diff options
Diffstat (limited to 'os/ex/ST/lis3mdl.h')
| -rw-r--r-- | os/ex/ST/lis3mdl.h | 430 |
1 files changed, 287 insertions, 143 deletions
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. */
|