UpdatedEX: LIS302DL driver updated to v1.0.0

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@9724 35acf78f-673a-0410-8e92-d51de3d6d3f4

2 files changed, 255 insertions, 193 deletions

diff --git a/os/ex/ST/lis302dl.c b/os/ex/ST/lis302dl.c
index 32b347929..abce0f546 100644
--- a/os/ex/ST/lis302dl.c
+++ b/os/ex/ST/lis302dl.c
@@ -33,58 +33,6 @@
 /* Driver local definitions.                                                 */

 /*===========================================================================*/

 

-#define  LIS302DL_SENS_2G                   ((float)18.0f)

-#define  LIS302DL_SENS_8G                   ((float)72.0f)

-

-#define  LIS302DL_DI                        ((uint8_t)0xFF)

-#define  LIS302DL_DI_0                      ((uint8_t)0x01)

-#define  LIS302DL_DI_1                      ((uint8_t)0x02)

-#define  LIS302DL_DI_2                      ((uint8_t)0x04)

-#define  LIS302DL_DI_3                      ((uint8_t)0x08)

-#define  LIS302DL_DI_4                      ((uint8_t)0x10)

-#define  LIS302DL_DI_5                      ((uint8_t)0x20)

-#define  LIS302DL_DI_6                      ((uint8_t)0x40)

-#define  LIS302DL_DI_7                      ((uint8_t)0x80)

-

-#define  LIS302DL_AD                        ((uint8_t)0x3F)

-#define  LIS302DL_AD_0                      ((uint8_t)0x01)

-#define  LIS302DL_AD_1                      ((uint8_t)0x02)

-#define  LIS302DL_AD_2                      ((uint8_t)0x04)

-#define  LIS302DL_AD_3                      ((uint8_t)0x08)

-#define  LIS302DL_AD_4                      ((uint8_t)0x10)

-#define  LIS302DL_AD_5                      ((uint8_t)0x20)

-

-#define  LIS302DL_MS                        ((uint8_t)0x40)

-#define  LIS302DL_RW                        ((uint8_t)0x80)

-

-#define  LIS302DL_AD_WHO_AM_I               ((uint8_t)0x0F)

-#define  LIS302DL_AD_CTRL_REG1              ((uint8_t)0x20)

-#define  LIS302DL_AD_CTRL_REG2              ((uint8_t)0x21)

-#define  LIS302DL_AD_CTRL_REG3              ((uint8_t)0x22)

-#define  LIS302DL_AD_HP_FILER_RESET         ((uint8_t)0x23)

-#define  LIS302DL_AD_STATUS_REG             ((uint8_t)0x27)

-#define  LIS302DL_AD_OUT_X                  ((uint8_t)0x29)

-#define  LIS302DL_AD_OUT_Y                  ((uint8_t)0x2B)

-#define  LIS302DL_AD_OUT_Z                  ((uint8_t)0x2D)

-#define  LIS302DL_AD_FF_WU_CFG_1            ((uint8_t)0x30)

-#define  LIS302DL_AD_FF_WU_SRC_1            ((uint8_t)0x31)

-#define  LIS302DL_AD_FF_WU_THS_1            ((uint8_t)0x32)

-#define  LIS302DL_AD_FF_WU_DURATION_1       ((uint8_t)0x33)

-#define  LIS302DL_AD_FF_WU_CFG_2            ((uint8_t)0x34)

-#define  LIS302DL_AD_FF_WU_SRC_2            ((uint8_t)0x35)

-#define  LIS302DL_AD_FF_WU_THS_2            ((uint8_t)0x36)

-#define  LIS302DL_AD_FF_WU_DURATION_2       ((uint8_t)0x37)

-#define  LIS302DL_AD_CLICK_CFG              ((uint8_t)0x38)

-#define  LIS302DL_AD_CLICK_SRC              ((uint8_t)0x39)

-#define  LIS302DL_AD_CLICK_THSY_X           ((uint8_t)0x3B)

-#define  LIS302DL_AD_CLICK_THSZ             ((uint8_t)0x3C)

-#define  LIS302DL_AD_CLICK_TIME_LIMIT       ((uint8_t)0x3D)

-#define  LIS302DL_AD_CLICK_LATENCY          ((uint8_t)0x3E)

-#define  LIS302DL_AD_CLICK_WINDOW           ((uint8_t)0x3F)

-

-#define  LIS302DL_CTRL_REG1_FS_MASK         ((uint8_t)0x20)

-#define  TO_G                               ((float)0.001f)

-#define  TO_SI                              ((float)0.00981f)

 /*===========================================================================*/

 /* Driver exported variables.                                                */

 /*===========================================================================*/

@@ -93,14 +41,6 @@
 /* Driver local variables and types.                                         */

 /*===========================================================================*/

 

-/**

- * @brief  LIS302DL Power Mode

- */

-typedef enum {

-  LIS302DL_PM_POWER_DOWN   = 0x00,  /**< Power down enabled.                */          

-  LIS302DL_PM_SLEEP_NORMAL = 0x40   /**< Normal operation mode.             */          

-}lis302dl_pm_t;

-

 /*===========================================================================*/

 /* Driver local functions.                                                   */

 /*===========================================================================*/

@@ -111,16 +51,18 @@ typedef enum {
  * @pre     The SPI interface must be initialized and the driver started.

  *

  * @param[in] spip      pointer to the SPI interface

- * @param[in] reg       register number

- * @return              register value.

+ * @param[in] reg       starting register address

+ * @param[in] n         number of adjacent registers to write

+ * @param[in] b         pointer to a buffer.

  */

-static uint8_t lis302dlSPIReadRegister(SPIDriver *spip, uint8_t reg) {

-  uint8_t txbuf[2] = {LIS302DL_RW | reg, 0xFF};

-  uint8_t rxbuf[2] = {0x00, 0x00};

+static void lis302dlSPIReadRegister(SPIDriver *spip, uint8_t reg,  size_t n,

+                                    uint8_t* b) {

+  uint8_t cmd;

+  (n == 1) ? (cmd = reg | LIS302DL_RW) : (cmd = reg | LIS302DL_RW | LIS302DL_MS);

   spiSelect(spip);

-  spiExchange(spip, 2, txbuf, rxbuf);

+  spiSend(spip, 1, &cmd);

+  spiReceive(spip, n, b);

   spiUnselect(spip);

-  return rxbuf[1];

 }

 

 /**

@@ -128,50 +70,18 @@ static uint8_t lis302dlSPIReadRegister(SPIDriver *spip, uint8_t reg) {
  * @pre     The SPI interface must be initialized and the driver started.

  *

  * @param[in] spip      pointer to the SPI interface

- * @param[in] reg       register number

- * @param[in] value     register value.

+ * @param[in] reg       starting register address

+ * @param[in] n         number of adjacent registers to write

+ * @param[in] value     pointer to a buffer of values.

  */

-static void lis302dlSPIWriteRegister(SPIDriver *spip, uint8_t reg,

-                                   uint8_t value) {

-

-  switch (reg) {

-    default:

-      /* Reserved register must not be written, according to the datasheet

-       * this could permanently damage the device.

-       */

-      osalDbgAssert(FALSE, "lis302dlSPIWriteRegister(), reserved register");

-    case LIS302DL_AD_WHO_AM_I:

-

-    case LIS302DL_AD_HP_FILER_RESET:

-    case LIS302DL_AD_STATUS_REG:

-    case LIS302DL_AD_OUT_X:

-    case LIS302DL_AD_OUT_Y:

-    case LIS302DL_AD_OUT_Z:

-    case LIS302DL_AD_FF_WU_SRC_1:

-    case LIS302DL_AD_FF_WU_SRC_2:

-    case LIS302DL_AD_CLICK_SRC:

-    /* Read only registers cannot be written, the command is ignored.*/

-      return;

-    case LIS302DL_AD_CTRL_REG1:

-    case LIS302DL_AD_CTRL_REG2:

-    case LIS302DL_AD_CTRL_REG3:

-    case LIS302DL_AD_FF_WU_CFG_1:

-    case LIS302DL_AD_FF_WU_THS_1:

-    case LIS302DL_AD_FF_WU_DURATION_1:

-    case LIS302DL_AD_FF_WU_CFG_2:

-    case LIS302DL_AD_FF_WU_THS_2:

-    case LIS302DL_AD_FF_WU_DURATION_2:

-    case LIS302DL_AD_CLICK_CFG:

-    case LIS302DL_AD_CLICK_THSY_X:

-    case LIS302DL_AD_CLICK_THSZ:

-    case LIS302DL_AD_CLICK_TIME_LIMIT:

-    case LIS302DL_AD_CLICK_LATENCY:

-    case LIS302DL_AD_CLICK_WINDOW:

-      spiSelect(spip);

-      uint8_t txbuf[2] = {reg, value};

-      spiSend(spip, 2, txbuf);

-      spiUnselect(spip);

-  }

+static void lis302dlSPIWriteRegister(SPIDriver *spip, uint8_t reg, size_t n,

+                                     uint8_t* b) {

+  uint8_t cmd;

+  (n == 1) ? (cmd = reg) : (cmd = reg | LIS302DL_MS);

+  spiSelect(spip);

+  spiSend(spip, 1, &cmd);

+  spiSend(spip, n, b);

+  spiUnselect(spip);

 }

 #endif /* LIS302DL_USE_SPI */

 

@@ -185,9 +95,10 @@ static size_t get_axes_number(void *ip) {
 }

 

 static msg_t read_raw(void *ip, int32_t axes[LIS302DL_NUMBER_OF_AXES]) {

-  int8_t tmp;

+  uint8_t i, tmp;

+

   osalDbgCheck((ip != NULL) && (axes != NULL));

-  

+

   osalDbgAssert((((LIS302DLDriver *)ip)->state == LIS302DL_READY),

               "read_raw(), invalid state");

 

@@ -199,21 +110,11 @@ static msg_t read_raw(void *ip, int32_t axes[LIS302DL_NUMBER_OF_AXES]) {
   spiStart(((LIS302DLDriver *)ip)->config->spip,

            ((LIS302DLDriver *)ip)->config->spicfg);

 #endif /* LIS302DL_SHARED_SPI */   

-  if(((LIS302DLDriver *)ip)->config->axesenabling & LIS302DL_AE_X){

-    tmp = lis302dlSPIReadRegister(((LIS302DLDriver *)ip)->config->spip,

-										LIS302DL_AD_OUT_X);

-    axes[0] = tmp + ((LIS302DLDriver *)ip)->bias[0];

-  }

-  if(((LIS302DLDriver *)ip)->config->axesenabling & LIS302DL_AE_Y){

-    tmp = lis302dlSPIReadRegister(((LIS302DLDriver *)ip)->config->spip,

-										LIS302DL_AD_OUT_Y);

-    axes[1] = tmp  + ((LIS302DLDriver *)ip)->bias[1];

-  }

-  if(((LIS302DLDriver *)ip)->config->axesenabling & LIS302DL_AE_Z){

-    tmp = lis302dlSPIReadRegister(((LIS302DLDriver *)ip)->config->spip,

-										LIS302DL_AD_OUT_Z);

-    axes[2] = tmp + ((LIS302DLDriver *)ip)->bias[2];

-  }

+    for(i = 0; i < LIS302DL_NUMBER_OF_AXES; i++) {

+      lis302dlSPIReadRegister(((LIS302DLDriver *)ip)->config->spip,

+                              LIS302DL_AD_OUT_X + (i * 2), 1, &tmp);

+      axes[i] = (int32_t)((int8_t)tmp);

+    }

 #if	LIS302DL_SHARED_SPI

   spiReleaseBus(((LIS302DLDriver *)ip)->config->spip);

 #endif /* LIS302DL_SHARED_SPI */   

@@ -229,17 +130,12 @@ static msg_t read_cooked(void *ip, float axes[]) {
   osalDbgCheck((ip != NULL) && (axes != NULL));

 

   osalDbgAssert((((LIS302DLDriver *)ip)->state == LIS302DL_READY),

-              "read_cooked(), invalid state");

+                "read_cooked(), invalid state");

 

   msg = read_raw(ip, raw);

   for(i = 0; i < LIS302DL_NUMBER_OF_AXES ; i++){

-    axes[i] = raw[i] * ((LIS302DLDriver *)ip)->sensitivity[i];

-    if(((LIS302DLDriver *)ip)->config->unit == LIS302DL_ACC_UNIT_G){

-      axes[i] *= TO_G;

-    }

-    else if(((LIS302DLDriver *)ip)->config->unit == LIS302DL_ACC_UNIT_SI){

-      axes[i] *= TO_SI;

-    }

+    axes[i] = (raw[i] * ((LIS302DLDriver *)ip)->sensitivity[i]);

+    axes[i] -= ((LIS302DLDriver *)ip)->bias[i];

   }

   return msg;

 }

@@ -302,12 +198,47 @@ static msg_t reset_sensivity(void *ip) {
 	for(i = 0; i < LIS302DL_NUMBER_OF_AXES; i++)

       ((LIS302DLDriver *)ip)->sensitivity[i] = LIS302DL_SENS_8G;

   else {

-    osalDbgAssert(FALSE, "reset_sensivity(), accelerometer full scale issue");

+    osalDbgAssert(FALSE, "reset_sensivity(), full scale issue");

     return MSG_RESET;

   }

   return MSG_OK;

 }

 

+static msg_t set_full_scale(void *ip, lis302dl_fs_t fs) {

+  float newfs, scale;

+  uint8_t i, cr;

+

+  if(fs == LIS302DL_FS_2G) {

+    newfs = LIS302DL_2G;

+  }

+  else if(fs == LIS302DL_FS_8G) {

+    newfs = LIS302DL_8G;

+  }

+  else {

+    return MSG_RESET;

+  }

+

+  if(newfs != ((LIS302DLDriver *)ip)->fullscale) {

+    scale = newfs / ((LIS302DLDriver *)ip)->fullscale;

+    ((LIS302DLDriver *)ip)->fullscale = newfs;

+

+    /* Updating register.*/

+    lis302dlSPIReadRegister(((LIS302DLDriver *)ip)->config->spip,

+                            LIS302DL_AD_CTRL_REG1, 1, &cr);

+    cr &= ~(LIS302DL_CTRL_REG1_FS_MASK);

+    cr |= fs;

+    lis302dlSPIWriteRegister(((LIS302DLDriver *)ip)->config->spip,

+                             LIS302DL_AD_CTRL_REG1, 1, &cr);

+

+    /* Scaling sensitivity and bias. Re-calibration is suggested anyway. */

+    for(i = 0; i < LIS302DL_NUMBER_OF_AXES; i++) {

+      ((LIS302DLDriver *)ip)->sensitivity[i] *= scale;

+      ((LIS302DLDriver *)ip)->bias[i] *= scale;

+    }

+  }

+  return MSG_OK;

+}

+

 static const struct BaseSensorVMT vmt_basesensor = {

   get_axes_number, read_raw, read_cooked

 };

@@ -319,7 +250,8 @@ static const struct BaseAccelerometerVMT vmt_baseaccelerometer = {
 

 static const struct LIS302DLVMT vmt_lis302dl = {

   get_axes_number, read_raw, read_cooked,

-  set_bias, reset_bias, set_sensivity, reset_sensivity 

+  set_bias, reset_bias, set_sensivity, reset_sensivity,

+  set_full_scale

 };

 

 /*===========================================================================*/

@@ -354,6 +286,7 @@ void lis302dlObjectInit(LIS302DLDriver *devp) {
  */

 void lis302dlStart(LIS302DLDriver *devp, const LIS302DLConfig *config) {

   uint32_t i;

+  uint8_t cr[2] = {0, 0};

   osalDbgCheck((devp != NULL) && (config != NULL));

 

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

@@ -367,25 +300,42 @@ void lis302dlStart(LIS302DLDriver *devp, const LIS302DLConfig *config) {
 #endif /* LIS302DL_SHARED_SPI */

   spiStart((devp)->config->spip,

            (devp)->config->spicfg);

-  lis302dlSPIWriteRegister(devp->config->spip, LIS302DL_AD_CTRL_REG1,

-                         LIS302DL_PM_SLEEP_NORMAL |

-                         devp->config->axesenabling |

-						 devp->config->fullscale |

-						 devp->config->outputdatarate);

-  lis302dlSPIWriteRegister(devp->config->spip, LIS302DL_AD_CTRL_REG2,

-                         devp->config->highpass);

+           

+  /* Control register 1 configuration block.*/

+  {

+    cr[0] = LIS302DL_CTRL_REG1_XEN | LIS302DL_CTRL_REG1_YEN | 

+            LIS302DL_CTRL_REG1_ZEN | LIS302DL_CTRL_REG1_PD |

+            devp->config->outputdatarate |

+            devp->config->fullscale;

+  }

+  

+  /* Control register 2 configuration block.*/

+  {

+#if LIS302DL_USE_ADVANCED || defined(__DOXYGEN__)

+  if(devp->config->hpmode != LIS302DL_HPM_BYPASSED)

+    cr[1] = devp->config->highpass;

+#endif

+  }

+  

+  lis302dlSPIWriteRegister(devp->config->spip, LIS302DL_AD_CTRL_REG1, 

+                           2, cr);

+                           

 #if	LIS302DL_SHARED_SPI

   spiReleaseBus((devp)->config->spip);

 #endif /* LIS302DL_SHARED_SPI */  

 #endif /* LIS302DL_USE_SPI */

   

   /* Storing sensitivity information according to full scale value */

-  if(devp->config->fullscale == LIS302DL_FS_2G)

+  if(devp->config->fullscale == LIS302DL_FS_2G) {

+    devp->fullscale = LIS302DL_2G;

     for(i = 0; i < LIS302DL_NUMBER_OF_AXES; i++)

       devp->sensitivity[i] = LIS302DL_SENS_2G;

-  else if(devp->config->fullscale == LIS302DL_FS_8G)

-	for(i = 0; i < LIS302DL_NUMBER_OF_AXES; i++)

-      devp->sensitivity[i] = LIS302DL_SENS_8G;

+  }

+  else if(devp->config->fullscale == LIS302DL_FS_8G) {

+    devp->fullscale = LIS302DL_8G;

+    for(i = 0; i < LIS302DL_NUMBER_OF_AXES; i++)

+        devp->sensitivity[i] = LIS302DL_SENS_8G;

+  }

   else {

     osalDbgAssert(FALSE, "lis302dlStart(), accelerometer full scale issue");

   }

@@ -403,7 +353,7 @@ void lis302dlStart(LIS302DLDriver *devp, const LIS302DLConfig *config) {
  * @api

  */

 void lis302dlStop(LIS302DLDriver *devp) {

-

+  uint8_t cr1;

   osalDbgCheck(devp != NULL);

 

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

@@ -416,8 +366,8 @@ void lis302dlStop(LIS302DLDriver *devp) {
     spiStart((devp)->config->spip,

              (devp)->config->spicfg);

 #endif /* LIS302DL_SHARED_SPI */

-    lis302dlSPIWriteRegister(devp->config->spip, LIS302DL_AD_CTRL_REG1,

-                           LIS302DL_PM_POWER_DOWN | LIS302DL_AE_DISABLED);

+    cr1 = 0;

+    lis302dlSPIWriteRegister(devp->config->spip, LIS302DL_AD_CTRL_REG1, 1, &cr1);

     spiStop((devp)->config->spip);

 #if	LIS302DL_SHARED_SPI

     spiReleaseBus((devp)->config->spip);

diff --git a/os/ex/ST/lis302dl.h b/os/ex/ST/lis302dl.h
index e4c175029..67815ba97 100644
--- a/os/ex/ST/lis302dl.h
+++ b/os/ex/ST/lis302dl.h
@@ -35,10 +35,130 @@
 /*===========================================================================*/

 

 /**

- * @brief   LIS302DL number of axes.

+ * @name    Version identification

+ * @{

+ */

+/**

+ * @brief   LIS302DL driver version string.

+ */

+#define EX_LIS302DL_VERSION         "1.0.0"

+

+/**

+ * @brief   LIS302DL driver version major number.

+ */

+#define EX_LIS302DL_MAJOR           1

+

+/**

+ * @brief   LIS302DL driver version minor number.

  */

-#define  LIS302DL_NUMBER_OF_AXES            ((size_t)   3U)

+#define EX_LIS302DL_MINOR           0

 

+/**

+ * @brief   LIS302DL driver version patch number.

+ */

+#define EX_LIS302DL_PATCH           0

+/** @} */

+

+/**

+ * @brief   LIS302DL characteristics.

+ *

+ * @{

+ */

+#define LIS302DL_NUMBER_OF_AXES     3U

+

+#define LIS302DL_2G                 2.0f

+#define LIS302DL_8G                 8.0f

+

+#define LIS302DL_SENS_2G            18.0f

+#define LIS302DL_SENS_8G            72.0f

+/** @} */

+

+/**

+ * @name    LIS302DL communication interfaces related bit masks

+ * @{

+ */

+#define LIS302DL_DI_MASK            0xFF        /**< Data In mask           */

+#define LIS302DL_DI(n)              (1 << n)    /**< Data In bit n          */

+#define LIS302DL_AD_MASK            0x3F        /**< Address Data mask      */

+#define LIS302DL_AD(n)              (1 << n)    /**< Address Data bit n     */

+#define LIS302DL_MS                 (1 << 6)    /**< Multiple read write    */

+#define LIS302DL_RW                 (1 << 7)    /**< Read Write selector    */

+/** @} */

+

+/**

+ * @name    LIS302DL register addresses

+ * @{

+ */

+#define  LIS302DL_AD_WHO_AM_I               0x0F

+#define  LIS302DL_AD_CTRL_REG1              0x20

+#define  LIS302DL_AD_CTRL_REG2              0x21

+#define  LIS302DL_AD_CTRL_REG3              0x22

+#define  LIS302DL_AD_HP_FILER_RESET         0x23

+#define  LIS302DL_AD_STATUS_REG             0x27

+#define  LIS302DL_AD_OUT_X                  0x29

+#define  LIS302DL_AD_OUT_Y                  0x2B

+#define  LIS302DL_AD_OUT_Z                  0x2D

+#define  LIS302DL_AD_FF_WU_CFG_1            0x30

+#define  LIS302DL_AD_FF_WU_SRC_1            0x31

+#define  LIS302DL_AD_FF_WU_THS_1            0x32

+#define  LIS302DL_AD_FF_WU_DURATION_1       0x33

+#define  LIS302DL_AD_FF_WU_CFG_2            0x34

+#define  LIS302DL_AD_FF_WU_SRC_2            0x35

+#define  LIS302DL_AD_FF_WU_THS_2            0x36

+#define  LIS302DL_AD_FF_WU_DURATION_2       0x37

+#define  LIS302DL_AD_CLICK_CFG              0x38

+#define  LIS302DL_AD_CLICK_SRC              0x39

+#define  LIS302DL_AD_CLICK_THSY_X           0x3B

+#define  LIS302DL_AD_CLICK_THSZ             0x3C

+#define  LIS302DL_AD_CLICK_TIME_LIMIT       0x3D

+#define  LIS302DL_AD_CLICK_LATENCY          0x3E

+#define  LIS302DL_AD_CLICK_WINDOW           0x3F

+/** @} */

+

+/**

+ * @name    LIS302DL_CTRL_REG1 register bits definitions

+ * @{

+ */

+#define LIS302DL_CTRL_REG1_MASK     0xFF        /**< LIS302DL_CTRL_REG1 mask  */

+#define LIS302DL_CTRL_REG1_FS_MASK  0x20        /**< Full scale field mask    */

+#define LIS302DL_CTRL_REG1_XEN      (1 << 0)    /**< X axis enable            */

+#define LIS302DL_CTRL_REG1_YEN      (1 << 1)    /**< Y axis enable            */

+#define LIS302DL_CTRL_REG1_ZEN      (1 << 2)    /**< Z axis enable            */

+#define LIS302DL_CTRL_REG1_STM      (1 << 3)    /**< Self test P-M            */

+#define LIS302DL_CTRL_REG1_STP      (1 << 4)    /**< Self test P-M            */

+#define LIS302DL_CTRL_REG1_FS       (1 << 5)    /**< Full scale               */

+#define LIS302DL_CTRL_REG1_PD       (1 << 6)    /**< Power-down mode enable   */

+#define LIS302DL_CTRL_REG1_DR       (1 << 7)    /**< Output data rate         */

+/** @} */

+

+/**

+ * @name    LIS302DL_CTRL_REG2 register bits definitions

+ * @{

+ */                                              

+#define LIS302DL_CTRL_REG2_MASK     0xDF        /**< LIS302DL_CTRL_REG2 mask  */

+#define LIS302DL_CTRL_REG2_HPCF1    (1 << 0)    /**< HP filter cutoff bit 0   */

+#define LIS302DL_CTRL_REG2_HPCF2    (1 << 1)    /**< HP filter cutoff bit 1   */

+#define LIS302DL_CTRL_REG2_HPFFWU1  (1 << 2)    /**< HP filter cutoff bit 2   */

+#define LIS302DL_CTRL_REG2_HPFFWU2  (1 << 3)    /**< HP filter cutoff bit 3   */

+#define LIS302DL_CTRL_REG2_FDS      (1 << 4)    /**< HP filter mode bit 0     */

+#define LIS302DL_CTRL_REG2_BOOT     (1 << 6)    /**< HP filter mode bit 1     */

+#define LIS302DL_CTRL_REG2_SIM      (1 << 7)    /**< HP filter mode bit 1     */

+/** @} */

+

+/**

+ * @name    LIS302DL_CTRL_REG3 register bits definitions

+ * @{

+ */                                               

+#define LIS302DL_CTRL_REG3_MASK     0xFF        /**< LIS302DL_CTRL_REG3 mask  */

+#define LIS302DL_CTRL_REG3_I1CFG0   (1 << 0)    /**< Interrupt 1 config bit 0 */

+#define LIS302DL_CTRL_REG3_I1CFG1   (1 << 1)    /**< Interrupt 1 config bit 1 */

+#define LIS302DL_CTRL_REG3_I1CFG2   (1 << 2)    /**< Interrupt 1 config bit 2 */

+#define LIS302DL_CTRL_REG3_I2CFG0   (1 << 3)    /**< Interrupt 2 config bit 0 */

+#define LIS302DL_CTRL_REG3_I2CFG1   (1 << 4)    /**< Interrupt 2 config bit 1 */

+#define LIS302DL_CTRL_REG3_I2CFG2   (1 << 5)    /**< Interrupt 2 config bit 2 */

+#define LIS302DL_CTRL_REG3_PP_OD    (1 << 6)    /**< Push-pull open-drain     */

+#define LIS302DL_CTRL_REG3_IHL      (1 << 7)    /**< Int active high low      */

+/** @} */

 /*===========================================================================*/

 /* Driver pre-compile time settings.                                         */

 /*===========================================================================*/

@@ -66,6 +186,15 @@
 #endif

 

 /**

+ * @brief   LIS302DL advanced configurations switch.

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

+ * @note    The default is @p FALSE.

+ */

+#if !defined(LIS302DL_USE_ADVANCED) || defined(__DOXYGEN__)

+#define LIS302DL_USE_ADVANCED               FALSE

+#endif

+

+/**

  * @brief   LIS302DL shared SPI switch.

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

  *          on each transaction.

@@ -108,8 +237,8 @@
  * @brief   LIS302DL full scale.

  */

 typedef enum {

-  LIS302DL_FS_2G = 0x00,            /**< Full scale ±2g.                    */

-  LIS302DL_FS_8G = 0x20             /**< Full scale ±8g.                    */

+  LIS302DL_FS_2G = 0x00,            /**< Full scale ±2g.                    */

+  LIS302DL_FS_8G = 0x20             /**< Full scale ±8g.                    */

 }lis302dl_fs_t;

 

 /**

@@ -132,29 +261,6 @@ typedef enum {
 }lis302dl_hp_t;

 

 /**

- * @brief   LIS302DL axes enabling.

- */

-typedef enum {

-  LIS302DL_AE_DISABLED = 0x00,      /**< All axes disabled.                 */

-  LIS302DL_AE_X = 0x01,             /**< Only X-axis enabled.               */

-  LIS302DL_AE_Y = 0x02,             /**< Only Y-axis enabled.               */

-  LIS302DL_AE_XY = 0x03,            /**< X and Y axes enabled.              */

-  LIS302DL_AE_Z = 0x04,             /**< Only Z-axis enabled.               */

-  LIS302DL_AE_XZ = 0x05,            /**< X and Z axes enabled.              */

-  LIS302DL_AE_YZ = 0x06,            /**< Y and Z axes enabled.              */

-  LIS302DL_AE_XYZ = 0x07            /**< All axes enabled.                  */

-}lis302dl_ae_t;

-

-/**

- * @brief   LIS302DL accelerometer subsystem unit.

- */

-typedef enum {

-  LIS302DL_ACC_UNIT_G = 0x00,       /**< Cooked data in g.                  */

-  LIS302DL_ACC_UNIT_MG = 0x01,      /**< Cooked data in mg.                 */

-  LIS302DL_ACC_UNIT_SI = 0x02,      /**< Cooked data in m/s^2.              */

-} lis302dl_acc_unit_t;

-

-/**

  * @brief   Driver state machine possible states.

  */

 typedef enum {

@@ -189,6 +295,14 @@ typedef struct {
   const I2CConfig           *i2ccfg;

 #endif /* LIS302DL_USE_I2C */

   /**

+   * @brief LIS302DL initial sensitivity.

+   */

+  float                     sensitivity[LIS302DL_NUMBER_OF_AXES];

+  /**

+   * @brief LIS302DL initial bias.

+   */

+  float                     bias[LIS302DL_NUMBER_OF_AXES];

+  /**

    * @brief LIS302DL full scale value.

    */

   lis302dl_fs_t               fullscale;

@@ -196,18 +310,12 @@ typedef struct {
    * @brief LIS302DL output data rate selection.

    */

   lis302dl_odr_t              outputdatarate;

+#if LIS302DL_USE_ADVANCED || defined(__DOXYGEN__)

   /**

    * @brief   LIS302DL high pass filtering

    */

   lis302dl_hp_t               highpass;

-  /**

-   * @brief LIS302DL axes enabling.

-   */

-  lis302dl_ae_t               axesenabling;

-  /**

-   * @brief LIS302DL unit for cooked data.

-   */

-  lis302dl_acc_unit_t         unit;

+#endif

 } LIS302DLConfig;

 

 /**

@@ -219,7 +327,9 @@ typedef struct LIS302DLDriver LIS302DLDriver;
  * @brief   @p LIS302DL specific methods.

  */

 #define _lis302dl_methods                                                   \

-  _base_accelerometer_methods

+  _base_accelerometer_methods                                               \

+  /* Change full scale value of LIS302DL .*/                                \

+  msg_t (*set_full_scale)(void *instance, lis302dl_fs_t fs);

 

 

 /**

@@ -243,7 +353,9 @@ struct LIS302DLVMT {
   /* Current sensitivity.*/                                                 \

   float                     sensitivity[LIS302DL_NUMBER_OF_AXES];           \

   /* Bias data.*/                                                           \

-  int32_t                   bias[LIS302DL_NUMBER_OF_AXES];

+  int32_t                   bias[LIS302DL_NUMBER_OF_AXES];                  \

+  /* Current full scale value.*/                                            \

+  float                     fullscale;

 

 /**

  * @extends BaseAccelerometer.

@@ -268,19 +380,19 @@ struct LIS302DLDriver {
 /*===========================================================================*/

 

 /**

- * @brief   Get current MEMS temperature.

- * @detail  This information is very useful especially for high accuracy IMU.

+ * @brief   Change accelerometer fullscale value.

  *

  * @param[in] ip        pointer to a @p BaseAccelerometer class.

- * @param[out] temp     the MEMS temperature as single precision floating.

+ * @param[in] fs        the new full scale value.

  *

  * @return              The operation status.

  * @retval MSG_OK       if the function succeeded.

  * @retval MSG_RESET    if one or more errors occurred.

  * @api

  */

-#define accelerometerGetTemp(ip, tpp)                                           \

-        (ip)->vmt_lis302dl->get_temperature(ip, tpp)

+#define accelerometerSetFullScale(ip, fs)                                   \

+        (ip)->vmt_lis302dl->set_full_scale(ip, fs)

+        

 

 /*===========================================================================*/

 /* External declarations.                                                    */