git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@9627 35acf78f-673a-0410-8e92-d51de3d6d3f4

1 files changed, 904 insertions, 904 deletions

diff --git a/os/ex/ST/lsm303dlhc.c b/os/ex/ST/lsm303dlhc.c
index 74cde4caf..ab57cb5d9 100644
--- a/os/ex/ST/lsm303dlhc.c
+++ b/os/ex/ST/lsm303dlhc.c
@@ -1,904 +1,904 @@
-/*
-    ChibiOS - Copyright (C) 2016 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    lsm303dlhc.c
- * @brief   LSM303DLHC MEMS interface module code.
- *
- * @addtogroup lsm303dlhc
- * @{
- */
-
-#include "hal.h"
-#include "lsm303dlhc.h"
-
-/*===========================================================================*/
-/* Driver local definitions.                                                 */
-/*===========================================================================*/
-
-#define  LSM303DLHC_ACC_SENS_2G             ((float)0.0610f)
-#define  LSM303DLHC_ACC_SENS_4G             ((float)0.1221f)
-#define  LSM303DLHC_ACC_SENS_8G             ((float)0.2442f)
-#define  LSM303DLHC_ACC_SENS_16G            ((float)0.4884f)
-
-#define  LSM303DLHC_COMP_SENS_XY_1_3GA      ((float)1100.0f)
-#define  LSM303DLHC_COMP_SENS_XY_1_9GA      ((float)855.0f)
-#define  LSM303DLHC_COMP_SENS_XY_2_5GA      ((float)670.0f)
-#define  LSM303DLHC_COMP_SENS_XY_4_0GA      ((float)450.0f)
-#define  LSM303DLHC_COMP_SENS_XY_4_7GA      ((float)400.0f)
-#define  LSM303DLHC_COMP_SENS_XY_5_6GA      ((float)330.0f)
-#define  LSM303DLHC_COMP_SENS_XY_8_1GA      ((float)230.0f)
-
-#define  LSM303DLHC_COMP_SENS_Z_1_3GA       ((float)980.0f)
-#define  LSM303DLHC_COMP_SENS_Z_1_9GA       ((float)765.0f)
-#define  LSM303DLHC_COMP_SENS_Z_2_5GA       ((float)600.0f)
-#define  LSM303DLHC_COMP_SENS_Z_4_0GA       ((float)400.0f)
-#define  LSM303DLHC_COMP_SENS_Z_4_7GA       ((float)355.0f)
-#define  LSM303DLHC_COMP_SENS_Z_5_6GA       ((float)295.0f)
-#define  LSM303DLHC_COMP_SENS_Z_8_1GA       ((float)205.0f)
-
-#define  LSM303DLHC_DI                      ((uint8_t)0xFF)
-#define  LSM303DLHC_DI_0                    ((uint8_t)0x01)
-#define  LSM303DLHC_DI_1                    ((uint8_t)0x02)
-#define  LSM303DLHC_DI_2                    ((uint8_t)0x04)
-#define  LSM303DLHC_DI_3                    ((uint8_t)0x08)
-#define  LSM303DLHC_DI_4                    ((uint8_t)0x10)
-#define  LSM303DLHC_DI_5                    ((uint8_t)0x20)
-#define  LSM303DLHC_DI_6                    ((uint8_t)0x40)
-#define  LSM303DLHC_DI_7                    ((uint8_t)0x80)
-
-#define  LSM303DLHC_AD_0                    ((uint8_t)0x01)
-#define  LSM303DLHC_AD_1                    ((uint8_t)0x02)
-#define  LSM303DLHC_AD_2                    ((uint8_t)0x04)
-#define  LSM303DLHC_AD_3                    ((uint8_t)0x08)
-#define  LSM303DLHC_AD_4                    ((uint8_t)0x10)
-#define  LSM303DLHC_AD_5                    ((uint8_t)0x20)
-#define  LSM303DLHC_AD_6                    ((uint8_t)0x40)
-#define  LSM303DLHC_RW                      ((uint8_t)0x80)
-
-#define  LSM303DLHC_AD_ACC_CTRL_REG1        ((uint8_t)0x20)
-#define  LSM303DLHC_AD_ACC_CTRL_REG2        ((uint8_t)0x21)
-#define  LSM303DLHC_AD_ACC_CTRL_REG3        ((uint8_t)0x22)
-#define  LSM303DLHC_AD_ACC_CTRL_REG4        ((uint8_t)0x23)
-#define  LSM303DLHC_AD_ACC_CTRL_REG5        ((uint8_t)0x24)
-#define  LSM303DLHC_AD_ACC_CTRL_REG6        ((uint8_t)0x25)
-#define  LSM303DLHC_AD_ACC_REFERENCE        ((uint8_t)0x26)
-#define  LSM303DLHC_AD_ACC_STATUS_REG       ((uint8_t)0x27)
-#define  LSM303DLHC_AD_ACC_OUT_X_L          ((uint8_t)0x28)
-#define  LSM303DLHC_AD_ACC_OUT_X_H          ((uint8_t)0x29)
-#define  LSM303DLHC_AD_ACC_OUT_Y_L          ((uint8_t)0x2A)
-#define  LSM303DLHC_AD_ACC_OUT_Y_H          ((uint8_t)0x2B)
-#define  LSM303DLHC_AD_ACC_OUT_Z_L          ((uint8_t)0x2C)
-#define  LSM303DLHC_AD_ACC_OUT_Z_H          ((uint8_t)0x2D)
-#define  LSM303DLHC_AD_ACC_FIFO_CTRL_REG    ((uint8_t)0x2E)
-#define  LSM303DLHC_AD_ACC_FIFO_SRC_REG     ((uint8_t)0x2F)
-#define  LSM303DLHC_AD_ACC_INT1_CFG         ((uint8_t)0x30)
-#define  LSM303DLHC_AD_ACC_INT1_SRC         ((uint8_t)0x31)
-#define  LSM303DLHC_AD_ACC_INT1_THS         ((uint8_t)0x32)
-#define  LSM303DLHC_AD_ACC_INT1_DURATION    ((uint8_t)0x33)
-#define  LSM303DLHC_AD_ACC_INT2_CFG         ((uint8_t)0x34)
-#define  LSM303DLHC_AD_ACC_INT2_SRC         ((uint8_t)0x35)
-#define  LSM303DLHC_AD_ACC_INT2_THS         ((uint8_t)0x36)
-#define  LSM303DLHC_AD_ACC_INT2_DURATION    ((uint8_t)0x37)
-#define  LSM303DLHC_AD_ACC_CLICK_CFG        ((uint8_t)0x38)
-#define  LSM303DLHC_AD_ACC_CLICK_SRC        ((uint8_t)0x39)
-#define  LSM303DLHC_AD_ACC_CLICK_THS        ((uint8_t)0x3A)
-#define  LSM303DLHC_AD_ACC_TIME_LIMIT       ((uint8_t)0x3B)
-#define  LSM303DLHC_AD_ACC_TIME_LATENCY     ((uint8_t)0x3C)
-#define  LSM303DLHC_AD_ACC_TIME_WINDOW      ((uint8_t)0x3D)
-#define  LSM303DLHC_AD_COMP_CRA_REG         ((uint8_t)0x00)
-#define  LSM303DLHC_AD_COMP_CRB_REG         ((uint8_t)0x01)
-#define  LSM303DLHC_AD_COMP_MR_REG          ((uint8_t)0x02)
-#define  LSM303DLHC_AD_COMP_OUT_X_H         ((uint8_t)0x03)
-#define  LSM303DLHC_AD_COMP_OUT_X_L         ((uint8_t)0x04)
-#define  LSM303DLHC_AD_COMP_OUT_Z_H         ((uint8_t)0x05)
-#define  LSM303DLHC_AD_COMP_OUT_Z_L         ((uint8_t)0x06)
-#define  LSM303DLHC_AD_COMP_OUT_Y_H         ((uint8_t)0x07)
-#define  LSM303DLHC_AD_COMP_OUT_Y_L         ((uint8_t)0x08)
-#define  LSM303DLHC_AD_COMP_SR_REG          ((uint8_t)0x09)
-#define  LSM303DLHC_AD_COMP_IRA_REG         ((uint8_t)0x0A)
-#define  LSM303DLHC_AD_COMP_IRB_REG         ((uint8_t)0x0B)
-#define  LSM303DLHC_AD_COMP_IRC_REG         ((uint8_t)0x0C)
-#define  LSM303DLHC_AD_COMP_TEMP_OUT_H      ((uint8_t)0x31)
-#define  LSM303DLHC_AD_COMP_TEMP_OUT_L      ((uint8_t)0x32)
-
-#define  LSM303DLHC_ACC_CTRL_REG4_FS_MASK   ((uint8_t)0x30)
-#define  LSM303DLHC_COMP_CTRL_REGB_FS_MASK  ((uint8_t)0xE0)
-
-#define  TO_G                              ((float)0.001f)
-#define  TO_SI                             ((float)0.00981f)
-
-/*===========================================================================*/
-/* Driver exported variables.                                                */
-/*===========================================================================*/
-
-/*===========================================================================*/
-/* Driver local variables and types.                                         */
-/*===========================================================================*/
-
-/**
- * @brief  Accelerometer Power Mode
- */
-typedef enum {
-  LSM303DLHC_ACC_PM_NORMAL = 0x00,  /**< Normal mode enabled                */
-  LSM303DLHC_ACC_PM_LP = 0x08       /**< Low Power mode enabled             */
-} lsm303dlhc_acc_pm_t;
-
-/**
- * @brief  Accelerometer and Compass Slave Address.
- */
-typedef enum {
-  LSM303DLHC_SAD_ACC = 0x19,        /**< SAD for accelerometer.             */
-  LSM303DLHC_SAD_COMP = 0x1E        /**< SAD for compass.                   */
-} lsm303dlhc_sad_t;
-/*===========================================================================*/
-/* Driver local functions.                                                   */
-/*===========================================================================*/
-
-#if (LSM303DLHC_USE_I2C) || defined(__DOXYGEN__)
-/**
- * @brief   Reads registers value using I2C.
- * @pre     The I2C interface must be initialized and the driver started.
- * @note    IF_ADD_INC bit must be 1 in CTRL_REG8
- *
- * @param[in] i2cp       pointer to the I2C interface
- * @param[in] sad        slave address without R bit
- * @param[in] reg        first sub-register address
- * @return               the read value.
- */
-uint8_t lsm303dlhcI2CReadRegister(I2CDriver *i2cp, lsm303dlhc_sad_t sad, uint8_t reg,
-                               msg_t* msgp) {
-  msg_t msg;
-#if defined(STM32F103_MCUCONF)
-  uint8_t rxbuf[2];
-  msg = i2cMasterTransmitTimeout(i2cp, sad, &txbuf, 1, rxbuf, 2,
-                                   TIME_INFINITE);
-  if(msgp != NULL){
-    *msgp = msg;
-  }
-  return rxbuf[0];
-#else
-  uint8_t txbuf, rxbuf;
-  txbuf = reg;
-  msg = i2cMasterTransmitTimeout(i2cp, sad, &txbuf, 1, &rxbuf, 1,
-                                        TIME_INFINITE);
-  if(msgp != NULL){
-    *msgp = msg;
-  }
-  return rxbuf;
-#endif
-}
-
-/**
- * @brief   Writes a value into a register using I2C.
- * @pre     The I2C interface must be initialized and the driver started.
- *
- * @param[in] i2cp       pointer to the I2C interface
- * @param[in] sad        slave address without R bit
- * @param[in] sub        sub-register address
- * @param[in] value      the value to be written
- * @return               the operation status.
- */
-msg_t lsm303dlhcI2CWriteRegister(I2CDriver *i2cp, lsm303dlhc_sad_t sad, uint8_t reg,
-                              uint8_t value) {
-  uint8_t rxbuf;
-  uint8_t txbuf[2];
-  if(sad == LSM303DLHC_SAD_ACC) {
-    switch (reg) {
-    default:
-      /* Reserved register must not be written, according to the datasheet
-       * this could permanently damage the device.
-       */
-      osalDbgAssert(FALSE, "lsm303dlhcWriteRegisterI2C(), reserved register");
-    case LSM303DLHC_AD_ACC_STATUS_REG:
-    case LSM303DLHC_AD_ACC_OUT_X_L:
-    case LSM303DLHC_AD_ACC_OUT_X_H:
-    case LSM303DLHC_AD_ACC_OUT_Y_L:
-    case LSM303DLHC_AD_ACC_OUT_Y_H:
-    case LSM303DLHC_AD_ACC_OUT_Z_L:
-    case LSM303DLHC_AD_ACC_OUT_Z_H:
-    case LSM303DLHC_AD_ACC_FIFO_SRC_REG:
-    case LSM303DLHC_AD_ACC_INT1_SRC:
-    case LSM303DLHC_AD_ACC_INT2_SRC:
-    /* Read only registers cannot be written, the command is ignored.*/
-      return MSG_RESET;
-    case LSM303DLHC_AD_ACC_CTRL_REG1:
-    case LSM303DLHC_AD_ACC_CTRL_REG2:
-    case LSM303DLHC_AD_ACC_CTRL_REG3:
-    case LSM303DLHC_AD_ACC_CTRL_REG4:
-    case LSM303DLHC_AD_ACC_CTRL_REG5:
-    case LSM303DLHC_AD_ACC_CTRL_REG6:
-    case LSM303DLHC_AD_ACC_REFERENCE:
-    case LSM303DLHC_AD_ACC_FIFO_CTRL_REG:
-    case LSM303DLHC_AD_ACC_INT1_CFG:
-    case LSM303DLHC_AD_ACC_INT1_THS:
-    case LSM303DLHC_AD_ACC_INT1_DURATION:
-    case LSM303DLHC_AD_ACC_INT2_CFG:
-    case LSM303DLHC_AD_ACC_INT2_THS:
-    case LSM303DLHC_AD_ACC_INT2_DURATION:
-    case LSM303DLHC_AD_ACC_CLICK_CFG:
-    case LSM303DLHC_AD_ACC_CLICK_SRC:
-    case LSM303DLHC_AD_ACC_CLICK_THS:
-    case LSM303DLHC_AD_ACC_TIME_LIMIT:
-    case LSM303DLHC_AD_ACC_TIME_LATENCY:
-    case LSM303DLHC_AD_ACC_TIME_WINDOW:
-      txbuf[0] = reg;
-      txbuf[1] = value;
-      return i2cMasterTransmitTimeout(i2cp, sad, txbuf, 2, &rxbuf, 0, TIME_INFINITE);
-      break;
-    }
-  }
-  if(sad == LSM303DLHC_SAD_COMP) {
-    switch (reg) {
-    default:
-      /* Reserved register must not be written, according to the datasheet
-       * this could permanently damage the device.
-       */
-      osalDbgAssert(FALSE, "lsm303dlhcWriteRegisterI2C(), reserved register");
-    case LSM303DLHC_AD_COMP_OUT_X_H:
-    case LSM303DLHC_AD_COMP_OUT_X_L:
-    case LSM303DLHC_AD_COMP_OUT_Z_H:
-    case LSM303DLHC_AD_COMP_OUT_Z_L:
-    case LSM303DLHC_AD_COMP_OUT_Y_H:
-    case LSM303DLHC_AD_COMP_OUT_Y_L:
-    case LSM303DLHC_AD_COMP_SR_REG:
-    case LSM303DLHC_AD_COMP_IRA_REG:
-    case LSM303DLHC_AD_COMP_IRB_REG:
-    case LSM303DLHC_AD_COMP_IRC_REG:
-    case LSM303DLHC_AD_COMP_TEMP_OUT_H:
-    case LSM303DLHC_AD_COMP_TEMP_OUT_L:
-    /* Read only registers cannot be written, the command is ignored.*/
-      return MSG_RESET;
-    case LSM303DLHC_AD_COMP_CRA_REG:
-    case LSM303DLHC_AD_COMP_CRB_REG:
-    case LSM303DLHC_AD_COMP_MR_REG:
-      txbuf[0] = reg;
-      txbuf[1] = value;
-      return i2cMasterTransmitTimeout(i2cp, sad, txbuf, 2, &rxbuf, 0, TIME_INFINITE);
-      break;
-    }
-  }
-  osalDbgAssert(FALSE, "lsm303dlhcWriteRegisterI2C(), wrong SAD");
-  return MSG_RESET;
-}
-#endif /* LSM303DLHC_USE_I2C */
-
-/*
- * Interface implementation.
- */
-static size_t acc_get_axes_number(void *ip) {
-
-  osalDbgCheck(ip != NULL);
-  return LSM303DLHC_ACC_NUMBER_OF_AXES;
-}
-
-static size_t comp_get_axes_number(void *ip) {
-
-  osalDbgCheck(ip != NULL);
-  return LSM303DLHC_COMP_NUMBER_OF_AXES;
-}
-
-static size_t sens_get_axes_number(void *ip) {
-  size_t size = 0;
-  
-  osalDbgCheck(ip != NULL);
-  if (((LSM303DLHCDriver *)ip)->config->acccfg != NULL)
-	size += acc_get_axes_number(ip);
-  if (((LSM303DLHCDriver *)ip)->config->compcfg != NULL)
-    size += comp_get_axes_number(ip);  
-  return size;
-}
-
-static msg_t acc_read_raw(void *ip, int32_t axes[]) {
-  int16_t tmp;
-  osalDbgCheck(((ip != NULL) && (axes != NULL)) &&
-              (((LSM303DLHCDriver *)ip)->config->acccfg != NULL));
-  osalDbgAssert((((LSM303DLHCDriver *)ip)->state == LSM303DLHC_READY),
-              "acc_read_raw(), invalid state");
-
-#if LSM303DLHC_USE_I2C
-  osalDbgAssert((((LSM303DLHCDriver *)ip)->config->i2cp->state == I2C_READY),
-                "acc_read_raw(), channel not ready");
-#if LSM303DLHC_SHARED_I2C
-  i2cAcquireBus(((LSM303DLHCDriver *)ip)->config->i2cp);
-  i2cStart(((LSM303DLHCDriver *)ip)->config->i2cp,
-           ((LSM303DLHCDriver *)ip)->config->i2ccfg);
-#endif /* LSM303DLHC_SHARED_I2C */
-  if(((LSM303DLHCDriver *)ip)->config->acccfg->axesenabling & LSM303DLHC_ACC_AE_X){
-    tmp = lsm303dlhcI2CReadRegister(((LSM303DLHCDriver *)ip)->config->i2cp,
-                                 LSM303DLHC_SAD_ACC,
-                                 LSM303DLHC_AD_ACC_OUT_X_L, NULL);
-    tmp += lsm303dlhcI2CReadRegister(((LSM303DLHCDriver *)ip)->config->i2cp,
-                                  LSM303DLHC_SAD_ACC,
-                                  LSM303DLHC_AD_ACC_OUT_X_H, NULL) << 8;
-    axes[0] = (int32_t)tmp - ((LSM303DLHCDriver *)ip)->accbias[0];
-  }
-  if(((LSM303DLHCDriver *)ip)->config->acccfg->axesenabling & LSM303DLHC_ACC_AE_Y){
-    tmp = lsm303dlhcI2CReadRegister(((LSM303DLHCDriver *)ip)->config->i2cp,
-                                 LSM303DLHC_SAD_ACC,
-                                 LSM303DLHC_AD_ACC_OUT_Y_L, NULL);
-    tmp += lsm303dlhcI2CReadRegister(((LSM303DLHCDriver *)ip)->config->i2cp,
-                                  LSM303DLHC_SAD_ACC,
-                                  LSM303DLHC_AD_ACC_OUT_Y_H, NULL) << 8;
-    axes[1] = (int32_t)tmp - ((LSM303DLHCDriver *)ip)->accbias[1];
-  }
-  if(((LSM303DLHCDriver *)ip)->config->acccfg->axesenabling & LSM303DLHC_ACC_AE_Z){
-    tmp = lsm303dlhcI2CReadRegister(((LSM303DLHCDriver *)ip)->config->i2cp,
-                                 LSM303DLHC_SAD_ACC,
-                                 LSM303DLHC_AD_ACC_OUT_Z_L, NULL);
-    tmp += lsm303dlhcI2CReadRegister(((LSM303DLHCDriver *)ip)->config->i2cp,
-                                  LSM303DLHC_SAD_ACC,
-                                  LSM303DLHC_AD_ACC_OUT_Z_H, NULL) << 8;
-    axes[2] = (int32_t)tmp - ((LSM303DLHCDriver *)ip)->accbias[2];
-  }
-#if LSM303DLHC_SHARED_I2C
-  i2cReleaseBus(((LSM303DLHCDriver *)ip)->config->i2cp);
-#endif /* LSM303DLHC_SHARED_I2C */
-#endif /* LSM303DLHC_USE_I2C */
-  return MSG_OK;
-}
-
-static msg_t comp_read_raw(void *ip, int32_t axes[]) {
-  int16_t tmp;
-  osalDbgCheck(((ip != NULL) && (axes != NULL)) &&
-              (((LSM303DLHCDriver *)ip)->config->compcfg != NULL));
-  osalDbgAssert((((LSM303DLHCDriver *)ip)->state == LSM303DLHC_READY),
-              "comp_read_raw(), invalid state");
-
-#if LSM303DLHC_USE_I2C
-  osalDbgAssert((((LSM303DLHCDriver *)ip)->config->i2cp->state == I2C_READY),
-                "comp_read_raw(), channel not ready");
-#if LSM303DLHC_SHARED_I2C
-  i2cAcquireBus(((LSM303DLHCDriver *)ip)->config->i2cp);
-  i2cStart(((LSM303DLHCDriver *)ip)->config->i2cp,
-           ((LSM303DLHCDriver *)ip)->config->i2ccfg);
-#endif /* LSM303DLHC_SHARED_I2C */
-  tmp = lsm303dlhcI2CReadRegister(((LSM303DLHCDriver *)ip)->config->i2cp,
-                               LSM303DLHC_SAD_COMP,
-                               LSM303DLHC_AD_COMP_OUT_X_L, NULL);
-  tmp += lsm303dlhcI2CReadRegister(((LSM303DLHCDriver *)ip)->config->i2cp,
-                                LSM303DLHC_SAD_COMP,
-                                LSM303DLHC_AD_COMP_OUT_X_H, NULL) << 8;
-  axes[0] = (int32_t)tmp - ((LSM303DLHCDriver *)ip)->compbias[0];
-
-  tmp = lsm303dlhcI2CReadRegister(((LSM303DLHCDriver *)ip)->config->i2cp,
-                               LSM303DLHC_SAD_COMP,
-                               LSM303DLHC_AD_COMP_OUT_Y_L, NULL);
-  tmp += lsm303dlhcI2CReadRegister(((LSM303DLHCDriver *)ip)->config->i2cp,
-                                LSM303DLHC_SAD_COMP,
-                                LSM303DLHC_AD_COMP_OUT_Y_H, NULL) << 8;
-  axes[1] = (int32_t)tmp - ((LSM303DLHCDriver *)ip)->compbias[1];
-
-  tmp = lsm303dlhcI2CReadRegister(((LSM303DLHCDriver *)ip)->config->i2cp,
-                               LSM303DLHC_SAD_COMP,
-                               LSM303DLHC_AD_COMP_OUT_Z_L, NULL);
-  tmp += lsm303dlhcI2CReadRegister(((LSM303DLHCDriver *)ip)->config->i2cp,
-                                LSM303DLHC_SAD_COMP,
-                                LSM303DLHC_AD_COMP_OUT_Z_H, NULL) << 8;
-  axes[2] = (int32_t)tmp - ((LSM303DLHCDriver *)ip)->compbias[2];
-#if LSM303DLHC_SHARED_I2C
-  i2cReleaseBus(((LSM303DLHCDriver *)ip)->config->i2cp);
-#endif /* LSM303DLHC_SHARED_I2C */
-#endif /* LSM303DLHC_USE_I2C */ 
-  return MSG_OK;
-}
-
-static msg_t sens_read_raw(void *ip, int32_t axes[]) {
-  int32_t* bp = axes;
-  msg_t msg;
-  if (((LSM303DLHCDriver *)ip)->config->acccfg != NULL) {
-	msg = acc_read_raw(ip, bp);
-	if(msg != MSG_OK)
-	  return msg;
-	bp += LSM303DLHC_ACC_NUMBER_OF_AXES;
-  }
-  if (((LSM303DLHCDriver *)ip)->config->compcfg != NULL) {
-    msg = comp_read_raw(ip, bp);
-  }
-  return msg;
-}
-	
-static msg_t acc_read_cooked(void *ip, float axes[]) {
-  uint32_t i;
-  int32_t raw[LSM303DLHC_ACC_NUMBER_OF_AXES];
-  msg_t msg;
-
-  osalDbgCheck(((ip != NULL) && (axes != NULL)) &&
-              (((LSM303DLHCDriver *)ip)->config->acccfg != NULL));
-
-  osalDbgAssert((((LSM303DLHCDriver *)ip)->state == LSM303DLHC_READY),
-              "acc_read_cooked(), invalid state");
-
-  msg = acc_read_raw(ip, raw);
-  for(i = 0; i < LSM303DLHC_ACC_NUMBER_OF_AXES ; i++){
-    axes[i] = raw[i] * ((LSM303DLHCDriver *)ip)->accsensitivity[i];
-    if(((LSM303DLHCDriver *)ip)->config->acccfg->unit == LSM303DLHC_ACC_UNIT_G){
-      axes[i] *= TO_G;
-    }
-    else if(((LSM303DLHCDriver *)ip)->config->acccfg->unit == LSM303DLHC_ACC_UNIT_SI){
-      axes[i] *= TO_SI;
-    }
-  }
-  return msg;
-}
-
-static msg_t comp_read_cooked(void *ip, float axes[]) {
-  uint32_t i;
-  int32_t raw[LSM303DLHC_COMP_NUMBER_OF_AXES];
-  msg_t msg;
-
-  osalDbgCheck(((ip != NULL) && (axes != NULL)) &&
-              (((LSM303DLHCDriver *)ip)->config->compcfg != NULL));
-
-  osalDbgAssert((((LSM303DLHCDriver *)ip)->state == LSM303DLHC_READY),
-              "comp_read_cooked(), invalid state");
-
-  msg = comp_read_raw(ip, raw);
-  for(i = 0; i < LSM303DLHC_COMP_NUMBER_OF_AXES ; i++){
-    axes[i] = raw[i] / ((LSM303DLHCDriver *)ip)->compsensitivity[i];
-  }
-  return msg;
-}
-
-static msg_t sens_read_cooked(void *ip, float axes[]) {
-  float* bp = axes;
-  msg_t msg;
-  if (((LSM303DLHCDriver *)ip)->config->acccfg != NULL) {
-	msg = acc_read_cooked(ip, bp);
-	if(msg != MSG_OK)
-	  return msg;
-	bp += LSM303DLHC_ACC_NUMBER_OF_AXES;
-  }
-  if (((LSM303DLHCDriver *)ip)->config->compcfg != NULL) {
-    msg = comp_read_cooked(ip, bp);
-  }
-  return msg;
-}
-
-static msg_t acc_set_bias(void *ip, int32_t *bp) {
-  uint32_t i;
-  
-  osalDbgCheck((ip != NULL) && (bp !=NULL));
-
-  osalDbgAssert((((LSM303DLHCDriver *)ip)->state == LSM303DLHC_READY) ||
-                (((LSM303DLHCDriver *)ip)->state == LSM303DLHC_STOP),
-                "acc_set_bias(), invalid state");
-  
-  for(i = 0; i < LSM303DLHC_ACC_NUMBER_OF_AXES; i++) {
-    ((LSM303DLHCDriver *)ip)->accbias[i] = bp[i];
-  }
-  return MSG_OK;
-}
-
-static msg_t comp_set_bias(void *ip, int32_t *bp) {
-  uint32_t i;
-  
-  osalDbgCheck((ip != NULL) && (bp !=NULL));
-
-  osalDbgAssert((((LSM303DLHCDriver *)ip)->state == LSM303DLHC_READY) ||
-                (((LSM303DLHCDriver *)ip)->state == LSM303DLHC_STOP),
-                "comp_set_bias(), invalid state");
-  
-  for(i = 0; i < LSM303DLHC_COMP_NUMBER_OF_AXES; i++) {
-    ((LSM303DLHCDriver *)ip)->compbias[i] = bp[i];
-  }
-  return MSG_OK;
-}
-
-static msg_t acc_reset_bias(void *ip) {
-  uint32_t i;
-
-  osalDbgCheck(ip != NULL);
-
-  osalDbgAssert((((LSM303DLHCDriver *)ip)->state == LSM303DLHC_READY) ||
-                (((LSM303DLHCDriver *)ip)->state == LSM303DLHC_STOP),
-              "acc_reset_bias(), invalid state");
-
-  for(i = 0; i < LSM303DLHC_ACC_NUMBER_OF_AXES; i++)
-    ((LSM303DLHCDriver *)ip)->accbias[i] = 0;
-  return MSG_OK;
-}
-
-static msg_t comp_reset_bias(void *ip) {
-  uint32_t i;
-
-  osalDbgCheck(ip != NULL);
-
-  osalDbgAssert((((LSM303DLHCDriver *)ip)->state == LSM303DLHC_READY) ||
-                (((LSM303DLHCDriver *)ip)->state == LSM303DLHC_STOP),
-              "comp_reset_bias(), invalid state");
-
-  for(i = 0; i < LSM303DLHC_COMP_NUMBER_OF_AXES; i++)
-    ((LSM303DLHCDriver *)ip)->compbias[i] = 0;
-  return MSG_OK;
-}
-
-static msg_t acc_set_sensivity(void *ip, float *sp) {
-  uint32_t i;
-  
-  osalDbgCheck((ip != NULL) && (sp !=NULL));
-
-  osalDbgAssert((((LSM303DLHCDriver *)ip)->state == LSM303DLHC_READY),
-                "acc_set_sensivity(), invalid state");
-  
-  for(i = 0; i < LSM303DLHC_ACC_NUMBER_OF_AXES; i++) {
-    ((LSM303DLHCDriver *)ip)->accsensitivity[i] = sp[i];
-  }
-  return MSG_OK;
-}
-
-static msg_t comp_set_sensivity(void *ip, float *sp) {
-  uint32_t i;
-  
-  osalDbgCheck((ip != NULL) && (sp !=NULL));
-
-  osalDbgAssert((((LSM303DLHCDriver *)ip)->state == LSM303DLHC_READY),
-                "comp_set_sensivity(), invalid state");
-  
-  for(i = 0; i < LSM303DLHC_COMP_NUMBER_OF_AXES; i++) {
-    ((LSM303DLHCDriver *)ip)->compsensitivity[i] = sp[i];
-  }
-  return MSG_OK;
-}
-
-static msg_t acc_reset_sensivity(void *ip) {
-  uint32_t i;
-
-  osalDbgCheck(ip != NULL);
-
-  osalDbgAssert((((LSM303DLHCDriver *)ip)->state == LSM303DLHC_READY),
-                "acc_reset_sensivity(), invalid state");
-
-  if(((LSM303DLHCDriver *)ip)->config->acccfg->fullscale == LSM303DLHC_ACC_FS_2G)
-    for(i = 0; i < LSM303DLHC_ACC_NUMBER_OF_AXES; i++)
-      ((LSM303DLHCDriver *)ip)->accsensitivity[i] = LSM303DLHC_ACC_SENS_2G;
-  else if(((LSM303DLHCDriver *)ip)->config->acccfg->fullscale == LSM303DLHC_ACC_FS_4G)
-	for(i = 0; i < LSM303DLHC_ACC_NUMBER_OF_AXES; i++)
-      ((LSM303DLHCDriver *)ip)->accsensitivity[i] = LSM303DLHC_ACC_SENS_4G;
-  else if(((LSM303DLHCDriver *)ip)->config->acccfg->fullscale == LSM303DLHC_ACC_FS_8G)
-	for(i = 0; i < LSM303DLHC_ACC_NUMBER_OF_AXES; i++)
-      ((LSM303DLHCDriver *)ip)->accsensitivity[i] = LSM303DLHC_ACC_SENS_8G;
-  else if(((LSM303DLHCDriver *)ip)->config->acccfg->fullscale == LSM303DLHC_ACC_FS_16G)
-	for(i = 0; i < LSM303DLHC_ACC_NUMBER_OF_AXES; i++)
-      ((LSM303DLHCDriver *)ip)->accsensitivity[i] = LSM303DLHC_ACC_SENS_16G;
-  else {
-    osalDbgAssert(FALSE, "reset_sensivity(), accelerometer full scale issue");
-    return MSG_RESET;
-  }
-  return MSG_OK;
-}
-
-static msg_t comp_reset_sensivity(void *ip) {
-  uint32_t i;
-
-  osalDbgCheck(ip != NULL);
-
-  osalDbgAssert((((LSM303DLHCDriver *)ip)->state == LSM303DLHC_READY),
-                "comp_reset_sensivity(), invalid state");
-
-  if(((LSM303DLHCDriver *)ip)->config->compcfg->fullscale == LSM303DLHC_COMP_FS_1_3_GA)
-    for(i = 0; i < LSM303DLHC_COMP_NUMBER_OF_AXES; i++) {
-      if(i != 2) {
-        ((LSM303DLHCDriver *)ip)->compsensitivity[i] = LSM303DLHC_COMP_SENS_XY_1_3GA;
-      }
-      else {
-        ((LSM303DLHCDriver *)ip)->compsensitivity[i] = LSM303DLHC_COMP_SENS_Z_1_3GA;
-      }
-    }
-  else if(((LSM303DLHCDriver *)ip)->config->compcfg->fullscale == LSM303DLHC_COMP_FS_1_9_GA)
-    for(i = 0; i < LSM303DLHC_COMP_NUMBER_OF_AXES; i++) {
-      if(i != 2) {
-        ((LSM303DLHCDriver *)ip)->compsensitivity[i] = LSM303DLHC_COMP_SENS_XY_1_9GA;
-      }
-      else {
-        ((LSM303DLHCDriver *)ip)->compsensitivity[i] = LSM303DLHC_COMP_SENS_Z_1_9GA;
-      }
-    }
-  else if(((LSM303DLHCDriver *)ip)->config->compcfg->fullscale == LSM303DLHC_COMP_FS_2_5_GA)
-    for(i = 0; i < LSM303DLHC_COMP_NUMBER_OF_AXES; i++) {
-      if(i != 2) {
-        ((LSM303DLHCDriver *)ip)->compsensitivity[i] = LSM303DLHC_COMP_SENS_XY_2_5GA;
-      }
-      else {
-        ((LSM303DLHCDriver *)ip)->compsensitivity[i] = LSM303DLHC_COMP_SENS_Z_2_5GA;
-      }
-    }
-  else if(((LSM303DLHCDriver *)ip)->config->compcfg->fullscale == LSM303DLHC_COMP_FS_4_0_GA)
-    for(i = 0; i < LSM303DLHC_COMP_NUMBER_OF_AXES; i++) {
-      if(i != 2) {
-        ((LSM303DLHCDriver *)ip)->compsensitivity[i] = LSM303DLHC_COMP_SENS_XY_4_0GA;
-      }
-      else {
-        ((LSM303DLHCDriver *)ip)->compsensitivity[i] = LSM303DLHC_COMP_SENS_Z_4_0GA;
-      }
-    }
-  else if(((LSM303DLHCDriver *)ip)->config->compcfg->fullscale == LSM303DLHC_COMP_FS_4_7_GA)
-    for(i = 0; i < LSM303DLHC_COMP_NUMBER_OF_AXES; i++) {
-      if(i != 2) {
-        ((LSM303DLHCDriver *)ip)->compsensitivity[i] = LSM303DLHC_COMP_SENS_XY_4_7GA;
-      }
-      else {
-        ((LSM303DLHCDriver *)ip)->compsensitivity[i] = LSM303DLHC_COMP_SENS_Z_4_7GA;
-      }
-    }
-  else if(((LSM303DLHCDriver *)ip)->config->compcfg->fullscale == LSM303DLHC_COMP_FS_5_6_GA)
-    for(i = 0; i < LSM303DLHC_COMP_NUMBER_OF_AXES; i++) {
-      if(i != 2) {
-        ((LSM303DLHCDriver *)ip)->compsensitivity[i] = LSM303DLHC_COMP_SENS_XY_5_6GA;
-      }
-      else {
-        ((LSM303DLHCDriver *)ip)->compsensitivity[i] = LSM303DLHC_COMP_SENS_Z_5_6GA;
-      }
-    }
-  else if(((LSM303DLHCDriver *)ip)->config->compcfg->fullscale == LSM303DLHC_COMP_FS_8_1_GA)
-    for(i = 0; i < LSM303DLHC_COMP_NUMBER_OF_AXES; i++) {
-      if(i != 2) {
-        ((LSM303DLHCDriver *)ip)->compsensitivity[i] = LSM303DLHC_COMP_SENS_XY_8_1GA;
-      }
-      else {
-        ((LSM303DLHCDriver *)ip)->compsensitivity[i] = LSM303DLHC_COMP_SENS_Z_8_1GA;
-      }
-    }
-  else {
-    osalDbgAssert(FALSE, "reset_sensivity(), compass full scale issue");
-    return MSG_RESET;
-  }
-  return MSG_OK;
-}
-
-static const struct BaseSensorVMT vmt_basesensor = {
-  sens_get_axes_number, sens_read_raw, sens_read_cooked
-};
-
-static const struct BaseCompassVMT vmt_basecompass = {
-  comp_get_axes_number, comp_read_raw, comp_read_cooked,
-  comp_set_bias, comp_reset_bias, comp_set_sensivity, comp_reset_sensivity
-};
-
-static const struct BaseAccelerometerVMT vmt_baseaccelerometer = {
-  acc_get_axes_number, acc_read_raw, acc_read_cooked,
-  acc_set_bias, acc_reset_bias, acc_set_sensivity, acc_reset_sensivity
-};
-
-static const struct LSM303DLHCACCVMT vmt_lsm303dlhcacc = {
-  acc_get_axes_number, acc_read_raw, acc_read_cooked,
-  acc_set_bias, acc_reset_bias, acc_set_sensivity, acc_reset_sensivity
-};
-
-static const struct LSM303DLHCCOMPVMT vmt_lsm303dlhccomp = {
-  comp_get_axes_number, comp_read_raw, comp_read_cooked,
-  comp_set_bias, comp_reset_bias, comp_set_sensivity, comp_reset_sensivity
-};
-
-/*===========================================================================*/
-/* Driver exported functions.                                                */
-/*===========================================================================*/
-
-/**
- * @brief   Initializes an instance.
- *
- * @param[out] devp     pointer to the @p LSM303DLHCDriver object
- *
- * @init
- */
-void lsm303dlhcObjectInit(LSM303DLHCDriver *devp) {
-  uint32_t i;
-  devp->vmt_basesensor = &vmt_basesensor;
-  devp->vmt_baseaccelerometer = &vmt_baseaccelerometer;
-  devp->vmt_basecompass = &vmt_basecompass;
-  devp->vmt_lsm303dlhcacc = &vmt_lsm303dlhcacc;
-  devp->vmt_lsm303dlhccomp = &vmt_lsm303dlhccomp;
-  devp->config = NULL;
-  for(i = 0; i < LSM303DLHC_ACC_NUMBER_OF_AXES; i++)
-    devp->accbias[i] = 0;
-  for(i = 0; i < LSM303DLHC_COMP_NUMBER_OF_AXES; i++)
-    devp->compbias[i] = 0;
-  devp->state  = LSM303DLHC_STOP;
-}
-
-/**
- * @brief   Configures and activates LSM303DLHC Complex Driver peripheral.
- *
- * @param[in] devp      pointer to the @p LSM303DLHCDriver object
- * @param[in] config    pointer to the @p LSM303DLHCConfig object
- *
- * @api
- */
-void lsm303dlhcStart(LSM303DLHCDriver *devp, const LSM303DLHCConfig *config) {
-  uint32_t i;
-  osalDbgCheck((devp != NULL) && (config != NULL));
-
-  osalDbgAssert((devp->state == LSM303DLHC_STOP) || (devp->state == LSM303DLHC_READY),
-              "lsm303dlhcStart(), invalid state");			  
-
-  devp->config = config;
-
-#if LSM303DLHC_USE_I2C
-#if	LSM303DLHC_SHARED_I2C
-  i2cAcquireBus((devp)->config->i2cp);
-#endif /* LSM303DLHC_SHARED_I2C */
-  i2cStart((devp)->config->i2cp,
-           (devp)->config->i2ccfg);
-  if((devp)->config->acccfg != NULL) {
-    lsm303dlhcI2CWriteRegister(devp->config->i2cp,
-                               LSM303DLHC_SAD_ACC,
-                               LSM303DLHC_AD_ACC_CTRL_REG1,
-                               devp->config->acccfg->axesenabling |
-                               devp->config->acccfg->outdatarate |
-                               devp->config->acccfg->lowpower);
-    lsm303dlhcI2CWriteRegister(devp->config->i2cp,
-                               LSM303DLHC_SAD_ACC,
-                               LSM303DLHC_AD_ACC_CTRL_REG4,
-                               devp->config->acccfg->endianess |
-                               devp->config->acccfg->fullscale |
-                               devp->config->acccfg->blockdataupdate |
-                               devp->config->acccfg->highresmode);
-  }
-  if((devp)->config->compcfg != NULL) {
-    lsm303dlhcI2CWriteRegister(devp->config->i2cp,
-                               LSM303DLHC_SAD_COMP,
-                               LSM303DLHC_AD_COMP_CRA_REG,
-                               devp->config->compcfg->outputdatarate);
-    lsm303dlhcI2CWriteRegister(devp->config->i2cp,
-                               LSM303DLHC_SAD_COMP,
-                               LSM303DLHC_AD_COMP_CRB_REG,
-                               devp->config->compcfg->fullscale);
-    lsm303dlhcI2CWriteRegister(devp->config->i2cp,
-                               LSM303DLHC_SAD_COMP,
-                               LSM303DLHC_AD_COMP_MR_REG,
-                               devp->config->compcfg->mode);
-  }
-#if	LSM303DLHC_SHARED_I2C
-  i2cReleaseBus((devp)->config->i2cp);
-#endif /* LSM303DLHC_SHARED_I2C */  
-#endif /* LSM303DLHC_USE_I2C */
-  /* Storing sensitivity information according to full scale value */
-  if((devp)->config->acccfg != NULL) {
-    if(devp->config->acccfg->fullscale == LSM303DLHC_ACC_FS_2G)
-      for(i = 0; i < LSM303DLHC_ACC_NUMBER_OF_AXES; i++)
-        devp->accsensitivity[i] = LSM303DLHC_ACC_SENS_2G;
-    else if(devp->config->acccfg->fullscale == LSM303DLHC_ACC_FS_4G)
-      for(i = 0; i < LSM303DLHC_ACC_NUMBER_OF_AXES; i++)
-        devp->accsensitivity[i] = LSM303DLHC_ACC_SENS_4G;
-    else if(devp->config->acccfg->fullscale == LSM303DLHC_ACC_FS_8G)
-      for(i = 0; i < LSM303DLHC_ACC_NUMBER_OF_AXES; i++)
-        devp->accsensitivity[i] = LSM303DLHC_ACC_SENS_8G;
-    else if(devp->config->acccfg->fullscale == LSM303DLHC_ACC_FS_16G)
-      for(i = 0; i < LSM303DLHC_ACC_NUMBER_OF_AXES; i++)
-        devp->accsensitivity[i] = LSM303DLHC_ACC_SENS_16G;
-    else
-      osalDbgAssert(FALSE, "lsm303dlhcStart(), accelerometer full scale issue");
-  }
-  if((devp)->config->compcfg != NULL) {
-    if(devp->config->compcfg->fullscale == LSM303DLHC_COMP_FS_1_3_GA)
-      for(i = 0; i < LSM303DLHC_COMP_NUMBER_OF_AXES; i++) {
-        if(i != 2) {
-          devp->compsensitivity[i] = LSM303DLHC_COMP_SENS_XY_1_3GA;
-        }
-        else {
-          devp->compsensitivity[i] = LSM303DLHC_COMP_SENS_Z_1_3GA;
-        }
-      }
-    else if(devp->config->compcfg->fullscale == LSM303DLHC_COMP_FS_1_9_GA)
-      for(i = 0; i < LSM303DLHC_COMP_NUMBER_OF_AXES; i++) {
-        if(i != 2) {
-          devp->compsensitivity[i] = LSM303DLHC_COMP_SENS_XY_1_9GA;
-        }
-        else {
-          devp->compsensitivity[i] = LSM303DLHC_COMP_SENS_Z_1_9GA;
-        }
-      }
-    else if(devp->config->compcfg->fullscale == LSM303DLHC_COMP_FS_2_5_GA)
-      for(i = 0; i < LSM303DLHC_COMP_NUMBER_OF_AXES; i++) {
-        if(i != 2) {
-          devp->compsensitivity[i] = LSM303DLHC_COMP_SENS_XY_2_5GA;
-        }
-        else {
-          devp->compsensitivity[i] = LSM303DLHC_COMP_SENS_Z_2_5GA;
-        }
-      }
-    else if(devp->config->compcfg->fullscale == LSM303DLHC_COMP_FS_4_0_GA)
-      for(i = 0; i < LSM303DLHC_COMP_NUMBER_OF_AXES; i++) {
-        if(i != 2) {
-          devp->compsensitivity[i] = LSM303DLHC_COMP_SENS_XY_4_0GA;
-        }
-        else {
-          devp->compsensitivity[i] = LSM303DLHC_COMP_SENS_Z_4_0GA;
-        }
-      }
-    else if(devp->config->compcfg->fullscale == LSM303DLHC_COMP_FS_4_7_GA)
-      for(i = 0; i < LSM303DLHC_COMP_NUMBER_OF_AXES; i++) {
-        if(i != 2) {
-          devp->compsensitivity[i] = LSM303DLHC_COMP_SENS_XY_4_7GA;
-        }
-        else {
-          devp->compsensitivity[i] = LSM303DLHC_COMP_SENS_Z_4_7GA;
-        }
-      }
-    else if(devp->config->compcfg->fullscale == LSM303DLHC_COMP_FS_5_6_GA)
-      for(i = 0; i < LSM303DLHC_COMP_NUMBER_OF_AXES; i++) {
-        if(i != 2) {
-          devp->compsensitivity[i] = LSM303DLHC_COMP_SENS_XY_5_6GA;
-        }
-        else {
-          devp->compsensitivity[i] = LSM303DLHC_COMP_SENS_Z_5_6GA;
-        }
-      }
-    else if(devp->config->compcfg->fullscale == LSM303DLHC_COMP_FS_8_1_GA)
-      for(i = 0; i < LSM303DLHC_COMP_NUMBER_OF_AXES; i++) {
-        if(i != 2) {
-          devp->compsensitivity[i] = LSM303DLHC_COMP_SENS_XY_8_1GA;
-        }
-        else {
-          devp->compsensitivity[i] = LSM303DLHC_COMP_SENS_Z_8_1GA;
-        }
-      }
-    else
-      osalDbgAssert(FALSE, "lsm303dlhcStart(), compass full scale issue");
-  }
-  /* This is the Compass transient recovery time */
-  osalThreadSleepMilliseconds(5);
-
-  devp->state = LSM303DLHC_READY;
-} 
-
-/**
- * @brief   Deactivates the LSM303DLHC Complex Driver peripheral.
- *
- * @param[in] devp       pointer to the @p LSM303DLHCDriver object
- *
- * @api
- */
-void lsm303dlhcStop(LSM303DLHCDriver *devp) {
-
-  osalDbgCheck(devp != NULL);
-
-  osalDbgAssert((devp->state == LSM303DLHC_STOP) || (devp->state == LSM303DLHC_READY),
-                "lsm303dlhcStop(), invalid state");
-
-#if (LSM303DLHC_USE_I2C)
-  if (devp->state == LSM303DLHC_STOP) {
-#if	LSM303DLHC_SHARED_I2C
-    i2cAcquireBus((devp)->config->i2cp);
-    i2cStart((devp)->config->i2cp,
-             (devp)->config->i2ccfg);
-#endif /* LSM303DLHC_SHARED_I2C */
-    if((devp)->config->acccfg != NULL) {
-      lsm303dlhcI2CWriteRegister(devp->config->i2cp,
-                                 LSM303DLHC_SAD_ACC,
-                                 LSM303DLHC_AD_ACC_CTRL_REG1,
-                                 LSM303DLHC_ACC_AE_DISABLED |
-                                 LSM303DLHC_ACC_ODR_PD);
-    }
-    if((devp)->config->compcfg != NULL) {
-      lsm303dlhcI2CWriteRegister(devp->config->i2cp,
-                                 LSM303DLHC_SAD_COMP,
-                                 LSM303DLHC_AD_COMP_MR_REG,
-                                 LSM303DLHC_COMP_MD_SLEEP);
-    }
-    i2cStop((devp)->config->i2cp);
-#if	LSM303DLHC_SHARED_I2C
-    i2cReleaseBus((devp)->config->i2cp);
-#endif /* LSM303DLHC_SHARED_I2C */    
-  }			  
-#endif /* LSM303DLHC_USE_I2C */
-  devp->state = LSM303DLHC_STOP;
-}
-/** @} */
+/*

+    ChibiOS - Copyright (C) 2016 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    lsm303dlhc.c

+ * @brief   LSM303DLHC MEMS interface module code.

+ *

+ * @addtogroup lsm303dlhc

+ * @{

+ */

+

+#include "hal.h"

+#include "lsm303dlhc.h"

+

+/*===========================================================================*/

+/* Driver local definitions.                                                 */

+/*===========================================================================*/

+

+#define  LSM303DLHC_ACC_SENS_2G             ((float)0.0610f)

+#define  LSM303DLHC_ACC_SENS_4G             ((float)0.1221f)

+#define  LSM303DLHC_ACC_SENS_8G             ((float)0.2442f)

+#define  LSM303DLHC_ACC_SENS_16G            ((float)0.4884f)

+

+#define  LSM303DLHC_COMP_SENS_XY_1_3GA      ((float)1100.0f)

+#define  LSM303DLHC_COMP_SENS_XY_1_9GA      ((float)855.0f)

+#define  LSM303DLHC_COMP_SENS_XY_2_5GA      ((float)670.0f)

+#define  LSM303DLHC_COMP_SENS_XY_4_0GA      ((float)450.0f)

+#define  LSM303DLHC_COMP_SENS_XY_4_7GA      ((float)400.0f)

+#define  LSM303DLHC_COMP_SENS_XY_5_6GA      ((float)330.0f)

+#define  LSM303DLHC_COMP_SENS_XY_8_1GA      ((float)230.0f)

+

+#define  LSM303DLHC_COMP_SENS_Z_1_3GA       ((float)980.0f)

+#define  LSM303DLHC_COMP_SENS_Z_1_9GA       ((float)765.0f)

+#define  LSM303DLHC_COMP_SENS_Z_2_5GA       ((float)600.0f)

+#define  LSM303DLHC_COMP_SENS_Z_4_0GA       ((float)400.0f)

+#define  LSM303DLHC_COMP_SENS_Z_4_7GA       ((float)355.0f)

+#define  LSM303DLHC_COMP_SENS_Z_5_6GA       ((float)295.0f)

+#define  LSM303DLHC_COMP_SENS_Z_8_1GA       ((float)205.0f)

+

+#define  LSM303DLHC_DI                      ((uint8_t)0xFF)

+#define  LSM303DLHC_DI_0                    ((uint8_t)0x01)

+#define  LSM303DLHC_DI_1                    ((uint8_t)0x02)

+#define  LSM303DLHC_DI_2                    ((uint8_t)0x04)

+#define  LSM303DLHC_DI_3                    ((uint8_t)0x08)

+#define  LSM303DLHC_DI_4                    ((uint8_t)0x10)

+#define  LSM303DLHC_DI_5                    ((uint8_t)0x20)

+#define  LSM303DLHC_DI_6                    ((uint8_t)0x40)

+#define  LSM303DLHC_DI_7                    ((uint8_t)0x80)

+

+#define  LSM303DLHC_AD_0                    ((uint8_t)0x01)

+#define  LSM303DLHC_AD_1                    ((uint8_t)0x02)

+#define  LSM303DLHC_AD_2                    ((uint8_t)0x04)

+#define  LSM303DLHC_AD_3                    ((uint8_t)0x08)

+#define  LSM303DLHC_AD_4                    ((uint8_t)0x10)

+#define  LSM303DLHC_AD_5                    ((uint8_t)0x20)

+#define  LSM303DLHC_AD_6                    ((uint8_t)0x40)

+#define  LSM303DLHC_RW                      ((uint8_t)0x80)

+

+#define  LSM303DLHC_AD_ACC_CTRL_REG1        ((uint8_t)0x20)

+#define  LSM303DLHC_AD_ACC_CTRL_REG2        ((uint8_t)0x21)

+#define  LSM303DLHC_AD_ACC_CTRL_REG3        ((uint8_t)0x22)

+#define  LSM303DLHC_AD_ACC_CTRL_REG4        ((uint8_t)0x23)

+#define  LSM303DLHC_AD_ACC_CTRL_REG5        ((uint8_t)0x24)

+#define  LSM303DLHC_AD_ACC_CTRL_REG6        ((uint8_t)0x25)

+#define  LSM303DLHC_AD_ACC_REFERENCE        ((uint8_t)0x26)

+#define  LSM303DLHC_AD_ACC_STATUS_REG       ((uint8_t)0x27)

+#define  LSM303DLHC_AD_ACC_OUT_X_L          ((uint8_t)0x28)

+#define  LSM303DLHC_AD_ACC_OUT_X_H          ((uint8_t)0x29)

+#define  LSM303DLHC_AD_ACC_OUT_Y_L          ((uint8_t)0x2A)

+#define  LSM303DLHC_AD_ACC_OUT_Y_H          ((uint8_t)0x2B)

+#define  LSM303DLHC_AD_ACC_OUT_Z_L          ((uint8_t)0x2C)

+#define  LSM303DLHC_AD_ACC_OUT_Z_H          ((uint8_t)0x2D)

+#define  LSM303DLHC_AD_ACC_FIFO_CTRL_REG    ((uint8_t)0x2E)

+#define  LSM303DLHC_AD_ACC_FIFO_SRC_REG     ((uint8_t)0x2F)

+#define  LSM303DLHC_AD_ACC_INT1_CFG         ((uint8_t)0x30)

+#define  LSM303DLHC_AD_ACC_INT1_SRC         ((uint8_t)0x31)

+#define  LSM303DLHC_AD_ACC_INT1_THS         ((uint8_t)0x32)

+#define  LSM303DLHC_AD_ACC_INT1_DURATION    ((uint8_t)0x33)

+#define  LSM303DLHC_AD_ACC_INT2_CFG         ((uint8_t)0x34)

+#define  LSM303DLHC_AD_ACC_INT2_SRC         ((uint8_t)0x35)

+#define  LSM303DLHC_AD_ACC_INT2_THS         ((uint8_t)0x36)

+#define  LSM303DLHC_AD_ACC_INT2_DURATION    ((uint8_t)0x37)

+#define  LSM303DLHC_AD_ACC_CLICK_CFG        ((uint8_t)0x38)

+#define  LSM303DLHC_AD_ACC_CLICK_SRC        ((uint8_t)0x39)

+#define  LSM303DLHC_AD_ACC_CLICK_THS        ((uint8_t)0x3A)

+#define  LSM303DLHC_AD_ACC_TIME_LIMIT       ((uint8_t)0x3B)

+#define  LSM303DLHC_AD_ACC_TIME_LATENCY     ((uint8_t)0x3C)

+#define  LSM303DLHC_AD_ACC_TIME_WINDOW      ((uint8_t)0x3D)

+#define  LSM303DLHC_AD_COMP_CRA_REG         ((uint8_t)0x00)

+#define  LSM303DLHC_AD_COMP_CRB_REG         ((uint8_t)0x01)

+#define  LSM303DLHC_AD_COMP_MR_REG          ((uint8_t)0x02)

+#define  LSM303DLHC_AD_COMP_OUT_X_H         ((uint8_t)0x03)

+#define  LSM303DLHC_AD_COMP_OUT_X_L         ((uint8_t)0x04)

+#define  LSM303DLHC_AD_COMP_OUT_Z_H         ((uint8_t)0x05)

+#define  LSM303DLHC_AD_COMP_OUT_Z_L         ((uint8_t)0x06)

+#define  LSM303DLHC_AD_COMP_OUT_Y_H         ((uint8_t)0x07)

+#define  LSM303DLHC_AD_COMP_OUT_Y_L         ((uint8_t)0x08)

+#define  LSM303DLHC_AD_COMP_SR_REG          ((uint8_t)0x09)

+#define  LSM303DLHC_AD_COMP_IRA_REG         ((uint8_t)0x0A)

+#define  LSM303DLHC_AD_COMP_IRB_REG         ((uint8_t)0x0B)

+#define  LSM303DLHC_AD_COMP_IRC_REG         ((uint8_t)0x0C)

+#define  LSM303DLHC_AD_COMP_TEMP_OUT_H      ((uint8_t)0x31)

+#define  LSM303DLHC_AD_COMP_TEMP_OUT_L      ((uint8_t)0x32)

+

+#define  LSM303DLHC_ACC_CTRL_REG4_FS_MASK   ((uint8_t)0x30)

+#define  LSM303DLHC_COMP_CTRL_REGB_FS_MASK  ((uint8_t)0xE0)

+

+#define  TO_G                              ((float)0.001f)

+#define  TO_SI                             ((float)0.00981f)

+

+/*===========================================================================*/

+/* Driver exported variables.                                                */

+/*===========================================================================*/

+

+/*===========================================================================*/

+/* Driver local variables and types.                                         */

+/*===========================================================================*/

+

+/**

+ * @brief  Accelerometer Power Mode

+ */

+typedef enum {

+  LSM303DLHC_ACC_PM_NORMAL = 0x00,  /**< Normal mode enabled                */

+  LSM303DLHC_ACC_PM_LP = 0x08       /**< Low Power mode enabled             */

+} lsm303dlhc_acc_pm_t;

+

+/**

+ * @brief  Accelerometer and Compass Slave Address.

+ */

+typedef enum {

+  LSM303DLHC_SAD_ACC = 0x19,        /**< SAD for accelerometer.             */

+  LSM303DLHC_SAD_COMP = 0x1E        /**< SAD for compass.                   */

+} lsm303dlhc_sad_t;

+/*===========================================================================*/

+/* Driver local functions.                                                   */

+/*===========================================================================*/

+

+#if (LSM303DLHC_USE_I2C) || defined(__DOXYGEN__)

+/**

+ * @brief   Reads registers value using I2C.

+ * @pre     The I2C interface must be initialized and the driver started.

+ * @note    IF_ADD_INC bit must be 1 in CTRL_REG8

+ *

+ * @param[in] i2cp       pointer to the I2C interface

+ * @param[in] sad        slave address without R bit

+ * @param[in] reg        first sub-register address

+ * @return               the read value.

+ */

+uint8_t lsm303dlhcI2CReadRegister(I2CDriver *i2cp, lsm303dlhc_sad_t sad, uint8_t reg,

+                               msg_t* msgp) {

+  msg_t msg;

+#if defined(STM32F103_MCUCONF)

+  uint8_t rxbuf[2];

+  msg = i2cMasterTransmitTimeout(i2cp, sad, &txbuf, 1, rxbuf, 2,

+                                   TIME_INFINITE);

+  if(msgp != NULL){

+    *msgp = msg;

+  }

+  return rxbuf[0];

+#else

+  uint8_t txbuf, rxbuf;

+  txbuf = reg;

+  msg = i2cMasterTransmitTimeout(i2cp, sad, &txbuf, 1, &rxbuf, 1,

+                                        TIME_INFINITE);

+  if(msgp != NULL){

+    *msgp = msg;

+  }

+  return rxbuf;

+#endif

+}

+

+/**

+ * @brief   Writes a value into a register using I2C.

+ * @pre     The I2C interface must be initialized and the driver started.

+ *

+ * @param[in] i2cp       pointer to the I2C interface

+ * @param[in] sad        slave address without R bit

+ * @param[in] sub        sub-register address

+ * @param[in] value      the value to be written

+ * @return               the operation status.

+ */

+msg_t lsm303dlhcI2CWriteRegister(I2CDriver *i2cp, lsm303dlhc_sad_t sad, uint8_t reg,

+                              uint8_t value) {

+  uint8_t rxbuf;

+  uint8_t txbuf[2];

+  if(sad == LSM303DLHC_SAD_ACC) {

+    switch (reg) {

+    default:

+      /* Reserved register must not be written, according to the datasheet

+       * this could permanently damage the device.

+       */

+      osalDbgAssert(FALSE, "lsm303dlhcWriteRegisterI2C(), reserved register");

+    case LSM303DLHC_AD_ACC_STATUS_REG:

+    case LSM303DLHC_AD_ACC_OUT_X_L:

+    case LSM303DLHC_AD_ACC_OUT_X_H:

+    case LSM303DLHC_AD_ACC_OUT_Y_L:

+    case LSM303DLHC_AD_ACC_OUT_Y_H:

+    case LSM303DLHC_AD_ACC_OUT_Z_L:

+    case LSM303DLHC_AD_ACC_OUT_Z_H:

+    case LSM303DLHC_AD_ACC_FIFO_SRC_REG:

+    case LSM303DLHC_AD_ACC_INT1_SRC:

+    case LSM303DLHC_AD_ACC_INT2_SRC:

+    /* Read only registers cannot be written, the command is ignored.*/

+      return MSG_RESET;

+    case LSM303DLHC_AD_ACC_CTRL_REG1:

+    case LSM303DLHC_AD_ACC_CTRL_REG2:

+    case LSM303DLHC_AD_ACC_CTRL_REG3:

+    case LSM303DLHC_AD_ACC_CTRL_REG4:

+    case LSM303DLHC_AD_ACC_CTRL_REG5:

+    case LSM303DLHC_AD_ACC_CTRL_REG6:

+    case LSM303DLHC_AD_ACC_REFERENCE:

+    case LSM303DLHC_AD_ACC_FIFO_CTRL_REG:

+    case LSM303DLHC_AD_ACC_INT1_CFG:

+    case LSM303DLHC_AD_ACC_INT1_THS:

+    case LSM303DLHC_AD_ACC_INT1_DURATION:

+    case LSM303DLHC_AD_ACC_INT2_CFG:

+    case LSM303DLHC_AD_ACC_INT2_THS:

+    case LSM303DLHC_AD_ACC_INT2_DURATION:

+    case LSM303DLHC_AD_ACC_CLICK_CFG:

+    case LSM303DLHC_AD_ACC_CLICK_SRC:

+    case LSM303DLHC_AD_ACC_CLICK_THS:

+    case LSM303DLHC_AD_ACC_TIME_LIMIT:

+    case LSM303DLHC_AD_ACC_TIME_LATENCY:

+    case LSM303DLHC_AD_ACC_TIME_WINDOW:

+      txbuf[0] = reg;

+      txbuf[1] = value;

+      return i2cMasterTransmitTimeout(i2cp, sad, txbuf, 2, &rxbuf, 0, TIME_INFINITE);

+      break;

+    }

+  }

+  if(sad == LSM303DLHC_SAD_COMP) {

+    switch (reg) {

+    default:

+      /* Reserved register must not be written, according to the datasheet

+       * this could permanently damage the device.

+       */

+      osalDbgAssert(FALSE, "lsm303dlhcWriteRegisterI2C(), reserved register");

+    case LSM303DLHC_AD_COMP_OUT_X_H:

+    case LSM303DLHC_AD_COMP_OUT_X_L:

+    case LSM303DLHC_AD_COMP_OUT_Z_H:

+    case LSM303DLHC_AD_COMP_OUT_Z_L:

+    case LSM303DLHC_AD_COMP_OUT_Y_H:

+    case LSM303DLHC_AD_COMP_OUT_Y_L:

+    case LSM303DLHC_AD_COMP_SR_REG:

+    case LSM303DLHC_AD_COMP_IRA_REG:

+    case LSM303DLHC_AD_COMP_IRB_REG:

+    case LSM303DLHC_AD_COMP_IRC_REG:

+    case LSM303DLHC_AD_COMP_TEMP_OUT_H:

+    case LSM303DLHC_AD_COMP_TEMP_OUT_L:

+    /* Read only registers cannot be written, the command is ignored.*/

+      return MSG_RESET;

+    case LSM303DLHC_AD_COMP_CRA_REG:

+    case LSM303DLHC_AD_COMP_CRB_REG:

+    case LSM303DLHC_AD_COMP_MR_REG:

+      txbuf[0] = reg;

+      txbuf[1] = value;

+      return i2cMasterTransmitTimeout(i2cp, sad, txbuf, 2, &rxbuf, 0, TIME_INFINITE);

+      break;

+    }

+  }

+  osalDbgAssert(FALSE, "lsm303dlhcWriteRegisterI2C(), wrong SAD");

+  return MSG_RESET;

+}

+#endif /* LSM303DLHC_USE_I2C */

+

+/*

+ * Interface implementation.

+ */

+static size_t acc_get_axes_number(void *ip) {

+

+  osalDbgCheck(ip != NULL);

+  return LSM303DLHC_ACC_NUMBER_OF_AXES;

+}

+

+static size_t comp_get_axes_number(void *ip) {

+

+  osalDbgCheck(ip != NULL);

+  return LSM303DLHC_COMP_NUMBER_OF_AXES;

+}

+

+static size_t sens_get_axes_number(void *ip) {

+  size_t size = 0;

+  

+  osalDbgCheck(ip != NULL);

+  if (((LSM303DLHCDriver *)ip)->config->acccfg != NULL)

+	size += acc_get_axes_number(ip);

+  if (((LSM303DLHCDriver *)ip)->config->compcfg != NULL)

+    size += comp_get_axes_number(ip);  

+  return size;

+}

+

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

+  int16_t tmp;

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

+              (((LSM303DLHCDriver *)ip)->config->acccfg != NULL));

+  osalDbgAssert((((LSM303DLHCDriver *)ip)->state == LSM303DLHC_READY),

+              "acc_read_raw(), invalid state");

+

+#if LSM303DLHC_USE_I2C

+  osalDbgAssert((((LSM303DLHCDriver *)ip)->config->i2cp->state == I2C_READY),

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

+#if LSM303DLHC_SHARED_I2C

+  i2cAcquireBus(((LSM303DLHCDriver *)ip)->config->i2cp);

+  i2cStart(((LSM303DLHCDriver *)ip)->config->i2cp,

+           ((LSM303DLHCDriver *)ip)->config->i2ccfg);

+#endif /* LSM303DLHC_SHARED_I2C */

+  if(((LSM303DLHCDriver *)ip)->config->acccfg->axesenabling & LSM303DLHC_ACC_AE_X){

+    tmp = lsm303dlhcI2CReadRegister(((LSM303DLHCDriver *)ip)->config->i2cp,

+                                 LSM303DLHC_SAD_ACC,

+                                 LSM303DLHC_AD_ACC_OUT_X_L, NULL);

+    tmp += lsm303dlhcI2CReadRegister(((LSM303DLHCDriver *)ip)->config->i2cp,

+                                  LSM303DLHC_SAD_ACC,

+                                  LSM303DLHC_AD_ACC_OUT_X_H, NULL) << 8;

+    axes[0] = (int32_t)tmp - ((LSM303DLHCDriver *)ip)->accbias[0];

+  }

+  if(((LSM303DLHCDriver *)ip)->config->acccfg->axesenabling & LSM303DLHC_ACC_AE_Y){

+    tmp = lsm303dlhcI2CReadRegister(((LSM303DLHCDriver *)ip)->config->i2cp,

+                                 LSM303DLHC_SAD_ACC,

+                                 LSM303DLHC_AD_ACC_OUT_Y_L, NULL);

+    tmp += lsm303dlhcI2CReadRegister(((LSM303DLHCDriver *)ip)->config->i2cp,

+                                  LSM303DLHC_SAD_ACC,

+                                  LSM303DLHC_AD_ACC_OUT_Y_H, NULL) << 8;

+    axes[1] = (int32_t)tmp - ((LSM303DLHCDriver *)ip)->accbias[1];

+  }

+  if(((LSM303DLHCDriver *)ip)->config->acccfg->axesenabling & LSM303DLHC_ACC_AE_Z){

+    tmp = lsm303dlhcI2CReadRegister(((LSM303DLHCDriver *)ip)->config->i2cp,

+                                 LSM303DLHC_SAD_ACC,

+                                 LSM303DLHC_AD_ACC_OUT_Z_L, NULL);

+    tmp += lsm303dlhcI2CReadRegister(((LSM303DLHCDriver *)ip)->config->i2cp,

+                                  LSM303DLHC_SAD_ACC,

+                                  LSM303DLHC_AD_ACC_OUT_Z_H, NULL) << 8;

+    axes[2] = (int32_t)tmp - ((LSM303DLHCDriver *)ip)->accbias[2];

+  }

+#if LSM303DLHC_SHARED_I2C

+  i2cReleaseBus(((LSM303DLHCDriver *)ip)->config->i2cp);

+#endif /* LSM303DLHC_SHARED_I2C */

+#endif /* LSM303DLHC_USE_I2C */

+  return MSG_OK;

+}

+

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

+  int16_t tmp;

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

+              (((LSM303DLHCDriver *)ip)->config->compcfg != NULL));

+  osalDbgAssert((((LSM303DLHCDriver *)ip)->state == LSM303DLHC_READY),

+              "comp_read_raw(), invalid state");

+

+#if LSM303DLHC_USE_I2C

+  osalDbgAssert((((LSM303DLHCDriver *)ip)->config->i2cp->state == I2C_READY),

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

+#if LSM303DLHC_SHARED_I2C

+  i2cAcquireBus(((LSM303DLHCDriver *)ip)->config->i2cp);

+  i2cStart(((LSM303DLHCDriver *)ip)->config->i2cp,

+           ((LSM303DLHCDriver *)ip)->config->i2ccfg);

+#endif /* LSM303DLHC_SHARED_I2C */

+  tmp = lsm303dlhcI2CReadRegister(((LSM303DLHCDriver *)ip)->config->i2cp,

+                               LSM303DLHC_SAD_COMP,

+                               LSM303DLHC_AD_COMP_OUT_X_L, NULL);

+  tmp += lsm303dlhcI2CReadRegister(((LSM303DLHCDriver *)ip)->config->i2cp,

+                                LSM303DLHC_SAD_COMP,

+                                LSM303DLHC_AD_COMP_OUT_X_H, NULL) << 8;

+  axes[0] = (int32_t)tmp - ((LSM303DLHCDriver *)ip)->compbias[0];

+

+  tmp = lsm303dlhcI2CReadRegister(((LSM303DLHCDriver *)ip)->config->i2cp,

+                               LSM303DLHC_SAD_COMP,

+                               LSM303DLHC_AD_COMP_OUT_Y_L, NULL);

+  tmp += lsm303dlhcI2CReadRegister(((LSM303DLHCDriver *)ip)->config->i2cp,

+                                LSM303DLHC_SAD_COMP,

+                                LSM303DLHC_AD_COMP_OUT_Y_H, NULL) << 8;

+  axes[1] = (int32_t)tmp - ((LSM303DLHCDriver *)ip)->compbias[1];

+

+  tmp = lsm303dlhcI2CReadRegister(((LSM303DLHCDriver *)ip)->config->i2cp,

+                               LSM303DLHC_SAD_COMP,

+                               LSM303DLHC_AD_COMP_OUT_Z_L, NULL);

+  tmp += lsm303dlhcI2CReadRegister(((LSM303DLHCDriver *)ip)->config->i2cp,

+                                LSM303DLHC_SAD_COMP,

+                                LSM303DLHC_AD_COMP_OUT_Z_H, NULL) << 8;

+  axes[2] = (int32_t)tmp - ((LSM303DLHCDriver *)ip)->compbias[2];

+#if LSM303DLHC_SHARED_I2C

+  i2cReleaseBus(((LSM303DLHCDriver *)ip)->config->i2cp);

+#endif /* LSM303DLHC_SHARED_I2C */

+#endif /* LSM303DLHC_USE_I2C */ 

+  return MSG_OK;

+}

+

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

+  int32_t* bp = axes;

+  msg_t msg;

+  if (((LSM303DLHCDriver *)ip)->config->acccfg != NULL) {

+	msg = acc_read_raw(ip, bp);

+	if(msg != MSG_OK)

+	  return msg;

+	bp += LSM303DLHC_ACC_NUMBER_OF_AXES;

+  }

+  if (((LSM303DLHCDriver *)ip)->config->compcfg != NULL) {

+    msg = comp_read_raw(ip, bp);

+  }

+  return msg;

+}

+	

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

+  uint32_t i;

+  int32_t raw[LSM303DLHC_ACC_NUMBER_OF_AXES];

+  msg_t msg;

+

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

+              (((LSM303DLHCDriver *)ip)->config->acccfg != NULL));

+

+  osalDbgAssert((((LSM303DLHCDriver *)ip)->state == LSM303DLHC_READY),

+              "acc_read_cooked(), invalid state");

+

+  msg = acc_read_raw(ip, raw);

+  for(i = 0; i < LSM303DLHC_ACC_NUMBER_OF_AXES ; i++){

+    axes[i] = raw[i] * ((LSM303DLHCDriver *)ip)->accsensitivity[i];

+    if(((LSM303DLHCDriver *)ip)->config->acccfg->unit == LSM303DLHC_ACC_UNIT_G){

+      axes[i] *= TO_G;

+    }

+    else if(((LSM303DLHCDriver *)ip)->config->acccfg->unit == LSM303DLHC_ACC_UNIT_SI){

+      axes[i] *= TO_SI;

+    }

+  }

+  return msg;

+}

+

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

+  uint32_t i;

+  int32_t raw[LSM303DLHC_COMP_NUMBER_OF_AXES];

+  msg_t msg;

+

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

+              (((LSM303DLHCDriver *)ip)->config->compcfg != NULL));

+

+  osalDbgAssert((((LSM303DLHCDriver *)ip)->state == LSM303DLHC_READY),

+              "comp_read_cooked(), invalid state");

+

+  msg = comp_read_raw(ip, raw);

+  for(i = 0; i < LSM303DLHC_COMP_NUMBER_OF_AXES ; i++){

+    axes[i] = raw[i] / ((LSM303DLHCDriver *)ip)->compsensitivity[i];

+  }

+  return msg;

+}

+

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

+  float* bp = axes;

+  msg_t msg;

+  if (((LSM303DLHCDriver *)ip)->config->acccfg != NULL) {

+	msg = acc_read_cooked(ip, bp);

+	if(msg != MSG_OK)

+	  return msg;

+	bp += LSM303DLHC_ACC_NUMBER_OF_AXES;

+  }

+  if (((LSM303DLHCDriver *)ip)->config->compcfg != NULL) {

+    msg = comp_read_cooked(ip, bp);

+  }

+  return msg;

+}

+

+static msg_t acc_set_bias(void *ip, int32_t *bp) {

+  uint32_t i;

+  

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

+

+  osalDbgAssert((((LSM303DLHCDriver *)ip)->state == LSM303DLHC_READY) ||

+                (((LSM303DLHCDriver *)ip)->state == LSM303DLHC_STOP),

+                "acc_set_bias(), invalid state");

+  

+  for(i = 0; i < LSM303DLHC_ACC_NUMBER_OF_AXES; i++) {

+    ((LSM303DLHCDriver *)ip)->accbias[i] = bp[i];

+  }

+  return MSG_OK;

+}

+

+static msg_t comp_set_bias(void *ip, int32_t *bp) {

+  uint32_t i;

+  

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

+

+  osalDbgAssert((((LSM303DLHCDriver *)ip)->state == LSM303DLHC_READY) ||

+                (((LSM303DLHCDriver *)ip)->state == LSM303DLHC_STOP),

+                "comp_set_bias(), invalid state");

+  

+  for(i = 0; i < LSM303DLHC_COMP_NUMBER_OF_AXES; i++) {

+    ((LSM303DLHCDriver *)ip)->compbias[i] = bp[i];

+  }

+  return MSG_OK;

+}

+

+static msg_t acc_reset_bias(void *ip) {

+  uint32_t i;

+

+  osalDbgCheck(ip != NULL);

+

+  osalDbgAssert((((LSM303DLHCDriver *)ip)->state == LSM303DLHC_READY) ||

+                (((LSM303DLHCDriver *)ip)->state == LSM303DLHC_STOP),

+              "acc_reset_bias(), invalid state");

+

+  for(i = 0; i < LSM303DLHC_ACC_NUMBER_OF_AXES; i++)

+    ((LSM303DLHCDriver *)ip)->accbias[i] = 0;

+  return MSG_OK;

+}

+

+static msg_t comp_reset_bias(void *ip) {

+  uint32_t i;

+

+  osalDbgCheck(ip != NULL);

+

+  osalDbgAssert((((LSM303DLHCDriver *)ip)->state == LSM303DLHC_READY) ||

+                (((LSM303DLHCDriver *)ip)->state == LSM303DLHC_STOP),

+              "comp_reset_bias(), invalid state");

+

+  for(i = 0; i < LSM303DLHC_COMP_NUMBER_OF_AXES; i++)

+    ((LSM303DLHCDriver *)ip)->compbias[i] = 0;

+  return MSG_OK;

+}

+

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

+  uint32_t i;

+  

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

+

+  osalDbgAssert((((LSM303DLHCDriver *)ip)->state == LSM303DLHC_READY),

+                "acc_set_sensivity(), invalid state");

+  

+  for(i = 0; i < LSM303DLHC_ACC_NUMBER_OF_AXES; i++) {

+    ((LSM303DLHCDriver *)ip)->accsensitivity[i] = sp[i];

+  }

+  return MSG_OK;

+}

+

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

+  uint32_t i;

+  

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

+

+  osalDbgAssert((((LSM303DLHCDriver *)ip)->state == LSM303DLHC_READY),

+                "comp_set_sensivity(), invalid state");

+  

+  for(i = 0; i < LSM303DLHC_COMP_NUMBER_OF_AXES; i++) {

+    ((LSM303DLHCDriver *)ip)->compsensitivity[i] = sp[i];

+  }

+  return MSG_OK;

+}

+

+static msg_t acc_reset_sensivity(void *ip) {

+  uint32_t i;

+

+  osalDbgCheck(ip != NULL);

+

+  osalDbgAssert((((LSM303DLHCDriver *)ip)->state == LSM303DLHC_READY),

+                "acc_reset_sensivity(), invalid state");

+

+  if(((LSM303DLHCDriver *)ip)->config->acccfg->fullscale == LSM303DLHC_ACC_FS_2G)

+    for(i = 0; i < LSM303DLHC_ACC_NUMBER_OF_AXES; i++)

+      ((LSM303DLHCDriver *)ip)->accsensitivity[i] = LSM303DLHC_ACC_SENS_2G;

+  else if(((LSM303DLHCDriver *)ip)->config->acccfg->fullscale == LSM303DLHC_ACC_FS_4G)

+	for(i = 0; i < LSM303DLHC_ACC_NUMBER_OF_AXES; i++)

+      ((LSM303DLHCDriver *)ip)->accsensitivity[i] = LSM303DLHC_ACC_SENS_4G;

+  else if(((LSM303DLHCDriver *)ip)->config->acccfg->fullscale == LSM303DLHC_ACC_FS_8G)

+	for(i = 0; i < LSM303DLHC_ACC_NUMBER_OF_AXES; i++)

+      ((LSM303DLHCDriver *)ip)->accsensitivity[i] = LSM303DLHC_ACC_SENS_8G;

+  else if(((LSM303DLHCDriver *)ip)->config->acccfg->fullscale == LSM303DLHC_ACC_FS_16G)

+	for(i = 0; i < LSM303DLHC_ACC_NUMBER_OF_AXES; i++)

+      ((LSM303DLHCDriver *)ip)->accsensitivity[i] = LSM303DLHC_ACC_SENS_16G;

+  else {

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

+    return MSG_RESET;

+  }

+  return MSG_OK;

+}

+

+static msg_t comp_reset_sensivity(void *ip) {

+  uint32_t i;

+

+  osalDbgCheck(ip != NULL);

+

+  osalDbgAssert((((LSM303DLHCDriver *)ip)->state == LSM303DLHC_READY),

+                "comp_reset_sensivity(), invalid state");

+

+  if(((LSM303DLHCDriver *)ip)->config->compcfg->fullscale == LSM303DLHC_COMP_FS_1_3_GA)

+    for(i = 0; i < LSM303DLHC_COMP_NUMBER_OF_AXES; i++) {

+      if(i != 2) {

+        ((LSM303DLHCDriver *)ip)->compsensitivity[i] = LSM303DLHC_COMP_SENS_XY_1_3GA;

+      }

+      else {

+        ((LSM303DLHCDriver *)ip)->compsensitivity[i] = LSM303DLHC_COMP_SENS_Z_1_3GA;

+      }

+    }

+  else if(((LSM303DLHCDriver *)ip)->config->compcfg->fullscale == LSM303DLHC_COMP_FS_1_9_GA)

+    for(i = 0; i < LSM303DLHC_COMP_NUMBER_OF_AXES; i++) {

+      if(i != 2) {

+        ((LSM303DLHCDriver *)ip)->compsensitivity[i] = LSM303DLHC_COMP_SENS_XY_1_9GA;

+      }

+      else {

+        ((LSM303DLHCDriver *)ip)->compsensitivity[i] = LSM303DLHC_COMP_SENS_Z_1_9GA;

+      }

+    }

+  else if(((LSM303DLHCDriver *)ip)->config->compcfg->fullscale == LSM303DLHC_COMP_FS_2_5_GA)

+    for(i = 0; i < LSM303DLHC_COMP_NUMBER_OF_AXES; i++) {

+      if(i != 2) {

+        ((LSM303DLHCDriver *)ip)->compsensitivity[i] = LSM303DLHC_COMP_SENS_XY_2_5GA;

+      }

+      else {

+        ((LSM303DLHCDriver *)ip)->compsensitivity[i] = LSM303DLHC_COMP_SENS_Z_2_5GA;

+      }

+    }

+  else if(((LSM303DLHCDriver *)ip)->config->compcfg->fullscale == LSM303DLHC_COMP_FS_4_0_GA)

+    for(i = 0; i < LSM303DLHC_COMP_NUMBER_OF_AXES; i++) {

+      if(i != 2) {

+        ((LSM303DLHCDriver *)ip)->compsensitivity[i] = LSM303DLHC_COMP_SENS_XY_4_0GA;

+      }

+      else {

+        ((LSM303DLHCDriver *)ip)->compsensitivity[i] = LSM303DLHC_COMP_SENS_Z_4_0GA;

+      }

+    }

+  else if(((LSM303DLHCDriver *)ip)->config->compcfg->fullscale == LSM303DLHC_COMP_FS_4_7_GA)

+    for(i = 0; i < LSM303DLHC_COMP_NUMBER_OF_AXES; i++) {

+      if(i != 2) {

+        ((LSM303DLHCDriver *)ip)->compsensitivity[i] = LSM303DLHC_COMP_SENS_XY_4_7GA;

+      }

+      else {

+        ((LSM303DLHCDriver *)ip)->compsensitivity[i] = LSM303DLHC_COMP_SENS_Z_4_7GA;

+      }

+    }

+  else if(((LSM303DLHCDriver *)ip)->config->compcfg->fullscale == LSM303DLHC_COMP_FS_5_6_GA)

+    for(i = 0; i < LSM303DLHC_COMP_NUMBER_OF_AXES; i++) {

+      if(i != 2) {

+        ((LSM303DLHCDriver *)ip)->compsensitivity[i] = LSM303DLHC_COMP_SENS_XY_5_6GA;

+      }

+      else {

+        ((LSM303DLHCDriver *)ip)->compsensitivity[i] = LSM303DLHC_COMP_SENS_Z_5_6GA;

+      }

+    }

+  else if(((LSM303DLHCDriver *)ip)->config->compcfg->fullscale == LSM303DLHC_COMP_FS_8_1_GA)

+    for(i = 0; i < LSM303DLHC_COMP_NUMBER_OF_AXES; i++) {

+      if(i != 2) {

+        ((LSM303DLHCDriver *)ip)->compsensitivity[i] = LSM303DLHC_COMP_SENS_XY_8_1GA;

+      }

+      else {

+        ((LSM303DLHCDriver *)ip)->compsensitivity[i] = LSM303DLHC_COMP_SENS_Z_8_1GA;

+      }

+    }

+  else {

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

+    return MSG_RESET;

+  }

+  return MSG_OK;

+}

+

+static const struct BaseSensorVMT vmt_basesensor = {

+  sens_get_axes_number, sens_read_raw, sens_read_cooked

+};

+

+static const struct BaseCompassVMT vmt_basecompass = {

+  comp_get_axes_number, comp_read_raw, comp_read_cooked,

+  comp_set_bias, comp_reset_bias, comp_set_sensivity, comp_reset_sensivity

+};

+

+static const struct BaseAccelerometerVMT vmt_baseaccelerometer = {

+  acc_get_axes_number, acc_read_raw, acc_read_cooked,

+  acc_set_bias, acc_reset_bias, acc_set_sensivity, acc_reset_sensivity

+};

+

+static const struct LSM303DLHCACCVMT vmt_lsm303dlhcacc = {

+  acc_get_axes_number, acc_read_raw, acc_read_cooked,

+  acc_set_bias, acc_reset_bias, acc_set_sensivity, acc_reset_sensivity

+};

+

+static const struct LSM303DLHCCOMPVMT vmt_lsm303dlhccomp = {

+  comp_get_axes_number, comp_read_raw, comp_read_cooked,

+  comp_set_bias, comp_reset_bias, comp_set_sensivity, comp_reset_sensivity

+};

+

+/*===========================================================================*/

+/* Driver exported functions.                                                */

+/*===========================================================================*/

+

+/**

+ * @brief   Initializes an instance.

+ *

+ * @param[out] devp     pointer to the @p LSM303DLHCDriver object

+ *

+ * @init

+ */

+void lsm303dlhcObjectInit(LSM303DLHCDriver *devp) {

+  uint32_t i;

+  devp->vmt_basesensor = &vmt_basesensor;

+  devp->vmt_baseaccelerometer = &vmt_baseaccelerometer;

+  devp->vmt_basecompass = &vmt_basecompass;

+  devp->vmt_lsm303dlhcacc = &vmt_lsm303dlhcacc;

+  devp->vmt_lsm303dlhccomp = &vmt_lsm303dlhccomp;

+  devp->config = NULL;

+  for(i = 0; i < LSM303DLHC_ACC_NUMBER_OF_AXES; i++)

+    devp->accbias[i] = 0;

+  for(i = 0; i < LSM303DLHC_COMP_NUMBER_OF_AXES; i++)

+    devp->compbias[i] = 0;

+  devp->state  = LSM303DLHC_STOP;

+}

+

+/**

+ * @brief   Configures and activates LSM303DLHC Complex Driver peripheral.

+ *

+ * @param[in] devp      pointer to the @p LSM303DLHCDriver object

+ * @param[in] config    pointer to the @p LSM303DLHCConfig object

+ *

+ * @api

+ */

+void lsm303dlhcStart(LSM303DLHCDriver *devp, const LSM303DLHCConfig *config) {

+  uint32_t i;

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

+

+  osalDbgAssert((devp->state == LSM303DLHC_STOP) || (devp->state == LSM303DLHC_READY),

+              "lsm303dlhcStart(), invalid state");			  

+

+  devp->config = config;

+

+#if LSM303DLHC_USE_I2C

+#if	LSM303DLHC_SHARED_I2C

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

+#endif /* LSM303DLHC_SHARED_I2C */

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

+           (devp)->config->i2ccfg);

+  if((devp)->config->acccfg != NULL) {

+    lsm303dlhcI2CWriteRegister(devp->config->i2cp,

+                               LSM303DLHC_SAD_ACC,

+                               LSM303DLHC_AD_ACC_CTRL_REG1,

+                               devp->config->acccfg->axesenabling |

+                               devp->config->acccfg->outdatarate |

+                               devp->config->acccfg->lowpower);

+    lsm303dlhcI2CWriteRegister(devp->config->i2cp,

+                               LSM303DLHC_SAD_ACC,

+                               LSM303DLHC_AD_ACC_CTRL_REG4,

+                               devp->config->acccfg->endianess |

+                               devp->config->acccfg->fullscale |

+                               devp->config->acccfg->blockdataupdate |

+                               devp->config->acccfg->highresmode);

+  }

+  if((devp)->config->compcfg != NULL) {

+    lsm303dlhcI2CWriteRegister(devp->config->i2cp,

+                               LSM303DLHC_SAD_COMP,

+                               LSM303DLHC_AD_COMP_CRA_REG,

+                               devp->config->compcfg->outputdatarate);

+    lsm303dlhcI2CWriteRegister(devp->config->i2cp,

+                               LSM303DLHC_SAD_COMP,

+                               LSM303DLHC_AD_COMP_CRB_REG,

+                               devp->config->compcfg->fullscale);

+    lsm303dlhcI2CWriteRegister(devp->config->i2cp,

+                               LSM303DLHC_SAD_COMP,

+                               LSM303DLHC_AD_COMP_MR_REG,

+                               devp->config->compcfg->mode);

+  }

+#if	LSM303DLHC_SHARED_I2C

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

+#endif /* LSM303DLHC_SHARED_I2C */  

+#endif /* LSM303DLHC_USE_I2C */

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

+  if((devp)->config->acccfg != NULL) {

+    if(devp->config->acccfg->fullscale == LSM303DLHC_ACC_FS_2G)

+      for(i = 0; i < LSM303DLHC_ACC_NUMBER_OF_AXES; i++)

+        devp->accsensitivity[i] = LSM303DLHC_ACC_SENS_2G;

+    else if(devp->config->acccfg->fullscale == LSM303DLHC_ACC_FS_4G)

+      for(i = 0; i < LSM303DLHC_ACC_NUMBER_OF_AXES; i++)

+        devp->accsensitivity[i] = LSM303DLHC_ACC_SENS_4G;

+    else if(devp->config->acccfg->fullscale == LSM303DLHC_ACC_FS_8G)

+      for(i = 0; i < LSM303DLHC_ACC_NUMBER_OF_AXES; i++)

+        devp->accsensitivity[i] = LSM303DLHC_ACC_SENS_8G;

+    else if(devp->config->acccfg->fullscale == LSM303DLHC_ACC_FS_16G)

+      for(i = 0; i < LSM303DLHC_ACC_NUMBER_OF_AXES; i++)

+        devp->accsensitivity[i] = LSM303DLHC_ACC_SENS_16G;

+    else

+      osalDbgAssert(FALSE, "lsm303dlhcStart(), accelerometer full scale issue");

+  }

+  if((devp)->config->compcfg != NULL) {

+    if(devp->config->compcfg->fullscale == LSM303DLHC_COMP_FS_1_3_GA)

+      for(i = 0; i < LSM303DLHC_COMP_NUMBER_OF_AXES; i++) {

+        if(i != 2) {

+          devp->compsensitivity[i] = LSM303DLHC_COMP_SENS_XY_1_3GA;

+        }

+        else {

+          devp->compsensitivity[i] = LSM303DLHC_COMP_SENS_Z_1_3GA;

+        }

+      }

+    else if(devp->config->compcfg->fullscale == LSM303DLHC_COMP_FS_1_9_GA)

+      for(i = 0; i < LSM303DLHC_COMP_NUMBER_OF_AXES; i++) {

+        if(i != 2) {

+          devp->compsensitivity[i] = LSM303DLHC_COMP_SENS_XY_1_9GA;

+        }

+        else {

+          devp->compsensitivity[i] = LSM303DLHC_COMP_SENS_Z_1_9GA;

+        }

+      }

+    else if(devp->config->compcfg->fullscale == LSM303DLHC_COMP_FS_2_5_GA)

+      for(i = 0; i < LSM303DLHC_COMP_NUMBER_OF_AXES; i++) {

+        if(i != 2) {

+          devp->compsensitivity[i] = LSM303DLHC_COMP_SENS_XY_2_5GA;

+        }

+        else {

+          devp->compsensitivity[i] = LSM303DLHC_COMP_SENS_Z_2_5GA;

+        }

+      }

+    else if(devp->config->compcfg->fullscale == LSM303DLHC_COMP_FS_4_0_GA)

+      for(i = 0; i < LSM303DLHC_COMP_NUMBER_OF_AXES; i++) {

+        if(i != 2) {

+          devp->compsensitivity[i] = LSM303DLHC_COMP_SENS_XY_4_0GA;

+        }

+        else {

+          devp->compsensitivity[i] = LSM303DLHC_COMP_SENS_Z_4_0GA;

+        }

+      }

+    else if(devp->config->compcfg->fullscale == LSM303DLHC_COMP_FS_4_7_GA)

+      for(i = 0; i < LSM303DLHC_COMP_NUMBER_OF_AXES; i++) {

+        if(i != 2) {

+          devp->compsensitivity[i] = LSM303DLHC_COMP_SENS_XY_4_7GA;

+        }

+        else {

+          devp->compsensitivity[i] = LSM303DLHC_COMP_SENS_Z_4_7GA;

+        }

+      }

+    else if(devp->config->compcfg->fullscale == LSM303DLHC_COMP_FS_5_6_GA)

+      for(i = 0; i < LSM303DLHC_COMP_NUMBER_OF_AXES; i++) {

+        if(i != 2) {

+          devp->compsensitivity[i] = LSM303DLHC_COMP_SENS_XY_5_6GA;

+        }

+        else {

+          devp->compsensitivity[i] = LSM303DLHC_COMP_SENS_Z_5_6GA;

+        }

+      }

+    else if(devp->config->compcfg->fullscale == LSM303DLHC_COMP_FS_8_1_GA)

+      for(i = 0; i < LSM303DLHC_COMP_NUMBER_OF_AXES; i++) {

+        if(i != 2) {

+          devp->compsensitivity[i] = LSM303DLHC_COMP_SENS_XY_8_1GA;

+        }

+        else {

+          devp->compsensitivity[i] = LSM303DLHC_COMP_SENS_Z_8_1GA;

+        }

+      }

+    else

+      osalDbgAssert(FALSE, "lsm303dlhcStart(), compass full scale issue");

+  }

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

+  osalThreadSleepMilliseconds(5);

+

+  devp->state = LSM303DLHC_READY;

+} 

+

+/**

+ * @brief   Deactivates the LSM303DLHC Complex Driver peripheral.

+ *

+ * @param[in] devp       pointer to the @p LSM303DLHCDriver object

+ *

+ * @api

+ */

+void lsm303dlhcStop(LSM303DLHCDriver *devp) {

+

+  osalDbgCheck(devp != NULL);

+

+  osalDbgAssert((devp->state == LSM303DLHC_STOP) || (devp->state == LSM303DLHC_READY),

+                "lsm303dlhcStop(), invalid state");

+

+#if (LSM303DLHC_USE_I2C)

+  if (devp->state == LSM303DLHC_STOP) {

+#if	LSM303DLHC_SHARED_I2C

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

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

+             (devp)->config->i2ccfg);

+#endif /* LSM303DLHC_SHARED_I2C */

+    if((devp)->config->acccfg != NULL) {

+      lsm303dlhcI2CWriteRegister(devp->config->i2cp,

+                                 LSM303DLHC_SAD_ACC,

+                                 LSM303DLHC_AD_ACC_CTRL_REG1,

+                                 LSM303DLHC_ACC_AE_DISABLED |

+                                 LSM303DLHC_ACC_ODR_PD);

+    }

+    if((devp)->config->compcfg != NULL) {

+      lsm303dlhcI2CWriteRegister(devp->config->i2cp,

+                                 LSM303DLHC_SAD_COMP,

+                                 LSM303DLHC_AD_COMP_MR_REG,

+                                 LSM303DLHC_COMP_MD_SLEEP);

+    }

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

+#if	LSM303DLHC_SHARED_I2C

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

+#endif /* LSM303DLHC_SHARED_I2C */    

+  }			  

+#endif /* LSM303DLHC_USE_I2C */

+  devp->state = LSM303DLHC_STOP;

+}

+/** @} */