From e390c0ebcce86df0284cd5140e77b6fcfd7bdcde Mon Sep 17 00:00:00 2001
From: rusEfi <russianefi@gmail.com>
Date: Thu, 19 May 2016 22:03:18 -0400
Subject: [PATCH] auto-sync

---
 firmware/.cproject                            |  17 +--
 firmware/Makefile                             |   1 +
 .../os/hal/platforms/STM32F0xx/hal_lld.h      |   8 +-
 .../os/hal/platforms/STM32F0xx/stm32_dma.c    |  45 +++++--
 .../os/hal/platforms/STM32F0xx/stm32_dma.h    |  24 +++-
 .../hal/platforms/STM32F0xx/stm32_registry.h  |   3 +
 .../os/hal/platforms/STM32F1xx/stm32f10x.h    |   9 +-
 firmware/chibios/os/hal/src/can.c             |   2 +-
 firmware/chibios/os/various/chrtclib.c        |   7 +-
 .../os/various/devices_lib/accel/lis302dl.c   | 119 ++++++++++++++++++
 .../os/various/devices_lib/accel/lis302dl.h   |  93 ++++++++++++++
 firmware/hw_layer/accelerometer.cpp           |  12 ++
 firmware/hw_layer/accelerometer.h             |  15 +++
 firmware/hw_layer/hw_layer.mk                 |   1 +
 firmware/svnversion.h                         |   4 +-
 15 files changed, 322 insertions(+), 38 deletions(-)
 create mode 100644 firmware/chibios/os/various/devices_lib/accel/lis302dl.c
 create mode 100644 firmware/chibios/os/various/devices_lib/accel/lis302dl.h
 create mode 100644 firmware/hw_layer/accelerometer.cpp
 create mode 100644 firmware/hw_layer/accelerometer.h

diff --git a/firmware/.cproject b/firmware/.cproject
index 2b761b8cec..ed8b9f4834 100644
--- a/firmware/.cproject
+++ b/firmware/.cproject
@@ -5,16 +5,16 @@
 			<storageModule buildSystemId="org.eclipse.cdt.managedbuilder.core.configurationDataProvider" id="ilg.gnuarmeclipse.managedbuild.cross.config.elf.debug.1034318602" moduleId="org.eclipse.cdt.core.settings" name="Debug_EMS">
 				<externalSettings/>
 				<extensions>
+					<extension id="org.eclipse.cdt.core.ELF" point="org.eclipse.cdt.core.BinaryParser"/>
 					<extension id="org.eclipse.cdt.core.GmakeErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
 					<extension id="org.eclipse.cdt.core.CWDLocator" point="org.eclipse.cdt.core.ErrorParser"/>
 					<extension id="org.eclipse.cdt.core.GCCErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
 					<extension id="org.eclipse.cdt.core.GASErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
 					<extension id="org.eclipse.cdt.core.GLDErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
-					<extension id="org.eclipse.cdt.core.ELF" point="org.eclipse.cdt.core.BinaryParser"/>
 				</extensions>
 			</storageModule>
 			<storageModule moduleId="cdtBuildSystem" version="4.0.0">
-				<configuration artifactName="rusefi" buildArtefactType="org.eclipse.cdt.build.core.buildArtefactType.exe" buildProperties="org.eclipse.cdt.build.core.buildType=org.eclipse.cdt.build.core.buildType.debug,org.eclipse.cdt.build.core.buildArtefactType=org.eclipse.cdt.build.core.buildArtefactType.exe" cleanCommand="${cross_rm} -rf" description="" id="ilg.gnuarmeclipse.managedbuild.cross.config.elf.debug.1034318602" name="Debug_EMS" parent="ilg.gnuarmeclipse.managedbuild.cross.config.elf.debug">
+				<configuration artifactName="rusefi" buildArtefactType="org.eclipse.cdt.build.core.buildArtefactType.exe" buildProperties="org.eclipse.cdt.build.core.buildArtefactType=org.eclipse.cdt.build.core.buildArtefactType.exe,org.eclipse.cdt.build.core.buildType=org.eclipse.cdt.build.core.buildType.debug" cleanCommand="${cross_rm} -rf" description="" id="ilg.gnuarmeclipse.managedbuild.cross.config.elf.debug.1034318602" name="Debug_EMS" parent="ilg.gnuarmeclipse.managedbuild.cross.config.elf.debug">
 					<folderInfo id="ilg.gnuarmeclipse.managedbuild.cross.config.elf.debug.1034318602." name="/" resourcePath="">
 						<toolChain id="ilg.gnuarmeclipse.managedbuild.cross.toolchain.elf.debug.1168037802" name="Cross ARM GCC" superClass="ilg.gnuarmeclipse.managedbuild.cross.toolchain.elf.debug">
 							<option id="ilg.gnuarmeclipse.managedbuild.cross.option.optimization.level.2135519682" name="Optimization Level" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.optimization.level" value="ilg.gnuarmeclipse.managedbuild.cross.option.optimization.level.none" valueType="enumerated"/>
@@ -133,6 +133,7 @@
 									<listOptionValue builtIn="false" value="&quot;../chibios/os/kernel/include&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;../chibios/boards/ST_STM32F4_DISCOVERY&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;../chibios/os/hal/src&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;../chibios/os/various/devices_lib/accel&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;../chibios/os/hal/include&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;../chibios/os/hal/platforms/STM32/TIMv1&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;../chibios/os/hal/platforms/STM32/I2Cv1&quot;"/>
@@ -199,16 +200,16 @@
 			<storageModule buildSystemId="org.eclipse.cdt.managedbuilder.core.configurationDataProvider" id="ilg.gnuarmeclipse.managedbuild.cross.config.elf.release.1741644682" moduleId="org.eclipse.cdt.core.settings" name="Release_broken_original">
 				<externalSettings/>
 				<extensions>
+					<extension id="org.eclipse.cdt.core.ELF" point="org.eclipse.cdt.core.BinaryParser"/>
 					<extension id="org.eclipse.cdt.core.GmakeErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
 					<extension id="org.eclipse.cdt.core.CWDLocator" point="org.eclipse.cdt.core.ErrorParser"/>
 					<extension id="org.eclipse.cdt.core.GCCErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
 					<extension id="org.eclipse.cdt.core.GASErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
 					<extension id="org.eclipse.cdt.core.GLDErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
-					<extension id="org.eclipse.cdt.core.ELF" point="org.eclipse.cdt.core.BinaryParser"/>
 				</extensions>
 			</storageModule>
 			<storageModule moduleId="cdtBuildSystem" version="4.0.0">
-				<configuration artifactName="${ProjName}" buildArtefactType="org.eclipse.cdt.build.core.buildArtefactType.exe" buildProperties="org.eclipse.cdt.build.core.buildType=org.eclipse.cdt.build.core.buildType.release,org.eclipse.cdt.build.core.buildArtefactType=org.eclipse.cdt.build.core.buildArtefactType.exe" cleanCommand="${cross_rm} -rf" description="" id="ilg.gnuarmeclipse.managedbuild.cross.config.elf.release.1741644682" name="Release_broken_original" parent="ilg.gnuarmeclipse.managedbuild.cross.config.elf.release">
+				<configuration artifactName="${ProjName}" buildArtefactType="org.eclipse.cdt.build.core.buildArtefactType.exe" buildProperties="org.eclipse.cdt.build.core.buildArtefactType=org.eclipse.cdt.build.core.buildArtefactType.exe,org.eclipse.cdt.build.core.buildType=org.eclipse.cdt.build.core.buildType.release" cleanCommand="${cross_rm} -rf" description="" id="ilg.gnuarmeclipse.managedbuild.cross.config.elf.release.1741644682" name="Release_broken_original" parent="ilg.gnuarmeclipse.managedbuild.cross.config.elf.release">
 					<folderInfo id="ilg.gnuarmeclipse.managedbuild.cross.config.elf.release.1741644682." name="/" resourcePath="">
 						<toolChain id="ilg.gnuarmeclipse.managedbuild.cross.toolchain.elf.release.831183705" name="Cross ARM GCC" superClass="ilg.gnuarmeclipse.managedbuild.cross.toolchain.elf.release">
 							<option id="ilg.gnuarmeclipse.managedbuild.cross.option.optimization.level.584468799" name="Optimization Level" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.optimization.level" value="ilg.gnuarmeclipse.managedbuild.cross.option.optimization.level.size" valueType="enumerated"/>
@@ -282,16 +283,16 @@
 			<storageModule buildSystemId="org.eclipse.cdt.managedbuilder.core.configurationDataProvider" id="ilg.gnuarmeclipse.managedbuild.cross.config.elf.debug.1034318602.1044213654" moduleId="org.eclipse.cdt.core.settings" name="Debug_EGT2CAN">
 				<externalSettings/>
 				<extensions>
+					<extension id="org.eclipse.cdt.core.ELF" point="org.eclipse.cdt.core.BinaryParser"/>
 					<extension id="org.eclipse.cdt.core.GmakeErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
 					<extension id="org.eclipse.cdt.core.CWDLocator" point="org.eclipse.cdt.core.ErrorParser"/>
 					<extension id="org.eclipse.cdt.core.GCCErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
 					<extension id="org.eclipse.cdt.core.GASErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
 					<extension id="org.eclipse.cdt.core.GLDErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
-					<extension id="org.eclipse.cdt.core.ELF" point="org.eclipse.cdt.core.BinaryParser"/>
 				</extensions>
 			</storageModule>
 			<storageModule moduleId="cdtBuildSystem" version="4.0.0">
-				<configuration artifactName="rusefi" buildArtefactType="org.eclipse.cdt.build.core.buildArtefactType.exe" buildProperties="org.eclipse.cdt.build.core.buildType=org.eclipse.cdt.build.core.buildType.debug,org.eclipse.cdt.build.core.buildArtefactType=org.eclipse.cdt.build.core.buildArtefactType.exe" cleanCommand="${cross_rm} -rf" description="" id="ilg.gnuarmeclipse.managedbuild.cross.config.elf.debug.1034318602.1044213654" name="Debug_EGT2CAN" parent="ilg.gnuarmeclipse.managedbuild.cross.config.elf.debug">
+				<configuration artifactName="rusefi" buildArtefactType="org.eclipse.cdt.build.core.buildArtefactType.exe" buildProperties="org.eclipse.cdt.build.core.buildArtefactType=org.eclipse.cdt.build.core.buildArtefactType.exe,org.eclipse.cdt.build.core.buildType=org.eclipse.cdt.build.core.buildType.debug" cleanCommand="${cross_rm} -rf" description="" id="ilg.gnuarmeclipse.managedbuild.cross.config.elf.debug.1034318602.1044213654" name="Debug_EGT2CAN" parent="ilg.gnuarmeclipse.managedbuild.cross.config.elf.debug">
 					<folderInfo id="ilg.gnuarmeclipse.managedbuild.cross.config.elf.debug.1034318602.1044213654." name="/" resourcePath="">
 						<toolChain id="ilg.gnuarmeclipse.managedbuild.cross.toolchain.elf.debug.377175633" name="Cross ARM GCC" superClass="ilg.gnuarmeclipse.managedbuild.cross.toolchain.elf.debug">
 							<option id="ilg.gnuarmeclipse.managedbuild.cross.option.optimization.level.1589341452" name="Optimization Level" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.optimization.level" value="ilg.gnuarmeclipse.managedbuild.cross.option.optimization.level.none" valueType="enumerated"/>
@@ -568,16 +569,16 @@
 			<storageModule buildSystemId="org.eclipse.cdt.managedbuilder.core.configurationDataProvider" id="ilg.gnuarmeclipse.managedbuild.cross.config.elf.debug.1034318602.160551264" moduleId="org.eclipse.cdt.core.settings" name="Release_EMS">
 				<externalSettings/>
 				<extensions>
+					<extension id="org.eclipse.cdt.core.ELF" point="org.eclipse.cdt.core.BinaryParser"/>
 					<extension id="org.eclipse.cdt.core.GmakeErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
 					<extension id="org.eclipse.cdt.core.CWDLocator" point="org.eclipse.cdt.core.ErrorParser"/>
 					<extension id="org.eclipse.cdt.core.GCCErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
 					<extension id="org.eclipse.cdt.core.GASErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
 					<extension id="org.eclipse.cdt.core.GLDErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
-					<extension id="org.eclipse.cdt.core.ELF" point="org.eclipse.cdt.core.BinaryParser"/>
 				</extensions>
 			</storageModule>
 			<storageModule moduleId="cdtBuildSystem" version="4.0.0">
-				<configuration artifactName="rusefi" buildArtefactType="org.eclipse.cdt.build.core.buildArtefactType.exe" buildProperties="org.eclipse.cdt.build.core.buildType=org.eclipse.cdt.build.core.buildType.debug,org.eclipse.cdt.build.core.buildArtefactType=org.eclipse.cdt.build.core.buildArtefactType.exe" cleanCommand="${cross_rm} -rf" description="" id="ilg.gnuarmeclipse.managedbuild.cross.config.elf.debug.1034318602.160551264" name="Release_EMS" parent="ilg.gnuarmeclipse.managedbuild.cross.config.elf.debug">
+				<configuration artifactName="rusefi" buildArtefactType="org.eclipse.cdt.build.core.buildArtefactType.exe" buildProperties="org.eclipse.cdt.build.core.buildArtefactType=org.eclipse.cdt.build.core.buildArtefactType.exe,org.eclipse.cdt.build.core.buildType=org.eclipse.cdt.build.core.buildType.debug" cleanCommand="${cross_rm} -rf" description="" id="ilg.gnuarmeclipse.managedbuild.cross.config.elf.debug.1034318602.160551264" name="Release_EMS" parent="ilg.gnuarmeclipse.managedbuild.cross.config.elf.debug">
 					<folderInfo id="ilg.gnuarmeclipse.managedbuild.cross.config.elf.debug.1034318602.160551264." name="/" resourcePath="">
 						<toolChain id="ilg.gnuarmeclipse.managedbuild.cross.toolchain.elf.debug.1412440709" name="Cross ARM GCC" superClass="ilg.gnuarmeclipse.managedbuild.cross.toolchain.elf.debug">
 							<option id="ilg.gnuarmeclipse.managedbuild.cross.option.optimization.level.871834085" name="Optimization Level" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.optimization.level" value="ilg.gnuarmeclipse.managedbuild.cross.option.optimization.level.none" valueType="enumerated"/>
diff --git a/firmware/Makefile b/firmware/Makefile
index d638e8f5a2..d090a02320 100644
--- a/firmware/Makefile
+++ b/firmware/Makefile
@@ -189,6 +189,7 @@ INCDIR = $(PORTINC) $(KERNINC) $(TESTINC) \
          $(HALINC) $(PLATFORMINC) $(BOARDINC) \
          $(CHCPPINC) \
          $(CHIBIOS)/os/various \
+         $(CHIBIOS)/os/various/devices_lib\accel \
 	config/stm32f4ems \
 	config/engines \
 	config \
diff --git a/firmware/chibios/os/hal/platforms/STM32F0xx/hal_lld.h b/firmware/chibios/os/hal/platforms/STM32F0xx/hal_lld.h
index 7090fda450..404e98a9c4 100644
--- a/firmware/chibios/os/hal/platforms/STM32F0xx/hal_lld.h
+++ b/firmware/chibios/os/hal/platforms/STM32F0xx/hal_lld.h
@@ -717,9 +717,9 @@
 /**
  * @brief   I2C1 frequency.
  */
-#if STM32_I2CSW == STM32_I2C1SW_HSI
+#if STM32_I2C1SW == STM32_I2C1SW_HSI
 #define STM32_I2C1CLK               STM32_HSICLK
-#elif STM32_I2CSW == STM32_I2C1SW_SYSCLK
+#elif STM32_I2C1SW == STM32_I2C1SW_SYSCLK
 #define STM32_I2C1CLK               STM32_SYSCLK
 #else
 #error "invalid source selected for I2C1 clock"
@@ -732,9 +732,9 @@
 #define STM32_USART1CLK             STM32_PCLK
 #elif STM32_USART1SW == STM32_USART1SW_SYSCLK
 #define STM32_USART1CLK             STM32_SYSCLK
-#elif STM32_USART1SW == STM32_USART1SW_LSECLK
+#elif STM32_USART1SW == STM32_USART1SW_LSE
 #define STM32_USART1CLK             STM32_LSECLK
-#elif STM32_USART1SW == STM32_USART1SW_HSICLK
+#elif STM32_USART1SW == STM32_USART1SW_HSI
 #define STM32_USART1CLK             STM32_HSICLK
 #else
 #error "invalid source selected for USART1 clock"
diff --git a/firmware/chibios/os/hal/platforms/STM32F0xx/stm32_dma.c b/firmware/chibios/os/hal/platforms/STM32F0xx/stm32_dma.c
index 6120431d9a..892cf9518c 100644
--- a/firmware/chibios/os/hal/platforms/STM32F0xx/stm32_dma.c
+++ b/firmware/chibios/os/hal/platforms/STM32F0xx/stm32_dma.c
@@ -67,11 +67,15 @@
  *          instead: @p STM32_DMA1_STREAM1, @p STM32_DMA1_STREAM2 etc.
  */
 const stm32_dma_stream_t _stm32_dma_streams[STM32_DMA_STREAMS] = {
-  {DMA1_Channel1, &DMA1->IFCR, 0, 0, DMA1_Channel1_IRQn},
-  {DMA1_Channel2, &DMA1->IFCR, 4, 1, DMA1_Channel2_3_IRQn},
-  {DMA1_Channel3, &DMA1->IFCR, 8, 2, DMA1_Channel2_3_IRQn},
-  {DMA1_Channel4, &DMA1->IFCR, 12, 3, DMA1_Channel4_5_IRQn},
-  {DMA1_Channel5, &DMA1->IFCR, 16, 4, DMA1_Channel4_5_IRQn}
+  {DMA1_Channel1, &DMA1->IFCR, 0x0001, 0, 0, DMA1_Channel1_IRQn},
+  {DMA1_Channel2, &DMA1->IFCR, 0x0006, 4, 1, DMA1_Channel2_3_IRQn},
+  {DMA1_Channel3, &DMA1->IFCR, 0x0006, 8, 2, DMA1_Channel2_3_IRQn},
+  {DMA1_Channel4, &DMA1->IFCR, 0x0078, 12, 3, DMA1_Channel4_5_IRQn},
+  {DMA1_Channel5, &DMA1->IFCR, 0x0078, 16, 4, DMA1_Channel4_5_IRQn},
+#if STM32_DMA_STREAMS > 5
+  {DMA1_Channel6, &DMA1->IFCR, 0x0078, 20, 5, DMA1_Channel4_5_6_7_IRQn},
+  {DMA1_Channel7, &DMA1->IFCR, 0x0078, 24, 6, DMA1_Channel4_5_6_7_IRQn}
+#endif
 };
 
 /*===========================================================================*/
@@ -177,6 +181,24 @@ CH_IRQ_HANDLER(Vector6C) {
       dma_isr_redir[4].dma_func(dma_isr_redir[4].dma_param, flags);
   }
 
+#if STM32_DMA_STREAMS > 5
+  /* Check on channel 6.*/
+  flags = (DMA1->ISR >> 20) & STM32_DMA_ISR_MASK;
+  if (flags & STM32_DMA_ISR_MASK) {
+    DMA1->IFCR = flags << 20;
+    if (dma_isr_redir[5].dma_func)
+      dma_isr_redir[5].dma_func(dma_isr_redir[5].dma_param, flags);
+  }
+
+  /* Check on channel 7.*/
+  flags = (DMA1->ISR >> 24) & STM32_DMA_ISR_MASK;
+  if (flags & STM32_DMA_ISR_MASK) {
+    DMA1->IFCR = flags << 24;
+    if (dma_isr_redir[6].dma_func)
+      dma_isr_redir[6].dma_func(dma_isr_redir[6].dma_param, flags);
+  }
+#endif
+
   CH_IRQ_EPILOGUE();
 }
 
@@ -248,9 +270,8 @@ bool_t dmaStreamAllocate(const stm32_dma_stream_t *dmastp,
   dmaStreamDisable(dmastp);
   dmastp->channel->CCR = STM32_DMA_CCR_RESET_VALUE;
 
-  /* Enables the associated IRQ vector if a callback is defined.*/
-  if (func != NULL)
-    nvicEnableVector(dmastp->vector, CORTEX_PRIORITY_MASK(priority));
+  /* Enables the associated IRQ vector.*/
+  nvicEnableVector(dmastp->vector, CORTEX_PRIORITY_MASK(priority));
 
   return FALSE;
 }
@@ -276,12 +297,14 @@ void dmaStreamRelease(const stm32_dma_stream_t *dmastp) {
   chDbgAssert((dma_streams_mask & (1 << dmastp->selfindex)) != 0,
               "dmaStreamRelease(), #1", "not allocated");
 
-  /* Disables the associated IRQ vector.*/
-  nvicDisableVector(dmastp->vector);
-
   /* Marks the stream as not allocated.*/
   dma_streams_mask &= ~(1 << dmastp->selfindex);
 
+  /* Disables the associated IRQ vector if also the sharing channels are
+     also disabled.*/
+  if ((dma_streams_mask & dmastp->sharedmask) == 0)
+    nvicDisableVector(dmastp->vector);
+
   /* Shutting down clocks that are no more required, if any.*/
   if ((dma_streams_mask & STM32_DMA1_STREAMS_MASK) == 0)
     rccDisableDMA1(FALSE);
diff --git a/firmware/chibios/os/hal/platforms/STM32F0xx/stm32_dma.h b/firmware/chibios/os/hal/platforms/STM32F0xx/stm32_dma.h
index e56a4f834e..7de326a76a 100644
--- a/firmware/chibios/os/hal/platforms/STM32F0xx/stm32_dma.h
+++ b/firmware/chibios/os/hal/platforms/STM32F0xx/stm32_dma.h
@@ -32,12 +32,6 @@
 /* Driver constants.                                                         */
 /*===========================================================================*/
 
-/**
- * @brief   Total number of DMA streams.
- * @note    This is the total number of streams among all the DMA units.
- */
-#define STM32_DMA_STREAMS           5
-
 /**
  * @brief   Mask of the ISR bits passed to the DMA callback functions.
  */
@@ -113,6 +107,10 @@
 #define STM32_DMA1_STREAM3          STM32_DMA_STREAM(2)
 #define STM32_DMA1_STREAM4          STM32_DMA_STREAM(3)
 #define STM32_DMA1_STREAM5          STM32_DMA_STREAM(4)
+#if (STM32_DMA_STREAMS > 5) || defined(__DOXYGEN__)
+#define STM32_DMA1_STREAM6          STM32_DMA_STREAM(5)
+#define STM32_DMA1_STREAM7          STM32_DMA_STREAM(6)
+#endif
 /** @} */
 
 /**
@@ -172,6 +170,18 @@
 /* Derived constants and error checks.                                       */
 /*===========================================================================*/
 
+#if !defined(STM32_ADVANCED_DMA)
+#error "missing STM32_ADVANCED_DMA definition in registry"
+#endif
+
+#if !defined(STM32_DMA_STREAMS)
+#error "missing STM32_DMA_STREAMS definition in registry"
+#endif
+
+#if STM32_ADVANCED_DMA == TRUE
+#error "DMAv1 driver does not support STM32_ADVANCED_DMA"
+#endif
+
 /*===========================================================================*/
 /* Driver data structures and types.                                         */
 /*===========================================================================*/
@@ -182,6 +192,8 @@
 typedef struct {
   DMA_Channel_TypeDef   *channel;       /**< @brief Associated DMA channel. */
   volatile uint32_t     *ifcr;          /**< @brief Associated IFCR reg.    */
+  uint32_t              sharedmask;     /**< @brief Mask of channels sharing
+                                             the same ISR.                  */
   uint8_t               ishift;         /**< @brief Bits offset in xIFCR
                                              register.                      */
   uint8_t               selfindex;      /**< @brief Index to self in array. */
diff --git a/firmware/chibios/os/hal/platforms/STM32F0xx/stm32_registry.h b/firmware/chibios/os/hal/platforms/STM32F0xx/stm32_registry.h
index cd890a9020..22bee5bef7 100644
--- a/firmware/chibios/os/hal/platforms/STM32F0xx/stm32_registry.h
+++ b/firmware/chibios/os/hal/platforms/STM32F0xx/stm32_registry.h
@@ -57,6 +57,7 @@
 #define STM32_ADVANCED_DMA      FALSE
 #define STM32_HAS_DMA1          TRUE
 #define STM32_HAS_DMA2          FALSE
+#define STM32_DMA_STREAMS       5
 
 /* ETH attributes.*/
 #define STM32_HAS_ETH           FALSE
@@ -186,6 +187,7 @@
 #define STM32_ADVANCED_DMA      FALSE
 #define STM32_HAS_DMA1          TRUE
 #define STM32_HAS_DMA2          FALSE
+#define STM32_DMA_STREAMS       5
 
 /* ETH attributes.*/
 #define STM32_HAS_ETH           FALSE
@@ -300,6 +302,7 @@
 #define STM32_ADVANCED_DMA      FALSE
 #define STM32_HAS_DMA1          TRUE
 #define STM32_HAS_DMA2          FALSE
+#define STM32_DMA_STREAMS       5
 
 /* ETH attributes.*/
 #define STM32_HAS_ETH           FALSE
diff --git a/firmware/chibios/os/hal/platforms/STM32F1xx/stm32f10x.h b/firmware/chibios/os/hal/platforms/STM32F1xx/stm32f10x.h
index ab2d175859..2c085669e9 100644
--- a/firmware/chibios/os/hal/platforms/STM32F1xx/stm32f10x.h
+++ b/firmware/chibios/os/hal/platforms/STM32F1xx/stm32f10x.h
@@ -15,15 +15,15 @@
   *          is using in the C source code, usually in main.c. This file contains:
   *           - Configuration section that allows to select:
   *              - The device used in the target application
-  *              - To use or not the peripheral�s drivers in application code(i.e. 
-  *                code will be based on direct access to peripheral�s registers 
+  *              - To use or not the peripheral’s drivers in application code(i.e. 
+  *                code will be based on direct access to peripheral’s registers 
   *                rather than drivers API), this option is controlled by 
   *                "#define USE_STDPERIPH_DRIVER"
   *              - To change few application-specific parameters such as the HSE 
   *                crystal frequency
   *           - Data structures and the address mapping for all peripherals
   *           - Peripheral's registers declarations and bits definition
-  *           - Macros to access peripheral�s registers hardware
+  *           - Macros to access peripheral’s registers hardware
   *
   ******************************************************************************
   * @attention
@@ -154,6 +154,9 @@
 /**
  * @brief Configuration of the Cortex-M3 Processor and Core Peripherals 
  */
+/* CHIBIOS FIX */
+#define __CM3_REV                 0x0201  /*!< Core revision r2p1, not sure it is right */
+/* END CHIBIOS FIX */
 #ifdef STM32F10X_XL
  #define __MPU_PRESENT             1 /*!< STM32 XL-density devices provide an MPU */
 #else
diff --git a/firmware/chibios/os/hal/src/can.c b/firmware/chibios/os/hal/src/can.c
index 8ce09ef674..81a2ed1f12 100644
--- a/firmware/chibios/os/hal/src/can.c
+++ b/firmware/chibios/os/hal/src/can.c
@@ -216,7 +216,7 @@ msg_t canReceive(CANDriver *canp,
                  CANRxFrame *crfp,
                  systime_t timeout) {
 
-  chDbgCheck((canp != NULL) && (crfp != NULL) && (mailbox < CAN_RX_MAILBOXES),
+  chDbgCheck((canp != NULL) && (crfp != NULL) && (mailbox <= CAN_RX_MAILBOXES),
              "canReceive");
 
   chSysLock();
diff --git a/firmware/chibios/os/various/chrtclib.c b/firmware/chibios/os/various/chrtclib.c
index ca138443b4..b374847156 100644
--- a/firmware/chibios/os/various/chrtclib.c
+++ b/firmware/chibios/os/various/chrtclib.c
@@ -265,10 +265,11 @@ void rtcGetTimeTm(RTCDriver *rtcp, struct tm *timp) {
 #if defined __GNUC__
   localtime_r((time_t *)&(timespec.tv_sec), timp);
 #else
-  struct tm *t = localtime((time_t *)&(timespec.tv_sec));
-  memcpy(&timp, t, sizeof(struct tm));
+  {
+    struct tm *t = localtime((time_t *)&(timespec.tv_sec));
+    memcpy(&timp, t, sizeof(struct tm));
+  }
 #endif
-
 }
 
 /**
diff --git a/firmware/chibios/os/various/devices_lib/accel/lis302dl.c b/firmware/chibios/os/various/devices_lib/accel/lis302dl.c
new file mode 100644
index 0000000000..0e7f6eecc1
--- /dev/null
+++ b/firmware/chibios/os/various/devices_lib/accel/lis302dl.c
@@ -0,0 +1,119 @@
+/*
+    ChibiOS/RT - Copyright (C) 2006-2013 Giovanni Di Sirio
+
+    Licensed under the Apache License, Version 2.0 (the "License");
+    you may not use this file except in compliance with the License.
+    You may obtain a copy of the License at
+
+        http://www.apache.org/licenses/LICENSE-2.0
+
+    Unless required by applicable law or agreed to in writing, software
+    distributed under the License is distributed on an "AS IS" BASIS,
+    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+    See the License for the specific language governing permissions and
+    limitations under the License.
+*/
+
+/**
+ * @file    lis302dl.c
+ * @brief   LIS302DL MEMS interface module through SPI code.
+ *
+ * @addtogroup lis302dl
+ * @{
+ */
+
+#include "ch.h"
+#include "hal.h"
+#include "lis302dl.h"
+
+/*===========================================================================*/
+/* Driver local definitions.                                                 */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver exported variables.                                                */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver local variables and types.                                         */
+/*===========================================================================*/
+
+static uint8_t txbuf[2];
+static uint8_t rxbuf[2];
+
+/*===========================================================================*/
+/* Driver local functions.                                                   */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver exported functions.                                                */
+/*===========================================================================*/
+
+/**
+ * @brief   Reads a register value.
+ * @pre     The SPI interface must be initialized and the driver started.
+ *
+ * @param[in] spip      pointer to the SPI initerface
+ * @param[in] reg       register number
+ * @return              The register value.
+ */
+uint8_t lis302dlReadRegister(SPIDriver *spip, uint8_t reg) {
+
+  spiSelect(spip);
+  txbuf[0] = 0x80 | reg;
+  txbuf[1] = 0xff;
+  spiExchange(spip, 2, txbuf, rxbuf);
+  spiUnselect(spip);
+  return rxbuf[1];
+}
+
+/**
+ * @brief   Writes a value into a register.
+ * @pre     The SPI interface must be initialized and the driver started.
+ *
+ * @param[in] spip      pointer to the SPI initerface
+ * @param[in] reg       register number
+ * @param[in] value     the value to be written
+ */
+void lis302dlWriteRegister(SPIDriver *spip, uint8_t reg, uint8_t value) {
+
+  switch (reg) {
+  default:
+    /* Reserved register must not be written, according to the datasheet
+       this could permanently damage the device.*/
+    chDbgAssert(FALSE, "lis302dlWriteRegister(), #1", "reserved register");
+  case LIS302DL_WHO_AM_I:
+  case LIS302DL_HP_FILTER_RESET:
+  case LIS302DL_STATUS_REG:
+  case LIS302DL_OUTX:
+  case LIS302DL_OUTY:
+  case LIS302DL_OUTZ:
+  case LIS302DL_FF_WU_SRC1:
+  case LIS302DL_FF_WU_SRC2:
+  case LIS302DL_CLICK_SRC:
+    /* Read only registers cannot be written, the command is ignored.*/
+    return;
+  case LIS302DL_CTRL_REG1:
+  case LIS302DL_CTRL_REG2:
+  case LIS302DL_CTRL_REG3:
+  case LIS302DL_FF_WU_CFG1:
+  case LIS302DL_FF_WU_THS1:
+  case LIS302DL_FF_WU_DURATION1:
+  case LIS302DL_FF_WU_CFG2:
+  case LIS302DL_FF_WU_THS2:
+  case LIS302DL_FF_WU_DURATION2:
+  case LIS302DL_CLICK_CFG:
+  case LIS302DL_CLICK_THSY_X:
+  case LIS302DL_CLICK_THSZ:
+  case LIS302DL_CLICK_TIMELIMIT:
+  case LIS302DL_CLICK_LATENCY:
+  case LIS302DL_CLICK_WINDOW:
+    spiSelect(spip);
+    txbuf[0] = reg;
+    txbuf[1] = value;
+    spiSend(spip, 2, txbuf);
+    spiUnselect(spip);
+  }
+}
+
+/** @} */
diff --git a/firmware/chibios/os/various/devices_lib/accel/lis302dl.h b/firmware/chibios/os/various/devices_lib/accel/lis302dl.h
new file mode 100644
index 0000000000..efa11f549a
--- /dev/null
+++ b/firmware/chibios/os/various/devices_lib/accel/lis302dl.h
@@ -0,0 +1,93 @@
+/*
+    ChibiOS/RT - Copyright (C) 2006-2013 Giovanni Di Sirio
+
+    Licensed under the Apache License, Version 2.0 (the "License");
+    you may not use this file except in compliance with the License.
+    You may obtain a copy of the License at
+
+        http://www.apache.org/licenses/LICENSE-2.0
+
+    Unless required by applicable law or agreed to in writing, software
+    distributed under the License is distributed on an "AS IS" BASIS,
+    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+    See the License for the specific language governing permissions and
+    limitations under the License.
+*/
+
+/**
+ * @file    lis302dl.h
+ * @brief   LIS302DL MEMS interface module through SPI header.
+ *
+ * @addtogroup lis302dl
+ * @{
+ */
+
+#ifndef _LIS302DL_H_
+#define _LIS302DL_H_
+
+/*===========================================================================*/
+/* Driver constants.                                                         */
+/*===========================================================================*/
+
+/**
+ * @name    LIS302DL register names
+ * @{
+ */
+#define LIS302DL_WHO_AM_I               0x0F
+#define LIS302DL_CTRL_REG1              0x20
+#define LIS302DL_CTRL_REG2              0x21
+#define LIS302DL_CTRL_REG3              0x22
+#define LIS302DL_HP_FILTER_RESET        0x23
+#define LIS302DL_STATUS_REG             0x27
+#define LIS302DL_OUTX                   0x29
+#define LIS302DL_OUTY                   0x2B
+#define LIS302DL_OUTZ                   0x2D
+#define LIS302DL_FF_WU_CFG1             0x30
+#define LIS302DL_FF_WU_SRC1             0x31
+#define LIS302DL_FF_WU_THS1             0x32
+#define LIS302DL_FF_WU_DURATION1        0x33
+#define LIS302DL_FF_WU_CFG2             0x34
+#define LIS302DL_FF_WU_SRC2             0x35
+#define LIS302DL_FF_WU_THS2             0x36
+#define LIS302DL_FF_WU_DURATION2        0x37
+#define LIS302DL_CLICK_CFG              0x38
+#define LIS302DL_CLICK_SRC              0x39
+#define LIS302DL_CLICK_THSY_X           0x3B
+#define LIS302DL_CLICK_THSZ             0x3C
+#define LIS302DL_CLICK_TIMELIMIT        0x3D
+#define LIS302DL_CLICK_LATENCY          0x3E
+#define LIS302DL_CLICK_WINDOW           0x3F
+/** @} */
+
+/*===========================================================================*/
+/* Driver pre-compile time settings.                                         */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Derived constants and error checks.                                       */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver data structures and types.                                         */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver macros.                                                            */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* External declarations.                                                    */
+/*===========================================================================*/
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+  uint8_t lis302dlReadRegister(SPIDriver *spip, uint8_t reg);
+  void lis302dlWriteRegister(SPIDriver *spip, uint8_t reg, uint8_t value);
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* _LIS302DL_H_ */
+
+/** @} */
diff --git a/firmware/hw_layer/accelerometer.cpp b/firmware/hw_layer/accelerometer.cpp
new file mode 100644
index 0000000000..6565865831
--- /dev/null
+++ b/firmware/hw_layer/accelerometer.cpp
@@ -0,0 +1,12 @@
+/*
+ * accelerometer.cpp
+ *
+ * @date May 19, 2016
+ * @author Andrey Belomutskiy, (c) 2012-2016
+ */
+
+#include "main.h"
+#include "lis302dl.h"
+
+
+
diff --git a/firmware/hw_layer/accelerometer.h b/firmware/hw_layer/accelerometer.h
new file mode 100644
index 0000000000..eed9762440
--- /dev/null
+++ b/firmware/hw_layer/accelerometer.h
@@ -0,0 +1,15 @@
+/*
+ * accelerometer.h
+ *
+ * @date May 19, 2016
+ * @author Andrey Belomutskiy, (c) 2012-2016
+ */
+
+#ifndef HW_LAYER_ACCELEROMETER_H_
+#define HW_LAYER_ACCELEROMETER_H_
+
+
+
+
+
+#endif /* HW_LAYER_ACCELEROMETER_H_ */
diff --git a/firmware/hw_layer/hw_layer.mk b/firmware/hw_layer/hw_layer.mk
index a04b3ac3ec..594f71fde6 100644
--- a/firmware/hw_layer/hw_layer.mk
+++ b/firmware/hw_layer/hw_layer.mk
@@ -29,5 +29,6 @@ HW_LAYER_EMS_CPP = $(HW_LAYER_EGT_CPP) \
 	$(PROJECT_DIR)/hw_layer/gpio_helper.cpp \
 	$(PROJECT_DIR)/hw_layer/stm32f4/mpu_util.cpp \
 	$(PROJECT_DIR)/hw_layer/rtc_helper.cpp \
+	$(PROJECT_DIR)/hw_layer/accelerometer.cpp \
 	$(PROJECT_DIR)/hw_layer/wbo.cpp
 	
\ No newline at end of file
diff --git a/firmware/svnversion.h b/firmware/svnversion.h
index b83190cd52..09466a9060 100644
--- a/firmware/svnversion.h
+++ b/firmware/svnversion.h
@@ -1,5 +1,5 @@
 // This file was generated by Version2Header
-// Wed May 18 23:28:56 EDT 2016
+// Thu May 19 21:51:00 EDT 2016
 #ifndef VCS_VERSION
-#define VCS_VERSION "9912"
+#define VCS_VERSION "9916"
 #endif