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

1 files changed, 501 insertions, 0 deletions

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;
+}
+/** @} */