diff options
| author | Clyne Sullivan <clyne@bitgloo.com> | 2021-01-22 21:43:36 -0500 |
|---|---|---|
| committer | Clyne Sullivan <clyne@bitgloo.com> | 2021-01-22 21:43:36 -0500 |
| commit | 48026bb824fd2d9cfb00ecd040db6ef3a416bae9 (patch) | |
| tree | c14713aedfe78ee8b34f2e1252408782e2e2ff5d /ChibiOS_20.3.2/os/ex/devices/ST/lis3mdl.h | |
| parent | e080a26651f90c88176140d63a74c93c2f4041a2 (diff) | |
upload initial port
Diffstat (limited to 'ChibiOS_20.3.2/os/ex/devices/ST/lis3mdl.h')
| -rw-r--r-- | ChibiOS_20.3.2/os/ex/devices/ST/lis3mdl.h | 670 |
1 files changed, 670 insertions, 0 deletions
diff --git a/ChibiOS_20.3.2/os/ex/devices/ST/lis3mdl.h b/ChibiOS_20.3.2/os/ex/devices/ST/lis3mdl.h new file mode 100644 index 0000000..59f30f8 --- /dev/null +++ b/ChibiOS_20.3.2/os/ex/devices/ST/lis3mdl.h @@ -0,0 +1,670 @@ +/*
+ ChibiOS - Copyright (C) 2016..2019 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.
+ *
+ * @addtogroup LIS3MDL
+ * @ingroup EX_ST
+ * @{
+ */
+#ifndef _LIS3MDL_H_
+#define _LIS3MDL_H_
+
+#include "ex_compass.h"
+
+/*===========================================================================*/
+/* Driver constants. */
+/*===========================================================================*/
+
+/**
+ * @name Version identification
+ * @{
+ */
+/**
+ * @brief LIS3MDL driver version string.
+ */
+#define EX_LIS3MDL_VERSION "1.1.2"
+
+/**
+ * @brief LIS3MDL driver version major number.
+ */
+#define EX_LIS3MDL_MAJOR 1
+
+/**
+ * @brief LIS3MDL driver version minor number.
+ */
+#define EX_LIS3MDL_MINOR 1
+
+/**
+ * @brief LIS3MDL driver version patch number.
+ */
+#define EX_LIS3MDL_PATCH 2
+/** @} */
+
+/**
+ * @brief LIS3MDL compass subsystem characteristics.
+ * @note Sensitivity is expressed as G/LSB whereas G stands for Gauss.
+ * @note Bias is expressed as G.
+ *
+ * @{
+ */
+#define LIS3MDL_COMP_NUMBER_OF_AXES 3U
+
+#define LIS3MDL_COMP_4GA 4.0f
+#define LIS3MDL_COMP_8GA 8.0f
+#define LIS3MDL_COMP_12GA 12.0f
+#define LIS3MDL_COMP_16GA 16.0f
+
+#define LIS3MDL_COMP_SENS_4GA 0.00014615f
+#define LIS3MDL_COMP_SENS_8GA 0.00029231f
+#define LIS3MDL_COMP_SENS_12GA 0.0004384f
+#define LIS3MDL_COMP_SENS_16GA 0.00058445f
+
+#define LIS3MDL_COMP_BIAS 0.0f
+/** @} */
+
+/**
+ * @name LIS3MDL communication interfaces related bit masks
+ * @{
+ */
+#define LIS3MDL_DI_MASK 0xFF
+#define LIS3MDL_DI(n) (1 << n)
+#define LIS3MDL_AD_MASK 0x3F
+#define LIS3MDL_AD(n) (1 << n)
+#define LIS3MDL_MS (1 << 6)
+#define LIS3MDL_RW (1 << 7)
+
+#define LIS3MDL_SUB_MS (1 << 7)
+/** @} */
+
+/**
+ * @name LIS3MDL register addresses
+ * @{
+ */
+#define LIS3MDL_AD_WHO_AM_I 0x0F
+#define LIS3MDL_AD_CTRL_REG1 0x20
+#define LIS3MDL_AD_CTRL_REG2 0x21
+#define LIS3MDL_AD_CTRL_REG3 0x22
+#define LIS3MDL_AD_CTRL_REG4 0x23
+#define LIS3MDL_AD_CTRL_REG5 0x24
+#define LIS3MDL_AD_STATUS_REG 0x27
+#define LIS3MDL_AD_OUT_X_L 0x28
+#define LIS3MDL_AD_OUT_X_H 0x29
+#define LIS3MDL_AD_OUT_Y_L 0x2A
+#define LIS3MDL_AD_OUT_Y_H 0x2B
+#define LIS3MDL_AD_OUT_Z_L 0x2C
+#define LIS3MDL_AD_OUT_Z_H 0x2D
+#define LIS3MDL_AD_TEMP_OUT_L 0x2E
+#define LIS3MDL_AD_TEMP_OUT_H 0x2F
+#define LIS3MDL_AD_INT_CFG 0x30
+#define LIS3MDL_AD_INT_SOURCE 0x31
+#define LIS3MDL_AD_INT_THS_L 0x32
+#define LIS3MDL_AD_INT_THS_H 0x33
+/** @} */
+
+/**
+ * @name LIS3MDL_CTRL_REG1 register bits definitions
+ * @{
+ */
+#define LIS3MDL_CTRL_REG1_MASK 0xFF
+#define LIS3MDL_CTRL_REG1_ST (1 << 0)
+#define LIS3MDL_CTRL_REG1_FAST_ODR (1 << 1)
+#define LIS3MDL_CTRL_REG1_DO0 (1 << 2)
+#define LIS3MDL_CTRL_REG1_DO1 (1 << 3)
+#define LIS3MDL_CTRL_REG1_DO2 (1 << 4)
+#define LIS3MDL_CTRL_REG1_OM0 (1 << 5)
+#define LIS3MDL_CTRL_REG1_OM1 (1 << 6)
+#define LIS3MDL_CTRL_REG1_TEMP_EN (1 << 7)
+/** @} */
+
+/**
+ * @name LIS3MDL_CTRL_REG2 register bits definitions
+ * @{
+ */
+#define LIS3MDL_CTRL_REG2_MASK 0x6C
+#define LIS3MDL_CTRL_REG2_SOFT_RST (1 << 2)
+#define LIS3MDL_CTRL_REG2_REBOOT (1 << 3)
+#define LIS3MDL_CTRL_REG2_FS_MASK 0x60
+#define LIS3MDL_CTRL_REG2_FS0 (1 << 5)
+#define LIS3MDL_CTRL_REG2_FS1 (1 << 6)
+/** @} */
+
+/**
+ * @name LIS3MDL_CTRL_REG3 register bits definitions
+ * @{
+ */
+#define LIS3MDL_CTRL_REG3_MASK 0x27
+#define LIS3MDL_CTRL_REG3_MD0 (1 << 0)
+#define LIS3MDL_CTRL_REG3_MD1 (1 << 1)
+#define LIS3MDL_CTRL_REG3_SIM (1 << 2)
+#define LIS3MDL_CTRL_REG3_LP (1 << 5)
+/** @} */
+
+/**
+ * @name LIS3MDL_CTRL_REG4 register bits definitions
+ * @{
+ */
+#define LIS3MDL_CTRL_REG4_MASK 0x0E
+#define LIS3MDL_CTRL_REG4_BLE (1 << 1)
+#define LIS3MDL_CTRL_REG4_OMZ0 (1 << 2)
+#define LIS3MDL_CTRL_REG4_OMZ1 (1 << 3)
+/** @} */
+
+/**
+ * @name LIS3MDL_CTRL_REG5 register bits definitions
+ * @{
+ */
+#define LIS3MDL_CTRL_REG5_MASK 0xC0
+#define LIS3MDL_CTRL_REG5_BDU (1 << 6)
+#define LIS3MDL_CTRL_REG5_FAST_READ (1 << 7)
+/** @} */
+
+/*===========================================================================*/
+/* 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 shared SPI switch.
+ * @details If set to @p TRUE the device acquires SPI bus ownership
+ * on each transaction.
+ * @note The default is @p FALSE. Requires SPI_USE_MUTUAL_EXCLUSION.
+ */
+#if !defined(LIS3MDL_SHARED_SPI) || defined(__DOXYGEN__)
+#define LIS3MDL_SHARED_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
+
+/**
+ * @brief LIS3MDL advanced configurations switch.
+ * @details If set to @p TRUE more configurations are available.
+ * @note The default is @p FALSE.
+ */
+#if !defined(LIS3MDL_USE_ADVANCED) || defined(__DOXYGEN__)
+#define LIS3MDL_USE_ADVANCED 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_SHARED_SPI && !SPI_USE_MUTUAL_EXCLUSION
+#error "LIS3MDL_SHARED_SPI requires SPI_USE_MUTUAL_EXCLUSION"
+#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
+
+/*
+ * CHTODO: Add support for LIS3MDL over SPI.
+ */
+#if LIS3MDL_USE_SPI
+#error "LIS3MDL over SPI still not supported"
+#endif
+
+/*===========================================================================*/
+/* Driver data structures and types. */
+/*===========================================================================*/
+
+/**
+ * @name LIS3MDL data structures and types
+ * @{
+ */
+
+/**
+ * @brief LIS3MDL slave address
+ */
+/**
+ * @brief Structure representing a LIS3MDL driver.
+ */
+typedef struct LIS3MDLDriver LIS3MDLDriver;
+
+/**
+ * @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_COMP_FS_4GA = 0x00, /**< �4 Gauss */
+ LIS3MDL_COMP_FS_8GA = 0x20, /**< �8 Gauss */
+ LIS3MDL_COMP_FS_12GA = 0x40, /**< �12 Gauss */
+ LIS3MDL_COMP_FS_16GA = 0x60 /**< �16 Gauss */
+}lis3mdl_comp_fs_t;
+
+/**
+ * @brief LIS3MDL output data rate
+ */
+typedef enum {
+ LIS3MDL_COMP_ODR_0_625HZ = 0x00, /**< Output Data Rate = 0.625 Hz */
+ LIS3MDL_COMP_ODR_1_25HZ = 0x04, /**< Output Data Rate = 1.25 Hz */
+ LIS3MDL_COMP_ODR_2_5HZ = 0x08, /**< Output Data Rate = 2.5 Hz */
+ LIS3MDL_COMP_ODR_5HZ = 0x0C, /**< Output Data Rate = 5 Hz */
+ LIS3MDL_COMP_ODR_10HZ = 0x10, /**< Output Data Rate = 10 Hz */
+ LIS3MDL_COMP_ODR_20HZ = 0x14, /**< Output Data Rate = 20 Hz */
+ LIS3MDL_COMP_ODR_40HZ = 0x18, /**< Output Data Rate = 40 Hz */
+ LIS3MDL_COMP_ODR_80HZ = 0x1C /**< Output Data Rate = 80 Hz */
+}lis3mdl_comp_odr_t;
+
+/**
+ * @brief LIS3MDL low power mode configuration
+ */
+typedef enum {
+ LIS3MDL_COMP_LP_DISABLED = 0x00, /**< Low Power mode disabled */
+ LIS3MDL_COMP_LP_ENABLED = 0x20 /**< Low Power mode enabled */
+}lis3mdl_comp_lp_t;
+
+/**
+ * @brief LIS3MDL conversion mode
+ */
+typedef enum {
+ LIS3MDL_COMP_MD_CONTINUOUS = 0x00,/**< Continuous conversion mode */
+ LIS3MDL_COMP_MD_SINGLE = 0x01, /**< Single conversion mode */
+ LIS3MDL_COMP_MD_POWER_DOWN = 0x02 /**< Power down mode */
+}lis3mdl_comp_md_t;
+
+/**
+ * @brief LIS3MDL operation mode for X and Y axes
+ */
+typedef enum {
+ LIS3MDL_COMP_OMXY_LP = 0x00, /**< X-Y axes low power mode */
+ LIS3MDL_COMP_OMXY_MEDIUM = 0x20, /**< X-Y axes medium performance mode */
+ LIS3MDL_COMP_OMXY_HIGH = 0x40, /**< X-Y axes high performance mode */
+ LIS3MDL_COMP_OMXY_ULTRA = 0x60 /**< X-Y axes ultra performance mode */
+}lis3mdl_comp_omxy_t;
+
+/**
+ * @brief LIS3MDL operation mode for Z axis
+ */
+typedef enum {
+ LIS3MDL_COMP_OMZ_LP = 0x00, /**< Z axis low power mode */
+ LIS3MDL_COMP_OMZ_MEDIUM = 0x04, /**< Z axis medium performance mode */
+ LIS3MDL_COMP_OMZ_HIGH = 0x08, /**< Z axis high performance mode */
+ LIS3MDL_COMP_OMZ_ULTRA = 0x0C /**< Z axis ultra performance mode */
+}lis3mdl_comp_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;
+ /**
+ * @brief LIS3MDL slave address
+ */
+ lis3mdl_sad_t slaveaddress;
+#endif /* LIS3MDL_USE_I2C */
+ /**
+ * @brief LIS3MDL compass subsystem initial sensitivity.
+ */
+ float *compsensitivity;
+ /**
+ * @brief LIS3MDL compass subsystem initial bias.
+ */
+ float *compbias;
+ /**
+ * @brief LIS3MDL compass subsystem full scale.
+ */
+ lis3mdl_comp_fs_t compfullscale;
+ /**
+ * @brief LIS3MDL compass subsystem output data rate.
+ */
+ lis3mdl_comp_odr_t compoutputdatarate;
+#if LIS3MDL_USE_ADVANCED || defined(__DOXYGEN__)
+ /**
+ * @brief LIS3MDL compass subsystem low power mode configuration.
+ */
+ lis3mdl_comp_lp_t complowpowermode;
+ /**
+ * @brief LIS3MDL compass subsystem conversion mode.
+ */
+ lis3mdl_comp_md_t compconversionmode;
+ /**
+ * @brief LIS3MDL compass subsystem operation mode for X and Y axes.
+ */
+ lis3mdl_comp_omxy_t compoperationmodexy;
+ /**
+ * @brief LIS3MDL compass subsystem operation mode for Z axis.
+ */
+ lis3mdl_comp_omz_t compoperationmodez;
+ /**
+ * @brief LIS3MDL block data update.
+ */
+ lis3mdl_bdu_t blockdataupdate;
+ /**
+ * @brief LIS3MDL endianness.
+ */
+ lis3mdl_end_t endianness;
+#endif
+} LIS3MDLConfig;
+
+/**
+ * @brief @p LIS3MDL specific methods.
+ */
+#define _lis3msl_methods_alone \
+ /* Change full scale value of LIS3MDL compass subsystem.*/ \
+ msg_t (*comp_set_full_scale)(LIS3MDLDriver *devp, lis3mdl_comp_fs_t fs);
+
+/**
+ * @brief @p LIS3MDL specific methods with inherited ones.
+ */
+#define _lis3mdl_methods \
+ _base_object_methods \
+ _lis3msl_methods_alone
+
+/**
+ * @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; \
+ /* Compass subsystem axes number.*/ \
+ size_t compaxes; \
+ /* Compass subsystem current sensitivity.*/ \
+ float compsensitivity[LIS3MDL_COMP_NUMBER_OF_AXES]; \
+ /* Compass subsystem current bias.*/ \
+ float compbias[LIS3MDL_COMP_NUMBER_OF_AXES]; \
+ /* Compass subsystem current full scale value.*/ \
+ float compfullscale;
+
+/**
+ * @brief LIS3MDL 3-axis compass class.
+ */
+struct LIS3MDLDriver {
+ /** @brief Virtual Methods Table.*/
+ const struct LIS3MDLVMT *vmt;
+ /** @brief Base compass interface.*/
+ BaseCompass comp_if;
+ _lis3mdl_data
+};
+/** @} */
+
+/*===========================================================================*/
+/* Driver macros. */
+/*===========================================================================*/
+
+/**
+ * @brief Return the number of axes of the BaseCompass.
+ *
+ * @param[in] devp pointer to @p LIS3MDLDriver.
+ *
+ * @return the number of axes.
+ *
+ * @api
+ */
+#define lis3mdlCompassGetAxesNumber(devp) \
+ compassGetAxesNumber(&((devp)->comp_if))
+
+/**
+ * @brief Retrieves raw data from the BaseCompass.
+ * @note This data is retrieved from MEMS register without any algebraical
+ * manipulation.
+ * @note The axes array must be at least the same size of the
+ * BaseCompass axes number.
+ *
+ * @param[in] devp pointer to @p BaseCompass interface.
+ * @param[out] axes a buffer which would be filled with raw data.
+ *
+ * @return The operation status.
+ * @retval MSG_OK if the function succeeded.
+ * @retval MSG_RESET if one or more I2C errors occurred, the errors can
+ * be retrieved using @p i2cGetErrors().
+ * @retval MSG_TIMEOUT if a timeout occurred before operation end.
+ *
+ * @api
+ */
+#define lis3mdlCompassReadRaw(devp, axes) \
+ compassReadRaw(&((devp)->comp_if), axes)
+
+/**
+ * @brief Retrieves cooked data from the BaseCompass.
+ * @note This data is manipulated according to the formula
+ * cooked = (raw * sensitivity) - bias.
+ * @note Final data is expressed as G.
+ * @note The axes array must be at least the same size of the
+ * BaseCompass axes number.
+ *
+ * @param[in] devp pointer to @p BaseCompass interface.
+ * @param[out] axes a buffer which would be filled with cooked data.
+ *
+ * @return The operation status.
+ * @retval MSG_OK if the function succeeded.
+ * @retval MSG_RESET if one or more I2C errors occurred, the errors can
+ * be retrieved using @p i2cGetErrors().
+ * @retval MSG_TIMEOUT if a timeout occurred before operation end.
+ *
+ * @api
+ */
+#define lis3mdlCompassReadCooked(devp, axes) \
+ compassReadCooked(&((devp)->comp_if), axes)
+
+/**
+ * @brief Set bias values for the BaseCompass.
+ * @note Bias must be expressed as G.
+ * @note The bias buffer must be at least the same size of the
+ * BaseCompass axes number.
+ *
+ * @param[in] devp pointer to @p BaseCompass interface.
+ * @param[in] bp a buffer which contains biases.
+ *
+ * @return The operation status.
+ * @retval MSG_OK if the function succeeded.
+ *
+ * @api
+ */
+#define lis3mdlCompassSetBias(devp, bp) \
+ compassSetBias(&((devp)->comp_if), bp)
+
+/**
+ * @brief Reset bias values for the BaseCompass.
+ * @note Default biases value are obtained from device datasheet when
+ * available otherwise they are considered zero.
+ *
+ * @param[in] devp pointer to @p LIS3MDLDriver.
+ *
+ * @return The operation status.
+ * @retval MSG_OK if the function succeeded.
+ *
+ * @api
+ */
+#define lis3mdlCompassResetBias(devp) \
+ compassResetBias(&((devp)->comp_if))
+
+/**
+ * @brief Set sensitivity values for the BaseCompass.
+ * @note Sensitivity must be expressed as G/LSB.
+ * @note The sensitivity buffer must be at least the same size of the
+ * BaseCompass axes number.
+ *
+ * @param[in] devp pointer to @p LIS3MDLDriver.
+ * @param[in] sp a buffer which contains sensitivities.
+ *
+ * @return The operation status.
+ * @retval MSG_OK if the function succeeded.
+ *
+ * @api
+ */
+#define lis3mdlCompassSetSensitivity(devp, sp) \
+ compassSetSensitivity(&((devp)->comp_if), sp)
+
+/**
+ * @brief Reset sensitivity values for the BaseCompass.
+ * @note Default sensitivities value are obtained from device datasheet.
+ *
+ * @param[in] devp pointer to @p LIS3MDLDriver.
+ *
+ * @return The operation status.
+ * @retval MSG_OK if the function succeeded.
+ * @retval MSG_RESET otherwise.
+ *
+ * @api
+ */
+#define lis3mdlCompassResetSensitivity(devp) \
+ compassResetSensitivity(&((devp)->comp_if))
+
+/**
+ * @brief Changes the LIS3MDLDriver compass fullscale value.
+ * @note This function also rescale sensitivities and biases based on
+ * previous and next fullscale value.
+ * @note A recalibration is highly suggested after calling this function.
+ *
+ * @param[in] devp pointer to @p LIS3MDLDriver.
+ * @param[in] fs new fullscale value.
+ *
+ * @return The operation status.
+ * @retval MSG_OK if the function succeeded.
+ * @retval MSG_RESET otherwise.
+ *
+ * @api
+ */
+#define lis3mdlCompassSetFullScale(devp, fs) \
+ (devp)->vmt->comp_set_full_scale(devp, fs)
+
+/*===========================================================================*/
+/* 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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