/*
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 l3gd20.h
* @brief L3GD20 MEMS interface module header.
*
* @addtogroup L3GD20
* @ingroup EX_ST
* @{
*/
#ifndef _L3GD20_H_
#define _L3GD20_H_
#include "ex_gyroscope.h"
/*===========================================================================*/
/* Driver constants. */
/*===========================================================================*/
/**
* @name Version identification
* @{
*/
/**
* @brief L3GD20 driver version string.
*/
#define EX_L3GD20_VERSION "1.1.2"
/**
* @brief L3GD20 driver version major number.
*/
#define EX_L3GD20_MAJOR 1
/**
* @brief L3GD20 driver version minor number.
*/
#define EX_L3GD20_MINOR 1
/**
* @brief L3GD20 driver version patch number.
*/
#define EX_L3GD20_PATCH 2
/** @} */
/**
* @brief L3GD20 gyroscope system characteristics.
* @note Sensitivity is expressed as DPS/LSB whereas DPS stand for Degree
* per second [°/s].
* @note Bias is expressed as DPS.
*
* @{
*/
#define L3GD20_GYRO_NUMBER_OF_AXES 3U
#define L3GD20_250DPS 250.0f
#define L3GD20_500DPS 500.0f
#define L3GD20_2000DPS 2000.0f
#define L3GD20_GYRO_SENS_250DPS 0.00875f
#define L3GD20_GYRO_SENS_500DPS 0.01750f
#define L3GD20_GYRO_SENS_2000DPS 0.07000f
#define L3GD20_GYRO_BIAS 0.0f
/** @} */
/**
* @name L3GD20 communication interfaces related bit masks
* @{
*/
#define L3GD20_DI_MASK 0xFF
#define L3GD20_DI(n) (1 << n)
#define L3GD20_AD_MASK 0x3F
#define L3GD20_AD(n) (1 << n)
#define L3GD20_MS (1 << 6)
#define L3GD20_RW (1 << 7)
/** @} */
/**
* @name L3GD20 register addresses
* @{
*/
#define L3GD20_AD_WHO_AM_I 0x0F
#define L3GD20_AD_CTRL_REG1 0x20
#define L3GD20_AD_CTRL_REG2 0x21
#define L3GD20_AD_CTRL_REG3 0x22
#define L3GD20_AD_CTRL_REG4 0x23
#define L3GD20_AD_CTRL_REG5 0x24
#define L3GD20_AD_REFERENCE 0x25
#define L3GD20_AD_OUT_TEMP 0x26
#define L3GD20_AD_STATUS_REG 0x27
#define L3GD20_AD_OUT_X_L 0x28
#define L3GD20_AD_OUT_X_H 0x29
#define L3GD20_AD_OUT_Y_L 0x2A
#define L3GD20_AD_OUT_Y_H 0x2B
#define L3GD20_AD_OUT_Z_L 0x2C
#define L3GD20_AD_OUT_Z_H 0x2D
#define L3GD20_AD_FIFO_CTRL_REG 0x2E
#define L3GD20_AD_FIFO_SRC_REG 0x2F
#define L3GD20_AD_INT1_CFG 0x30
#define L3GD20_AD_INT1_SRC 0x31
#define L3GD20_AD_INT1_THS_XH 0x32
#define L3GD20_AD_INT1_THS_XL 0x33
#define L3GD20_AD_INT1_THS_YH 0x34
#define L3GD20_AD_INT1_THS_YL 0x35
#define L3GD20_AD_INT1_THS_ZH 0x36
#define L3GD20_AD_INT1_THS_ZL 0x37
#define L3GD20_AD_INT1_DURATION 0x38
/** @} */
/**
* @name L3GD20_CTRL_REG1 register bits definitions
* @{
*/
#define L3GD20_CTRL_REG1_MASK 0xFF
#define L3GD20_CTRL_REG1_XEN (1 << 0)
#define L3GD20_CTRL_REG1_YEN (1 << 1)
#define L3GD20_CTRL_REG1_ZEN (1 << 2)
#define L3GD20_CTRL_REG1_PD (1 << 3)
#define L3GD20_CTRL_REG1_BW0 (1 << 4)
#define L3GD20_CTRL_REG1_BW1 (1 << 5)
#define L3GD20_CTRL_REG1_DR0 (1 << 6)
#define L3GD20_CTRL_REG1_DR1 (1 << 7)
/** @} */
/**
* @name L3GD20_CTRL_REG2 register bits definitions
* @{
*/
#define L3GD20_CTRL_REG2_MASK 0x3F
#define L3GD20_CTRL_REG2_HPCF0 (1 << 0)
#define L3GD20_CTRL_REG2_HPCF1 (1 << 1)
#define L3GD20_CTRL_REG2_HPCF2 (1 << 2)
#define L3GD20_CTRL_REG2_HPCF3 (1 << 3)
#define L3GD20_CTRL_REG2_HPM0 (1 << 4)
#define L3GD20_CTRL_REG2_HPM1 (1 << 5)
/** @} */
/**
* @name L3GD20_CTRL_REG3 register bits definitions
* @{
*/
#define L3GD20_CTRL_REG3_MASK 0xFF
#define L3GD20_CTRL_REG3_I2_EMPTY (1 << 0)
#define L3GD20_CTRL_REG3_I2_ORUN (1 << 1)
#define L3GD20_CTRL_REG3_I2_WTM (1 << 2)
#define L3GD20_CTRL_REG3_I2_DRDY (1 << 3)
#define L3GD20_CTRL_REG3_PP_OD (1 << 4)
#define L3GD20_CTRL_REG3_H_LACTIVE (1 << 5)
#define L3GD20_CTRL_REG3_I1_BOOT (1 << 6)
#define L3GD20_CTRL_REG3_I1_INT1 (1 << 7)
/** @} */
/**
* @name L3GD20_CTRL_REG4 register bits definitions
* @{
*/
#define L3GD20_CTRL_REG4_MASK 0xF1
#define L3GD20_CTRL_REG4_SIM (1 << 0)
#define L3GD20_CTRL_REG4_FS_MASK 0x30
#define L3GD20_CTRL_REG4_FS0 (1 << 4)
#define L3GD20_CTRL_REG4_FS1 (1 << 5)
#define L3GD20_CTRL_REG4_BLE (1 << 6)
#define L3GD20_CTRL_REG4_BDU (1 << 7)
/** @} */
/**
* @name L3GD20_CTRL_REG5 register bits definitions
* @{
*/
#define L3GD20_CTRL_REG5_MASK 0xDF
#define L3GD20_CTRL_REG5_OUT_SEL0 (1 << 0)
#define L3GD20_CTRL_REG5_OUT_SEL1 (1 << 1)
#define L3GD20_CTRL_REG5_INT1_SEL0 (1 << 2)
#define L3GD20_CTRL_REG5_INT1_SEL1 (1 << 3)
#define L3GD20_CTRL_REG5_HPEN (1 << 4)
#define L3GD20_CTRL_REG5_FIFO_EN (1 << 6)
#define L3GD20_CTRL_REG5_BOOT (1 << 7)
/** @} */
/**
* @name L3GD20_INT1_CFG register bits definitions
* @{
*/
#define L3GD20_INT1_CFG_MASK 0xFF
#define L3GD20_INT1_CFG_XLIE (1 << 0)
#define L3GD20_INT1_CFG_XHIE (1 << 1)
#define L3GD20_INT1_CFG_YLIE (1 << 2)
#define L3GD20_INT1_CFG_YHIE (1 << 3)
#define L3GD20_INT1_CFG_ZLIE (1 << 4)
#define L3GD20_INT1_CFG_ZHIE (1 << 5)
#define L3GD20_INT1_CFG_LIR (1 << 6)
#define L3GD20_INT1_CFG_AND_OR (1 << 7)
/** @} */
/**
* @name L3GD20_INT1_SRC register bits definitions
* @{
*/
#define L3GD20_INT1_SRC_MASK 0x7F
#define L3GD20_INT1_SRC_XL (1 << 0)
#define L3GD20_INT1_SRC_XH (1 << 1)
#define L3GD20_INT1_SRC_YL (1 << 2)
#define L3GD20_INT1_SRC_YH (1 << 3)
#define L3GD20_INT1_SRC_ZL (1 << 4)
#define L3GD20_INT1_SRC_ZH (1 << 5)
#define L3GD20_INT1_SRC_IA (1 << 6)
/** @} */
/*===========================================================================*/
/* Driver pre-compile time settings. */
/*===========================================================================*/
/**
* @name Configuration options
* @{
*/
/**
* @brief L3GD20 SPI interface switch.
* @details If set to @p TRUE the support for SPI is included.
* @note The default is @p TRUE.
*/
#if !defined(L3GD20_USE_SPI) || defined(__DOXYGEN__)
#define L3GD20_USE_SPI TRUE
#endif
/**
* @brief L3GD20 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(L3GD20_SHARED_SPI) || defined(__DOXYGEN__)
#define L3GD20_SHARED_SPI FALSE
#endif
/**
* @brief L3GD20 I2C interface switch.
* @details If set to @p TRUE the support for I2C is included.
* @note The default is @p FALSE.
*/
#if !defined(L3GD20_USE_I2C) || defined(__DOXYGEN__)
#define L3GD20_USE_I2C FALSE
#endif
/**
* @brief L3GD20 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(L3GD20_SHARED_I2C) || defined(__DOXYGEN__)
#define L3GD20_SHARED_I2C FALSE
#endif
/**
* @brief L3GD20 advanced configurations switch.
* @details If set to @p TRUE more configurations are available.
* @note The default is @p FALSE.
*/
#if !defined(L3GD20_USE_ADVANCED) || defined(__DOXYGEN__)
#define L3GD20_USE_ADVANCED FALSE
#endif
/**
* @brief Number of acquisitions for bias removal
* @details This is the number of acquisitions performed to compute the
* bias. A repetition is required in order to remove noise.
*/
#if !defined(L3GD20_BIAS_ACQ_TIMES) || defined(__DOXYGEN__)
#define L3GD20_BIAS_ACQ_TIMES 50
#endif
/**
* @brief Settling time for bias removal
* @details This is the time between each bias acquisition.
*/
#if !defined(L3GD20_BIAS_SETTLING_US) || defined(__DOXYGEN__)
#define L3GD20_BIAS_SETTLING_US 5000
#endif
/** @} */
/*===========================================================================*/
/* Derived constants and error checks. */
/*===========================================================================*/
#if !(L3GD20_USE_SPI ^ L3GD20_USE_I2C)
#error "L3GD20_USE_SPI and L3GD20_USE_I2C cannot be both true or both false"
#endif
#if L3GD20_USE_SPI && !HAL_USE_SPI
#error "L3GD20_USE_SPI requires HAL_USE_SPI"
#endif
#if L3GD20_SHARED_SPI && !SPI_USE_MUTUAL_EXCLUSION
#error "L3GD20_SHARED_SPI requires SPI_USE_MUTUAL_EXCLUSION"
#endif
#if L3GD20_USE_I2C && !HAL_USE_I2C
#error "L3GD20_USE_I2C requires HAL_USE_I2C"
#endif
#if L3GD20_SHARED_I2C && !I2C_USE_MUTUAL_EXCLUSION
#error "L3GD20_SHARED_I2C requires I2C_USE_MUTUAL_EXCLUSION"
#endif
/*
* CHTODO: Add support for L3GD20 over I2C.
*/
#if L3GD20_USE_I2C
#error "L3GD20 over I2C still not supported"
#endif
/*===========================================================================*/
/* Driver data structures and types. */
/*===========================================================================*/
/**
* @name L3GD20 data structures and types.
* @{
*/
/**
* @brief Structure representing a L3GD20 driver.
*/
typedef struct L3GD20Driver L3GD20Driver;
/**
* @brief L3GD20 full scale.
*/
typedef enum {
L3GD20_FS_250DPS = 0x00, /**< Full scale 250 degree per second. */
L3GD20_FS_500DPS = 0x10, /**< Full scale 500 degree per second. */
L3GD20_FS_2000DPS = 0x20 /**< Full scale 2000 degree per second. */
} l3gd20_fs_t;
/**
* @brief L3GD20 output data rate and bandwidth.
*/
typedef enum {
L3GD20_ODR_95HZ = 0x00, /**< Output data rate 95 Hz. */
L3GD20_ODR_190HZ = 0x40, /**< Output data rate 190 Hz. */
L3GD20_ODR_380HZ = 0x80, /**< Output data rate 380 Hz. */
L3GD20_ODR_760HZ = 0xC0 /**< Output data rate 760 Hz. */
} l3gd20_odr_t;
/**
* @brief L3GD20 low pass filter 1 bandwidth.
*/
typedef enum {
L3GD20_BW0 = 0x00, /**< LPF1 bandwidth. Depends on ODR. */
L3GD20_BW1 = 0x40, /**< LPF1 bandwidth. Depends on ODR. */
L3GD20_BW2 = 0x80, /**< LPF1 bandwidth. Depends on ODR. */
L3GD20_BW3 = 0xC0 /**< LPF1 bandwidth. Depends on ODR. */
} l3gd20_bw_t;
/**
* @brief L3GD20 block data update.
*/
typedef enum {
L3GD20_BDU_CONTINUOUS = 0x00, /**< Block data continuously updated. */
L3GD20_BDU_BLOCKED = 0x80 /**< Block data updated after reading. */
} l3gd20_bdu_t;
/**
* @brief L3GD20 HP filter mode.
*/
typedef enum {
L3GD20_HPM_NORMAL = 0x00, /**< Normal mode. */
L3GD20_HPM_REFERENCE = 0x10, /**< Reference signal for filtering. */
L3GD20_HPM_AUTORESET = 0x30, /**< Autoreset on interrupt event. */
L3GD20_HPM_BYPASSED = 0xFF /**< HP filter bypassed */
} l3gd20_hpm_t;
/**
* @brief L3GD20 HP configuration.
*/
typedef enum {
L3GD20_HPCF_0 = 0x00, /**< Depends on ODR (Table 26 for more).*/
L3GD20_HPCF_1 = 0x01, /**< Depends on ODR (Table 26 for more).*/
L3GD20_HPCF_2 = 0x02, /**< Depends on ODR (Table 26 for more).*/
L3GD20_HPCF_3 = 0x03, /**< Depends on ODR (Table 26 for more).*/
L3GD20_HPCF_4 = 0x04, /**< Depends on ODR (Table 26 for more).*/
L3GD20_HPCF_5 = 0x05, /**< Depends on ODR (Table 26 for more).*/
L3GD20_HPCF_6 = 0x06, /**< Depends on ODR (Table 26 for more).*/
L3GD20_HPCF_7 = 0x07, /**< Depends on ODR (Table 26 for more).*/
L3GD20_HPCF_8 = 0x08, /**< Depends on ODR (Table 26 for more).*/
L3GD20_HPCF_9 = 0x09 /**< Depends on ODR (Table 26 for more).*/
} l3gd20_hpcf_t;
/**
* @brief L3GD20 LP2 filter mode.
* @details To activate LP2 HP should be active
*/
typedef enum {
L3GD20_LP2M_ON = 0x00, /**< LP2 filter activated. */
L3GD20_LP2M_BYPASSED = 0xFF, /**< LP2 filter bypassed. */
} l3gd20_lp2m_t;
/**
* @brief L3GD20 endianness.
*/
typedef enum {
L3GD20_END_LITTLE = 0x00, /**< Little endian. */
L3GD20_END_BIG = 0x40 /**< Big endian. */
} l3gd20_end_t;
/**
* @brief Driver state machine possible states.
*/
typedef enum {
L3GD20_UNINIT = 0, /**< Not initialized. */
L3GD20_STOP = 1, /**< Stopped. */
L3GD20_READY = 2 /**< Ready. */
} l3gd20_state_t;
/**
* @brief L3GD20 configuration structure.
*/
typedef struct {
#if L3GD20_USE_SPI || defined(__DOXYGEN__)
/**
* @brief SPI driver associated to this L3GD20.
*/
SPIDriver *spip;
/**
* @brief SPI configuration associated to this L3GD20.
*/
const SPIConfig *spicfg;
#endif /* L3GD20_USE_SPI */
#if L3GD20_USE_I2C || defined(__DOXYGEN__)
/**
* @brief I2C driver associated to this L3GD20.
*/
I2CDriver *i2cp;
/**
* @brief I2C configuration associated to this L3GD20.
*/
const I2CConfig *i2ccfg;
#endif /* L3GD20_USE_I2C */
/**
* @brief L3GD20 gyroscope system initial sensitivity.
*/
float *gyrosensitivity;
/**
* @brief L3GD20 gyroscope system initial bias.
*/
float *gyrobias;
/**
* @brief L3GD20 gyroscope system initial full scale value.
*/
l3gd20_fs_t gyrofullscale;
/**
* @brief L3GD20 gyroscope system output data rate selection.
*/
l3gd20_odr_t gyrooutputdatarate;
#if L3GD20_USE_ADVANCED || defined(__DOXYGEN__)
/**
* @brief L3GD20 gyroscope system block data update.
*/
l3gd20_bdu_t gyroblockdataupdate;
/**
* @brief L3GD20 gyroscope system endianness.
*/
l3gd20_end_t gyroendianness;
/**
* @brief L3GD20 gyroscope system LP1 filter bandwidth.
*/
l3gd20_bw_t gyrobandwidth;
/**
* @brief L3GD20 gyroscope system HP filter mode.
*/
l3gd20_hpm_t gyrohpmode;
/**
* @brief L3GD20 gyroscope system HP configuration.
*/
l3gd20_hpcf_t gyrohpconfiguration;
/**
* @brief L3GD20 gyroscope system LP2 filter mode.
* @details To activate LP2 HP should be active
*/
l3gd20_lp2m_t gyrolp2mode;
#endif
} L3GD20Config;
/**
* @brief @p L3GD20 specific methods.
*/
#define _l3gd20_methods_alone \
/* Change full scale value of L3GD20.*/ \
msg_t (*gyro_set_full_scale)(L3GD20Driver *devp, l3gd20_fs_t fs);
/**
* @brief @p L3GD20 specific methods with inherited ones.
*/
#define _l3gd20_methods \
_base_object_methods \
_l3gd20_methods_alone
/**
* @extends BaseObjectVMT
*
* @brief @p L3GD20 virtual methods table.
*/
struct L3GD20VMT {
_l3gd20_methods
};
/**
* @brief @p L3GD20Driver specific data.
*/
#define _l3gd20_data \
_base_sensor_data \
/* Driver state.*/ \
l3gd20_state_t state; \
/* Current configuration data.*/ \
const L3GD20Config *config; \
/* Gyroscope subsystem axes number.*/ \
size_t gyroaxes; \
/* Gyroscope subsystem current sensitivity.*/ \
float gyrosensitivity[L3GD20_GYRO_NUMBER_OF_AXES]; \
/* Gyroscope subsystem current Bias.*/ \
float gyrobias[L3GD20_GYRO_NUMBER_OF_AXES]; \
/* Gyroscope subsystem current full scale value.*/ \
float gyrofullscale;
/**
* @brief L3GD20 3-axis gyroscope class.
*/
struct L3GD20Driver {
/** @brief Virtual Methods Table. */
const struct L3GD20VMT *vmt;
/** @brief Base gyroscope interface.*/
BaseGyroscope gyro_if;
_l3gd20_data
};
/** @} */
/*===========================================================================*/
/* Driver macros. */
/*===========================================================================*/
/**
* @brief Return the number of axes of the BaseGyroscope.
*
* @param[in] devp pointer to @p L3GD20Driver.
*
* @return the number of axes.
*
* @api
*/
#define l3gd20GyroscopeGetAxesNumber(devp) \
gyroscopeGetAxesNumber(&((devp)->gyro_if))
/**
* @brief Retrieves raw data from the BaseGyroscope.
* @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
* BaseGyroscope axes number.
*
* @param[in] devp pointer to @p L3GD20Driver.
* @param[out] axes a buffer which would be filled with raw data.
*
* @return The operation status.
* @retval MSG_OK if the function succeeded.
*
* @api
*/
#define l3gd20GyroscopeReadRaw(devp, axes) \
gyroscopeReadRaw(&((devp)->gyro_if), axes)
/**
* @brief Retrieves cooked data from the BaseGyroscope.
* @note This data is manipulated according to the formula
* cooked = (raw * sensitivity) - bias.
* @note Final data is expressed as DPS.
* @note The axes array must be at least the same size of the
* BaseGyroscope axes number.
*
* @param[in] devp pointer to @p L3GD20Driver.
* @param[out] axes a buffer which would be filled with cooked data.
*
* @return The operation status.
* @retval MSG_OK if the function succeeded.
*
* @api
*/
#define l3gd20GyroscopeReadCooked(devp, axes) \
gyroscopeReadCooked(&((devp)->gyro_if), axes)
/**
* @brief Samples bias values for the BaseGyroscope.
* @note The L3GD20 shall not be moved during the whole procedure.
* @note After this function internal bias is automatically updated.
* @note The behavior of this function depends on @p L3GD20_BIAS_ACQ_TIMES
* and @p L3GD20_BIAS_SETTLING_US.
*
* @param[in] devp pointer to @p L3GD20Driver.
*
* @return The operation status.
* @retval MSG_OK if the function succeeded.
*
* @api
*/
#define l3gd20GyroscopeSampleBias(devp) \
gyroscopeSampleBias(&((devp)->gyro_if))
/**
* @brief Set bias values for the BaseGyroscope.
* @note Bias must be expressed as DPS.
* @note The bias buffer must be at least the same size of the BaseGyroscope
* axes number.
*
* @param[in] devp pointer to @p L3GD20Driver.
* @param[in] bp a buffer which contains biases.
*
* @return The operation status.
* @retval MSG_OK if the function succeeded.
*
* @api
*/
#define l3gd20GyroscopeSetBias(devp, bp) \
gyroscopeSetBias(&((devp)->gyro_if), bp)
/**
* @brief Reset bias values for the BaseGyroscope.
* @note Default biases value are obtained from device datasheet when
* available otherwise they are considered zero.
*
* @param[in] devp pointer to @p L3GD20Driver.
*
* @return The operation status.
* @retval MSG_OK if the function succeeded.
*
* @api
*/
#define l3gd20GyroscopeResetBias(devp) \
gyroscopeResetBias(&((devp)->gyro_if))
/**
* @brief Set sensitivity values for the BaseGyroscope.
* @note Sensitivity must be expressed as DPS/LSB.
* @note The sensitivity buffer must be at least the same size of the
* BaseGyroscope axes number.
*
* @param[in] devp pointer to @p L3GD20Driver.
* @param[in] sp a buffer which contains sensitivities.
*
* @return The operation status.
* @retval MSG_OK if the function succeeded.
*
* @api
*/
#define l3gd20GyroscopeSetSensitivity(devp, sp) \
gyroscopeSetSensitivity(&((devp)->gyro_if), sp)
/**
* @brief Reset sensitivity values for the BaseGyroscope.
* @note Default sensitivities value are obtained from device datasheet.
*
* @param[in] devp pointer to @p L3GD20Driver.
*
* @return The operation status.
* @retval MSG_OK if the function succeeded.
* @retval MSG_RESET otherwise.
*
* @api
*/
#define l3gd20GyroscopeResetSensitivity(devp) \
gyroscopeResetSensitivity(&((devp)->gyro_if))
/**
* @brief Changes the L3GD20Driver gyroscope 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 L3GD20Driver.
* @param[in] fs new fullscale value.
*
* @return The operation status.
* @retval MSG_OK if the function succeeded.
* @retval MSG_RESET otherwise.
*
* @api
*/
#define l3gd20GyroscopeSetFullScale(devp, fs) \
(devp)->vmt->acc_set_full_scale(devp, fs)
/*===========================================================================*/
/* External declarations. */
/*===========================================================================*/
#ifdef __cplusplus
extern "C" {
#endif
void l3gd20ObjectInit(L3GD20Driver *devp);
void l3gd20Start(L3GD20Driver *devp, const L3GD20Config *config);
void l3gd20Stop(L3GD20Driver *devp);
#ifdef __cplusplus
}
#endif
#endif /* _L3GD20_H_ */
/** @} */