1 files changed, 670 insertions, 0 deletions

diff --git a/lib/chibios/os/ex/devices/ST/lis3mdl.h b/lib/chibios/os/ex/devices/ST/lis3mdl.h
new file mode 100644
index 000000000..4adf2954f
--- /dev/null
+++ b/lib/chibios/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_ */
+
+/** @} */
+