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

1 files changed, 441 insertions, 441 deletions

diff --git a/os/ex/ST/lsm303dlhc.h b/os/ex/ST/lsm303dlhc.h
index 2fe8d70b3..17fd55ec2 100644
--- a/os/ex/ST/lsm303dlhc.h
+++ b/os/ex/ST/lsm303dlhc.h
@@ -1,441 +1,441 @@
-/*
-    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.h
- * @brief   LSM303DLHC MEMS interface module header.
- *
- * @{
- */
-#ifndef _LSM303DLHC_H_
-#define _LSM303DLHC_H_
-
-#include "hal_accelerometer.h"
-#include "hal_compass.h"
-
-/*===========================================================================*/
-/* Driver constants.                                                         */
-/*===========================================================================*/
-
-/**
- * @brief   LSM303DLHC accelerometer subsystem number of axes.
- */
-#define  LSM303DLHC_ACC_NUMBER_OF_AXES         ((size_t)   3U)
-
-/**
- * @brief   LSM303DLHC compass subsystem number of axes.
- */
-#define  LSM303DLHC_COMP_NUMBER_OF_AXES        ((size_t)   3U)
-
-/*===========================================================================*/
-/* Driver pre-compile time settings.                                         */
-/*===========================================================================*/
-
-/**
- * @name    Configuration options
- * @{
- */
-/**
- * @brief   LSM303DLHC SPI interface selector.
- * @details If set to @p TRUE the support for SPI is included.
- * @note    The default is @p FALSE.
- */
-#if !defined(LSM303DLHC_USE_SPI) || defined(__DOXYGEN__)
-#define LSM303DLHC_USE_SPI                     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.
- */
-#if !defined(LSM303DLHC_USE_I2C) || defined(__DOXYGEN__)
-#define LSM303DLHC_USE_I2C                     TRUE
-#endif
-
-/**
- * @brief   LSM303DLHC shared I2C switch.
- * @details If set to @p TRUE the device acquires I2C bus ownership
- *          on each transaction.
- * @note    The default is @p FALSE. Requires I2C_USE_MUTUAL_EXCLUSION.
- */
-#if !defined(LSM303DLHC_SHARED_I2C) || defined(__DOXYGEN__)
-#define LSM303DLHC_SHARED_I2C                  FALSE
-#endif
-/** @} */
-
-/*===========================================================================*/
-/* 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"
-#endif
-
-#if LSM303DLHC_SHARED_I2C && !I2C_USE_MUTUAL_EXCLUSION
-#error "LSM303DLHC_SHARED_I2C requires I2C_USE_MUTUAL_EXCLUSION"
-#endif
-
-/*===========================================================================*/
-/* Driver data structures and types.                                         */
-/*===========================================================================*/
-
-/**
- * @name    LSM303DLHC accelerometer subsystem data structures and types.
- * @{
- */
-
-/**
- * @brief   LSM303DLHC accelerometer subsystem full scale.
- */
-typedef enum {
-  LSM303DLHC_ACC_FS_2G   = 0x00,    /**< Full scale ±2g.                    */
-  LSM303DLHC_ACC_FS_4G   = 0x10,    /**< Full scale ±4g.                    */
-  LSM303DLHC_ACC_FS_8G   = 0x20,    /**< Full scale ±8g.                    */
-  LSM303DLHC_ACC_FS_16G  = 0x30     /**< Full scale ±16g.                   */
-} lsm303dlhc_acc_fs_t;
-
-/**
- * @brief   LSM303DLHC accelerometer subsystem output data rate.
- */
-typedef enum {
-  LSM303DLHC_ACC_ODR_PD = 0x00,     /**< Power down                         */
-  LSM303DLHC_ACC_ODR_1Hz = 0x10,    /**< ODR 1 Hz                           */
-  LSM303DLHC_ACC_ODR_10Hz = 0x20,   /**< ODR 10 Hz                          */
-  LSM303DLHC_ACC_ODR_25Hz = 0x30,   /**< ODR 25 Hz                          */
-  LSM303DLHC_ACC_ODR_50Hz = 0x40,   /**< ODR 50 Hz                          */
-  LSM303DLHC_ACC_ODR_100Hz = 0x50,  /**< ODR 100 Hz                         */
-  LSM303DLHC_ACC_ODR_200Hz = 0x60,  /**< ODR 200 Hz                         */
-  LSM303DLHC_ACC_ODR_400Hz = 0x70,  /**< ODR 400 Hz                         */
-  LSM303DLHC_ACC_ODR_1620Hz = 0x80, /**< ODR 1620 Hz (LP only)              */
-  LSM303DLHC_ACC_ODR_1344Hz = 0x90  /**< ODR 1344 Hz or 5376 Hz in LP       */
-} lsm303dlhc_acc_odr_t;
-
-
-/**
- * @brief   LSM303DLHC accelerometer subsystem axes enabling.
- */
-typedef enum {
-  LSM303DLHC_ACC_AE_DISABLED = 0x00,/**< All axes disabled.                 */
-  LSM303DLHC_ACC_AE_X = 0x01,       /**< Only X-axis enabled.               */
-  LSM303DLHC_ACC_AE_Y = 0x02,       /**< Only Y-axis enabled.               */
-  LSM303DLHC_ACC_AE_XY = 0x03,      /**< X and Y axes enabled.              */
-  LSM303DLHC_ACC_AE_Z = 0x04,       /**< Only Z-axis enabled.               */
-  LSM303DLHC_ACC_AE_XZ = 0x05,      /**< X and Z axes enabled.              */
-  LSM303DLHC_ACC_AE_YZ = 0x06,      /**< Y and Z axes enabled.              */
-  LSM303DLHC_ACC_AE_XYZ = 0x07      /**< All axes enabled.                  */
-} lsm303dlhc_acc_ae_t;
-
-/**
- * @brief   LSM303DLHC accelerometer subsystem low power mode.
- */
-typedef enum {
-  LSM303DLHC_ACC_LP_DISABLED = 0x00,/**< Low power mode disabled.           */
-  LSM303DLHC_ACC_LP_ENABLED = 0x40  /**< Low power mode enabled.            */
-} lsm303dlhc_acc_lp_t;
-
-/**
- * @brief   LSM303DLHC accelerometer subsystem high resolution mode.
- */
-typedef enum {
-  LSM303DLHC_ACC_HR_DISABLED = 0x00,/**< High resolution mode disabled.     */
-  LSM303DLHC_ACC_HR_ENABLED = 0x08  /**< High resolution mode enabled.      */
-} lsm303dlhc_acc_hr_t;
-
-/**
- * @brief   LSM303DLHC accelerometer subsystem block data update.
- */
-typedef enum {
-  LSM303DLHC_ACC_BDU_CONT = 0x00,   /**< Continuous update                  */
-  LSM303DLHC_ACC_BDU_BLOCK = 0x80   /**< Update blocked                     */
-} lsm303dlhc_acc_bdu_t;
-
-/**
- * @brief  LSM303DLHC accelerometer endianness.
- */
-typedef enum {
-  LSM303DLHC_ACC_END_LITTLE = 0x00, /**< Little Endian                      */
-  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.
- */
-typedef struct {
-  /**
-   * @brief   LSM303DLHC accelerometer subsystem full scale.
-   */
-  lsm303dlhc_acc_fs_t          fullscale;
-  /**
-   * @brief   LSM303DLHC accelerometer subsystem output data rate.
-   */
-  lsm303dlhc_acc_odr_t         outdatarate;
-  /**
-   * @brief   LSM303DLHC accelerometer subsystem axes enabling.
-   */
-  lsm303dlhc_acc_ae_t          axesenabling;
-  /**
-   * @brief   LSM303DLHC accelerometer subsystem low power mode.
-   */
-  lsm303dlhc_acc_lp_t          lowpower;
-  /**
-   * @brief   LSM303DLHC accelerometer subsystem high resolution mode.
-   */
-  lsm303dlhc_acc_hr_t          highresmode;
-  /**
-   * @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;
-} LSM303DLHCAccConfig;
-/** @} */
-
-/**
- * @name    LSM303DLHC compass subsystem data structures and types.
- * @{
- */
-/**
- * @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_t;
-
-/**
- * @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_15HZ = 0x10,  /**< ODR 15 Hz                          */
-  LSM303DLHC_COMP_ODR_30HZ = 0x14,  /**< ODR 30 Hz                          */
-  LSM303DLHC_COMP_ODR_75HZ = 0x18,  /**< ODR 75 Hz                          */
-  LSM303DLHC_COMP_ODR_220HZ = 0x1C  /**< ODR 220 Hz                         */
-} lsm303dlhc_comp_odr_t;
-
-/**
- * @brief   LSM303DLHC compass subsystem working mode.
- */
-typedef enum {
-  LSM303DLHC_COMP_MD_CONT = 0x00,   /**< Continuous-Conversion Mode         */
-  LSM303DLHC_COMP_MD_BLOCK = 0x01,  /**< Single-Conversion Mode             */
-  LSM303DLHC_COMP_MD_SLEEP = 0x02   /**< Sleep Mode                         */
-} lsm303dlhc_comp_md_t;
-
-/**
- * @brief   LSM303DLHC compass subsystem configuration structure.
- */
-typedef struct {
-  /**
-   * @brief   LSM303DLHC compass subsystem full scale.
-   */
-  lsm303dlhc_comp_fs_t         fullscale;
-  /**
-   * @brief   LSM303DLHC compass subsystem output data rate.
-   */
-  lsm303dlhc_comp_odr_t        outputdatarate;
-  /**
-   * @brief   LSM303DLHC compass subsystem working mode.
-   */
-  lsm303dlhc_comp_md_t         mode;
-} LSM303DLHCCompConfig;
-/** @} */
-
-/**
- * @name    LSM303DLHC main system data structures and types.
- * @{
- */
-
-/**
- * @brief   Driver state machine possible states.
- */
-typedef enum {
-  LSM303DLHC_UNINIT = 0,            /**< Not initialized.                   */
-  LSM303DLHC_STOP = 1,              /**< Stopped.                           */
-  LSM303DLHC_READY = 2,             /**< Ready.                             */
-} lsm303dlhc_state_t;
-
-/**
- * @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.
-   */
-  I2CDriver                 *i2cp;
-  /**
-   * @brief I2C configuration associated to this LSM303DLHC accelerometer
-   *        subsystem.
-   */
-  const I2CConfig           *i2ccfg;
-#endif /* LSM303DLHC_USE_I2C */
-  /**
-   * @brief   LSM303DLHC accelerometer subsystem configuration structure
-   */
-  const LSM303DLHCAccConfig    *acccfg;
-  /**
-   * @brief   LSM303DLHC compass subsystem configuration structure
-   */
-  const LSM303DLHCCompConfig   *compcfg;
-} LSM303DLHCConfig;
-
-/**
- * @brief   Structure representing a LSM303DLHC driver.
- */
-typedef struct LSM303DLHCDriver LSM303DLHCDriver;
-
-/**
- * @brief   @p LSM303DLHC accelerometer subsystem specific methods.
- */
-#define _lsm303dlhc_acc_methods                                             \
-  _base_accelerometer_methods
-
-/**
- * @brief   @p LSM303DLHC compass subsystem specific methods.
- */
-#define _lsm303dlhc_comp_methods                                            \
-  _base_compass_methods
-
-/**
- * @extends BaseAccelerometerVMT
- *
- * @brief   @p LSM303DLHC accelerometer virtual methods table.
- */
-struct LSM303DLHCACCVMT {
-  _lsm303dlhc_acc_methods
-};
-
-/**
- * @extends BaseCompassVMT
- *
- * @brief   @p LSM303DLHC compass virtual methods table.
- */
-struct LSM303DLHCCOMPVMT {
-  _lsm303dlhc_comp_methods
-};
-
-/**
- * @brief   @p LSM303DLHCDriver specific data.
- */
-#define _lsm303dlhc_data                                                    \
-  _base_accelerometer_data                                                  \
-  _base_compass_data                                                        \
-  /* Driver state.*/                                                        \
-  lsm303dlhc_state_t           state;                                       \
-  /* Current configuration data.*/                                          \
-  const LSM303DLHCConfig       *config;                                     \
-  /* Current accelerometer sensitivity.*/                                   \
-  float                     accsensitivity[LSM303DLHC_ACC_NUMBER_OF_AXES];  \
-  /* Accelerometer bias data.*/                                             \
-  int32_t                   accbias[LSM303DLHC_ACC_NUMBER_OF_AXES];         \
-  /* Current compass sensitivity.*/                                         \
-  float                     compsensitivity[LSM303DLHC_COMP_NUMBER_OF_AXES];\
-  /* Bias data.*/                                                           \
-  int32_t                   compbias[LSM303DLHC_COMP_NUMBER_OF_AXES];
-
-/**
- * @brief   LSM303DLHC 6-axis accelerometer/compass class.
- */
-struct LSM303DLHCDriver {
-  /** @brief BaseSensor Virtual Methods Table. */
-  const struct BaseSensorVMT *vmt_basesensor;
-  /** @brief BaseAccelerometer Virtual Methods Table. */
-  const struct BaseAccelerometerVMT *vmt_baseaccelerometer;
-  /** @brief BaseCompass Virtual Methods Table. */
-  const struct BaseCompassVMT *vmt_basecompass;
-  /** @brief LSM303DLHC Accelerometer Virtual Methods Table. */
-  const struct LSM303DLHCACCVMT *vmt_lsm303dlhcacc;
-  /** @brief LSM303DLHC Compass Virtual Methods Table. */
-  const struct LSM303DLHCCOMPVMT *vmt_lsm303dlhccomp;
-  _lsm303dlhc_data
-};
-/** @} */
-
-/*===========================================================================*/
-/* Driver macros.                                                            */
-/*===========================================================================*/
-
-/*===========================================================================*/
-/* External declarations.                                                    */
-/*===========================================================================*/
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-  void lsm303dlhcObjectInit(LSM303DLHCDriver *devp);
-  void lsm303dlhcStart(LSM303DLHCDriver *devp, const LSM303DLHCConfig *config);
-  void lsm303dlhcStop(LSM303DLHCDriver *devp);
-#ifdef __cplusplus
-}
-#endif
-
-#endif /* _LSM303DLHC_H_ */
-
-/** @} */
+/*

+    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.h

+ * @brief   LSM303DLHC MEMS interface module header.

+ *

+ * @{

+ */

+#ifndef _LSM303DLHC_H_

+#define _LSM303DLHC_H_

+

+#include "hal_accelerometer.h"

+#include "hal_compass.h"

+

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

+/* Driver constants.                                                         */

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

+

+/**

+ * @brief   LSM303DLHC accelerometer subsystem number of axes.

+ */

+#define  LSM303DLHC_ACC_NUMBER_OF_AXES         ((size_t)   3U)

+

+/**

+ * @brief   LSM303DLHC compass subsystem number of axes.

+ */

+#define  LSM303DLHC_COMP_NUMBER_OF_AXES        ((size_t)   3U)

+

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

+/* Driver pre-compile time settings.                                         */

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

+

+/**

+ * @name    Configuration options

+ * @{

+ */

+/**

+ * @brief   LSM303DLHC SPI interface selector.

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

+ * @note    The default is @p FALSE.

+ */

+#if !defined(LSM303DLHC_USE_SPI) || defined(__DOXYGEN__)

+#define LSM303DLHC_USE_SPI                     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.

+ */

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

+#define LSM303DLHC_USE_I2C                     TRUE

+#endif

+

+/**

+ * @brief   LSM303DLHC shared I2C switch.

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

+ *          on each transaction.

+ * @note    The default is @p FALSE. Requires I2C_USE_MUTUAL_EXCLUSION.

+ */

+#if !defined(LSM303DLHC_SHARED_I2C) || defined(__DOXYGEN__)

+#define LSM303DLHC_SHARED_I2C                  FALSE

+#endif

+/** @} */

+

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

+/* 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"

+#endif

+

+#if LSM303DLHC_SHARED_I2C && !I2C_USE_MUTUAL_EXCLUSION

+#error "LSM303DLHC_SHARED_I2C requires I2C_USE_MUTUAL_EXCLUSION"

+#endif

+

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

+/* Driver data structures and types.                                         */

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

+

+/**

+ * @name    LSM303DLHC accelerometer subsystem data structures and types.

+ * @{

+ */

+

+/**

+ * @brief   LSM303DLHC accelerometer subsystem full scale.

+ */

+typedef enum {

+  LSM303DLHC_ACC_FS_2G   = 0x00,    /**< Full scale ±2g.                    */

+  LSM303DLHC_ACC_FS_4G   = 0x10,    /**< Full scale ±4g.                    */

+  LSM303DLHC_ACC_FS_8G   = 0x20,    /**< Full scale ±8g.                    */

+  LSM303DLHC_ACC_FS_16G  = 0x30     /**< Full scale ±16g.                   */

+} lsm303dlhc_acc_fs_t;

+

+/**

+ * @brief   LSM303DLHC accelerometer subsystem output data rate.

+ */

+typedef enum {

+  LSM303DLHC_ACC_ODR_PD = 0x00,     /**< Power down                         */

+  LSM303DLHC_ACC_ODR_1Hz = 0x10,    /**< ODR 1 Hz                           */

+  LSM303DLHC_ACC_ODR_10Hz = 0x20,   /**< ODR 10 Hz                          */

+  LSM303DLHC_ACC_ODR_25Hz = 0x30,   /**< ODR 25 Hz                          */

+  LSM303DLHC_ACC_ODR_50Hz = 0x40,   /**< ODR 50 Hz                          */

+  LSM303DLHC_ACC_ODR_100Hz = 0x50,  /**< ODR 100 Hz                         */

+  LSM303DLHC_ACC_ODR_200Hz = 0x60,  /**< ODR 200 Hz                         */

+  LSM303DLHC_ACC_ODR_400Hz = 0x70,  /**< ODR 400 Hz                         */

+  LSM303DLHC_ACC_ODR_1620Hz = 0x80, /**< ODR 1620 Hz (LP only)              */

+  LSM303DLHC_ACC_ODR_1344Hz = 0x90  /**< ODR 1344 Hz or 5376 Hz in LP       */

+} lsm303dlhc_acc_odr_t;

+

+

+/**

+ * @brief   LSM303DLHC accelerometer subsystem axes enabling.

+ */

+typedef enum {

+  LSM303DLHC_ACC_AE_DISABLED = 0x00,/**< All axes disabled.                 */

+  LSM303DLHC_ACC_AE_X = 0x01,       /**< Only X-axis enabled.               */

+  LSM303DLHC_ACC_AE_Y = 0x02,       /**< Only Y-axis enabled.               */

+  LSM303DLHC_ACC_AE_XY = 0x03,      /**< X and Y axes enabled.              */

+  LSM303DLHC_ACC_AE_Z = 0x04,       /**< Only Z-axis enabled.               */

+  LSM303DLHC_ACC_AE_XZ = 0x05,      /**< X and Z axes enabled.              */

+  LSM303DLHC_ACC_AE_YZ = 0x06,      /**< Y and Z axes enabled.              */

+  LSM303DLHC_ACC_AE_XYZ = 0x07      /**< All axes enabled.                  */

+} lsm303dlhc_acc_ae_t;

+

+/**

+ * @brief   LSM303DLHC accelerometer subsystem low power mode.

+ */

+typedef enum {

+  LSM303DLHC_ACC_LP_DISABLED = 0x00,/**< Low power mode disabled.           */

+  LSM303DLHC_ACC_LP_ENABLED = 0x40  /**< Low power mode enabled.            */

+} lsm303dlhc_acc_lp_t;

+

+/**

+ * @brief   LSM303DLHC accelerometer subsystem high resolution mode.

+ */

+typedef enum {

+  LSM303DLHC_ACC_HR_DISABLED = 0x00,/**< High resolution mode disabled.     */

+  LSM303DLHC_ACC_HR_ENABLED = 0x08  /**< High resolution mode enabled.      */

+} lsm303dlhc_acc_hr_t;

+

+/**

+ * @brief   LSM303DLHC accelerometer subsystem block data update.

+ */

+typedef enum {

+  LSM303DLHC_ACC_BDU_CONT = 0x00,   /**< Continuous update                  */

+  LSM303DLHC_ACC_BDU_BLOCK = 0x80   /**< Update blocked                     */

+} lsm303dlhc_acc_bdu_t;

+

+/**

+ * @brief  LSM303DLHC accelerometer endianness.

+ */

+typedef enum {

+  LSM303DLHC_ACC_END_LITTLE = 0x00, /**< Little Endian                      */

+  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.

+ */

+typedef struct {

+  /**

+   * @brief   LSM303DLHC accelerometer subsystem full scale.

+   */

+  lsm303dlhc_acc_fs_t          fullscale;

+  /**

+   * @brief   LSM303DLHC accelerometer subsystem output data rate.

+   */

+  lsm303dlhc_acc_odr_t         outdatarate;

+  /**

+   * @brief   LSM303DLHC accelerometer subsystem axes enabling.

+   */

+  lsm303dlhc_acc_ae_t          axesenabling;

+  /**

+   * @brief   LSM303DLHC accelerometer subsystem low power mode.

+   */

+  lsm303dlhc_acc_lp_t          lowpower;

+  /**

+   * @brief   LSM303DLHC accelerometer subsystem high resolution mode.

+   */

+  lsm303dlhc_acc_hr_t          highresmode;

+  /**

+   * @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;

+} LSM303DLHCAccConfig;

+/** @} */

+

+/**

+ * @name    LSM303DLHC compass subsystem data structures and types.

+ * @{

+ */

+/**

+ * @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_t;

+

+/**

+ * @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_15HZ = 0x10,  /**< ODR 15 Hz                          */

+  LSM303DLHC_COMP_ODR_30HZ = 0x14,  /**< ODR 30 Hz                          */

+  LSM303DLHC_COMP_ODR_75HZ = 0x18,  /**< ODR 75 Hz                          */

+  LSM303DLHC_COMP_ODR_220HZ = 0x1C  /**< ODR 220 Hz                         */

+} lsm303dlhc_comp_odr_t;

+

+/**

+ * @brief   LSM303DLHC compass subsystem working mode.

+ */

+typedef enum {

+  LSM303DLHC_COMP_MD_CONT = 0x00,   /**< Continuous-Conversion Mode         */

+  LSM303DLHC_COMP_MD_BLOCK = 0x01,  /**< Single-Conversion Mode             */

+  LSM303DLHC_COMP_MD_SLEEP = 0x02   /**< Sleep Mode                         */

+} lsm303dlhc_comp_md_t;

+

+/**

+ * @brief   LSM303DLHC compass subsystem configuration structure.

+ */

+typedef struct {

+  /**

+   * @brief   LSM303DLHC compass subsystem full scale.

+   */

+  lsm303dlhc_comp_fs_t         fullscale;

+  /**

+   * @brief   LSM303DLHC compass subsystem output data rate.

+   */

+  lsm303dlhc_comp_odr_t        outputdatarate;

+  /**

+   * @brief   LSM303DLHC compass subsystem working mode.

+   */

+  lsm303dlhc_comp_md_t         mode;

+} LSM303DLHCCompConfig;

+/** @} */

+

+/**

+ * @name    LSM303DLHC main system data structures and types.

+ * @{

+ */

+

+/**

+ * @brief   Driver state machine possible states.

+ */

+typedef enum {

+  LSM303DLHC_UNINIT = 0,            /**< Not initialized.                   */

+  LSM303DLHC_STOP = 1,              /**< Stopped.                           */

+  LSM303DLHC_READY = 2,             /**< Ready.                             */

+} lsm303dlhc_state_t;

+

+/**

+ * @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.

+   */

+  I2CDriver                 *i2cp;

+  /**

+   * @brief I2C configuration associated to this LSM303DLHC accelerometer

+   *        subsystem.

+   */

+  const I2CConfig           *i2ccfg;

+#endif /* LSM303DLHC_USE_I2C */

+  /**

+   * @brief   LSM303DLHC accelerometer subsystem configuration structure

+   */

+  const LSM303DLHCAccConfig    *acccfg;

+  /**

+   * @brief   LSM303DLHC compass subsystem configuration structure

+   */

+  const LSM303DLHCCompConfig   *compcfg;

+} LSM303DLHCConfig;

+

+/**

+ * @brief   Structure representing a LSM303DLHC driver.

+ */

+typedef struct LSM303DLHCDriver LSM303DLHCDriver;

+

+/**

+ * @brief   @p LSM303DLHC accelerometer subsystem specific methods.

+ */

+#define _lsm303dlhc_acc_methods                                             \

+  _base_accelerometer_methods

+

+/**

+ * @brief   @p LSM303DLHC compass subsystem specific methods.

+ */

+#define _lsm303dlhc_comp_methods                                            \

+  _base_compass_methods

+

+/**

+ * @extends BaseAccelerometerVMT

+ *

+ * @brief   @p LSM303DLHC accelerometer virtual methods table.

+ */

+struct LSM303DLHCACCVMT {

+  _lsm303dlhc_acc_methods

+};

+

+/**

+ * @extends BaseCompassVMT

+ *

+ * @brief   @p LSM303DLHC compass virtual methods table.

+ */

+struct LSM303DLHCCOMPVMT {

+  _lsm303dlhc_comp_methods

+};

+

+/**

+ * @brief   @p LSM303DLHCDriver specific data.

+ */

+#define _lsm303dlhc_data                                                    \

+  _base_accelerometer_data                                                  \

+  _base_compass_data                                                        \

+  /* Driver state.*/                                                        \

+  lsm303dlhc_state_t           state;                                       \

+  /* Current configuration data.*/                                          \

+  const LSM303DLHCConfig       *config;                                     \

+  /* Current accelerometer sensitivity.*/                                   \

+  float                     accsensitivity[LSM303DLHC_ACC_NUMBER_OF_AXES];  \

+  /* Accelerometer bias data.*/                                             \

+  int32_t                   accbias[LSM303DLHC_ACC_NUMBER_OF_AXES];         \

+  /* Current compass sensitivity.*/                                         \

+  float                     compsensitivity[LSM303DLHC_COMP_NUMBER_OF_AXES];\

+  /* Bias data.*/                                                           \

+  int32_t                   compbias[LSM303DLHC_COMP_NUMBER_OF_AXES];

+

+/**

+ * @brief   LSM303DLHC 6-axis accelerometer/compass class.

+ */

+struct LSM303DLHCDriver {

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

+  const struct BaseSensorVMT *vmt_basesensor;

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

+  const struct BaseAccelerometerVMT *vmt_baseaccelerometer;

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

+  const struct BaseCompassVMT *vmt_basecompass;

+  /** @brief LSM303DLHC Accelerometer Virtual Methods Table. */

+  const struct LSM303DLHCACCVMT *vmt_lsm303dlhcacc;

+  /** @brief LSM303DLHC Compass Virtual Methods Table. */

+  const struct LSM303DLHCCOMPVMT *vmt_lsm303dlhccomp;

+  _lsm303dlhc_data

+};

+/** @} */

+

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

+/* Driver macros.                                                            */

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

+

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

+/* External declarations.                                                    */

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

+

+#ifdef __cplusplus

+extern "C" {

+#endif

+  void lsm303dlhcObjectInit(LSM303DLHCDriver *devp);

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

+  void lsm303dlhcStop(LSM303DLHCDriver *devp);

+#ifdef __cplusplus

+}

+#endif

+

+#endif /* _LSM303DLHC_H_ */

+

+/** @} */