Updated l3gd20 files, added working draft of lsm6ds0

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@9079 35acf78f-673a-0410-8e92-d51de3d6d3f4

5 files changed, 1075 insertions, 2 deletions

diff --git a/os/ex/ST/l3gd20.c b/os/ex/ST/l3gd20.c
index 07b9b8a32..46f9bb434 100644
--- a/os/ex/ST/l3gd20.c
+++ b/os/ex/ST/l3gd20.c
@@ -287,11 +287,16 @@ static msg_t calibrate(void *ip) {
   return MSG_OK;
 }
 
-static const struct L3GD20VMT vmt = {
+static const struct BaseSensorVMT vmtse = {
+  get_axes_number, read_raw, read_cooked
+};
+
+static const struct BaseGyroscopeVMT vmtgy = {
   get_axes_number, read_raw, read_cooked,
   reset_calibration, calibrate
 };
 
+
 /*===========================================================================*/
 /* Driver exported functions.                                                */
 /*===========================================================================*/
@@ -306,7 +311,9 @@ static const struct L3GD20VMT vmt = {
 void l3gd20ObjectInit(L3GD20Driver *devp) {
   uint32_t i;
 
-  devp->vmt = &vmt;
+  devp->vmtse = &vmtse;
+  devp->vmtgy = &vmtgy;
+  devp->vmt = (struct L3GD20VMT*) &vmtgy;
   devp->state  = L3GD20_STOP;
   devp->config = NULL;
   for(i = 0; i < L3GD20_NUMBER_OF_AXES; i++)
diff --git a/os/ex/ST/l3gd20.h b/os/ex/ST/l3gd20.h
index bff6b7dd4..d98aea972 100644
--- a/os/ex/ST/l3gd20.h
+++ b/os/ex/ST/l3gd20.h
@@ -279,6 +279,10 @@ struct L3GD20VMT {
  */
 struct L3GD20Driver {
   /** @brief Virtual Methods Table.*/
+  const struct BaseSensorVMT *vmtse;
+  /** @brief Virtual Methods Table.*/
+  const struct BaseGyroscopeVMT *vmtgy;
+  /** @brief Virtual Methods Table.*/
   const struct L3GD20VMT *vmt;
   _l3gd20_data
 };
diff --git a/os/ex/ST/lsm6ds0.c b/os/ex/ST/lsm6ds0.c
new file mode 100644
index 000000000..bc68c0aa1
--- /dev/null
+++ b/os/ex/ST/lsm6ds0.c
@@ -0,0 +1,501 @@
+/*
+    ChibiOS - Copyright (C) 2016 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    lsm6ds0.c
+ * @brief   LSM6DS0 MEMS interface module code.
+ *
+ * @addtogroup lsm6ds0
+ * @{
+ */
+
+#include "ch.h"
+#include "hal.h"
+
+#include "lsm6ds0.h"
+
+/*===========================================================================*/
+/* Driver local definitions.                                                 */
+/*===========================================================================*/
+
+#define  LSM6DS0_ACC_SENS_2G                ((float)0.061f)
+#define  LSM6DS0_ACC_SENS_4G                ((float)0.122f)
+#define  LSM6DS0_ACC_SENS_8G                ((float)0.244f)
+#define  LSM6DS0_ACC_SENS_16G               ((float)0.732f)
+
+#define  LSM6DS0_GYRO_SENS_245DPS           ((float)0.00875f)
+#define  LSM6DS0_GYRO_SENS_500DPS           ((float)0.01750f)
+#define  LSM6DS0_GYRO_SENS_2000DPS          ((float)0.07000f)
+
+#define  LSM6DS0_DI                         ((uint8_t)0xFF)
+#define  LSM6DS0_DI_0                       ((uint8_t)0x01)
+#define  LSM6DS0_DI_1                       ((uint8_t)0x02)
+#define  LSM6DS0_DI_2                       ((uint8_t)0x04)
+#define  LSM6DS0_DI_3                       ((uint8_t)0x08)
+#define  LSM6DS0_DI_4                       ((uint8_t)0x10)
+#define  LSM6DS0_DI_5                       ((uint8_t)0x20)
+#define  LSM6DS0_DI_6                       ((uint8_t)0x40)
+#define  LSM6DS0_DI_7                       ((uint8_t)0x80)
+
+#define  LSM6DS0_AD_0                       ((uint8_t)0x01)
+#define  LSM6DS0_AD_1                       ((uint8_t)0x02)
+#define  LSM6DS0_AD_2                       ((uint8_t)0x04)
+#define  LSM6DS0_AD_3                       ((uint8_t)0x08)
+#define  LSM6DS0_AD_4                       ((uint8_t)0x10)
+#define  LSM6DS0_AD_5                       ((uint8_t)0x20)
+#define  LSM6DS0_AD_6                       ((uint8_t)0x40)
+
+#define  LSM6DS0_RW                         ((uint8_t)0x80)
+
+#define  LSM6DS0_AD_ACT_THS                 ((uint8_t)0x04)
+#define  LSM6DS0_AD_ACT_DUR                 ((uint8_t)0x05)
+#define  LSM6DS0_AD_INT_GEN_CFG_XL          ((uint8_t)0x06)
+#define  LSM6DS0_AD_INT_GEN_THS_X_XL        ((uint8_t)0x07)
+#define  LSM6DS0_AD_INT_GEN_THS_Y_XL        ((uint8_t)0x08)
+#define  LSM6DS0_AD_INT_GEN_THS_Z_XL        ((uint8_t)0x09)
+#define  LSM6DS0_AD_INT_GEN_DUR_XL          ((uint8_t)0x0A)
+#define  LSM6DS0_AD_REFERENCE_G             ((uint8_t)0x0B)
+#define  LSM6DS0_AD_INT_CTRL                ((uint8_t)0x0C)
+#define  LSM6DS0_AD_WHO_AM_I                ((uint8_t)0x0F)
+#define  LSM6DS0_AD_CTRL_REG1_G             ((uint8_t)0x10)
+#define  LSM6DS0_AD_CTRL_REG2_G             ((uint8_t)0x11)
+#define  LSM6DS0_AD_CTRL_REG3_G             ((uint8_t)0x12)
+#define  LSM6DS0_AD_ORIENT_CFG_G            ((uint8_t)0x13)
+#define  LSM6DS0_AD_INT_GEN_SRC_G           ((uint8_t)0x14)
+#define  LSM6DS0_AD_OUT_TEMP_L              ((uint8_t)0x15)
+#define  LSM6DS0_AD_OUT_TEMP_H              ((uint8_t)0x16)
+#define  LSM6DS0_AD_STATUS_REG1             ((uint8_t)0x17)
+#define  LSM6DS0_AD_OUT_X_L_G               ((uint8_t)0x18)
+#define  LSM6DS0_AD_OUT_X_H_G               ((uint8_t)0x19)
+#define  LSM6DS0_AD_OUT_Y_L_G               ((uint8_t)0x1A)
+#define  LSM6DS0_AD_OUT_Y_H_G               ((uint8_t)0x1B)
+#define  LSM6DS0_AD_OUT_Z_L_G               ((uint8_t)0x1C)
+#define  LSM6DS0_AD_OUT_Z_H_G               ((uint8_t)0x1D)
+#define  LSM6DS0_AD_CTRL_REG4               ((uint8_t)0x1E)
+#define  LSM6DS0_AD_CTRL_REG5_XL            ((uint8_t)0x1F)
+#define  LSM6DS0_AD_CTRL_REG6_XL            ((uint8_t)0x20)
+#define  LSM6DS0_AD_CTRL_REG7_XL            ((uint8_t)0x21)
+#define  LSM6DS0_AD_CTRL_REG8               ((uint8_t)0x22)
+#define  LSM6DS0_AD_CTRL_REG9               ((uint8_t)0x23)
+#define  LSM6DS0_AD_CTRL_REG10              ((uint8_t)0x24)
+#define  LSM6DS0_AD_INT_GEN_SRC_XL          ((uint8_t)0x26)
+#define  LSM6DS0_AD_STATUS_REG2             ((uint8_t)0x27)
+#define  LSM6DS0_AD_OUT_X_L_XL              ((uint8_t)0x28)
+#define  LSM6DS0_AD_OUT_X_H_XL              ((uint8_t)0x29)
+#define  LSM6DS0_AD_OUT_Y_L_XL              ((uint8_t)0x2A)
+#define  LSM6DS0_AD_OUT_Y_H_XL              ((uint8_t)0x2B)
+#define  LSM6DS0_AD_OUT_Z_L_XL              ((uint8_t)0x2C)
+#define  LSM6DS0_AD_OUT_Z_H_XL              ((uint8_t)0x2D)
+#define  LSM6DS0_AD_FIFO_CTRL               ((uint8_t)0x2E)
+#define  LSM6DS0_AD_FIFO_SRC                ((uint8_t)0x2F)
+#define  LSM6DS0_AD_INT_GEN_CFG_G           ((uint8_t)0x30)
+#define  LSM6DS0_AD_INT_GEN_THS_XH_G        ((uint8_t)0x31)
+#define  LSM6DS0_AD_INT_GEN_THS_XL_G        ((uint8_t)0x32)
+#define  LSM6DS0_AD_INT_GEN_THS_YH_G        ((uint8_t)0x33)
+#define  LSM6DS0_AD_INT_GEN_THS_YL_G        ((uint8_t)0x34)
+#define  LSM6DS0_AD_INT_GEN_THS_ZH_G        ((uint8_t)0x35)
+#define  LSM6DS0_AD_INT_GEN_THS_ZL_G        ((uint8_t)0x36)
+#define  LSM6DS0_AD_INT_GEN_DUR_G           ((uint8_t)0x37)
+
+#define  LSM6DS0_CTRL_REG1_G_FS_MASK        ((uint8_t)0x18)
+#define  LSM6DS0_CTRL_REG6_XL_FS_MASK       ((uint8_t)0x18)
+
+#define  TO_G                               ((float)0.001f)
+#define  TO_SI                              ((float)0.00981f)
+/*===========================================================================*/
+/* Driver exported variables.                                                */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver local variables and types.                                         */
+/*===========================================================================*/
+
+/**
+ * @brief   LSM6DS0 address increment mode.
+ */
+typedef enum {
+  LSM6DS0_IF_ADD_INC_DIS = 0x00,    /**< Address increment disabled.        */
+  LSM6DS0_IF_ADD_INC_EN = 0x04      /**< Address increment disabled.        */
+}lsm6ds0_id_add_inc_t;
+
+/**
+ * @brief   LSM6DS0 gyroscope subsystem sleep mode.
+ */
+typedef enum {
+  LSM6DS0_GYRO_SLP_DISABLED = 0x00, /**< Gyroscope in normal mode.          */
+  LSM6DS0_GYRO_SLP_ENABLED  = 0x40  /**< Gyroscope in sleep mode.           */
+}lsm6ds0_gyro_slp_t;
+
+/*===========================================================================*/
+/* Driver local functions.                                                   */
+/*===========================================================================*/
+
+#if (LSM6DS0_USE_I2C) || defined(__DOXYGEN__)
+/**
+ * @brief   Reads registers value using I2C.
+ * @pre     The I2C interface must be initialized and the driver started.
+ * @note    IF_ADD_INC bit must be 1 in CTRL_REG8
+ *
+ * @param[in] i2cp       pointer to the I2C interface
+ * @param[in] sad        slave address without R bit
+ * @param[in] reg        first sub-register address
+ * @return               the read value.
+ */
+uint8_t lsm6ds0I2CReadRegister(I2CDriver *i2cp, lsm6ds0_sad_t sad, uint8_t reg,
+                               msg_t* msgp) {
+  msg_t msg;
+#if defined(STM32F103_MCUCONF)
+  uint8_t rxbuf[2];
+  msg = i2cMasterTransmitTimeout(i2cp, sad, &txbuf, 1, rxbuf, 2,
+                                   TIME_INFINITE);
+  if(msgp != NULL){
+    *msgp = msg;
+  }
+  return rxbuf[0];
+#else
+  uint8_t txbuf, rxbuf;
+  txbuf = reg;
+  msg = i2cMasterTransmitTimeout(i2cp, sad, &txbuf, 1, &rxbuf, 1,
+                                        TIME_INFINITE);
+  if(msgp != NULL){
+    *msgp = msg;
+  }
+  return rxbuf;
+#endif
+}
+
+/**
+ * @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] sub        sub-register address
+ * @param[in] value      the value to be written
+ * @return               the operation status.
+ */
+msg_t lsm6ds0I2CWriteRegister(I2CDriver *i2cp, lsm6ds0_sad_t sad, uint8_t reg,
+                              uint8_t value) {
+  uint8_t rxbuf;
+  uint8_t txbuf[2];
+  switch (reg) {
+  default:
+    /* Reserved register must not be written, according to the datasheet
+     * this could permanently damage the device.
+     */
+    osalDbgAssert(FALSE, "lsm6ds0WriteRegisterI2C(), reserved register");
+  case LSM6DS0_AD_WHO_AM_I:
+  case LSM6DS0_AD_INT_GEN_SRC_G:
+  case LSM6DS0_AD_OUT_TEMP_L:
+  case LSM6DS0_AD_OUT_TEMP_H:
+  case LSM6DS0_AD_STATUS_REG1:
+  case LSM6DS0_AD_OUT_X_L_G:
+  case LSM6DS0_AD_OUT_X_H_G:
+  case LSM6DS0_AD_OUT_Y_L_G:
+  case LSM6DS0_AD_OUT_Y_H_G:
+  case LSM6DS0_AD_OUT_Z_L_G:
+  case LSM6DS0_AD_OUT_Z_H_G:
+  case LSM6DS0_AD_INT_GEN_SRC_XL:
+  case LSM6DS0_AD_STATUS_REG2:
+  case LSM6DS0_AD_OUT_X_L_XL:
+  case LSM6DS0_AD_OUT_X_H_XL:
+  case LSM6DS0_AD_OUT_Y_L_XL:
+  case LSM6DS0_AD_OUT_Y_H_XL:
+  case LSM6DS0_AD_OUT_Z_L_XL:
+  case LSM6DS0_AD_OUT_Z_H_XL:
+  case LSM6DS0_AD_FIFO_SRC:
+  /* Read only registers cannot be written, the command is ignored.*/
+    return MSG_RESET;
+  case LSM6DS0_AD_ACT_THS:
+  case LSM6DS0_AD_ACT_DUR:
+  case LSM6DS0_AD_INT_GEN_CFG_XL:
+  case LSM6DS0_AD_INT_GEN_THS_X_XL:
+  case LSM6DS0_AD_INT_GEN_THS_Y_XL:
+  case LSM6DS0_AD_INT_GEN_THS_Z_XL:
+  case LSM6DS0_AD_INT_GEN_DUR_XL:
+  case LSM6DS0_AD_REFERENCE_G:
+  case LSM6DS0_AD_INT_CTRL:
+  case LSM6DS0_AD_CTRL_REG1_G:
+  case LSM6DS0_AD_CTRL_REG2_G:
+  case LSM6DS0_AD_CTRL_REG3_G:
+  case LSM6DS0_AD_ORIENT_CFG_G:
+  case LSM6DS0_AD_CTRL_REG4:
+  case LSM6DS0_AD_CTRL_REG5_XL:
+  case LSM6DS0_AD_CTRL_REG6_XL:
+  case LSM6DS0_AD_CTRL_REG7_XL:
+  case LSM6DS0_AD_CTRL_REG8:
+  case LSM6DS0_AD_CTRL_REG9:
+  case LSM6DS0_AD_CTRL_REG10:
+  case LSM6DS0_AD_FIFO_CTRL:
+  case LSM6DS0_AD_INT_GEN_CFG_G:
+  case LSM6DS0_AD_INT_GEN_THS_XH_G:
+  case LSM6DS0_AD_INT_GEN_THS_XL_G:
+  case LSM6DS0_AD_INT_GEN_THS_YH_G:
+  case LSM6DS0_AD_INT_GEN_THS_YL_G:
+  case LSM6DS0_AD_INT_GEN_THS_ZH_G:
+  case LSM6DS0_AD_INT_GEN_THS_ZL_G:
+  case LSM6DS0_AD_INT_GEN_DUR_G:
+    txbuf[0] = reg;
+    txbuf[1] = value;
+    return i2cMasterTransmitTimeout(i2cp, sad, txbuf, 2, &rxbuf, 0, TIME_INFINITE);
+    break;
+  }
+}
+#endif /* LSM6DS0_USE_I2C */
+
+/*
+ * Interface implementation.
+ */
+static size_t acc_get_axes_number(void *ip) {
+
+  osalDbgCheck(ip != NULL);
+  return LSM6DS0_ACC_NUMBER_OF_AXES;
+}
+
+static msg_t acc_read_raw(void *ip, int32_t axes[LSM6DS0_ACC_NUMBER_OF_AXES]) {
+
+  osalDbgCheck((ip != NULL) && (axes != NULL));
+
+  osalDbgAssert((((LSM6DS0Driver *)ip)->state == LSM6DS0_READY),
+              "acc_read_raw(), invalid state");
+
+#if LSM6DS0_USE_I2C
+  osalDbgAssert((((LSM6DS0Driver *)ip)->config->i2cp->state == I2C_READY),
+                "acc_read_raw(), channel not ready");
+#if LSM6DS0_SHARED_I2C
+  i2cAcquireBus(((LSM6DS0Driver *)ip)->config->i2cp);
+  i2cStart(((LSM6DS0Driver *)ip)->config->i2cp,
+           ((LSM6DS0Driver *)ip)->config->i2ccfg);
+#endif /* LSM6DS0_SHARED_I2C */
+  if(((LSM6DS0Driver *)ip)->config->acccfg->axesenabling & LSM6DS0_ACC_AE_X){
+    axes[0] = (int16_t)(lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
+                                               ((LSM6DS0Driver *)ip)->config->slaveaddress,
+                                               LSM6DS0_AD_OUT_X_L_XL, NULL));
+    axes[0] += (int16_t)(lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
+                                                ((LSM6DS0Driver *)ip)->config->slaveaddress,
+                                                LSM6DS0_AD_OUT_X_H_XL, NULL) << 8);
+  }
+  if(((LSM6DS0Driver *)ip)->config->acccfg->axesenabling & LSM6DS0_ACC_AE_Y){
+    axes[1] = (int16_t)(lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
+                                               ((LSM6DS0Driver *)ip)->config->slaveaddress,
+                                               LSM6DS0_AD_OUT_Y_L_XL, NULL));
+    axes[1] += (int16_t)(lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
+                                                ((LSM6DS0Driver *)ip)->config->slaveaddress,
+                                                LSM6DS0_AD_OUT_Y_H_XL, NULL) << 8);
+  }
+  if(((LSM6DS0Driver *)ip)->config->acccfg->axesenabling & LSM6DS0_ACC_AE_Z){
+    axes[2] = (int16_t)(lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
+                                               ((LSM6DS0Driver *)ip)->config->slaveaddress,
+                                               LSM6DS0_AD_OUT_Z_L_XL, NULL));
+    axes[2] += (int16_t)(lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
+                                                ((LSM6DS0Driver *)ip)->config->slaveaddress,
+                                                LSM6DS0_AD_OUT_Z_H_XL, NULL) << 8);
+  }
+#if LSM6DS0_SHARED_I2C
+  i2cReleaseBus(((LSM6DS0Driver *)ip)->config->i2cp);
+#endif /* LSM6DS0_SHARED_I2C */
+#endif
+  return MSG_OK;
+}
+
+static msg_t acc_read_cooked(void *ip, float axes[]) {
+  uint32_t i;
+  int32_t raw[LSM6DS0_ACC_NUMBER_OF_AXES];
+  msg_t msg;
+
+  osalDbgCheck((ip != NULL) && (axes != NULL));
+
+  osalDbgAssert((((LSM6DS0Driver *)ip)->state == LSM6DS0_READY),
+              "read_cooked(), invalid state");
+
+  msg = acc_read_raw(ip, raw);
+  for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES ; i++){
+    axes[i] = raw[i] * ((LSM6DS0Driver *)ip)->accsens;
+    if(((LSM6DS0Driver *)ip)->config->acccfg->unit == LSM6DS0_ACC_UNIT_G){
+      axes[i] *= TO_G;
+    }
+    else if(((LSM6DS0Driver *)ip)->config->acccfg->unit == LSM6DS0_ACC_UNIT_SI){
+      axes[i] *= TO_SI;
+    }
+  }
+  return msg;
+}
+
+static const struct LSM6DS0ACCVMT accvmt = {
+  acc_get_axes_number, acc_read_raw, acc_read_cooked
+};
+
+/*===========================================================================*/
+/* Driver exported functions.                                                */
+/*===========================================================================*/
+
+/**
+ * @brief   Initializes an instance.
+ *
+ * @param[out] devp     pointer to the @p LSM6DS0Driver object
+ *
+ * @init
+ */
+void lsm6ds0ObjectInit(LSM6DS0Driver *devp) {
+
+  devp->vmtac = &accvmt;
+  devp->state = LSM6DS0_STOP;
+  devp->config = NULL;
+}
+
+/**
+ * @brief   Configures and activates LSM6DS0 Complex Driver peripheral.
+ *
+ * @param[in] devp      pointer to the @p LSM6DS0Driver object
+ * @param[in] config    pointer to the @p LSM6DS0Config object
+ *
+ * @api
+ */
+void lsm6ds0Start(LSM6DS0Driver *devp, const LSM6DS0Config *config) {
+  osalDbgCheck((devp != NULL) && (config != NULL));
+
+  osalDbgAssert((devp->state == LSM6DS0_STOP) || (devp->state == LSM6DS0_READY),
+              "lsm6ds0Start(), invalid state");			  
+
+  devp->config = config;
+
+#if LSM6DS0_USE_I2C
+#if	LSM6DS0_SHARED_I2C
+  i2cAcquireBus((devp)->config->i2cp);
+#endif /* LSM6DS0_SHARED_I2C */
+  i2cStart((devp)->config->i2cp,
+           (devp)->config->i2ccfg);
+  if((devp)->config->acccfg != NULL) {
+    lsm6ds0I2CWriteRegister(devp->config->i2cp,
+                            devp->config->slaveaddress,
+                            LSM6DS0_AD_CTRL_REG5_XL,
+                            devp->config->acccfg->decmode |
+                            devp->config->acccfg->axesenabling);
+    lsm6ds0I2CWriteRegister(devp->config->i2cp,
+                            devp->config->slaveaddress,
+                            LSM6DS0_AD_CTRL_REG6_XL,
+                            devp->config->acccfg->outdatarate |
+                            devp->config->acccfg->fullscale );
+  }
+  if((devp)->config->gyrocfg != NULL) {
+    lsm6ds0I2CWriteRegister(devp->config->i2cp,
+                            devp->config->slaveaddress,
+                            LSM6DS0_AD_CTRL_REG1_G,
+                            devp->config->gyrocfg->fullscale |
+                            devp->config->gyrocfg->outdatarate);
+    lsm6ds0I2CWriteRegister(devp->config->i2cp,
+                            devp->config->slaveaddress,
+                            LSM6DS0_AD_CTRL_REG2_G,
+                            devp->config->gyrocfg->outsel);
+    lsm6ds0I2CWriteRegister(devp->config->i2cp,
+                            devp->config->slaveaddress,
+                            LSM6DS0_AD_CTRL_REG3_G,
+                            devp->config->gyrocfg->hpfenable |
+                            devp->config->gyrocfg->lowmodecfg |
+                            devp->config->gyrocfg->hpcfg);
+    lsm6ds0I2CWriteRegister(devp->config->i2cp,
+                            devp->config->slaveaddress,
+                            LSM6DS0_AD_CTRL_REG4,
+                            devp->config->gyrocfg->axesenabling);
+    lsm6ds0I2CWriteRegister(devp->config->i2cp,
+                            devp->config->slaveaddress,
+                            LSM6DS0_AD_CTRL_REG9,
+                            LSM6DS0_GYRO_SLP_DISABLED);
+  }
+  lsm6ds0I2CWriteRegister(devp->config->i2cp,
+                          devp->config->slaveaddress,
+                          LSM6DS0_AD_CTRL_REG8,
+                          devp->config->endianness |
+                          devp->config->blockdataupdate);
+#if	LSM6DS0_SHARED_I2C
+  i2cReleaseBus((devp)->config->i2cp);
+#endif /* LSM6DS0_SHARED_I2C */  
+#endif /* LSM6DS0_USE_I2C */
+  /* Storing sensitivity information according to full scale value */
+  if((devp)->config->acccfg != NULL) {
+    if(devp->config->acccfg->fullscale == LSM6DS0_ACC_FS_2G)
+      devp->accsens = LSM6DS0_ACC_SENS_2G;
+    else if(devp->config->acccfg->fullscale == LSM6DS0_ACC_FS_4G)
+      devp->accsens = LSM6DS0_ACC_SENS_4G;
+    else if(devp->config->acccfg->fullscale == LSM6DS0_ACC_FS_8G)
+      devp->accsens = LSM6DS0_ACC_SENS_8G;
+    else if(devp->config->acccfg->fullscale == LSM6DS0_ACC_FS_16G)
+      devp->accsens = LSM6DS0_ACC_SENS_16G;
+    else
+      osalDbgAssert(FALSE, "lsm6ds0Start(), accelerometer full scale issue");
+  }
+  if((devp)->config->gyrocfg != NULL) {
+    if(devp->config->gyrocfg->fullscale == LSM6DS0_GYRO_FS_245DSP)
+      devp->gyrosens = LSM6DS0_GYRO_SENS_245DPS;
+    else if(devp->config->gyrocfg->fullscale == LSM6DS0_GYRO_FS_500DSP)
+      devp->gyrosens = LSM6DS0_GYRO_SENS_500DPS;
+    else if(devp->config->gyrocfg->fullscale == LSM6DS0_GYRO_FS_2000DSP)
+      devp->gyrosens = LSM6DS0_GYRO_SENS_2000DPS;
+    else
+      osalDbgAssert(FALSE, "lsm6ds0Start(), gyroscope full scale issue");
+  }
+  /* This is the Gyroscope transient recovery time */
+  osalThreadSleepMilliseconds(5);
+
+  devp->state = LSM6DS0_READY;
+} 
+
+/**
+ * @brief   Deactivates the LSM6DS0 Complex Driver peripheral.
+ *
+ * @param[in] devp       pointer to the @p LSM6DS0Driver object
+ *
+ * @api
+ */
+void lsm6ds0Stop(LSM6DS0Driver *devp) {
+
+  osalDbgCheck(devp != NULL);
+
+  osalDbgAssert((devp->state == LSM6DS0_STOP) || (devp->state == LSM6DS0_READY),
+                "lsm6ds0Stop(), invalid state");
+
+#if (LSM6DS0_USE_I2C)
+  if (devp->state == LSM6DS0_STOP) {
+#if	LSM6DS0_SHARED_I2C
+    i2cAcquireBus((devp)->config->i2cp);
+    i2cStart((devp)->config->i2cp,
+             (devp)->config->i2ccfg);
+#endif /* LSM6DS0_SHARED_I2C */
+    if((devp)->config->acccfg != NULL) {
+      lsm6ds0I2CWriteRegister(devp->config->i2cp,
+                              devp->config->slaveaddress,
+                              LSM6DS0_AD_CTRL_REG6_XL,
+                              LSM6DS0_ACC_ODR_PD);
+    }
+    if((devp)->config->gyrocfg != NULL) {
+      lsm6ds0I2CWriteRegister(devp->config->i2cp,
+                              devp->config->slaveaddress,
+                              LSM6DS0_AD_CTRL_REG9,
+                              LSM6DS0_GYRO_SLP_ENABLED);
+    }
+    i2cStop((devp)->config->i2cp);
+#if	LSM6DS0_SHARED_I2C
+    i2cReleaseBus((devp)->config->i2cp);
+#endif /* LSM6DS0_SHARED_I2C */    
+  }			  
+#endif /* LSM6DS0_USE_I2C */
+  devp->state = LSM6DS0_STOP;
+}
+/** @} */
diff --git a/os/ex/ST/lsm6ds0.h b/os/ex/ST/lsm6ds0.h
new file mode 100644
index 000000000..89d3d06ff
--- /dev/null
+++ b/os/ex/ST/lsm6ds0.h
@@ -0,0 +1,555 @@
+/*
+    ChibiOS - Copyright (C) 2016 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    lsm6ds0.h
+ * @brief   LSM6DS0 MEMS interface module header.
+ *
+ * @{
+ */
+#ifndef _LSM6DS0_H_
+#define _LSM6DS0_H_
+
+#include "hal_accelerometer.h"
+#include "hal_gyroscope.h"
+
+/*===========================================================================*/
+/* Driver constants.                                                         */
+/*===========================================================================*/
+
+/**
+ * @brief   LSM6DS0 accelerometer subsystem number of axes.
+ */
+#define  LSM6DS0_ACC_NUMBER_OF_AXES         ((size_t)   3U)
+
+/**
+ * @brief   LSM6DS0 gyroscope subsystem number of axes.
+ */
+#define  LSM6DS0_GYRO_NUMBER_OF_AXES        ((size_t)   3U)
+
+/*===========================================================================*/
+/* Driver pre-compile time settings.                                         */
+/*===========================================================================*/
+
+/**
+ * @name    Configuration options
+ * @{
+ */
+/**
+ * @brief   LSM6DS0 SPI interface selector.
+ * @details If set to @p TRUE the support for SPI is included.
+ * @note    The default is @p FALSE.
+ */
+#if !defined(LSM6DS0_USE_SPI) || defined(__DOXYGEN__)
+#define LSM6DS0_USE_SPI                     FALSE
+#endif
+
+/**
+ * @brief   LSM6DS0 I2C interface selector.
+ * @details If set to @p TRUE the support for I2C is included.
+ * @note    The default is @p TRUE.
+ */
+#if !defined(LSM6DS0_USE_I2C) || defined(__DOXYGEN__)
+#define LSM6DS0_USE_I2C                     TRUE
+#endif
+
+/**
+ * @brief   LSM6DS0 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(LSM6DS0_SHARED_I2C) || defined(__DOXYGEN__)
+#define LSM6DS0_SHARED_I2C                  FALSE
+#endif
+/** @} */
+
+/*===========================================================================*/
+/* Derived constants and error checks.                                       */
+/*===========================================================================*/
+
+#if LSM6DS0_USE_SPI && LSM6DS0_USE_I2C
+#error "LSM6DS0_USE_SPI and LSM6DS0_USE_I2C cannot be both true"
+#endif
+
+#if LSM6DS0_USE_SPI && !HAL_USE_SPI
+#error "LSM6DS0_USE_SPI requires HAL_USE_SPI"
+#endif
+
+#if LSM6DS0_USE_I2C && !HAL_USE_I2C
+#error "LSM6DS0_USE_I2C requires HAL_USE_I2C"
+#endif
+
+#if LSM6DS0_SHARED_I2C && !I2C_USE_MUTUAL_EXCLUSION
+#error "LSM6DS0_SHARED_SPI requires I2C_USE_MUTUAL_EXCLUSION"
+#endif
+
+/*===========================================================================*/
+/* Driver data structures and types.                                         */
+/*===========================================================================*/
+
+/**
+ * @name    LSM6DS0 data structures and types
+ * @{
+ */
+/**
+ * @name    LSM6DS0 accelerometer subsystem data structures and types
+ * @{
+ */
+ 
+/**
+ * @brief   LSM6DS0 accelerometer subsystem full scale
+ */
+typedef enum {
+  LSM6DS0_ACC_FS_2G = 0x00,         /**< Full scale ±2g.                    */
+  LSM6DS0_ACC_FS_4G = 0x10,         /**< Full scale ±4g.                    */
+  LSM6DS0_ACC_FS_8G = 0x18,         /**< Full scale ±8g.                    */
+  LSM6DS0_ACC_FS_16G = 0x08         /**< Full scale ±16g.                   */
+}lsm6ds0_acc_fs_t;
+
+/**
+ * @brief   LSM6DS0 accelerometer subsystem output data rate
+ */
+typedef enum {
+  LSM6DS0_ACC_ODR_PD = 0x00,        /**< Power down                         */
+  LSM6DS0_ACC_ODR_10Hz = 0x20,      /**< ODR 10 Hz                          */
+  LSM6DS0_ACC_ODR_50Hz = 0x40,      /**< ODR 50 Hz                          */
+  LSM6DS0_ACC_ODR_119Hz = 0x60,     /**< ODR 119 Hz                         */
+  LSM6DS0_ACC_ODR_238Hz = 0x80,     /**< ODR 238 Hz                         */
+  LSM6DS0_ACC_ODR_476Hz = 0xA0,     /**< ODR 476 Hz                         */
+  LSM6DS0_ACC_ODR_952Hz = 0xC0      /**< ODR 952 Hz                         */
+}lsm6ds0_acc_odr_t;
+
+/**
+ * @brief   LSM6DS0 accelerometer subsystem axes enabling
+ */
+typedef enum {
+  LSM6DS0_ACC_AE_DISABLED = 0x00,   /**< All axes disabled.                 */
+  LSM6DS0_ACC_AE_X = 0x08,          /**< Only X-axis enabled.               */
+  LSM6DS0_ACC_AE_Y = 0x10,          /**< Only Y-axis enabled.               */
+  LSM6DS0_ACC_AE_XY = 0x18,         /**< X and Y axes enabled.              */
+  LSM6DS0_ACC_AE_Z = 0x20,          /**< Only Z-axis enabled.               */
+  LSM6DS0_ACC_AE_XZ = 0x28,         /**< X and Z axes enabled.              */
+  LSM6DS0_ACC_AE_YZ = 0x30,         /**< Y and Z axes enabled.              */
+  LSM6DS0_ACC_AE_XYZ = 0x38         /**< All axes enabled.                  */
+} lsm6ds0_acc_ae_t;
+
+/**
+ * @brief   LSM6DS0 accelerometer subsystem anti aliasing filter bandwidth
+ */
+typedef enum {
+  LSM6DS0_ACC_OBW_ODR = 0x00,      /**< Depending on ODR.                   */
+  LSM6DS0_ACC_OBW_AA = 0x04        /**< Same of the Anti aliasing.          */
+} lsm6ds0_acc_obw_t;
+
+/**
+ * @brief   LSM6DS0 accelerometer subsystem high resolution mode
+ */
+typedef enum {
+  LSM6DS0_ACC_HR_DISABLED = 0x00,   /**< High resolution mode disabled.     */
+  LSM6DS0_ACC_HR_ENABLED = 0x80     /**< High resolution mode enabled.      */
+} lsm6ds0_acc_hr_t;
+
+/**
+ * @brief   LSM6DS0 accelerometer subsystem filtered data selection
+ */
+typedef enum {
+  LSM6DS0_ACC_FDS_ENABLED = 0x00,   /**< Internal filter bypassed.           */
+  LSM6DS0_ACC_FDS_DISABLED = 0x04   /**< Internal filter not bypassed.       */
+} lsm6ds0_acc_fds_t;
+
+/**
+ * @brief   LSM6DS0 accelerometer subsystem digital filter
+ */
+typedef enum {
+  LSM6DS0_ACC_DCF_400 = 0x00,       /**< Low pass cutoff freq. ODR/400 Hz.    */
+  LSM6DS0_ACC_DCF_100 = 0x20,       /**< Low pass cutoff freq. ODR/100 Hz.    */
+  LSM6DS0_ACC_DCF_50 = 0x60,        /**< Low pass cutoff freq. ODR/50 Hz.     */
+  LSM6DS0_ACC_DCF_9 = 0x40          /**< Low pass cutoff freq. ODR/9 Hz.      */
+} lsm6ds0_acc_dcf_t;
+
+/**
+ * @brief   LSM6DS0 accelerometer subsystem anti aliasing filter bandwidth
+ */
+typedef enum {
+  LSM6DS0_ACC_AABW_408Hz = 0x00,    /**< Anti Aliasing filter BW 408Hz.     */
+  LSM6DS0_ACC_AABW_211Hz = 0x01,    /**< Anti Aliasing filter BW 211Hz.     */
+  LSM6DS0_ACC_AABW_105Hz = 0x02,    /**< Anti Aliasing filter BW 105Hz.     */
+  LSM6DS0_ACC_AABW_50Hz = 0x03,     /**< Anti Aliasing filter BW 50Hz.      */
+  LSM6DS0_ACC_AABW_AUTO = 0x04      /**< Anti Aliasing filter BW auto.      */
+} lsm6ds0_acc_aabw_t;
+
+/**
+ * @brief   LSM6DS0 accelerometer subsystem decimation mode
+ */
+typedef enum {
+  LSM6DS0_ACC_DEC_DISABLED = 0x00,  /**< Decimation disabled.               */
+  LSM6DS0_ACC_DEC_X2 = 0x40,        /**< Output updated every 2 samples.    */
+  LSM6DS0_ACC_DEC_X4 = 0x80,        /**< Output updated every 4 samples.    */
+  LSM6DS0_ACC_DEC_X8 = 0xC0         /**< Output updated every 8 samples.    */
+} lsm6ds0_acc_dec_t;
+
+/**
+ * @brief   LSM6DS0 accelerometer subsystem unit
+ */
+typedef enum {
+  LSM6DS0_ACC_UNIT_G = 0x00,        /**< Cooked data in g.                  */
+  LSM6DS0_ACC_UNIT_MG = 0x01,       /**< Cooked data in mg.                 */
+  LSM6DS0_ACC_UNIT_SI = 0x02,       /**< Cooked data in m/s^2.              */
+} lsm6ds0_acc_unit_t;
+/**
+ * @brief   LSM6DS0 accelerometer subsystem configuration structure.
+ */
+typedef struct {
+  /**
+   * @brief   LSM6DS0 accelerometer subsystem full scale
+   */
+  lsm6ds0_acc_fs_t          fullscale;
+  /**
+   * @brief   LSM6DS0 accelerometer subsystem output data rate
+   */
+  lsm6ds0_acc_odr_t         outdatarate;
+  /**
+   * @brief   LSM6DS0 accelerometer subsystem axes enabling
+   */
+  lsm6ds0_acc_ae_t          axesenabling;
+  /**
+   * @brief   LSM6DS0 accelerometer subsystem output bandwidth
+   */
+  lsm6ds0_acc_obw_t         outbandwidth;
+  /**
+   * @brief   LSM6DS0 accelerometer subsystem high resolution mode
+   */
+  lsm6ds0_acc_hr_t          highresmode;
+  /**
+   * @brief   LSM6DS0 accelerometer subsystem filtered data selection
+   */
+  lsm6ds0_acc_fds_t         filtdatasel;
+  /**
+   * @brief   LSM6DS0 accelerometer subsystem digital filter
+   */
+  lsm6ds0_acc_dcf_t         digifilter;
+  /**
+   * @brief   LSM6DS0 accelerometer subsystem anti aliasing filter bandwidth
+   */
+  lsm6ds0_acc_aabw_t        aabandwidth;
+  /**
+   * @brief   LSM6DS0 accelerometer subsystem decimation mode
+   */
+  lsm6ds0_acc_dec_t         decmode;
+  /**
+   * @brief   LSM6DS0 accelerometer subsystem unit
+   */
+  lsm6ds0_acc_unit_t        unit;
+} LSM6DS0AccConfig;
+/** @} */
+
+/**
+ * @name    LSM6DS0 gyroscope subsystem data structures and types
+ * @{
+ */
+ 
+/**
+ * @brief   LSM6DS0 gyroscope subsystem full scale
+ */
+typedef enum {
+  LSM6DS0_GYRO_FS_245DSP  = 0x00,   /**< Full scale ±245 degree per second  */
+  LSM6DS0_GYRO_FS_500DSP  = 0x08,   /**< Full scale ±500 degree per second  */
+  LSM6DS0_GYRO_FS_2000DSP = 0x18    /**< Full scale ±2000 degree per second */
+}lsm6ds0_gyro_fs_t;
+
+/**
+ * @brief   LSM6DS0 gyroscope subsystem output data rate
+ */
+typedef enum {
+  LSM6DS0_GYRO_ODR_PD = 0x00,
+  LSM6DS0_GYRO_ODR_95HZ_FC_25 = 0x10,
+  LSM6DS0_GYRO_ODR_14_9HZ_FC_5 = 0X20,
+  LSM6DS0_GYRO_ODR_59_5HZ_FC_16 = 0X40,
+  LSM6DS0_GYRO_ODR_119HZ_FC_14 = 0X60,
+  LSM6DS0_GYRO_ODR_119HZ_FC_31 = 0X61,
+  LSM6DS0_GYRO_ODR_238HZ_FC_14 = 0X80,
+  LSM6DS0_GYRO_ODR_238HZ_FC_29 = 0X81,
+  LSM6DS0_GYRO_ODR_238HZ_FC_63 = 0X82,
+  LSM6DS0_GYRO_ODR_238HZ_FC_78 = 0X83,
+  LSM6DS0_GYRO_ODR_476HZ_FC_21 = 0XA0,
+  LSM6DS0_GYRO_ODR_476HZ_FC_28 = 0XA1,
+  LSM6DS0_GYRO_ODR_476HZ_FC_57 = 0XA2,
+  LSM6DS0_GYRO_ODR_476HZ_FC_100 = 0XA3,
+  LSM6DS0_GYRO_ODR_952HZ_FC_33 = 0XC0,
+  LSM6DS0_GYRO_ODR_952HZ_FC_40 = 0XC1,
+  LSM6DS0_GYRO_ODR_952HZ_FC_58 = 0XC2,
+  LSM6DS0_GYRO_ODR_952HZ_FC_100 = 0XC3
+}lsm6ds0_gyro_odr_t;
+
+/**
+ * @brief   LSM6DS0 gyroscope subsystem axes enabling
+ */
+typedef enum {
+  LSM6DS0_GYRO_AE_DISABLED = 0x00,  /**< All axes disabled.                 */
+  LSM6DS0_GYRO_AE_X = 0x08,         /**< Only X-axis enabled.               */
+  LSM6DS0_GYRO_AE_Y = 0x10,         /**< Only Y-axis enabled.               */
+  LSM6DS0_GYRO_AE_XY = 0x18,        /**< X and Y axes enabled.              */
+  LSM6DS0_GYRO_AE_Z = 0x20,         /**< Only Z-axis enabled.               */
+  LSM6DS0_GYRO_AE_XZ = 0x28,        /**< X and Z axes enabled.              */
+  LSM6DS0_GYRO_AE_YZ = 0x30,        /**< Y and Z axes enabled.              */
+  LSM6DS0_GYRO_AE_XYZ = 0x38        /**< All axes enabled.                  */
+} lsm6ds0_gyro_ae_t;
+
+/**
+ * @brief   LSM6DS0 gyroscope subsystem low mode configuration
+ */
+typedef enum {
+  LSM6DS0_GYRO_LP_DISABLED = 0x00,  /**< Low power mode disabled.           */
+  LSM6DS0_GYRO_LP_ENABLED = 0x80    /**< Low power mode enabled.            */
+} lsm6ds0_gyro_lp_t;
+
+/**
+ * @brief  LSM6DS0 gyroscope subsystem output selection
+ */
+typedef enum {
+  LSM6DS0_GYRO_OUT_SEL_0 = 0x00,    /**< Low pass filter 1.                 */
+  LSM6DS0_GYRO_OUT_SEL_1 = 0x01,    /**< High pass filter 1 if enabled.     */
+  LSM6DS0_GYRO_OUT_SEL_2 = 0x02     /**< Low pass filter 2.                 */
+} lsm6ds0_gyro_out_sel_t;
+
+/**
+ * @brief  LSM6DS0 gyroscope subsystem high pass filter
+ */
+typedef enum {
+  LSM6DS0_GYRO_HP_DISABLED = 0x00,  /**< High pass filter disabled.         */
+  LSM6DS0_GYRO_HP_ENABLED = 0x40    /**< High pass filter enabled.          */
+} lsm6ds0_gyro_hp_t;
+
+/**
+ * @brief  LSM6DS0 gyroscope subsystem high pass filter configuration
+ */
+typedef enum {
+  LSM6DS0_GYRO_HPCF_0 = 0x00,       /**< Refer to table 48 of RM            */
+  LSM6DS0_GYRO_HPCF_1 = 0x01, 
+  LSM6DS0_GYRO_HPCF_2 = 0x02, 
+  LSM6DS0_GYRO_HPCF_3 = 0x03, 
+  LSM6DS0_GYRO_HPCF_4 = 0x04, 
+  LSM6DS0_GYRO_HPCF_5 = 0x05, 
+  LSM6DS0_GYRO_HPCF_6 = 0x06, 
+  LSM6DS0_GYRO_HPCF_7 = 0x07, 
+  LSM6DS0_GYRO_HPCF_8 = 0x08, 
+  LSM6DS0_GYRO_HPCF_9 = 0x09 
+} lsm6ds0_gyro_hpcf_t;
+
+/**
+ * @brief   LSM6DS0 gyroscope subsystem configuration structure.
+ */
+typedef struct {
+  /**
+   * @brief   LSM6DS0 gyroscope subsystem full scale
+   */
+  lsm6ds0_gyro_fs_t         fullscale;
+  /**
+   * @brief   LSM6DS0 gyroscope subsystem output data rate
+   */
+  lsm6ds0_gyro_odr_t        outdatarate;
+  /**
+   * @brief   LSM6DS0 gyroscope subsystem axes enabling
+   */
+  lsm6ds0_gyro_ae_t         axesenabling;
+  /**
+   * @brief   LSM6DS0 gyroscope subsystem low mode configuration
+   */
+  lsm6ds0_gyro_lp_t         lowmodecfg;
+  /**
+   * @brief   LSM6DS0 gyroscope subsystem output selection
+   */
+  lsm6ds0_gyro_out_sel_t    outsel;
+  /**
+   * @brief   LSM6DS0 gyroscope subsystem high pass filter
+   */
+  lsm6ds0_gyro_hp_t         hpfenable;
+  /**
+   * @brief   LSM6DS0 gyroscope subsystem high pass filter configuration
+   */
+  lsm6ds0_gyro_hpcf_t       hpcfg;
+} LSM6DS0GyroConfig;
+/** @} */
+
+/**
+ * @brief  Accelerometer and Gyroscope Slave Address
+ */
+typedef enum {
+  LSM6DS0_SAD_GND = 0x6A,           /**< SAD pin connected to GND.          */
+  LSM6DS0_SAD_VCC = 0x6B            /**< SAD pin connected to VCC.          */
+}lsm6ds0_sad_t;
+
+/**
+ * @brief   LSM6DS0 block data update
+ */
+typedef enum {
+  LSM6DS0_BDU_CONTINOUS = 0x00,     /**< Block data continuously updated.   */
+  LSM6DS0_BDU_BLOCKED = 0x40        /**< Block data updated after reading.  */
+}lsm6ds0_bdu_t;
+
+/**
+ * @brief   LSM6DS0 endianness
+ */
+typedef enum {
+  LSM6DS0_END_LITTLE = 0x00,        /**< Little endian.                     */
+  LSM6DS0_END_BIG = 0x20            /**< Big endian.                        */
+} lsm6ds0_end_t;
+
+/**
+ * @brief   Driver state machine possible states.
+ */
+typedef enum {
+  LSM6DS0_UNINIT = 0,               /**< Not initialized.                   */
+  LSM6DS0_STOP = 1,                 /**< Stopped.                           */
+  LSM6DS0_READY = 2,                /**< Ready.                             */
+} lsm6ds0_state_t;
+
+/**
+ * @brief   LSM6DS0 configuration structure.
+ */
+typedef struct {
+#if (LSM6DS0_USE_SPI) || defined(__DOXYGEN__)
+  /**
+   * @brief SPI driver associated to this LSM6DS0.
+   */
+  SPIDriver                 *spip;
+  /**
+   * @brief SPI configuration associated to this LSM6DS0 accelerometer
+   *        subsystem.
+   */
+  const SPIConfig           *accspicfg;
+  /**
+   * @brief SPI configuration associated to this LSM6DS0 compass
+   *        subsystem.
+   */
+  const SPIConfig           *gyrospicfg;
+#endif /* LSM6DS0_USE_SPI */
+#if (LSM6DS0_USE_I2C) || defined(__DOXYGEN__)
+  /**
+   * @brief I2C driver associated to this LSM6DS0.
+   */
+  I2CDriver                 *i2cp;
+  /**
+   * @brief I2C configuration associated to this LSM6DS0 accelerometer
+   *        subsystem.
+   */
+  const I2CConfig           *i2ccfg;
+#endif /* LSM6DS0_USE_I2C */
+  /**
+   * @brief   LSM6DS0 accelerometer subsystem configuration structure
+   */
+  const LSM6DS0AccConfig    *acccfg;
+  /**
+   * @brief   LSM6DS0 gyroscope subsystem configuration structure
+   */
+  const LSM6DS0GyroConfig   *gyrocfg;
+  /**
+   * @brief  Accelerometer and Gyroscope Slave Address
+   */
+  lsm6ds0_sad_t             slaveaddress;
+  /**
+   * @brief   LSM6DS0 block data update
+   */
+  lsm6ds0_bdu_t             blockdataupdate;
+  /**
+   * @brief   LSM6DS0  endianness
+   */
+  lsm6ds0_end_t             endianness;
+} LSM6DS0Config;
+
+/**
+ * @brief   Structure representing a LSM6DS0 driver.
+ */
+typedef struct LSM6DS0Driver LSM6DS0Driver;
+
+/**
+ * @brief   @p LSM6DS0 accelerometer subsystem specific methods.
+ */
+#define _lsm6ds0_acc_methods                                                \
+  _base_accelerometer_methods
+  
+/**
+ * @brief   @p LSM6DS0 gyroscope subsystem specific methods.
+ */
+#define _lsm6ds0_gyro_methods                                               \
+  _base_gyroscope_methods
+  
+/**
+ * @extends BaseAccelerometerVMT
+ *
+ * @brief   @p LSM6DS0 accelerometer virtual methods table.
+ */
+struct LSM6DS0ACCVMT {
+  _lsm6ds0_acc_methods
+};
+
+/**
+ * @extends BaseCompassVMT
+ *
+ * @brief   @p LSM6DS0 gyroscope virtual methods table.
+ */
+struct LSM6DS0GYROVMT {
+  _lsm6ds0_gyro_methods
+};
+
+/**
+ * @brief   @p LSM6DS0Driver specific data.
+ */
+#define _lsm6ds0_data                                                       \
+  _base_accelerometer_data                                                  \
+  _base_gyroscope_data                                                      \
+  /* Driver state.*/                                                        \
+  lsm6ds0_state_t           state;                                          \
+  /* Current configuration data.*/                                          \
+  const LSM6DS0Config       *config;                                        \
+  /* Current accelerometer sensitivity.*/                                   \
+  float                     accsens;                                        \
+  /* Current gyroscope sensitivity.*/                                       \
+  float                     gyrosens;
+  
+/**
+ * @brief   LSM6DS0 6-axis accelerometer/gyroscope class.
+ */
+struct LSM6DS0Driver {
+  /** @brief Accelerometer Virtual Methods Table.*/
+  const struct LSM6DS0ACCVMT  *vmtac;
+  /** @brief Gyroscope Virtual Methods Table.*/
+  const struct LSM6DS0GYROVMT *vmtgy;
+  _lsm6ds0_data
+};
+/** @} */
+
+/*===========================================================================*/
+/* Driver macros.                                                            */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* External declarations.                                                    */
+/*===========================================================================*/
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+  void lsm6ds0ObjectInit(LSM6DS0Driver *devp);
+  void lsm6ds0Start(LSM6DS0Driver *devp, const LSM6DS0Config *config);
+  void lsm6ds0Stop(LSM6DS0Driver *devp);
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* _LSM6DS0_H_ */
+
+/** @} */
diff --git a/os/ex/ST/lsm6ds0.mk b/os/ex/ST/lsm6ds0.mk
new file mode 100644
index 000000000..31cb756b2
--- /dev/null
+++ b/os/ex/ST/lsm6ds0.mk
@@ -0,0 +1,6 @@
+# List of all the LSM6DS0 device files.

+LSM6DS0SRC := $(CHIBIOS)/os/ex/ST/lsm6ds0.c

+

+# Required include directories

+LSM6DS0INC := $(CHIBIOS)/os/hal/lib/peripherals/include \

+              $(CHIBIOS)/os/ex/ST
\ No newline at end of file