aboutsummaryrefslogtreecommitdiffstats
path: root/os/ex/ST/lis3dsh.c
blob: b3634a1f71888d9233a535e260de0ce1c0727083 (plain)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
/*
    ChibiOS - Copyright (C) 2016..2018 Rocco Marco Guglielmi

    This file is part of ChibiOS.

    ChibiOS is free software; you can redistribute it and/or modify
    it under the terms of the GNU General Public License as published by
    the Free Software Foundation; either version 3 of the License, or
    (at your option) any later version.

    ChibiOS is distributed in the hope that it will be useful,
    but WITHOUT ANY WARRANTY; without even the implied warranty of
    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
    GNU General Public License for more details.

    You should have received a copy of the GNU General Public License
    along with this program.  If not, see <http://www.gnu.org/licenses/>.
	
*/

/**
 * @file    lis3dsh.c
 * @brief   LIS3DSH MEMS interface module code.
 *
 * @addtogroup LIS3DSH
 * @ingroup EX_ST
 * @{
 */

#include "hal.h"
#include "lis3dsh.h"

/*===========================================================================*/
/* Driver local definitions.                                                 */
/*===========================================================================*/

/*===========================================================================*/
/* Driver exported variables.                                                */
/*===========================================================================*/

/*===========================================================================*/
/* Driver local variables and types.                                         */
/*===========================================================================*/

/*===========================================================================*/
/* Driver local functions.                                                   */
/*===========================================================================*/

#if (LIS3DSH_USE_SPI) || defined(__DOXYGEN__)
/**
 * @brief   Reads a generic register value using SPI.
 * @pre     The SPI interface must be initialized and the driver started.
 * @note    Multiple write/read requires proper settings in CTRL_REG6.
 *
 * @param[in] spip      pointer to the SPI interface
 * @param[in] reg       starting register address
 * @param[in] n         number of adjacent registers to write
 * @param[in] b         pointer to a buffer.
 */
static void lis3dshSPIReadRegister(SPIDriver *spip, uint8_t reg, size_t n,
                                   uint8_t* b) {
  uint8_t cmd;
  cmd = reg | LIS3DSH_RW;
  spiSelect(spip);
  spiSend(spip, 1, &cmd);
  spiReceive(spip, n, b);
  spiUnselect(spip);
}

/**
 * @brief   Writes a value into a generic register using SPI.
 * @pre     The SPI interface must be initialized and the driver started.
 * @note    Multiple write/read requires proper settings in CTRL_REG6.
 *
 * @param[in] spip      pointer to the SPI interface
 * @param[in] reg       starting register address
 * @param[in] n         number of adjacent registers to write
 * @param[in] b         pointer to a buffer of values.
 */
static void lis3dshSPIWriteRegister(SPIDriver *spip, uint8_t reg, size_t n,
                                    uint8_t* b) {
  uint8_t cmd;
  cmd = reg;
  spiSelect(spip);
  spiSend(spip, 1, &cmd);
  spiSend(spip, n, b);
  spiUnselect(spip);
}
#endif /* LIS3DSH_USE_SPI */

/**
 * @brief   Return the number of axes of the BaseAccelerometer.
 *
 * @param[in] ip        pointer to @p BaseAccelerometer interface.
 *
 * @return              the number of axes.
 */
static size_t acc_get_axes_number(void *ip) {
  (void)ip;

  return LIS3DSH_ACC_NUMBER_OF_AXES;
}

/**
 * @brief   Retrieves raw data from the BaseAccelerometer.
 * @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
 *          BaseAccelerometer axes number.
 *
 * @param[in] ip        pointer to @p BaseAccelerometer 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 acc_read_raw(void *ip, int32_t axes[]) {
  LIS3DSHDriver* devp;
  uint8_t buff [LIS3DSH_ACC_NUMBER_OF_AXES * 2], i;
  int16_t tmp;
  msg_t msg = MSG_OK;

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

  /* Getting parent instance pointer.*/
  devp = objGetInstance(LIS3DSHDriver*, (BaseAccelerometer*)ip);

  osalDbgAssert((devp->state == LIS3DSH_READY),
                "acc_read_raw(), invalid state");

#if LIS3DSH_USE_SPI
#if	LIS3DSH_SHARED_SPI
  osalDbgAssert((devp->config->spip->state == SPI_READY),
                "acc_read_raw(), channel not ready");

  spiAcquireBus(devp->config->spip);
  spiStart(devp->config->spip,
           devp->config->spicfg);
#endif /* LIS3DSH_SHARED_SPI */

  lis3dshSPIReadRegister(devp->config->spip, LIS3DSH_AD_OUT_X_L,
                         LIS3DSH_ACC_NUMBER_OF_AXES * 2, buff);

#if	LIS3DSH_SHARED_SPI
  spiReleaseBus(devp->config->spip);
#endif /* LIS3DSH_SHARED_SPI */
#endif /* LIS3DSH_USE_SPI */

  for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++) {
    tmp = buff[2 * i] + (buff[2 * i + 1] << 8);
    axes[i] = (int32_t)tmp;
  }
  return msg;
}

/**
 * @brief   Retrieves cooked data from the BaseAccelerometer.
 * @note    This data is manipulated according to the formula
 *          cooked = (raw * sensitivity) - bias.
 * @note    Final data is expressed as milli-G.
 * @note    The axes array must be at least the same size of the
 *          BaseAccelerometer axes number.
 *
 * @param[in] ip        pointer to @p BaseAccelerometer 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 acc_read_cooked(void *ip, float axes[]) {
  LIS3DSHDriver* devp;
  uint32_t i;
  int32_t raw[LIS3DSH_ACC_NUMBER_OF_AXES];
  msg_t msg;

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

  /* Getting parent instance pointer.*/
  devp = objGetInstance(LIS3DSHDriver*, (BaseAccelerometer*)ip);

  osalDbgAssert((devp->state == LIS3DSH_READY),
                "acc_read_cooked(), invalid state");

  msg = acc_read_raw(ip, raw);
  for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++) {
    axes[i] = (raw[i] * devp->accsensitivity[i]) - devp->accbias[i];
  }
  return msg;
}

/**
 * @brief   Set bias values for the BaseAccelerometer.
 * @note    Bias must be expressed as milli-G.
 * @note    The bias buffer must be at least the same size of the
 *          BaseAccelerometer axes number.
 *
 * @param[in] ip        pointer to @p BaseAccelerometer interface.
 * @param[in] bp        a buffer which contains biases.
 *
 * @return              The operation status.
 * @retval MSG_OK       if the function succeeded.
 */
static msg_t acc_set_bias(void *ip, float *bp) {
  LIS3DSHDriver* devp;
  uint32_t i;
  msg_t msg = MSG_OK;

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

  /* Getting parent instance pointer.*/
  devp = objGetInstance(LIS3DSHDriver*, (BaseAccelerometer*)ip);

  osalDbgAssert((devp->state == LIS3DSH_READY),
                "acc_set_bias(), invalid state");

  for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++) {
    devp->accbias[i] = bp[i];
  }
  return msg;
}

/**
 * @brief   Reset bias values for the BaseAccelerometer.
 * @note    Default biases value are obtained from device datasheet when
 *          available otherwise they are considered zero.
 *
 * @param[in] ip        pointer to @p BaseAccelerometer interface.
 *
 * @return              The operation status.
 * @retval MSG_OK       if the function succeeded.
 */
static msg_t acc_reset_bias(void *ip) {
  LIS3DSHDriver* devp;
  uint32_t i;
  msg_t msg = MSG_OK;

  osalDbgCheck(ip != NULL);

  /* Getting parent instance pointer.*/
  devp = objGetInstance(LIS3DSHDriver*, (BaseAccelerometer*)ip);

  osalDbgAssert((devp->state == LIS3DSH_READY),
                "acc_reset_bias(), invalid state");

  for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++)
    devp->accbias[i] = LIS3DSH_ACC_BIAS;
  return msg;
}

/**
 * @brief   Set sensitivity values for the BaseAccelerometer.
 * @note    Sensitivity must be expressed as milli-G/LSB.
 * @note    The sensitivity buffer must be at least the same size of the
 *          BaseAccelerometer axes number.
 *
 * @param[in] ip        pointer to @p BaseAccelerometer interface.
 * @param[in] sp        a buffer which contains sensitivities.
 *
 * @return              The operation status.
 * @retval MSG_OK       if the function succeeded.
 */
static msg_t acc_set_sensivity(void *ip, float *sp) {
  LIS3DSHDriver* devp;
  uint32_t i;
  msg_t msg = MSG_OK;

  /* Getting parent instance pointer.*/
  devp = objGetInstance(LIS3DSHDriver*, (BaseAccelerometer*)ip);

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

  osalDbgAssert((devp->state == LIS3DSH_READY),
                "acc_set_sensivity(), invalid state");

  for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++) {
    devp->accsensitivity[i] = sp[i];
  }
  return msg;
}

/**
 * @brief   Reset sensitivity values for the BaseAccelerometer.
 * @note    Default sensitivities value are obtained from device datasheet.
 *
 * @param[in] ip        pointer to @p BaseAccelerometer interface.
 *
 * @return              The operation status.
 * @retval MSG_OK       if the function succeeded.
 * @retval MSG_RESET    otherwise.
 */
static msg_t acc_reset_sensivity(void *ip) {
  LIS3DSHDriver* devp;
  uint32_t i;
  msg_t msg = MSG_OK;

  osalDbgCheck(ip != NULL);

  /* Getting parent instance pointer.*/
  devp = objGetInstance(LIS3DSHDriver*, (BaseAccelerometer*)ip);

  osalDbgAssert((devp->state == LIS3DSH_READY),
                "acc_reset_sensivity(), invalid state");

  if(devp->config->accfullscale == LIS3DSH_ACC_FS_2G)
    for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++)
      devp->accsensitivity[i] = LIS3DSH_ACC_SENS_2G;
  else if(devp->config->accfullscale == LIS3DSH_ACC_FS_4G)
    for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++)
      devp->accsensitivity[i] = LIS3DSH_ACC_SENS_4G;
  else if(devp->config->accfullscale == LIS3DSH_ACC_FS_6G)
    for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++)
      devp->accsensitivity[i] = LIS3DSH_ACC_SENS_6G;
  else if(devp->config->accfullscale == LIS3DSH_ACC_FS_8G)
    for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++)
      devp->accsensitivity[i] = LIS3DSH_ACC_SENS_8G;
  else if(devp->config->accfullscale == LIS3DSH_ACC_FS_16G)
    for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++)
      devp->accsensitivity[i] = LIS3DSH_ACC_SENS_16G;
  else {
    osalDbgAssert(FALSE,
                  "acc_reset_sensivity(), accelerometer full scale issue");
    return MSG_RESET;
  }
  return msg;
}

/**
 * @brief   Changes the LIS3DSHDriver accelerometer 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 LIS3DSHDriver interface.
 * @param[in] fs        new fullscale value.
 *
 * @return              The operation status.
 * @retval MSG_OK       if the function succeeded.
 * @retval MSG_RESET    otherwise.
 */
static msg_t acc_set_full_scale(LIS3DSHDriver *devp,
                                lis3dsh_acc_fs_t fs) {
  float newfs, scale;
  uint8_t i, cr;
  msg_t msg;

  osalDbgCheck(devp != NULL);

  osalDbgAssert((devp->state == LIS3DSH_READY),
                "acc_set_full_scale(), invalid state");
  osalDbgAssert((devp->config->spip->state == SPI_READY),
                "acc_set_full_scale(), channel not ready");

  /* Computing new fullscale value.*/
  if(fs == LIS3DSH_ACC_FS_2G) {
    newfs = LIS3DSH_ACC_2G;
  }
  else if(fs == LIS3DSH_ACC_FS_4G) {
    newfs = LIS3DSH_ACC_4G;
  }
  else if(fs == LIS3DSH_ACC_FS_6G) {
    newfs = LIS3DSH_ACC_6G;
  }
  else if(fs == LIS3DSH_ACC_FS_8G) {
    newfs = LIS3DSH_ACC_8G;
  }
  else if(fs == LIS3DSH_ACC_FS_16G) {
    newfs = LIS3DSH_ACC_16G;
  }
  else {
    msg = MSG_RESET;
    return msg;
  }

  if(newfs != devp->accfullscale) {
    /* Computing scale value.*/
    scale = newfs / devp->accfullscale;
    devp->accfullscale = newfs;

#if LIS3DSH_USE_SPI
#if LIS3DSH_SHARED_SPI
    spiAcquireBus(devp->config->spip);
    spiStart(devp->config->spip,
             devp->config->spicfg);
#endif /* LIS3DSH_SHARED_SPI */

    /* Getting data from register.*/
    lis3dshSPIReadRegister(devp->config->spip, LIS3DSH_AD_CTRL_REG5, 1, &cr);

#if LIS3DSH_SHARED_SPI
    spiReleaseBus(devp->config->spip);
#endif /* LIS3DSH_SHARED_SPI */
#endif /* LIS3DSH_USE_SPI */

    cr &= ~(LIS3DSH_CTRL_REG5_FS_MASK);
    cr |= fs;

#if LIS3DSH_USE_SPI
#if LIS3DSH_SHARED_SPI
    spiAcquireBus(devp->config->spip);
    spiStart(devp->config->spip,
             devp->config->spicfg);
#endif /* LIS3DSH_SHARED_SPI */

    /* Getting data from register.*/
    lis3dshSPIWriteRegister(devp->config->spip, LIS3DSH_AD_CTRL_REG5, 1, &cr);

#if LIS3DSH_SHARED_SPI
    spiReleaseBus(devp->config->spip);
#endif /* LIS3DSH_SHARED_SPI */
#endif /* LIS3DSH_USE_SPI */

    /* Scaling sensitivity and bias. Re-calibration is suggested anyway. */
    for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++) {
      devp->accsensitivity[i] *= scale;
      devp->accbias[i] *= scale;
    }
  }
  return msg;
}

static const struct LIS3DSHVMT vmt_device = {
  (size_t)0,
  acc_set_full_scale
};

static const struct BaseAccelerometerVMT vmt_accelerometer = {
  sizeof(struct LIS3DSHVMT*),
  acc_get_axes_number, acc_read_raw, acc_read_cooked,
  acc_set_bias, acc_reset_bias, acc_set_sensivity, acc_reset_sensivity
};

/*===========================================================================*/
/* Driver exported functions.                                                */
/*===========================================================================*/

/**
 * @brief   Initializes an instance.
 *
 * @param[out] devp     pointer to the @p LIS3DSHDriver object
 *
 * @init
 */
void lis3dshObjectInit(LIS3DSHDriver *devp) {
  devp->vmt = &vmt_device;
  devp->acc_if.vmt = &vmt_accelerometer;

  devp->config = NULL;

  devp->accaxes = LIS3DSH_ACC_NUMBER_OF_AXES;

  devp->state = LIS3DSH_STOP;
}

/**
 * @brief   Configures and activates LIS3DSH Complex Driver peripheral.
 *
 * @param[in] devp      pointer to the @p LIS3DSHDriver object
 * @param[in] config    pointer to the @p LIS3DSHConfig object
 *
 * @api
 */
void lis3dshStart(LIS3DSHDriver *devp, const LIS3DSHConfig *config) {
  uint32_t i;
  uint8_t cr;
  osalDbgCheck((devp != NULL) && (config != NULL));

  osalDbgAssert((devp->state == LIS3DSH_STOP) ||
                (devp->state == LIS3DSH_READY),
                "lis3dshStart(), invalid state");		

  devp->config = config;

  /* Control register 4 configuration block.*/
  {
    cr = LIS3DSH_CTRL_REG4_XEN | LIS3DSH_CTRL_REG4_YEN | LIS3DSH_CTRL_REG4_ZEN |
         devp->config->accoutputdatarate;
#if LIS3DSH_USE_ADVANCED || defined(__DOXYGEN__)
    cr |= devp->config->accblockdataupdate;
#endif
  }

#if LIS3DSH_USE_SPI
#if LIS3DSH_SHARED_SPI
  spiAcquireBus(devp->config->spip);
#endif /* LIS3DSH_SHARED_SPI */
  spiStart(devp->config->spip, devp->config->spicfg);

  lis3dshSPIWriteRegister(devp->config->spip, LIS3DSH_AD_CTRL_REG4, 1, &cr);

#if LIS3DSH_SHARED_SPI
  spiReleaseBus(devp->config->spip);
#endif /* LIS3DSH_SHARED_SPI */
#endif /* LIS3DSH_USE_SPI */

  /* Control register 5 configuration block.*/
  {
    cr = devp->config->accfullscale;
#if LIS3DSH_USE_ADVANCED || defined(__DOXYGEN__)
    cr |= devp->config->accantialiasing;
#endif
  }

#if LIS3DSH_USE_SPI
#if LIS3DSH_SHARED_SPI
  spiAcquireBus(devp->config->spip);
  spiStart(devp->config->spip, devp->config->spicfg);
#endif /* LIS3DSH_SHARED_SPI */

  lis3dshSPIWriteRegister(devp->config->spip, LIS3DSH_AD_CTRL_REG5, 1, &cr);

#if LIS3DSH_SHARED_SPI
  spiReleaseBus(devp->config->spip);
#endif /* LIS3DSH_SHARED_SPI */
#endif /* LIS3DSH_USE_SPI */

  /* Control register 6 configuration block.*/
  {
    cr = LIS3DSH_CTRL_REG6_ADD_INC;
#if LIS3DSH_USE_ADVANCED || defined(__DOXYGEN__)
    cr |= devp->config->accblockdataupdate;
#endif
  }

#if LIS3DSH_USE_SPI
#if LIS3DSH_SHARED_SPI
  spiAcquireBus(devp->config->spip);
  spiStart(devp->config->spip, devp->config->spicfg);
#endif /* LIS3DSH_SHARED_SPI */

  lis3dshSPIWriteRegister(devp->config->spip, LIS3DSH_AD_CTRL_REG6, 1, &cr);

#if	LIS3DSH_SHARED_SPI
  spiReleaseBus(devp->config->spip);
#endif /* LIS3DSH_SHARED_SPI */
#endif /* LIS3DSH_USE_SPI */

  /* Storing sensitivity information according to user setting */
  if(devp->config->accfullscale == LIS3DSH_ACC_FS_2G) {
    devp->accfullscale = LIS3DSH_ACC_2G;
    if(devp->config->accsensitivity == NULL)
      for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++)
        devp->accsensitivity[i] = LIS3DSH_ACC_SENS_2G;
    else
      for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++)
        devp->accsensitivity[i] = devp->config->accsensitivity[i];
  }
  else if(devp->config->accfullscale == LIS3DSH_ACC_FS_4G) {
    devp->accfullscale = LIS3DSH_ACC_4G;
    if(devp->config->accsensitivity == NULL)
      for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++)
        devp->accsensitivity[i] = LIS3DSH_ACC_SENS_4G;
    else
      for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++)
        devp->accsensitivity[i] = devp->config->accsensitivity[i];
  }
  else if(devp->config->accfullscale == LIS3DSH_ACC_FS_6G) {
    devp->accfullscale = LIS3DSH_ACC_6G;
    if(devp->config->accsensitivity == NULL)
      for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++)
        devp->accsensitivity[i] = LIS3DSH_ACC_SENS_6G;
    else
      for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++)
        devp->accsensitivity[i] = devp->config->accsensitivity[i];
  }
  else if(devp->config->accfullscale == LIS3DSH_ACC_FS_8G) {
    devp->accfullscale = LIS3DSH_ACC_8G;
    if(devp->config->accsensitivity == NULL)
      for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++)
        devp->accsensitivity[i] = LIS3DSH_ACC_SENS_8G;
    else
      for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++)
        devp->accsensitivity[i] = devp->config->accsensitivity[i];
  }
  else if(devp->config->accfullscale == LIS3DSH_ACC_FS_16G) {
    devp->accfullscale = LIS3DSH_ACC_16G;
    if(devp->config->accsensitivity == NULL)
      for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++)
        devp->accsensitivity[i] = LIS3DSH_ACC_SENS_16G;
    else
      for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++)
        devp->accsensitivity[i] = devp->config->accsensitivity[i];
  }
  else {
    osalDbgAssert(FALSE, "lis3dshStart(), accelerometer full scale issue");
  }

  /* Storing bias information according to user setting */
  if(devp->config->accbias != NULL)
    for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++)
      devp->accbias[i] = devp->config->accbias[i];
  else
    for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++)
      devp->accbias[i] = LIS3DSH_ACC_BIAS;

  /* This is the Accelerometer transient recovery time */
  osalThreadSleepMilliseconds(10);

  devp->state = LIS3DSH_READY;
}

/**
 * @brief   Deactivates the LIS3DSH Complex Driver peripheral.
 *
 * @param[in] devp       pointer to the @p LIS3DSHDriver object
 *
 * @api
 */
void lis3dshStop(LIS3DSHDriver *devp) {
  uint8_t cr4;
  osalDbgCheck(devp != NULL);

  osalDbgAssert((devp->state == LIS3DSH_STOP) ||
                (devp->state == LIS3DSH_READY),
                "lis3dshStop(), invalid state");

  if (devp->state == LIS3DSH_READY) {
#if (LIS3DSH_USE_SPI)
#if	LIS3DSH_SHARED_SPI
    spiAcquireBus(devp->config->spip);
    spiStart(devp->config->spip,
             devp->config->spicfg);
#endif /* LIS3DSH_SHARED_SPI */
    /* Disabling all axes and enabling power down mode.*/
    cr4 = 0;
    lis3dshSPIWriteRegister(devp->config->spip, LIS3DSH_AD_CTRL_REG4,
                           1, &cr4);

    spiStop(devp->config->spip);
#if	LIS3DSH_SHARED_SPI
    spiReleaseBus(devp->config->spip);
#endif /* LIS3DSH_SHARED_SPI */    		
#endif /* LIS3DSH_USE_SPI */
  }	
  devp->state = LIS3DSH_STOP;
}
/** @} */