1 files changed, 359 insertions, 111 deletions
diff --git a/os/ex/ST/lsm303dlhc.h b/os/ex/ST/lsm303dlhc.h
index 17fd55ec2..7500fa95b 100644
--- a/os/ex/ST/lsm303dlhc.h
+++ b/os/ex/ST/lsm303dlhc.h
@@ -20,7 +20,7 @@
 
 /**
  * @file    lsm303dlhc.h
- * @brief   LSM303DLHC MEMS interface module header.
+ * @brief LSM303DLHC MEMS interface module header.
  *
  * @{
  */
@@ -35,14 +35,256 @@
 /*===========================================================================*/
 
 /**
- * @brief   LSM303DLHC accelerometer subsystem number of axes.
+ * @name    Version identification
+ * @{
+ */
+/**
+ * @brief   LSM303DLHC driver version string.
+ */
+#define EX_LSM303DLHC_VERSION       "1.0.0"
+
+/**
+ * @brief   LSM303DLHC driver version major number.
+ */
+#define EX_LSM303DLHC_MAJOR         1
+
+/**
+ * @brief   LSM303DLHC driver version minor number.
+ */
+#define EX_LSM303DLHC_MINOR         0
+
+/**
+ * @brief   LSM303DLHC driver version patch number.
+ */
+#define EX_LSM303DLHC_PATCH         0
+/** @} */
+
+/**
+ * @brief   LSM303DLHC accelerometer subsystem characteristics.
+ *
+ * @{
  */
-#define  LSM303DLHC_ACC_NUMBER_OF_AXES         ((size_t)   3U)
+#define LSM303DLHC_ACC_NUMBER_OF_AXES       3U
+
+#define LSM303DLHC_ACC_2G                   2.0f
+#define LSM303DLHC_ACC_4G                   4.0f
+#define LSM303DLHC_ACC_8G                   8.0f
+#define LSM303DLHC_ACC_16G                  16.0f
+
+#define LSM303DLHC_ACC_SENS_2G              0.0610f
+#define LSM303DLHC_ACC_SENS_4G              0.1221f
+#define LSM303DLHC_ACC_SENS_8G              0.2442f
+#define LSM303DLHC_ACC_SENS_16G             0.4884f
+/** @} */
 
 /**
- * @brief   LSM303DLHC compass subsystem number of axes.
+ * @brief   LSM303DLHC compass subsystem characteristics.
+ *
+ * @{
  */
-#define  LSM303DLHC_COMP_NUMBER_OF_AXES        ((size_t)   3U)
+#define LSM303DLHC_COMP_NUMBER_OF_AXES      3U
+
+#define LSM303DLHC_COMP_1P3GA               1.3f
+#define LSM303DLHC_COMP_1P9GA               1.9f
+#define LSM303DLHC_COMP_2P5GA               2.5f
+#define LSM303DLHC_COMP_4P0GA               4.0f
+#define LSM303DLHC_COMP_4P7GA               4.7f
+#define LSM303DLHC_COMP_5P6GA               5.6f
+#define LSM303DLHC_COMP_8P1GA               8.1f
+
+#define LSM303DLHC_COMP_SENS_XY_1P3GA       0.000909f
+#define LSM303DLHC_COMP_SENS_XY_1P9GA       0.001169f
+#define LSM303DLHC_COMP_SENS_XY_2P5GA       0.0014925f
+#define LSM303DLHC_COMP_SENS_XY_4P0GA       0.0022222f
+#define LSM303DLHC_COMP_SENS_XY_4P7GA       0.0025000f
+#define LSM303DLHC_COMP_SENS_XY_5P6GA       0.0030303f
+#define LSM303DLHC_COMP_SENS_XY_8P1GA       0.0043478f
+
+#define LSM303DLHC_COMP_SENS_Z_1P3GA        0.0010204f
+#define LSM303DLHC_COMP_SENS_Z_1P9GA        0.0013071f
+#define LSM303DLHC_COMP_SENS_Z_2P5GA        0.0016666f
+#define LSM303DLHC_COMP_SENS_Z_4P0GA        0.0025000f
+#define LSM303DLHC_COMP_SENS_Z_4P7GA        0.0028169f
+#define LSM303DLHC_COMP_SENS_Z_5P6GA        0.0033898f
+#define LSM303DLHC_COMP_SENS_Z_8P1GA        0.0048780f
+/** @} */
+
+/**
+ * @name   LSM303DLHC communication interfaces related bit masks
+ * @{
+ */
+#define LSM303DLHC_DI_MASK          0xFF        /**< Data In mask           */
+#define LSM303DLHC_DI(n)            (1 << n)    /**< Data In bit n          */
+#define LSM303DLHC_AD_MASK          0x7F        /**< Address Data mask      */
+#define LSM303DLHC_AD(n)            (1 << n)    /**< Address Data bit n     */
+#define LSM303DLHC_MS               (1 << 7)    /**< Multiple read write    */
+/** @} */
+
+/**
+ * @name    LSM303DLHC register addresses
+ * @{
+ */
+#define LSM303DLHC_AD_ACC_CTRL_REG1         0x20
+#define LSM303DLHC_AD_ACC_CTRL_REG2         0x21
+#define LSM303DLHC_AD_ACC_CTRL_REG3         0x22
+#define LSM303DLHC_AD_ACC_CTRL_REG4         0x23
+#define LSM303DLHC_AD_ACC_CTRL_REG5         0x24
+#define LSM303DLHC_AD_ACC_CTRL_REG6         0x25
+#define LSM303DLHC_AD_ACC_REFERENCE         0x26
+#define LSM303DLHC_AD_ACC_STATUS_REG        0x27
+#define LSM303DLHC_AD_ACC_OUT_X_L           0x28
+#define LSM303DLHC_AD_ACC_OUT_X_H           0x29
+#define LSM303DLHC_AD_ACC_OUT_Y_L           0x2A
+#define LSM303DLHC_AD_ACC_OUT_Y_H           0x2B
+#define LSM303DLHC_AD_ACC_OUT_Z_L           0x2C
+#define LSM303DLHC_AD_ACC_OUT_Z_H           0x2D
+#define LSM303DLHC_AD_ACC_FIFO_CTRL_REG     0x2E
+#define LSM303DLHC_AD_ACC_FIFO_SRC_REG      0x2F
+#define LSM303DLHC_AD_ACC_INT1_CFG          0x30
+#define LSM303DLHC_AD_ACC_INT1_SRC          0x31
+#define LSM303DLHC_AD_ACC_INT1_THS          0x32
+#define LSM303DLHC_AD_ACC_INT1_DURATION     0x33
+#define LSM303DLHC_AD_ACC_INT2_CFG          0x34
+#define LSM303DLHC_AD_ACC_INT2_SRC          0x35
+#define LSM303DLHC_AD_ACC_INT2_THS          0x36
+#define LSM303DLHC_AD_ACC_INT2_DURATION     0x37
+#define LSM303DLHC_AD_ACC_CLICK_CFG         0x38
+#define LSM303DLHC_AD_ACC_CLICK_SRC         0x39
+#define LSM303DLHC_AD_ACC_CLICK_THS         0x3A
+#define LSM303DLHC_AD_ACC_TIME_LIMIT        0x3B
+#define LSM303DLHC_AD_ACC_TIME_LATENCY      0x3C
+#define LSM303DLHC_AD_ACC_TIME_WINDOW       0x3D
+#define LSM303DLHC_AD_COMP_CRA_REG          0x00
+#define LSM303DLHC_AD_COMP_CRB_REG          0x01
+#define LSM303DLHC_AD_COMP_MR_REG           0x02
+#define LSM303DLHC_AD_COMP_OUT_X_H          0x03
+#define LSM303DLHC_AD_COMP_OUT_X_L          0x04
+#define LSM303DLHC_AD_COMP_OUT_Z_H          0x05
+#define LSM303DLHC_AD_COMP_OUT_Z_L          0x06
+#define LSM303DLHC_AD_COMP_OUT_Y_H          0x07
+#define LSM303DLHC_AD_COMP_OUT_Y_L          0x08
+#define LSM303DLHC_AD_COMP_SR_REG           0x09
+#define LSM303DLHC_AD_COMP_IRA_REG          0x0A
+#define LSM303DLHC_AD_COMP_IRB_REG          0x0B
+#define LSM303DLHC_AD_COMP_IRC_REG          0x0C
+#define LSM303DLHC_AD_COMP_TEMP_OUT_H       0x31
+#define LSM303DLHC_AD_COMP_TEMP_OUT_L       0x32
+/** @} */
+
+/**
+ * @name    LSM303DLHC_CTRL_REG1_A register bits definitions
+ * @{
+ */
+#define LSM303DLHC_CTRL_REG1_A_MASK         0xFF
+#define LSM303DLHC_CTRL_REG1_A_XEN         (1 << 0)
+#define LSM303DLHC_CTRL_REG1_A_YEN         (1 << 1)
+#define LSM303DLHC_CTRL_REG1_A_ZEN         (1 << 2)
+#define LSM303DLHC_CTRL_REG1_A_LPEN        (1 << 3)
+#define LSM303DLHC_CTRL_REG1_A_ODR0        (1 << 4)
+#define LSM303DLHC_CTRL_REG1_A_ODR1        (1 << 5)
+#define LSM303DLHC_CTRL_REG1_A_ODR2        (1 << 6)
+#define LSM303DLHC_CTRL_REG1_A_ODR3        (1 << 7)
+/** @} */
+
+/**
+ * @name    LSM303DLHC_CTRL_REG2_A register bits definitions
+ * @{
+ */
+#define LSM303DLHC_CTRL_REG2_A_MASK         0xFF
+#define LSM303DLHC_CTRL_REG2_A_HPIS1        (1 << 0)
+#define LSM303DLHC_CTRL_REG2_A_HPIS2        (1 << 1)
+#define LSM303DLHC_CTRL_REG2_A_HPCLICK      (1 << 2)
+#define LSM303DLHC_CTRL_REG2_A_FDS          (1 << 3)
+#define LSM303DLHC_CTRL_REG2_A_HPCF1        (1 << 4)
+#define LSM303DLHC_CTRL_REG2_A_HPCF2        (1 << 5)
+#define LSM303DLHC_CTRL_REG2_A_HPM0         (1 << 6)
+#define LSM303DLHC_CTRL_REG2_A_HPM1         (1 << 7)
+/** @} */
+
+/**
+ * @name    LSM303DLHC_CTRL_REG3_A register bits definitions
+ * @{
+ */
+#define LSM303DLHC_CTRL_REG3_A_MASK         0xFD
+#define LSM303DLHC_CTRL_REG3_A_I1_OVERRUN   (1 << 1)
+#define LSM303DLHC_CTRL_REG3_A_I1_WTM       (1 << 2)
+#define LSM303DLHC_CTRL_REG3_A_I1_DRDY2     (1 << 3)
+#define LSM303DLHC_CTRL_REG3_A_I1_DRDY1     (1 << 4)
+#define LSM303DLHC_CTRL_REG3_A_I1_AOI2      (1 << 5)
+#define LSM303DLHC_CTRL_REG3_A_I1_AOI1      (1 << 6)
+#define LSM303DLHC_CTRL_REG3_A_I1_CLICK     (1 << 7)
+/** @} */
+
+/**
+ * @name    LSM303DLHC_CTRL_REG4_A register bits definitions
+ * @{
+ */
+#define LSM303DLHC_CTRL_REG4_A_MASK         0xF9
+#define LSM303DLHC_CTRL_REG4_A_SIM          (1 << 0)
+#define LSM303DLHC_CTRL_REG4_A_HR           (1 << 3)
+#define LSM303DLHC_CTRL_REG4_A_FS0          (1 << 4)
+#define LSM303DLHC_CTRL_REG4_A_FS1          (1 << 5)
+#define LSM303DLHC_CTRL_REG4_A_BLE          (1 << 6)
+#define LSM303DLHC_CTRL_REG4_A_BDU          (1 << 7)
+/** @} */
+
+/**
+ * @name    LSM303DLHC_CTRL_REG5_A register bits definitions
+ * @{
+ */
+#define LSM303DLHC_CTRL_REG5_A_MASK         0xCF
+#define LSM303DLHC_CTRL_REG5_A_D4D_INT2     (1 << 0)
+#define LSM303DLHC_CTRL_REG5_A_LIR_INT2     (1 << 1)
+#define LSM303DLHC_CTRL_REG5_A_D4D_INT1     (1 << 2)
+#define LSM303DLHC_CTRL_REG5_A_LIR_INT1     (1 << 3)
+#define LSM303DLHC_CTRL_REG5_A_FIFO_EN      (1 << 6)
+#define LSM303DLHC_CTRL_REG5_A_BOOT         (1 << 7)
+/** @} */
+
+/**
+ * @name    LSM303DLHC_CTRL_REG6_A register bits definitions
+ * @{
+ */
+#define LSM303DLHC_CTRL_REG6_A_MASK         0xFA
+#define LSM303DLHC_CTRL_REG6_A_H_LACTIVE    (1 << 1)
+#define LSM303DLHC_CTRL_REG6_A_P2_ACT       (1 << 3)
+#define LSM303DLHC_CTRL_REG6_A_BOOT_I1      (1 << 4)
+#define LSM303DLHC_CTRL_REG6_A_I2_INT2      (1 << 5)
+#define LSM303DLHC_CTRL_REG6_A_I2_INT1      (1 << 6)
+#define LSM303DLHC_CTRL_REG6_A_I2_CLICKEN   (1 << 7)
+/** @} */
+
+/**
+ * @name    LSM303DLHC_CRA_REG_M register bits definitions
+ * @{
+ */
+#define LSM303DLHC_CRA_REG_M_MASK           0x9C
+#define LSM303DLHC_CRA_REG_M_DO0            (1 << 2)
+#define LSM303DLHC_CRA_REG_M_DO1            (1 << 3)
+#define LSM303DLHC_CRA_REG_M_DO2            (1 << 4)
+#define LSM303DLHC_CRA_REG_M_TEMP_EN        (1 << 7)
+/** @} */
+
+/**
+ * @name    LSM303DLHC_CRB_REG_M register bits definitions
+ * @{
+ */
+#define LSM303DLHC_CRB_REG_M_MASK           0xE0
+#define LSM303DLHC_CRB_REG_M_GN0            (1 << 5)
+#define LSM303DLHC_CRB_REG_M_GN1            (1 << 6)
+#define LSM303DLHC_CRB_REG_M_GN2            (1 << 7)
+
+/**
+ * @name    LSM303DLHC_CRB_REG_M register bits definitions
+ * @{
+ */
+#define LSM303DLHC_MR_REG_M_MASK            0x03
+#define LSM303DLHC_MR_REG_M_MD0             (1 << 0)
+#define LSM303DLHC_MR_REG_M_MD1             (1 << 1)
+
+/** @} */
+
+//TODO: ADD more LSM303DLHC register bits definitions
 
 /*===========================================================================*/
 /* Driver pre-compile time settings.                                         */
@@ -53,21 +295,23 @@
  * @{
  */
 /**
- * @brief   LSM303DLHC SPI interface selector.
- * @details If set to @p TRUE the support for SPI is included.
+ * @brief   LSM303DLHC accelerometer subsystem advanced configurations 
+ *          switch.
+ * @details If set to @p TRUE more configurations are available.
  * @note    The default is @p FALSE.
  */
-#if !defined(LSM303DLHC_USE_SPI) || defined(__DOXYGEN__)
-#define LSM303DLHC_USE_SPI                     FALSE
+#if !defined(LSM303DLHC_ACC_USE_ADVANCED) || defined(__DOXYGEN__)
+#define LSM303DLHC_ACC_USE_ADVANCED            FALSE
 #endif
 
 /**
- * @brief   LSM303DLHC I2C interface selector.
- * @details If set to @p TRUE the support for I2C is included.
- * @note    The default is @p TRUE.
+ * @brief   LSM303DLHC compass subsystem advanced configurations 
+ *          switch.
+ * @details If set to @p TRUE more configurations are available.
+ * @note    The default is @p FALSE.
  */
-#if !defined(LSM303DLHC_USE_I2C) || defined(__DOXYGEN__)
-#define LSM303DLHC_USE_I2C                     TRUE
+#if !defined(LSM303DLHC_COMP_USE_ADVANCED) || defined(__DOXYGEN__)
+#define LSM303DLHC_COMP_USE_ADVANCED           FALSE
 #endif
 
 /**
@@ -85,16 +329,8 @@
 /* Derived constants and error checks.                                       */
 /*===========================================================================*/
 
-#if LSM303DLHC_USE_SPI && LSM303DLHC_USE_I2C
-#error "LSM303DLHC_USE_SPI and LSM303DLHC_USE_I2C cannot be both true"
-#endif
-
-#if LSM303DLHC_USE_SPI && !HAL_USE_SPI
-#error "LSM303DLHC_USE_SPI requires HAL_USE_SPI"
-#endif
-
-#if LSM303DLHC_USE_I2C && !HAL_USE_I2C
-#error "LSM303DLHC_USE_I2C requires HAL_USE_I2C"
+#if !HAL_USE_I2C
+#error "LSM303DLHC requires HAL_USE_I2C"
 #endif
 
 #if LSM303DLHC_SHARED_I2C && !I2C_USE_MUTUAL_EXCLUSION
@@ -111,7 +347,7 @@
  */
 
 /**
- * @brief   LSM303DLHC accelerometer subsystem full scale.
+ * @brief LSM303DLHC accelerometer subsystem full scale.
  */
 typedef enum {
   LSM303DLHC_ACC_FS_2G   = 0x00,    /**< Full scale �2g.                    */
@@ -121,7 +357,7 @@ typedef enum {
 } lsm303dlhc_acc_fs_t;
 
 /**
- * @brief   LSM303DLHC accelerometer subsystem output data rate.
+ * @brief LSM303DLHC accelerometer subsystem output data rate.
  */
 typedef enum {
   LSM303DLHC_ACC_ODR_PD = 0x00,     /**< Power down                         */
@@ -138,7 +374,7 @@ typedef enum {
 
 
 /**
- * @brief   LSM303DLHC accelerometer subsystem axes enabling.
+ * @brief LSM303DLHC accelerometer subsystem axes enabling.
  */
 typedef enum {
   LSM303DLHC_ACC_AE_DISABLED = 0x00,/**< All axes disabled.                 */
@@ -152,7 +388,7 @@ typedef enum {
 } lsm303dlhc_acc_ae_t;
 
 /**
- * @brief   LSM303DLHC accelerometer subsystem low power mode.
+ * @brief LSM303DLHC accelerometer subsystem low power mode.
  */
 typedef enum {
   LSM303DLHC_ACC_LP_DISABLED = 0x00,/**< Low power mode disabled.           */
@@ -160,7 +396,7 @@ typedef enum {
 } lsm303dlhc_acc_lp_t;
 
 /**
- * @brief   LSM303DLHC accelerometer subsystem high resolution mode.
+ * @brief LSM303DLHC accelerometer subsystem high resolution mode.
  */
 typedef enum {
   LSM303DLHC_ACC_HR_DISABLED = 0x00,/**< High resolution mode disabled.     */
@@ -168,7 +404,7 @@ typedef enum {
 } lsm303dlhc_acc_hr_t;
 
 /**
- * @brief   LSM303DLHC accelerometer subsystem block data update.
+ * @brief LSM303DLHC accelerometer subsystem block data update.
  */
 typedef enum {
   LSM303DLHC_ACC_BDU_CONT = 0x00,   /**< Continuous update                  */
@@ -183,52 +419,44 @@ typedef enum {
   LSM303DLHC_ACC_END_BIG = 0x40     /**< Big Endian                         */
 } lsm303dlhc_acc_end_t;
 
-
-/**
- * @brief   LSM303DLHC accelerometer subsystem unit.
- */
-typedef enum {
-  LSM303DLHC_ACC_UNIT_G = 0x00,     /**< Cooked data in g.                  */
-  LSM303DLHC_ACC_UNIT_MG = 0x01,    /**< Cooked data in mg.                 */
-  LSM303DLHC_ACC_UNIT_SI = 0x02,    /**< Cooked data in m/s^2.              */
-} lsm303dlhc_acc_unit_t;
-
 /**
- * @brief   LSM303DLHC accelerometer subsystem configuration structure.
+ * @brief LSM303DLHC accelerometer subsystem configuration structure.
  */
 typedef struct {
   /**
-   * @brief   LSM303DLHC accelerometer subsystem full scale.
+   * @brief LSM303DLHC initial sensitivity.
    */
-  lsm303dlhc_acc_fs_t          fullscale;
+  float                        sensitivity[LSM303DLHC_ACC_NUMBER_OF_AXES];
   /**
-   * @brief   LSM303DLHC accelerometer subsystem output data rate.
+   * @brief LSM303DLHC initial bias.
    */
-  lsm303dlhc_acc_odr_t         outdatarate;
+  float                        bias[LSM303DLHC_ACC_NUMBER_OF_AXES];
   /**
-   * @brief   LSM303DLHC accelerometer subsystem axes enabling.
+   * @brief LSM303DLHC accelerometer subsystem initial full scale.
    */
-  lsm303dlhc_acc_ae_t          axesenabling;
+  lsm303dlhc_acc_fs_t          fullscale;
+  /**
+   * @brief LSM303DLHC accelerometer subsystem output data rate.
+   */
+  lsm303dlhc_acc_odr_t         outdatarate;
+#if LSM303DLHC_ACC_USE_ADVANCED || defined(__DOXYGEN__)
   /**
-   * @brief   LSM303DLHC accelerometer subsystem low power mode.
+   * @brief LSM303DLHC accelerometer subsystem low power mode.
    */
   lsm303dlhc_acc_lp_t          lowpower;
   /**
-   * @brief   LSM303DLHC accelerometer subsystem high resolution mode.
+   * @brief LSM303DLHC accelerometer subsystem high resolution mode.
    */
   lsm303dlhc_acc_hr_t          highresmode;
   /**
-   * @brief   LSM303DLHC accelerometer subsystem block data update.
+   * @brief LSM303DLHC accelerometer subsystem block data update.
    */
   lsm303dlhc_acc_bdu_t         blockdataupdate;
   /**
    * @brief  LSM303DLHC accelerometer endianness.
    */
   lsm303dlhc_acc_end_t         endianess;
-  /**
-   * @brief   LSM303DLHC accelerometer subsystem unit.
-   */
-  lsm303dlhc_acc_unit_t        unit;
+#endif
 } LSM303DLHCAccConfig;
 /** @} */
 
@@ -237,26 +465,26 @@ typedef struct {
  * @{
  */
 /**
- * @brief   LSM303DLHC compass subsystem full scale.
+ * @brief LSM303DLHC compass subsystem full scale.
  */
 typedef enum {
-  LSM303DLHC_COMP_FS_1_3_GA = 0x20, /**< Full scale �1.3 Gauss              */
-  LSM303DLHC_COMP_FS_1_9_GA = 0x40, /**< Full scale �1.9 Gauss              */
-  LSM303DLHC_COMP_FS_2_5_GA = 0x60, /**< Full scale �2.5 Gauss              */
-  LSM303DLHC_COMP_FS_4_0_GA = 0x80, /**< Full scale �4.0 Gauss              */
-  LSM303DLHC_COMP_FS_4_7_GA = 0xA0, /**< Full scale �4.7 Gauss              */
-  LSM303DLHC_COMP_FS_5_6_GA = 0xC0, /**< Full scale �5.6 Gauss              */
-  LSM303DLHC_COMP_FS_8_1_GA = 0xE0  /**< Full scale �8.1 Gauss              */
+  LSM303DLHC_COMP_FS_1P3GA = 0x20, /**< Full scale �1.3 Gauss              */
+  LSM303DLHC_COMP_FS_1P9GA = 0x40, /**< Full scale �1.9 Gauss              */
+  LSM303DLHC_COMP_FS_2P5GA = 0x60, /**< Full scale �2.5 Gauss              */
+  LSM303DLHC_COMP_FS_4P0GA = 0x80, /**< Full scale �4.0 Gauss              */
+  LSM303DLHC_COMP_FS_4P7GA = 0xA0, /**< Full scale �4.7 Gauss              */
+  LSM303DLHC_COMP_FS_5P6GA = 0xC0, /**< Full scale �5.6 Gauss              */
+  LSM303DLHC_COMP_FS_8P1GA = 0xE0  /**< Full scale �8.1 Gauss              */
 } lsm303dlhc_comp_fs_t;
 
 /**
- * @brief   LSM303DLHC compass subsystem output data rate.
+ * @brief LSM303DLHC compass subsystem output data rate.
  */
 typedef enum {
-  LSM303DLHC_COMP_ODR_0_75HZ = 0x00,/**< ODR 0.75 Hz                        */
-  LSM303DLHC_COMP_ODR_1_5HZ = 0x04, /**< ODR 1.5 Hz                         */
-  LSM303DLHC_COMP_ODR_3_0HZ = 0x08, /**< ODR 3 Hz                           */
-  LSM303DLHC_COMP_ODR_7_5HZ = 0x0C, /**< ODR 7.5 Hz                         */
+  LSM303DLHC_COMP_ODR_0P75HZ = 0x00,/**< ODR 0.75 Hz                        */
+  LSM303DLHC_COMP_ODR_1P5HZ = 0x04, /**< ODR 1.5 Hz                         */
+  LSM303DLHC_COMP_ODR_3P0HZ = 0x08, /**< ODR 3 Hz                           */
+  LSM303DLHC_COMP_ODR_7P5HZ = 0x0C, /**< ODR 7.5 Hz                         */
   LSM303DLHC_COMP_ODR_15HZ = 0x10,  /**< ODR 15 Hz                          */
   LSM303DLHC_COMP_ODR_30HZ = 0x14,  /**< ODR 30 Hz                          */
   LSM303DLHC_COMP_ODR_75HZ = 0x18,  /**< ODR 75 Hz                          */
@@ -264,7 +492,7 @@ typedef enum {
 } lsm303dlhc_comp_odr_t;
 
 /**
- * @brief   LSM303DLHC compass subsystem working mode.
+ * @brief LSM303DLHC compass subsystem working mode.
  */
 typedef enum {
   LSM303DLHC_COMP_MD_CONT = 0x00,   /**< Continuous-Conversion Mode         */
@@ -273,21 +501,23 @@ typedef enum {
 } lsm303dlhc_comp_md_t;
 
 /**
- * @brief   LSM303DLHC compass subsystem configuration structure.
+ * @brief LSM303DLHC compass subsystem configuration structure.
  */
 typedef struct {
   /**
-   * @brief   LSM303DLHC compass subsystem full scale.
+   * @brief LSM303DLHC compass subsystem initial full scale.
    */
   lsm303dlhc_comp_fs_t         fullscale;
   /**
-   * @brief   LSM303DLHC compass subsystem output data rate.
+   * @brief LSM303DLHC compass subsystem output data rate.
    */
   lsm303dlhc_comp_odr_t        outputdatarate;
+#if LSM303DLHC_COMP_USE_ADVANCED || defined(__DOXYGEN__)
   /**
-   * @brief   LSM303DLHC compass subsystem working mode.
+   * @brief LSM303DLHC compass subsystem working mode.
    */
   lsm303dlhc_comp_md_t         mode;
+#endif
 } LSM303DLHCCompConfig;
 /** @} */
 
@@ -297,7 +527,7 @@ typedef struct {
  */
 
 /**
- * @brief   Driver state machine possible states.
+ * @brief Driver state machine possible states.
  */
 typedef enum {
   LSM303DLHC_UNINIT = 0,            /**< Not initialized.                   */
@@ -306,26 +536,9 @@ typedef enum {
 } lsm303dlhc_state_t;
 
 /**
- * @brief   LSM303DLHC configuration structure.
+ * @brief LSM303DLHC configuration structure.
  */
 typedef struct {
-#if (LSM303DLHC_USE_SPI) || defined(__DOXYGEN__)
-  /**
-   * @brief SPI driver associated to this LSM303DLHC.
-   */
-  SPIDriver                 *spip;
-  /**
-   * @brief SPI configuration associated to this LSM303DLHC accelerometer
-   *        subsystem.
-   */
-  const SPIConfig           *accspicfg;
-  /**
-   * @brief SPI configuration associated to this LSM303DLHC compass
-   *        subsystem.
-   */
-  const SPIConfig           *compspicfg;
-#endif /* LSM303DLHC_USE_SPI */
-#if (LSM303DLHC_USE_I2C) || defined(__DOXYGEN__)
   /**
    * @brief I2C driver associated to this LSM303DLHC.
    */
@@ -335,30 +548,29 @@ typedef struct {
    *        subsystem.
    */
   const I2CConfig           *i2ccfg;
-#endif /* LSM303DLHC_USE_I2C */
   /**
-   * @brief   LSM303DLHC accelerometer subsystem configuration structure
+   * @brief LSM303DLHC accelerometer subsystem configuration structure
    */
-  const LSM303DLHCAccConfig    *acccfg;
+  const LSM303DLHCAccConfig *acccfg;
   /**
-   * @brief   LSM303DLHC compass subsystem configuration structure
+   * @brief LSM303DLHC compass subsystem configuration structure
    */
-  const LSM303DLHCCompConfig   *compcfg;
+  const LSM303DLHCCompConfig *compcfg;
 } LSM303DLHCConfig;
 
 /**
- * @brief   Structure representing a LSM303DLHC driver.
+ * @brief Structure representing a LSM303DLHC driver.
  */
 typedef struct LSM303DLHCDriver LSM303DLHCDriver;
 
 /**
- * @brief   @p LSM303DLHC accelerometer subsystem specific methods.
+ * @brief @p LSM303DLHC accelerometer subsystem specific methods.
  */
 #define _lsm303dlhc_acc_methods                                             \
   _base_accelerometer_methods
 
 /**
- * @brief   @p LSM303DLHC compass subsystem specific methods.
+ * @brief @p LSM303DLHC compass subsystem specific methods.
  */
 #define _lsm303dlhc_comp_methods                                            \
   _base_compass_methods
@@ -366,42 +578,50 @@ typedef struct LSM303DLHCDriver LSM303DLHCDriver;
 /**
  * @extends BaseAccelerometerVMT
  *
- * @brief   @p LSM303DLHC accelerometer virtual methods table.
+ * @brief @p LSM303DLHC accelerometer virtual methods table.
  */
 struct LSM303DLHCACCVMT {
-  _lsm303dlhc_acc_methods
+  _lsm303dlhc_acc_methods                                                   \
+  /* Change full scale value of LSM303DLHC accelerometer subsystem .*/      \
+  msg_t (*set_full_scale)(void *instance, lsm303dlhc_acc_fs_t fs);          \
 };
 
 /**
  * @extends BaseCompassVMT
  *
- * @brief   @p LSM303DLHC compass virtual methods table.
+ * @brief @p LSM303DLHC compass virtual methods table.
  */
 struct LSM303DLHCCOMPVMT {
-  _lsm303dlhc_comp_methods
+  _lsm303dlhc_comp_methods                                                  \
+  /* Change full scale value of LSM303DLHC compass subsystem .*/            \
+  msg_t (*set_full_scale)(void *instance, lsm303dlhc_comp_fs_t fs);         \
 };
 
 /**
- * @brief   @p LSM303DLHCDriver specific data.
+ * @brief @p LSM303DLHCDriver specific data.
  */
 #define _lsm303dlhc_data                                                    \
   _base_accelerometer_data                                                  \
   _base_compass_data                                                        \
   /* Driver state.*/                                                        \
-  lsm303dlhc_state_t           state;                                       \
+  lsm303dlhc_state_t        state;                                          \
   /* Current configuration data.*/                                          \
-  const LSM303DLHCConfig       *config;                                     \
+  const LSM303DLHCConfig    *config;                                        \
   /* Current accelerometer sensitivity.*/                                   \
   float                     accsensitivity[LSM303DLHC_ACC_NUMBER_OF_AXES];  \
   /* Accelerometer bias data.*/                                             \
-  int32_t                   accbias[LSM303DLHC_ACC_NUMBER_OF_AXES];         \
+  float                     accbias[LSM303DLHC_ACC_NUMBER_OF_AXES];         \
+  /* Current accelerometer full scale value.*/                              \
+  float                     accfullscale;                                   \
   /* Current compass sensitivity.*/                                         \
   float                     compsensitivity[LSM303DLHC_COMP_NUMBER_OF_AXES];\
-  /* Bias data.*/                                                           \
-  int32_t                   compbias[LSM303DLHC_COMP_NUMBER_OF_AXES];
-
+  /* Compass bias data.*/                                                   \
+  float                     compbias[LSM303DLHC_COMP_NUMBER_OF_AXES];       \
+  /* Current compass full scale value.*/                                    \
+  float                     compfullscale;
+  
 /**
- * @brief   LSM303DLHC 6-axis accelerometer/compass class.
+ * @brief LSM303DLHC 6-axis accelerometer/compass class.
  */
 struct LSM303DLHCDriver {
   /** @brief BaseSensor Virtual Methods Table. */
@@ -422,6 +642,34 @@ struct LSM303DLHCDriver {
 /* Driver macros.                                                            */
 /*===========================================================================*/
 
+/**
+ * @brief   Change accelerometer fullscale value.
+ *
+ * @param[in] ip        pointer to a @p BaseAccelerometer class.
+ * @param[in] fs        the new full scale value.
+ *
+ * @return              The operation status.
+ * @retval MSG_OK       if the function succeeded.
+ * @retval MSG_RESET    if one or more errors occurred.
+ * @api
+ */
+#define accelerometerSetFullScale(ip, fs)                                   \
+        (ip)->vmt_lsm303dlhcacc->set_full_scale(ip, fs)
+
+/**
+ * @brief   Change compass fullscale value.
+ *
+ * @param[in] ip        pointer to a @p BaseCompass class.
+ * @param[in] fs        the new full scale value.
+ *
+ * @return              The operation status.
+ * @retval MSG_OK       if the function succeeded.
+ * @retval MSG_RESET    if one or more errors occurred.
+ * @api
+ */
+#define compassSetFullScale(ip, fs)                                         \
+        (ip)->vmt_lsm303dlhccomp->set_full_scale(ip, fs)
+        
 /*===========================================================================*/
 /* External declarations.                                                    */
 /*===========================================================================*/