1 files changed, 627 insertions, 0 deletions

diff --git a/lib/chibios/os/ex/devices/ST/lis3mdl.c b/lib/chibios/os/ex/devices/ST/lis3mdl.c
new file mode 100644
index 000000000..6f167e929
--- /dev/null
+++ b/lib/chibios/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;
+}
+/** @} */