param[in] bp        a buffer which contains biases.

- *

- * @return              The operation status.

- * @retval MSG_OK       if the function succeeded.

- *

- * @api

- */

-#define l3gd20GyroscopeSetBias(devp, bp)                                    \

-        gyroscopeSetBias(&((devp)->gyro_if), bp)

-

-/**

- * @brief   Reset bias values for the BaseGyroscope.

- * @note    Default biases value are obtained from device datasheet when

- *          available otherwise they are considered zero.

- *

- * @param[in] devp      pointer to @p L3GD20Driver.

- *

- * @return              The operation status.

- * @retval MSG_OK       if the function succeeded.

- *

- * @api

- */

-#define l3gd20GyroscopeResetBias(devp)                                      \

-        gyroscopeResetBias(&((devp)->gyro_if))

-

-/**

- * @brief   Set sensitivity values for the BaseGyroscope.

- * @note    Sensitivity must be expressed as DPS/LSB.

- * @note    The sensitivity buffer must be at least the same size of the

- *          BaseGyroscope axes number.

- *

- * @param[in] devp      pointer to @p L3GD20Driver.

- * @param[in] sp        a buffer which contains sensitivities.

- *

- * @return              The operation status.

- * @retval MSG_OK       if the function succeeded.

- *

- * @api

- */

-#define l3gd20GyroscopeSetSensitivity(devp, sp)                             \

-        gyroscopeSetSensitivity(&((devp)->gyro_if), sp)

-

-/**

- * @brief   Reset sensitivity values for the BaseGyroscope.

- * @note    Default sensitivities value are obtained from device datasheet.

- *

- * @param[in] devp      pointer to @p L3GD20Driver.

- *

- * @return              The operation status.

- * @retval MSG_OK       if the function succeeded.

- * @retval MSG_RESET    otherwise.

- *

- * @api

- */

-#define l3gd20GyroscopeResetSensitivity(devp)                               \

-        gyroscopeResetSensitivity(&((devp)->gyro_if))

-

-/**

- * @brief   Changes the L3GD20Driver gyroscope fullscale value.

- * @note    This function also rescale sensitivities and biases based on

- *          previous and next fullscale value.

- * @note    A recalibration is highly suggested after calling this function.

- *

- * @param[in] devp      pointer to @p L3GD20Driver.

- * @param[in] fs        new fullscale value.

- *

- * @return              The operation status.

- * @retval MSG_OK       if the function succeeded.

- * @retval MSG_RESET    otherwise.

- *

- * @api

- */

-#define l3gd20GyroscopeSetFullScale(devp, fs)                               \

-        (devp)->vmt->acc_set_full_scale(devp, fs)

+
+/**
+ * @brief   Retrieves cooked data from the BaseGyroscope.
+ * @note    This data is manipulated according to the formula
+ *          cooked = (raw * sensitivity) - bias.
+ * @note    Final data is expressed as DPS.
+ * @note    The axes array must be at least the same size of the
+ *          BaseGyroscope axes number.
+ *
+ * @param[in] devp      pointer to @p L3GD20Driver.
+ * @param[out] axes     a buffer which would be filled with cooked data.
+ *
+ * @return              The operation status.
+ * @retval MSG_OK       if the function succeeded.
+ *
+ * @api
+ */
+#define l3gd20GyroscopeReadCooked(devp, axes)                               \
+        gyroscopeReadCooked(&((devp)->gyro_if), axes)
+
+/**
+ * @brief   Samples bias values for the BaseGyroscope.
+ * @note    The L3GD20 shall not be moved during the whole procedure.
+ * @note    After this function internal bias is automatically updated.
+ * @note    The behavior of this function depends on @p L3GD20_BIAS_ACQ_TIMES
+ *          and @p L3GD20_BIAS_SETTLING_US.
+ *
+ * @param[in] devp      pointer to @p L3GD20Driver.
+ *
+ * @return              The operation status.
+ * @retval MSG_OK       if the function succeeded.
+ *
+ * @api
+ */
+#define l3gd20GyroscopeSampleBias(devp)                                      \
+        gyroscopeSampleBias(&((devp)->gyro_if))
+
+/**
+ * @brief   Set bias values for the BaseGyroscope.
+ * @note    Bias must be expressed as DPS.
+ * @note    The bias buffer must be at least the same size of the BaseGyroscope
+ *          axes number.
+ *
+ * @param[in] devp      pointer to @p L3GD20Driver.
+ * @param[in] bp        a buffer which contains biases.
+ *
+ * @return              The operation status.
+ * @retval MSG_OK       if the function succeeded.
+ *
+ * @api
+ */
+#define l3gd20GyroscopeSetBias(devp, bp)                                    \
+        gyroscopeSetBias(&((devp)->gyro_if), bp)
+
+/**
+ * @brief   Reset bias values for the BaseGyroscope.
+ * @note    Default biases value are obtained from device datasheet when
+ *          available otherwise they are considered zero.
+ *
+ * @param[in] devp      pointer to @p L3GD20Driver.
+ *
+ * @return              The operation status.
+ * @retval MSG_OK       if the function succeeded.
+ *
+ * @api
+ */
+#define l3gd20GyroscopeResetBias(devp)                                      \
+        gyroscopeResetBias(&((devp)->gyro_if))
+
+/**
+ * @brief   Set sensitivity values for the BaseGyroscope.
+ * @note    Sensitivity must be expressed as DPS/LSB.
+ * @note    The sensitivity buffer must be at least the same size of the
+ *          BaseGyroscope axes number.
+ *
+ * @param[in] devp      pointer to @p L3GD20Driver.
+ * @param[in] sp        a buffer which contains sensitivities.
+ *
+ * @return              The operation status.
+ * @retval MSG_OK       if the function succeeded.
+ *
+ * @api
+ */
+#define l3gd20GyroscopeSetSensitivity(devp, sp)                             \
+        gyroscopeSetSensitivity(&((devp)->gyro_if), sp)
+
+/**
+ * @brief   Reset sensitivity values for the BaseGyroscope.
+ * @note    Default sensitivities value are obtained from device datasheet.
+ *
+ * @param[in] devp      pointer to @p L3GD20Driver.
+ *
+ * @return              The operation status.
+ * @retval MSG_OK       if the function succeeded.
+ * @retval MSG_RESET    otherwise.
+ *
+ * @api
+ */
+#define l3gd20GyroscopeResetSensitivity(devp)                               \
+        gyroscopeResetSensitivity(&((devp)->gyro_if))
+
+/**
+ * @brief   Changes the L3GD20Driver gyroscope fullscale value.
+ * @note    This function also rescale sensitivities and biases based on
+ *          previous and next fullscale value.
+ * @note    A recalibration is highly suggested after calling this function.
+ *
+ * @param[in] devp      pointer to @p L3GD20Driver.
+ * @param[in] fs        new fullscale value.
+ *
+ * @return              The operation status.
+ * @retval MSG_OK       if the function succeeded.
+ * @retval MSG_RESET    otherwise.
+ *
+ * @api
+ */
+#define l3gd20GyroscopeSetFullScale(devp, fs)                               \
+        (devp)->vmt->acc_set_full_scale(devp, fs)
         
 /*===========================================================================*/
 /* External declarations.                                                    */
diff --git a/os/ex/ST/lis302dl.c b/os/ex/ST/lis302dl.c
index a57cc69bd..7f2ebe7ef 100644
--- a/os/ex/ST/lis302dl.c
+++ b/os/ex/ST/lis302dl.c
@@ -322,15 +322,14 @@ static msg_t acc_reset_sensivity(void *ip) {
  *          previous and next fullscale value.

  * @note    A recalibration is highly suggested after calling this function.

  *

- * @param[in] ip        pointer to @p LIS302DLDriver interface.

+ * @param[in] devp      pointer to @p LIS302DLDriver interface.

  * @param[in] fs        new fullscale value.

  *

  * @return              The operation status.

  * @retval MSG_OK       if the function succeeded.

  * @retval MSG_RESET    otherwise.

  */

-static msg_t acc_set_full_scale(LIS302DLDriver *devp,

-                                lis302dl_acc_fs_t fs) {

+static msg_t acc_set_full_scale(LIS302DLDriver *devp, lis302dl_acc_fs_t fs) {

   float newfs, scale;

   uint8_t i, cr;

   msg_t msg;

@@ -448,7 +447,7 @@ void lis302dlStart(LIS302DLDriver *devp, const LIS302DLConfig *config) {
   osalDbgCheck((devp != NULL) && (config != NULL));

 

   osalDbgAssert((devp->state == LIS302DL_STOP) || (devp->state == LIS302DL_READY),

-              "lis302dlStart(), invalid state");			

+              "lis302dlStart(), invalid state");

 

   devp->config = config;

 

diff --git a/os/ex/ST/lis3dsh.c b/os/ex/ST/lis3dsh.c
index b3634a1f7..3400f646e 100644
--- a/os/ex/ST/lis3dsh.c
+++ b/os/ex/ST/lis3dsh.c
@@ -336,15 +336,14 @@ static msg_t acc_reset_sensivity(void *ip) {
  *          previous and next fullscale value.

  * @note    A recalibration is highly suggested after calling this function.

  *

- * @param[in] ip        pointer to @p LIS3DSHDriver interface.

+ * @param[in] devp      pointer to @p LIS3DSHDriver interface.

  * @param[in] fs        new fullscale value.

  *

  * @return              The operation status.

  * @retval MSG_OK       if the function succeeded.

  * @retval MSG_RESET    otherwise.

  */

-static msg_t acc_set_full_scale(LIS3DSHDriver *devp,

-                                lis3dsh_acc_fs_t fs) {

+static msg_t acc_set_full_scale(LIS3DSHDriver *devp, lis3dsh_acc_fs_t fs) {

   float newfs, scale;

   uint8_t i, cr;

   msg_t msg;

diff --git a/os/ex/ST/lis3dsh.h b/os/ex/ST/lis3dsh.h
index eb67580e8..26dafcd38 100644
--- a/os/ex/ST/lis3dsh.h
+++ b/os/ex/ST/lis3dsh.h
@@ -43,7 +43,7 @@
 /**

  * @brief   LIS3DSH driver version string.

  */

-#define EX_LIS3DSH_VERSION                  "1.1.0"

+#define EX_LIS3DSH_VERSION                  "1.1.1"

 

 /**

  * @brief   LIS3DSH driver version major number.

@@ -58,7 +58,7 @@
 /**

  * @brief   LIS3DSH driver version patch number.

  */

-#define EX_LIS3DSH_PATCH                    0

+#define EX_LIS3DSH_PATCH                    1

 /** @} */

 

 /**

diff --git a/os/ex/ST/lis3mdl.c b/os/ex/ST/lis3mdl.c
index cef564dab..559564744 100644
--- a/os/ex/ST/lis3mdl.c
+++ b/os/ex/ST/lis3mdl.c
@@ -335,15 +335,14 @@ static msg_t comp_reset_sensivity(void *ip) {
  *          previous and next fullscale value.

  * @note    A recalibration is highly suggested after calling this function.

  *

- * @param[in] ip        pointer to @p LIS3MDLDriver interface.

+ * @param[in] devp      pointer to @p LIS3MDLDriver interface.

  * @param[in] fs        new fullscale value.

  *

  * @return              The operation status.

  * @retval MSG_OK       if the function succeeded.

  * @retval MSG_RESET    otherwise.

  */

-static msg_t comp_set_full_scale(LIS3MDLDriver *devp,

-                                 lis3mdl_comp_fs_t fs) {

+static msg_t comp_set_full_scale(LIS3MDLDriver *devp, lis3mdl_comp_fs_t fs) {

   float newfs, scale;

   uint8_t i, buff[2];

   msg_t msg;

diff --git a/os/ex/ST/lis3mdl.h b/os/ex/ST/lis3mdl.h
index e076f3154..96def428d 100644
--- a/os/ex/ST/lis3mdl.h
+++ b/os/ex/ST/lis3mdl.h
@@ -42,7 +42,7 @@
 /**

  * @brief   LIS3MDL driver version string.

  */

-#define EX_LIS3MDL_VERSION                  "1.1.0"

+#define EX_LIS3MDL_VERSION                  "1.1.1"

 

 /**

  * @brief   LIS3MDL driver version major number.

@@ -57,7 +57,7 @@
 /**

  * @brief   LIS3MDL driver version patch number.

  */

-#define EX_LIS3MDL_PATCH                    0

+#define EX_LIS3MDL_PATCH                    1

 /** @} */

 

 /**

@@ -282,6 +282,9 @@
  */

 typedef struct LIS3MDLDriver LIS3MDLDriver;

 

+/**

+ * @brief   LIS3MDL slave address

+ */

 typedef enum {

   LIS3MDL_SAD_GND = 0x1C,           /**< Slave Address when SA1 is to GND   */

   LIS3MDL_SAD_VCC = 0x1E            /**< Slave Address when SA1 is to VCC   */

@@ -529,7 +532,7 @@ struct LIS3MDLDriver {
  * @note    The axes array must be at least the same size of the

  *          BaseCompass axes number.

  *

- * @param[in] ip        pointer to @p BaseCompass interface.

+ * @param[in] devp      pointer to @p BaseCompass interface.

  * @param[out] axes     a buffer which would be filled with raw data.

  *

  * @return              The operation status.

@@ -551,7 +554,7 @@ struct LIS3MDLDriver {
  * @note    The axes array must be at least the same size of the

  *          BaseCompass axes number.

  *

- * @param[in] ip        pointer to @p BaseCompass interface.

+ * @param[in] devp      pointer to @p BaseCompass interface.

  * @param[out] axes     a buffer which would be filled with cooked data.

  *

  * @return              The operation status.

@@ -571,7 +574,7 @@ struct LIS3MDLDriver {
  * @note    The bias buffer must be at least the same size of the

  *          BaseCompass axes number.

  *

- * @param[in] ip        pointer to @p BaseCompass interface.

+ * @param[in] devp      pointer to @p BaseCompass interface.

  * @param[in] bp        a buffer which contains biases.

  *

  * @return              The operation status.

diff --git a/os/ex/ST/lps22hb.c b/os/ex/ST/lps22hb.c
index fdc1e6b2e..a341f5fcd 100644
--- a/os/ex/ST/lps22hb.c
+++ b/os/ex/ST/lps22hb.c
@@ -372,7 +372,7 @@ static msg_t thermo_read_raw(void *ip, int32_t axes[]) {
  *          BaseThermometer axes number.

  *

  * @param[in] ip        pointer to @p BaseThermometer interface.

- * @param[out] axes     a buffer which would be filled with cooked data.

+ * @param[out] axis     a buffer which would be filled with cooked data.

  *

  * @return              The operation status.

  * @retval MSG_OK       if the function succeeded.

diff --git a/os/ex/ST/lps25h.c b/os/ex/ST/lps25h.c
index f038e78f7..20c03c1d4 100644
--- a/os/ex/ST/lps25h.c
+++ b/os/ex/ST/lps25h.c
@@ -379,7 +379,7 @@ static msg_t thermo_read_raw(void *ip, int32_t axes[]) {
  *          BaseThermometer axes number.

  *

  * @param[in] ip        pointer to @p BaseThermometer interface.

- * @param[out] axes     a buffer which would be filled with cooked data.

+ * @param[out] axis     a buffer which would be filled with cooked data.

  *

  * @return              The operation status.

  * @retval MSG_OK       if the function succeeded.

diff --git a/os/ex/ST/lps25h.h b/os/ex/ST/lps25h.h
index 4dd453b70..ffc894cbb 100644
--- a/os/ex/ST/lps25h.h
+++ b/os/ex/ST/lps25h.h
@@ -43,7 +43,7 @@
 /**

  * @brief   LPS25H driver version string.

  */

-#define EX_LPS25H_VERSION                   "1.1.0"

+#define EX_LPS25H_VERSION                   "1.1.1"

 

 /**

  * @brief   LPS25H driver version major number.

@@ -58,22 +58,22 @@
 /**

  * @brief   LPS25H driver version patch number.

  */

-#define EX_LPS25H_PATCH                     0

+#define EX_LPS25H_PATCH                     1

 /** @} */

 

 /**

- * @brief   LPS25H barometer subsystem characteristics.
+ * @brief   LPS25H barometer subsystem characteristics.

  * @note    Sensitivity is expressed as hPa/LSB whereas hPa stand for

  *          hectopascal.

  * @note    Bias is expressed as hPa.

  *

  * @{

- */
-#define LPS25H_BARO_NUMBER_OF_AXES          1U
+ */

+#define LPS25H_BARO_NUMBER_OF_AXES          1U

 

 #define LPS25H_BARO_SENS                    0.00024414f

-#define LPS25H_BARO_BIAS                    0.0f
-/** @} */
+#define LPS25H_BARO_BIAS                    0.0f

+/** @} */

 

 /**

  * @brief   LPS25H thermometer subsystem characteristics.

@@ -87,65 +87,65 @@
 #define LPS25H_THERMO_SENS                  0.00208333f

 #define LPS25H_THERMO_BIAS                  -42.5f

 /** @} */

-
-/**
- * @name    LPS25H communication interfaces related bit masks
- * @{
- */
-#define LPS25H_DI_MASK                      0xFF
-#define LPS25H_DI(n)                        (1 << n)
-#define LPS25H_AD_MASK                      0x3F
-#define LPS25H_AD(n)                        (1 << n)
-#define LPS25H_MS                           (1 << 6)
+

+/**

+ * @name    LPS25H communication interfaces related bit masks

+ * @{

+ */

+#define LPS25H_DI_MASK                      0xFF

+#define LPS25H_DI(n)                        (1 << n)

+#define LPS25H_AD_MASK                      0x3F

+#define LPS25H_AD(n)                        (1 << n)

+#define LPS25H_MS                           (1 << 6)

 #define LPS25H_RW                           (1 << 7)

 

-#define LPS25H_SUB_MS                       (1 << 7)
-/** @} */
-
-/**
- * @name    LPS25H register addresses
- * @{
- */
+#define LPS25H_SUB_MS                       (1 << 7)

+/** @} */

+

+/**

+ * @name    LPS25H register addresses

+ * @{

+ */

 #define LPS25H_AD_REF_P_XL                  0x08

 #define LPS25H_AD_REF_P_L                   0x09

 #define LPS25H_AD_REF_P_H                   0x0A

 #define LPS25H_AD_WHO_AM_I                  0x0F

-#define LPS25H_AD_RES_CONF                  0x10
-#define LPS25H_AD_CTRL_REG1                 0x20
-#define LPS25H_AD_CTRL_REG2                 0x21
-#define LPS25H_AD_CTRL_REG3                 0x22
+#define LPS25H_AD_RES_CONF                  0x10

+#define LPS25H_AD_CTRL_REG1                 0x20

+#define LPS25H_AD_CTRL_REG2                 0x21

+#define LPS25H_AD_CTRL_REG3                 0x22

 #define LPS25H_AD_CTRL_REG4                 0x23

 #define LPS25H_AD_INT_CFG                   0x24

 #define LPS25H_AD_INT_SRC                   0x25

-#define LPS25H_AD_STATUS_REG                0x27
-#define LPS25H_AD_PRESS_OUT_XL              0x28
-#define LPS25H_AD_PRESS_OUT_L               0x29
-#define LPS25H_AD_PRESS_OUT_H               0x2A
-#define LPS25H_AD_TEMP_OUT_L                0x2B
-#define LPS25H_AD_TEMP_OUT_H                0x2C
-#define LPS25H_AD_FIFO_CTRL                 0x2E
-#define LPS25H_AD_FIFO_SRC                  0x2F
+#define LPS25H_AD_STATUS_REG                0x27

+#define LPS25H_AD_PRESS_OUT_XL              0x28

+#define LPS25H_AD_PRESS_OUT_L               0x29

+#define LPS25H_AD_PRESS_OUT_H               0x2A

+#define LPS25H_AD_TEMP_OUT_L                0x2B

+#define LPS25H_AD_TEMP_OUT_H                0x2C

+#define LPS25H_AD_FIFO_CTRL                 0x2E

+#define LPS25H_AD_FIFO_SRC                  0x2F

 #define LPS25H_AD_THS_P_L                   0x30

 #define LPS25H_AD_THS_P_H                   0x31

 #define LPS25H_AD_RPDS_L                    0x39

-#define LPS25H_AD_RPDS_H                    0x3A
-/** @} */
-
-/**
- * @name    LPS25H_CTRL_REG1 register bits definitions
- * @{
- */
-#define LPS25H_CTRL_REG1_MASK               0xFF
-#define LPS25H_CTRL_REG1_SIM                (1 << 0)
-#define LPS25H_CTRL_REG1_RESET_AZ           (1 << 1)
-#define LPS25H_CTRL_REG1_BDU                (1 << 2)
-#define LPS25H_CTRL_REG1_DIFF_EN            (1 << 3)
-#define LPS25H_CTRL_REG1_ODR0               (1 << 4)
-#define LPS25H_CTRL_REG1_ODR1               (1 << 5)
-#define LPS25H_CTRL_REG1_ODR2               (1 << 6)
-#define LPS25H_CTRL_REG1_PD                 (1 << 7)
-/** @} */
-
+#define LPS25H_AD_RPDS_H                    0x3A

+/** @} */

+

+/**

+ * @name    LPS25H_CTRL_REG1 register bits definitions

+ * @{

+ */

+#define LPS25H_CTRL_REG1_MASK               0xFF

+#define LPS25H_CTRL_REG1_SIM                (1 << 0)

+#define LPS25H_CTRL_REG1_RESET_AZ           (1 << 1)

+#define LPS25H_CTRL_REG1_BDU                (1 << 2)

+#define LPS25H_CTRL_REG1_DIFF_EN            (1 << 3)

+#define LPS25H_CTRL_REG1_ODR0               (1 << 4)

+#define LPS25H_CTRL_REG1_ODR1               (1 << 5)

+#define LPS25H_CTRL_REG1_ODR2               (1 << 6)

+#define LPS25H_CTRL_REG1_PD                 (1 << 7)

+/** @} */

+

 /**

  * @name    LPS25H_CTRL_REG2 register bits definitions

  * @{

@@ -158,8 +158,8 @@
 #define LPS25H_CTRL_REG2_WTM_EN             (1 << 5)

 #define LPS25H_CTRL_REG2_FIFO_EN            (1 << 6)

 #define LPS25H_CTRL_REG2_BOOT               (1 << 7)

-/** @} */
-
+/** @} */

+

 /**

  * @name    LPS25H_CTRL_REG3 register bits definitions

  * @{

@@ -180,7 +180,7 @@
 #define LPS25H_CTRL_REG4_P1_OVERRUN         (1 << 1)

 #define LPS25H_CTRL_REG4_P1_WTM             (1 << 2)

 #define LPS25H_CTRL_REG4_P1_EMPTY           (1 << 3)

-/** @} */
+/** @} */

 

 /**

  * @name    LPS25H_INT1_CFG register bits definitions

@@ -202,10 +202,10 @@
 #define LPS25H_INT1_SRC_IA                  (1 << 2)

 /** @} */

 

-/*===========================================================================*/
-/* Driver pre-compile time settings.                                         */
-/*===========================================================================*/
-
+/*===========================================================================*/

+/* Driver pre-compile time settings.                                         */

+/*===========================================================================*/

+

 /**

  * @name    Configuration options

  * @{

@@ -257,12 +257,12 @@
 #if !defined(LPS25H_USE_ADVANCED) || defined(__DOXYGEN__)

 #define LPS25H_USE_ADVANCED                 FALSE

 #endif

-/** @} */
-
-/*===========================================================================*/
-/* Derived constants and error checks.                                       */
-/*===========================================================================*/
-
+/** @} */

+

+/*===========================================================================*/

+/* Derived constants and error checks.                                       */

+/*===========================================================================*/

+

 #if !(LPS25H_USE_SPI ^ LPS25H_USE_I2C)

 #error "LPS25H_USE_SPI and LPS25H_USE_I2C cannot be both true or both false"

 #endif

@@ -290,13 +290,13 @@
 #error "LPS25H over SPI still not supported"

 #endif

 

-/*===========================================================================*/
-/* Driver data structures and types.                                         */
-/*===========================================================================*/
-
-/**
- * @name    LPS25H data structures and types.
- * @{
+/*===========================================================================*/

+/* Driver data structures and types.                                         */

+/*===========================================================================*/

+

+/**

+ * @name    LPS25H data structures and types.

+ * @{

  */

 /**

  * @brief   Structure representing a LPS25H driver.

@@ -310,17 +310,17 @@ typedef enum {
   LPS25H_SAD_GND = 0x5C,            /**< Slave Address when SA0 is to GND   */

   LPS25H_SAD_VCC = 0x5D             /**< Slave Address when SA0 is to VCC   */

 }lps25h_sad_t;

- 
-/**
- * @brief   LPS25H output data rate and bandwidth.
- */
+ 

+/**

+ * @brief   LPS25H output data rate and bandwidth.

+ */

 typedef enum {

-  LPS25H_ODR_ONE_SHOT = 0x00,       /**< One shot.                          */
-  LPS25H_ODR_1HZ = 0x10,            /**< Output data rate 1 Hz.             */
-  LPS25H_ODR_7HZ = 0x20,            /**< Output data rate 7 Hz.             */
-  LPS25H_ODR_12P5HZ = 0x30,         /**< Output data rate 12.5 Hz.          */
-  LPS25H_ODR_25HZ = 0x40            /**< Output data rate 25 Hz.            */
-}lps25h_odr_t;
+  LPS25H_ODR_ONE_SHOT = 0x00,       /**< One shot.                          */

+  LPS25H_ODR_1HZ = 0x10,            /**< Output data rate 1 Hz.             */

+  LPS25H_ODR_7HZ = 0x20,            /**< Output data rate 7 Hz.             */

+  LPS25H_ODR_12P5HZ = 0x30,         /**< Output data rate 12.5 Hz.          */

+  LPS25H_ODR_25HZ = 0x40            /**< Output data rate 25 Hz.            */

+}lps25h_odr_t;

 

 /**

  * @brief   LPS25H pressure resolution.

@@ -341,60 +341,60 @@ typedef enum {
   LPS25H_AVGT_128 = 0x08,           /**< Number of internal average is 128. */

   LPS25H_AVGT_512 = 0x0C,           /**< Number of internal average is 512. */

 }lps25h_avgt_t;

-
-/**
- * @brief   LPS25H block data update.
- */
-typedef enum {
-  LPS25H_BDU_CONTINUOUS = 0x00,     /**< Block data continuously updated.   */
-  LPS25H_BDU_BLOCKED = 0x40         /**< Block data updated after reading.  */
-}lps25h_bdu_t;
-
-/**
- * @brief   Driver state machine possible states.
- */
-typedef enum {
-  LPS25H_UNINIT = 0,                /**< Not initialized.                   */
-  LPS25H_STOP = 1,                  /**< Stopped.                           */
-  LPS25H_READY = 2,                 /**< Ready.                             */
-} lps25h_state_t;
-

-/**
- * @brief   LPS25H configuration structure.
- */
-typedef struct {
-
-#if LPS25H_USE_SPI || defined(__DOXYGEN__)
-  /**
-   * @brief SPI driver associated to this LPS25H.
-   */
-  SPIDriver                 *spip;
-  /**
-   * @brief SPI configuration associated to this LPS25H.
-   */
-  const SPIConfig           *spicfg;
-#endif /* LPS25H_USE_SPI */
-#if LPS25H_USE_I2C || defined(__DOXYGEN__)
-  /**
-   * @brief I2C driver associated to this LPS25H.
-   */
-  I2CDriver                 *i2cp;
-  /**
-   * @brief I2C configuration associated to this LPS25H.
-   */
+

+/**

+ * @brief   LPS25H block data update.

+ */

+typedef enum {

+  LPS25H_BDU_CONTINUOUS = 0x00,     /**< Block data continuously updated.   */

+  LPS25H_BDU_BLOCKED = 0x40         /**< Block data updated after reading.  */

+}lps25h_bdu_t;

+

+/**

+ * @brief   Driver state machine possible states.

+ */

+typedef enum {

+  LPS25H_UNINIT = 0,                /**< Not initialized.                   */

+  LPS25H_STOP = 1,                  /**< Stopped.                           */

+  LPS25H_READY = 2,                 /**< Ready.                             */

+} lps25h_state_t;

+

+/**

+ * @brief   LPS25H configuration structure.

+ */

+typedef struct {

+

+#if LPS25H_USE_SPI || defined(__DOXYGEN__)

+  /**

+   * @brief SPI driver associated to this LPS25H.

+   */

+  SPIDriver                 *spip;

+  /**

+   * @brief SPI configuration associated to this LPS25H.

+   */

+  const SPIConfig           *spicfg;

+#endif /* LPS25H_USE_SPI */

+#if LPS25H_USE_I2C || defined(__DOXYGEN__)

+  /**

+   * @brief I2C driver associated to this LPS25H.

+   */

+  I2CDriver                 *i2cp;

+  /**

+   * @brief I2C configuration associated to this LPS25H.

+   */

   const I2CConfig           *i2ccfg;

   /**

    * @brief LPS25H slave address

    */

-  lps25h_sad_t              slaveaddress;
-#endif /* LPS25H_USE_I2C */
-  /**
-   * @brief LPS25H barometer subsystem initial sensitivity.
-   */
-  float                     *barosensitivity;
-  /**
-   * @brief LPS25H barometer subsystem initial bias.
-   */
+  lps25h_sad_t              slaveaddress;

+#endif /* LPS25H_USE_I2C */

+  /**

+   * @brief LPS25H barometer subsystem initial sensitivity.

+   */

+  float                     *barosensitivity;

+  /**

+   * @brief LPS25H barometer subsystem initial bias.

+   */

   float                     *barobias;

   /**

    * @brief LPS25H thermometer subsystem initial sensitivity.

@@ -403,15 +403,15 @@ typedef struct {
   /**

    * @brief LPS25H thermometer subsystem initial bias.

    */

-  float                     *thermobias;
-  /**
-   * @brief LPS25H output data rate selection.
-   */
-  lps25h_odr_t              outputdatarate;
-#if LPS25H_USE_ADVANCED || defined(__DOXYGEN__)
-  /**
-   * @brief LPS25H block data update.
-   */
+  float                     *thermobias;

+  /**

+   * @brief LPS25H output data rate selection.

+   */

+  lps25h_odr_t              outputdatarate;

+#if LPS25H_USE_ADVANCED || defined(__DOXYGEN__)

+  /**

+   * @brief LPS25H block data update.

+   */

   lps25h_bdu_t              blockdataupdate;

   /**

    * @brief LPS25H barometer subsystem  resolution.

@@ -420,8 +420,8 @@ typedef struct {
   /**

    * @brief LPS25H thermometer subsystem  resolution.

    */

-  lps25h_avgt_t             thermoresolution;
-#endif
+  lps25h_avgt_t             thermoresolution;

+#endif

 } LPS25HConfig;

 

 /**

@@ -445,15 +445,15 @@ typedef struct {
 struct LPS25HVMT {

   _lps25h_methods

 };

-  
-/**
- * @brief   @p LPS25HDriver specific data.
- */
-#define _lps25h_data                                                        \
-  /* Driver state.*/                                                        \
-  lps25h_state_t            state;                                          \
-  /* Current configuration data.*/                                          \
-  const LPS25HConfig        *config;                                        \
+  

+/**

+ * @brief   @p LPS25HDriver specific data.

+ */

+#define _lps25h_data                                                        \

+  /* Driver state.*/                                                        \

+  lps25h_state_t            state;                                          \

+  /* Current configuration data.*/                                          \

+  const LPS25HConfig        *config;                                        \

   /* Barometer subsystem axes number.*/                                     \

   size_t                    baroaxes;                                       \

   /* Barometer subsystem current sensitivity.*/                             \

@@ -465,25 +465,25 @@ struct LPS25HVMT {
   /* Thermometer subsystem current sensitivity.*/                           \

   float                     thermosensitivity;                              \

   /* Thermometer subsystem current bias.*/                                  \

-  float                     thermobias;
-
+  float                     thermobias;

+

 /**

  * @brief   LPS25H 2-axis barometer/thermometer class.

- */
-struct LPS25HDriver {
+ */

+struct LPS25HDriver {

   /** @brief Virtual Methods Table.*/

   const struct LPS25HVMT    *vmt;

   /** @brief Base barometer interface.*/

   BaseBarometer             baro_if;

   /** @brief Base thermometer interface.*/

   BaseThermometer           thermo_if;

-  _lps25h_data
-};
-/** @} */
-
-/*===========================================================================*/
-/* Driver macros.                                                            */
-/*===========================================================================*/
+  _lps25h_data

+};

+/** @} */

+

+/*===========================================================================*/

+/* Driver macros.                                                            */

+/*===========================================================================*/

 

 /**

  * @brief   Return the number of axes of the BaseBarometer.

@@ -720,22 +720,22 @@ struct LPS25HDriver {
  */

 #define lps25hThermometerResetSensitivity(devp)                             \

         thermometerResetSensitivity(&((devp)->thermo_if))

-        
-/*===========================================================================*/
-/* External declarations.                                                    */
-/*===========================================================================*/
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-  void lps25hObjectInit(LPS25HDriver *devp);
-  void lps25hStart(LPS25HDriver *devp, const LPS25HConfig *config);
-  void lps25hStop(LPS25HDriver *devp);
-#ifdef __cplusplus
-}
-#endif
-
-#endif /* _LPS25H_H_ */
-
-/** @} */
-
+        

+/*===========================================================================*/

+/* External declarations.                                                    */

+/*===========================================================================*/

+

+#ifdef __cplusplus

+extern "C" {

+#endif

+  void lps25hObjectInit(LPS25HDriver *devp);

+  void lps25hStart(LPS25HDriver *devp, const LPS25HConfig *config);

+  void lps25hStop(LPS25HDriver *devp);

+#ifdef __cplusplus

+}

+#endif

+

+#endif /* _LPS25H_H_ */

+

+/** @} */

+

diff --git a/os/ex/ST/lsm303agr.c b/os/ex/ST/lsm303agr.c
index 17b312ee0..415364d03 100644
--- a/os/ex/ST/lsm303agr.c
+++ b/os/ex/ST/lsm303agr.c
@@ -345,7 +345,7 @@ static msg_t acc_reset_sensivity(void *ip) {
  *          previous and next fullscale value.

  * @note    A recalibration is highly suggested after calling this function.

  *

- * @param[in] ip        pointer to @p LSM303AGRDriver interface.

+ * @param[in] devp      pointer to @p LSM303AGRDriver interface.

  * @param[in] fs        new fullscale value.

  *

  * @return              The operation status.

diff --git a/os/ex/ST/lsm303agr.h b/os/ex/ST/lsm303agr.h
index 74ddc058b..7e532ab92 100644
--- a/os/ex/ST/lsm303agr.h
+++ b/os/ex/ST/lsm303agr.h
@@ -811,7 +811,7 @@ struct LSM303AGRDriver {
  * @note    The axes array must be at least the same size of the

  *          BaseCompass axes number.

  *

- * @param[in] ip        pointer to @p BaseCompass interface.

+ * @param[in] devp      pointer to @p BaseCompass interface.

  * @param[out] axes     a buffer which would be filled with raw data.

  *

  * @return              The operation status.

@@ -833,7 +833,7 @@ struct LSM303AGRDriver {
  * @note    The axes array must be at least the same size of the

  *          BaseCompass axes number.

  *

- * @param[in] ip        pointer to @p BaseCompass interface.

+ * @param[in] devp      pointer to @p BaseCompass interface.

  * @param[out] axes     a buffer which would be filled with cooked data.

  *

  * @return              The operation status.

@@ -853,7 +853,7 @@ struct LSM303AGRDriver {
  * @note    The bias buffer must be at least the same size of the

  *          BaseCompass axes number.

  *

- * @param[in] ip        pointer to @p BaseCompass interface.

+ * @param[in] devp      pointer to @p BaseCompass interface.

  * @param[in] bp        a buffer which contains biases.

  *

  * @return              The operation status.

diff --git a/os/ex/ST/lsm303dlhc.c b/os/ex/ST/lsm303dlhc.c
index 0e05252d4..8fa988ab7 100644
--- a/os/ex/ST/lsm303dlhc.c
+++ b/os/ex/ST/lsm303dlhc.c
@@ -337,7 +337,7 @@ static msg_t acc_reset_sensivity(void *ip) {
  *          previous and next fullscale value.

  * @note    A recalibration is highly suggested after calling this function.

  *

- * @param[in] ip        pointer to @p LSM303DLHCDriver interface.

+ * @param[in] devp      pointer to @p LSM303DLHCDriver interface.

  * @param[in] fs        new fullscale value.

  *

  * @return              The operation status.

@@ -721,7 +721,7 @@ static msg_t comp_reset_sensivity(void *ip) {
  *          previous and next fullscale value.

  * @note    A recalibration is highly suggested after calling this function.

  *

- * @param[in] ip        pointer to @p LSM303DLHCDriver interface.

+ * @param[in] devp      pointer to @p LSM303DLHCDriver interface.

  * @param[in] fs        new fullscale value.

  *

  * @return              The operation status.

diff --git a/os/ex/ST/lsm303dlhc.h b/os/ex/ST/lsm303dlhc.h
index f10efeb68..626ea1383 100644
--- a/os/ex/ST/lsm303dlhc.h
+++ b/os/ex/ST/lsm303dlhc.h
@@ -43,7 +43,7 @@
 /**

  * @brief   LSM303DLHC driver version string.

  */

-#define EX_LSM303DLHC_VERSION               "1.1.0"

+#define EX_LSM303DLHC_VERSION               "1.1.1"

 

 /**

  * @brief   LSM303DLHC driver version major number.

@@ -58,7 +58,7 @@
 /**

  * @brief   LSM303DLHC driver version patch number.

  */

-#define EX_LSM303DLHC_PATCH                 0

+#define EX_LSM303DLHC_PATCH                 1

 /** @} */

 

 /**

@@ -829,7 +829,7 @@ struct LSM303DLHCDriver {
  * @note    The axes array must be at least the same size of the

  *          BaseCompass axes number.

  *

- * @param[in] ip        pointer to @p BaseCompass interface.

+ * @param[in] devp      pointer to @p BaseCompass interface.

  * @param[out] axes     a buffer which would be filled with raw data.

  *

  * @return              The operation status.

@@ -851,7 +851,7 @@ struct LSM303DLHCDriver {
  * @note    The axes array must be at least the same size of the

  *          BaseCompass axes number.

  *

- * @param[in] ip        pointer to @p BaseCompass interface.

+ * @param[in] devp      pointer to @p BaseCompass interface.

  * @param[out] axes     a buffer which would be filled with cooked data.

  *

  * @return              The operation status.

@@ -871,7 +871,7 @@ struct LSM303DLHCDriver {
  * @note    The bias buffer must be at least the same size of the

  *          BaseCompass axes number.

  *

- * @param[in] ip        pointer to @p BaseCompass interface.

+ * @param[in] devp      pointer to @p BaseCompass interface.

  * @param[in] bp        a buffer which contains biases.

  *

  * @return              The operation status.

diff --git a/os/ex/ST/lsm6ds0.c b/os/ex/ST/lsm6ds0.c
index a12d3c6df..144af65fc 100644
--- a/os/ex/ST/lsm6ds0.c
+++ b/os/ex/ST/lsm6ds0.c
@@ -329,15 +329,14 @@ static msg_t acc_reset_sensivity(void *ip) {
  *          previous and next fullscale value.

  * @note    A recalibration is highly suggested after calling this function.

  *

- * @param[in] ip        pointer to @p LSM6DS0Driver interface.

+ * @param[in] devp      pointer to @p LSM6DS0Driver interface.

  * @param[in] fs        new fullscale value.

  *

  * @return              The operation status.

  * @retval MSG_OK       if the function succeeded.

  * @retval MSG_RESET    otherwise.

  */

-static msg_t acc_set_full_scale(LSM6DS0Driver *devp,

-                                lsm6ds0_acc_fs_t fs) {

+static msg_t acc_set_full_scale(LSM6DS0Driver *devp, lsm6ds0_acc_fs_t fs) {

   float newfs, scale;

   uint8_t i, buff[2];

   msg_t msg;

@@ -528,7 +527,7 @@ static msg_t gyro_read_cooked(void *ip, float axes[]) {
  * @brief   Samples bias values for the BaseGyroscope.

  * @note    The LSM6DS0 shall not be moved during the whole procedure.

  * @note    After this function internal bias is automatically updated.

- * @note    The behavior of this function depends on @P LSM6DS0_BIAS_ACQ_TIMES

+ * @note    The behavior of this function depends on @p LSM6DS0_BIAS_ACQ_TIMES

  *          and @p LSM6DS0_BIAS_SETTLING_US.

  *

  * @param[in] ip        pointer to @p BaseGyroscope interface.

@@ -707,7 +706,7 @@ static msg_t gyro_reset_sensivity(void *ip) {
  *          previous and next fullscale value.

  * @note    A recalibration is highly suggested after calling this function.

  *

- * @param[in] ip        pointer to @p BaseGyroscope interface.

+ * @param[in] devp      pointer to @p BaseGyroscope interface.

  * @param[in] fs        new fullscale value.

  *

  * @return              The operation status.

diff --git a/os/ex/ST/lsm6ds0.h b/os/ex/ST/lsm6ds0.h
index e0f434c38..0f8fdabd1 100644
--- a/os/ex/ST/lsm6ds0.h
+++ b/os/ex/ST/lsm6ds0.h
@@ -43,7 +43,7 @@
 /**

  * @brief   LSM6DS0 driver version string.

  */

-#define EX_LSM6DS0_VERSION                  "1.1.0"

+#define EX_LSM6DS0_VERSION                  "1.1.1"

 

 /**

  * @brief   LSM6DS0 driver version major number.

@@ -58,7 +58,7 @@
 /**

  * @brief   LSM6DS0 driver version patch number.

  */

-#define EX_LSM6DS0_PATCH                    0

+#define EX_LSM6DS0_PATCH                    1

 /** @} */

 

 /**

@@ -939,7 +939,7 @@ struct LSM6DS0Driver {
  * @brief   Samples bias values for the BaseGyroscope.

  * @note    The LSM6DS0 shall not be moved during the whole procedure.

  * @note    After this function internal bias is automatically updated.

- * @note    The behavior of this function depends on @P LSM6DS0_BIAS_ACQ_TIMES

+ * @note    The behavior of this function depends on @p LSM6DS0_BIAS_ACQ_TIMES

  *          and @p LSM6DS0_BIAS_SETTLING_US.

  *

  * @param[in] devp      pointer to @p LSM6DS0Driver.

diff --git a/os/ex/ST/lsm6dsl.c b/os/ex/ST/lsm6dsl.c
index c38a4c52d..c8d22ab8b 100644
--- a/os/ex/ST/lsm6dsl.c
+++ b/os/ex/ST/lsm6dsl.c
@@ -329,15 +329,14 @@ static msg_t acc_reset_sensivity(void *ip) {
  *          previous and next fullscale value.

  * @note    A recalibration is highly suggested after calling this function.

  *

- * @param[in] ip        pointer to @p LSM6DSLDriver interface.

+ * @param[in] devp      pointer to @p LSM6DSLDriver interface.

  * @param[in] fs        new fullscale value.

  *

  * @return              The operation status.

  * @retval MSG_OK       if the function succeeded.

  * @retval MSG_RESET    otherwise.

  */

-static msg_t acc_set_full_scale(LSM6DSLDriver *devp,

-                                lsm6dsl_acc_fs_t fs) {

+static msg_t acc_set_full_scale(LSM6DSLDriver *devp, lsm6dsl_acc_fs_t fs) {

   float newfs, scale;

   uint8_t i, buff[2];

   msg_t msg;

@@ -528,7 +527,7 @@ static msg_t gyro_read_cooked(void *ip, float axes[]) {
  * @brief   Samples bias values for the BaseGyroscope.

  * @note    The LSM6DSL shall not be moved during the whole procedure.

  * @note    After this function internal bias is automatically updated.

- * @note    The behavior of this function depends on @P LSM6DSL_BIAS_ACQ_TIMES

+ * @note    The behavior of this function depends on @p LSM6DSL_BIAS_ACQ_TIMES

  *          and @p LSM6DSL_BIAS_SETTLING_US.

  *

  * @param[in] ip        pointer to @p BaseGyroscope interface.

@@ -712,7 +711,7 @@ static msg_t gyro_reset_sensivity(void *ip) {
  *          previous and next fullscale value.

  * @note    A recalibration is highly suggested after calling this function.

  *

- * @param[in] ip        pointer to @p BaseGyroscope interface.

+ * @param[in] devp      pointer to @p BaseGyroscope interface.

  * @param[in] fs        new fullscale value.

  *

  * @return              The operation status.

diff --git a/os/ex/ST/lsm6dsl.h b/os/ex/ST/lsm6dsl.h
index 7dbb96338..0ad2d4143 100644
--- a/os/ex/ST/lsm6dsl.h
+++ b/os/ex/ST/lsm6dsl.h
@@ -960,7 +960,7 @@ struct LSM6DSLDriver {
  * @brief   Samples bias values for the BaseGyroscope.

  * @note    The LSM6DSL shall not be moved during the whole procedure.

  * @note    After this function internal bias is automatically updated.

- * @note    The behavior of this function depends on @P LSM6DSL_BIAS_ACQ_TIMES

+ * @note    The behavior of this function depends on @p LSM6DSL_BIAS_ACQ_TIMES

  *          and @p LSM6DSL_BIAS_SETTLING_US.

  *

  * @param[in] devp      pointer to @p LSM6DSLDriver.