diff --git a/os/ex/devices/ST/lis2dw12.c b/os/ex/devices/ST/lis2dw12.c
new file mode 100644
index 000000000..f58988221
--- /dev/null
+++ b/os/ex/devices/ST/lis2dw12.c
@@ -0,0 +1,605 @@
+/*
+ ChibiOS - Copyright (C) 2023 Andrey Gusakov
+
+ 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 .
+
+*/
+
+/**
+ * @file lis2dw12.c
+ * @brief LIS2DW12 MEMS interface module code.
+ *
+ * @addtogroup LIS2DW12
+ * @ingroup EX_ST
+ * @{
+ */
+
+#include "hal.h"
+#include "lis2dw12.h"
+
+/*===========================================================================*/
+/* Driver local definitions. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver exported variables. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver local variables and types. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver local functions. */
+/*===========================================================================*/
+
+#if (LIS2DW12_USE_SPI) || defined(__DOXYGEN__)
+/**
+ * @brief Reads a generic register value using SPI.
+ * @pre The SPI interface must be initialized and the driver started.
+ *
+ * @param[in] spip pointer to the SPI interface
+ * @param[in] reg starting register address
+ * @param[in] n number of adjacent registers to write
+ * @param[in] b pointer to a buffer.
+ */
+static void lis2dw12SPIReadRegister(SPIDriver *spip, uint8_t reg, size_t n,
+ uint8_t* b) {
+ uint8_t cmd = reg | LIS2DW12_RW;
+ spiSelect(spip);
+ spiSend(spip, 1, &cmd);
+ spiReceive(spip, n, b);
+ spiUnselect(spip);
+}
+
+/**
+ * @brief Writes a value into a generic register using SPI.
+ * @pre The SPI interface must be initialized and the driver started.
+ *
+ * @param[in] spip pointer to the SPI interface
+ * @param[in] reg starting register address
+ * @param[in] n number of adjacent registers to write
+ * @param[in] b pointer to a buffer of values.
+ */
+static void lis2dw12SPIWriteRegister(SPIDriver *spip, uint8_t reg, size_t n,
+ uint8_t* b) {
+ uint8_t cmd = reg & LIS2DW12_AD_MASK;
+ spiSelect(spip);
+ spiSend(spip, 1, &cmd);
+ spiSend(spip, n, b);
+ spiUnselect(spip);
+}
+#endif /* LIS2DW12_USE_SPI */
+
+/**
+ * @brief Return the number of axes of the BaseAccelerometer.
+ *
+ * @param[in] ip pointer to @p BaseAccelerometer interface.
+ *
+ * @return the number of axes.
+ */
+static size_t acc_get_axes_number(void *ip) {
+ (void)ip;
+
+ return LIS2DW12_ACC_NUMBER_OF_AXES;
+}
+
+/**
+ * @brief Retrieves raw data from the BaseAccelerometer.
+ * @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
+ * BaseAccelerometer axes number.
+ *
+ * @param[in] ip pointer to @p BaseAccelerometer 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.
+ */
+static msg_t acc_read_raw(void *ip, int32_t axes[]) {
+ LIS2DW12Driver* devp;
+ uint8_t i, tmp[LIS2DW12_ACC_NUMBER_OF_AXES * 2];
+ msg_t msg = MSG_OK;
+
+ osalDbgCheck((ip != NULL) && (axes != NULL));
+
+ /* Getting parent instance pointer.*/
+ devp = objGetInstance(LIS2DW12Driver*, (BaseAccelerometer*)ip);
+
+ osalDbgAssert((devp->state == LIS2DW12_READY),
+ "acc_read_raw(), invalid state");
+
+#if LIS2DW12_USE_SPI
+#if LIS2DW12_SHARED_SPI
+ spiAcquireBus(devp->config->spip);
+ spiStart(devp->config->spip,
+ devp->config->spicfg);
+#endif /* LIS2DW12_SHARED_SPI */
+
+ osalDbgAssert((devp->config->spip->state == SPI_READY),
+ "acc_read_raw(), channel not ready");
+
+ /* TODO: read STATUS register too, check DRDY bit */
+
+ lis2dw12SPIReadRegister(devp->config->spip,
+ LIS2DW12_AD_OUT_X_L,
+ LIS2DW12_ACC_NUMBER_OF_AXES * 2, tmp);
+ for(i = 0; i < LIS2DW12_ACC_NUMBER_OF_AXES; i++) {
+ axes[i] = (int32_t)(tmp[2 * i + 0] | (tmp[2 * i + 1] << 8));
+ }
+
+#if LIS2DW12_SHARED_SPI
+ spiReleaseBus(devp->config->spip);
+#endif /* LIS2DW12_SHARED_SPI */
+#endif /* LIS2DW12_USE_SPI */
+ return msg;
+}
+
+/**
+ * @brief Retrieves cooked data from the BaseAccelerometer.
+ * @note This data is manipulated according to the formula
+ * cooked = (raw * sensitivity) - bias.
+ * @note Final data is expressed as milli-G.
+ * @note The axes array must be at least the same size of the
+ * BaseAccelerometer axes number.
+ *
+ * @param[in] ip pointer to @p BaseAccelerometer 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.
+ */
+static msg_t acc_read_cooked(void *ip, float axes[]) {
+ LIS2DW12Driver* devp;
+ uint32_t i;
+ int32_t raw[LIS2DW12_ACC_NUMBER_OF_AXES];
+ msg_t msg;
+
+ osalDbgCheck((ip != NULL) && (axes != NULL));
+
+ /* Getting parent instance pointer.*/
+ devp = objGetInstance(LIS2DW12Driver*, (BaseAccelerometer*)ip);
+
+ osalDbgAssert((devp->state == LIS2DW12_READY),
+ "acc_read_cooked(), invalid state");
+
+ msg = acc_read_raw(ip, raw);
+ for(i = 0; i < LIS2DW12_ACC_NUMBER_OF_AXES; i++) {
+ axes[i] = (raw[i] * devp->accsensitivity[i]) - devp->accbias[i];
+ }
+ return msg;
+}
+
+/**
+ * @brief Set bias values for the BaseAccelerometer.
+ * @note Bias must be expressed as milli-G.
+ * @note The bias buffer must be at least the same size of the
+ * BaseAccelerometer axes number.
+ *
+ * @param[in] ip pointer to @p BaseAccelerometer interface.
+ * @param[in] bp a buffer which contains biases.
+ *
+ * @return The operation status.
+ * @retval MSG_OK if the function succeeded.
+ */
+static msg_t acc_set_bias(void *ip, float *bp) {
+ LIS2DW12Driver* devp;
+ uint32_t i;
+ msg_t msg = MSG_OK;
+
+ osalDbgCheck((ip != NULL) && (bp != NULL));
+
+ /* Getting parent instance pointer.*/
+ devp = objGetInstance(LIS2DW12Driver*, (BaseAccelerometer*)ip);
+
+ osalDbgAssert((devp->state == LIS2DW12_READY),
+ "acc_set_bias(), invalid state");
+
+ for(i = 0; i < LIS2DW12_ACC_NUMBER_OF_AXES; i++) {
+ devp->accbias[i] = bp[i];
+ }
+ return msg;
+}
+
+/**
+ * @brief Reset bias values for the BaseAccelerometer.
+ * @note Default biases value are obtained from device datasheet when
+ * available otherwise they are considered zero.
+ *
+ * @param[in] ip pointer to @p BaseAccelerometer interface.
+ *
+ * @return The operation status.
+ * @retval MSG_OK if the function succeeded.
+ */
+static msg_t acc_reset_bias(void *ip) {
+ LIS2DW12Driver* devp;
+ uint32_t i;
+ msg_t msg = MSG_OK;
+
+ osalDbgCheck(ip != NULL);
+
+ /* Getting parent instance pointer.*/
+ devp = objGetInstance(LIS2DW12Driver*, (BaseAccelerometer*)ip);
+
+ osalDbgAssert((devp->state == LIS2DW12_READY),
+ "acc_reset_bias(), invalid state");
+
+ for(i = 0; i < LIS2DW12_ACC_NUMBER_OF_AXES; i++)
+ devp->accbias[i] = LIS2DW12_ACC_BIAS;
+ return msg;
+}
+
+/**
+ * @brief Set sensitivity values for the BaseAccelerometer.
+ * @note Sensitivity must be expressed as milli-G/LSB.
+ * @note The sensitivity buffer must be at least the same size of the
+ * BaseAccelerometer axes number.
+ *
+ * @param[in] ip pointer to @p BaseAccelerometer interface.
+ * @param[in] sp a buffer which contains sensitivities.
+ *
+ * @return The operation status.
+ * @retval MSG_OK if the function succeeded.
+ */
+static msg_t acc_set_sensivity(void *ip, float *sp) {
+ LIS2DW12Driver* devp;
+ uint32_t i;
+ msg_t msg = MSG_OK;
+
+ /* Getting parent instance pointer.*/
+ devp = objGetInstance(LIS2DW12Driver*, (BaseAccelerometer*)ip);
+
+ osalDbgCheck((ip != NULL) && (sp != NULL));
+
+ osalDbgAssert((devp->state == LIS2DW12_READY),
+ "acc_set_sensivity(), invalid state");
+
+ for(i = 0; i < LIS2DW12_ACC_NUMBER_OF_AXES; i++) {
+ devp->accsensitivity[i] = sp[i];
+ }
+ return msg;
+}
+
+/**
+ * @brief Reset sensitivity values for the BaseAccelerometer.
+ * @note Default sensitivities value are obtained from device datasheet.
+ *
+ * @param[in] ip pointer to @p BaseAccelerometer interface.
+ *
+ * @return The operation status.
+ * @retval MSG_OK if the function succeeded.
+ * @retval MSG_RESET otherwise.
+ */
+static msg_t acc_reset_sensivity(void *ip) {
+ LIS2DW12Driver* devp;
+ uint32_t i;
+ msg_t msg = MSG_OK;
+
+ osalDbgCheck(ip != NULL);
+
+ /* Getting parent instance pointer.*/
+ devp = objGetInstance(LIS2DW12Driver*, (BaseAccelerometer*)ip);
+
+ osalDbgAssert((devp->state == LIS2DW12_READY),
+ "acc_reset_sensivity(), invalid state");
+
+ if(devp->config->accfullscale == LIS2DW12_ACC_FS_2G)
+ for(i = 0; i < LIS2DW12_ACC_NUMBER_OF_AXES; i++)
+ devp->accsensitivity[i] = LIS2DW12_ACC_SENS_2G;
+ if(devp->config->accfullscale == LIS2DW12_ACC_FS_4G)
+ for(i = 0; i < LIS2DW12_ACC_NUMBER_OF_AXES; i++)
+ devp->accsensitivity[i] = LIS2DW12_ACC_SENS_4G;
+ else if(devp->config->accfullscale == LIS2DW12_ACC_FS_8G)
+ for(i = 0; i < LIS2DW12_ACC_NUMBER_OF_AXES; i++)
+ devp->accsensitivity[i] = LIS2DW12_ACC_SENS_8G;
+ else if(devp->config->accfullscale == LIS2DW12_ACC_FS_16G)
+ for(i = 0; i < LIS2DW12_ACC_NUMBER_OF_AXES; i++)
+ devp->accsensitivity[i] = LIS2DW12_ACC_SENS_16G;
+ else {
+ osalDbgAssert(FALSE,
+ "acc_reset_sensivity(), accelerometer full scale issue");
+ return MSG_RESET;
+ }
+ return msg;
+}
+
+/**
+ * @brief Changes the LIS2DW12Driver accelerometer 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 LIS2DW12Driver interface.
+ * @param[in] fs new fullscale value.
+ *
+ * @return The operation status.
+ * @retval MSG_OK if the function succeeded.
+ * @retval MSG_RESET otherwise.
+ */
+static msg_t acc_set_full_scale(LIS2DW12Driver *devp, lis2dw12_acc_fs_t fs) {
+ float newfs, scale;
+ uint8_t i, cr;
+ msg_t msg = MSG_OK;
+
+ osalDbgCheck(devp != NULL);
+
+ osalDbgAssert((devp->state == LIS2DW12_READY),
+ "acc_set_full_scale(), invalid state");
+
+ /* Computing new fullscale value.*/
+ if(fs == LIS2DW12_ACC_FS_2G) {
+ newfs = LIS2DW12_ACC_2G;
+ }
+ else if(fs == LIS2DW12_ACC_FS_4G) {
+ newfs = LIS2DW12_ACC_4G;
+ }
+ else if(fs == LIS2DW12_ACC_FS_8G) {
+ newfs = LIS2DW12_ACC_8G;
+ }
+ else if(fs == LIS2DW12_ACC_FS_16G) {
+ newfs = LIS2DW12_ACC_16G;
+ }
+ else {
+ msg = MSG_RESET;
+ return msg;
+ }
+
+ if(newfs != devp->accfullscale) {
+ /* Computing scale value.*/
+ scale = newfs / devp->accfullscale;
+ devp->accfullscale = newfs;
+
+#if LIS2DW12_USE_SPI
+#if LIS2DW12_SHARED_SPI
+ spiAcquireBus(devp->config->spip);
+ spiStart(devp->config->spip,
+ devp->config->spicfg);
+#endif /* LIS2DW12_SHARED_SPI */
+ osalDbgAssert((devp->config->spip->state == SPI_READY),
+ "acc_set_full_scale(), channel not ready");
+
+ /* Getting data from register.*/
+ lis2dw12SPIReadRegister(devp->config->spip, LIS2DW12_AD_CTRL_REG6, 1, &cr);
+#endif /* LIS2DW12_USE_SPI */
+
+ cr &= ~(LIS2DW12_CTRL_REG6_FS_MASK);
+ cr |= fs;
+
+#if LIS2DW12_USE_SPI
+ /* Setting data to register.*/
+ lis2dw12SPIWriteRegister(devp->config->spip, LIS2DW12_AD_CTRL_REG6, 1, &cr);
+
+#if LIS2DW12_SHARED_SPI
+ spiReleaseBus(devp->config->spip);
+#endif /* LIS2DW12_SHARED_SPI */
+#endif /* LIS2DW12_USE_SPI */
+
+ /* Scaling sensitivity and bias. Re-calibration is suggested anyway. */
+ for(i = 0; i < LIS2DW12_ACC_NUMBER_OF_AXES; i++) {
+ devp->accsensitivity[i] *= scale;
+ devp->accbias[i] *= scale;
+ }
+ }
+ return msg;
+}
+
+static const struct LIS2DW12VMT vmt_device = {
+ (size_t)0,
+ acc_set_full_scale
+};
+
+static const struct BaseAccelerometerVMT vmt_accelerometer = {
+ sizeof(struct LIS2DW12VMT*),
+ acc_get_axes_number, acc_read_raw, acc_read_cooked,
+ acc_set_bias, acc_reset_bias, acc_set_sensivity, acc_reset_sensivity
+};
+
+/*===========================================================================*/
+/* Driver exported functions. */
+/*===========================================================================*/
+
+/**
+ * @brief Initializes an instance.
+ *
+ * @param[out] devp pointer to the @p LIS2DW12Driver object
+ *
+ * @init
+ */
+void lis2dw12ObjectInit(LIS2DW12Driver *devp) {
+ devp->vmt = &vmt_device;
+ devp->acc_if.vmt = &vmt_accelerometer;
+
+ devp->config = NULL;
+
+ devp->accaxes = LIS2DW12_ACC_NUMBER_OF_AXES;
+
+ devp->state = LIS2DW12_STOP;
+}
+
+/**
+ * @brief Configures and activates LIS2DW12 Complex Driver peripheral.
+ *
+ * @param[in] devp pointer to the @p LIS2DW12Driver object
+ * @param[in] config pointer to the @p LIS2DW12Config object
+ *
+ * @return The operation status.
+ * @retval MSG_OK if the function succeeded.
+ * @retval MSG_RESET otherwise.
+ *
+ * @api
+ */
+msg_t lis2dw12Start(LIS2DW12Driver *devp, const LIS2DW12Config *config) {
+ uint32_t i;
+ uint8_t devid;
+ uint8_t cr[6] = {0, 0, 0, 0, 0, 0};
+ osalDbgCheck((devp != NULL) && (config != NULL));
+
+ osalDbgAssert((devp->state == LIS2DW12_STOP) || (devp->state == LIS2DW12_READY),
+ "lis2dw12Start(), invalid state");
+
+ devp->config = config;
+
+ /* Control register 1 configuration block.*/
+ {
+ cr[0] = devp->config->accoutputdatarate |
+ devp->config->accoutputresolution |
+ devp->config->acclowpowermode;
+ }
+
+ /* Control register 2 configuration block.*/
+ {
+ cr[1] = LIS2DW12_CTRL_REG2_IF_ADD_INC |
+ LIS2DW12_CTRL_REG2_BDU;
+ }
+
+ /* Control register 3.*/
+ /* keep default 0x00 */
+
+ /* Control register 4 and 5.*/
+ /* keep default 0x00 */
+
+ /* Control register 6 configuration block.*/
+ {
+ cr[6] = devp->config->accbadwidthselect |
+ devp->config->accfullscale |
+ LIS2DW12_CTRL_REG6_FDS_LPF |
+ LIS2DW12_CTRL_REG6_LOW_NOISE;
+ }
+#if LIS2DW12_USE_SPI
+#if LIS2DW12_SHARED_SPI
+ spiAcquireBus((devp)->config->spip);
+#endif /* LIS2DW12_SHARED_SPI */
+ spiStart((devp)->config->spip, (devp)->config->spicfg);
+
+ /* Check WHO_I_AM */
+ lis2dw12SPIReadRegister(devp->config->spip, LIS2DW12_AD_WHO_AM_I,
+ 1, &devid);
+ if (devid != 0x44)
+ {
+ return MSG_RESET;
+ }
+
+ /* First enable autoincrement */
+ lis2dw12SPIWriteRegister(devp->config->spip, LIS2DW12_AD_CTRL_REG2,
+ 1, &cr[1]);
+
+ /* Now update all CTRL register with one write */
+ lis2dw12SPIWriteRegister(devp->config->spip, LIS2DW12_AD_CTRL_REG1,
+ 6, cr);
+
+#if LIS2DW12_SHARED_SPI
+ spiReleaseBus((devp)->config->spip);
+#endif /* LIS2DW12_SHARED_SPI */
+#endif /* LIS2DW12_USE_SPI */
+
+ /* Storing sensitivity information according to full scale value */
+ if(devp->config->accfullscale == LIS2DW12_ACC_FS_2G) {
+ devp->accfullscale = LIS2DW12_ACC_2G;
+ if(devp->config->accsensitivity == NULL)
+ for(i = 0; i < LIS2DW12_ACC_NUMBER_OF_AXES; i++)
+ devp->accsensitivity[i] = LIS2DW12_ACC_SENS_2G;
+ else
+ for(i = 0; i < LIS2DW12_ACC_NUMBER_OF_AXES; i++)
+ devp->accsensitivity[i] = devp->config->accsensitivity[i];
+ }
+ if(devp->config->accfullscale == LIS2DW12_ACC_FS_4G) {
+ devp->accfullscale = LIS2DW12_ACC_4G;
+ if(devp->config->accsensitivity == NULL)
+ for(i = 0; i < LIS2DW12_ACC_NUMBER_OF_AXES; i++)
+ devp->accsensitivity[i] = LIS2DW12_ACC_SENS_4G;
+ else
+ for(i = 0; i < LIS2DW12_ACC_NUMBER_OF_AXES; i++)
+ devp->accsensitivity[i] = devp->config->accsensitivity[i];
+ }
+ else if(devp->config->accfullscale == LIS2DW12_ACC_FS_8G) {
+ devp->accfullscale = LIS2DW12_ACC_8G;
+ if(devp->config->accsensitivity == NULL)
+ for(i = 0; i < LIS2DW12_ACC_NUMBER_OF_AXES; i++)
+ devp->accsensitivity[i] = LIS2DW12_ACC_SENS_8G;
+ else
+ for(i = 0; i < LIS2DW12_ACC_NUMBER_OF_AXES; i++)
+ devp->accsensitivity[i] = devp->config->accsensitivity[i];
+ }
+ else if(devp->config->accfullscale == LIS2DW12_ACC_FS_16G) {
+ devp->accfullscale = LIS2DW12_ACC_16G;
+ if(devp->config->accsensitivity == NULL)
+ for(i = 0; i < LIS2DW12_ACC_NUMBER_OF_AXES; i++)
+ devp->accsensitivity[i] = LIS2DW12_ACC_SENS_16G;
+ else
+ for(i = 0; i < LIS2DW12_ACC_NUMBER_OF_AXES; i++)
+ devp->accsensitivity[i] = devp->config->accsensitivity[i];
+ }
+ else {
+ osalDbgAssert(FALSE, "lis2dw12Start(), accelerometer full scale issue");
+ }
+
+ /* Storing bias information according to user setting */
+ if(devp->config->accbias != NULL)
+ for(i = 0; i < LIS2DW12_ACC_NUMBER_OF_AXES; i++)
+ devp->accbias[i] = devp->config->accbias[i];
+ else
+ for(i = 0; i < LIS2DW12_ACC_NUMBER_OF_AXES; i++)
+ devp->accbias[i] = LIS2DW12_ACC_BIAS;
+
+ /* This is the Accelerometer transient recovery time */
+ osalThreadSleepMilliseconds(10);
+
+ devp->state = LIS2DW12_READY;
+
+ return MSG_OK;
+}
+
+/**
+ * @brief Deactivates the LIS2DW12 Complex Driver peripheral.
+ *
+ * @param[in] devp pointer to the @p LIS2DW12Driver object
+ *
+ * @api
+ */
+void lis2dw12Stop(LIS2DW12Driver *devp) {
+ uint8_t cr1;
+ osalDbgCheck(devp != NULL);
+
+ osalDbgAssert((devp->state == LIS2DW12_STOP) ||
+ (devp->state == LIS2DW12_READY),
+ "lis2dw12Stop(), invalid state");
+
+ if (devp->state == LIS2DW12_READY) {
+#if LIS2DW12_USE_SPI
+#if LIS2DW12_SHARED_SPI
+ spiAcquireBus((devp)->config->spip);
+ spiStart((devp)->config->spip,
+ (devp)->config->spicfg);
+#endif /* LIS2DW12_SHARED_SPI */
+ /* Disabling all axes and enabling power down mode.*/
+ cr1 = 0;
+ lis2dw12SPIWriteRegister(devp->config->spip, LIS2DW12_AD_CTRL_REG1, 1, &cr1);
+ spiStop((devp)->config->spip);
+#if LIS2DW12_SHARED_SPI
+ spiReleaseBus((devp)->config->spip);
+#endif /* LIS2DW12_SHARED_SPI */
+#endif /* LIS2DW12_USE_SPI */
+ }
+ devp->state = LIS2DW12_STOP;
+}
+/** @} */
diff --git a/os/ex/devices/ST/lis2dw12.h b/os/ex/devices/ST/lis2dw12.h
new file mode 100644
index 000000000..075eab23b
--- /dev/null
+++ b/os/ex/devices/ST/lis2dw12.h
@@ -0,0 +1,612 @@
+/*
+ ChibiOS - Copyright (C) 2023 Andrey Gusakov
+
+ 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 .
+
+*/
+
+/**
+ * @file lis2dw12.h
+ * @brief LIS2DW12 MEMS interface module header.
+ *
+ * @addtogroup LIS2DW12
+ * @ingroup EX_ST
+ * @{
+ */
+
+#ifndef _LIS2DW12_H_
+#define _LIS2DW12_H_
+
+#include "ex_accelerometer.h"
+
+/*===========================================================================*/
+/* Driver constants. */
+/*===========================================================================*/
+
+/**
+ * @name Version identification
+ * @{
+ */
+/**
+ * @brief LIS2DW12 driver version string.
+ */
+#define EX_LIS2DW12_VERSION "1.1.1"
+
+/**
+ * @brief LIS2DW12 driver version major number.
+ */
+#define EX_LIS2DW12_MAJOR 1
+
+/**
+ * @brief LIS2DW12 driver version minor number.
+ */
+#define EX_LIS2DW12_MINOR 1
+
+/**
+ * @brief LIS2DW12 driver version patch number.
+ */
+#define EX_LIS2DW12_PATCH 1
+/** @} */
+
+/**
+ * @brief LIS2DW12 accelerometer subsystem characteristics.
+ * @note Sensitivity is expressed as milli-G/LSB whereas
+ * 1 milli-G = 0.00980665 m/s^2.
+ * @note Bias is expressed as milli-G.
+ *
+ * @{
+ */
+#define LIS2DW12_ACC_NUMBER_OF_AXES 3U
+
+#define LIS2DW12_ACC_2G 2.0f
+#define LIS2DW12_ACC_4G 4.0f
+#define LIS2DW12_ACC_8G 8.0f
+#define LIS2DW12_ACC_16G 16.0f
+
+#define LIS2DW12_ACC_SENS_2G (0.244f * 0.00980665f)
+#define LIS2DW12_ACC_SENS_4G (0.488f * 0.00980665f)
+#define LIS2DW12_ACC_SENS_8G (0.976f * 0.00980665f)
+#define LIS2DW12_ACC_SENS_16G (1.952f * 0.00980665f)
+
+#define LIS2DW12_ACC_BIAS 0.0f
+/** @} */
+
+/**
+ * @name LIS2DW12 communication interfaces related bit masks
+ * @{
+ */
+#define LIS2DW12_DI_MASK 0xFF
+#define LIS2DW12_DI(n) (1 << n)
+#define LIS2DW12_AD_MASK 0x7F
+#define LIS2DW12_AD(n) (1 << n)
+#define LIS2DW12_RW (1 << 7)
+/** @} */
+
+/**
+ * @name LIS2DW12 register addresses
+ * @{
+ */
+#define LIS2DW12_AD_WHO_AM_I 0x0F
+#define LIS2DW12_AD_CTRL_REG1 0x20
+#define LIS2DW12_AD_CTRL_REG2 0x21
+#define LIS2DW12_AD_CTRL_REG3 0x22
+#define LIS2DW12_AD_CTRL_REG4_INT1 0x23
+#define LIS2DW12_AD_CTRL_REG5_INT2 0x24
+#define LIS2DW12_AD_CTRL_REG6 0x25
+#define LIS2DW12_AD_OUT_T 0x26
+#define LIS2DW12_AD_STATUS_REG 0x27
+#define LIS2DW12_AD_OUT_X_L 0x28
+#define LIS2DW12_AD_OUT_X_H 0x29
+#define LIS2DW12_AD_OUT_Y_L 0x2A
+#define LIS2DW12_AD_OUT_Y_H 0x2B
+#define LIS2DW12_AD_OUT_Z_L 0x2C
+#define LIS2DW12_AD_OUT_Z_H 0x2D
+#define LIS2DW12_AD_FIFO_CTRL 0x2E
+#define LIS2DW12_AD_FIFO_SAMPLES 0x2F
+#define LIS2DW12_AD_TAP_THS_X 0x30
+#define LIS2DW12_AD_TAP_THS_Y 0x31
+#define LIS2DW12_AD_TAP_THS_Z 0x32
+#define LIS2DW12_AD_INT_DUR 0x33
+#define LIS2DW12_AD_WAKE_UP_THS 0x34
+#define LIS2DW12_AD_WAKE_UP_DUR 0x35
+#define LIS2DW12_AD_FREE_FALL 0x36
+#define LIS2DW12_AD_STATUS_DUP 0x37
+#define LIS2DW12_AD_WAKE_UP_SRC 0x38
+#define LIS2DW12_AD_TAP_SRC 0x39
+#define LIS2DW12_AD_SIXD_SRC 0x3A
+#define LIS2DW12_AD_ALL_INT_SRC 0x3B
+#define LIS2DW12_AD_X_OFS_USR 0x3C
+#define LIS2DW12_AD_Y_OFS_USR 0x3D
+#define LIS2DW12_AD_Z_OFS_USR 0x3E
+#define LIS2DW12_AD_CTRL_REG7 0x3F
+
+/** @} */
+
+/**
+ * @name LIS2DW12_CTRL_REG1 register bits definitions
+ * @{
+ */
+#define LIS2DW12_CTRL_REG1_MASK 0xFF
+/** @} */
+
+/**
+ * @name LIS2DW12_CTRL_REG2 register bits definitions
+ * @{
+ */
+#define LIS2DW12_CTRL_REG2_REG2_MASK 0xDF
+#define LIS2DW12_CTRL_REG2_SIM (1 << 0)
+#define LIS2DW12_CTRL_REG2_I2C_DISABLE (1 << 1)
+#define LIS2DW12_CTRL_REG2_IF_ADD_INC (1 << 2)
+#define LIS2DW12_CTRL_REG2_BDU (1 << 3)
+#define LIS2DW12_CTRL_REG2_CS_PU_DIS (1 << 4)
+#define LIS2DW12_CTRL_REG2_SOFT_RESET (1 << 6)
+#define LIS2DW12_CTRL_REG2_BOOT (1 << 7)
+/** @} */
+
+/**
+ * @name LIS2DW12_CTRL_REG3 register bits definitions
+ * @{
+ */
+#define LIS2DW12_CTRL_REG3_MASK 0xFF
+
+/**
+ * @name LIS2DW12_CTRL_REG4 register bits definitions
+ * @{
+ */
+#define LIS2DW12_CTRL_REG4_MASK 0xFF
+
+/**
+ * @name LIS2DW12_CTRL_REG5 register bits definitions
+ * @{
+ */
+#define LIS2DW12_CTRL_REG5_MASK 0xFF
+
+/** @} */
+
+/**
+ * @name LIS2DW12_CTRL_REG6 register bits definitions
+ * @{
+ */
+#define LIS2DW12_CTRL_REG6_MASK 0xFC
+#define LIS2DW12_CTRL_REG6_BW_MASK 0xC0
+#define LIS2DW12_CTRL_REG6_FS_MASK 0x30
+#define LIS2DW12_CTRL_REG6_FDS_HPF (1 << 3)
+#define LIS2DW12_CTRL_REG6_FDS_LPF (0 << 3)
+#define LIS2DW12_CTRL_REG6_LOW_NOISE (1 << 2)
+
+/*===========================================================================*/
+/* Driver pre-compile time settings. */
+/*===========================================================================*/
+
+/**
+ * @name Configuration options
+ * @{
+ */
+/**
+ * @brief LIS2DW12 SPI interface switch.
+ * @details If set to @p TRUE the support for SPI is included.
+ * @note The default is @p TRUE.
+ */
+#if !defined(LIS2DW12_USE_SPI) || defined(__DOXYGEN__)
+#define LIS2DW12_USE_SPI TRUE
+#endif
+
+/**
+ * @brief LIS2DW12 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(LIS2DW12_SHARED_SPI) || defined(__DOXYGEN__)
+#define LIS2DW12_SHARED_SPI FALSE
+#endif
+
+/**
+ * @brief LIS2DW12 I2C interface switch.
+ * @details If set to @p TRUE the support for I2C is included.
+ * @note The default is @p FALSE.
+ */
+#if !defined(LIS2DW12_USE_I2C) || defined(__DOXYGEN__)
+#define LIS2DW12_USE_I2C FALSE
+#endif
+
+/**
+ * @brief LIS2DW12 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(LIS2DW12_SHARED_I2C) || defined(__DOXYGEN__)
+#define LIS2DW12_SHARED_I2C FALSE
+#endif
+
+/** @} */
+
+/*===========================================================================*/
+/* Derived constants and error checks. */
+/*===========================================================================*/
+
+#if !(LIS2DW12_USE_SPI ^ LIS2DW12_USE_I2C)
+#error "LIS2DW12_USE_SPI and LIS2DW12_USE_I2C cannot be both true or both false"
+#endif
+
+#if LIS2DW12_USE_SPI && !HAL_USE_SPI
+#error "LIS2DW12_USE_SPI requires HAL_USE_SPI"
+#endif
+
+#if LIS2DW12_SHARED_SPI && !SPI_USE_MUTUAL_EXCLUSION
+#error "LIS2DW12_SHARED_SPI requires SPI_USE_MUTUAL_EXCLUSION"
+#endif
+
+#if LIS2DW12_USE_I2C && !HAL_USE_I2C
+#error "LIS2DW12_USE_I2C requires HAL_USE_I2C"
+#endif
+
+#if LIS2DW12_SHARED_I2C && !I2C_USE_MUTUAL_EXCLUSION
+#error "LIS2DW12_SHARED_I2C requires I2C_USE_MUTUAL_EXCLUSION"
+#endif
+
+/*
+ * CHTODO: Add support for LIS2DW12 over I2C.
+ */
+#if LIS2DW12_USE_I2C
+#error "LIS2DW12 over I2C still not supported"
+#endif
+
+/*===========================================================================*/
+/* Driver data structures and types. */
+/*===========================================================================*/
+
+/**
+ * @name LIS2DW12 data structures and types
+ * @{
+ */
+/**
+ * @brief Structure representing a LIS2DW12 driver.
+ */
+typedef struct LIS2DW12Driver LIS2DW12Driver;
+
+/**
+ * @brief LIS2DW12 output data rate.
+ */
+typedef enum {
+ LIS2DW12_ACC_ODR_PD = 0x00, /**< Power down mode */
+ LIS2DW12_ACC_ODR_12P5HZLP = 0x10, /**< ODR 12.5 Hz/1.6 Hz low power. */
+ LIS2DW12_ACC_ODR_12P5HZ = 0x20, /**< ODR 12.5 Hz. */
+ LIS2DW12_ACC_ODR_25HZ = 0x30, /**< ODR 25 Hz. */
+ LIS2DW12_ACC_ODR_50HZ = 0x40, /**< ODR 50 Hz. */
+ LIS2DW12_ACC_ODR_100HZ = 0x50, /**< ODR 100 Hz. */
+ LIS2DW12_ACC_ODR_200HZ = 0x60, /**< ODR 200 Hz. */
+ LIS2DW12_ACC_ODR_400HZ = 0x70, /**< ODR 400 Hz/200 Hz low power. */
+ LIS2DW12_ACC_ODR_800HZ = 0x80, /**< ODR 800 Hz/200 Hz low power. */
+ LIS2DW12_ACC_ODR_1600HZ = 0x90 /**< ODR 1600 Hz/200 Hz low power. */
+}lis2dw12_acc_odr_t;
+
+/**
+ * @brief LIS2DW12 output resolution.
+ */
+typedef enum {
+ LIS2DW12_ACC_OR_LP = 0x00, /**< Low-Power Mode, 12/14-bit */
+ LIS2DW12_ACC_OR_HP = 0x04, /**< High-Performance mode, 14-bit */
+ LIS2DW12_ACC_OR_SINGLE = 0x08 /**< Single data convertion, 12/14bit */
+}lis2dw12_acc_or_t;
+
+/**
+ * @brief LIS2DW12 low power mode.
+ */
+typedef enum {
+ LIS2DW12_ACC_LP_MODE1 = 0x00, /**< Low-Power Mode 1, 12-bit */
+ LIS2DW12_ACC_LP_MODE2 = 0x01, /**< Low-Power Mode 2, 14-bit */
+ LIS2DW12_ACC_LP_MODE3 = 0x02, /**< Low-Power Mode 3, 14-bit */
+ LIS2DW12_ACC_LP_MODE4 = 0x03, /**< Low-Power Mode 4, 14-bit */
+}lis2dw12_acc_lp_t;
+
+/**
+ * @brief LIS2DW12 Bandwidth selection.
+ */
+typedef enum {
+ LIS2DW12_ACC_BW_ODR2 = 0x00, /**< ODR/2. */
+ LIS2DW12_ACC_BW_ODR4 = 0x40, /**< ODR/2. */
+ LIS2DW12_ACC_BW_ODR10 = 0x80, /**< ODR/10. */
+ LIS2DW12_ACC_BW_ODR20 = 0xC0, /**< ODR/20. */
+}lis2dw12_acc_bw_t;
+
+/**
+ * @brief LIS2DW12 full scale.
+ */
+typedef enum {
+ LIS2DW12_ACC_FS_2G = 0x00, /**< Full scale �2g. */
+ LIS2DW12_ACC_FS_4G = 0x10, /**< Full scale �4g. */
+ LIS2DW12_ACC_FS_8G = 0x20, /**< Full scale �8g. */
+ LIS2DW12_ACC_FS_16G = 0x30 /**< Full scale �16g. */
+}lis2dw12_acc_fs_t;
+
+/**
+ * @brief Driver state machine possible states.
+ */
+typedef enum {
+ LIS2DW12_UNINIT = 0, /**< Not initialized. */
+ LIS2DW12_STOP = 1, /**< Stopped. */
+ LIS2DW12_READY = 2, /**< Ready. */
+} lis2dw12_state_t;
+
+/**
+ * @brief LIS2DW12 configuration structure.
+ */
+typedef struct {
+
+#if (LIS2DW12_USE_SPI) || defined(__DOXYGEN__)
+ /**
+ * @brief SPI driver associated to this LIS2DW12.
+ */
+ SPIDriver *spip;
+ /**
+ * @brief SPI configuration associated to this LIS2DW12.
+ */
+ const SPIConfig *spicfg;
+#endif /* LIS2DW12_USE_SPI */
+#if (LIS2DW12_USE_I2C) || defined(__DOXYGEN__)
+ /**
+ * @brief I2C driver associated to this LIS2DW12.
+ */
+ I2CDriver *i2cp;
+ /**
+ * @brief I2C configuration associated to this LIS2DW12.
+ */
+ const I2CConfig *i2ccfg;
+#endif /* LIS2DW12_USE_I2C */
+ /**
+ * @brief LIS2DW12 accelerometer subsystem initial sensitivity.
+ */
+ float *accsensitivity;
+ /**
+ * @brief LIS2DW12 accelerometer subsystem initial bias.
+ */
+ float *accbias;
+ /**
+ * @brief LIS2DW12 output data rate selection.
+ */
+ lis2dw12_acc_odr_t accoutputdatarate;
+ /**
+ * @brief LIS2DW12 output data resolution selection.
+ */
+ lis2dw12_acc_or_t accoutputresolution;
+ /**
+ * @brief LIS2DW12 low power mode selection
+ */
+ lis2dw12_acc_lp_t acclowpowermode;
+ /**
+ * @brief LIS2DW12 output bandwidth selection.
+ */
+ lis2dw12_acc_bw_t accbadwidthselect;
+ /**
+ * @brief LIS2DW12 accelerometer subsystem initial full scale.
+ */
+ lis2dw12_acc_fs_t accfullscale;
+} LIS2DW12Config;
+
+/**
+ * @brief @p LIS2DW12 specific methods.
+ */
+#define _lis2dw12_methods_alone \
+ /* Change full scale value of LIS2DW12 .*/ \
+ msg_t (*set_full_scale)(LIS2DW12Driver *devp, lis2dw12_acc_fs_t fs);
+
+
+/**
+ * @brief @p LIS2DW12 specific methods with inherited ones.
+ */
+#define _lis2dw12_methods \
+ _base_object_methods \
+ _lis2dw12_methods_alone
+
+/**
+ * @extends BaseObjectVMT
+ *
+ * @brief @p LIS2DW12 accelerometer virtual methods table.
+ */
+struct LIS2DW12VMT {
+ _lis2dw12_methods
+};
+
+/**
+ * @brief @p LIS2DW12Driver specific data.
+ */
+#define _lis2dw12_data \
+ /* Driver state.*/ \
+ lis2dw12_state_t state; \
+ /* Current configuration data.*/ \
+ const LIS2DW12Config *config; \
+ /* Accelerometer subsystem axes number.*/ \
+ size_t accaxes; \
+ /* Current sensitivity.*/ \
+ float accsensitivity[LIS2DW12_ACC_NUMBER_OF_AXES]; \
+ /* Bias data.*/ \
+ int32_t accbias[LIS2DW12_ACC_NUMBER_OF_AXES]; \
+ /* Current full scale value.*/ \
+ float accfullscale;
+
+/**
+ * @brief LIS2DW12 3-axis accelerometer class.
+ */
+struct LIS2DW12Driver {
+ /** @brief Virtual Methods Table.*/
+ const struct LIS2DW12VMT *vmt;
+ /** @brief Base accelerometer interface.*/
+ BaseAccelerometer acc_if;
+ _lis2dw12_data
+};
+/** @} */
+
+/*===========================================================================*/
+/* Driver macros. */
+/*===========================================================================*/
+
+/**
+ * @brief Return the number of axes of the BaseAccelerometer.
+ *
+ * @param[in] devp pointer to @p LIS2DW12Driver.
+ *
+ * @return the number of axes.
+ *
+ * @api
+ */
+#define lis2dw12AccelerometerGetAxesNumber(devp) \
+ accelerometerGetAxesNumber(&((devp)->acc_if))
+
+/**
+ * @brief Retrieves raw data from the BaseAccelerometer.
+ * @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
+ * BaseAccelerometer axes number.
+ *
+ * @param[in] devp pointer to @p LIS2DW12Driver.
+ * @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 lis2dw12AccelerometerReadRaw(devp, axes) \
+ accelerometerReadRaw(&((devp)->acc_if), axes)
+
+/**
+ * @brief Retrieves cooked data from the BaseAccelerometer.
+ * @note This data is manipulated according to the formula
+ * cooked = (raw * sensitivity) - bias.
+ * @note Final data is expressed as milli-G.
+ * @note The axes array must be at least the same size of the
+ * BaseAccelerometer axes number.
+ *
+ * @param[in] devp pointer to @p LIS2DW12Driver.
+ * @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 lis2dw12AccelerometerReadCooked(devp, axes) \
+ accelerometerReadCooked(&((devp)->acc_if), axes)
+
+/**
+ * @brief Set bias values for the BaseAccelerometer.
+ * @note Bias must be expressed as milli-G.
+ * @note The bias buffer must be at least the same size of the
+ * BaseAccelerometer axes number.
+ *
+ * @param[in] devp pointer to @p LIS2DW12Driver.
+ * @param[in] bp a buffer which contains biases.
+ *
+ * @return The operation status.
+ * @retval MSG_OK if the function succeeded.
+ *
+ * @api
+ */
+#define lis2dw12AccelerometerSetBias(devp, bp) \
+ accelerometerSetBias(&((devp)->acc_if), bp)
+
+/**
+ * @brief Reset bias values for the BaseAccelerometer.
+ * @note Default biases value are obtained from device datasheet when
+ * available otherwise they are considered zero.
+ *
+ * @param[in] devp pointer to @p LIS2DW12Driver.
+ *
+ * @return The operation status.
+ * @retval MSG_OK if the function succeeded.
+ *
+ * @api
+ */
+#define lis2dw12AccelerometerResetBias(devp) \
+ accelerometerResetBias(&((devp)->acc_if))
+
+/**
+ * @brief Set sensitivity values for the BaseAccelerometer.
+ * @note Sensitivity must be expressed as milli-G/LSB.
+ * @note The sensitivity buffer must be at least the same size of the
+ * BaseAccelerometer axes number.
+ *
+ * @param[in] devp pointer to @p LIS2DW12Driver.
+ * @param[in] sp a buffer which contains sensitivities.
+ *
+ * @return The operation status.
+ * @retval MSG_OK if the function succeeded.
+ *
+ * @api
+ */
+#define lis2dw12AccelerometerSetSensitivity(devp, sp) \
+ accelerometerSetSensitivity(&((devp)->acc_if), sp)
+
+/**
+ * @brief Reset sensitivity values for the BaseAccelerometer.
+ * @note Default sensitivities value are obtained from device datasheet.
+ *
+ * @param[in] devp pointer to @p LIS2DW12Driver.
+ *
+ * @return The operation status.
+ * @retval MSG_OK if the function succeeded.
+ * @retval MSG_RESET otherwise.
+ *
+ * @api
+ */
+#define lis2dw12AccelerometerResetSensitivity(devp) \
+ accelerometerResetSensitivity(&((devp)->acc_if))
+
+/**
+ * @brief Changes the LIS2DW12Driver accelerometer 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 LIS2DW12Driver.
+ * @param[in] fs new fullscale value.
+ *
+ * @return The operation status.
+ * @retval MSG_OK if the function succeeded.
+ * @retval MSG_RESET otherwise.
+ *
+ * @api
+ */
+#define lis2dw12AccelerometerSetFullScale(devp, fs) \
+ (devp)->vmt->acc_set_full_scale(devp, fs)
+
+/*===========================================================================*/
+/* External declarations. */
+/*===========================================================================*/
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+ void lis2dw12ObjectInit(LIS2DW12Driver *devp);
+ msg_t lis2dw12Start(LIS2DW12Driver *devp, const LIS2DW12Config *config);
+ void lis2dw12Stop(LIS2DW12Driver *devp);
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* _LIS2DW12_H_ */
+
+/** @} */
+
diff --git a/os/ex/devices/ST/lis2dw12.mk b/os/ex/devices/ST/lis2dw12.mk
new file mode 100644
index 000000000..07c555218
--- /dev/null
+++ b/os/ex/devices/ST/lis2dw12.mk
@@ -0,0 +1,10 @@
+# List of all the LIS3DSH device files.
+LIS2DW12SRC := $(CHIBIOS)/os/ex/devices/ST/lis2dw12.c
+
+# Required include directories
+LIS2DW12INC := $(CHIBIOS)/os/ex/include \
+ $(CHIBIOS)/os/ex/devices/ST
+
+# Shared variables
+ALLCSRC += $(LIS2DW12SRC)
+ALLINC += $(LIS2DW12INC)
\ No newline at end of file