diff options
Diffstat (limited to 'ChibiOS_20.3.2/os/ex/devices/ST/lis3dsh.h')
| -rw-r--r-- | ChibiOS_20.3.2/os/ex/devices/ST/lis3dsh.h | 708 |
1 files changed, 708 insertions, 0 deletions
diff --git a/ChibiOS_20.3.2/os/ex/devices/ST/lis3dsh.h b/ChibiOS_20.3.2/os/ex/devices/ST/lis3dsh.h new file mode 100644 index 0000000..062f7b2 --- /dev/null +++ b/ChibiOS_20.3.2/os/ex/devices/ST/lis3dsh.h @@ -0,0 +1,708 @@ +/*
+ 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 lis3dsh.h
+ * @brief LIS3DSH MEMS interface module header.
+ *
+ * @addtogroup LIS3DSH
+ * @ingroup EX_ST
+ * @{
+ */
+
+#ifndef _LIS3DSH_H_
+#define _LIS3DSH_H_
+
+#include "ex_accelerometer.h"
+
+/*===========================================================================*/
+/* Driver constants. */
+/*===========================================================================*/
+
+/**
+ * @name Version identification
+ * @{
+ */
+/**
+ * @brief LIS3DSH driver version string.
+ */
+#define EX_LIS3DSH_VERSION "1.1.2"
+
+/**
+ * @brief LIS3DSH driver version major number.
+ */
+#define EX_LIS3DSH_MAJOR 1
+
+/**
+ * @brief LIS3DSH driver version minor number.
+ */
+#define EX_LIS3DSH_MINOR 1
+
+/**
+ * @brief LIS3DSH driver version patch number.
+ */
+#define EX_LIS3DSH_PATCH 2
+/** @} */
+
+/**
+ * @brief LIS3DSH accelerometer subsystem characteristics.
+ * @note Sensitivity is expressed as milli-G/LSB whereas
+ * 1 milli-G = 0.00980665 m/s^2.
+ * @note Bias is expressed as milli-G.
+ *
+ * @{
+ */
+#define LIS3DSH_ACC_NUMBER_OF_AXES 3U
+
+#define LIS3DSH_ACC_2G 2.0f
+#define LIS3DSH_ACC_4G 4.0f
+#define LIS3DSH_ACC_6G 6.0f
+#define LIS3DSH_ACC_8G 8.0f
+#define LIS3DSH_ACC_16G 16.0f
+
+#define LIS3DSH_ACC_SENS_2G 0.06f
+#define LIS3DSH_ACC_SENS_4G 0.12f
+#define LIS3DSH_ACC_SENS_6G 0.18f
+#define LIS3DSH_ACC_SENS_8G 0.24f
+#define LIS3DSH_ACC_SENS_16G 0.73f
+
+#define LIS3DSH_ACC_BIAS 0.0f
+/** @} */
+
+/**
+ * @name LIS3DSH communication interfaces related bit masks
+ * @{
+ */
+#define LIS3DSH_DI_MASK 0xFF
+#define LIS3DSH_DI(n) (1 << n)
+#define LIS3DSH_AD_MASK 0x3F
+#define LIS3DSH_AD(n) (1 << n)
+#define LIS3DSH_MS (1 << 6)
+#define LIS3DSH_RW (1 << 7)
+/** @} */
+
+/**
+ * @name LIS3DSH register addresses
+ * @{
+ */
+#define LIS3DSH_AD_OUT_T 0x0C
+#define LIS3DSH_AD_INFO1 0x0D
+#define LIS3DSH_AD_INFO2 0x0E
+#define LIS3DSH_AD_WHO_AM_I 0x0F
+#define LIS3DSH_AD_OFF_X 0x10
+#define LIS3DSH_AD_OFF_Y 0x11
+#define LIS3DSH_AD_OFF_Z 0x12
+#define LIS3DSH_AD_CS_X 0x13
+#define LIS3DSH_AD_CS_Y 0x14
+#define LIS3DSH_AD_CS_Z 0x15
+#define LIS3DSH_AD_LC_L 0x16
+#define LIS3DSH_AD_LC_H 0x17
+#define LIS3DSH_AD_STAT 0x18
+#define LIS3DSH_AD_PEAK1 0x19
+#define LIS3DSH_AD_PEAK2 0x1A
+#define LIS3DSH_AD_VFC_1 0x1B
+#define LIS3DSH_AD_VFC_2 0x1C
+#define LIS3DSH_AD_VFC_3 0x1D
+#define LIS3DSH_AD_VFC_4 0x1E
+#define LIS3DSH_AD_THRS3 0x1F
+#define LIS3DSH_AD_CTRL_REG4 0x20
+#define LIS3DSH_AD_CTRL_REG1 0x21
+#define LIS3DSH_AD_CTRL_REG2 0x22
+#define LIS3DSH_AD_CTRL_REG3 0x23
+#define LIS3DSH_AD_CTRL_REG5 0x24
+#define LIS3DSH_AD_CTRL_REG6 0x25
+#define LIS3DSH_AD_STATUS 0x27
+#define LIS3DSH_AD_OUT_X_L 0x28
+#define LIS3DSH_AD_OUT_X_H 0x29
+#define LIS3DSH_AD_OUT_Y_L 0x2A
+#define LIS3DSH_AD_OUT_Y_H 0x2B
+#define LIS3DSH_AD_OUT_Z_L 0x2C
+#define LIS3DSH_AD_OUT_Z_H 0x2D
+#define LIS3DSH_AD_FIFO_CTRL 0x2E
+#define LIS3DSH_AD_FIFO_SRC 0x2F
+#define LIS3DSH_AD_ST1_0 0x40
+#define LIS3DSH_AD_ST1_1 0x41
+#define LIS3DSH_AD_ST1_2 0x42
+#define LIS3DSH_AD_ST1_3 0x43
+#define LIS3DSH_AD_ST1_4 0x44
+#define LIS3DSH_AD_ST1_5 0x45
+#define LIS3DSH_AD_ST1_6 0x46
+#define LIS3DSH_AD_ST1_7 0x47
+#define LIS3DSH_AD_ST1_8 0x48
+#define LIS3DSH_AD_ST1_9 0x49
+#define LIS3DSH_AD_ST1_A 0x4A
+#define LIS3DSH_AD_ST1_B 0x4B
+#define LIS3DSH_AD_ST1_C 0x4C
+#define LIS3DSH_AD_ST1_D 0x4D
+#define LIS3DSH_AD_ST1_E 0x4E
+#define LIS3DSH_AD_ST1_F 0x4F
+#define LIS3DSH_AD_TIM4_1 0x50
+#define LIS3DSH_AD_TIM3_1 0x51
+#define LIS3DSH_AD_TIM2_1_L 0x52
+#define LIS3DSH_AD_TIM2_1_H 0x53
+#define LIS3DSH_AD_TIM1_1_L 0x54
+#define LIS3DSH_AD_TIM1_1_H 0x55
+#define LIS3DSH_AD_THRS2_1 0x56
+#define LIS3DSH_AD_THRS1_1 0x57
+#define LIS3DSH_AD_MASK1_B 0x59
+#define LIS3DSH_AD_MASK1_A 0x5A
+#define LIS3DSH_AD_SETT1 0x5B
+#define LIS3DSH_AD_PR1 0x5C
+#define LIS3DSH_AD_TC1_L 0x5D
+#define LIS3DSH_AD_TC1_H 0x5E
+#define LIS3DSH_AD_OUTS1 0x5F
+#define LIS3DSH_AD_ST2_0 0x60
+#define LIS3DSH_AD_ST2_1 0x61
+#define LIS3DSH_AD_ST2_2 0x62
+#define LIS3DSH_AD_ST2_3 0x63
+#define LIS3DSH_AD_ST2_4 0x64
+#define LIS3DSH_AD_ST2_5 0x65
+#define LIS3DSH_AD_ST2_6 0x66
+#define LIS3DSH_AD_ST2_7 0x67
+#define LIS3DSH_AD_ST2_8 0x68
+#define LIS3DSH_AD_ST2_9 0x69
+#define LIS3DSH_AD_ST2_A 0x6A
+#define LIS3DSH_AD_ST2_B 0x6B
+#define LIS3DSH_AD_ST2_C 0x6C
+#define LIS3DSH_AD_ST2_D 0x6D
+#define LIS3DSH_AD_ST2_E 0x6E
+#define LIS3DSH_AD_ST2_F 0x6F
+#define LIS3DSH_AD_TIM4_2 0x70
+#define LIS3DSH_AD_TIM3_2 0x71
+#define LIS3DSH_AD_TIM2_2_L 0x72
+#define LIS3DSH_AD_TIM2_2_H 0x73
+#define LIS3DSH_AD_TIM1_2_L 0x74
+#define LIS3DSH_AD_TIM1_2_H 0x75
+#define LIS3DSH_AD_THRS2_2 0x76
+#define LIS3DSH_AD_THRS1_2 0x77
+#define LIS3DSH_AD_DES2 0x78
+#define LIS3DSH_AD_MASK2_B 0x79
+#define LIS3DSH_AD_MASK2_A 0x7A
+#define LIS3DSH_AD_SETT2 0x7B
+#define LIS3DSH_AD_PR2 0x7C
+#define LIS3DSH_AD_TC2_L 0x7D
+#define LIS3DSH_AD_TC2_H 0x7E
+#define LIS3DSH_AD_OUTS2 0x7F
+/** @} */
+
+/**
+ * @name LIS3DSH_CTRL_REG1 register bits definitions
+ * @{
+ */
+#define LIS3DSH_CTRL_REG1_MASK 0xE9
+#define LIS3DSH_CTRL_REG1_SM1_EN (1 << 0)
+#define LIS3DSH_CTRL_REG1_SM1_PIN (1 << 3)
+#define LIS3DSH_CTRL_REG1_HYST0_1 (1 << 5)
+#define LIS3DSH_CTRL_REG1_HYST1_1 (1 << 6)
+#define LIS3DSH_CTRL_REG1_HYST2_1 (1 << 7)
+/** @} */
+
+/**
+ * @name LIS3DSH_CTRL_REG2 register bits definitions
+ * @{
+ */
+#define LIS3DSH_CTRL_REG2_MASK 0xE9
+#define LIS3DSH_CTRL_REG2_SM2_EN (1 << 0)
+#define LIS3DSH_CTRL_REG2_SM2_PIN (1 << 3)
+#define LIS3DSH_CTRL_REG2_HYST0_2 (1 << 5)
+#define LIS3DSH_CTRL_REG2_HYST1_2 (1 << 6)
+#define LIS3DSH_CTRL_REG2_HYST2_2 (1 << 7)
+/** @} */
+
+/**
+ * @name LIS3DSH_CTRL_REG3 register bits definitions
+ * @{
+ */
+#define LIS3DSH_CTRL_REG3_MASK 0xFF
+#define LIS3DSH_CTRL_REG3_STRT (1 << 0)
+#define LIS3DSH_CTRL_REG3_VFILT (1 << 2)
+#define LIS3DSH_CTRL_REG3_INT1_EN (1 << 3)
+#define LIS3DSH_CTRL_REG3_INT2_EN (1 << 4)
+#define LIS3DSH_CTRL_REG3_IEL (1 << 5)
+#define LIS3DSH_CTRL_REG3_IEA (1 << 6)
+#define LIS3DSH_CTRL_REG3_DR_EN (1 << 7)
+/** @} */
+
+/**
+ * @name LIS3DSH_CTRL_REG4 register bits definitions
+ * @{
+ */
+#define LIS3DSH_CTRL_REG4_MASK 0xFF
+#define LIS3DSH_CTRL_REG4_XEN (1 << 0)
+#define LIS3DSH_CTRL_REG4_YEN (1 << 1)
+#define LIS3DSH_CTRL_REG4_ZEN (1 << 2)
+#define LIS3DSH_CTRL_REG4_BDU (1 << 3)
+#define LIS3DSH_CTRL_REG4_ODR_0 (1 << 4)
+#define LIS3DSH_CTRL_REG4_ODR_1 (1 << 5)
+#define LIS3DSH_CTRL_REG4_ODR_2 (1 << 6)
+#define LIS3DSH_CTRL_REG4_ODR_3 (1 << 7)
+/** @} */
+
+/**
+ * @name LIS3DSH_CTRL_REG5 register bits definitions
+ * @{
+ */
+#define LIS3DSH_CTRL_REG5_MASK 0xFF
+#define LIS3DSH_CTRL_REG5_SIM (1 << 0)
+#define LIS3DSH_CTRL_REG5_ST1 (1 << 1)
+#define LIS3DSH_CTRL_REG5_ST2 (1 << 2)
+#define LIS3DSH_CTRL_REG5_FS_MASK 0x38
+#define LIS3DSH_CTRL_REG5_FS0 (1 << 3)
+#define LIS3DSH_CTRL_REG5_FS1 (1 << 4)
+#define LIS3DSH_CTRL_REG5_FS2 (1 << 5)
+#define LIS3DSH_CTRL_REG5_BW1 (1 << 6)
+#define LIS3DSH_CTRL_REG5_BW2 (1 << 7)
+/** @} */
+
+/**
+ * @name LIS3DSH_CTRL_REG6 register bits definitions
+ * @{
+ */
+#define LIS3DSH_CTRL_REG6_MASK 0xFF
+#define LIS3DSH_CTRL_REG6_P2_BOOT (1 << 0)
+#define LIS3DSH_CTRL_REG6_P1_OVRUN (1 << 1)
+#define LIS3DSH_CTRL_REG6_P1_WTM (1 << 2)
+#define LIS3DSH_CTRL_REG6_P1_EMPTY (1 << 3)
+#define LIS3DSH_CTRL_REG6_ADD_INC (1 << 4)
+#define LIS3DSH_CTRL_REG6_WTM_EN (1 << 5)
+#define LIS3DSH_CTRL_REG6_FIFO_EN (1 << 6)
+#define LIS3DSH_CTRL_REG6_BOOT (1 << 7)
+/** @} */
+
+/*===========================================================================*/
+/* Driver pre-compile time settings. */
+/*===========================================================================*/
+
+/**
+ * @name Configuration options
+ * @{
+ */
+/**
+ * @brief LIS3DSH SPI interface switch.
+ * @details If set to @p TRUE the support for SPI is included.
+ * @note The default is @p TRUE.
+ */
+#if !defined(LIS3DSH_USE_SPI) || defined(__DOXYGEN__)
+#define LIS3DSH_USE_SPI TRUE
+#endif
+
+/**
+ * @brief LIS3DSH 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(LIS3DSH_SHARED_SPI) || defined(__DOXYGEN__)
+#define LIS3DSH_SHARED_SPI FALSE
+#endif
+
+/**
+ * @brief LIS3DSH I2C interface switch.
+ * @details If set to @p TRUE the support for I2C is included.
+ * @note The default is @p FALSE.
+ */
+#if !defined(LIS3DSH_USE_I2C) || defined(__DOXYGEN__)
+#define LIS3DSH_USE_I2C FALSE
+#endif
+
+/**
+ * @brief LIS3DSH 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(LIS3DSH_SHARED_I2C) || defined(__DOXYGEN__)
+#define LIS3DSH_SHARED_I2C FALSE
+#endif
+
+/**
+ * @brief LIS3DSH advanced configurations switch.
+ * @details If set to @p TRUE more configurations are available.
+ * @note The default is @p FALSE.
+ */
+#if !defined(LIS3DSH_USE_ADVANCED) || defined(__DOXYGEN__)
+#define LIS3DSH_USE_ADVANCED FALSE
+#endif
+/** @} */
+
+/*===========================================================================*/
+/* Derived constants and error checks. */
+/*===========================================================================*/
+
+#if !(LIS3DSH_USE_SPI ^ LIS3DSH_USE_I2C)
+#error "LIS3DSH_USE_SPI and LIS3DSH_USE_I2C cannot be both true or both false"
+#endif
+
+#if LIS3DSH_USE_SPI && !HAL_USE_SPI
+#error "LIS3DSH_USE_SPI requires HAL_USE_SPI"
+#endif
+
+#if LIS3DSH_SHARED_SPI && !SPI_USE_MUTUAL_EXCLUSION
+#error "LIS3DSH_SHARED_SPI requires SPI_USE_MUTUAL_EXCLUSION"
+#endif
+
+#if LIS3DSH_USE_I2C && !HAL_USE_I2C
+#error "LIS3DSH_USE_I2C requires HAL_USE_I2C"
+#endif
+
+#if LIS3DSH_SHARED_I2C && !I2C_USE_MUTUAL_EXCLUSION
+#error "LIS3DSH_SHARED_I2C requires I2C_USE_MUTUAL_EXCLUSION"
+#endif
+
+/*
+ * CHTODO: Add support for LIS3DSH over I2C.
+ */
+#if LIS3DSH_USE_I2C
+#error "LIS3DSH over I2C still not supported"
+#endif
+
+/*===========================================================================*/
+/* Driver data structures and types. */
+/*===========================================================================*/
+
+/**
+ * @name LIS3DSH data structures and types
+ * @{
+ */
+/**
+ * @brief Structure representing a LIS3DSH driver.
+ */
+typedef struct LIS3DSHDriver LIS3DSHDriver;
+
+/**
+ * @brief LIS3DSH full scale.
+ */
+typedef enum {
+ LIS3DSH_ACC_FS_2G = 0x00, /**< Full scale �2g. */
+ LIS3DSH_ACC_FS_4G = 0x08, /**< Full scale �4g. */
+ LIS3DSH_ACC_FS_6G = 0x10, /**< Full scale �6g. */
+ LIS3DSH_ACC_FS_8G = 0x18, /**< Full scale �8g. */
+ LIS3DSH_ACC_FS_16G = 0x20 /**< Full scale �16g. */
+}lis3dsh_acc_fs_t;
+
+/**
+ * @brief LIS3DSH output data rate.
+ */
+typedef enum {
+ LIS3DSH_ACC_ODR_PD = 0x00, /**< ODR 100 Hz. */
+ LIS3DSH_ACC_ODR_3_125HZ = 0x10, /**< ODR 3.125 Hz. */
+ LIS3DSH_ACC_ODR_6_25HZ = 0x20, /**< ODR 6.25 Hz. */
+ LIS3DSH_ACC_ODR_12_5HZ = 0x30, /**< ODR 12.5 Hz. */
+ LIS3DSH_ACC_ODR_25HZ = 0x40, /**< ODR 25 Hz. */
+ LIS3DSH_ACC_ODR_50HZ = 0x50, /**< ODR 50 Hz. */
+ LIS3DSH_ACC_ODR_100HZ = 0x60, /**< ODR 100 Hz. */
+ LIS3DSH_ACC_ODR_400HZ = 0x70, /**< ODR 400 Hz. */
+ LIS3DSH_ACC_ODR_800HZ = 0x80, /**< ODR 800 Hz. */
+ LIS3DSH_ACC_ODR_1600HZ = 0x90 /**< ODR 1600 Hz. */
+}lis3dsh_acc_odr_t;
+
+/**
+ * @brief LIS3DSH anti-aliasing bandwidth.
+ */
+typedef enum {
+ LIS3DSH_ACC_BW_800HZ = 0x00, /**< AA filter BW 800Hz. */
+ LIS3DSH_ACC_BW_200HZ = 0x40, /**< AA filter BW 200Hz. */
+ LIS3DSH_ACC_BW_400HZ = 0x80, /**< AA filter BW 400Hz. */
+ LIS3DSH_ACC_BW_50HZ = 0xC0 /**< AA filter BW 50Hz. */
+}lis3dsh_acc_bw_t;
+
+/**
+ * @brief LIS3DSH block data update.
+ */
+typedef enum {
+ LIS3DSH_ACC_BDU_CONTINUOUS = 0x00,/**< Block data continuously updated. */
+ LIS3DSH_ACC_BDU_BLOCKED = 0x80 /**< Block data updated after reading. */
+} lis3dsh_acc_bdu_t;
+
+/**
+ * @brief Driver state machine possible states.
+ */
+typedef enum {
+ LIS3DSH_UNINIT = 0, /**< Not initialized. */
+ LIS3DSH_STOP = 1, /**< Stopped. */
+ LIS3DSH_READY = 2, /**< Ready. */
+} lis3dsh_state_t;
+
+/**
+ * @brief LIS3DSH configuration structure.
+ */
+typedef struct {
+
+#if (LIS3DSH_USE_SPI) || defined(__DOXYGEN__)
+ /**
+ * @brief SPI driver associated to this LIS3DSH.
+ */
+ SPIDriver *spip;
+ /**
+ * @brief SPI configuration associated to this LIS3DSH.
+ */
+ const SPIConfig *spicfg;
+#endif /* LIS3DSH_USE_SPI */
+#if (LIS3DSH_USE_I2C) || defined(__DOXYGEN__)
+ /**
+ * @brief I2C driver associated to this LIS3DSH.
+ */
+ I2CDriver *i2cp;
+ /**
+ * @brief I2C configuration associated to this LIS3DSH.
+ */
+ const I2CConfig *i2ccfg;
+#endif /* LIS3DSH_USE_I2C */
+ /**
+ * @brief LIS3DSH accelerometer subsystem initial sensitivity.
+ */
+ float *accsensitivity;
+ /**
+ * @brief LIS3DSH accelerometer subsystem initial bias.
+ */
+ float *accbias;
+ /**
+ * @brief LIS3DSH accelerometer subsystem initial full scale.
+ */
+ lis3dsh_acc_fs_t accfullscale;
+ /**
+ * @brief LIS3DSH output data rate selection.
+ */
+ lis3dsh_acc_odr_t accoutputdatarate;
+#if LIS3DSH_USE_ADVANCED || defined(__DOXYGEN__)
+ /**
+ * @brief LIS3DSH anti-aliasing bandwidth.
+ */
+ lis3dsh_acc_bw_t accantialiasing;
+ /**
+ * @brief LIS3DSH block data update.
+ */
+ lis3dsh_acc_bdu_t accblockdataupdate;
+#endif
+} LIS3DSHConfig;
+
+/**
+ * @brief @p LIS3DSH specific methods.
+ */
+#define _lis3dsh_methods_alone \
+ /* Change full scale value of LIS3DSH accelerometer subsystem.*/ \
+ msg_t (*acc_set_full_scale)(LIS3DSHDriver *devp, lis3dsh_acc_fs_t fs);
+
+
+/**
+ * @brief @p LIS3DSH specific methods with inherited ones.
+ */
+#define _lis3dsh_methods \
+ _base_object_methods \
+ _lis3dsh_methods_alone
+
+/**
+ * @extends BaseObjectVMT
+ *
+ * @brief @p LIS3DSH virtual methods table.
+ */
+struct LIS3DSHVMT {
+ _lis3dsh_methods
+};
+
+/**
+ * @brief @p LIS3DSHDriver specific data.
+ */
+#define _lis3dsh_data \
+ _base_sensor_data \
+ /* Driver state.*/ \
+ lis3dsh_state_t state; \
+ /* Current configuration data.*/ \
+ const LIS3DSHConfig *config; \
+ /* Accelerometer subsystem axes number.*/ \
+ size_t accaxes; \
+ /* Accelerometer subsystem current sensitivity.*/ \
+ float accsensitivity[LIS3DSH_ACC_NUMBER_OF_AXES]; \
+ /* Accelerometer subsystem current bias .*/ \
+ float accbias[LIS3DSH_ACC_NUMBER_OF_AXES]; \
+ /* Accelerometer subsystem current full scale value.*/ \
+ float accfullscale;
+
+/**
+ * @brief LIS3DSH 3-axis accelerometer class.
+ */
+struct LIS3DSHDriver {
+ /** @brief Virtual Methods Table.*/
+ const struct LIS3DSHVMT *vmt;
+ /** @brief Base accelerometer interface.*/
+ BaseAccelerometer acc_if;
+ _lis3dsh_data
+};
+/** @} */
+
+/*===========================================================================*/
+/* Driver macros. */
+/*===========================================================================*/
+
+/**
+ * @brief Return the number of axes of the BaseAccelerometer.
+ *
+ * @param[in] devp pointer to @p LIS3DSHDriver.
+ *
+ * @return the number of axes.
+ *
+ * @api
+ */
+#define lis3dshAccelerometerGetAxesNumber(devp) \
+ accelerometerGetAxesNumber(&((devp)->acc_if))
+
+/**
+ * @brief Retrieves raw data from the BaseAccelerometer.
+ * @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
+ * BaseAccelerometer axes number.
+ *
+ * @param[in] devp pointer to @p LIS3DSHDriver.
+ * @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 lis3dshAccelerometerReadRaw(devp, axes) \
+ accelerometerReadRaw(&((devp)->acc_if), axes)
+
+/**
+ * @brief Retrieves cooked data from the BaseAccelerometer.
+ * @note This data is manipulated according to the formula
+ * cooked = (raw * sensitivity) - bias.
+ * @note Final data is expressed as milli-G.
+ * @note The axes array must be at least the same size of the
+ * BaseAccelerometer axes number.
+ *
+ * @param[in] devp pointer to @p LIS3DSHDriver.
+ * @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 lis3dshAccelerometerReadCooked(devp, axes) \
+ accelerometerReadCooked(&((devp)->acc_if), axes)
+
+/**
+ * @brief Set bias values for the BaseAccelerometer.
+ * @note Bias must be expressed as milli-G.
+ * @note The bias buffer must be at least the same size of the
+ * BaseAccelerometer axes number.
+ *
+ * @param[in] devp pointer to @p LIS3DSHDriver.
+ * @param[in] bp a buffer which contains biases.
+ *
+ * @return The operation status.
+ * @retval MSG_OK if the function succeeded.
+ *
+ * @api
+ */
+#define lis3dshAccelerometerSetBias(devp, bp) \
+ accelerometerSetBias(&((devp)->acc_if), bp)
+
+/**
+ * @brief Reset bias values for the BaseAccelerometer.
+ * @note Default biases value are obtained from device datasheet when
+ * available otherwise they are considered zero.
+ *
+ * @param[in] devp pointer to @p LIS3DSHDriver.
+ *
+ * @return The operation status.
+ * @retval MSG_OK if the function succeeded.
+ *
+ * @api
+ */
+#define lis3dshAccelerometerResetBias(devp) \
+ accelerometerResetBias(&((devp)->acc_if))
+
+/**
+ * @brief Set sensitivity values for the BaseAccelerometer.
+ * @note Sensitivity must be expressed as milli-G/LSB.
+ * @note The sensitivity buffer must be at least the same size of the
+ * BaseAccelerometer axes number.
+ *
+ * @param[in] devp pointer to @p LIS3DSHDriver.
+ * @param[in] sp a buffer which contains sensitivities.
+ *
+ * @return The operation status.
+ * @retval MSG_OK if the function succeeded.
+ *
+ * @api
+ */
+#define lis3dshAccelerometerSetSensitivity(devp, sp) \
+ accelerometerSetSensitivity(&((devp)->acc_if), sp)
+
+/**
+ * @brief Reset sensitivity values for the BaseAccelerometer.
+ * @note Default sensitivities value are obtained from device datasheet.
+ *
+ * @param[in] devp pointer to @p LIS3DSHDriver.
+ *
+ * @return The operation status.
+ * @retval MSG_OK if the function succeeded.
+ * @retval MSG_RESET otherwise.
+ *
+ * @api
+ */
+#define lis3dshAccelerometerResetSensitivity(devp) \
+ accelerometerResetSensitivity(&((devp)->acc_if))
+
+/**
+ * @brief Changes the LIS3DSHDriver accelerometer 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 LIS3DSHDriver.
+ * @param[in] fs new fullscale value.
+ *
+ * @return The operation status.
+ * @retval MSG_OK if the function succeeded.
+ * @retval MSG_RESET otherwise.
+ *
+ * @api
+ */
+#define lis3dshAccelerometerSetFullScale(devp, fs) \
+ (devp)->vmt->acc_set_full_scale(devp, fs)
+
+/*===========================================================================*/
+/* External declarations. */
+/*===========================================================================*/
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+ void lis3dshObjectInit(LIS3DSHDriver *devp);
+ void lis3dshStart(LIS3DSHDriver *devp, const LIS3DSHConfig *config);
+ void lis3dshStop(LIS3DSHDriver *devp);
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* _LIS3DSH_H_ */
+
+/** @} */
+
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