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diff --git a/os/various/devices_lib/mems/lsm303dlhc.c b/os/various/devices_lib/mems/lsm303dlhc.c
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+/*
+ Pretty LAYer for ChibiOS/RT - Copyright (C) 2015 Rocco Marco Guglielmi
+
+ This file is part of PLAY for ChibiOS/RT.
+
+ PLAY 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.
+
+ PLAY 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/>.
+*/
+
+/*
+ Special thanks to Giovanni Di Sirio for teachings, his moral support and
+ friendship. Note that some or every piece of this file could be part of
+ the ChibiOS project that is intellectual property of Giovanni Di Sirio.
+ Please refer to ChibiOS/RT license before use this file.
+
+ For suggestion or Bug report - roccomarco.guglielmi@playembedded.org
+ */
+
+/**
+ * @file lsm303dlhc.c
+ * @brief LSM303DLHC MEMS interface module through I2C code.
+ *
+ * @addtogroup lsm303dlhc
+ * @{
+ */
+
+#include "ch.h"
+#include "hal.h"
+
+#include "lsm303dlhc.h"
+
+/*===========================================================================*/
+/* Driver local definitions. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver exported variables. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver local variables and types. */
+/*===========================================================================*/
+
+
+/*===========================================================================*/
+/* Driver local functions. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver exported functions. */
+/*===========================================================================*/
+
+/**
+ * @brief Reads a generic sub-register value.
+ * @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] sub sub-register address
+ * @param[in] message pointer to message
+ * @return register value.
+ */
+uint8_t lsm303dlhcReadRegister(I2CDriver *i2cp, uint8_t sad, uint8_t sub,
+ msg_t* message) {
+
+ uint8_t txbuf, rxbuf[2];
+#if defined(STM32F103_MCUCONF)
+ txbuf = LSM303DLHC_SUB_MSB | sub;
+ if(message != NULL){
+ *message = i2cMasterTransmitTimeout(i2cp, sad, &txbuf, 1, rxbuf, 2,
+ TIME_INFINITE);
+ }
+ else{
+ i2cMasterTransmitTimeout(i2cp, sad, &txbuf, 1, rxbuf, 2, TIME_INFINITE);
+ }
+ return rxbuf[0];
+#else
+ txbuf = sub;
+ if(message != NULL){
+ *message = i2cMasterTransmitTimeout(i2cp, sad, &txbuf, 1, rxbuf, 1,
+ TIME_INFINITE);
+ }
+ else{
+ i2cMasterTransmitTimeout(i2cp, sad, &txbuf, 1, rxbuf, 1, TIME_INFINITE);
+ }
+ return rxbuf[0];
+#endif
+
+
+}
+
+/**
+ * @brief Writes a value into a register.
+ * @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] sub sub-register address
+ * @param[in] value the value to be written
+ * @param[out] message pointer to message
+ */
+void lsm303dlhcWriteRegister(I2CDriver *i2cp,uint8_t sad, uint8_t sub,
+ uint8_t value, msg_t* message) {
+
+ uint8_t txbuf[2];
+ uint8_t rxbuf;
+ if(sad == LSM303DLHC_SAD_ACCEL){
+ switch (sub) {
+ default:
+ /* Reserved register must not be written, according to the datasheet
+ * this could permanently damage the device.
+ */
+ chDbgAssert(FALSE, "lsm303dlhcWriteRegister(), reserved register");
+ case LSM303DLHC_SUB_ACC_STATUS_REG:
+ case LSM303DLHC_SUB_ACC_OUT_X_L:
+ case LSM303DLHC_SUB_ACC_OUT_X_H:
+ case LSM303DLHC_SUB_ACC_OUT_Y_L:
+ case LSM303DLHC_SUB_ACC_OUT_Y_H:
+ case LSM303DLHC_SUB_ACC_OUT_Z_L:
+ case LSM303DLHC_SUB_ACC_OUT_Z_H:
+ case LSM303DLHC_SUB_ACC_FIFO_SRC_REG:
+ case LSM303DLHC_SUB_ACC_INT1_SOURCE:
+ case LSM303DLHC_SUB_ACC_INT2_SOURCE:
+ case LSM303DLHC_SUB_ACC_CLICK_SRC:
+ /* Read only registers cannot be written, the command is ignored.*/
+ return;
+ case LSM303DLHC_SUB_ACC_CTRL_REG1:
+ case LSM303DLHC_SUB_ACC_CTRL_REG2:
+ case LSM303DLHC_SUB_ACC_CTRL_REG3:
+ case LSM303DLHC_SUB_ACC_CTRL_REG4:
+ case LSM303DLHC_SUB_ACC_CTRL_REG5:
+ case LSM303DLHC_SUB_ACC_CTRL_REG6:
+ case LSM303DLHC_SUB_ACC_REFERENCE:
+ case LSM303DLHC_SUB_ACC_FIFO_CTRL_REG:
+ case LSM303DLHC_SUB_ACC_INT1_CFG:
+ case LSM303DLHC_SUB_ACC_INT1_THS:
+ case LSM303DLHC_SUB_ACC_INT1_DURATION:
+ case LSM303DLHC_SUB_ACC_INT2_CFG:
+ case LSM303DLHC_SUB_ACC_INT2_THS:
+ case LSM303DLHC_SUB_ACC_INT2_DURATION:
+ case LSM303DLHC_SUB_ACC_CLICK_CFG:
+ case LSM303DLHC_SUB_ACC_CLICK_THS:
+ case LSM303DLHC_SUB_ACC_TIME_LIMIT:
+ case LSM303DLHC_SUB_ACC_TIME_LATENCY:
+ case LSM303DLHC_SUB_ACC_TIME_WINDOW:
+ txbuf[0] = sub;
+ txbuf[1] = value;
+ if(message != NULL){
+ *message = i2cMasterTransmitTimeout(i2cp, sad, txbuf, 2, &rxbuf, 0,
+ TIME_INFINITE);
+ }
+ else{
+ i2cMasterTransmitTimeout(i2cp, sad, txbuf, 2, &rxbuf, 0, TIME_INFINITE);
+ }
+ break;
+ }
+ }
+ else if(sad == LSM303DLHC_SAD_COMPASS){
+ switch (sub) {
+ default:
+ /* Reserved register must not be written, according to the datasheet
+ * this could permanently damage the device.
+ */
+ chDbgAssert(FALSE, "lsm303dlhcWriteRegister(), reserved register");
+ case LSM303DLHC_SUB_COMP_OUT_X_H:
+ case LSM303DLHC_SUB_COMP_OUT_X_L:
+ case LSM303DLHC_SUB_COMP_OUT_Z_H:
+ case LSM303DLHC_SUB_COMP_OUT_Z_L:
+ case LSM303DLHC_SUB_COMP_OUT_Y_H:
+ case LSM303DLHC_SUB_COMP_OUT_Y_L:
+ case LSM303DLHC_SUB_COMP_SR_REG:
+ case LSM303DLHC_SUB_COMP_IRA_REG:
+ case LSM303DLHC_SUB_COMP_IRB_REG:
+ case LSM303DLHC_SUB_COMP_IRC_REG:
+ case LSM303DLHC_SUB_COMP_TEMP_OUT_H:
+ case LSM303DLHC_SUB_COMP_TEMP_OUT_L:
+ /* Read only registers cannot be written, the command is ignored.*/
+ return;
+ case LSM303DLHC_SUB_COMP_CRA_REG:
+ case LSM303DLHC_SUB_COMP_CRB_REG:
+ case LSM303DLHC_SUB_COMP_MR_REG:
+ txbuf[0] = sub;
+ txbuf[1] = value;
+ if(message != NULL){
+ *message = i2cMasterTransmitTimeout(i2cp, sad, txbuf, 2, &rxbuf, 0,
+ TIME_INFINITE);
+ }
+ else{
+ i2cMasterTransmitTimeout(i2cp, sad, txbuf, 2, &rxbuf, 0, TIME_INFINITE);
+ }
+ break;
+ }
+ }
+}
+/** @} */
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