lis3mdl.h

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/*
    ChibiOS - Copyright (C) 2016..2018 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 "hal_compass.h"

/*===========================================================================*/
/* Driver constants.                                                         */
/*===========================================================================*/

/**
 * @name    Version identification
 * @{
 */
/**
 * @brief   LIS3MDL driver version string.
 */
#define EX_LIS3MDL_VERSION                  "1.1.1"

/**
 * @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                    1
/** @} */

/**
 * @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_COMP_USE_ADVANCED) || defined(__DOXYGEN__)
#define LIS3MDL_COMP_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

/**
 * @todo    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_COMP_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_ */

/** @} */