text: //*****************************************************************************
  //
  // lsm303d.h - Driver for the ST LSM303D accelerometer/magnetometer.
  //
  // Copyright (c) 2013-2016 Texas Instruments Incorporated.  All rights reserved.
  // Software License Agreement
  // 
  // Texas Instruments (TI) is supplying this software for use solely and
  // exclusively on TI's microcontroller products. The software is owned by
  // TI and/or its suppliers, and is protected under applicable copyright
  // laws. You may not combine this software with "viral" open-source
  // software in order to form a larger program.
  // 
  // THIS SOFTWARE IS PROVIDED "AS IS" AND WITH ALL FAULTS.
  // NO WARRANTIES, WHETHER EXPRESS, IMPLIED OR STATUTORY, INCLUDING, BUT
  // NOT LIMITED TO, IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
  // A PARTICULAR PURPOSE APPLY TO THIS SOFTWARE. TI SHALL NOT, UNDER ANY
  // CIRCUMSTANCES, BE LIABLE FOR SPECIAL, INCIDENTAL, OR CONSEQUENTIAL
  // DAMAGES, FOR ANY REASON WHATSOEVER.
  // 
  // This is part of revision 2.1.3.156 of the Tiva Firmware Development Package.
  //
  //*****************************************************************************
  
  #ifndef __SENSORLIB_LSM303D_H__
  #define __SENSORLIB_LSM303D_H__
  
  //*****************************************************************************
  //
  // If building with a C++ compiler, make all of the definitions in this header
  // have a C binding.
  //
  //*****************************************************************************
  #ifdef __cplusplus
  extern "C"
  {
  #endif
  
  //*****************************************************************************
  //
  // The structure that defines the internal state of the LSM303DLHC driver.
  //
  //*****************************************************************************
  typedef struct
  {
      //
      // The pointer to the I2C master interface instance used to communicate
      // with the LSM303DLHC.
      //
      tI2CMInstance *psI2CInst;
  
      //
      // The I2C address of the LSM303DLHC.
      //
      uint8_t ui8Addr;
  
      //
      // The state of the state machine used while accessing the LSM303DLHC.
      //
      uint8_t ui8State;
  
      //
      // The current accelerometer afs_sel setting.
      //
      uint8_t ui8AccelFSSel;
  
      //
      // The new accelerometer afs_sel setting, which is used when a register
      // write succeeds.
      //
      uint8_t ui8NewAccelFSSel;
  
      //
      // The current accelerometer afs_sel setting.
      //
      uint8_t ui8MagFSSel;
  
      //
      // The new accelerometer afs_sel setting, which is used when a register
      // write succeeds.
      //
      uint8_t ui8NewMagFSSel;
  
      //
      // The data buffers used for sending/receiving data to/from the LSM303DLHC.
      //
      uint8_t pui8DataMag[8];
  
      //
      // The data buffers used for sending/receiving data to/from the LSM303DLHC.
      //
      uint8_t pui8DataAccel[8];
  
      //
      // The function that is called when the current request has completed
      // processing.
      //
      tSensorCallback *pfnCallback;
  
      //
      // The callback data provided to the callback function.
      //
      void *pvCallbackData;
  
      //
      // A union of structures that are used for read, write and
      // read-modify-write operations.  Since only one operation can be active at
      // a time, it is safe to re-use the memory in this manner.
      //
      union
      {
          //
          // A buffer used to store the write portion of a register read.
          //
          uint8_t pui8Buffer[2];
  
          //
          // The write state used to write register values.
          //
          tI2CMWrite8 sWriteState;
  
          //
          // The read-modify-write state used to modify register values.
          //
          tI2CMReadModifyWrite8 sReadModifyWriteState;
      }
      uCommand;
  }
  tLSM303D;
  
  //*****************************************************************************
  //
  // Function prototypes.
  //
  //*****************************************************************************
  extern uint_fast8_t LSM303DInit(tLSM303D *psInst,
                                  tI2CMInstance *psI2CInst,
                                  uint_fast8_t ui8I2CAddr,
                                  tSensorCallback *pfnCallback,
                                  void *pvCallbackData);
  extern uint_fast8_t LSM303DRead(tLSM303D *psInst,
                                  uint_fast8_t ui8Reg,
                                  uint8_t *pui8Data,
                                  uint_fast16_t ui16Count,
                                  tSensorCallback *pfnCallback,
                                  void *pvCallbackData);
  extern uint_fast8_t LSM303DWrite(tLSM303D *psInst,
                                   uint_fast8_t ui8Reg,
                                   const uint8_t *pui8Data,
                                   uint_fast16_t ui16Count,
                                   tSensorCallback *pfnCallback,
                                   void *pvCallbackData);
  extern uint_fast8_t LSM303DReadModifyWrite(tLSM303D *psInst,
                                             uint_fast8_t ui8Reg,
                                             uint_fast8_t ui8Mask,
                                             uint_fast8_t ui8Value,
                                             tSensorCallback *pfnCallbak,
                                             void *pvCallbackData);
  extern uint_fast8_t LSM303DDataRead(tLSM303D *psInst,
                                      tSensorCallback *pfnCallback,
                                      void *pvCallbackData);
  extern void LSM303DDataAccelGetRaw(tLSM303D *psInst,
                                     uint_fast16_t *pui16AccelX,
                                     uint_fast16_t *pui16AccelY,
                                     uint_fast16_t *pui16AccelZ);
  extern void LSM303DDataAccelGetFloat(tLSM303D *psInst,
                                       float *pfAccelX, float *pfAccelY,
                                       float *pfAccelZ);
  extern void LSM303DDataMagnetoGetRaw(tLSM303D *psInst,
                                   uint_fast16_t *pui16MagX,
                                   uint_fast16_t *pui16MagY,
                                   uint_fast16_t *pui16MagZ);
  extern void LSM303DDataMagnetoGetFloat(tLSM303D *psInst,
                                     float *pfMagX, float *pfMagY,
                                     float *pfMagZ);
  
  //*****************************************************************************
  //
  // Mark the end of the C bindings section for C++ compilers.
  //
  //*****************************************************************************
  #ifdef __cplusplus
  }
  #endif
  
  #endif // __SENSORLIB_LSM303D_H__
  