Revision 7:a2bb3d5e12e9, committed 2015-04-15

Comitter:

Wolfgang Betz

Date:

Wed Apr 15 14:08:20 2015 +0200

Parent:

6:8d2abd695c52

Child:

8:d49db2c9d9c1

Commit message:

Added component LSM6DS0

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Components/lsm6ds0/lsm6ds0.h	Wed Apr 15 14:08:20 2015 +0200
@@ -0,0 +1,599 @@
+/**
+ ******************************************************************************
+ * @file    lsm6ds0.h
+ * @author  MEMS Application Team
+ * @version V1.2.0
+ * @date    28-January-2015
+ * @brief   This file contains definitions for the lsm6ds0.c 
+ *          firmware driver.
+ ******************************************************************************
+ * @attention
+ *
+ * <h2><center>&copy; COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
+ *
+ * Redistribution and use in source and binary forms, with or without modification,
+ * are permitted provided that the following conditions are met:
+ *   1. Redistributions of source code must retain the above copyright notice,
+ *      this list of conditions and the following disclaimer.
+ *   2. Redistributions in binary form must reproduce the above copyright notice,
+ *      this list of conditions and the following disclaimer in the documentation
+ *      and/or other materials provided with the distribution.
+ *   3. Neither the name of STMicroelectronics nor the names of its contributors
+ *      may be used to endorse or promote products derived from this software
+ *      without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *
+ ******************************************************************************
+ */
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef __LSM6DS0_H
+#define __LSM6DS0_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Includes ------------------------------------------------------------------*/
+#include "../Common/imu_6axes.h"
+
+/** @addtogroup BSP
+ * @{
+ */
+
+/** @addtogroup Components
+ * @{
+ */ 
+ 
+/** @addtogroup LSM6DS0
+ * @{
+ */
+
+/** @defgroup LSM6DS0_Exported_Defines LSM6DS0_Exported_Defines
+ * @{
+ */
+#ifndef NULL
+  #define NULL      (void *) 0
+#endif
+
+
+/******************************************************************************/
+/*********** START ACCELEROMETER AND GYROSCOPE REGISTER MAPPING  **************/
+/******************************************************************************/
+
+
+/***************************************** COMMON REGISTERS ********************************************/
+
+/**
+ * @brief Interrupt config register
+ * \code
+ * Read/write
+ * Default value: 0x00
+ * [7] INT_IG_G:    Gyroscope interrupt enable on INT pin
+ * [6] INT_IG_XL:   Accelerometer interrupt generator on INT pin
+ * [5] INT_FSS5:    FSS5 interrupt enable on INT pin
+ * [4] INT_OVR:     Overrun interrupt on INT pin
+ * [3] INT_FTH:     Gyroscope interrupt enable on INT pin
+ * [2] INT_BOOT:    Accelerometer interrupt generator on INT pin
+ * [1] INT_DRDY_G:  FSS5 interrupt enable on INT pin
+ * [0] INT_DRDY_XL: Overrun interrupt on INT pin
+ * \endcode
+ */
+#define LSM6DS0_XG_INT_CTRL                                 0x0C
+
+    
+/**
+  * @brief Device identifier register.
+  * \code
+  * Read
+  * Default value:
+  * [7:0] This read-only register contains the device identifier
+  * \endcode
+*/
+#define LSM6DS0_XG_WHO_AM_I_ADDR                            0x0F
+
+
+/**
+  * @brief Control Register 4
+  * \code
+  * Read/write
+  * Default value: 0x38
+  * [5] Zen_G: Gyroscope�s Z-axis output enable
+  * [4] Yen_G: Gyroscope�s Y-axis output enable
+  * [3] Xen_G: Gyroscope�s X-axis output enable
+  * \endcode
+*/
+#define LSM6DS0_XG_CTRL_REG4                                0x1E
+
+
+/**
+  * @brief Control Register 10
+  * \code
+  * Read/write
+  * Default value: 0x00
+  * [2] ST_G:  Gyro  selftest disable (0) / enable (1)
+  * [0] ST_XL: Accel selftest disable (0) / enable (1)
+  * \endcode
+*/
+#define LSM6DS0_XG_CTRL_REG10                               0x24
+
+
+/***************************************** GYROSCOPE REGISTERS ********************************************/
+
+/**
+ * @brief Angular rate sensor Control Register 1
+ * \code
+ * Read/write
+ * Default value: 0x00
+ * [7:5] ODR_G2-0: Gyroscope output data rate selection
+ * [4:3] FS_G1-0: Gyroscope full-scale selection
+ * [2] This bit must be set to �0� for the correct operation of the device
+ * [1:0] BW_G1-0: Gyroscope bandwidth selection
+ * \endcode
+ */
+#define LSM6DS0_XG_CTRL_REG1_G                              0x10
+
+
+/**
+ * @brief Gyroscope data (LSB)
+ * \code
+ * Read
+ * \endcode
+ */
+#define LSM6DS0_XG_OUT_X_L_G                                0x18
+
+
+/**
+ * @brief Gyroscope data (MSB)
+ * \code
+ * Read
+ * \endcode
+ */
+#define LSM6DS0_XG_OUT_X_H_G                                0x19
+
+
+/**
+ * @brief Gyroscope data (LSB)
+ * \code
+ * Read
+ * \endcode
+ */
+#define LSM6DS0_XG_OUT_Y_L_G                                0x1A
+
+
+/**
+ * @brief Gyroscope data (MSB)
+ * \code
+ * Read
+ * \endcode
+ */
+#define LSM6DS0_XG_OUT_Y_H_G                                0x1B
+
+
+/**
+ * @brief Gyroscope data (LSB)
+ * \code
+ * Read
+ * \endcode
+ */
+#define LSM6DS0_XG_OUT_Z_L_G                                0x1C
+
+
+/**
+ * @brief Gyroscope data (MSB)
+ * \code
+ * Read
+ * \endcode
+ */
+#define LSM6DS0_XG_OUT_Z_H_G                                0x1D
+
+
+
+/*************************************** ACCELEROMETER REGISTERS *******************************************/
+
+/**
+ * @brief Linear acceleration sensor Control Register 6
+ * \code
+ * Read/write
+ * Default value: 0x00
+ * [7:5] ODR_XL2-0: Accelerometer Output data rate and power mode selection
+ * [4:3] FS1_XL-FS0_XL: Accelerometer full-scale selection
+ * [2] BW_SCAL_ODR: Bandwidth selection
+ * [1:0] BW_XL1-0: Anti-aliasing filter bandwidth selection
+ * \endcode
+ */
+#define LSM6DS0_XG_CTRL_REG6_XL                              0x20
+
+
+/**
+ * @brief Linear acceleration sensor Control Register 5
+ * \code
+ * Read/write
+ * Default value: 0x38
+ * [7:6] DEC1-0: Decimation of acceleration data on OUT REG and FIFO
+ * [5] Zen_XL: Accelerometer�s Z-axis output enable
+ * [4] Yen_XL: Accelerometer�s Y-axis output enable
+ * [3] Xen_XL: Accelerometer�s X-axis output enable
+ * [2:0] These bits must be set to �0� for the correct operation of the device
+ * \endcode
+ */
+#define LSM6DS0_XG_CTRL_REG5_XL                              0x1F
+
+
+/**
+ * @brief Accelerometer data (LSB)
+ * \code
+ * Read
+ * \endcode
+ */
+#define LSM6DS0_XG_OUT_X_L_XL                                0x28
+
+
+/**
+ * @brief Accelerometer data (MSB)
+ * \code
+ * Read
+ * \endcode
+ */
+#define LSM6DS0_XG_OUT_X_H_XL                                0x29
+
+
+/**
+ * @brief Accelerometer data (LSB)
+ * \code
+ * Read
+ * \endcode
+ */
+#define LSM6DS0_XG_OUT_Y_L_XL                                0x2A
+
+
+/**
+ * @brief Accelerometer data (MSB)
+ * \code
+ * Read
+ * \endcode
+ */
+#define LSM6DS0_XG_OUT_Y_H_XL                                0x2B
+
+
+/**
+ * @brief Accelerometer data (LSB)
+ * \code
+ * Read
+ * \endcode
+ */
+#define LSM6DS0_XG_OUT_Z_L_XL                                0x2C
+
+
+/**
+ * @brief Accelerometer data (MSB)
+ * \code
+ * Read
+ * \endcode
+ */
+#define LSM6DS0_XG_OUT_Z_H_XL                                0x2D
+
+/******************************************************************************/
+/************* END ACCELEROMETER AND GYROSCOPE REGISTER MAPPING  **************/
+/******************************************************************************/
+
+/**
+ * @brief Multiple Byte. Mask for enabling multiple byte read/write command.
+ */   
+#define LSM6DS0_I2C_MULTIPLEBYTE_CMD                      ((uint8_t)0x80)
+
+/**
+* @brief Device Address
+*/
+#define LSM6DS0_ADDRESS_LOW                                 0xD4    // SAD[0] = 0
+#define LSM6DS0_ADDRESS_HIGH                                0xD6    // SAD[0] = 1
+#define LSM6DS0_XG_MEMS_ADDRESS                             LSM6DS0_ADDRESS_HIGH    // SAD[0] = 1
+
+/**
+ * @brief Device Identifier. Default value of the WHO_AM_I register.
+ */
+#define I_AM_LSM6DS0_XG                                 ((uint8_t)0x68)
+
+
+
+/************************************** GYROSCOPE REGISTERS VALUE *******************************************/
+
+
+/** @defgroup LSM6DS0_XG_Gyroscope_Output_Data_Rate_Selection_CTRL_REG1_G LSM6DS0_XG_Gyroscope_Output_Data_Rate_Selection_CTRL_REG1_G
+ * @{
+ */
+#define LSM6DS0_G_ODR_PD                                ((uint8_t)0x00) /*!< Output Data Rate: Power-down*/
+#define LSM6DS0_G_ODR_14_9HZ                            ((uint8_t)0x20) /*!< Output Data Rate: 14.9 Hz, cutoff 5Hz */
+#define LSM6DS0_G_ODR_59_5HZ                            ((uint8_t)0x40) /*!< Output Data Rate: 59.5 Hz, cutoff 19Hz */
+#define LSM6DS0_G_ODR_119HZ                             ((uint8_t)0x60) /*!< Output Data Rate: 119 Hz, cutoff 38Hz*/
+#define LSM6DS0_G_ODR_238HZ                             ((uint8_t)0x80) /*!< Output Data Rate: 238 Hz, cutoff 76Hz*/
+#define LSM6DS0_G_ODR_476HZ                             ((uint8_t)0xA0) /*!< Output Data Rate: 476 Hz, cutoff 100Hz*/
+#define LSM6DS0_G_ODR_952HZ                             ((uint8_t)0xC0) /*!< Output Data Rate: 952 Hz, cutoff 100Hz*/
+
+#define LSM6DS0_G_ODR_MASK                              ((uint8_t)0xE0)
+/**
+ * @}
+ */
+
+
+/** @defgroup LSM6DS0_XG_Gyroscope_Bandwidth_Selection_CTRL_REG1_G LSM6DS0_XG_Gyroscope_Bandwidth_Selection_CTRL_REG1_G
+ * @{
+ */
+#define LSM6DS0_G_BW_00                          ((uint8_t)0x00) /*!< Bandwidth selection:  - cutoff = n.a. when ODR = Power-down
+                                                                                            - cutoff = n.a. when ODR = 14.9
+                                                                                            - cutoff = 16 when ODR = 59.5
+                                                                                            - cutoff = 14 when ODR = 119
+                                                                                            - cutoff = 14 when ODR = 238
+                                                                                            - cutoff = 21 when ODR = 476
+                                                                                            - cutoff = 33 when ODR = 952  */
+#define LSM6DS0_G_BW_01                          ((uint8_t)0x01) /*!< Bandwidth selection:  - cutoff = n.a. when ODR = Power-down
+                                                                                            - cutoff = n.a. when ODR = 14.9
+                                                                                            - cutoff = 16 when ODR = 59.5
+                                                                                            - cutoff = 31 when ODR = 119
+                                                                                            - cutoff = 29 when ODR = 238
+                                                                                            - cutoff = 28 when ODR = 476
+                                                                                            - cutoff = 40 when ODR = 952  */
+#define LSM6DS0_G_BW_10                          ((uint8_t)0x02) /*!< Bandwidth selection:  - cutoff = n.a. when ODR = Power-down
+                                                                                            - cutoff = n.a. when ODR = 14.9
+                                                                                            - cutoff = 16 when ODR = 59.5
+                                                                                            - cutoff = 31 when ODR = 119
+                                                                                            - cutoff = 63 when ODR = 238
+                                                                                            - cutoff = 57 when ODR = 476
+                                                                                            - cutoff = 58 when ODR = 952  */
+#define LSM6DS0_G_BW_11                          ((uint8_t)0x03) /*!< Bandwidth selection:  - cutoff = n.a. when ODR = Power-down
+                                                                                            - cutoff = n.a. when ODR = 14.9
+                                                                                            - cutoff = 16 when ODR = 59.5
+                                                                                            - cutoff = 31 when ODR = 119
+                                                                                            - cutoff = 78 when ODR = 238
+                                                                                            - cutoff = 100 when ODR = 476
+                                                                                            - cutoff = 100 when ODR = 952  */
+
+#define LSM6DS0_G_BW_MASK                              ((uint8_t)0x03)
+/**
+ * @}
+ */
+ 
+/** @defgroup LSM6DS0_XG_Gyroscope_Full_Scale_Selection_CTRL_REG1_G LSM6DS0_XG_Gyroscope_Full_Scale_Selection_CTRL_REG1_G
+ * @{
+ */
+#define LSM6DS0_G_FS_245                               ((uint8_t)0x00) /*!< Full scale: 245 dps*/
+#define LSM6DS0_G_FS_500                               ((uint8_t)0x08) /*!< Full scale: 500 dps */
+#define LSM6DS0_G_FS_2000                              ((uint8_t)0x18) /*!< Full scale: 2000 dps */
+
+#define LSM6DS0_G_FS_MASK                              ((uint8_t)0x18)
+/**
+ * @}
+ */
+
+/** @defgroup LSM6DS0_XG_Gyroscope_Z_Axis_Output_Enable_Selection_CTRL_REG4 LSM6DS0_XG_Gyroscope_Z_Axis_Output_Enable_Selection_CTRL_REG4
+ * @{
+ */
+#define LSM6DS0_G_ZEN_DISABLE                          ((uint8_t)0x00) /*!< Gyroscope�s Z-axis output enable: disable */
+#define LSM6DS0_G_ZEN_ENABLE                           ((uint8_t)0x20) /*!< Gyroscope�s Z-axis output enable: enable */
+
+#define LSM6DS0_G_ZEN_MASK                             ((uint8_t)0x20)
+/**
+ * @}
+ */
+
+/** @defgroup LSM6DS0_XG_Gyroscope_Y_Axis_Output_Enable_Selection_CTRL_REG4 LSM6DS0_XG_Gyroscope_Y_Axis_Output_Enable_Selection_CTRL_REG4
+ * @{
+ */
+#define LSM6DS0_G_YEN_DISABLE                          ((uint8_t)0x00) /*!< Gyroscope�s Y-axis output enable: disable */
+#define LSM6DS0_G_YEN_ENABLE                           ((uint8_t)0x10) /*!< Gyroscope�s Y-axis output enable: enable */
+
+#define LSM6DS0_G_YEN_MASK                             ((uint8_t)0x10)
+/**
+ * @}
+ */
+
+/** @defgroup LSM6DS0_XG_Gyroscope_X_Axis_Output_Enable_Selection_CTRL_REG4 LSM6DS0_XG_Gyroscope_X_Axis_Output_Enable_Selection_CTRL_REG4
+ * @{
+ */
+#define LSM6DS0_G_XEN_DISABLE                          ((uint8_t)0x00) /*!< Gyroscope�s X-axis output enable: disable */
+#define LSM6DS0_G_XEN_ENABLE                           ((uint8_t)0x08) /*!< Gyroscope�s X-axis output enable: enable */
+
+#define LSM6DS0_G_XEN_MASK                             ((uint8_t)0x08)
+/**
+ * @}
+ */
+
+/** @defgroup LSM6DS0_XG_Gyroscope_Selftest_Enable_Selection_CTRL_REG10 LSM6DS0_XG_Gyroscope_Selftest_Enable_Selection_CTRL_REG10
+ * @{
+ */
+#define LSM6DS0_G_ST_DISABLE                            ((uint8_t)0x00) /*!< Gyro selftest disable */
+#define LSM6DS0_G_ST_ENABLE                             ((uint8_t)0x04) /*!< Gyro selftest enable */
+
+#define LSM6DS0_G_ST_MASK                               ((uint8_t)0x04)
+/**
+ * @}
+ */
+
+
+/************************************ ACCELEROMETER REGISTERS VALUE *****************************************/
+
+/** @defgroup LSM6DS0_XG_Accelerometer_Output_Data_Rate_Selection_CTRL_REG6_XL LSM6DS0_XG_Accelerometer_Output_Data_Rate_Selection_CTRL_REG6_XL
+ * @{
+ */
+#define LSM6DS0_XL_ODR_PD                               ((uint8_t)0x00) /*!< Output Data Rate: Power-down*/
+#define LSM6DS0_XL_ODR_10HZ                             ((uint8_t)0x20) /*!< Output Data Rate: 10 Hz*/
+#define LSM6DS0_XL_ODR_50HZ                             ((uint8_t)0x40) /*!< Output Data Rate: 50 Hz */
+#define LSM6DS0_XL_ODR_119HZ                            ((uint8_t)0x60) /*!< Output Data Rate: 119 Hz */
+#define LSM6DS0_XL_ODR_238HZ                            ((uint8_t)0x80) /*!< Output Data Rate: 238 Hz */
+#define LSM6DS0_XL_ODR_476HZ                            ((uint8_t)0xA0) /*!< Output Data Rate: 476 Hz */
+#define LSM6DS0_XL_ODR_952HZ                            ((uint8_t)0xC0) /*!< Output Data Rate: 952 Hz */
+
+#define LSM6DS0_XL_ODR_MASK                             ((uint8_t)0xE0)
+/**
+ * @}
+ */
+
+/** @defgroup LSM6DS0_XG_Accelerometer_Full_Scale_Selection_CTRL_REG6_XL LSM6DS0_XG_Accelerometer_Full_Scale_Selection_CTRL_REG6_XL
+ * @{
+ */
+#define LSM6DS0_XL_FS_2G                                ((uint8_t)0x00) /*!< Full scale: +- 2g */
+#define LSM6DS0_XL_FS_4G                                ((uint8_t)0x10) /*!< Full scale: +- 4g */
+#define LSM6DS0_XL_FS_8G                                ((uint8_t)0x18) /*!< Full scale: +- 8g */
+
+#define LSM6DS0_XL_FS_MASK                              ((uint8_t)0x18)
+/**
+ * @}
+ */
+
+/** @defgroup LSM6DS0_XG_Accelerometer_Bandwidth_Selection_CTRL_REG6_XL LSM6DS0_XG_Accelerometer_Bandwidth_Selection_CTRL_REG6_XL
+ * @{
+ */
+#define LSM6DS0_XL_BW_SCAL_ODR                          ((uint8_t)0x00) /*!< Bandwidth selection: determined by ODR:
+                                                                                                  - BW = 408Hz when ODR = 952Hz, 50Hz, 10Hz
+                                                                                                  - BW = 211Hz when ODR = 476Hz
+                                                                                                  - BW = 105Hz when ODR = 238Hz
+                                                                                                  - BW = 50Hz when ODR = 119Hz */
+#define LSM6DS0_XL_BW_SCAL_BW                           ((uint8_t)0x04) /*!< Bandwidth selection: selected according to Anti aliasing filter bandwidth */
+
+#define LSM6DS0_XL_BW_SCAL_MASK                         ((uint8_t)0x04)
+/**
+ * @}
+ */
+
+
+/** @defgroup LSM6DS0_XG_Accelerometer_Anti_Aliasing_Filter_Bandwidth_Selection_CTRL_REG6_XL LSM6DS0_XG_Accelerometer_Anti_Aliasing_Filter_Bandwidth_Selection_CTRL_REG6_XL
+ * @{
+ */
+#define LSM6DS0_XL_BW_408HZ                             ((uint8_t)0x00) /*!< Anti-aliasing filter bandwidht: 408 Hz */
+#define LSM6DS0_XL_BW_211HZ                             ((uint8_t)0x01) /*!< Anti-aliasing filter bandwidht: 211 Hz */
+#define LSM6DS0_XL_BW_105HZ                             ((uint8_t)0x02) /*!< Anti-aliasing filter bandwidht: 105 Hz */
+#define LSM6DS0_XL_BW_50HZ                              ((uint8_t)0x03) /*!< Anti-aliasing filter bandwidht: 50 Hz */
+
+#define LSM6DS0_XL_BW_MASK                              ((uint8_t)0x03)
+/**
+ * @}
+ */
+
+/** @defgroup LSM6DS0_XG_Accelerometer_Decimation_Acceleration_Data_Selection_CTRL_REG5_XL LSM6DS0_XG_Accelerometer_Decimation_Acceleration_Data_Selection_CTRL_REG5_XL
+ * @{
+ */
+#define LSM6DS0_XL_DEC_NO                               ((uint8_t)0x00) /*!< Decimation of acceleration data: no decimation */
+#define LSM6DS0_XL_DEC_EVERY_2S                         ((uint8_t)0x40) /*!< Decimation of acceleration data: update every 2 samples */
+#define LSM6DS0_XL_DEC_EVERY_4S                         ((uint8_t)0x80) /*!< Decimation of acceleration data: update every 4 samples */
+#define LSM6DS0_XL_DEC_EVERY_8S                         ((uint8_t)0xC0) /*!< Decimation of acceleration data: update every 8 samples */
+
+#define LSM6DS0_XL_DEC_MASK                             ((uint8_t)0xC0)
+/**
+ * @}
+ */
+
+
+/** @defgroup LSM6DS0_XG_Accelerometer_Z_Axis_Output_Enable_Selection_CTRL_REG5_XL LSM6DS0_XG_Accelerometer_Z_Axis_Output_Enable_Selection_CTRL_REG5_XL
+ * @{
+ */
+#define LSM6DS0_XL_ZEN_DISABLE                          ((uint8_t)0x00) /*!< Accelerometer�s Z-axis output enable: disable */
+#define LSM6DS0_XL_ZEN_ENABLE                           ((uint8_t)0x20) /*!< Accelerometer�s Z-axis output enable: enable */
+
+#define LSM6DS0_XL_ZEN_MASK                             ((uint8_t)0x20)
+/**
+ * @}
+ */
+
+/** @defgroup LSM6DS0_XG_Accelerometer_Y_Axis_Output_Enable_Selection_CTRL_REG5_XL LSM6DS0_XG_Accelerometer_Y_Axis_Output_Enable_Selection_CTRL_REG5_XL
+ * @{
+ */
+#define LSM6DS0_XL_YEN_DISABLE                          ((uint8_t)0x00) /*!< Accelerometer�s Y-axis output enable: disable */
+#define LSM6DS0_XL_YEN_ENABLE                           ((uint8_t)0x10) /*!< Accelerometer�s Y-axis output enable: enable */
+
+#define LSM6DS0_XL_YEN_MASK                             ((uint8_t)0x10)
+/**
+ * @}
+ */
+
+
+/** @defgroup LSM6DS0_XG_Accelerometer_X_Axis_Output_Enable_Selection_CTRL_REG5_XL LSM6DS0_XG_Accelerometer_X_Axis_Output_Enable_Selection_CTRL_REG5_XL
+ * @{
+ */
+#define LSM6DS0_XL_XEN_DISABLE                          ((uint8_t)0x00) /*!< Accelerometer�s X-axis output enable: disable */
+#define LSM6DS0_XL_XEN_ENABLE                           ((uint8_t)0x08) /*!< Accelerometer�s X-axis output enable: enable */
+
+#define LSM6DS0_XL_XEN_MASK                             ((uint8_t)0x08)
+
+/**
+ * @}
+ */
+
+
+/** @defgroup LSM6DS0_XG_Accelerometer_Selftest_Enable_Selection_CTRL_REG10 LSM6DS0_XG_Accelerometer_Selftest_Enable_Selection_CTRL_REG10
+ * @{
+ */
+#define LSM6DS0_XL_ST_DISABLE                           ((uint8_t)0x00) /*!< Accel selftest disable */
+#define LSM6DS0_XL_ST_ENABLE                            ((uint8_t)0x01) /*!< Accel selftest enable */
+
+#define LSM6DS0_XL_ST_MASK                              ((uint8_t)0x01)
+
+/**
+ * @}
+ */
+ 
+/**
+ * @}
+ */
+
+
+/** @defgroup LSM6DS0_Imported_Functions LSM6DS0_Imported_Functions
+ * @{
+ */
+
+/* Six axes sensor IO functions */
+extern IMU_6AXES_StatusTypeDef LSM6DS0_IO_Init(void);
+extern IMU_6AXES_StatusTypeDef LSM6DS0_IO_Write(uint8_t* pBuffer, uint8_t DeviceAddr, uint8_t RegisterAddr, uint16_t NumByteToWrite);
+extern IMU_6AXES_StatusTypeDef LSM6DS0_IO_Read(uint8_t* pBuffer, uint8_t DeviceAddr, uint8_t RegisterAddr, uint16_t NumByteToRead);
+extern void LSM6DS0_IO_ITConfig( void );
+
+/**
+ * @}
+ */
+
+/* ------------------------------------------------------- */ 
+/* Here you should declare the internal struct of          */
+/* extended features of LIS3MDL. See the example of        */
+/* LSM6DS3 in lsm6ds3.h                                    */
+/* ------------------------------------------------------- */
+
+/** @addtogroup LSM6DS0_Exported_Variables LSM6DS0_Exported_Variables
+ * @{
+ */
+
+/* Six axes sensor driver structure */
+extern IMU_6AXES_DrvTypeDef LSM6DS0Drv;
+extern IMU_6AXES_DrvExtTypeDef LSM6DS0Drv_ext;
+
+/**
+ * @}
+ */
+
+/**
+ * @}
+ */
+
+/**
+ * @}
+ */
+ 
+/**
+ * @}
+ */
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __LSM6DS0_H */
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Components/lsm6ds0/lsm6ds0_class.cpp	Wed Apr 15 14:08:20 2015 +0200
@@ -0,0 +1,400 @@
+/**
+ ******************************************************************************
+ * @file    lsm6ds0_class.cpp
+ * @author  AST / EST
+ * @version V0.0.1
+ * @date    14-April-2015
+ * @brief   Implementation file for the LSM6DS0 driver class
+ ******************************************************************************
+ * @attention
+ *
+ * <h2><center>&copy; COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
+ *
+ * Redistribution and use in source and binary forms, with or without modification,
+ * are permitted provided that the following conditions are met:
+ *   1. Redistributions of source code must retain the above copyright notice,
+ *      this list of conditions and the following disclaimer.
+ *   2. Redistributions in binary form must reproduce the above copyright notice,
+ *      this list of conditions and the following disclaimer in the documentation
+ *      and/or other materials provided with the distribution.
+ *   3. Neither the name of STMicroelectronics nor the names of its contributors
+ *      may be used to endorse or promote products derived from this software
+ *      without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *
+ ******************************************************************************
+*/
+
+/* Includes ------------------------------------------------------------------*/
+#include "mbed.h"
+#include "lsm6ds0_class.h"
+#include "lsm6ds0.h"
+#include "../../x_nucleo_iks01a1_targets.h"
+
+/* Methods -------------------------------------------------------------------*/
+/* betzw - based on:
+           X-CUBE-MEMS1/trunk/Drivers/BSP/Components/lsm6ds0/lsm6ds0.c: revision #184,
+           X-CUBE-MEMS1/trunk: revision #293
+*/
+/**
+ * @brief  Set LSM6DS0 Initialization
+ * @param  LSM6DS0_Init the configuration setting for the LSM6DS0
+ * @retval IMU_6AXES_OK in case of success, an error code otherwise
+ */
+IMU_6AXES_StatusTypeDef LSM6DS0::LSM6DS0_Init(IMU_6AXES_InitTypeDef *LSM6DS0_Init)
+{
+    uint8_t tmp1 = 0x00;
+
+    /* Configure the low level interface ---------------------------------------*/
+    if(LSM6DS0_IO_Init() != IMU_6AXES_OK)
+    {
+      return IMU_6AXES_ERROR;
+    }
+
+    /******* Gyroscope init *******/
+
+    if(LSM6DS0_IO_Read(&tmp1, LSM6DS0_XG_CTRL_REG1_G, 1) != IMU_6AXES_OK)
+    {
+      return IMU_6AXES_ERROR;
+    }
+
+    /* Output Data Rate selection */
+    tmp1 &= ~(LSM6DS0_G_ODR_MASK);
+    tmp1 |= LSM6DS0_Init->G_OutputDataRate;
+
+    /* Full scale selection */
+    tmp1 &= ~(LSM6DS0_G_FS_MASK);
+    tmp1 |= LSM6DS0_Init->G_FullScale;
+
+    if(LSM6DS0_IO_Write(&tmp1, LSM6DS0_XG_CTRL_REG1_G, 1) != IMU_6AXES_OK)
+    {
+      return IMU_6AXES_ERROR;
+    }
+
+    if(LSM6DS0_IO_Read(&tmp1, LSM6DS0_XG_CTRL_REG4, 1) != IMU_6AXES_OK)
+    {
+      return IMU_6AXES_ERROR;
+    }
+
+    /* Enable X axis selection */
+    tmp1 &= ~(LSM6DS0_G_XEN_MASK);
+    tmp1 |= LSM6DS0_Init->G_X_Axis;
+
+    /* Enable Y axis selection */
+    tmp1 &= ~(LSM6DS0_G_YEN_MASK);
+    tmp1 |= LSM6DS0_Init->G_Y_Axis;
+
+    /* Enable Z axis selection */
+    tmp1 &= ~(LSM6DS0_G_ZEN_MASK);
+    tmp1 |= LSM6DS0_Init->G_Z_Axis;
+
+    if(LSM6DS0_IO_Write(&tmp1, LSM6DS0_XG_CTRL_REG4, 1) != IMU_6AXES_OK)
+    {
+      return IMU_6AXES_ERROR;
+    }
+
+    /******************************/
+
+    /***** Accelerometer init *****/
+
+    if(LSM6DS0_IO_Read(&tmp1, LSM6DS0_XG_CTRL_REG6_XL, 1) != IMU_6AXES_OK)
+    {
+      return IMU_6AXES_ERROR;
+    }
+
+    /* Output Data Rate selection */
+    tmp1 &= ~(LSM6DS0_XL_ODR_MASK);
+    tmp1 |= LSM6DS0_Init->X_OutputDataRate;
+
+    /* Full scale selection */
+    tmp1 &= ~(LSM6DS0_XL_FS_MASK);
+    tmp1 |= LSM6DS0_Init->X_FullScale;
+
+    if(LSM6DS0_IO_Write(&tmp1, LSM6DS0_XG_CTRL_REG6_XL, 1) != IMU_6AXES_OK)
+    {
+      return IMU_6AXES_ERROR;
+    }
+
+    if(LSM6DS0_IO_Read(&tmp1, LSM6DS0_XG_CTRL_REG5_XL, 1) != IMU_6AXES_OK)
+    {
+      return IMU_6AXES_ERROR;
+    }
+
+    /* Enable X axis selection */
+    tmp1 &= ~(LSM6DS0_XL_XEN_MASK);
+    tmp1 |= LSM6DS0_Init->X_X_Axis;
+
+    /* Enable Y axis selection */
+    tmp1 &= ~(LSM6DS0_XL_YEN_MASK);
+    tmp1 |= LSM6DS0_Init->X_Y_Axis;
+
+    /* Enable Z axis selection */
+    tmp1 &= ~(LSM6DS0_XL_ZEN_MASK);
+    tmp1 |= LSM6DS0_Init->X_Z_Axis;
+
+    if(LSM6DS0_IO_Write(&tmp1, LSM6DS0_XG_CTRL_REG5_XL, 1) != IMU_6AXES_OK)
+    {
+      return IMU_6AXES_ERROR;
+    }
+    
+    /* Configure interrupt lines */
+    LSM6DS0_IO_ITConfig();
+    
+    return IMU_6AXES_OK;
+
+    /******************************/
+}
+
+
+/**
+ * @brief  Read ID of LSM6DS0 Accelerometer and Gyroscope
+ * @param  xg_id the pointer where the ID of the device is stored
+ * @retval IMU_6AXES_OK in case of success, an error code otherwise
+ */
+IMU_6AXES_StatusTypeDef LSM6DS0::LSM6DS0_Read_XG_ID(uint8_t *xg_id)
+{
+    if(!xg_id)
+    { 
+      return IMU_6AXES_ERROR; 
+    }
+ 
+    return LSM6DS0_IO_Read(xg_id, LSM6DS0_XG_WHO_AM_I_ADDR, 1);
+}
+
+
+/**
+ * @brief  Read raw data from LSM6DS0 Accelerometer output register
+ * @param  pData the pointer where the accelerometer raw data are stored
+ * @retval IMU_6AXES_OK in case of success, an error code otherwise
+ */
+IMU_6AXES_StatusTypeDef LSM6DS0::LSM6DS0_X_GetAxesRaw(int16_t *pData)
+{
+    uint8_t tempReg[2] = {0,0};
+
+    if(LSM6DS0_IO_Read(&tempReg[0], (LSM6DS0_XG_OUT_X_L_XL | LSM6DS0_I2C_MULTIPLEBYTE_CMD), 2) != IMU_6AXES_OK)
+    {
+      return IMU_6AXES_ERROR;
+    }
+
+    pData[0] = ((((int16_t)tempReg[1]) << 8)+(int16_t)tempReg[0]);
+
+    if(LSM6DS0_IO_Read(&tempReg[0], (LSM6DS0_XG_OUT_Y_L_XL | LSM6DS0_I2C_MULTIPLEBYTE_CMD), 2) != IMU_6AXES_OK)
+    {
+      return IMU_6AXES_ERROR;
+    }
+
+    pData[1] = ((((int16_t)tempReg[1]) << 8)+(int16_t)tempReg[0]);
+
+    if(LSM6DS0_IO_Read(&tempReg[0], (LSM6DS0_XG_OUT_Z_L_XL | LSM6DS0_I2C_MULTIPLEBYTE_CMD), 2) != IMU_6AXES_OK)
+    {
+      return IMU_6AXES_ERROR;
+    }
+
+    pData[2] = ((((int16_t)tempReg[1]) << 8)+(int16_t)tempReg[0]);
+    
+    return IMU_6AXES_OK;
+}
+
+
+/**
+ * @brief  Read data from LSM6DS0 Accelerometer and calculate linear acceleration in mg
+ * @param  pData the pointer where the accelerometer data are stored
+ * @retval IMU_6AXES_OK in case of success, an error code otherwise
+ */
+IMU_6AXES_StatusTypeDef LSM6DS0::LSM6DS0_X_GetAxes(int32_t *pData)
+{
+    uint8_t tempReg = 0x00;
+    int16_t pDataRaw[3];
+    float sensitivity = 0;
+
+    if(LSM6DS0_X_GetAxesRaw(pDataRaw) != IMU_6AXES_OK)
+    {
+      return IMU_6AXES_ERROR;
+    }
+
+    if(LSM6DS0_IO_Read(&tempReg, LSM6DS0_XG_CTRL_REG6_XL, 1) != IMU_6AXES_OK)
+    {
+      return IMU_6AXES_ERROR;
+    }
+
+    tempReg &= LSM6DS0_XL_FS_MASK;
+
+    switch(tempReg)
+    {
+      case LSM6DS0_XL_FS_2G:
+        sensitivity = 0.061;
+        break;
+      case LSM6DS0_XL_FS_4G:
+        sensitivity = 0.122;
+        break;
+      case LSM6DS0_XL_FS_8G:
+        sensitivity = 0.244;
+        break;
+    }
+
+    pData[0] = (int32_t)(pDataRaw[0] * sensitivity);
+    pData[1] = (int32_t)(pDataRaw[1] * sensitivity);
+    pData[2] = (int32_t)(pDataRaw[2] * sensitivity);
+    
+    return IMU_6AXES_OK;
+}
+
+
+/**
+ * @brief  Read raw data from LSM6DS0 Gyroscope output register
+ * @param  pData the pointer where the gyroscope raw data are stored
+ * @retval IMU_6AXES_OK in case of success, an error code otherwise
+ */
+IMU_6AXES_StatusTypeDef LSM6DS0::LSM6DS0_G_GetAxesRaw(int16_t *pData)
+{
+    uint8_t tempReg[2] = {0,0};
+
+    if(LSM6DS0_IO_Read(&tempReg[0], (LSM6DS0_XG_OUT_X_L_G | LSM6DS0_I2C_MULTIPLEBYTE_CMD), 2) != IMU_6AXES_OK)
+    {
+      return IMU_6AXES_ERROR;
+    }
+
+    pData[0] = ((((int16_t)tempReg[1]) << 8)+(int16_t)tempReg[0]);
+
+    if(LSM6DS0_IO_Read(&tempReg[0], (LSM6DS0_XG_OUT_Y_L_G | LSM6DS0_I2C_MULTIPLEBYTE_CMD), 2) != IMU_6AXES_OK)
+    {
+      return IMU_6AXES_ERROR;
+    }
+
+    pData[1] = ((((int16_t)tempReg[1]) << 8)+(int16_t)tempReg[0]);
+
+    if(LSM6DS0_IO_Read(&tempReg[0], (LSM6DS0_XG_OUT_Z_L_G | LSM6DS0_I2C_MULTIPLEBYTE_CMD), 2) != IMU_6AXES_OK)
+    {
+      return IMU_6AXES_ERROR;
+    }
+
+    pData[2] = ((((int16_t)tempReg[1]) << 8)+(int16_t)tempReg[0]);
+    
+    return IMU_6AXES_OK;
+}
+
+
+/**
+ * @brief  Read data from LSM6DS0 Gyroscope and calculate angular rate in mdps
+ * @param  pData the pointer where the gyroscope data are stored
+ * @retval IMU_6AXES_OK in case of success, an error code otherwise
+ */
+IMU_6AXES_StatusTypeDef LSM6DS0::LSM6DS0_G_GetAxes(int32_t *pData)
+{
+    uint8_t tempReg = 0x00;
+    int16_t pDataRaw[3];
+    float sensitivity = 0;
+
+    if(LSM6DS0_G_GetAxesRaw(pDataRaw) != IMU_6AXES_OK)
+    {
+      return IMU_6AXES_ERROR;
+    }
+
+    if(LSM6DS0_IO_Read(&tempReg, LSM6DS0_XG_CTRL_REG1_G, 1) != IMU_6AXES_OK)
+    {
+      return IMU_6AXES_ERROR;
+    }
+
+    tempReg &= LSM6DS0_G_FS_MASK;
+
+    switch(tempReg)
+    {
+      case LSM6DS0_G_FS_245:
+        sensitivity = 8.75;
+        break;
+      case LSM6DS0_G_FS_500:
+        sensitivity = 17.50;
+        break;
+      case LSM6DS0_G_FS_2000:
+        sensitivity = 70;
+        break;
+    }
+
+    pData[0] = (int32_t)(pDataRaw[0] * sensitivity);
+    pData[1] = (int32_t)(pDataRaw[1] * sensitivity);
+    pData[2] = (int32_t)(pDataRaw[2] * sensitivity);
+    
+    return IMU_6AXES_OK;
+}
+
+/**
+ * @brief  Read Accelero Sensitivity
+ * @param  pfData the pointer where the accelerometer sensitivity is stored
+ * @retval IMU_6AXES_OK in case of success, an error code otherwise
+ */
+IMU_6AXES_StatusTypeDef LSM6DS0::LSM6DS0_X_GetSensitivity( float *pfData )
+{
+    /*Here we have to add the check if the parameters are valid*/
+    uint8_t tempReg = 0x00;
+    
+    if(LSM6DS0_IO_Read( &tempReg, LSM6DS0_XG_CTRL_REG6_XL, 1 ) != IMU_6AXES_OK)
+    {
+      return IMU_6AXES_ERROR;
+    }
+    
+    tempReg &= LSM6DS0_XL_FS_MASK;
+    
+    switch( tempReg )
+    {
+      case LSM6DS0_XL_FS_2G:
+        *pfData = 0.061;
+        break;
+      case LSM6DS0_XL_FS_4G:
+        *pfData = 0.122;
+        break;
+      case LSM6DS0_XL_FS_8G:
+        *pfData = 0.244;
+        break;
+      default:
+        break;
+    }
+    
+    return IMU_6AXES_OK;
+}
+
+
+
+/**
+ * @brief  Read Gyro Sensitivity
+ * @param  pfData the pointer where the gyroscope sensitivity is stored
+ * @retval IMU_6AXES_OK in case of success, an error code otherwise
+*/
+IMU_6AXES_StatusTypeDef LSM6DS0::LSM6DS0_G_GetSensitivity( float *pfData )
+{
+    /*Here we have to add the check if the parameters are valid*/
+    uint8_t tempReg = 0x00;
+    
+    if(LSM6DS0_IO_Read( &tempReg, LSM6DS0_XG_CTRL_REG1_G, 1 ) != IMU_6AXES_OK)
+    {
+      return IMU_6AXES_ERROR;
+    }
+    
+    tempReg &= LSM6DS0_G_FS_MASK;
+    
+    switch( tempReg )
+    {
+      case LSM6DS0_G_FS_245:
+        *pfData = 8.75;
+        break;
+      case LSM6DS0_G_FS_500:
+        *pfData = 17.50;
+        break;
+      case LSM6DS0_G_FS_2000:
+        *pfData = 70;
+        break;
+      default:
+        break;
+    }
+    
+    return IMU_6AXES_OK;
+}

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Components/lsm6ds0/lsm6ds0_class.h	Wed Apr 15 14:08:20 2015 +0200
@@ -0,0 +1,160 @@
+/**
+ ******************************************************************************
+ * @file    lsm6ds0_class.h
+ * @author  AST / EST
+ * @version V0.0.1
+ * @date    14-April-2015
+ * @brief   Header file for component LSM6DS0
+ ******************************************************************************
+ * @attention
+ *
+ * <h2><center>&copy; COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
+ *
+ * Redistribution and use in source and binary forms, with or without modification,
+ * are permitted provided that the following conditions are met:
+ *   1. Redistributions of source code must retain the above copyright notice,
+ *      this list of conditions and the following disclaimer.
+ *   2. Redistributions in binary form must reproduce the above copyright notice,
+ *      this list of conditions and the following disclaimer in the documentation
+ *      and/or other materials provided with the distribution.
+ *   3. Neither the name of STMicroelectronics nor the names of its contributors
+ *      may be used to endorse or promote products derived from this software
+ *       without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *
+ ******************************************************************************
+*/
+
+#ifndef __LSM6DS0_CLASS_H
+#define __LSM6DS0_CLASS_H
+
+/* Includes ------------------------------------------------------------------*/
+#include "mbed.h"
+#include "DevI2C.h"
+#include "../Common/Imu6Axes.h"
+#include "lsm6ds0.h"
+
+/* Classes -------------------------------------------------------------------*/
+/** Class representing a LSM6DS0 sensor component
+ */
+class LSM6DS0 : public Imu6Axes {
+ public:
+	/** Constructor
+	 * @param i2c device I2C to be used for communication
+	 */
+        LSM6DS0(DevI2C &i2c) : Imu6Axes(), dev_i2c(i2c) {
+	}
+	
+	/*** Interface Methods ***/
+	virtual IMU_6AXES_StatusTypeDef Init(IMU_6AXES_InitTypeDef *init_struct) {
+		return LSM6DS0_Init(init_struct);
+	}
+
+	virtual IMU_6AXES_StatusTypeDef Read_XG_ID(uint8_t *xg_id) {
+		return LSM6DS0_Read_XG_ID(xg_id);
+	}
+
+	virtual IMU_6AXES_StatusTypeDef Get_X_Axes(int32_t *pData) {
+		return LSM6DS0_X_GetAxes(pData);
+	}
+
+	virtual IMU_6AXES_StatusTypeDef Get_G_Axes(int32_t *pData) {
+		return LSM6DS0_G_GetAxes(pData);
+	}
+
+	virtual IMU_6AXES_StatusTypeDef Get_X_Sensitivity(float *pfData) {
+		return LSM6DS0_X_GetSensitivity(pfData);
+	}
+
+	virtual IMU_6AXES_StatusTypeDef Get_G_Sensitivity(float *pfData) {
+		return LSM6DS0_G_GetSensitivity(pfData);
+	}
+
+ protected:
+	/*** Methods ***/
+	IMU_6AXES_StatusTypeDef LSM6DS0_Init(IMU_6AXES_InitTypeDef *LSM6DS0_Init);
+	IMU_6AXES_StatusTypeDef LSM6DS0_Read_XG_ID(uint8_t *xg_id);
+	IMU_6AXES_StatusTypeDef LSM6DS0_X_GetAxes(int32_t *pData);
+	IMU_6AXES_StatusTypeDef LSM6DS0_G_GetAxes(int32_t *pData);
+	IMU_6AXES_StatusTypeDef LSM6DS0_X_GetSensitivity( float *pfData );
+	IMU_6AXES_StatusTypeDef LSM6DS0_G_GetSensitivity( float *pfData );
+	
+	IMU_6AXES_StatusTypeDef LSM6DS0_X_GetAxesRaw(int16_t *pData);
+	IMU_6AXES_StatusTypeDef LSM6DS0_G_GetAxesRaw(int16_t *pData);
+
+	/**
+	 * @brief  Configures LSM6DS0 interrupt lines for NUCLEO boards
+	 * @param  None
+	 * @retval None
+	 */
+	void LSM6DS0_IO_ITConfig(void)
+	{
+		/* To be implemented */
+	}
+
+	/**
+	 * @brief  Configures LSM6DS0 I2C interface
+	 * @param  None
+	 * @retval IMU_6AXES_OK in case of success, an error code otherwise
+	 */
+	IMU_6AXES_StatusTypeDef LSM6DS0_IO_Init(void)
+	{
+		return IMU_6AXES_OK; /* done in constructor */
+	}
+
+	/**
+	 * @brief utility function to read data from STC3115
+	 * @param  pBuffer: pointer to data to be read.
+	 * @param  RegisterAddr: specifies internal address register to read from.
+	 * @param  NumByteToRead: number of bytes to be read.
+	 * @retval IMU_6AXES_OK if ok, IMU_6AXES_ERROR if an I2C error has occured
+	 */
+	IMU_6AXES_StatusTypeDef LSM6DS0_IO_Read(uint8_t* pBuffer, 
+					      uint8_t RegisterAddr, uint16_t NumByteToRead)
+	{
+		int ret = dev_i2c.i2c_read(pBuffer,
+					   LSM6DS0_XG_MEMS_ADDRESS,
+					   RegisterAddr,
+					   NumByteToRead);
+		if(ret != 0) {
+			return IMU_6AXES_ERROR;
+		}
+		return IMU_6AXES_OK;
+	}
+	
+	/**
+	 * @brief utility function to write data to STC3115
+	 * @param  pBuffer: pointer to buffer to be filled.
+	 * @param  RegisterAddr: specifies internal address register to read from.
+	 * @param  NumByteToWrite: number of bytes to write.
+	 * @retval 0 if ok, -1 if an I2C error has occured
+	 */
+	IMU_6AXES_StatusTypeDef LSM6DS0_IO_Write(uint8_t* pBuffer, 
+					       uint8_t RegisterAddr, uint16_t NumByteToWrite)
+	{
+		int ret = dev_i2c.i2c_write(pBuffer,
+					    LSM6DS0_XG_MEMS_ADDRESS,
+					    RegisterAddr,
+					    NumByteToWrite);
+		if(ret != 0) {
+			return IMU_6AXES_ERROR;
+		}
+		return IMU_6AXES_OK;
+	}
+	
+	/*** Instance Variables ***/
+	/* IO Device */
+	DevI2C &dev_i2c;
+};
+
+#endif // __LSM6DS0_CLASS_H

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Components/lsm6ds0/readme.txt	Wed Apr 15 14:08:20 2015 +0200
@@ -0,0 +1,3 @@
+lsm6ds0.h corresponds to:
+- X-CUBE-MEMS1/trunk/Drivers/BSP/Components/lsm6ds0/lsm6ds0.h: revision #165,
+- X-CUBE-MEMS1/trunk: revision #293

--- a/x_nucleo_iks01a1.cpp	Wed Apr 15 13:45:30 2015 +0200
+++ b/x_nucleo_iks01a1.cpp	Wed Apr 15 14:08:20 2015 +0200
@@ -41,6 +41,7 @@
 #include "hts221/hts221_class.h"
 #include "lis3mdl/lis3mdl_class.h"
 #include "lps25h/lps25h_class.h"
+#include "lsm6ds0/lsm6ds0_class.h"
 
 /* Static variables ----------------------------------------------------------*/
 X_NUCLEO_IKS01A1* X_NUCLEO_IKS01A1::_instance = NULL;
@@ -53,10 +54,8 @@
 X_NUCLEO_IKS01A1::X_NUCLEO_IKS01A1(DevI2C *ext_i2c) : dev_i2c(ext_i2c),
 	ht_sensor(*(new HTS221(*dev_i2c))),
 	magnetometer(*(new LIS3MDL(*dev_i2c))),
-	pressure_sensor(*(new LPS25H(*dev_i2c)))
-#if 0 // betzw: TODO
-	lsm6ds0(*dev_i2c)
-#endif // 0
+	pressure_sensor(*(new LPS25H(*dev_i2c))),
+	gyroscope(*(new LSM6DS0(*dev_i2c)))
 { 
 }
 

--- a/x_nucleo_iks01a1.h	Wed Apr 15 13:45:30 2015 +0200
+++ b/x_nucleo_iks01a1.h	Wed Apr 15 14:08:20 2015 +0200
@@ -47,9 +47,7 @@
 #include "Common/HumTemp.h"
 #include "Common/Magneto.h"
 #include "Common/Pressure.h"
-#if 0 // betzw: TODO
-#include "Common/Imu6Axis.h"
-#endif 
+#include "Common/Imu6Axes.h"
 
 /* Classes -------------------------------------------------------------------*/
 /** Class X_NUCLEO_IKS01A1 is intended to represent the MEMS Inertial & Environmental 
@@ -83,9 +81,7 @@
 	HumTemp &ht_sensor;
 	Magneto &magnetometer;
 	Pressure &pressure_sensor;
-#if 0 // betzw: TODO
-	Imu6Axis &gyroscope;
-#endif // 0
+	Imu6Axes &gyroscope;
 
  private:
 	static X_NUCLEO_IKS01A1 *_instance;