diff options
Diffstat (limited to 'ChibiOS_20.3.2/os/ex/devices/ST/lis3mdl.c')
| -rw-r--r-- | ChibiOS_20.3.2/os/ex/devices/ST/lis3mdl.c | 627 |
1 files changed, 627 insertions, 0 deletions
diff --git a/ChibiOS_20.3.2/os/ex/devices/ST/lis3mdl.c b/ChibiOS_20.3.2/os/ex/devices/ST/lis3mdl.c new file mode 100644 index 0000000..270ee83 --- /dev/null +++ b/ChibiOS_20.3.2/os/ex/devices/ST/lis3mdl.c @@ -0,0 +1,627 @@ +/*
+ 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.c
+ * @brief LIS3MDL MEMS interface module code.
+ *
+ * @addtogroup LIS3MDL
+ * @ingroup EX_ST
+ * @{
+ */
+
+#include "hal.h"
+#include "lis3mdl.h"
+
+/*===========================================================================*/
+/* Driver local definitions. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver exported variables. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver local variables and types. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver local functions. */
+/*===========================================================================*/
+
+#if (LIS3MDL_USE_I2C) || defined(__DOXYGEN__)
+/**
+ * @brief Reads registers value using I2C.
+ * @pre The I2C interface must be initialized and the driver started.
+ *
+ * @param[in] i2cp pointer to the I2C interface
+ * @param[in] sad slave address without R bit
+ * @param[in] reg first sub-register address
+ * @param[out] rxbuf pointer to an output buffer
+ * @param[in] n number of consecutive register to read
+ * @return the operation status.
+ * @notapi
+ */
+msg_t lis3mdlI2CReadRegister(I2CDriver *i2cp, lis3mdl_sad_t sad, uint8_t reg,
+ uint8_t* rxbuf, size_t n) {
+ uint8_t txbuf = reg;
+ if(n > 1)
+ txbuf |= LIS3MDL_SUB_MS;
+
+ return i2cMasterTransmitTimeout(i2cp, sad, &txbuf, 1, rxbuf, n,
+ TIME_INFINITE);
+}
+
+/**
+ * @brief Writes a value into a register using I2C.
+ * @pre The I2C interface must be initialized and the driver started.
+ *
+ * @param[in] i2cp pointer to the I2C interface
+ * @param[in] sad slave address without R bit
+ * @param[in] txbuf buffer containing sub-address value in first position
+ * and values to write
+ * @param[in] n size of txbuf less one (not considering the first
+ * element)
+ * @return the operation status.
+ * @notapi
+ */
+msg_t lis3mdlI2CWriteRegister(I2CDriver *i2cp, lis3mdl_sad_t sad, uint8_t* txbuf,
+ uint8_t n) {
+ if (n > 1)
+ (*txbuf) |= LIS3MDL_SUB_MS;
+
+ return i2cMasterTransmitTimeout(i2cp, sad, txbuf, n + 1, NULL, 0,
+ TIME_INFINITE);
+}
+#endif /* LIS3MDL_USE_I2C */
+
+/**
+ * @brief Return the number of axes of the BaseCompass.
+ *
+ * @param[in] ip pointer to @p BaseCompass interface
+ *
+ * @return the number of axes.
+ */
+static size_t comp_get_axes_number(void *ip) {
+
+ osalDbgCheck(ip != NULL);
+ return LIS3MDL_COMP_NUMBER_OF_AXES;
+}
+
+/**
+ * @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] ip 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.
+ */
+static msg_t comp_read_raw(void *ip, int32_t axes[]) {
+ LIS3MDLDriver* devp;
+ uint8_t buff [LIS3MDL_COMP_NUMBER_OF_AXES * 2], i;
+ int16_t tmp;
+ msg_t msg;
+
+ osalDbgCheck((ip != NULL) && (axes != NULL));
+
+ /* Getting parent instance pointer.*/
+ devp = objGetInstance(LIS3MDLDriver*, (BaseCompass*)ip);
+
+ osalDbgAssert((devp->state == LIS3MDL_READY),
+ "comp_read_raw(), invalid state");
+ osalDbgAssert((devp->config->i2cp->state == I2C_READY),
+ "comp_read_raw(), channel not ready");
+
+#if LIS3MDL_SHARED_I2C
+ i2cAcquireBus(devp->config->i2cp);
+ i2cStart(devp->config->i2cp,
+ devp->config->i2ccfg);
+#endif /* LIS3MDL_SHARED_I2C */
+ msg = lis3mdlI2CReadRegister(devp->config->i2cp, devp->config->slaveaddress,
+ LIS3MDL_AD_OUT_X_L, buff,
+ LIS3MDL_COMP_NUMBER_OF_AXES * 2);
+
+#if LIS3MDL_SHARED_I2C
+ i2cReleaseBus(devp->config->i2cp);
+#endif /* LIS3MDL_SHARED_I2C */
+
+ if(msg == MSG_OK)
+ for(i = 0; i < LIS3MDL_COMP_NUMBER_OF_AXES; i++) {
+ tmp = buff[2 * i] + (buff[2 * i + 1] << 8);
+ axes[i] = (int32_t)tmp;
+ }
+ return msg;
+}
+
+/**
+ * @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] ip 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.
+ */
+static msg_t comp_read_cooked(void *ip, float axes[]) {
+ LIS3MDLDriver* devp;
+ uint32_t i;
+ int32_t raw[LIS3MDL_COMP_NUMBER_OF_AXES];
+ msg_t msg;
+
+ osalDbgCheck((ip != NULL) && (axes != NULL));
+
+
+ /* Getting parent instance pointer.*/
+ devp = objGetInstance(LIS3MDLDriver*, (BaseCompass*)ip);
+
+ osalDbgAssert((devp->state == LIS3MDL_READY),
+ "comp_read_cooked(), invalid state");
+
+ msg = comp_read_raw(ip, raw);
+ for(i = 0; i < LIS3MDL_COMP_NUMBER_OF_AXES ; i++) {
+ axes[i] = (raw[i] * devp->compsensitivity[i]) - devp->compbias[i];
+ }
+ return msg;
+}
+
+/**
+ * @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] ip pointer to @p BaseCompass interface.
+ * @param[in] bp a buffer which contains biases.
+ *
+ * @return The operation status.
+ * @retval MSG_OK if the function succeeded.
+ */
+static msg_t comp_set_bias(void *ip, float *bp) {
+ LIS3MDLDriver* devp;
+ uint32_t i;
+ msg_t msg = MSG_OK;
+
+ osalDbgCheck((ip != NULL) && (bp != NULL));
+
+ /* Getting parent instance pointer.*/
+ devp = objGetInstance(LIS3MDLDriver*, (BaseCompass*)ip);
+
+ osalDbgAssert((devp->state == LIS3MDL_READY),
+ "comp_set_bias(), invalid state");
+
+ for(i = 0; i < LIS3MDL_COMP_NUMBER_OF_AXES; i++) {
+ devp->compbias[i] = bp[i];
+ }
+ return msg;
+}
+
+/**
+ * @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] ip pointer to @p BaseCompass interface.
+ *
+ * @return The operation status.
+ * @retval MSG_OK if the function succeeded.
+ */
+static msg_t comp_reset_bias(void *ip) {
+ LIS3MDLDriver* devp;
+ uint32_t i;
+ msg_t msg = MSG_OK;
+
+ osalDbgCheck(ip != NULL);
+
+ /* Getting parent instance pointer.*/
+ devp = objGetInstance(LIS3MDLDriver*, (BaseCompass*)ip);
+
+ osalDbgAssert((devp->state == LIS3MDL_READY),
+ "comp_reset_bias(), invalid state");
+
+ for(i = 0; i < LIS3MDL_COMP_NUMBER_OF_AXES; i++)
+ devp->compbias[i] = LIS3MDL_COMP_BIAS;
+ return msg;
+}
+
+/**
+ * @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] ip pointer to @p BaseCompass interface.
+ * @param[in] sp a buffer which contains sensitivities.
+ *
+ * @return The operation status.
+ * @retval MSG_OK if the function succeeded.
+ */
+static msg_t comp_set_sensivity(void *ip, float *sp) {
+ LIS3MDLDriver* devp;
+ uint32_t i;
+ msg_t msg = MSG_OK;
+
+ /* Getting parent instance pointer.*/
+ devp = objGetInstance(LIS3MDLDriver*, (BaseCompass*)ip);
+
+ osalDbgCheck((ip != NULL) && (sp != NULL));
+
+ osalDbgAssert((devp->state == LIS3MDL_READY),
+ "comp_set_sensivity(), invalid state");
+
+ for(i = 0; i < LIS3MDL_COMP_NUMBER_OF_AXES; i++) {
+ devp->compsensitivity[i] = sp[i];
+ }
+ return msg;
+}
+
+/**
+ * @brief Reset sensitivity values for the BaseCompass.
+ * @note Default sensitivities value are obtained from device datasheet.
+ *
+ * @param[in] ip pointer to @p BaseCompass interface.
+ *
+ * @return The operation status.
+ * @retval MSG_OK if the function succeeded.
+ * @retval MSG_RESET otherwise.
+ */
+static msg_t comp_reset_sensivity(void *ip) {
+ LIS3MDLDriver* devp;
+ uint32_t i;
+ msg_t msg = MSG_OK;
+
+ osalDbgCheck(ip != NULL);
+
+ /* Getting parent instance pointer.*/
+ devp = objGetInstance(LIS3MDLDriver*, (BaseCompass*)ip);
+
+ osalDbgAssert((devp->state == LIS3MDL_READY),
+ "comp_reset_sensivity(), invalid state");
+
+ if(devp->config->compfullscale == LIS3MDL_COMP_FS_4GA)
+ for(i = 0; i < LIS3MDL_COMP_NUMBER_OF_AXES; i++)
+ devp->compsensitivity[i] = LIS3MDL_COMP_SENS_4GA;
+ else if(devp->config->compfullscale == LIS3MDL_COMP_FS_8GA)
+ for(i = 0; i < LIS3MDL_COMP_NUMBER_OF_AXES; i++)
+ devp->compsensitivity[i] = LIS3MDL_COMP_SENS_8GA;
+ else if(devp->config->compfullscale == LIS3MDL_COMP_FS_12GA)
+ for(i = 0; i < LIS3MDL_COMP_NUMBER_OF_AXES; i++)
+ devp->compsensitivity[i] = LIS3MDL_COMP_SENS_12GA;
+ else if(devp->config->compfullscale == LIS3MDL_COMP_FS_16GA)
+ for(i = 0; i < LIS3MDL_COMP_NUMBER_OF_AXES; i++)
+ devp->compsensitivity[i] = LIS3MDL_COMP_SENS_16GA;
+ else {
+ osalDbgAssert(FALSE, "comp_reset_sensivity(), compass full scale issue");
+ msg = MSG_RESET;
+ }
+ return msg;
+}
+
+/**
+ * @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 interface.
+ * @param[in] fs new fullscale value.
+ *
+ * @return The operation status.
+ * @retval MSG_OK if the function succeeded.
+ * @retval MSG_RESET otherwise.
+ */
+static msg_t comp_set_full_scale(LIS3MDLDriver *devp, lis3mdl_comp_fs_t fs) {
+ float newfs, scale;
+ uint8_t i, buff[2];
+ msg_t msg;
+
+ osalDbgCheck(devp != NULL);
+
+ osalDbgAssert((devp->state == LIS3MDL_READY),
+ "comp_set_full_scale(), invalid state");
+ osalDbgAssert((devp->config->i2cp->state == I2C_READY),
+ "comp_set_full_scale(), channel not ready");
+
+ /* Computing new fullscale value.*/
+ if(fs == LIS3MDL_COMP_FS_4GA) {
+ newfs = LIS3MDL_COMP_4GA;
+ }
+ else if(fs == LIS3MDL_COMP_FS_8GA) {
+ newfs = LIS3MDL_COMP_8GA;
+ }
+ else if(fs == LIS3MDL_COMP_FS_12GA) {
+ newfs = LIS3MDL_COMP_12GA;
+ }
+ else if(fs == LIS3MDL_COMP_FS_16GA) {
+ newfs = LIS3MDL_COMP_16GA;
+ }
+ else {
+ msg = MSG_RESET;
+ return msg;
+ }
+
+ if(newfs != devp->compfullscale) {
+ /* Computing scale value.*/
+ scale = newfs / devp->compfullscale;
+ devp->compfullscale = newfs;
+
+#if LIS3MDL_SHARED_I2C
+ i2cAcquireBus(devp->config->i2cp);
+ i2cStart(devp->config->i2cp, devp->config->i2ccfg);
+#endif /* LIS3MDL_SHARED_I2C */
+
+ /* Updating register.*/
+ msg = lis3mdlI2CReadRegister(devp->config->i2cp, devp->config->slaveaddress,
+ LIS3MDL_AD_CTRL_REG2, &buff[1], 1);
+
+#if LIS3MDL_SHARED_I2C
+ i2cReleaseBus(devp->config->i2cp);
+#endif /* LIS3MDL_SHARED_I2C */
+
+ if(msg != MSG_OK)
+ return msg;
+ buff[1] &= ~(LIS3MDL_CTRL_REG2_FS_MASK);
+ buff[1] |= fs;
+ buff[0] = LIS3MDL_AD_CTRL_REG2;
+
+#if LIS3MDL_SHARED_I2C
+ i2cAcquireBus(devp->config->i2cp);
+ i2cStart(devp->config->i2cp, devp->config->i2ccfg);
+#endif /* LIS3MDL_SHARED_I2C */
+
+ msg = lis3mdlI2CWriteRegister(devp->config->i2cp,
+ devp->config->slaveaddress,
+ buff, 1);
+
+#if LIS3MDL_SHARED_I2C
+ i2cReleaseBus(devp->config->i2cp);
+#endif /* LIS3MDL_SHARED_I2C */
+
+ if(msg != MSG_OK)
+ return msg;
+
+ /* Scaling sensitivity and bias. Re-calibration is suggested anyway.*/
+ for(i = 0; i < LIS3MDL_COMP_NUMBER_OF_AXES; i++) {
+ devp->compsensitivity[i] *= scale;
+ devp->compbias[i] *= scale;
+ }
+ }
+ return msg;
+}
+
+static const struct LIS3MDLVMT vmt_device = {
+ (size_t)0,
+ comp_set_full_scale
+};
+
+static const struct BaseCompassVMT vmt_compass = {
+ sizeof(struct LIS3MDLVMT*),
+ comp_get_axes_number, comp_read_raw, comp_read_cooked,
+ comp_set_bias, comp_reset_bias, comp_set_sensivity, comp_reset_sensivity
+};
+
+/*===========================================================================*/
+/* Driver exported functions. */
+/*===========================================================================*/
+
+/**
+ * @brief Initializes an instance.
+ *
+ * @param[out] devp pointer to the @p LIS3MDLDriver object
+ *
+ * @init
+ */
+void lis3mdlObjectInit(LIS3MDLDriver *devp) {
+ devp->vmt = &vmt_device;
+ devp->comp_if.vmt = &vmt_compass;
+
+ devp->config = NULL;
+
+ devp->compaxes = LIS3MDL_COMP_NUMBER_OF_AXES;
+
+ devp->state = LIS3MDL_STOP;
+}
+
+/**
+ * @brief Configures and activates LIS3MDL Complex Driver peripheral.
+ *
+ * @param[in] devp pointer to the @p LIS3MDLDriver object
+ * @param[in] config pointer to the @p LIS3MDLConfig object
+ *
+ * @api
+ */
+void lis3mdlStart(LIS3MDLDriver *devp, const LIS3MDLConfig *config) {
+ uint32_t i;
+ uint8_t cr[6];
+ osalDbgCheck((devp != NULL) && (config != NULL));
+
+ osalDbgAssert((devp->state == LIS3MDL_STOP) || (devp->state == LIS3MDL_READY),
+ "lis3mdlStart(), invalid state");
+
+ devp->config = config;
+
+ /* Control register 1 configuration block.*/
+ {
+ cr[0] = LIS3MDL_AD_CTRL_REG1;
+ cr[1] = devp->config->compoutputdatarate;
+#if LIS3MDL_USE_ADVANCED || defined(__DOXYGEN__)
+ cr[1] |= devp->config->compoperationmodexy;
+#else
+ cr[1] |= LIS3MDL_CTRL_REG1_OM0 | LIS3MDL_CTRL_REG1_OM1;
+#endif
+ }
+
+ /* Control register 2 configuration block.*/
+ {
+ cr[2] = devp->config->compfullscale;
+ }
+
+ /* Control register 3 configuration block.*/
+ {
+ cr[3] = 0;
+#if LIS3MDL_USE_ADVANCED || defined(__DOXYGEN__)
+ cr[3] = devp->config->compconversionmode;
+#endif
+ }
+
+ /* Control register 4 configuration block.*/
+ {
+ cr[4] = 0;
+#if LIS3MDL_USE_ADVANCED || defined(__DOXYGEN__)
+ cr[4] = devp->config->compoperationmodez | devp->config->endianness;
+#endif
+ }
+
+ /* Control register 5 configuration block.*/
+ {
+ cr[5] = 0;
+#if LIS3MDL_USE_ADVANCED || defined(__DOXYGEN__)
+ cr[5] = devp->config->blockdataupdate;
+#endif
+ }
+
+#if LIS3MDL_USE_I2C
+#if LIS3MDL_SHARED_I2C
+ i2cAcquireBus((devp)->config->i2cp);
+#endif /* LIS3MDL_SHARED_I2C */
+ i2cStart((devp)->config->i2cp,
+ (devp)->config->i2ccfg);
+
+ lis3mdlI2CWriteRegister(devp->config->i2cp, devp->config->slaveaddress,
+ cr, 5);
+
+#if LIS3MDL_SHARED_I2C
+ i2cReleaseBus((devp)->config->i2cp);
+#endif /* LIS3MDL_SHARED_I2C */
+#endif /* LIS3MDL_USE_I2C */
+
+ if(devp->config->compfullscale == LIS3MDL_COMP_FS_4GA) {
+ devp->compfullscale = LIS3MDL_COMP_4GA;
+ for(i = 0; i < LIS3MDL_COMP_NUMBER_OF_AXES; i++) {
+ if(devp->config->compsensitivity == NULL) {
+ devp->compsensitivity[i] = LIS3MDL_COMP_SENS_4GA;
+ }
+ else {
+ devp->compsensitivity[i] = devp->config->compsensitivity[i];
+ }
+ }
+ }
+ else if(devp->config->compfullscale == LIS3MDL_COMP_FS_8GA) {
+ devp->compfullscale = LIS3MDL_COMP_8GA;
+ for(i = 0; i < LIS3MDL_COMP_NUMBER_OF_AXES; i++) {
+ if(devp->config->compsensitivity == NULL) {
+ devp->compsensitivity[i] = LIS3MDL_COMP_SENS_8GA;
+ }
+ else {
+ devp->compsensitivity[i] = devp->config->compsensitivity[i];
+ }
+ }
+ }
+ else if(devp->config->compfullscale == LIS3MDL_COMP_FS_12GA) {
+ devp->compfullscale = LIS3MDL_COMP_12GA;
+ for(i = 0; i < LIS3MDL_COMP_NUMBER_OF_AXES; i++) {
+ if(devp->config->compsensitivity == NULL) {
+ devp->compsensitivity[i] = LIS3MDL_COMP_SENS_12GA;
+ }
+ else {
+ devp->compsensitivity[i] = devp->config->compsensitivity[i];
+ }
+ }
+ }
+ else if(devp->config->compfullscale == LIS3MDL_COMP_FS_16GA) {
+ devp->compfullscale = LIS3MDL_COMP_16GA;
+ for(i = 0; i < LIS3MDL_COMP_NUMBER_OF_AXES; i++) {
+ if(devp->config->compsensitivity == NULL) {
+ devp->compsensitivity[i] = LIS3MDL_COMP_SENS_16GA;
+ }
+ else {
+ devp->compsensitivity[i] = devp->config->compsensitivity[i];
+ }
+ }
+ }
+ else
+ osalDbgAssert(FALSE, "lis3mdlStart(), compass full scale issue");
+
+ /* Storing bias information */
+ if(devp->config->compbias != NULL)
+ for(i = 0; i < LIS3MDL_COMP_NUMBER_OF_AXES; i++)
+ devp->compbias[i] = devp->config->compbias[i];
+ else
+ for(i = 0; i < LIS3MDL_COMP_NUMBER_OF_AXES; i++)
+ devp->compbias[i] = LIS3MDL_COMP_BIAS;
+
+ /* This is the MEMS transient recovery time */
+ osalThreadSleepMilliseconds(5);
+
+ devp->state = LIS3MDL_READY;
+}
+
+/**
+ * @brief Deactivates the LIS3MDL Complex Driver peripheral.
+ *
+ * @param[in] devp pointer to the @p LIS3MDLDriver object
+ *
+ * @api
+ */
+void lis3mdlStop(LIS3MDLDriver *devp) {
+ uint8_t cr[2];
+ osalDbgCheck(devp != NULL);
+
+ osalDbgAssert((devp->state == LIS3MDL_STOP) || (devp->state == LIS3MDL_READY),
+ "lis3mdlStop(), invalid state");
+
+ if (devp->state == LIS3MDL_READY) {
+#if (LIS3MDL_USE_I2C)
+#if LIS3MDL_SHARED_I2C
+ i2cAcquireBus((devp)->config->i2cp);
+ i2cStart((devp)->config->i2cp,
+ (devp)->config->i2ccfg);
+#endif /* LIS3MDL_SHARED_I2C */
+
+ /* Disabling compass. */
+ cr[0] = LIS3MDL_AD_CTRL_REG3;
+ cr[1] = LIS3MDL_CTRL_REG3_MD0 | LIS3MDL_CTRL_REG3_MD1;
+ lis3mdlI2CWriteRegister(devp->config->i2cp, devp->config->slaveaddress,
+ cr, 1);
+
+ i2cStop((devp)->config->i2cp);
+#if LIS3MDL_SHARED_I2C
+ i2cReleaseBus((devp)->config->i2cp);
+#endif /* LIS3MDL_SHARED_I2C */
+#endif /* LIS3MDL_USE_I2C */
+ }
+ devp->state = LIS3MDL_STOP;
+}
+/** @} */
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