Updated LIS3MDL driver

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@11705 110e8d01-0319-4d1e-a829-52ad28d1bb01

2 files changed, 614 insertions, 318 deletions

diff --git a/os/ex/ST/lis3mdl.c b/os/ex/ST/lis3mdl.c
index 1106053af..65d227711 100644
--- a/os/ex/ST/lis3mdl.c
+++ b/os/ex/ST/lis3mdl.c
@@ -1,5 +1,5 @@
 /*

-    ChibiOS - Copyright (C) 2016 Rocco Marco Guglielmi

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

 

     This file is part of ChibiOS.

 

@@ -92,218 +92,345 @@ msg_t lis3mdlI2CWriteRegister(I2CDriver *i2cp, lis3mdl_sad_t sad, uint8_t* txbuf
 }

 #endif /* LIS3MDL_USE_I2C */

 

-/*

- * Interface implementation.

+/**

+ * @brief   Return the number of axes of the BaseCompass.

+ *

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

+ *

+ * @return              the number of axes.

  */

-static size_t get_axes_number(void *ip) {

+static size_t comp_get_axes_number(void *ip) {

 

   osalDbgCheck(ip != NULL);

-  return LIS3MDL_NUMBER_OF_AXES;

+  return LIS3MDL_COMP_NUMBER_OF_AXES;

 }

 

-static msg_t read_raw(void *ip, int32_t axes[LIS3MDL_NUMBER_OF_AXES]) {

+/**

+ * @brief   Retrieves raw data from the BaseCompass.

+ * @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

+ *          BaseCompass axes number.

+ *

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

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

+ *

+ * @return              The operation status.

+ * @retval MSG_OK       if the function succeeded.

+ * @retval MSG_RESET    if one or more I2C errors occurred, the errors can

+ *                      be retrieved using @p i2cGetErrors().

+ * @retval MSG_TIMEOUT  if a timeout occurred before operation end.

+ */

+static msg_t comp_read_raw(void *ip, int32_t axes[]) {

+  LIS3MDLDriver* devp;

+  uint8_t buff [LIS3MDL_COMP_NUMBER_OF_AXES * 2], i;

   int16_t tmp;

-  uint8_t i, buff[2 * LIS3MDL_NUMBER_OF_AXES];

-  msg_t msg = MSG_OK;

-  

+  msg_t msg;

+

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

-  osalDbgAssert((((LIS3MDLDriver *)ip)->state == LIS3MDL_READY),

-                "read_raw(), invalid state");

-#if LIS3MDL_USE_I2C

-  osalDbgAssert((((LIS3MDLDriver *)ip)->config->i2cp->state == I2C_READY),

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

-                

+    

+  /* Getting parent instance pointer.*/

+  devp = objGetInstance(LIS3MDLDriver*, (BaseCompass*)ip);

+

+  osalDbgAssert((devp->state == LIS3MDL_READY),

+                "comp_read_raw(), invalid state");

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

+                "comp_read_raw(), channel not ready");

+

 #if LIS3MDL_SHARED_I2C

-  i2cAcquireBus(((LIS3MDLDriver *)ip)->config->i2cp);

-  i2cStart(((LIS3MDLDriver *)ip)->config->i2cp,

-           ((LIS3MDLDriver *)ip)->config->i2ccfg);

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

+  i2cStart(devp->config->i2cp,

+           devp->config->i2ccfg);

 #endif /* LIS3MDL_SHARED_I2C */

-

-  msg = lis3mdlI2CReadRegister(((LIS3MDLDriver *)ip)->config->i2cp,

-                              ((LIS3MDLDriver *)ip)->config->slaveaddress,

-                              LIS3MDL_AD_OUT_X_L, buff, 2 * LIS3MDL_NUMBER_OF_AXES);

+  msg = lis3mdlI2CReadRegister(devp->config->i2cp, devp->config->slaveaddress, 

+                               LIS3MDL_AD_OUT_X_L, buff, 

+                               LIS3MDL_COMP_NUMBER_OF_AXES * 2);

 

 #if LIS3MDL_SHARED_I2C

-  i2cReleaseBus(((LIS3MDLDriver *)ip)->config->i2cp);

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

 #endif /* LIS3MDL_SHARED_I2C */

-#endif /* LIS3MDL_USE_I2C */

-                              

-  for(i = 0; i < LIS3MDL_NUMBER_OF_AXES; i++) {

-    if(msg == MSG_OK) { 

-      tmp = buff[2*i] + (buff[2*i+1] << 8);

+

+  if(msg == MSG_OK)

+    for(i = 0; i < LIS3MDL_COMP_NUMBER_OF_AXES; i++) {

+      tmp = buff[2 * i] + (buff[2 * i + 1] << 8);

       axes[i] = (int32_t)tmp;

     }

-    else{

-      axes[i] = 0;

-    }

-  }

   return msg;

 }

 

-static msg_t read_cooked(void *ip, float axes[]) {

+/**

+ * @brief   Retrieves cooked data from the BaseCompass.

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

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

+ * @note    Final data is expressed as G.

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

+ *

+ * @return              The operation status.

+ * @retval MSG_OK       if the function succeeded.

+ * @retval MSG_RESET    if one or more I2C errors occurred, the errors can

+ *                      be retrieved using @p i2cGetErrors().

+ * @retval MSG_TIMEOUT  if a timeout occurred before operation end.

+ */

+static msg_t comp_read_cooked(void *ip, float axes[]) {

+  LIS3MDLDriver* devp;

   uint32_t i;

-  int32_t raw[LIS3MDL_NUMBER_OF_AXES];

+  int32_t raw[LIS3MDL_COMP_NUMBER_OF_AXES];

   msg_t msg;

 

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

 

-  osalDbgAssert((((LIS3MDLDriver *)ip)->state == LIS3MDL_READY),

-               "read_cooked(), invalid state");

-

-  msg = read_raw(ip, raw);

-  for(i = 0; i < LIS3MDL_NUMBER_OF_AXES ; i++){

-    axes[i] = raw[i] * ((LIS3MDLDriver *)ip)->sensitivity[i];

-    axes[i] -= ((LIS3MDLDriver *)ip)->bias[i];

+    

+  /* Getting parent instance pointer.*/

+  devp = objGetInstance(LIS3MDLDriver*, (BaseCompass*)ip);

+  

+  osalDbgAssert((devp->state == LIS3MDL_READY),

+                "comp_read_cooked(), invalid state");

+                

+  msg = comp_read_raw(ip, raw);

+  for(i = 0; i < LIS3MDL_COMP_NUMBER_OF_AXES ; i++) {

+    axes[i] = (raw[i] * devp->compsensitivity[i]) - devp->compbias[i];

   }

   return msg;

 }

 

-static msg_t set_bias(void *ip, float *bp) {

+/**

+ * @brief   Set bias values for the BaseCompass.

+ * @note    Bias must be expressed as G.

+ * @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] bp        a buffer which contains biases.

+ *

+ * @return              The operation status.

+ * @retval MSG_OK       if the function succeeded.

+ */

+static msg_t comp_set_bias(void *ip, float *bp) {

+  LIS3MDLDriver* devp;

   uint32_t i;

+  msg_t msg = MSG_OK;

   

-  osalDbgCheck((ip != NULL) && (bp !=NULL));

+  osalDbgCheck((ip != NULL) && (bp != NULL));

+    

+  /* Getting parent instance pointer.*/

+  devp = objGetInstance(LIS3MDLDriver*, (BaseCompass*)ip);

 

-  osalDbgAssert((((LIS3MDLDriver *)ip)->state == LIS3MDL_READY) ||

-                (((LIS3MDLDriver *)ip)->state == LIS3MDL_STOP),

-                "set_bias(), invalid state");

-  

-  for(i = 0; i < LIS3MDL_NUMBER_OF_AXES; i++) {

-    ((LIS3MDLDriver *)ip)->bias[i] = bp[i];

+  osalDbgAssert((devp->state == LIS3MDL_READY),

+                "comp_set_bias(), invalid state");

+

+  for(i = 0; i < LIS3MDL_COMP_NUMBER_OF_AXES; i++) {

+    devp->compbias[i] = bp[i];

   }

-  return MSG_OK;

+  return msg;

 }

 

-static msg_t reset_bias(void *ip) {

+/**

+ * @brief   Reset bias values for the BaseCompass.

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

+ *          available otherwise they are considered zero.

+ *

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

+ *

+ * @return              The operation status.

+ * @retval MSG_OK       if the function succeeded.

+ */

+static msg_t comp_reset_bias(void *ip) {

+  LIS3MDLDriver* devp;

   uint32_t i;

+  msg_t msg = MSG_OK;

 

   osalDbgCheck(ip != NULL);

+    

+  /* Getting parent instance pointer.*/

+  devp = objGetInstance(LIS3MDLDriver*, (BaseCompass*)ip);

 

-  osalDbgAssert((((LIS3MDLDriver *)ip)->state == LIS3MDL_READY) ||

-                (((LIS3MDLDriver *)ip)->state == LIS3MDL_STOP),

-              "reset_bias(), invalid state");

+  osalDbgAssert((devp->state == LIS3MDL_READY),

+                "comp_reset_bias(), invalid state");

 

-  for(i = 0; i < LIS3MDL_NUMBER_OF_AXES; i++)

-    ((LIS3MDLDriver *)ip)->bias[i] = 0;

-  return MSG_OK;

+  for(i = 0; i < LIS3MDL_COMP_NUMBER_OF_AXES; i++)

+    devp->compbias[i] = LIS3MDL_COMP_BIAS;

+  return msg;

 }

 

-static msg_t set_sensivity(void *ip, float *sp) {

+/**

+ * @brief   Set sensitivity values for the BaseCompass.

+ * @note    Sensitivity must be expressed as G/LSB.

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

+ *          BaseCompass axes number.

+ *

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

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

+ *

+ * @return              The operation status.

+ * @retval MSG_OK       if the function succeeded.

+ */

+static msg_t comp_set_sensivity(void *ip, float *sp) {

+  LIS3MDLDriver* devp;

   uint32_t i;

+  msg_t msg = MSG_OK;

   

-  osalDbgCheck((ip != NULL) && (sp !=NULL));

+  /* Getting parent instance pointer.*/

+  devp = objGetInstance(LIS3MDLDriver*, (BaseCompass*)ip);

 

-  osalDbgAssert((((LIS3MDLDriver *)ip)->state == LIS3MDL_READY),

-                "set_sensivity(), invalid state");

-  

-  for(i = 0; i < LIS3MDL_NUMBER_OF_AXES; i++) {

-    ((LIS3MDLDriver *)ip)->sensitivity[i] = sp[i];

+  osalDbgCheck((ip != NULL) && (sp != NULL));

+

+  osalDbgAssert((devp->state == LIS3MDL_READY),

+                "comp_set_sensivity(), invalid state");

+

+  for(i = 0; i < LIS3MDL_COMP_NUMBER_OF_AXES; i++) {

+    devp->compsensitivity[i] = sp[i];

   }

-  return MSG_OK;

+  return msg;

 }

 

-static msg_t reset_sensivity(void *ip) {

+/**

+ * @brief   Reset sensitivity values for the BaseCompass.

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

+ *

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

+ *

+ * @return              The operation status.

+ * @retval MSG_OK       if the function succeeded.

+ * @retval MSG_RESET    otherwise.

+ */

+static msg_t comp_reset_sensivity(void *ip) {

+  LIS3MDLDriver* devp;

   uint32_t i;

+  msg_t msg = MSG_OK;

 

   osalDbgCheck(ip != NULL);

-

-  osalDbgAssert((((LIS3MDLDriver *)ip)->state == LIS3MDL_READY),

-                "reset_sensivity(), invalid state");

-

-  if(((LIS3MDLDriver *)ip)->config->fullscale == LIS3MDL_FS_4GA)

-    for(i = 0; i < LIS3MDL_NUMBER_OF_AXES; i++)

-      ((LIS3MDLDriver *)ip)->sensitivity[i] = LIS3MDL_SENS_4GA;

-  else if(((LIS3MDLDriver *)ip)->config->fullscale == LIS3MDL_FS_8GA)

-    for(i = 0; i < LIS3MDL_NUMBER_OF_AXES; i++)

-      ((LIS3MDLDriver *)ip)->sensitivity[i] = LIS3MDL_SENS_8GA;

-  else if(((LIS3MDLDriver *)ip)->config->fullscale == LIS3MDL_FS_12GA)

-    for(i = 0; i < LIS3MDL_NUMBER_OF_AXES; i++)

-      ((LIS3MDLDriver *)ip)->sensitivity[i] = LIS3MDL_SENS_12GA;

-  else if(((LIS3MDLDriver *)ip)->config->fullscale == LIS3MDL_FS_16GA)

-    for(i = 0; i < LIS3MDL_NUMBER_OF_AXES; i++)

-      ((LIS3MDLDriver *)ip)->sensitivity[i] = LIS3MDL_SENS_16GA;

+    

+  /* Getting parent instance pointer.*/

+  devp = objGetInstance(LIS3MDLDriver*, (BaseCompass*)ip);

+

+  osalDbgAssert((devp->state == LIS3MDL_READY),

+                "comp_reset_sensivity(), invalid state");

+

+  if(devp->config->compfullscale == LIS3MDL_COMP_FS_4GA)

+    for(i = 0; i < LIS3MDL_COMP_NUMBER_OF_AXES; i++)

+      devp->compsensitivity[i] = LIS3MDL_COMP_SENS_4GA;

+  else if(devp->config->compfullscale == LIS3MDL_COMP_FS_8GA)

+    for(i = 0; i < LIS3MDL_COMP_NUMBER_OF_AXES; i++)

+      devp->compsensitivity[i] = LIS3MDL_COMP_SENS_8GA;

+  else if(devp->config->compfullscale == LIS3MDL_COMP_FS_12GA)

+    for(i = 0; i < LIS3MDL_COMP_NUMBER_OF_AXES; i++)

+      devp->compsensitivity[i] = LIS3MDL_COMP_SENS_12GA;

+  else if(devp->config->compfullscale == LIS3MDL_COMP_FS_16GA)

+    for(i = 0; i < LIS3MDL_COMP_NUMBER_OF_AXES; i++)

+      devp->compsensitivity[i] = LIS3MDL_COMP_SENS_16GA;

   else {

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

-    return MSG_RESET;

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

+    msg = MSG_RESET;

   }

-  return MSG_OK;

+  return msg;

 }

 

-static msg_t set_full_scale(void *ip, lis3mdl_fs_t fs) {

+/**

+ * @brief   Changes the LIS3MDLDriver 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 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) {

   float newfs, scale;

-  uint8_t i, cr[2];

+  uint8_t i, buff[2];

   msg_t msg;

+  

+  osalDbgCheck(devp != NULL);

+

+  osalDbgAssert((devp->state == LIS3MDL_READY),

+                "comp_set_full_scale(), invalid state");

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

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

 

-  if(fs == LIS3MDL_FS_4GA) {

-    newfs = LIS3MDL_4GA;

+  /* Computing new fullscale value.*/

+  if(fs == LIS3MDL_COMP_FS_4GA) {

+    newfs = LIS3MDL_COMP_4GA;

   }

-  else if(fs == LIS3MDL_FS_8GA) {

-    newfs = LIS3MDL_8GA;

+  else if(fs == LIS3MDL_COMP_FS_8GA) {

+    newfs = LIS3MDL_COMP_8GA;

   }

-  else if(fs == LIS3MDL_FS_12GA) {

-    newfs = LIS3MDL_12GA;

+  else if(fs == LIS3MDL_COMP_FS_12GA) {

+    newfs = LIS3MDL_COMP_12GA;

   }

-  else if(fs == LIS3MDL_FS_16GA) {

-    newfs = LIS3MDL_16GA;

+  else if(fs == LIS3MDL_COMP_FS_16GA) {

+    newfs = LIS3MDL_COMP_16GA;

   }

   else {

-    return MSG_RESET;

+    msg = MSG_RESET;

+    return msg;

   }

 

-  if(newfs != ((LIS3MDLDriver *)ip)->fullscale) {

-    scale = newfs / ((LIS3MDLDriver *)ip)->fullscale;

-    ((LIS3MDLDriver *)ip)->fullscale = newfs;

-    

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

+    /* Computing scale value.*/

+    scale = newfs / devp->compfullscale;

+    devp->compfullscale = newfs;

+

 #if LIS3MDL_SHARED_I2C

-    i2cAcquireBus(((LIS3MDLDriver *)ip)->config->i2cp);

-    i2cStart(((LIS3MDLDriver *)ip)->config->i2cp,

-            ((LIS3MDLDriver *)ip)->config->i2ccfg);

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

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

 #endif /* LIS3MDL_SHARED_I2C */

 

     /* Updating register.*/

-    msg = lis3mdlI2CReadRegister(((LIS3MDLDriver *)ip)->config->i2cp,

-                                ((LIS3MDLDriver *)ip)->config->slaveaddress,

-                                LIS3MDL_AD_CTRL_REG2, &cr[1], 1);

+    msg = lis3mdlI2CReadRegister(devp->config->i2cp, devp->config->slaveaddress,

+                                 LIS3MDL_AD_CTRL_REG2, &buff[1], 1);

+

 #if LIS3MDL_SHARED_I2C

-    i2cReleaseBus(((LIS3MDLDriver *)ip)->config->i2cp);

-#endif /* LIS3MDL_SHARED_I2C */                              

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

+#endif /* LIS3MDL_SHARED_I2C */

+

     if(msg != MSG_OK)

       return msg;

-

-    cr[0] = LIS3MDL_AD_CTRL_REG2;

-    cr[1] &= ~(LIS3MDL_CTRL_REG2_FS_MASK);

-    cr[1] |= fs;

+    buff[1] &= ~(LIS3MDL_CTRL_REG2_FS_MASK);

+    buff[1] |= fs;

+    buff[0] = LIS3MDL_AD_CTRL_REG2;

 

 #if LIS3MDL_SHARED_I2C

-    i2cAcquireBus(((LIS3MDLDriver *)ip)->config->i2cp);

-    i2cStart(((LIS3MDLDriver *)ip)->config->i2cp,

-            ((LIS3MDLDriver *)ip)->config->i2ccfg);

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

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

 #endif /* LIS3MDL_SHARED_I2C */

-    

-    msg = lis3mdlI2CWriteRegister(((LIS3MDLDriver *)ip)->config->i2cp,

-                                 ((LIS3MDLDriver *)ip)->config->slaveaddress, cr, 1);

+

+    msg = lis3mdlI2CWriteRegister(devp->config->i2cp, 

+                                  devp->config->slaveaddress,

+                                  buff, 1);

+

 #if LIS3MDL_SHARED_I2C

-  i2cReleaseBus(((LIS3MDLDriver *)ip)->config->i2cp);

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

 #endif /* LIS3MDL_SHARED_I2C */

+

     if(msg != MSG_OK)

       return msg;

 

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

-    for(i = 0; i < LIS3MDL_NUMBER_OF_AXES; i++) {

-      ((LIS3MDLDriver *)ip)->sensitivity[i] *= scale;

-      ((LIS3MDLDriver *)ip)->bias[i] *= scale;

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

+    for(i = 0; i < LIS3MDL_COMP_NUMBER_OF_AXES; i++) {

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

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

     }

   }

   return msg;

 }

 

-static const struct BaseSensorVMT vmt_sensor = {

-  get_axes_number, read_raw, read_cooked

+static const struct LIS3MDLVMT vmt_device = {

+  (size_t)0,

+  comp_set_full_scale

 };

 

-static const struct LIS3MDLCompassVMT vmt_compass = {

-  get_axes_number, read_raw, read_cooked,

-  set_bias, reset_bias, set_sensivity, reset_sensivity,

-  set_full_scale

+static const struct BaseCompassVMT vmt_compass = {

+  sizeof(struct LIS3MDLVMT*),

+  comp_get_axes_number, comp_read_raw, comp_read_cooked,

+  comp_set_bias, comp_reset_bias, comp_set_sensivity, comp_reset_sensivity

 };

 

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

@@ -318,12 +445,13 @@ static const struct LIS3MDLCompassVMT vmt_compass = {
  * @init

  */

 void lis3mdlObjectInit(LIS3MDLDriver *devp) {

-  uint32_t i;

-  devp->vmt_sensor = &vmt_sensor;

-  devp->vmt_compass = &vmt_compass;

+  devp->vmt = &vmt_device;

+  devp->comp_if.vmt = &vmt_compass;

+  

   devp->config = NULL;

-  for(i = 0; i < LIS3MDL_NUMBER_OF_AXES; i++)

-    devp->bias[i] = 0.0f;

+  

+  devp->compaxes = LIS3MDL_COMP_NUMBER_OF_AXES;

+

   devp->state  = LIS3MDL_STOP;

 }

 

@@ -348,9 +476,9 @@ void lis3mdlStart(LIS3MDLDriver *devp, const LIS3MDLConfig *config) {
   /* Control register 1 configuration block.*/

   {

     cr[0] = LIS3MDL_AD_CTRL_REG1;

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

-#if LIS3MDL_USE_ADVANCED || defined(__DOXYGEN__)

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

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

+#if LIS3MDL_COMP_USE_ADVANCED || defined(__DOXYGEN__)

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

 #else

     cr[1] |= LIS3MDL_CTRL_REG1_OM0 | LIS3MDL_CTRL_REG1_OM1;

 #endif

@@ -358,29 +486,29 @@ void lis3mdlStart(LIS3MDLDriver *devp, const LIS3MDLConfig *config) {
 

   /* Control register 2 configuration block.*/

   {

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

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

   }

 

   /* Control register 3 configuration block.*/

   {

     cr[3] = 0;

-#if LIS3MDL_USE_ADVANCED || defined(__DOXYGEN__)

-    cr[3] = devp->config->conversionmode;

+#if LIS3MDL_COMP_USE_ADVANCED || defined(__DOXYGEN__)

+    cr[3] = devp->config->compconversionmode;

 #endif

   }

 

   /* Control register 4 configuration block.*/

   {

     cr[4] = 0;

-#if LIS3MDL_USE_ADVANCED || defined(__DOXYGEN__)

-    cr[4] = devp->config->operationmodez | devp->config->endianness;

+#if LIS3MDL_COMP_USE_ADVANCED || defined(__DOXYGEN__)

+    cr[4] = devp->config->compoperationmodez | devp->config->endianness;

 #endif

   }

 

   /* Control register 5 configuration block.*/

   {

     cr[5] = 0;

-#if LIS3MDL_USE_ADVANCED || defined(__DOXYGEN__)

+#if LIS3MDL_COMP_USE_ADVANCED || defined(__DOXYGEN__)

     cr[5] = devp->config->blockdataupdate;

 #endif

   }

@@ -391,6 +519,7 @@ void lis3mdlStart(LIS3MDLDriver *devp, const LIS3MDLConfig *config) {
 #endif /* LIS3MDL_SHARED_I2C */

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

            (devp)->config->i2ccfg);

+           

   lis3mdlI2CWriteRegister(devp->config->i2cp, devp->config->slaveaddress,

                           cr, 5);

                               

@@ -399,44 +528,64 @@ void lis3mdlStart(LIS3MDLDriver *devp, const LIS3MDLConfig *config) {
 #endif /* LIS3MDL_SHARED_I2C */

 #endif /* LIS3MDL_USE_I2C */

 

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

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

-    if(devp->config->fullscale == LIS3MDL_FS_4GA) {

-      devp->fullscale = LIS3MDL_4GA;

-      for(i = 0; i < LIS3MDL_NUMBER_OF_AXES; i++)

-        devp->sensitivity[i] = LIS3MDL_SENS_4GA;

-    }

-    else if(devp->config->fullscale == LIS3MDL_FS_8GA) {

-      devp->fullscale = LIS3MDL_8GA;

-      for(i = 0; i < LIS3MDL_NUMBER_OF_AXES; i++)

-        devp->sensitivity[i] = LIS3MDL_SENS_8GA;

+  if(devp->config->compfullscale == LIS3MDL_COMP_FS_4GA) {

+    devp->compfullscale = LIS3MDL_COMP_4GA;

+    for(i = 0; i < LIS3MDL_COMP_NUMBER_OF_AXES; i++) {

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

+        devp->compsensitivity[i] = LIS3MDL_COMP_SENS_4GA;

+      }

+      else {

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

+      }

     }

-    else if(devp->config->fullscale == LIS3MDL_FS_12GA) {

-      devp->fullscale = LIS3MDL_12GA;

-      for(i = 0; i < LIS3MDL_NUMBER_OF_AXES; i++)

-        devp->sensitivity[i] = LIS3MDL_SENS_12GA;

+  }

+  else if(devp->config->compfullscale == LIS3MDL_COMP_FS_8GA) {

+    devp->compfullscale = LIS3MDL_COMP_8GA;

+    for(i = 0; i < LIS3MDL_COMP_NUMBER_OF_AXES; i++) {

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

+        devp->compsensitivity[i] = LIS3MDL_COMP_SENS_8GA;

+      }

+      else {

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

+      }

     }

-    else if(devp->config->fullscale == LIS3MDL_FS_16GA) {

-      devp->fullscale = LIS3MDL_16GA;

-      for(i = 0; i < LIS3MDL_NUMBER_OF_AXES; i++)

-        devp->sensitivity[i] = LIS3MDL_SENS_16GA;

+  }

+  else if(devp->config->compfullscale == LIS3MDL_COMP_FS_12GA) {

+    devp->compfullscale = LIS3MDL_COMP_12GA;

+    for(i = 0; i < LIS3MDL_COMP_NUMBER_OF_AXES; i++) {

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

+        devp->compsensitivity[i] = LIS3MDL_COMP_SENS_12GA;

+      }

+      else {

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

+      }

     }

-    else

-      osalDbgAssert(FALSE, "lis3mdlStart(), compass full scale issue");

   }

-  else{

-    for(i = 0; i < LIS3MDL_NUMBER_OF_AXES; i++)

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

+  else if(devp->config->compfullscale == LIS3MDL_COMP_FS_16GA) {

+    devp->compfullscale = LIS3MDL_COMP_16GA;

+    for(i = 0; i < LIS3MDL_COMP_NUMBER_OF_AXES; i++) {

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

+        devp->compsensitivity[i] = LIS3MDL_COMP_SENS_16GA;

+      }

+      else {

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

+      }

+    }

   }

+  else

+    osalDbgAssert(FALSE, "lis3mdlStart(), compass full scale issue");

+

+  /* Storing bias information */

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

+    for(i = 0; i < LIS3MDL_COMP_NUMBER_OF_AXES; i++)

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

+  else      

+    for(i = 0; i < LIS3MDL_COMP_NUMBER_OF_AXES; i++)

+      devp->compbias[i] = LIS3MDL_COMP_BIAS;

+    

+  /* This is the MEMS transient recovery time */

+  osalThreadSleepMilliseconds(5);

 

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

-    for(i = 0; i < LIS3MDL_NUMBER_OF_AXES; i++)

-      devp->bias[i] = 0.0f;

-  }

-  else {

-    for(i = 0; i < LIS3MDL_NUMBER_OF_AXES; i++)

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

-  }

   devp->state = LIS3MDL_READY;

 } 

 

@@ -461,10 +610,13 @@ void lis3mdlStop(LIS3MDLDriver *devp) {
     i2cStart((devp)->config->i2cp,

              (devp)->config->i2ccfg);

 #endif /* LIS3MDL_SHARED_I2C */

+

+    /* Disabling compass. */

     cr[0] = LIS3MDL_AD_CTRL_REG3;

     cr[1] = LIS3MDL_CTRL_REG3_MD0 | LIS3MDL_CTRL_REG3_MD1;

     lis3mdlI2CWriteRegister(devp->config->i2cp, devp->config->slaveaddress,

                             cr, 1);

+

     i2cStop((devp)->config->i2cp);

 #if LIS3MDL_SHARED_I2C

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

diff --git a/os/ex/ST/lis3mdl.h b/os/ex/ST/lis3mdl.h
index de3c35eed..937064c81 100644
--- a/os/ex/ST/lis3mdl.h
+++ b/os/ex/ST/lis3mdl.h
@@ -1,5 +1,5 @@
 /*

-    ChibiOS - Copyright (C) 2016 Rocco Marco Guglielmi

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

 

     This file is part of ChibiOS.

 

@@ -42,7 +42,7 @@
 /**

  * @brief   LIS3MDL driver version string.

  */

-#define EX_LIS3MDL_VERSION                  "1.0.5"

+#define EX_LIS3MDL_VERSION                  "1.0.6"

 

 /**

  * @brief   LIS3MDL driver version major number.

@@ -57,25 +57,29 @@
 /**

  * @brief   LIS3MDL driver version patch number.

  */

-#define EX_LIS3MDL_PATCH                    5

+#define EX_LIS3MDL_PATCH                    6

 /** @} */

 

 /**

- * @brief   LIS3MDL characteristics.

+ * @brief   LIS3MDL compass subsystem characteristics.

+ * @note    Sensitivity is expressed as G/LSB whereas G stands for Gauss.

+ * @note    Bias is expressed as G.

  *

  * @{

  */

-#define LIS3MDL_NUMBER_OF_AXES              3U

-                                            

-#define LIS3MDL_4GA                         4.0f

-#define LIS3MDL_8GA                         8.0f

-#define LIS3MDL_12GA                        12.0f

-#define LIS3MDL_16GA                        16.0f

-                                            

-#define LIS3MDL_SENS_4GA                    0.00014615f

-#define LIS3MDL_SENS_8GA                    0.00029231f

-#define LIS3MDL_SENS_12GA                   0.0004384f

-#define LIS3MDL_SENS_16GA                   0.00058445f

+#define LIS3MDL_COMP_NUMBER_OF_AXES         3U

+                          

+#define LIS3MDL_COMP_4GA                    4.0f

+#define LIS3MDL_COMP_8GA                    8.0f

+#define LIS3MDL_COMP_12GA                   12.0f

+#define LIS3MDL_COMP_16GA                   16.0f

+                            

+#define LIS3MDL_COMP_SENS_4GA               0.00014615f

+#define LIS3MDL_COMP_SENS_8GA               0.00029231f

+#define LIS3MDL_COMP_SENS_12GA              0.0004384f

+#define LIS3MDL_COMP_SENS_16GA              0.00058445f

+

+#define LIS3MDL_COMP_BIAS                   0.0f

 /** @} */

 

 /**

@@ -121,57 +125,57 @@
  * @name    LIS3MDL_CTRL_REG1 register bits definitions

  * @{

  */

-#define LIS3MDL_CTRL_REG1_MASK      0xFF        /**< LIS3MDL_CTRL_REG1 mask  */

-#define LIS3MDL_CTRL_REG1_ST        (1 << 0)    /**< Self test enable        */

-#define LIS3MDL_CTRL_REG1_FAST_ODR  (1 << 1)    /**< Fast data rate          */

-#define LIS3MDL_CTRL_REG1_DO0       (1 << 2)    /**< Output data rate bit 0  */

-#define LIS3MDL_CTRL_REG1_DO1       (1 << 3)    /**< Output data rate bit 1  */

-#define LIS3MDL_CTRL_REG1_DO2       (1 << 4)    /**< Output data rate bit 2  */

-#define LIS3MDL_CTRL_REG1_OM0       (1 << 5)    /**< X-Y mode bit 0          */

-#define LIS3MDL_CTRL_REG1_OM1       (1 << 6)    /**< X-Y mode bit 1          */

-#define LIS3MDL_CTRL_REG1_TEMP_EN   (1 << 7)    /**< Temperature sensor      */

+#define LIS3MDL_CTRL_REG1_MASK              0xFF    

+#define LIS3MDL_CTRL_REG1_ST                (1 << 0)

+#define LIS3MDL_CTRL_REG1_FAST_ODR          (1 << 1)

+#define LIS3MDL_CTRL_REG1_DO0               (1 << 2)

+#define LIS3MDL_CTRL_REG1_DO1               (1 << 3)

+#define LIS3MDL_CTRL_REG1_DO2               (1 << 4)

+#define LIS3MDL_CTRL_REG1_OM0               (1 << 5)

+#define LIS3MDL_CTRL_REG1_OM1               (1 << 6)

+#define LIS3MDL_CTRL_REG1_TEMP_EN           (1 << 7)

 /** @} */

 

 /**

  * @name    LIS3MDL_CTRL_REG2 register bits definitions

  * @{

  */

-#define LIS3MDL_CTRL_REG2_MASK      0x6C        /**< LIS3MDL_CTRL_REG2 mask  */

-#define LIS3MDL_CTRL_REG2_SOFT_RST  (1 << 2)    /**< Soft reset              */

-#define LIS3MDL_CTRL_REG2_REBOOT    (1 << 3)    /**< Reboot memory           */

-#define LIS3MDL_CTRL_REG2_FS_MASK   0x60        /**< Full scale mask         */

-#define LIS3MDL_CTRL_REG2_FS0       (1 << 5)    /**< Full scale bit 0        */

-#define LIS3MDL_CTRL_REG2_FS1       (1 << 6)    /**< Full scale bit 1        */

+#define LIS3MDL_CTRL_REG2_MASK              0x6C    

+#define LIS3MDL_CTRL_REG2_SOFT_RST          (1 << 2)

+#define LIS3MDL_CTRL_REG2_REBOOT            (1 << 3)

+#define LIS3MDL_CTRL_REG2_FS_MASK           0x60    

+#define LIS3MDL_CTRL_REG2_FS0               (1 << 5)

+#define LIS3MDL_CTRL_REG2_FS1               (1 << 6)

 /** @} */

 

 /**

  * @name    LIS3MDL_CTRL_REG3 register bits definitions

  * @{

  */

-#define LIS3MDL_CTRL_REG3_MASK      0x27        /**< LIS3MDL_CTRL_REG3 mask  */

-#define LIS3MDL_CTRL_REG3_MD0       (1 << 0)    /**< Operating mode bit 0    */

-#define LIS3MDL_CTRL_REG3_MD1       (1 << 1)    /**< Operating mode bit 1    */

-#define LIS3MDL_CTRL_REG3_SIM       (1 << 2)    /**< SPI interface mode      */

-#define LIS3MDL_CTRL_REG3_LP        (1 << 5)    /**< Low power               */

+#define LIS3MDL_CTRL_REG3_MASK              0x27    

+#define LIS3MDL_CTRL_REG3_MD0               (1 << 0)

+#define LIS3MDL_CTRL_REG3_MD1               (1 << 1)

+#define LIS3MDL_CTRL_REG3_SIM               (1 << 2)

+#define LIS3MDL_CTRL_REG3_LP                (1 << 5)

 /** @} */

 

 /**

  * @name    LIS3MDL_CTRL_REG4 register bits definitions

  * @{

  */

-#define LIS3MDL_CTRL_REG4_MASK      0x0E        /**< LIS3MDL_CTRL_REG4 mask  */

-#define LIS3MDL_CTRL_REG4_BLE       (1 << 1)    /**< Endianess               */

-#define LIS3MDL_CTRL_REG4_OMZ0      (1 << 2)    /**< Z mode bit 0            */

-#define LIS3MDL_CTRL_REG4_OMZ1      (1 << 3)    /**< Z mode bit 1            */

+#define LIS3MDL_CTRL_REG4_MASK              0x0E    

+#define LIS3MDL_CTRL_REG4_BLE               (1 << 1)

+#define LIS3MDL_CTRL_REG4_OMZ0              (1 << 2)

+#define LIS3MDL_CTRL_REG4_OMZ1              (1 << 3)

 /** @} */

 

 /**

  * @name    LIS3MDL_CTRL_REG5 register bits definitions

  * @{

  */

-#define LIS3MDL_CTRL_REG5_MASK      0xC0        /**< LIS3MDL_CTRL_REG5 mask  */

-#define LIS3MDL_CTRL_REG5_BDU       (1 << 6)    /**< Block data update       */

-#define LIS3MDL_CTRL_REG5_FAST_READ (1 << 7)    /**< Fast read mode          */

+#define LIS3MDL_CTRL_REG5_MASK              0xC0    

+#define LIS3MDL_CTRL_REG5_BDU               (1 << 6)

+#define LIS3MDL_CTRL_REG5_FAST_READ         (1 << 7)

 /** @} */

 

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

@@ -192,6 +196,16 @@
 #endif

 

 /**

+ * @brief   LIS3MDL 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(LIS3MDL_SHARED_SPI) || defined(__DOXYGEN__)

+#define LIS3MDL_SHARED_SPI                  FALSE

+#endif

+

+/**

  * @brief   LIS3MDL I2C interface switch.

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

  * @note    The default is @p TRUE.

@@ -201,15 +215,6 @@
 #endif

 

 /**

- * @brief   LIS3MDL advanced configurations switch.

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

- * @note    The default is @p FALSE.

- */

-#if !defined(LIS3MDL_USE_ADVANCED) || defined(__DOXYGEN__)

-#define LIS3MDL_USE_ADVANCED                FALSE

-#endif

-

-/**

  * @brief   LIS3MDL shared I2C switch.

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

  *          on each transaction.

@@ -218,6 +223,15 @@
 #if !defined(LIS3MDL_SHARED_I2C) || defined(__DOXYGEN__)

 #define LIS3MDL_SHARED_I2C                  FALSE

 #endif

+

+/**

+ * @brief   LIS3MDL advanced configurations switch.

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

+ * @note    The default is @p FALSE.

+ */

+#if !defined(LIS3MDL_COMP_USE_ADVANCED) || defined(__DOXYGEN__)

+#define LIS3MDL_COMP_USE_ADVANCED           FALSE

+#endif

 /** @} */

 

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

@@ -232,6 +246,10 @@
 #error "LIS3MDL_USE_SPI requires HAL_USE_SPI"

 #endif

 

+#if LIS3MDL_SHARED_SPI && !SPI_USE_MUTUAL_EXCLUSION

+#error "LIS3MDL_SHARED_SPI requires SPI_USE_MUTUAL_EXCLUSION"

+#endif

+

 #if LIS3MDL_USE_I2C && !HAL_USE_I2C

 #error "LIS3MDL_USE_I2C requires HAL_USE_I2C"

 #endif

@@ -240,6 +258,13 @@
 #error "LIS3MDL_SHARED_I2C requires I2C_USE_MUTUAL_EXCLUSION"

 #endif

 

+/**

+ * @todo    Add support for LIS3MDL over SPI.

+ */

+#if LIS3MDL_USE_SPI

+#error "LIS3MDL over SPI still not supported"

+#endif

+

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

 /* Driver data structures and types.                                         */

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

@@ -252,6 +277,11 @@
 /**

  * @brief  LIS3MDL slave address

  */

+/**

+ * @brief   Structure representing a LIS3MDL driver.

+ */

+typedef struct LIS3MDLDriver LIS3MDLDriver;

+

 typedef enum {

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

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

@@ -261,62 +291,62 @@ typedef enum {
  * @brief   LIS3MDL full scale

  */

 typedef enum {

-  LIS3MDL_FS_4GA = 0x00,            /**< ±4 Gauss                           */

-  LIS3MDL_FS_8GA = 0x20,            /**< ±8 Gauss                           */

-  LIS3MDL_FS_12GA = 0x40,           /**< ±12 Gauss                          */

-  LIS3MDL_FS_16GA = 0x60            /**< ±16 Gauss                          */

-}lis3mdl_fs_t;

+  LIS3MDL_COMP_FS_4GA = 0x00,       /**< ±4 Gauss                           */

+  LIS3MDL_COMP_FS_8GA = 0x20,       /**< ±8 Gauss                           */

+  LIS3MDL_COMP_FS_12GA = 0x40,      /**< ±12 Gauss                          */

+  LIS3MDL_COMP_FS_16GA = 0x60       /**< ±16 Gauss                          */

+}lis3mdl_comp_fs_t;

 

 /**

  * @brief   LIS3MDL output data rate

  */

 typedef enum {

-  LIS3MDL_ODR_0_625HZ = 0x00,       /**< Output Data Rate = 0.625 Hz        */

-  LIS3MDL_ODR_1_25HZ = 0x04,        /**< Output Data Rate = 1.25 Hz         */

-  LIS3MDL_ODR_2_5HZ = 0x08,         /**< Output Data Rate = 2.5 Hz          */

-  LIS3MDL_ODR_5HZ = 0x0C,           /**< Output Data Rate = 5 Hz            */

-  LIS3MDL_ODR_10HZ = 0x10,          /**< Output Data Rate = 10 Hz           */

-  LIS3MDL_ODR_20HZ = 0x14,          /**< Output Data Rate = 20 Hz           */

-  LIS3MDL_ODR_40HZ = 0x18,          /**< Output Data Rate = 40 Hz           */

-  LIS3MDL_ODR_80HZ = 0x1C           /**< Output Data Rate = 80 Hz           */

-}lis3mdl_odr_t;

+  LIS3MDL_COMP_ODR_0_625HZ = 0x00,  /**< Output Data Rate = 0.625 Hz        */

+  LIS3MDL_COMP_ODR_1_25HZ = 0x04,   /**< Output Data Rate = 1.25 Hz         */

+  LIS3MDL_COMP_ODR_2_5HZ = 0x08,    /**< Output Data Rate = 2.5 Hz          */

+  LIS3MDL_COMP_ODR_5HZ = 0x0C,      /**< Output Data Rate = 5 Hz            */

+  LIS3MDL_COMP_ODR_10HZ = 0x10,     /**< Output Data Rate = 10 Hz           */

+  LIS3MDL_COMP_ODR_20HZ = 0x14,     /**< Output Data Rate = 20 Hz           */

+  LIS3MDL_COMP_ODR_40HZ = 0x18,     /**< Output Data Rate = 40 Hz           */

+  LIS3MDL_COMP_ODR_80HZ = 0x1C      /**< Output Data Rate = 80 Hz           */

+}lis3mdl_comp_odr_t;

 

 /**

  * @brief  LIS3MDL low power mode configuration

  */

 typedef enum {

-  LIS3MDL_LP_DISABLED = 0x00,       /**< Low Power mode disabled            */

-  LIS3MDL_LP_ENABLED = 0x20         /**< Low Power mode enabled             */

-}lis3mdl_lp_t;

+  LIS3MDL_COMP_LP_DISABLED = 0x00,  /**< Low Power mode disabled            */

+  LIS3MDL_COMP_LP_ENABLED = 0x20    /**< Low Power mode enabled             */

+}lis3mdl_comp_lp_t;

 

 /**

  * @brief  LIS3MDL conversion mode

  */

 typedef enum {

-  LIS3MDL_MD_CONTINUOUS = 0x00,     /**< Continuous conversion mode         */

-  LIS3MDL_MD_SINGLE = 0x01,         /**< Single conversion mode             */

-  LIS3MDL_MD_POWER_DOWN = 0x02      /**< Power down mode                    */

-}lis3mdl_md_t;

+  LIS3MDL_COMP_MD_CONTINUOUS = 0x00,/**< Continuous conversion mode         */

+  LIS3MDL_COMP_MD_SINGLE = 0x01,    /**< Single conversion mode             */

+  LIS3MDL_COMP_MD_POWER_DOWN = 0x02 /**< Power down mode                    */

+}lis3mdl_comp_md_t;

 

 /**

  * @brief  LIS3MDL operation mode for X and Y axes

  */

 typedef enum {

-  LIS3MDL_OMXY_LOW_POWER  = 0x00,   /**< X-Y axes low power mode            */

-  LIS3MDL_OMXY_MEDIUM = 0x20,       /**< X-Y axes medium performance mode   */

-  LIS3MDL_OMXY_HIGH = 0x40,         /**< X-Y axes high performance mode     */

-  LIS3MDL_OMXY_ULTRA = 0x60         /**< X-Y axes ultra performance mode    */

-}lis3mdl_omxy_t;

+  LIS3MDL_COMP_OMXY_LP  = 0x00,     /**< X-Y axes low power mode            */

+  LIS3MDL_COMP_OMXY_MEDIUM = 0x20,  /**< X-Y axes medium performance mode   */

+  LIS3MDL_COMP_OMXY_HIGH = 0x40,    /**< X-Y axes high performance mode     */

+  LIS3MDL_COMP_OMXY_ULTRA = 0x60    /**< X-Y axes ultra performance mode    */

+}lis3mdl_comp_omxy_t;

 

 /**

  * @brief  LIS3MDL operation mode for Z axis

  */

 typedef enum {

-  LIS3MDL_OMZ_LOW_POWER  = 0x00,    /**< Z axis low power mode              */

-  LIS3MDL_OMZ_MEDIUM = 0x04,        /**< Z axis medium performance mode     */

-  LIS3MDL_OMZ_HIGH = 0x08,          /**< Z axis high performance mode       */

-  LIS3MDL_OMZ_ULTRA = 0x0C          /**< Z axis ultra performance mode      */

-}lis3mdl_omz_t;

+  LIS3MDL_COMP_OMZ_LP = 0x00,       /**< Z axis low power mode              */

+  LIS3MDL_COMP_OMZ_MEDIUM = 0x04,   /**< Z axis medium performance mode     */

+  LIS3MDL_COMP_OMZ_HIGH = 0x08,     /**< Z axis high performance mode       */

+  LIS3MDL_COMP_OMZ_ULTRA = 0x0C     /**< Z axis ultra performance mode      */

+}lis3mdl_comp_omz_t;

 

 /**

  * @brief   LIS3MDL temperature sensor enabling

@@ -374,76 +404,76 @@ typedef struct {
    * @brief I2C configuration associated to this LIS3MDL.

    */

   const I2CConfig           *i2ccfg;

-#endif /* LIS3MDL_USE_I2C */

   /**

-   * @brief LIS3MDL initial sensitivity.

+   * @brief LIS3MDL slave address

    */

-  float                     *sensitivity;

+  lis3mdl_sad_t             slaveaddress;

+#endif /* LIS3MDL_USE_I2C */

   /**

-   * @brief LIS3MDL initial bias.

+   * @brief LIS3MDL compass subsystem initial sensitivity.

    */

-  float                     *bias;

+  float                     *compsensitivity;

   /**

-   * @brief  LIS3MDL slave address

+   * @brief LIS3MDL compass subsystem initial bias.

    */

-  lis3mdl_sad_t             slaveaddress;

+  float                     *compbias;

   /**

-   * @brief   LIS3MDL full scale

+   * @brief LIS3MDL compass subsystem full scale.

    */

-  lis3mdl_fs_t              fullscale;

+  lis3mdl_comp_fs_t         compfullscale;

   /**

-   * @brief   LIS3MDL output data rate

+   * @brief LIS3MDL compass subsystem output data rate.

    */

-  lis3mdl_odr_t             outputdatarate;

-#if LIS3MDL_USE_ADVANCED || defined(__DOXYGEN__)

+  lis3mdl_comp_odr_t        compoutputdatarate;

+#if LIS3MDL_COMP_USE_ADVANCED || defined(__DOXYGEN__)

   /**

-   * @brief  LIS3MDL low power mode configuration

+   * @brief LIS3MDL compass subsystem low power mode configuration.

    */

-  lis3mdl_lp_t              lowpowermode;

+  lis3mdl_comp_lp_t         complowpowermode;

   /**

-   * @brief  LIS3MDL conversion mode

+   * @brief LIS3MDL compass subsystem conversion mode.

    */

-  lis3mdl_md_t              conversionmode;

+  lis3mdl_comp_md_t         compconversionmode;

   /**

-   * @brief  LIS3MDL operation mode for X and Y axes

+   * @brief LIS3MDL compass subsystem operation mode for X and Y axes.

    */

-  lis3mdl_omxy_t            operationmodexy;

+  lis3mdl_comp_omxy_t       compoperationmodexy;

   /**

-   * @brief  LIS3MDL operation mode for Z axis

+   * @brief LIS3MDL compass subsystem operation mode for Z axis.

    */

-  lis3mdl_omz_t             operationmodez;

+  lis3mdl_comp_omz_t        compoperationmodez;

   /**

-   * @brief  LIS3MDL block data update

+   * @brief LIS3MDL block data update.

    */

   lis3mdl_bdu_t             blockdataupdate;

   /**

-   * @brief   LIS3MDL endianness

+   * @brief LIS3MDL endianness.

    */

   lis3mdl_end_t             endianness;

 #endif

 } LIS3MDLConfig;

 

 /**

- * @brief   @p LIS3MDL compass subsystem specific methods.

+ * @brief   @p LIS3MDL specific methods.

  */

-#define _lis3msl_compass_methods_alone                                      \

-  /* Change full scale value of LIS3MDL.*/                                  \

-  msg_t (*set_full_scale)(void *instance, lis3mdl_fs_t fs);

+#define _lis3msl_methods_alone                                              \

+  /* Change full scale value of LIS3MDL compass subsystem.*/                \

+  msg_t (*comp_set_full_scale)(LIS3MDLDriver *devp, lis3mdl_comp_fs_t fs);

   

 /**

- * @brief   @p LIS3MDL compass subsystem specific methods with inherited ones.

+ * @brief   @p LIS3MDL specific methods with inherited ones.

  */

-#define _lis3mdl_compass_methods                                            \

-  _base_compass_methods                                                     \

-  _lis3msl_compass_methods_alone

+#define _lis3mdl_methods                                                    \

+  _base_object_methods                                                      \

+  _lis3msl_methods_alone

 

 /**

  * @extends BaseCompassVMT

  *

- * @brief   @p LIS3MDL compass virtual methods table.

+ * @brief   @p LIS3MDL virtual methods table.

  */

-struct LIS3MDLCompassVMT {

-  _lis3mdl_compass_methods

+struct LIS3MDLVMT {

+  _lis3mdl_methods

 };

 

 /**

@@ -455,34 +485,25 @@ struct LIS3MDLCompassVMT {
   lis3mdl_state_t           state;                                          \

   /* Current configuration data.*/                                          \

   const LIS3MDLConfig       *config;                                        \

-  /* Current sensitivity.*/                                                 \

-  float                     sensitivity[LIS3MDL_NUMBER_OF_AXES];            \

-  /* Bias data.*/                                                           \

-  float                     bias[LIS3MDL_NUMBER_OF_AXES];                   \

-  /* Current full scale value.*/                                            \

-  float                     fullscale;

+  /* Compass subsystem axes number.*/                                       \

+  size_t                    compaxes;                                       \

+  /* Compass subsystem current sensitivity.*/                               \

+  float                     compsensitivity[LIS3MDL_COMP_NUMBER_OF_AXES];   \

+  /* Compass subsystem current bias.*/                                      \

+  float                     compbias[LIS3MDL_COMP_NUMBER_OF_AXES];          \

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

+  float                     compfullscale;

 

 /**

- * @extends BaseCompass

- *

- * @brief   LIS3MDL 3-axis compass class.

- * @details This class extends @p BaseCompass by adding physical

- *          driver implementation.

+ * @brief LIS3MDL 3-axis compass class.

  */

 struct LIS3MDLDriver {

-  /** @brief BaseSensor Virtual Methods Table. */

-  const struct BaseSensorVMT *vmt_sensor;

-  _base_sensor_data

-  /** @brief LIS3MDL Compass Virtual Methods Table. */

-  const struct LIS3MDLCompassVMT *vmt_compass;

-_base_compass_data

+  /** @brief Virtual Methods Table.*/

+  const struct LIS3MDLVMT     *vmt;

+  /** @brief Base compass interface.*/

+  BaseCompass                 comp_if;

   _lis3mdl_data

 };

-

-/**

- * @brief   Structure representing a LIS3MDL driver.

- */

-typedef struct LIS3MDLDriver LIS3MDLDriver;

 /** @} */

 

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

@@ -490,18 +511,141 @@ typedef struct LIS3MDLDriver LIS3MDLDriver;
 /*===========================================================================*/

 

 /**

- * @brief   Change compass full scale value.

+ * @brief   Return the number of axes of the BaseCompass.

+ *

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

+ *

+ * @return              the number of axes.

+ *

+ * @api

+ */

+#define lis3mdlCompassGetAxesNumber(devp)                                   \

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

+

+/**

+ * @brief   Retrieves raw data from the BaseCompass.

+ * @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

+ *          BaseCompass axes number.

+ *

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

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

+ *

+ * @return              The operation status.

+ * @retval MSG_OK       if the function succeeded.

+ * @retval MSG_RESET    if one or more I2C errors occurred, the errors can

+ *                      be retrieved using @p i2cGetErrors().

+ * @retval MSG_TIMEOUT  if a timeout occurred before operation end.

+ *

+ * @api

+ */

+#define lis3mdlCompassReadRaw(devp, axes)                                   \

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

+

+/**

+ * @brief   Retrieves cooked data from the BaseCompass.

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

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

+ * @note    Final data is expressed as G.

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

+ *

+ * @return              The operation status.

+ * @retval MSG_OK       if the function succeeded.

+ * @retval MSG_RESET    if one or more I2C errors occurred, the errors can

+ *                      be retrieved using @p i2cGetErrors().

+ * @retval MSG_TIMEOUT  if a timeout occurred before operation end.

+ *

+ * @api

+ */

+#define lis3mdlCompassReadCooked(devp, axes)                                \

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

+

+/**

+ * @brief   Set bias values for the BaseCompass.

+ * @note    Bias must be expressed as G.

+ * @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] bp        a buffer which contains biases.

+ *

+ * @return              The operation status.

+ * @retval MSG_OK       if the function succeeded.

+ *

+ * @api

+ */

+#define lis3mdlCompassSetBias(devp, bp)                                     \

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

+

+/**

+ * @brief   Reset bias values for the BaseCompass.

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

+ *          available otherwise they are considered zero.

+ *

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

+ *

+ * @return              The operation status.

+ * @retval MSG_OK       if the function succeeded.

+ *

+ * @api

+ */

+#define lis3mdlCompassResetBias(devp)                                       \

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

+

+/**

+ * @brief   Set sensitivity values for the BaseCompass.

+ * @note    Sensitivity must be expressed as G/LSB.

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

+ *          BaseCompass axes number.

+ *

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

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

+ *

+ * @return              The operation status.

+ * @retval MSG_OK       if the function succeeded.

+ *

+ * @api

+ */

+#define lis3mdlCompassSetSensitivity(devp, sp)                              \

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

+

+/**

+ * @brief   Reset sensitivity values for the BaseCompass.

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

  *

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

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

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

  *

  * @return              The operation status.

  * @retval MSG_OK       if the function succeeded.

- * @retval MSG_RESET    if one or more errors occurred.

+ * @retval MSG_RESET    otherwise.

+ *

+ * @api

+ */

+#define lis3mdlCompassResetSensitivity(devp)                                \

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

+

+/**

+ * @brief   Changes the LIS3MDLDriver 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 LIS3MDLDriver.

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

+ *

+ * @return              The operation status.

+ * @retval MSG_OK       if the function succeeded.

+ * @retval MSG_RESET    otherwise.

+ *

  * @api

  */

-#define compassSetFullScale(ip, fs)                                       \

-        (ip)->vmt_compass->set_full_scale(ip, fs)

+#define lis3mdlCompassSetFullScale(devp, fs)                                \

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

 

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

 /* External declarations.                                                    */