diff options
Diffstat (limited to 'os/ex/ST/lis3mdl.h')
| -rw-r--r-- | os/ex/ST/lis3mdl.h | 736 |
1 files changed, 368 insertions, 368 deletions
diff --git a/os/ex/ST/lis3mdl.h b/os/ex/ST/lis3mdl.h index e80579984..3a641b575 100644 --- a/os/ex/ST/lis3mdl.h +++ b/os/ex/ST/lis3mdl.h @@ -1,368 +1,368 @@ -/* - 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 lis3mdl.h - * @brief LIS3MDL MEMS interface module header. - * - * @{ - */ - -#ifndef _LIS3MDL_H_ -#define _LIS3MDL_H_ - -#include "hal_compass.h" - -/*===========================================================================*/ -/* Driver constants. */ -/*===========================================================================*/ - -/** - * @brief LIS3MDL number of axes. - */ -#define LIS3MDL_NUMBER_OF_AXES ((size_t) 3U) - -/*===========================================================================*/ -/* Driver pre-compile time settings. */ -/*===========================================================================*/ - -/** - * @name Configuration options - * @{ - */ -/** - * @brief LIS3MDL SPI interface switch. - * @details If set to @p TRUE the support for SPI is included. - * @note The default is @p FALSE. - */ -#if !defined(LIS3MDL_USE_SPI) || defined(__DOXYGEN__) -#define LIS3MDL_USE_SPI FALSE -#endif - -/** - * @brief LIS3MDL I2C interface switch. - * @details If set to @p TRUE the support for I2C is included. - * @note The default is @p TRUE. - */ -#if !defined(LIS3MDL_USE_I2C) || defined(__DOXYGEN__) -#define LIS3MDL_USE_I2C TRUE -#endif - -/** - * @brief LIS3MDL 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(LIS3MDL_SHARED_I2C) || defined(__DOXYGEN__) -#define LIS3MDL_SHARED_I2C FALSE -#endif -/** @} */ - -/*===========================================================================*/ -/* Derived constants and error checks. */ -/*===========================================================================*/ - -#if !(LIS3MDL_USE_SPI ^ LIS3MDL_USE_I2C) -#error "LIS3MDL_USE_SPI and LIS3MDL_USE_I2C cannot be both true or both false" -#endif - -#if LIS3MDL_USE_SPI && !HAL_USE_SPI -#error "LIS3MDL_USE_SPI requires HAL_USE_SPI" -#endif - -#if LIS3MDL_USE_I2C && !HAL_USE_I2C -#error "LIS3MDL_USE_I2C requires HAL_USE_I2C" -#endif - -#if LIS3MDL_SHARED_I2C && !I2C_USE_MUTUAL_EXCLUSION -#error "LIS3MDL_SHARED_I2C requires I2C_USE_MUTUAL_EXCLUSION" -#endif - -/*===========================================================================*/ -/* Driver data structures and types. */ -/*===========================================================================*/ - -/** - * @name LIS3MDL data structures and types - * @{ - */ -/** - * @brief LIS3MDL slave address - */ -typedef enum { - LIS3MDL_SAD_GND = 0x1C, /**< Slave Address when SA1 is to GND */ - LIS3MDL_SAD_VCC = 0x1E /**< Slave Address when SA1 is to VCC */ -}lis3mdl_sad_t; - -/** - * @brief LIS3MDL full scale - */ -typedef enum { - LIS3MDL_FS_4GA = 0x00, /**< ±4 Gauss */ - LIS3MDL_FS_8GA = 0x02, /**< ±8 Gauss */ - LIS3MDL_FS_12GA = 0x04, /**< ±12 Gauss */ - LIS3MDL_FS_16GA = 0x0C /**< ±16 Gauss */ -}lis3mdl_fs_t; - -/** - * @brief LIS3MDL output data rate - */ -typedef enum { - LIS3MDL_ODR_0_625HZ = 0x00, /**< Output Data Rate = 0.625 Hz */ - LIS3MDL_ODR_1_25HZ = 0x04, /**< Output Data Rate = 1.25 Hz */ - LIS3MDL_ODR_2_5HZ = 0x08, /**< Output Data Rate = 2.5 Hz */ - LIS3MDL_ODR_5HZ = 0x0C, /**< Output Data Rate = 5 Hz */ - LIS3MDL_ODR_10HZ = 0x10, /**< Output Data Rate = 10 Hz */ - LIS3MDL_ODR_20HZ = 0x14, /**< Output Data Rate = 20 Hz */ - LIS3MDL_ODR_40HZ = 0x18, /**< Output Data Rate = 40 Hz */ - LIS3MDL_ODR_80HZ = 0x1C /**< Output Data Rate = 80 Hz */ -}lis3mdl_odr_t; - -/** - * @brief LIS3MDL low power mode configuration - */ -typedef enum { - LIS3MDL_LP_DISABLED = 0x00, /**< Low Power mode disabled */ - LIS3MDL_LP_ENABLED = 0x20 /**< Low Power mode enabled */ -}lis3mdl_lp_t; - -/** - * @brief LIS3MDL conversion mode - */ -typedef enum { - LIS3MDL_MD_CONTINUOUS = 0x00, /**< Continuous conversion mode */ - LIS3MDL_MD_SINGLE = 0x01, /**< Single conversion mode */ - LIS3MDL_MD_POWER_DOWN = 0x02 /**< Power down mode */ -}lis3mdl_md_t; - -/** - * @brief LIS3MDL operation mode for X and Y axes - */ -typedef enum { - LIS3MDL_OMXY_LOW_POWER = 0x00, /**< X-Y axes low power mode */ - LIS3MDL_OMXY_MEDIUM = 0x20, /**< X-Y axes medium performance mode */ - LIS3MDL_OMXY_HIGH = 0x40, /**< X-Y axes high performance mode */ - LIS3MDL_OMXY_ULTRA = 0x60 /**< X-Y axes ultra performance mode */ -}lis3mdl_omxy_t; - -/** - * @brief LIS3MDL operation mode for Z axis - */ -typedef enum { - LIS3MDL_OMZ_LOW_POWER = 0x00, /**< Z axis low power mode */ - LIS3MDL_OMZ_MEDIUM = 0x04, /**< Z axis medium performance mode */ - LIS3MDL_OMZ_HIGH = 0x08, /**< Z axis high performance mode */ - LIS3MDL_OMZ_ULTRA = 0x0C /**< Z axis ultra performance mode */ -}lis3mdl_omz_t; - -/** - * @brief LIS3MDL temperature sensor enabling - */ -typedef enum { - LIS3MDL_TEMP_DISABLED = 0x00, /**< Temperature sensor disabled. */ - LIS3MDL_TEMP_ENABLED = 0x80 /**< Temperature sensor enabled. */ -}lis3mdl_temp_t; - -/** - * @brief LIS3MDL block data update - */ -typedef enum { - LIS3MDL_BDU_CONTINUOUS = 0x00, /**< Continuous Update */ - LIS3MDL_BDU_BLOCKED = 0x40 /**< Block data updated after reading. */ -}lis3mdl_bdu_t; - -/** - * @brief LIS3MDL endianness - */ -typedef enum { - LIS3MDL_END_LITTLE = 0x00, /**< Little endian. */ - LIS3MDL_END_BIG = 0x02 /**< Big endian. */ -}lis3mdl_end_t; - -/** - * @brief Driver state machine possible states. - */ -typedef enum { - LIS3MDL_UNINIT = 0, /**< Not initialized. */ - LIS3MDL_STOP = 1, /**< Stopped. */ - LIS3MDL_READY = 2, /**< Ready. */ -} lis3mdl_state_t; - -/** - * @brief LIS3MDL configuration structure. - */ -typedef struct { - -#if (LIS3MDL_USE_SPI) || defined(__DOXYGEN__) - /** - * @brief SPI driver associated to this LIS3MDL. - */ - SPIDriver *spip; - /** - * @brief SPI configuration associated to this LIS3MDL. - */ - const SPIConfig *spicfg; -#endif /* LIS3MDL_USE_SPI */ -#if (LIS3MDL_USE_I2C) || defined(__DOXYGEN__) - /** - * @brief I2C driver associated to this LIS3MDL. - */ - I2CDriver *i2cp; - /** - * @brief I2C configuration associated to this LIS3MDL. - */ - const I2CConfig *i2ccfg; -#endif /* LIS3MDL_USE_I2C */ - /** - * @brief LIS3MDL slave address - */ - lis3mdl_sad_t slaveaddress; - /** - * @brief LIS3MDL full scale - */ - lis3mdl_fs_t fullscale; - /** - * @brief LIS3MDL output data rate - */ - lis3mdl_odr_t outputdatarate; - /** - * @brief LIS3MDL low power mode configuration - */ - lis3mdl_lp_t lowpowermode; - /** - * @brief LIS3MDL conversion mode - */ - lis3mdl_md_t conversionmode; - /** - * @brief LIS3MDL operation mode for X and Y axes - */ - lis3mdl_omxy_t operationmodexy; - /** - * @brief LIS3MDL operation mode for Z axis - */ - lis3mdl_omz_t operationmodez; - /** - * @brief LIS3MDL temperature sensor enabling - */ - lis3mdl_temp_t temperature; - /** - * @brief LIS3MDL block data update - */ - lis3mdl_bdu_t blockdataupdate; - /** - * @brief LIS3MDL endianness - */ - lis3mdl_end_t endianness; -} LIS3MDLConfig; - -/** - * @brief Structure representing a LIS3MDL driver. - */ -typedef struct LIS3MDLDriver LIS3MDLDriver; - -/** - * @brief @p LIS3MDL specific methods. - */ -#define _lis3mdl_methods \ - _base_compass_methods \ - /* Retrieve the temperature of LIS3MDL chip.*/ \ - msg_t (*get_temperature)(void *instance, float* temperature); - - -/** - * @extends BaseCompassVMT - * - * @brief @p LIS3MDL virtual methods table. - */ -struct LIS3MDLVMT { - _lis3mdl_methods -}; - -/** - * @brief @p LIS3MDLDriver specific data. - */ -#define _lis3mdl_data \ - _base_compass_data \ - /* Driver state.*/ \ - lis3mdl_state_t state; \ - /* Current configuration data.*/ \ - const LIS3MDLConfig *config; \ - /* Current sensitivity.*/ \ - float sensitivity[LIS3MDL_NUMBER_OF_AXES]; \ - /* Bias data.*/ \ - int32_t bias[LIS3MDL_NUMBER_OF_AXES]; - -/** - * @extends BaseCompass - * - * @brief LIS3MDL 3-axis compass class. - * @details This class extends @p BaseCompass by adding physical - * driver implementation. - */ -struct LIS3MDLDriver { - /** @brief BaseSensor Virtual Methods Table. */ - const struct BaseSensorVMT *vmt_basesensor; - /** @brief BaseCompass Virtual Methods Table. */ - const struct BaseCompassVMT *vmt_basecompass; - /** @brief LIS3MDL Virtual Methods Table. */ - const struct LIS3MDLVMT *vmt_lis3mdl; - _lis3mdl_data -}; -/** @} */ - -/*===========================================================================*/ -/* Driver macros. */ -/*===========================================================================*/ - -/** - * @brief Get current MEMS temperature. - * @detail This information is very useful especially for high accuracy IMU. - * @note Temperature sensor must be enabled using a proper configuration. - * - * @param[in] ip pointer to a @p BaseCompass class. - * @param[out] temp the MEMS temperature as single precision floating. - * - * @return The operation status. - * @retval MSG_OK if the function succeeded. - * @retval MSG_RESET if one or more errors occurred. - * @api - */ -#define compassGetTemp(ip, tpp) \ - (ip)->vmt_lis3mdl->get_temperature(ip, tpp) - -/*===========================================================================*/ -/* External declarations. */ -/*===========================================================================*/ - -#ifdef __cplusplus -extern "C" { -#endif - void lis3mdlObjectInit(LIS3MDLDriver *devp); - void lis3mdlStart(LIS3MDLDriver *devp, const LIS3MDLConfig *config); - void lis3mdlStop(LIS3MDLDriver *devp); -#ifdef __cplusplus -} -#endif - -#endif /* _LIS3MDL_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 lis3mdl.h
+ * @brief LIS3MDL MEMS interface module header.
+ *
+ * @{
+ */
+
+#ifndef _LIS3MDL_H_
+#define _LIS3MDL_H_
+
+#include "hal_compass.h"
+
+/*===========================================================================*/
+/* Driver constants. */
+/*===========================================================================*/
+
+/**
+ * @brief LIS3MDL number of axes.
+ */
+#define LIS3MDL_NUMBER_OF_AXES ((size_t) 3U)
+
+/*===========================================================================*/
+/* Driver pre-compile time settings. */
+/*===========================================================================*/
+
+/**
+ * @name Configuration options
+ * @{
+ */
+/**
+ * @brief LIS3MDL SPI interface switch.
+ * @details If set to @p TRUE the support for SPI is included.
+ * @note The default is @p FALSE.
+ */
+#if !defined(LIS3MDL_USE_SPI) || defined(__DOXYGEN__)
+#define LIS3MDL_USE_SPI FALSE
+#endif
+
+/**
+ * @brief LIS3MDL I2C interface switch.
+ * @details If set to @p TRUE the support for I2C is included.
+ * @note The default is @p TRUE.
+ */
+#if !defined(LIS3MDL_USE_I2C) || defined(__DOXYGEN__)
+#define LIS3MDL_USE_I2C TRUE
+#endif
+
+/**
+ * @brief LIS3MDL 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(LIS3MDL_SHARED_I2C) || defined(__DOXYGEN__)
+#define LIS3MDL_SHARED_I2C FALSE
+#endif
+/** @} */
+
+/*===========================================================================*/
+/* Derived constants and error checks. */
+/*===========================================================================*/
+
+#if !(LIS3MDL_USE_SPI ^ LIS3MDL_USE_I2C)
+#error "LIS3MDL_USE_SPI and LIS3MDL_USE_I2C cannot be both true or both false"
+#endif
+
+#if LIS3MDL_USE_SPI && !HAL_USE_SPI
+#error "LIS3MDL_USE_SPI requires HAL_USE_SPI"
+#endif
+
+#if LIS3MDL_USE_I2C && !HAL_USE_I2C
+#error "LIS3MDL_USE_I2C requires HAL_USE_I2C"
+#endif
+
+#if LIS3MDL_SHARED_I2C && !I2C_USE_MUTUAL_EXCLUSION
+#error "LIS3MDL_SHARED_I2C requires I2C_USE_MUTUAL_EXCLUSION"
+#endif
+
+/*===========================================================================*/
+/* Driver data structures and types. */
+/*===========================================================================*/
+
+/**
+ * @name LIS3MDL data structures and types
+ * @{
+ */
+/**
+ * @brief LIS3MDL slave address
+ */
+typedef enum {
+ LIS3MDL_SAD_GND = 0x1C, /**< Slave Address when SA1 is to GND */
+ LIS3MDL_SAD_VCC = 0x1E /**< Slave Address when SA1 is to VCC */
+}lis3mdl_sad_t;
+
+/**
+ * @brief LIS3MDL full scale
+ */
+typedef enum {
+ LIS3MDL_FS_4GA = 0x00, /**< ±4 Gauss */
+ LIS3MDL_FS_8GA = 0x02, /**< ±8 Gauss */
+ LIS3MDL_FS_12GA = 0x04, /**< ±12 Gauss */
+ LIS3MDL_FS_16GA = 0x0C /**< ±16 Gauss */
+}lis3mdl_fs_t;
+
+/**
+ * @brief LIS3MDL output data rate
+ */
+typedef enum {
+ LIS3MDL_ODR_0_625HZ = 0x00, /**< Output Data Rate = 0.625 Hz */
+ LIS3MDL_ODR_1_25HZ = 0x04, /**< Output Data Rate = 1.25 Hz */
+ LIS3MDL_ODR_2_5HZ = 0x08, /**< Output Data Rate = 2.5 Hz */
+ LIS3MDL_ODR_5HZ = 0x0C, /**< Output Data Rate = 5 Hz */
+ LIS3MDL_ODR_10HZ = 0x10, /**< Output Data Rate = 10 Hz */
+ LIS3MDL_ODR_20HZ = 0x14, /**< Output Data Rate = 20 Hz */
+ LIS3MDL_ODR_40HZ = 0x18, /**< Output Data Rate = 40 Hz */
+ LIS3MDL_ODR_80HZ = 0x1C /**< Output Data Rate = 80 Hz */
+}lis3mdl_odr_t;
+
+/**
+ * @brief LIS3MDL low power mode configuration
+ */
+typedef enum {
+ LIS3MDL_LP_DISABLED = 0x00, /**< Low Power mode disabled */
+ LIS3MDL_LP_ENABLED = 0x20 /**< Low Power mode enabled */
+}lis3mdl_lp_t;
+
+/**
+ * @brief LIS3MDL conversion mode
+ */
+typedef enum {
+ LIS3MDL_MD_CONTINUOUS = 0x00, /**< Continuous conversion mode */
+ LIS3MDL_MD_SINGLE = 0x01, /**< Single conversion mode */
+ LIS3MDL_MD_POWER_DOWN = 0x02 /**< Power down mode */
+}lis3mdl_md_t;
+
+/**
+ * @brief LIS3MDL operation mode for X and Y axes
+ */
+typedef enum {
+ LIS3MDL_OMXY_LOW_POWER = 0x00, /**< X-Y axes low power mode */
+ LIS3MDL_OMXY_MEDIUM = 0x20, /**< X-Y axes medium performance mode */
+ LIS3MDL_OMXY_HIGH = 0x40, /**< X-Y axes high performance mode */
+ LIS3MDL_OMXY_ULTRA = 0x60 /**< X-Y axes ultra performance mode */
+}lis3mdl_omxy_t;
+
+/**
+ * @brief LIS3MDL operation mode for Z axis
+ */
+typedef enum {
+ LIS3MDL_OMZ_LOW_POWER = 0x00, /**< Z axis low power mode */
+ LIS3MDL_OMZ_MEDIUM = 0x04, /**< Z axis medium performance mode */
+ LIS3MDL_OMZ_HIGH = 0x08, /**< Z axis high performance mode */
+ LIS3MDL_OMZ_ULTRA = 0x0C /**< Z axis ultra performance mode */
+}lis3mdl_omz_t;
+
+/**
+ * @brief LIS3MDL temperature sensor enabling
+ */
+typedef enum {
+ LIS3MDL_TEMP_DISABLED = 0x00, /**< Temperature sensor disabled. */
+ LIS3MDL_TEMP_ENABLED = 0x80 /**< Temperature sensor enabled. */
+}lis3mdl_temp_t;
+
+/**
+ * @brief LIS3MDL block data update
+ */
+typedef enum {
+ LIS3MDL_BDU_CONTINUOUS = 0x00, /**< Continuous Update */
+ LIS3MDL_BDU_BLOCKED = 0x40 /**< Block data updated after reading. */
+}lis3mdl_bdu_t;
+
+/**
+ * @brief LIS3MDL endianness
+ */
+typedef enum {
+ LIS3MDL_END_LITTLE = 0x00, /**< Little endian. */
+ LIS3MDL_END_BIG = 0x02 /**< Big endian. */
+}lis3mdl_end_t;
+
+/**
+ * @brief Driver state machine possible states.
+ */
+typedef enum {
+ LIS3MDL_UNINIT = 0, /**< Not initialized. */
+ LIS3MDL_STOP = 1, /**< Stopped. */
+ LIS3MDL_READY = 2, /**< Ready. */
+} lis3mdl_state_t;
+
+/**
+ * @brief LIS3MDL configuration structure.
+ */
+typedef struct {
+
+#if (LIS3MDL_USE_SPI) || defined(__DOXYGEN__)
+ /**
+ * @brief SPI driver associated to this LIS3MDL.
+ */
+ SPIDriver *spip;
+ /**
+ * @brief SPI configuration associated to this LIS3MDL.
+ */
+ const SPIConfig *spicfg;
+#endif /* LIS3MDL_USE_SPI */
+#if (LIS3MDL_USE_I2C) || defined(__DOXYGEN__)
+ /**
+ * @brief I2C driver associated to this LIS3MDL.
+ */
+ I2CDriver *i2cp;
+ /**
+ * @brief I2C configuration associated to this LIS3MDL.
+ */
+ const I2CConfig *i2ccfg;
+#endif /* LIS3MDL_USE_I2C */
+ /**
+ * @brief LIS3MDL slave address
+ */
+ lis3mdl_sad_t slaveaddress;
+ /**
+ * @brief LIS3MDL full scale
+ */
+ lis3mdl_fs_t fullscale;
+ /**
+ * @brief LIS3MDL output data rate
+ */
+ lis3mdl_odr_t outputdatarate;
+ /**
+ * @brief LIS3MDL low power mode configuration
+ */
+ lis3mdl_lp_t lowpowermode;
+ /**
+ * @brief LIS3MDL conversion mode
+ */
+ lis3mdl_md_t conversionmode;
+ /**
+ * @brief LIS3MDL operation mode for X and Y axes
+ */
+ lis3mdl_omxy_t operationmodexy;
+ /**
+ * @brief LIS3MDL operation mode for Z axis
+ */
+ lis3mdl_omz_t operationmodez;
+ /**
+ * @brief LIS3MDL temperature sensor enabling
+ */
+ lis3mdl_temp_t temperature;
+ /**
+ * @brief LIS3MDL block data update
+ */
+ lis3mdl_bdu_t blockdataupdate;
+ /**
+ * @brief LIS3MDL endianness
+ */
+ lis3mdl_end_t endianness;
+} LIS3MDLConfig;
+
+/**
+ * @brief Structure representing a LIS3MDL driver.
+ */
+typedef struct LIS3MDLDriver LIS3MDLDriver;
+
+/**
+ * @brief @p LIS3MDL specific methods.
+ */
+#define _lis3mdl_methods \
+ _base_compass_methods \
+ /* Retrieve the temperature of LIS3MDL chip.*/ \
+ msg_t (*get_temperature)(void *instance, float* temperature);
+
+
+/**
+ * @extends BaseCompassVMT
+ *
+ * @brief @p LIS3MDL virtual methods table.
+ */
+struct LIS3MDLVMT {
+ _lis3mdl_methods
+};
+
+/**
+ * @brief @p LIS3MDLDriver specific data.
+ */
+#define _lis3mdl_data \
+ _base_compass_data \
+ /* Driver state.*/ \
+ lis3mdl_state_t state; \
+ /* Current configuration data.*/ \
+ const LIS3MDLConfig *config; \
+ /* Current sensitivity.*/ \
+ float sensitivity[LIS3MDL_NUMBER_OF_AXES]; \
+ /* Bias data.*/ \
+ int32_t bias[LIS3MDL_NUMBER_OF_AXES];
+
+/**
+ * @extends BaseCompass
+ *
+ * @brief LIS3MDL 3-axis compass class.
+ * @details This class extends @p BaseCompass by adding physical
+ * driver implementation.
+ */
+struct LIS3MDLDriver {
+ /** @brief BaseSensor Virtual Methods Table. */
+ const struct BaseSensorVMT *vmt_basesensor;
+ /** @brief BaseCompass Virtual Methods Table. */
+ const struct BaseCompassVMT *vmt_basecompass;
+ /** @brief LIS3MDL Virtual Methods Table. */
+ const struct LIS3MDLVMT *vmt_lis3mdl;
+ _lis3mdl_data
+};
+/** @} */
+
+/*===========================================================================*/
+/* Driver macros. */
+/*===========================================================================*/
+
+/**
+ * @brief Get current MEMS temperature.
+ * @detail This information is very useful especially for high accuracy IMU.
+ * @note Temperature sensor must be enabled using a proper configuration.
+ *
+ * @param[in] ip pointer to a @p BaseCompass class.
+ * @param[out] temp the MEMS temperature as single precision floating.
+ *
+ * @return The operation status.
+ * @retval MSG_OK if the function succeeded.
+ * @retval MSG_RESET if one or more errors occurred.
+ * @api
+ */
+#define compassGetTemp(ip, tpp) \
+ (ip)->vmt_lis3mdl->get_temperature(ip, tpp)
+
+/*===========================================================================*/
+/* External declarations. */
+/*===========================================================================*/
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+ void lis3mdlObjectInit(LIS3MDLDriver *devp);
+ void lis3mdlStart(LIS3MDLDriver *devp, const LIS3MDLConfig *config);
+ void lis3mdlStop(LIS3MDLDriver *devp);
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* _LIS3MDL_H_ */
+
+/** @} */
+
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