Adjustment to LSM303AGR Driver (Still incomplete), added demo

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@11751 110e8d01-0319-4d1e-a829-52ad28d1bb01

2 files changed, 175 insertions, 482 deletions

diff --git a/os/ex/ST/lsm303agr.c b/os/ex/ST/lsm303agr.c
index 747ef087d..6881be900 100644
--- a/os/ex/ST/lsm303agr.c
+++ b/os/ex/ST/lsm303agr.c
@@ -67,7 +67,7 @@ typedef enum {
  * @return               the operation status.

  */

 static msg_t lsm303agrI2CReadRegister(I2CDriver *i2cp, lsm303agr_sad_t sad,

-                                       uint8_t reg, uint8_t *rxbuf, size_t n) {

+                                      uint8_t reg, uint8_t *rxbuf, size_t n) {

 

   uint8_t txbuf = reg | LSM303AGR_MS;

   return i2cMasterTransmitTimeout(i2cp, sad, &txbuf, 1, rxbuf, n,

@@ -87,7 +87,7 @@ static msg_t lsm303agrI2CReadRegister(I2CDriver *i2cp, lsm303agr_sad_t sad,
  * @return              the operation status.

  */

 static msg_t lsm303agrI2CWriteRegister(I2CDriver *i2cp, lsm303agr_sad_t sad,

-                                        uint8_t *txbuf, size_t n) {

+                                       uint8_t *txbuf, size_t n) {

   if (n != 1)

     *txbuf |= LSM303AGR_MS;

   return i2cMasterTransmitTimeout(i2cp, sad, txbuf, n + 1, NULL, 0,

@@ -146,7 +146,7 @@ static msg_t acc_read_raw(void *ip, int32_t axes[]) {
 #endif /* LSM303AGR_SHARED_I2C */

 

   msg = lsm303agrI2CReadRegister(devp->config->i2cp, LSM303AGR_SAD_ACC,

-                                  LSM303AGR_AD_ACC_OUT_X_L, buff,

+                                  LSM303AGR_AD_OUT_X_L_A, buff,

                                   LSM303AGR_ACC_NUMBER_OF_AXES * 2);

 

 #if LSM303AGR_SHARED_I2C

@@ -312,18 +312,82 @@ static msg_t acc_reset_sensivity(void *ip) {
   osalDbgAssert((devp->state == LSM303AGR_READY),

                 "acc_reset_sensivity(), invalid state");

 

-  if(devp->config->accfullscale == LSM303AGR_ACC_FS_2G)

-    for(i = 0; i < LSM303AGR_ACC_NUMBER_OF_AXES; i++)

-      devp->accsensitivity[i] = LSM303AGR_ACC_SENS_2G;

-  else if(devp->config->accfullscale == LSM303AGR_ACC_FS_4G)

-	for(i = 0; i < LSM303AGR_ACC_NUMBER_OF_AXES; i++)

-      devp->accsensitivity[i] = LSM303AGR_ACC_SENS_4G;

-  else if(devp->config->accfullscale == LSM303AGR_ACC_FS_8G)

-	for(i = 0; i < LSM303AGR_ACC_NUMBER_OF_AXES; i++)

-      devp->accsensitivity[i] = LSM303AGR_ACC_SENS_8G;

-  else if(devp->config->accfullscale == LSM303AGR_ACC_FS_16G)

-	for(i = 0; i < LSM303AGR_ACC_NUMBER_OF_AXES; i++)

-      devp->accsensitivity[i] = LSM303AGR_ACC_SENS_16G;

+  if(devp->config->accfullscale == LSM303AGR_ACC_FS_2G) {

+    for(i = 0; i < LSM303AGR_ACC_NUMBER_OF_AXES; i++) {

+#if LSM303AGR_ACC_USE_ADVANCED

+      if(devp->config->accmode == LSM303AGR_ACC_MODE_NORM)

+        devp->accsensitivity[i] = LSM303AGR_ACC_SENS_NORM_2G;

+      else if(devp->config->accmode == LSM303AGR_ACC_MODE_LPOW)

+        devp->accsensitivity[i] = LSM303AGR_ACC_SENS_LPOW_2G;

+      else if(devp->config->accmode == LSM303AGR_ACC_MODE_HRES)

+        devp->accsensitivity[i] = LSM303AGR_ACC_SENS_HRES_2G;

+      else {

+        osalDbgAssert(FALSE, "acc_reset_sensivity(), accelerometer mode issue");

+        msg = MSG_RESET;

+        return msg;

+      }

+#else

+      devp->accsensitivity[i] = LSM303AGR_ACC_SENS_NORM_2G;

+#endif

+    }

+  }

+  else if(devp->config->accfullscale == LSM303AGR_ACC_FS_4G) {

+    for(i = 0; i < LSM303AGR_ACC_NUMBER_OF_AXES; i++) {

+#if LSM303AGR_ACC_USE_ADVANCED

+      if(devp->config->accmode == LSM303AGR_ACC_MODE_NORM)

+        devp->accsensitivity[i] = LSM303AGR_ACC_SENS_NORM_4G;

+      else if(devp->config->accmode == LSM303AGR_ACC_MODE_LPOW)

+        devp->accsensitivity[i] = LSM303AGR_ACC_SENS_LPOW_4G;

+      else if(devp->config->accmode == LSM303AGR_ACC_MODE_HRES)

+        devp->accsensitivity[i] = LSM303AGR_ACC_SENS_HRES_4G;

+      else {

+        osalDbgAssert(FALSE, "acc_reset_sensivity(), accelerometer mode issue");

+        msg = MSG_RESET;

+        return msg;

+      }

+#else

+      devp->accsensitivity[i] = LSM303AGR_ACC_SENS_NORM_4G;

+#endif

+    }

+  }

+  else if(devp->config->accfullscale == LSM303AGR_ACC_FS_8G) {

+    for(i = 0; i < LSM303AGR_ACC_NUMBER_OF_AXES; i++) {

+#if LSM303AGR_ACC_USE_ADVANCED

+      if(devp->config->accmode == LSM303AGR_ACC_MODE_NORM)

+        devp->accsensitivity[i] = LSM303AGR_ACC_SENS_NORM_8G;

+      else if(devp->config->accmode == LSM303AGR_ACC_MODE_LPOW)

+        devp->accsensitivity[i] = LSM303AGR_ACC_SENS_LPOW_8G;

+      else if(devp->config->accmode == LSM303AGR_ACC_MODE_HRES)

+        devp->accsensitivity[i] = LSM303AGR_ACC_SENS_HRES_8G;

+      else {

+        osalDbgAssert(FALSE, "acc_reset_sensivity(), accelerometer mode issue");

+        msg = MSG_RESET;

+        return msg;

+      }

+#else

+      devp->accsensitivity[i] = LSM303AGR_ACC_SENS_NORM_8G;

+#endif

+    }

+  }

+  else if(devp->config->accfullscale == LSM303AGR_ACC_FS_16G) {

+    for(i = 0; i < LSM303AGR_ACC_NUMBER_OF_AXES; i++) {

+#if LSM303AGR_ACC_USE_ADVANCED

+      if(devp->config->accmode == LSM303AGR_ACC_MODE_NORM)

+        devp->accsensitivity[i] = LSM303AGR_ACC_SENS_NORM_16G;

+      else if(devp->config->accmode == LSM303AGR_ACC_MODE_LPOW)

+        devp->accsensitivity[i] = LSM303AGR_ACC_SENS_LPOW_16G;

+      else if(devp->config->accmode == LSM303AGR_ACC_MODE_HRES)

+        devp->accsensitivity[i] = LSM303AGR_ACC_SENS_HRES_16G;

+      else {

+        osalDbgAssert(FALSE, "acc_reset_sensivity(), accelerometer mode issue");

+        msg = MSG_RESET;

+        return msg;

+      }

+#else

+      devp->accsensitivity[i] = LSM303AGR_ACC_SENS_NORM_16G;

+#endif

+    }

+  }

   else {

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

     msg = MSG_RESET;

@@ -389,7 +453,7 @@ static msg_t acc_set_full_scale(LSM303AGRDriver *devp,
     /* Updating register.*/

     msg = lsm303agrI2CReadRegister(devp->config->i2cp,

                                    LSM303AGR_SAD_ACC,

-                                   LSM303AGR_AD_ACC_CTRL_REG4,

+                                   LSM303AGR_AD_CTRL_REG4_A,

                                    &buff[1], 1);

 

 #if LSM303AGR_SHARED_I2C

@@ -401,7 +465,7 @@ static msg_t acc_set_full_scale(LSM303AGRDriver *devp,
 

     buff[1] &= ~(LSM303AGR_CTRL_REG4_A_FS_MASK);

     buff[1] |= fs;

-    buff[0] = LSM303AGR_AD_ACC_CTRL_REG4;

+    buff[0] = LSM303AGR_AD_CTRL_REG4_A;

 

 #if LSM303AGR_SHARED_I2C

     i2cAcquireBus(devp->config->i2cp);

@@ -478,7 +542,7 @@ static msg_t comp_read_raw(void *ip, int32_t axes[]) {
            devp->config->i2ccfg);

 #endif /* LSM303AGR_SHARED_I2C */

   msg = lsm303agrI2CReadRegister(devp->config->i2cp, LSM303AGR_SAD_COMP,

-                                  LSM303AGR_AD_COMP_OUT_X_L, buff,

+                                  LSM303AGR_AD_OUTX_L_REG_M, buff,

                                   LSM303AGR_COMP_NUMBER_OF_AXES * 2);

 

 #if LSM303AGR_SHARED_I2C

@@ -645,180 +709,15 @@ static msg_t comp_reset_sensivity(void *ip) {
   osalDbgAssert((devp->state == LSM303AGR_READY),

                 "comp_reset_sensivity(), invalid state");

 

-  if(devp->config->compfullscale == LSM303AGR_COMP_FS_1P3GA)

-    for(i = 0; i < LSM303AGR_COMP_NUMBER_OF_AXES; i++) {

-      if(i != 2) {

-        devp->compsensitivity[i] = LSM303AGR_COMP_SENS_XY_1P3GA;

-      }

-      else {

-        devp->compsensitivity[i] = LSM303AGR_COMP_SENS_Z_1P3GA;

-      }

-    }

-  else if(devp->config->compfullscale == LSM303AGR_COMP_FS_1P9GA)

-    for(i = 0; i < LSM303AGR_COMP_NUMBER_OF_AXES; i++) {

-      if(i != 2) {

-        devp->compsensitivity[i] = LSM303AGR_COMP_SENS_XY_1P9GA;

-      }

-      else {

-        devp->compsensitivity[i] = LSM303AGR_COMP_SENS_Z_1P9GA;

-      }

-    }

-  else if(devp->config->compfullscale == LSM303AGR_COMP_FS_2P5GA)

-    for(i = 0; i < LSM303AGR_COMP_NUMBER_OF_AXES; i++) {

-      if(i != 2) {

-        devp->compsensitivity[i] = LSM303AGR_COMP_SENS_XY_2P5GA;

-      }

-      else {

-        devp->compsensitivity[i] = LSM303AGR_COMP_SENS_Z_2P5GA;

-      }

-    }

-  else if(devp->config->compfullscale == LSM303AGR_COMP_FS_4P0GA)

-    for(i = 0; i < LSM303AGR_COMP_NUMBER_OF_AXES; i++) {

-      if(i != 2) {

-        devp->compsensitivity[i] = LSM303AGR_COMP_SENS_XY_4P0GA;

-      }

-      else {

-        devp->compsensitivity[i] = LSM303AGR_COMP_SENS_Z_4P0GA;

-      }

-    }

-  else if(devp->config->compfullscale == LSM303AGR_COMP_FS_4P7GA)

-    for(i = 0; i < LSM303AGR_COMP_NUMBER_OF_AXES; i++) {

-      if(i != 2) {

-        devp->compsensitivity[i] = LSM303AGR_COMP_SENS_XY_4P7GA;

-      }

-      else {

-        devp->compsensitivity[i] = LSM303AGR_COMP_SENS_Z_4P7GA;

-      }

-    }

-  else if(devp->config->compfullscale == LSM303AGR_COMP_FS_5P6GA)

-    for(i = 0; i < LSM303AGR_COMP_NUMBER_OF_AXES; i++) {

-      if(i != 2) {

-        devp->compsensitivity[i] = LSM303AGR_COMP_SENS_XY_5P6GA;

-      }

-      else {

-        devp->compsensitivity[i] = LSM303AGR_COMP_SENS_Z_5P6GA;

-      }

-    }

-  else if(devp->config->compfullscale == LSM303AGR_COMP_FS_8P1GA)

-    for(i = 0; i < LSM303AGR_COMP_NUMBER_OF_AXES; i++) {

-      if(i != 2) {

-        devp->compsensitivity[i] = LSM303AGR_COMP_SENS_XY_8P1GA;

-      }

-      else {

-        devp->compsensitivity[i] = LSM303AGR_COMP_SENS_Z_8P1GA;

-      }

-    }

-  else {

-    osalDbgAssert(FALSE, "comp_reset_sensivity(), compass full scale issue");

-    msg = MSG_RESET;

-  }

-  return msg;

-}

-

-/**

- * @brief   Changes the LSM303AGRDriver compass 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] ip        pointer to @p LSM303AGRDriver 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(LSM303AGRDriver *devp,

-                                 lsm303agr_comp_fs_t fs) {

-  float newfs, scale;

-  uint8_t i, buff[2];

-  msg_t msg;

-

-  osalDbgCheck(devp != NULL);

-

-  osalDbgAssert((devp->state == LSM303AGR_READY),

-                "comp_set_full_scale(), invalid state");

-  osalDbgAssert((devp->config->i2cp->state == I2C_READY),

-                "comp_set_full_scale(), channel not ready");

-

-  /* Computing new fullscale value.*/

-  if(fs == LSM303AGR_COMP_FS_1P3GA) {

-    newfs = LSM303AGR_COMP_1P3GA;

-  }

-  else if(fs == LSM303AGR_COMP_FS_1P9GA) {

-    newfs = LSM303AGR_COMP_1P9GA;

-  }

-  else if(fs == LSM303AGR_COMP_FS_2P5GA) {

-    newfs = LSM303AGR_COMP_2P5GA;

-  }

-  else if(fs == LSM303AGR_COMP_FS_4P0GA) {

-    newfs = LSM303AGR_COMP_4P0GA;

-  }

-  else if(fs == LSM303AGR_COMP_FS_4P7GA) {

-    newfs = LSM303AGR_COMP_4P7GA;

-  }

-  else if(fs == LSM303AGR_COMP_FS_5P6GA) {

-    newfs = LSM303AGR_COMP_5P6GA;

-  }

-  else if(fs == LSM303AGR_COMP_FS_8P1GA) {

-    newfs = LSM303AGR_COMP_8P1GA;

-  }

-  else {

-    msg = MSG_RESET;

-    return msg;

-  }

-

-  if(newfs != devp->compfullscale) {

-    /* Computing scale value.*/

-    scale = newfs / devp->compfullscale;

-    devp->compfullscale = newfs;

-

-#if LSM303AGR_SHARED_I2C

-    i2cAcquireBus(devp->config->i2cp);

-    i2cStart(devp->config->i2cp, devp->config->i2ccfg);

-#endif /* LSM303AGR_SHARED_I2C */

-

-    /* Updating register.*/

-    msg = lsm303agrI2CReadRegister(devp->config->i2cp, LSM303AGR_SAD_COMP,

-                                    LSM303AGR_AD_COMP_CRB_REG, &buff[1], 1);

-

-#if LSM303AGR_SHARED_I2C

-        i2cReleaseBus(devp->config->i2cp);

-#endif /* LSM303AGR_SHARED_I2C */

-

-    if(msg != MSG_OK)

-      return msg;

-    buff[1] &= ~(LSM303AGR_CRB_REG_M_GN_MASK);

-    buff[1] |= fs;

-    buff[0] = LSM303AGR_AD_COMP_CRB_REG;

-

-#if LSM303AGR_SHARED_I2C

-    i2cAcquireBus(devp->config->i2cp);

-    i2cStart(devp->config->i2cp, devp->config->i2ccfg);

-#endif /* LSM303AGR_SHARED_I2C */

-

-    msg = lsm303agrI2CWriteRegister(devp->config->i2cp, LSM303AGR_SAD_COMP,

-                                     buff, 1);

-

-#if LSM303AGR_SHARED_I2C

-        i2cReleaseBus(devp->config->i2cp);

-#endif /* LSM303AGR_SHARED_I2C */

-

-    if(msg != MSG_OK)

-      return msg;

-

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

-    for(i = 0; i < LSM303AGR_COMP_NUMBER_OF_AXES; i++) {

-      devp->compsensitivity[i] *= scale;

-      devp->compbias[i] *= scale;

-    }

-  }

+  for(i = 0; i < LSM303AGR_COMP_NUMBER_OF_AXES; i++)

+    devp->compsensitivity[i] = LSM303AGR_COMP_SENS_50GA;

+  

   return msg;

 }

 

 static const struct LSM303AGRVMT vmt_device = {

   (size_t)0,

-  acc_set_full_scale, comp_set_full_scale

+  acc_set_full_scale

 };

 

 static const struct BaseAccelerometerVMT vmt_accelerometer = {

@@ -866,7 +765,6 @@ void lsm303agrObjectInit(LSM303AGRDriver *devp) {
  * @api

  */

 void lsm303agrStart(LSM303AGRDriver *devp, const LSM303AGRConfig *config) {

-  uint32_t i;

   uint8_t cr[6];

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

 

@@ -879,14 +777,14 @@ void lsm303agrStart(LSM303AGRDriver *devp, const LSM303AGRConfig *config) {
   /* Configuring Accelerometer subsystem.*/

 

   /* Multiple write starting address.*/

-  cr[0] = LSM303AGR_AD_ACC_CTRL_REG1;

+  cr[0] = LSM303AGR_AD_CFG_REG_A_M;

 

   /* Control register 1 configuration block.*/

   {

-    cr[1] = LSM303AGR_CTRL_REG1_A_XEN | LSM303AGR_CTRL_REG1_A_YEN |

-            LSM303AGR_CTRL_REG1_A_ZEN | devp->config->accoutdatarate;

+    cr[1] = LSM303AGR_ACC_AE_XYZ | devp->config->accoutdatarate;

 #if LSM303AGR_ACC_USE_ADVANCED || defined(__DOXYGEN__)

-    cr[1] |= devp->config->acclowpower;

+    if(devp->config->accmode == LSM303AGR_ACC_MODE_LPOW)

+      cr[1] |= LSM303AGR_CTRL_REG1_A_LPEN;

 #endif

   }

 

@@ -907,6 +805,8 @@ void lsm303agrStart(LSM303AGRDriver *devp, const LSM303AGRConfig *config) {
     cr[4] |= devp->config->accendianess |

              devp->config->accblockdataupdate |

              devp->config->acchighresmode;

+    if(devp->config->accmode == LSM303AGR_ACC_MODE_HRES)

+      cr[4] |= LSM303AGR_CTRL_REG4_A_HR;

 #endif

   }

 

@@ -920,75 +820,27 @@ void lsm303agrStart(LSM303AGRDriver *devp, const LSM303AGRConfig *config) {
 #if LSM303AGR_SHARED_I2C

   i2cReleaseBus((devp)->config->i2cp);

 #endif /* LSM303AGR_SHARED_I2C */

-

-  /* Storing sensitivity according to user settings */

-  if(devp->config->accfullscale == LSM303AGR_ACC_FS_2G) {

-    devp->accfullscale = LSM303AGR_ACC_2G;

-    for(i = 0; i < LSM303AGR_ACC_NUMBER_OF_AXES; i++) {

-      if(devp->config->accsensitivity == NULL)

-        devp->accsensitivity[i] = LSM303AGR_ACC_SENS_2G;

-      else

-        devp->accsensitivity[i] = devp->config->accsensitivity[i];

-    }

-  }

-  else if(devp->config->accfullscale == LSM303AGR_ACC_FS_4G) {

-    devp->accfullscale = LSM303AGR_ACC_4G;

-    for(i = 0; i < LSM303AGR_ACC_NUMBER_OF_AXES; i++) {

-      if(devp->config->accsensitivity == NULL)

-        devp->accsensitivity[i] = LSM303AGR_ACC_SENS_4G;

-      else

-        devp->accsensitivity[i] = devp->config->accsensitivity[i];

-    }

-  }

-  else if(devp->config->accfullscale == LSM303AGR_ACC_FS_8G) {

-    devp->accfullscale = LSM303AGR_ACC_8G;

-    for(i = 0; i < LSM303AGR_ACC_NUMBER_OF_AXES; i++) {

-      if(devp->config->accsensitivity == NULL)

-        devp->accsensitivity[i] = LSM303AGR_ACC_SENS_8G;

-      else

-        devp->accsensitivity[i] = devp->config->accsensitivity[i];

-    }

-  }

-  else if(devp->config->accfullscale == LSM303AGR_ACC_FS_16G) {

-    devp->accfullscale = LSM303AGR_ACC_16G;

-    for(i = 0; i < LSM303AGR_ACC_NUMBER_OF_AXES; i++) {

-      if(devp->config->accsensitivity == NULL)

-        devp->accsensitivity[i] = LSM303AGR_ACC_SENS_16G;

-      else

-        devp->accsensitivity[i] = devp->config->accsensitivity[i];

-    }

-  }

-  else

-    osalDbgAssert(FALSE, "lsm303agrStart(), accelerometer full scale issue");

-

-  /* Storing bias information */

-  if(devp->config->accbias != NULL)

-    for(i = 0; i < LSM303AGR_ACC_NUMBER_OF_AXES; i++)

-      devp->accbias[i] = devp->config->accbias[i];

-  else

-    for(i = 0; i < LSM303AGR_ACC_NUMBER_OF_AXES; i++)

-      devp->accbias[i] = LSM303AGR_ACC_BIAS;

-

+  

   /* Configuring Compass subsystem */

   /* Multiple write starting address.*/

-  cr[0] = LSM303AGR_AD_COMP_CRA_REG;

+  cr[0] = LSM303AGR_AD_CFG_REG_A_M;

 

   /* Control register A configuration block.*/

   {

     cr[1] = devp->config->compoutputdatarate;

+#if LSM303AGR_COMP_USE_ADVANCED || defined(__DOXYGEN__)

+    cr[1] |= devp->config->compmode | devp->config->complp;

+#endif

   }

 

   /* Control register B configuration block.*/

   {

-    cr[2] = devp->config->compfullscale;

+    cr[2] = 0;

   }

 

-  /* Mode register configuration block.*/

+  /* Control register C configuration block.*/

   {

     cr[3] = 0;

-#if LSM303AGR_COMP_USE_ADVANCED || defined(__DOXYGEN__)

-    cr[3] |= devp->config->compmode;

-#endif

   }

 

 #if LSM303AGR_SHARED_I2C

@@ -997,139 +849,23 @@ void lsm303agrStart(LSM303AGRDriver *devp, const LSM303AGRConfig *config) {
 #endif /* LSM303AGR_SHARED_I2C */

 

   lsm303agrI2CWriteRegister(devp->config->i2cp, LSM303AGR_SAD_COMP,

-                             cr, 3);

+                            cr, 3);

 

 #if LSM303AGR_SHARED_I2C

   i2cReleaseBus((devp)->config->i2cp);

 #endif /* LSM303AGR_SHARED_I2C */

 

-  if(devp->config->compfullscale == LSM303AGR_COMP_FS_1P3GA) {

-    devp->compfullscale = LSM303AGR_COMP_1P3GA;

-    for(i = 0; i < LSM303AGR_COMP_NUMBER_OF_AXES; i++) {

-      if(devp->config->compsensitivity == NULL) {

-        if(i != 2) {

-          devp->compsensitivity[i] = LSM303AGR_COMP_SENS_XY_1P3GA;

-        }

-        else {

-          devp->compsensitivity[i] = LSM303AGR_COMP_SENS_Z_1P3GA;

-        }

-      }

-      else {

-        devp->compsensitivity[i] = devp->config->compsensitivity[i];

-      }

-    }

-  }

-  else if(devp->config->compfullscale == LSM303AGR_COMP_FS_1P9GA) {

-    devp->compfullscale = LSM303AGR_COMP_1P9GA;

-    for(i = 0; i < LSM303AGR_COMP_NUMBER_OF_AXES; i++) {

-      if(devp->config->compsensitivity == NULL) {

-        if(i != 2) {

-          devp->compsensitivity[i] = LSM303AGR_COMP_SENS_XY_1P9GA;

-        }

-        else {

-          devp->compsensitivity[i] = LSM303AGR_COMP_SENS_Z_1P9GA;

-        }

-      }

-      else {

-        devp->compsensitivity[i] = devp->config->compsensitivity[i];

-      }

-    }

-  }

-  else if(devp->config->compfullscale == LSM303AGR_COMP_FS_2P5GA) {

-    devp->compfullscale = LSM303AGR_COMP_2P5GA;

-    for(i = 0; i < LSM303AGR_COMP_NUMBER_OF_AXES; i++) {

-      if(devp->config->compsensitivity == NULL) {

-        if(i != 2) {

-          devp->compsensitivity[i] = LSM303AGR_COMP_SENS_XY_2P5GA;

-        }

-        else {

-          devp->compsensitivity[i] = LSM303AGR_COMP_SENS_Z_2P5GA;

-        }

-      }

-      else {

-        devp->compsensitivity[i] = devp->config->compsensitivity[i];

-      }

-    }

-  }

-  else if(devp->config->compfullscale == LSM303AGR_COMP_FS_4P0GA) {

-    devp->compfullscale = LSM303AGR_COMP_4P0GA;

-    for(i = 0; i < LSM303AGR_COMP_NUMBER_OF_AXES; i++) {

-      if(devp->config->compsensitivity == NULL) {

-        if(i != 2) {

-          devp->compsensitivity[i] = LSM303AGR_COMP_SENS_XY_4P0GA;

-        }

-        else {

-          devp->compsensitivity[i] = LSM303AGR_COMP_SENS_Z_4P0GA;

-        }

-      }

-      else {

-        devp->compsensitivity[i] = devp->config->compsensitivity[i];

-      }

-    }

-  }

-  else if(devp->config->compfullscale == LSM303AGR_COMP_FS_4P7GA) {

-    devp->compfullscale = LSM303AGR_COMP_4P7GA;

-    for(i = 0; i < LSM303AGR_COMP_NUMBER_OF_AXES; i++) {

-      if(devp->config->compsensitivity == NULL) {

-        if(i != 2) {

-          devp->compsensitivity[i] = LSM303AGR_COMP_SENS_XY_4P7GA;

-        }

-        else {

-          devp->compsensitivity[i] = LSM303AGR_COMP_SENS_Z_4P7GA;

-        }

-      }

-      else {

-        devp->compsensitivity[i] = devp->config->compsensitivity[i];

-      }

-    }

-  }

-  else if(devp->config->compfullscale == LSM303AGR_COMP_FS_5P6GA) {

-    devp->compfullscale = LSM303AGR_COMP_5P6GA;

-    for(i = 0; i < LSM303AGR_COMP_NUMBER_OF_AXES; i++) {

-      if(devp->config->compsensitivity == NULL) {

-        if(i != 2) {

-          devp->compsensitivity[i] = LSM303AGR_COMP_SENS_XY_5P6GA;

-        }

-        else {

-          devp->compsensitivity[i] = LSM303AGR_COMP_SENS_Z_5P6GA;

-        }

-      }

-      else {

-        devp->compsensitivity[i] = devp->config->compsensitivity[i];

-      }

-    }

-  }

-  else if(devp->config->compfullscale == LSM303AGR_COMP_FS_8P1GA) {

-    devp->compfullscale = LSM303AGR_COMP_8P1GA;

-    for(i = 0; i < LSM303AGR_COMP_NUMBER_OF_AXES; i++) {

-      if(devp->config->compsensitivity == NULL) {

-        if(i != 2) {

-          devp->compsensitivity[i] = LSM303AGR_COMP_SENS_XY_8P1GA;

-        }

-        else {

-          devp->compsensitivity[i] = LSM303AGR_COMP_SENS_Z_8P1GA;

-        }

-      }

-      else {

-        devp->compsensitivity[i] = devp->config->compsensitivity[i];

-      }

-    }

-  }

-  else

-    osalDbgAssert(FALSE, "lsm303agrStart(), compass full scale issue");

-

-  /* Storing bias information */

-  if(devp->config->compbias != NULL)

-    for(i = 0; i < LSM303AGR_COMP_NUMBER_OF_AXES; i++)

-      devp->compbias[i] = devp->config->compbias[i];

-  else

-    for(i = 0; i < LSM303AGR_COMP_NUMBER_OF_AXES; i++)

-      devp->compbias[i] = LSM303AGR_COMP_BIAS;

-

   /* This is the MEMS transient recovery time */

   osalThreadSleepMilliseconds(5);

 

   devp->state = LSM303AGR_READY;

+  

+  /* Configuring sensitivity and bias of accelerometer.*/

+  acc_reset_sensivity(&(devp->acc_if));

+  acc_reset_bias(&(devp->acc_if));

+  /* Configuring sensitivity and bias of compass.*/ 

+  comp_reset_sensivity(&(devp->comp_if));

+  comp_reset_bias(&(devp->comp_if));

 }

 

 /**

@@ -1154,16 +890,14 @@ void lsm303agrStop(LSM303AGRDriver *devp) {
 #endif /* LSM303AGR_SHARED_I2C */

 

     /* Disabling accelerometer. */

-    cr[0] = LSM303AGR_AD_ACC_CTRL_REG1;

+    cr[0] = LSM303AGR_AD_CTRL_REG1_A;

     cr[1] = LSM303AGR_ACC_AE_DISABLED | LSM303AGR_ACC_ODR_PD;

     lsm303agrI2CWriteRegister(devp->config->i2cp, LSM303AGR_SAD_ACC,

                                cr, 1);

 

     /* Disabling compass. */

-    cr[0] = LSM303AGR_AD_COMP_MR_REG;

-    cr[1] = LSM303AGR_COMP_MD_SLEEP;

-    lsm303agrI2CWriteRegister(devp->config->i2cp, LSM303AGR_SAD_ACC,

-                               cr, 1);

+    cr[0] = LSM303AGR_AD_CFG_REG_A_M;

+    cr[1] = LSM303AGR_COMP_MODE_IDLE;

     lsm303agrI2CWriteRegister(devp->config->i2cp, LSM303AGR_SAD_COMP,

                                cr, 1);

 

diff --git a/os/ex/ST/lsm303agr.h b/os/ex/ST/lsm303agr.h
index 517d0dc76..979ba54a6 100644
--- a/os/ex/ST/lsm303agr.h
+++ b/os/ex/ST/lsm303agr.h
@@ -219,7 +219,7 @@
 #define LSM303AGR_CTRL_REG2_A_HPCF1         (1 << 4)

 #define LSM303AGR_CTRL_REG2_A_HPCF2         (1 << 5)

 #define LSM303AGR_CTRL_REG2_A_HPM0          (1 << 6)

-#define LSM303AGR_CTRL_REG2_A_HPM0          (1 << 7)

+#define LSM303AGR_CTRL_REG2_A_HPM1          (1 << 7)

 /** @} */

 

 /**

@@ -325,7 +325,7 @@
  * @note    The default is @p FALSE.

  */

 #if !defined(LSM303AGR_USE_SPI) || defined(__DOXYGEN__)

-#define LSM303AGR_USE_SPI                  FALSE

+#define LSM303AGR_USE_SPI                   FALSE

 #endif

 

 /**

@@ -335,7 +335,7 @@
  * @note    The default is @p FALSE. Requires SPI_USE_MUTUAL_EXCLUSION.

  */

 #if !defined(LSM303AGR_SHARED_SPI) || defined(__DOXYGEN__)

-#define LSM303AGR_SHARED_SPI               FALSE

+#define LSM303AGR_SHARED_SPI                FALSE

 #endif

 

 /**

@@ -344,7 +344,7 @@
  * @note    The default is @p TRUE.

  */

 #if !defined(LSM303AGR_USE_I2C) || defined(__DOXYGEN__)

-#define LSM303AGR_USE_I2C                  TRUE

+#define LSM303AGR_USE_I2C                   TRUE

 #endif

 

 /**

@@ -354,7 +354,7 @@
  * @note    The default is @p FALSE. Requires I2C_USE_MUTUAL_EXCLUSION.

  */

 #if !defined(LSM303AGR_SHARED_I2C) || defined(__DOXYGEN__)

-#define LSM303AGR_SHARED_I2C               FALSE

+#define LSM303AGR_SHARED_I2C                FALSE

 #endif

 

 /**

@@ -364,7 +364,7 @@
  * @note    The default is @p FALSE.

  */

 #if !defined(LSM303AGR_ACC_USE_ADVANCED) || defined(__DOXYGEN__)

-#define LSM303AGR_ACC_USE_ADVANCED         FALSE

+#define LSM303AGR_ACC_USE_ADVANCED          FALSE

 #endif

 

 /**

@@ -374,7 +374,7 @@
  * @note    The default is @p FALSE.

  */

 #if !defined(LSM303AGR_COMP_USE_ADVANCED) || defined(__DOXYGEN__)

-#define LSM303AGR_COMP_USE_ADVANCED        FALSE

+#define LSM303AGR_COMP_USE_ADVANCED         FALSE

 #endif

 /** @} */

 

@@ -463,20 +463,13 @@ typedef enum {
 } lsm303agr_acc_ae_t;

 

 /**

- * @brief LSM303AGR accelerometer subsystem low power mode.

+ * @brief LSM303AGR accelerometer subsystem operation mode.

  */

 typedef enum {

-  LSM303AGR_ACC_LP_DISABLED = 0x00,/**< Low power mode disabled.           */

-  LSM303AGR_ACC_LP_ENABLED = 0x40  /**< Low power mode enabled.            */

-} lsm303agr_acc_lp_t;

-

-/**

- * @brief LSM303AGR accelerometer subsystem high resolution mode.

- */

-typedef enum {

-  LSM303AGR_ACC_HR_DISABLED = 0x00,/**< High resolution mode disabled.     */

-  LSM303AGR_ACC_HR_ENABLED = 0x08  /**< High resolution mode enabled.      */

-} lsm303agr_acc_hr_t;

+  LSM303AGR_ACC_MODE_NORM = 0,     /**< Normal mode.                       */

+  LSM303AGR_ACC_MODE_LPOW = 1,     /**< Low power mode.                    */

+  LSM303AGR_ACC_MODE_HRES = 2      /**< High resolution mode.              */

+} lsm303agr_acc_mode_t;

 

 /**

  * @brief LSM303AGR accelerometer subsystem block data update.

@@ -499,40 +492,31 @@ typedef enum {
  * @{

  */

 /**

- * @brief LSM303AGR compass subsystem full scale.

+ * @brief LSM303AGR compass subsystem output data rate.

  */

 typedef enum {

-  LSM303AGR_COMP_FS_1P3GA = 0x20,  /**< Full scale ±1.3 Gauss              */

-  LSM303AGR_COMP_FS_1P9GA = 0x40,  /**< Full scale ±1.9 Gauss              */

-  LSM303AGR_COMP_FS_2P5GA = 0x60,  /**< Full scale ±2.5 Gauss              */

-  LSM303AGR_COMP_FS_4P0GA = 0x80,  /**< Full scale ±4.0 Gauss              */

-  LSM303AGR_COMP_FS_4P7GA = 0xA0,  /**< Full scale ±4.7 Gauss              */

-  LSM303AGR_COMP_FS_5P6GA = 0xC0,  /**< Full scale ±5.6 Gauss              */

-  LSM303AGR_COMP_FS_8P1GA = 0xE0   /**< Full scale ±8.1 Gauss              */

-} lsm303agr_comp_fs_t;

+  LSM303AGR_COMP_ODR_10HZ = 0x00,  /**< ODR 10 Hz                          */

+  LSM303AGR_COMP_ODR_20HZ = 0x04,  /**< ODR 20 Hz                          */

+  LSM303AGR_COMP_ODR_50HZ = 0x08,  /**< ODR 50 Hz                          */

+  LSM303AGR_COMP_ODR_100HZ = 0x0C  /**< ODR 100 Hz                         */

+} lsm303agr_comp_odr_t;

 

 /**

- * @brief LSM303AGR compass subsystem output data rate.

+ * @brief LSM303AGR compass subsystem working mode.

  */

 typedef enum {

-  LSM303AGR_COMP_ODR_0P75HZ = 0x00,/**< ODR 0.75 Hz                        */

-  LSM303AGR_COMP_ODR_1P5HZ = 0x04, /**< ODR 1.5 Hz                         */

-  LSM303AGR_COMP_ODR_3P0HZ = 0x08, /**< ODR 3 Hz                           */

-  LSM303AGR_COMP_ODR_7P5HZ = 0x0C, /**< ODR 7.5 Hz                         */

-  LSM303AGR_COMP_ODR_15HZ = 0x10,  /**< ODR 15 Hz                          */

-  LSM303AGR_COMP_ODR_30HZ = 0x14,  /**< ODR 30 Hz                          */

-  LSM303AGR_COMP_ODR_75HZ = 0x18,  /**< ODR 75 Hz                          */

-  LSM303AGR_COMP_ODR_220HZ = 0x1C  /**< ODR 220 Hz                         */

-} lsm303agr_comp_odr_t;

+  LSM303AGR_COMP_MODE_NORM = 0x00,  /**< Continuous-Conversion Mode         */

+  LSM303AGR_COMP_MODE_SINGLE = 0x01,/**< Single-Conversion Mode             */

+  LSM303AGR_COMP_MODE_IDLE = 0x02   /**< Sleep Mode                         */

+} lsm303agr_comp_mode_t;

 

 /**

  * @brief LSM303AGR compass subsystem working mode.

  */

 typedef enum {

-  LSM303AGR_COMP_MD_CONT = 0x00,   /**< Continuous-Conversion Mode         */

-  LSM303AGR_COMP_MD_BLOCK = 0x01,  /**< Single-Conversion Mode             */

-  LSM303AGR_COMP_MD_SLEEP = 0x02   /**< Sleep Mode                         */

-} lsm303agr_comp_md_t;

+  LSM303AGR_COMP_LPOW_DIS = 0x00,   /**< High Resolution Mode               */

+  LSM303AGR_COMP_LPOW_EN = 0x10     /**< Low Power Mode                     */

+} lsm303agr_comp_lpow_t;

 

 /**

  * @name    LSM303AGR main system data structures and types.

@@ -570,28 +554,24 @@ typedef struct {
   /**

    * @brief LSM303AGR accelerometer subsystem initial full scale.

    */

-  lsm303agr_acc_fs_t       accfullscale;

+  lsm303agr_acc_fs_t        accfullscale;

   /**

    * @brief LSM303AGR accelerometer subsystem output data rate.

    */

-  lsm303agr_acc_odr_t      accoutdatarate;

+  lsm303agr_acc_odr_t       accoutdatarate;

 #if LSM303AGR_ACC_USE_ADVANCED || defined(__DOXYGEN__)

   /**

-   * @brief LSM303AGR accelerometer subsystem low power mode.

-   */

-  lsm303agr_acc_lp_t       acclowpower;

-  /**

-   * @brief LSM303AGR accelerometer subsystem high resolution mode.

+   * @brief LSM303AGR accelerometer subsystem mode.

    */

-  lsm303agr_acc_hr_t       acchighresmode;

+  lsm303agr_acc_mode_t      accmode;

   /**

    * @brief LSM303AGR accelerometer subsystem block data update.

    */

-  lsm303agr_acc_bdu_t      accblockdataupdate;

+  lsm303agr_acc_bdu_t       accblockdataupdate;

   /**

    * @brief  LSM303AGR accelerometer endianness.

    */

-  lsm303agr_acc_end_t      accendianess;

+  lsm303agr_acc_end_t       accendianess;

 #endif

   /**

    * @brief LSM303AGR compass initial sensitivity.

@@ -602,36 +582,33 @@ typedef struct {
    */

   float                     *compbias;

   /**

-   * @brief LSM303AGR compass subsystem initial full scale.

-   */

-  lsm303agr_comp_fs_t      compfullscale;

-  /**

    * @brief LSM303AGR compass subsystem output data rate.

    */

-  lsm303agr_comp_odr_t     compoutputdatarate;

+  lsm303agr_comp_odr_t      compoutputdatarate;

 #if LSM303AGR_COMP_USE_ADVANCED || defined(__DOXYGEN__)

   /**

    * @brief LSM303AGR compass subsystem working mode.

    */

-  lsm303agr_comp_md_t      compmode;

+  lsm303agr_comp_mode_t     compmode;

+  /**

+   * @brief LSM303AGR compass subsystem lowpower mode.

+   */  

+  lsm303agr_comp_lpow_t     complp;

 #endif

 } LSM303AGRConfig;

 

 /**

  * @brief   @p LSM303AGR specific methods.

  */

-#define _lsm303agr_methods_alone                                           \

-  /* Change full scale value of LSM303AGR accelerometer subsystem.*/       \

-  msg_t (*acc_set_full_scale)(LSM303AGRDriver *devp,                       \

-                              lsm303agr_acc_fs_t fs);                      \

-  /* Change full scale value of LSM303AGR compass subsystem.*/             \

-  msg_t (*comp_set_full_scale)(LSM303AGRDriver *devp,                      \

-                              lsm303agr_comp_fs_t fs);                     \

+#define _lsm303agr_methods_alone                                            \

+  /* Change full scale value of LSM303AGR accelerometer subsystem.*/        \

+  msg_t (*acc_set_full_scale)(LSM303AGRDriver *devp,                        \

+                              lsm303agr_acc_fs_t fs);

 

 /**

  * @brief   @p LSM303AGR specific methods with inherited ones.

  */

-#define _lsm303agr_methods                                                 \

+#define _lsm303agr_methods                                                  \

   _base_object_methods                                                      \

   _lsm303agr_methods_alone

 

@@ -647,26 +624,26 @@ struct LSM303AGRVMT {
 /**

  * @brief @p LSM303AGRDriver specific data.

  */

-#define _lsm303agr_data                                                    \

+#define _lsm303agr_data                                                     \

   _base_sensor_data                                                         \

   /* Driver state.*/                                                        \

-  lsm303agr_state_t        state;                                          \

+  lsm303agr_state_t        state;                                           \

   /* Current configuration data.*/                                          \

-  const LSM303AGRConfig    *config;                                        \

+  const LSM303AGRConfig    *config;                                         \

   /* Accelerometer subsystem axes number.*/                                 \

   size_t                    accaxes;                                        \

   /* Accelerometer subsystem current sensitivity.*/                         \

-  float                     accsensitivity[LSM303AGR_ACC_NUMBER_OF_AXES];  \

+  float                     accsensitivity[LSM303AGR_ACC_NUMBER_OF_AXES];   \

   /* Accelerometer subsystem current bias .*/                               \

-  float                     accbias[LSM303AGR_ACC_NUMBER_OF_AXES];         \

+  float                     accbias[LSM303AGR_ACC_NUMBER_OF_AXES];          \

   /* Accelerometer subsystem current full scale value.*/                    \

   float                     accfullscale;                                   \

   /* Compass subsystem axes number.*/                                       \

   size_t                    compaxes;                                       \

   /* Compass subsystem current sensitivity.*/                               \

-  float                     compsensitivity[LSM303AGR_COMP_NUMBER_OF_AXES];\

+  float                     compsensitivity[LSM303AGR_COMP_NUMBER_OF_AXES]; \

   /* Compass subsystem current bias.*/                                      \

-  float                     compbias[LSM303AGR_COMP_NUMBER_OF_AXES];       \

+  float                     compbias[LSM303AGR_COMP_NUMBER_OF_AXES];        \

   /* Compass subsystem current full scale value.*/                          \

   float                     compfullscale;

 

@@ -697,7 +674,7 @@ struct LSM303AGRDriver {
  *

  * @api

  */

-#define lsm303agrAccelerometerGetAxesNumber(devp)                          \

+#define lsm303agrAccelerometerGetAxesNumber(devp)                           \

         accelerometerGetAxesNumber(&((devp)->acc_if))

 

 /**

@@ -718,7 +695,7 @@ struct LSM303AGRDriver {
  *

  * @api

  */

-#define lsm303agrAccelerometerReadRaw(devp, axes)                          \

+#define lsm303agrAccelerometerReadRaw(devp, axes)                           \

         accelerometerReadRaw(&((devp)->acc_if), axes)

 

 /**

@@ -740,7 +717,7 @@ struct LSM303AGRDriver {
  *

  * @api

  */

-#define lsm303agrAccelerometerReadCooked(devp, axes)                       \

+#define lsm303agrAccelerometerReadCooked(devp, axes)                        \

         accelerometerReadCooked(&((devp)->acc_if), axes)

 

 /**

@@ -757,7 +734,7 @@ struct LSM303AGRDriver {
  *

  * @api

  */

-#define lsm303agrAccelerometerSetBias(devp, bp)                            \

+#define lsm303agrAccelerometerSetBias(devp, bp)                             \

         accelerometerSetBias(&((devp)->acc_if), bp)

 

 /**

@@ -772,7 +749,7 @@ struct LSM303AGRDriver {
  *

  * @api

  */

-#define lsm303agrAccelerometerResetBias(devp)                              \

+#define lsm303agrAccelerometerResetBias(devp)                               \

         accelerometerResetBias(&((devp)->acc_if))

 

 /**

@@ -789,7 +766,7 @@ struct LSM303AGRDriver {
  *

  * @api

  */

-#define lsm303agrAccelerometerSetSensitivity(devp, sp)                     \

+#define lsm303agrAccelerometerSetSensitivity(devp, sp)                      \

         accelerometerSetSensitivity(&((devp)->acc_if), sp)

 

 /**

@@ -804,7 +781,7 @@ struct LSM303AGRDriver {
  *

  * @api

  */

-#define lsm303agrAccelerometerResetSensitivity(devp)                       \

+#define lsm303agrAccelerometerResetSensitivity(devp)                        \

         accelerometerResetSensitivity(&((devp)->acc_if))

 

 /**

@@ -822,7 +799,7 @@ struct LSM303AGRDriver {
  *

  * @api

  */

-#define lsm303agrAccelerometerSetFullScale(devp, fs)                       \

+#define lsm303agrAccelerometerSetFullScale(devp, fs)                        \

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

 

 /**

@@ -834,7 +811,7 @@ struct LSM303AGRDriver {
  *

  * @api

  */

-#define lsm303agrCompassGetAxesNumber(devp)                                \

+#define lsm303agrCompassGetAxesNumber(devp)                                 \

         compassGetAxesNumber(&((devp)->comp_if))

 

 /**

@@ -855,7 +832,7 @@ struct LSM303AGRDriver {
  *

  * @api

  */

-#define lsm303agrCompassReadRaw(devp, axes)                                \

+#define lsm303agrCompassReadRaw(devp, axes)                                 \

         compassReadRaw(&((devp)->comp_if), axes)

 

 /**

@@ -877,7 +854,7 @@ struct LSM303AGRDriver {
  *

  * @api

  */

-#define lsm303agrCompassReadCooked(devp, axes)                             \

+#define lsm303agrCompassReadCooked(devp, axes)                              \

         compassReadCooked(&((devp)->comp_if), axes)

 

 /**

@@ -894,7 +871,7 @@ struct LSM303AGRDriver {
  *

  * @api

  */

-#define lsm303agrCompassSetBias(devp, bp)                                  \

+#define lsm303agrCompassSetBias(devp, bp)                                   \

         compassSetBias(&((devp)->comp_if), bp)

 

 /**

@@ -909,7 +886,7 @@ struct LSM303AGRDriver {
  *

  * @api

  */

-#define lsm303agrCompassResetBias(devp)                                    \

+#define lsm303agrCompassResetBias(devp)                                     \

         compassResetBias(&((devp)->comp_if))

 

 /**

@@ -926,7 +903,7 @@ struct LSM303AGRDriver {
  *

  * @api

  */

-#define lsm303agrCompassSetSensitivity(devp, sp)                           \

+#define lsm303agrCompassSetSensitivity(devp, sp)                            \

         compassSetSensitivity(&((devp)->comp_if), sp)

 

 /**

@@ -941,27 +918,9 @@ struct LSM303AGRDriver {
  *

  * @api

  */

-#define lsm303agrCompassResetSensitivity(devp)                             \

+#define lsm303agrCompassResetSensitivity(devp)                              \

         compassResetSensitivity(&((devp)->comp_if))

 

-/**

- * @brief   Changes the LSM303AGRDriver compass 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 LSM303AGRDriver.

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

- *

- * @return              The operation status.

- * @retval MSG_OK       if the function succeeded.

- * @retval MSG_RESET    otherwise.

- *

- * @api

- */

-#define lsm303agrCompassSetFullScale(devp, fs)                             \

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

-

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

 /* External declarations.                                                    */

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