diff --git a/doc/ex/src/main.dox b/doc/ex/src/main.dox
index c9964175e..5e39f058e 100644
--- a/doc/ex/src/main.dox
+++ b/doc/ex/src/main.dox
@@ -29,6 +29,12 @@
* - EX resides on top of HAL which offers, among others, a set of abstract
* interfaces like Generic Sensor, Gyroscope, Magnetometer, Accelerometer,
* Barometer, Thermometer: EX offers a phisical implementation of them.
+ * - Currently Analog Devices supported devices are:
+ * - @b ADXL355: Low Noise, Low Drift, Low Power, 3-Axis Accelerometers;
+ * - Currently Bosch supported devices are:
+ * - @b BMP085: Digital pressure sensor;
+ * - Currently Micron Technology supported devices are:
+ * - @b M25Q: Serial NOR Flash;
* - Currently STMicroelectronics supported devices are:
* - @b HTS221: Capacitive digital humidity sensor;
* - @b L3GD20: 3-axis digital gyroscope;
@@ -38,8 +44,4 @@
* - @b LPS25H: Piezoresistive 260-1260 hPa pressure sensor;
* - @b LSM6DS0: 6-axis iNEMO inertial module;
* - @b LSM303DLHC: Ultra compact high performance e-compass;
- * - Currently Micron Technology supported devices are:
- * - @b M25Q: Serial NOR Flash;
- * - Currently Bosch supported devices are:
- * - @b BMP085: Digital pressure sensor;
*/
diff --git a/os/ex/devices/ADI/adxl355.c b/os/ex/devices/ADI/adxl355.c
new file mode 100644
index 000000000..de9be045e
--- /dev/null
+++ b/os/ex/devices/ADI/adxl355.c
@@ -0,0 +1,605 @@
+/*
+ ChibiOS - Copyright (C) 2016..2019 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 .
+
+*/
+
+/**
+ * @file adxl355.c
+ * @brief ADXL355 MEMS interface module code.
+ *
+ * @addtogroup ADXL355
+ * @ingroup EX_ADI
+ * @{
+ */
+
+#include "hal.h"
+#include "adxl355.h"
+
+/*===========================================================================*/
+/* Driver local definitions. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver exported variables. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver local variables and types. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver local functions. */
+/*===========================================================================*/
+
+#if (ADXL355_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 consecutive registers to read
+ * @param[in] b pointer to an output buffer.
+ */
+static void adxl355SPIReadRegister(SPIDriver *spip, uint8_t reg, size_t n,
+ uint8_t* b) {
+ uint8_t cmd;
+ cmd = (reg << 1) | ADXL355_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 adxl355SPIWriteRegister(SPIDriver *spip, uint8_t reg, size_t n,
+ uint8_t* b) {
+ uint8_t cmd;
+ cmd = (reg << 1);
+ spiSelect(spip);
+ spiSend(spip, 1, &cmd);
+ spiSend(spip, n, b);
+ spiUnselect(spip);
+}
+#endif /* ADXL355_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 ADXL355_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[]) {
+ ADXL355Driver* devp;
+ uint8_t buff [ADXL355_ACC_NUMBER_OF_AXES * 3], i;
+ int32_t tmp;
+ msg_t msg = MSG_OK;
+
+ osalDbgCheck((ip != NULL) && (axes != NULL));
+
+ /* Getting parent instance pointer.*/
+ devp = objGetInstance(ADXL355Driver*, (BaseAccelerometer*)ip);
+
+ osalDbgAssert((devp->state == ADXL355_READY),
+ "acc_read_raw(), invalid state");
+
+#if ADXL355_USE_SPI
+#if ADXL355_SHARED_SPI
+ osalDbgAssert((devp->config->spip->state == SPI_READY),
+ "acc_read_raw(), channel not ready");
+
+ spiAcquireBus(devp->config->spip);
+ spiStart(devp->config->spip,
+ devp->config->spicfg);
+#endif /* ADXL355_SHARED_SPI */
+
+ adxl355SPIReadRegister(devp->config->spip, ADXL355_AD_XDATA3,
+ ADXL355_ACC_NUMBER_OF_AXES * 3, buff);
+
+#if ADXL355_SHARED_SPI
+ spiReleaseBus(devp->config->spip);
+#endif /* ADXL355_SHARED_SPI */
+#endif /* ADXL355_USE_SPI */
+
+ for(i = 0; i < ADXL355_ACC_NUMBER_OF_AXES; i++) {
+ tmp = (buff[3 * i] << 12) | (buff[3 * i + 1] << 4) | (buff[3 * i + 2] >> 4);
+ if(tmp & 0x80000) {
+ tmp |= 0xFFF00000U;
+ }
+ axes[i] = tmp;
+ }
+ 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[]) {
+ ADXL355Driver* devp;
+ uint32_t i;
+ int32_t raw[ADXL355_ACC_NUMBER_OF_AXES];
+ msg_t msg;
+
+ osalDbgCheck((ip != NULL) && (axes != NULL));
+
+ /* Getting parent instance pointer.*/
+ devp = objGetInstance(ADXL355Driver*, (BaseAccelerometer*)ip);
+
+ osalDbgAssert((devp->state == ADXL355_READY),
+ "acc_read_cooked(), invalid state");
+
+ msg = acc_read_raw(ip, raw);
+ for(i = 0; i < ADXL355_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) {
+ ADXL355Driver* devp;
+ uint32_t i;
+ msg_t msg = MSG_OK;
+
+ osalDbgCheck((ip != NULL) && (bp != NULL));
+
+ /* Getting parent instance pointer.*/
+ devp = objGetInstance(ADXL355Driver*, (BaseAccelerometer*)ip);
+
+ osalDbgAssert((devp->state == ADXL355_READY),
+ "acc_set_bias(), invalid state");
+
+ for(i = 0; i < ADXL355_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) {
+ ADXL355Driver* devp;
+ uint32_t i;
+ msg_t msg = MSG_OK;
+
+ osalDbgCheck(ip != NULL);
+
+ /* Getting parent instance pointer.*/
+ devp = objGetInstance(ADXL355Driver*, (BaseAccelerometer*)ip);
+
+ osalDbgAssert((devp->state == ADXL355_READY),
+ "acc_reset_bias(), invalid state");
+
+ for(i = 0; i < ADXL355_ACC_NUMBER_OF_AXES; i++)
+ devp->accbias[i] = ADXL355_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) {
+ ADXL355Driver* devp;
+ uint32_t i;
+ msg_t msg = MSG_OK;
+
+ /* Getting parent instance pointer.*/
+ devp = objGetInstance(ADXL355Driver*, (BaseAccelerometer*)ip);
+
+ osalDbgCheck((ip != NULL) && (sp != NULL));
+
+ osalDbgAssert((devp->state == ADXL355_READY),
+ "acc_set_sensivity(), invalid state");
+
+ for(i = 0; i < ADXL355_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) {
+ ADXL355Driver* devp;
+ uint32_t i;
+ msg_t msg = MSG_OK;
+
+ osalDbgCheck(ip != NULL);
+
+ /* Getting parent instance pointer.*/
+ devp = objGetInstance(ADXL355Driver*, (BaseAccelerometer*)ip);
+
+ osalDbgAssert((devp->state == ADXL355_READY),
+ "acc_reset_sensivity(), invalid state");
+
+ if(devp->config->accfullscale == ADXL355_ACC_FS_2G)
+ for(i = 0; i < ADXL355_ACC_NUMBER_OF_AXES; i++)
+ devp->accsensitivity[i] = ADXL355_ACC_SENS_2G;
+ else if(devp->config->accfullscale == ADXL355_ACC_FS_4G)
+ for(i = 0; i < ADXL355_ACC_NUMBER_OF_AXES; i++)
+ devp->accsensitivity[i] = ADXL355_ACC_SENS_4G;
+ else if(devp->config->accfullscale == ADXL355_ACC_FS_8G)
+ for(i = 0; i < ADXL355_ACC_NUMBER_OF_AXES; i++)
+ devp->accsensitivity[i] = ADXL355_ACC_SENS_8G;
+ else {
+ osalDbgAssert(FALSE,
+ "acc_reset_sensivity(), accelerometer full scale issue");
+ return MSG_RESET;
+ }
+ return msg;
+}
+
+/**
+ * @brief Changes the ADXL355Driver 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 ADXL355Driver 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(ADXL355Driver *devp, adxl355_acc_fs_t fs) {
+ float newfs, scale;
+ uint8_t i, reg_val;
+ msg_t msg;
+
+ osalDbgCheck(devp != NULL);
+
+ osalDbgAssert((devp->state == ADXL355_READY),
+ "acc_set_full_scale(), invalid state");
+ osalDbgAssert((devp->config->spip->state == SPI_READY),
+ "acc_set_full_scale(), channel not ready");
+
+ /* Computing new fullscale value.*/
+ if(fs == ADXL355_ACC_FS_2G) {
+ newfs = ADXL355_ACC_2G;
+ }
+ else if(fs == ADXL355_ACC_FS_4G) {
+ newfs = ADXL355_ACC_4G;
+ }
+ else if(fs == ADXL355_ACC_FS_8G) {
+ newfs = ADXL355_ACC_8G;
+ }
+ else {
+ msg = MSG_RESET;
+ return msg;
+ }
+
+ if(newfs != devp->accfullscale) {
+ /* Computing scale value.*/
+ scale = newfs / devp->accfullscale;
+ devp->accfullscale = newfs;
+
+#if ADXL355_USE_SPI
+#if ADXL355_SHARED_SPI
+ spiAcquireBus(devp->config->spip);
+ spiStart(devp->config->spip,
+ devp->config->spicfg);
+#endif /* ADXL355_SHARED_SPI */
+
+ /* Getting data from register.*/
+ adxl355SPIReadRegister(devp->config->spip, ADXL355_AD_RANGE, 1, ®_val);
+
+#if ADXL355_SHARED_SPI
+ spiReleaseBus(devp->config->spip);
+#endif /* ADXL355_SHARED_SPI */
+#endif /* ADXL355_USE_SPI */
+
+ reg_val &= ~(ADXL355_RANGE_RANGE_MASK);
+ reg_val |= fs;
+
+#if ADXL355_USE_SPI
+#if ADXL355_SHARED_SPI
+ spiAcquireBus(devp->config->spip);
+ spiStart(devp->config->spip,
+ devp->config->spicfg);
+#endif /* ADXL355_SHARED_SPI */
+
+ /* Getting data from register.*/
+ adxl355SPIWriteRegister(devp->config->spip, ADXL355_AD_RANGE, 1, ®_val);
+
+#if ADXL355_SHARED_SPI
+ spiReleaseBus(devp->config->spip);
+#endif /* ADXL355_SHARED_SPI */
+#endif /* ADXL355_USE_SPI */
+
+ /* Scaling sensitivity and bias. Re-calibration is suggested anyway. */
+ for(i = 0; i < ADXL355_ACC_NUMBER_OF_AXES; i++) {
+ devp->accsensitivity[i] *= scale;
+ devp->accbias[i] *= scale;
+ }
+ }
+ return msg;
+}
+
+static const struct ADXL355VMT vmt_device = {
+ (size_t)0,
+ acc_set_full_scale
+};
+
+static const struct BaseAccelerometerVMT vmt_accelerometer = {
+ sizeof(struct ADXL355VMT*),
+ 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 ADXL355Driver object
+ *
+ * @init
+ */
+void adxl355ObjectInit(ADXL355Driver *devp) {
+ devp->vmt = &vmt_device;
+ devp->acc_if.vmt = &vmt_accelerometer;
+
+ devp->config = NULL;
+
+ devp->accaxes = ADXL355_ACC_NUMBER_OF_AXES;
+
+ devp->state = ADXL355_STOP;
+}
+
+/**
+ * @brief Configures and activates ADXL355 Complex Driver peripheral.
+ *
+ * @param[in] devp pointer to the @p ADXL355Driver object
+ * @param[in] config pointer to the @p ADXL355Config object
+ *
+ * @api
+ */
+void adxl355Start(ADXL355Driver *devp, const ADXL355Config *config) {
+ uint32_t i;
+ uint8_t reg_val;
+ osalDbgCheck((devp != NULL) && (config != NULL));
+
+ osalDbgAssert((devp->state == ADXL355_STOP) ||
+ (devp->state == ADXL355_READY),
+ "adxl355Start(), invalid state");
+
+ devp->config = config;
+
+ /* Range register configuration block.*/
+ {
+ reg_val = ADXL355_RANGE_I2C_HS | devp->config->accfullscale;
+
+#if ADXL355_USE_SPI
+#if ADXL355_SHARED_SPI
+ spiAcquireBus(devp->config->spip);
+#endif /* ADXL355_SHARED_SPI */
+ spiStart(devp->config->spip, devp->config->spicfg);
+
+ adxl355SPIWriteRegister(devp->config->spip, ADXL355_AD_RANGE, 1, ®_val);
+
+#if ADXL355_SHARED_SPI
+ spiReleaseBus(devp->config->spip);
+#endif /* ADXL355_SHARED_SPI */
+#endif /* ADXL355_USE_SPI */
+ }
+
+ /* Filter register configuration block.*/
+ {
+ reg_val = devp->config->accoutputdatarate;
+#if ADXL355_USE_ADVANCED || defined(__DOXYGEN__)
+ reg_val |= devp->config->acchighpass;
+#endif
+
+#if ADXL355_USE_SPI
+#if ADXL355_SHARED_SPI
+ spiAcquireBus(devp->config->spip);
+ spiStart(devp->config->spip, devp->config->spicfg);
+#endif /* ADXL355_SHARED_SPI */
+
+ adxl355SPIWriteRegister(devp->config->spip, ADXL355_AD_FILTER, 1, ®_val);
+
+#if ADXL355_SHARED_SPI
+ spiReleaseBus(devp->config->spip);
+#endif /* ADXL355_SHARED_SPI */
+#endif /* ADXL355_USE_SPI */
+ }
+
+ /* Power control configuration block.*/
+ {
+ reg_val = 0;
+
+#if ADXL355_USE_SPI
+#if ADXL355_SHARED_SPI
+ spiAcquireBus(devp->config->spip);
+ spiStart(devp->config->spip, devp->config->spicfg);
+#endif /* ADXL355_SHARED_SPI */
+
+ adxl355SPIWriteRegister(devp->config->spip, ADXL355_AD_POWER_CTL, 1, ®_val);
+
+#if ADXL355_SHARED_SPI
+ spiReleaseBus(devp->config->spip);
+#endif /* ADXL355_SHARED_SPI */
+#endif /* ADXL355_USE_SPI */
+ }
+
+ /* Storing sensitivity information according to user setting */
+ if(devp->config->accfullscale == ADXL355_ACC_FS_2G) {
+ devp->accfullscale = ADXL355_ACC_2G;
+ if(devp->config->accsensitivity == NULL)
+ for(i = 0; i < ADXL355_ACC_NUMBER_OF_AXES; i++)
+ devp->accsensitivity[i] = ADXL355_ACC_SENS_2G;
+ else
+ for(i = 0; i < ADXL355_ACC_NUMBER_OF_AXES; i++)
+ devp->accsensitivity[i] = devp->config->accsensitivity[i];
+ }
+ else if(devp->config->accfullscale == ADXL355_ACC_FS_4G) {
+ devp->accfullscale = ADXL355_ACC_4G;
+ if(devp->config->accsensitivity == NULL)
+ for(i = 0; i < ADXL355_ACC_NUMBER_OF_AXES; i++)
+ devp->accsensitivity[i] = ADXL355_ACC_SENS_4G;
+ else
+ for(i = 0; i < ADXL355_ACC_NUMBER_OF_AXES; i++)
+ devp->accsensitivity[i] = devp->config->accsensitivity[i];
+ }
+ else if(devp->config->accfullscale == ADXL355_ACC_FS_8G) {
+ devp->accfullscale = ADXL355_ACC_8G;
+ if(devp->config->accsensitivity == NULL)
+ for(i = 0; i < ADXL355_ACC_NUMBER_OF_AXES; i++)
+ devp->accsensitivity[i] = ADXL355_ACC_SENS_8G;
+ else
+ for(i = 0; i < ADXL355_ACC_NUMBER_OF_AXES; i++)
+ devp->accsensitivity[i] = devp->config->accsensitivity[i];
+ }
+ else {
+ osalDbgAssert(FALSE, "adxl355Start(), accelerometer full scale issue");
+ }
+
+ /* Storing bias information according to user setting */
+ if(devp->config->accbias != NULL)
+ for(i = 0; i < ADXL355_ACC_NUMBER_OF_AXES; i++)
+ devp->accbias[i] = devp->config->accbias[i];
+ else
+ for(i = 0; i < ADXL355_ACC_NUMBER_OF_AXES; i++)
+ devp->accbias[i] = ADXL355_ACC_BIAS;
+
+ /* This is the Accelerometer transient recovery time */
+ osalThreadSleepMilliseconds(10);
+
+ devp->state = ADXL355_READY;
+}
+
+/**
+ * @brief Deactivates the ADXL355 Complex Driver peripheral.
+ *
+ * @param[in] devp pointer to the @p ADXL355Driver object
+ *
+ * @api
+ */
+void adxl355Stop(ADXL355Driver *devp) {
+ uint8_t reg_val;
+ osalDbgCheck(devp != NULL);
+
+ osalDbgAssert((devp->state == ADXL355_STOP) ||
+ (devp->state == ADXL355_READY),
+ "adxl355Stop(), invalid state");
+
+ if (devp->state == ADXL355_READY) {
+#if (ADXL355_USE_SPI)
+#if ADXL355_SHARED_SPI
+ spiAcquireBus(devp->config->spip);
+ spiStart(devp->config->spip,
+ devp->config->spicfg);
+#endif /* ADXL355_SHARED_SPI */
+ /* Disabling all axes and enabling power down mode.*/
+ reg_val = 1;
+ adxl355SPIWriteRegister(devp->config->spip, ADXL355_AD_POWER_CTL,
+ 1, ®_val);
+
+ spiStop(devp->config->spip);
+#if ADXL355_SHARED_SPI
+ spiReleaseBus(devp->config->spip);
+#endif /* ADXL355_SHARED_SPI */
+#endif /* ADXL355_USE_SPI */
+ }
+ devp->state = ADXL355_STOP;
+}
+/** @} */
diff --git a/os/ex/devices/ADI/adxl355.h b/os/ex/devices/ADI/adxl355.h
new file mode 100644
index 000000000..c6a2056c5
--- /dev/null
+++ b/os/ex/devices/ADI/adxl355.h
@@ -0,0 +1,633 @@
+/*
+ ChibiOS - Copyright (C) 2016..2019 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 .
+
+*/
+
+/**
+ * @file adxl355.h
+ * @brief ADXL355 MEMS interface module header.
+ *
+ * @addtogroup ADXL355
+ * @ingroup EX_ADI
+ * @{
+ */
+
+#ifndef _ADXL355_H_
+#define _ADXL355_H_
+
+#include "ex_accelerometer.h"
+
+/*===========================================================================*/
+/* Driver constants. */
+/*===========================================================================*/
+
+/**
+ * @name Version identification
+ * @{
+ */
+/**
+ * @brief ADXL355 driver version string.
+ */
+#define EX_ADXL355_VERSION "1.0.0"
+
+/**
+ * @brief ADXL355 driver version major number.
+ */
+#define EX_ADXL355_MAJOR 1
+
+/**
+ * @brief ADXL355 driver version minor number.
+ */
+#define EX_ADXL355_MINOR 0
+
+/**
+ * @brief ADXL355 driver version patch number.
+ */
+#define EX_ADXL355_PATCH 0
+/** @} */
+
+/**
+ * @brief ADXL355 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 ADXL355_ACC_NUMBER_OF_AXES 3U
+
+#define ADXL355_ACC_2G 2.048f
+#define ADXL355_ACC_4G 4.096f
+#define ADXL355_ACC_8G 8.0192f
+
+#define ADXL355_ACC_SENS_2G 0.003906f
+#define ADXL355_ACC_SENS_4G 0.007813f
+#define ADXL355_ACC_SENS_8G 0.015625f
+
+#define ADXL355_ACC_BIAS 0.0f
+/** @} */
+
+/**
+ * @name ADXL355 communication interfaces related bit masks
+ * @{
+ */
+#define ADXL355_DI_MASK 0xFF
+#define ADXL355_DI(n) (1 << n)
+#define ADXL355_AD_MASK 0xFE
+#define ADXL355_RW (1 << 0)
+#define ADXL355_AD(n) (1 << (n + 1))
+
+/** @} */
+
+/**
+ * @name ADXL355 register addresses
+ * @{
+ */
+#define ADXL355_AD_DEVID_AD 0x00
+#define ADXL355_AD_DEVID_MST 0x01
+#define ADXL355_AD_PARTID 0x02
+#define ADXL355_AD_REVID 0x03
+#define ADXL355_AD_STATUS 0x04
+#define ADXL355_AD_FIFO_ENTRIES 0x05
+#define ADXL355_AD_TEMP2 0x06
+#define ADXL355_AD_TEMP1 0x07
+#define ADXL355_AD_XDATA3 0x08
+#define ADXL355_AD_XDATA2 0x09
+#define ADXL355_AD_XDATA1 0x0A
+#define ADXL355_AD_YDATA3 0x0B
+#define ADXL355_AD_YDATA2 0x0C
+#define ADXL355_AD_YDATA1 0x0D
+#define ADXL355_AD_ZDATA3 0x0E
+#define ADXL355_AD_ZDATA2 0x0F
+#define ADXL355_AD_ZDATA1 0x10
+#define ADXL355_AD_FIFO_DATA 0x11
+#define ADXL355_AD_OFFSET_X_H 0x1E
+#define ADXL355_AD_OFFSET_X_L 0x1F
+#define ADXL355_AD_OFFSET_Y_H 0x20
+#define ADXL355_AD_OFFSET_Y_L 0x21
+#define ADXL355_AD_OFFSET_Z_H 0x22
+#define ADXL355_AD_OFFSET_Z_L 0x23
+#define ADXL355_AD_ACT_EN 0x24
+#define ADXL355_AD_ACT_THRES_L 0x25
+#define ADXL355_AD_ACT_THRES_H 0x26
+#define ADXL355_AD_ACT_COUNTER 0x27
+#define ADXL355_AD_FILTER 0x28
+#define ADXL355_AD_FIFO_SAMPLES 0x29
+#define ADXL355_AD_INT_MAP 0x2A
+#define ADXL355_AD_SYNC 0x2B
+#define ADXL355_AD_RANGE 0x2C
+#define ADXL355_AD_POWER_CTL 0x2D
+#define ADXL355_AD_SELF_TEST 0x2E
+#define ADXL355_AD_RESET 0x2F
+/** @} */
+
+/**
+ * @name ADXL355_FILTER register bits definitions
+ * @{
+ */
+#define ADXL355_FILTER_MASK 0x7F
+#define ADXL355_FILTER_ORD_LPF_0 (1 << 0)
+#define ADXL355_FILTER_ORD_LPF_1 (1 << 1)
+#define ADXL355_FILTER_ORD_LPF_2 (1 << 2)
+#define ADXL355_FILTER_ORD_LPF_3 (1 << 3)
+#define ADXL355_FILTER_HPF_CORNER_0 (1 << 4)
+#define ADXL355_FILTER_HPF_CORNER_1 (1 << 5)
+#define ADXL355_FILTER_HPF_CORNER_2 (1 << 6)
+/** @} */
+
+/**
+ * @name ADXL355_FIFO_SAMPLES register bits definitions
+ * @{
+ */
+#define ADXL355_FIFO_SAMPLES_MASK 0x7F
+#define ADXL355_FIFO_SAMPLES_BIT_0 (1 << 0)
+#define ADXL355_FIFO_SAMPLES_BIT_1 (1 << 1)
+#define ADXL355_FIFO_SAMPLES_BIT_2 (1 << 2)
+#define ADXL355_FIFO_SAMPLES_BIT_3 (1 << 3)
+#define ADXL355_FIFO_SAMPLES_BIT_4 (1 << 4)
+#define ADXL355_FIFO_SAMPLES_BIT_5 (1 << 5)
+#define ADXL355_FIFO_SAMPLES_BIT_6 (1 << 6)
+/** @} */
+
+/**
+ * @name ADXL355_INT_MAP register bits definitions
+ * @{
+ */
+#define ADXL355_INT_MAP_MASK 0xFF
+#define ADXL355_INT_MAP_RDY_EN1 (1 << 0)
+#define ADXL355_INT_MAP_FULL_EN1 (1 << 1)
+#define ADXL355_INT_MAP_OVR_EN1 (1 << 2)
+#define ADXL355_INT_MAP_ACT_EN1 (1 << 3)
+#define ADXL355_INT_MAP_RDY_EN2 (1 << 4)
+#define ADXL355_INT_MAP_FULL_EN2 (1 << 5)
+#define ADXL355_INT_MAP_OVR_EN2 (1 << 6)
+#define ADXL355_INT_MAP_ACT_EN2 (1 << 7)
+/** @} */
+
+/**
+ * @name ADXL355_SYNC register bits definitions
+ * @{
+ */
+#define ADXL355_SYNC_MASK 0x07
+#define ADXL355_SYNC_EXT_SYNC_0 (1 << 0)
+#define ADXL355_SYNC_EXT_SYNC_1 (1 << 1)
+#define ADXL355_SYNC_EXT_CLK (1 << 2)
+/** @} */
+
+/**
+ * @name ADXL355_RANGE register bits definitions
+ * @{
+ */
+#define ADXL355_RANGE_MASK 0xC3
+#define ADXL355_RANGE_RANGE_MASK 0x03
+#define ADXL355_RANGE_RANGE_1 (1 << 1)
+#define ADXL355_RANGE_RANGE_0 (1 << 0)
+#define ADXL355_RANGE_RANGE_1 (1 << 1)
+#define ADXL355_RANGE_INT_POL (1 << 6)
+#define ADXL355_RANGE_I2C_HS (1 << 7)
+/** @} */
+
+/**
+ * @name ADXL355_POWER_CTL register bits definitions
+ * @{
+ */
+#define ADXL355_POWER_CTL_MASK 0x07
+#define ADXL355_POWER_CTL_STANDBY (1 << 0)
+#define ADXL355_POWER_CTL_TEMP_OFF (1 << 1)
+#define ADXL355_POWER_CTL_DRDY_OFF (1 << 2)
+/** @} */
+
+/**
+ * @name ADXL355_SELT_TEST register bits definitions
+ * @{
+ */
+#define ADXL355_SELF_TEST_MASK 0x03
+#define ADXL355_SELF_TEST_ST1 (1 << 0)
+#define ADXL355_SELF_TEST_ST2 (1 << 1)
+/** @} */
+
+/*===========================================================================*/
+/* Driver pre-compile time settings. */
+/*===========================================================================*/
+
+/**
+ * @name Configuration options
+ * @{
+ */
+/**
+ * @brief ADXL355 SPI interface switch.
+ * @details If set to @p TRUE the support for SPI is included.
+ * @note The default is @p TRUE.
+ */
+#if !defined(ADXL355_USE_SPI) || defined(__DOXYGEN__)
+#define ADXL355_USE_SPI TRUE
+#endif
+
+/**
+ * @brief ADXL355 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(ADXL355_SHARED_SPI) || defined(__DOXYGEN__)
+#define ADXL355_SHARED_SPI FALSE
+#endif
+
+/**
+ * @brief ADXL355 I2C interface switch.
+ * @details If set to @p TRUE the support for I2C is included.
+ * @note The default is @p FALSE.
+ */
+#if !defined(ADXL355_USE_I2C) || defined(__DOXYGEN__)
+#define ADXL355_USE_I2C FALSE
+#endif
+
+/**
+ * @brief ADXL355 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(ADXL355_SHARED_I2C) || defined(__DOXYGEN__)
+#define ADXL355_SHARED_I2C FALSE
+#endif
+
+/**
+ * @brief ADXL355 advanced configurations switch.
+ * @details If set to @p TRUE more configurations are available.
+ * @note The default is @p FALSE.
+ */
+#if !defined(ADXL355_USE_ADVANCED) || defined(__DOXYGEN__)
+#define ADXL355_USE_ADVANCED FALSE
+#endif
+/** @} */
+
+/*===========================================================================*/
+/* Derived constants and error checks. */
+/*===========================================================================*/
+
+#if !(ADXL355_USE_SPI ^ ADXL355_USE_I2C)
+#error "ADXL355_USE_SPI and ADXL355_USE_I2C cannot be both true or both false"
+#endif
+
+#if ADXL355_USE_SPI && !HAL_USE_SPI
+#error "ADXL355_USE_SPI requires HAL_USE_SPI"
+#endif
+
+#if ADXL355_SHARED_SPI && !SPI_USE_MUTUAL_EXCLUSION
+#error "ADXL355_SHARED_SPI requires SPI_USE_MUTUAL_EXCLUSION"
+#endif
+
+#if ADXL355_USE_I2C && !HAL_USE_I2C
+#error "ADXL355_USE_I2C requires HAL_USE_I2C"
+#endif
+
+#if ADXL355_SHARED_I2C && !I2C_USE_MUTUAL_EXCLUSION
+#error "ADXL355_SHARED_I2C requires I2C_USE_MUTUAL_EXCLUSION"
+#endif
+
+/*
+ * CHTODO: Add support for ADXL355 over I2C.
+ */
+#if ADXL355_USE_I2C
+#error "ADXL355 over I2C still not supported"
+#endif
+
+/*===========================================================================*/
+/* Driver data structures and types. */
+/*===========================================================================*/
+
+/**
+ * @name ADXL355 data structures and types
+ * @{
+ */
+/**
+ * @brief Structure representing a ADXL355 driver.
+ */
+typedef struct ADXL355Driver ADXL355Driver;
+
+/**
+ * @brief ADXL355 full scale.
+ */
+typedef enum {
+ ADXL355_ACC_FS_2G = 0x01, /**< Full scale ±2g. */
+ ADXL355_ACC_FS_4G = 0x02, /**< Full scale ±4g. */
+ ADXL355_ACC_FS_8G = 0x03, /**< Full scale ±8g. */
+}adxl355_acc_fs_t;
+
+/**
+ * @brief ADXL355 output data rate.
+ */
+typedef enum {
+ ADXL355_ACC_ODR_4000HZ = 0x00, /**< ODR 4000 Hz, LP cut-off ODR/4. */
+ ADXL355_ACC_ODR_2000HZ = 0x01, /**< ODR 2000 Hz, LP cut-off ODR/4. */
+ ADXL355_ACC_ODR_1000HZ = 0x02, /**< ODR 1000 Hz, LP cut-off ODR/4. */
+ ADXL355_ACC_ODR_500HZ = 0x03, /**< ODR 500 Hz, LP cut-off ODR/4. */
+ ADXL355_ACC_ODR_250HZ = 0x04, /**< ODR 250 Hz, LP cut-off ODR/4. */
+ ADXL355_ACC_ODR_125HZ = 0x06, /**< ODR 125 Hz, LP cut-off ODR/4. */
+ ADXL355_ACC_ODR_62P5HZ = 0x06, /**< ODR 62.5 Hz, LP cut-off ODR/4. */
+ ADXL355_ACC_ODR_31P25HZ = 0x07, /**< ODR 31.25 Hz, LP cut-off ODR/4. */
+ ADXL355_ACC_ODR_15P625HZ = 0x08, /**< ODR 15.625 Hz, LP cut-off ODR/4. */
+ ADXL355_ACC_ODR_7P913HZ = 0x09, /**< ODR 7.913 Hz, LP cut-off ODR/4. */
+ ADXL355_ACC_ODR_3P906HZ = 0x0A /**< ODR 3.906 Hz, LP cut-off ODR/4. */
+}adxl355_acc_odr_t;
+
+/**
+ * @brief ADXL355 HP filter.
+ */
+typedef enum {
+ ADXL355_ACC_HP_DISABLED = 0x00, /**< HP disabled. */
+ ADXL355_ACC_HP_LEV_1 = 0x10, /**< HP cut-off 247 x 10^-3 x ODR. */
+ ADXL355_ACC_HP_LEV_2 = 0x20, /**< HP cut-off 62.084 x 10^-3 x ODR. */
+ ADXL355_ACC_HP_LEV_3 = 0x30, /**< HP cut-off 15.545 x 10^-3 x ODR. */
+ ADXL355_ACC_HP_LEV_4 = 0x40, /**< HP cut-off 3.892 x 10^-3 x ODR. */
+ ADXL355_ACC_HP_LEV_5 = 0x50, /**< HP cut-off 0.954 x 10^-3 x ODR. */
+ ADXL355_ACC_HP_LEV_6 = 0x60, /**< HP cut-off 0.238 x 10^-3 x ODR. */
+}adxl355_acc_hp_t;
+
+/**
+ * @brief Driver state machine possible states.
+ */
+typedef enum {
+ ADXL355_UNINIT = 0, /**< Not initialized. */
+ ADXL355_STOP = 1, /**< Stopped. */
+ ADXL355_READY = 2, /**< Ready. */
+} adxl355_state_t;
+
+/**
+ * @brief ADXL355 configuration structure.
+ */
+typedef struct {
+
+#if (ADXL355_USE_SPI) || defined(__DOXYGEN__)
+ /**
+ * @brief SPI driver associated to this ADXL355.
+ */
+ SPIDriver *spip;
+ /**
+ * @brief SPI configuration associated to this ADXL355.
+ */
+ const SPIConfig *spicfg;
+#endif /* ADXL355_USE_SPI */
+#if (ADXL355_USE_I2C) || defined(__DOXYGEN__)
+ /**
+ * @brief I2C driver associated to this ADXL355.
+ */
+ I2CDriver *i2cp;
+ /**
+ * @brief I2C configuration associated to this ADXL355.
+ */
+ const I2CConfig *i2ccfg;
+#endif /* ADXL355_USE_I2C */
+ /**
+ * @brief ADXL355 accelerometer subsystem initial sensitivity.
+ */
+ float *accsensitivity;
+ /**
+ * @brief ADXL355 accelerometer subsystem initial bias.
+ */
+ float *accbias;
+ /**
+ * @brief ADXL355 accelerometer subsystem initial full scale.
+ */
+ adxl355_acc_fs_t accfullscale;
+ /**
+ * @brief ADXL355 output data rate selection.
+ */
+ adxl355_acc_odr_t accoutputdatarate;
+#if ADXL355_USE_ADVANCED || defined(__DOXYGEN__)
+ /**
+ * @brief ADXL355 HP filter bandwidth.
+ */
+ adxl355_acc_hp_t acchighpass;
+#endif
+} ADXL355Config;
+
+/**
+ * @brief @p ADXL355 specific methods.
+ */
+#define _adxl355_methods_alone \
+ /* Change full scale value of ADXL355 accelerometer subsystem.*/ \
+ msg_t (*acc_set_full_scale)(ADXL355Driver *devp, adxl355_acc_fs_t fs);
+
+
+/**
+ * @brief @p ADXL355 specific methods with inherited ones.
+ */
+#define _adxl355_methods \
+ _base_object_methods \
+ _adxl355_methods_alone
+
+/**
+ * @extends BaseObjectVMT
+ *
+ * @brief @p ADXL355 virtual methods table.
+ */
+struct ADXL355VMT {
+ _adxl355_methods
+};
+
+/**
+ * @brief @p ADXL355Driver specific data.
+ */
+#define _adxl355_data \
+ _base_sensor_data \
+ /* Driver state.*/ \
+ adxl355_state_t state; \
+ /* Current configuration data.*/ \
+ const ADXL355Config *config; \
+ /* Accelerometer subsystem axes number.*/ \
+ size_t accaxes; \
+ /* Accelerometer subsystem current sensitivity.*/ \
+ float accsensitivity[ADXL355_ACC_NUMBER_OF_AXES]; \
+ /* Accelerometer subsystem current bias .*/ \
+ float accbias[ADXL355_ACC_NUMBER_OF_AXES]; \
+ /* Accelerometer subsystem current full scale value.*/ \
+ float accfullscale;
+
+/**
+ * @brief ADXL355 3-axis accelerometer class.
+ */
+struct ADXL355Driver {
+ /** @brief Virtual Methods Table.*/
+ const struct ADXL355VMT *vmt;
+ /** @brief Base accelerometer interface.*/
+ BaseAccelerometer acc_if;
+ _adxl355_data
+};
+/** @} */
+
+/*===========================================================================*/
+/* Driver macros. */
+/*===========================================================================*/
+
+/**
+ * @brief Return the number of axes of the BaseAccelerometer.
+ *
+ * @param[in] devp pointer to @p ADXL355Driver.
+ *
+ * @return the number of axes.
+ *
+ * @api
+ */
+#define adxl355AccelerometerGetAxesNumber(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 ADXL355Driver.
+ * @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 adxl355AccelerometerReadRaw(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 ADXL355Driver.
+ * @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 adxl355AccelerometerReadCooked(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 ADXL355Driver.
+ * @param[in] bp a buffer which contains biases.
+ *
+ * @return The operation status.
+ * @retval MSG_OK if the function succeeded.
+ *
+ * @api
+ */
+#define adxl355AccelerometerSetBias(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 ADXL355Driver.
+ *
+ * @return The operation status.
+ * @retval MSG_OK if the function succeeded.
+ *
+ * @api
+ */
+#define adxl355AccelerometerResetBias(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 ADXL355Driver.
+ * @param[in] sp a buffer which contains sensitivities.
+ *
+ * @return The operation status.
+ * @retval MSG_OK if the function succeeded.
+ *
+ * @api
+ */
+#define adxl355AccelerometerSetSensitivity(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 ADXL355Driver.
+ *
+ * @return The operation status.
+ * @retval MSG_OK if the function succeeded.
+ * @retval MSG_RESET otherwise.
+ *
+ * @api
+ */
+#define adxl355AccelerometerResetSensitivity(devp) \
+ accelerometerResetSensitivity(&((devp)->acc_if))
+
+/**
+ * @brief Changes the ADXL355Driver 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 ADXL355Driver.
+ * @param[in] fs new fullscale value.
+ *
+ * @return The operation status.
+ * @retval MSG_OK if the function succeeded.
+ * @retval MSG_RESET otherwise.
+ *
+ * @api
+ */
+#define adxl355AccelerometerSetFullScale(devp, fs) \
+ (devp)->vmt->acc_set_full_scale(devp, fs)
+
+/*===========================================================================*/
+/* External declarations. */
+/*===========================================================================*/
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+ void adxl355ObjectInit(ADXL355Driver *devp);
+ void adxl355Start(ADXL355Driver *devp, const ADXL355Config *config);
+ void adxl355Stop(ADXL355Driver *devp);
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* _ADXL355_H_ */
+
+/** @} */
+
diff --git a/os/ex/devices/ADI/adxl355.mk b/os/ex/devices/ADI/adxl355.mk
new file mode 100644
index 000000000..6dbefd593
--- /dev/null
+++ b/os/ex/devices/ADI/adxl355.mk
@@ -0,0 +1,10 @@
+# List of all the ADX355 device files.
+ADXL355SRC := $(CHIBIOS)/os/ex/devices/ADI/adxl355.c
+
+# Required include directories
+ADXL355INC := $(CHIBIOS)/os/ex/include \
+ $(CHIBIOS)/os/ex/devices/ADI
+
+# Shared variables
+ALLCSRC += $(ADXL355SRC)
+ALLINC += $(ADXL355INC)
\ No newline at end of file
diff --git a/os/ex/dox/main.dox b/os/ex/dox/main.dox
index a02193db0..e63220267 100644
--- a/os/ex/dox/main.dox
+++ b/os/ex/dox/main.dox
@@ -31,6 +31,11 @@
* - STMicroelectronics Devices
* .
*
+ * @section adi_devices Analog Devices Devices
+ * This section contains all the drivers of devices produced by ADI.
+ * Devices currently supported are MEMS and are:
+ * - @b ADXL355: Low Noise, Low Drift, Low Power, 3-Axis Accelerometers;
+ *
* @section bosch_devices Bosch Devices
* This section contains all the drivers of devices produced by Bosch.
* Devices currently supported are MEMS and are:
@@ -76,6 +81,12 @@
*
* @ingroup EX
*/
+/**
+ * @defgroup EX_ADI Analog Devices Devices
+ * @brief Analog Devices Devices.
+ *
+ * @ingroup EX_DEVICES
+ */
/**
* @defgroup EX_BOSCH Bosch Devices
diff --git a/readme.txt b/readme.txt
index b55e5f664..073044be1 100644
--- a/readme.txt
+++ b/readme.txt
@@ -74,7 +74,9 @@
*****************************************************************************
*** Next ***
-- NEW: Added latency measurement test application:
+- EX: Added support for ADXL355 Low Noise, Low Drift, Low Power, 3-Axis
+ MEMS Accelerometers.
+- NEW: Added latency measurement test application.
- FIX: Fixed error in EXTIv1 ISRs (bug #1077)
(backported to 20.3.1)
- FIX: Fixed problem in chMtxUnlockAllS() (bug #1076)