1 files changed, 641 insertions, 0 deletions

diff --git a/lib/chibios/os/ex/devices/ST/lis3dsh.c b/lib/chibios/os/ex/devices/ST/lis3dsh.c
new file mode 100644
index 000000000..f8f34788e
--- /dev/null
+++ b/lib/chibios/os/ex/devices/ST/lis3dsh.c
@@ -0,0 +1,641 @@
+/*
+    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 <http://www.gnu.org/licenses/>.
+        
+*/
+
+/**
+ * @file    lis3dsh.c
+ * @brief   LIS3DSH MEMS interface module code.
+ *
+ * @addtogroup LIS3DSH
+ * @ingroup EX_ST
+ * @{
+ */
+
+#include "hal.h"
+#include "lis3dsh.h"
+
+/*===========================================================================*/
+/* Driver local definitions.                                                 */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver exported variables.                                                */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver local variables and types.                                         */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver local functions.                                                   */
+/*===========================================================================*/
+
+#if (LIS3DSH_USE_SPI) || defined(__DOXYGEN__)
+/**
+ * @brief   Reads a generic register value using SPI.
+ * @pre     The SPI interface must be initialized and the driver started.
+ * @note    Multiple write/read requires proper settings in CTRL_REG6.
+ *
+ * @param[in] spip      pointer to the SPI interface
+ * @param[in] reg       starting register address
+ * @param[in] n         number of adjacent registers to write
+ * @param[in] b         pointer to a buffer.
+ */
+static void lis3dshSPIReadRegister(SPIDriver *spip, uint8_t reg, size_t n,
+                                   uint8_t* b) {
+  uint8_t cmd;
+  cmd = reg | LIS3DSH_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.
+ * @note    Multiple write/read requires proper settings in CTRL_REG6.
+ *
+ * @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 lis3dshSPIWriteRegister(SPIDriver *spip, uint8_t reg, size_t n,
+                                    uint8_t* b) {
+  uint8_t cmd;
+  cmd = reg;
+  spiSelect(spip);
+  spiSend(spip, 1, &cmd);
+  spiSend(spip, n, b);
+  spiUnselect(spip);
+}
+#endif /* LIS3DSH_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 LIS3DSH_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[]) {
+  LIS3DSHDriver* devp;
+  uint8_t buff [LIS3DSH_ACC_NUMBER_OF_AXES * 2], i;
+  int16_t tmp;
+  msg_t msg = MSG_OK;
+
+  osalDbgCheck((ip != NULL) && (axes != NULL));
+
+  /* Getting parent instance pointer.*/
+  devp = objGetInstance(LIS3DSHDriver*, (BaseAccelerometer*)ip);
+
+  osalDbgAssert((devp->state == LIS3DSH_READY),
+                "acc_read_raw(), invalid state");
+
+#if LIS3DSH_USE_SPI
+#if     LIS3DSH_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 /* LIS3DSH_SHARED_SPI */
+
+  lis3dshSPIReadRegister(devp->config->spip, LIS3DSH_AD_OUT_X_L,
+                         LIS3DSH_ACC_NUMBER_OF_AXES * 2, buff);
+
+#if     LIS3DSH_SHARED_SPI
+  spiReleaseBus(devp->config->spip);
+#endif /* LIS3DSH_SHARED_SPI */
+#endif /* LIS3DSH_USE_SPI */
+
+  for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++) {
+    tmp = buff[2 * i] + (buff[2 * i + 1] << 8);
+    axes[i] = (int32_t)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[]) {
+  LIS3DSHDriver* devp;
+  uint32_t i;
+  int32_t raw[LIS3DSH_ACC_NUMBER_OF_AXES];
+  msg_t msg;
+
+  osalDbgCheck((ip != NULL) && (axes != NULL));
+
+  /* Getting parent instance pointer.*/
+  devp = objGetInstance(LIS3DSHDriver*, (BaseAccelerometer*)ip);
+
+  osalDbgAssert((devp->state == LIS3DSH_READY),
+                "acc_read_cooked(), invalid state");
+
+  msg = acc_read_raw(ip, raw);
+  for(i = 0; i < LIS3DSH_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) {
+  LIS3DSHDriver* devp;
+  uint32_t i;
+  msg_t msg = MSG_OK;
+
+  osalDbgCheck((ip != NULL) && (bp != NULL));
+
+  /* Getting parent instance pointer.*/
+  devp = objGetInstance(LIS3DSHDriver*, (BaseAccelerometer*)ip);
+
+  osalDbgAssert((devp->state == LIS3DSH_READY),
+                "acc_set_bias(), invalid state");
+
+  for(i = 0; i < LIS3DSH_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) {
+  LIS3DSHDriver* devp;
+  uint32_t i;
+  msg_t msg = MSG_OK;
+
+  osalDbgCheck(ip != NULL);
+
+  /* Getting parent instance pointer.*/
+  devp = objGetInstance(LIS3DSHDriver*, (BaseAccelerometer*)ip);
+
+  osalDbgAssert((devp->state == LIS3DSH_READY),
+                "acc_reset_bias(), invalid state");
+
+  for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++)
+    devp->accbias[i] = LIS3DSH_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) {
+  LIS3DSHDriver* devp;
+  uint32_t i;
+  msg_t msg = MSG_OK;
+
+  /* Getting parent instance pointer.*/
+  devp = objGetInstance(LIS3DSHDriver*, (BaseAccelerometer*)ip);
+
+  osalDbgCheck((ip != NULL) && (sp != NULL));
+
+  osalDbgAssert((devp->state == LIS3DSH_READY),
+                "acc_set_sensivity(), invalid state");
+
+  for(i = 0; i < LIS3DSH_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) {
+  LIS3DSHDriver* devp;
+  uint32_t i;
+  msg_t msg = MSG_OK;
+
+  osalDbgCheck(ip != NULL);
+
+  /* Getting parent instance pointer.*/
+  devp = objGetInstance(LIS3DSHDriver*, (BaseAccelerometer*)ip);
+
+  osalDbgAssert((devp->state == LIS3DSH_READY),
+                "acc_reset_sensivity(), invalid state");
+
+  if(devp->config->accfullscale == LIS3DSH_ACC_FS_2G)
+    for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++)
+      devp->accsensitivity[i] = LIS3DSH_ACC_SENS_2G;
+  else if(devp->config->accfullscale == LIS3DSH_ACC_FS_4G)
+    for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++)
+      devp->accsensitivity[i] = LIS3DSH_ACC_SENS_4G;
+  else if(devp->config->accfullscale == LIS3DSH_ACC_FS_6G)
+    for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++)
+      devp->accsensitivity[i] = LIS3DSH_ACC_SENS_6G;
+  else if(devp->config->accfullscale == LIS3DSH_ACC_FS_8G)
+    for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++)
+      devp->accsensitivity[i] = LIS3DSH_ACC_SENS_8G;
+  else if(devp->config->accfullscale == LIS3DSH_ACC_FS_16G)
+    for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++)
+      devp->accsensitivity[i] = LIS3DSH_ACC_SENS_16G;
+  else {
+    osalDbgAssert(FALSE,
+                  "acc_reset_sensivity(), accelerometer full scale issue");
+    return MSG_RESET;
+  }
+  return msg;
+}
+
+/**
+ * @brief   Changes the LIS3DSHDriver 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 LIS3DSHDriver 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(LIS3DSHDriver *devp, lis3dsh_acc_fs_t fs) {
+  float newfs, scale;
+  uint8_t i, cr;
+  msg_t msg;
+
+  osalDbgCheck(devp != NULL);
+
+  osalDbgAssert((devp->state == LIS3DSH_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 == LIS3DSH_ACC_FS_2G) {
+    newfs = LIS3DSH_ACC_2G;
+  }
+  else if(fs == LIS3DSH_ACC_FS_4G) {
+    newfs = LIS3DSH_ACC_4G;
+  }
+  else if(fs == LIS3DSH_ACC_FS_6G) {
+    newfs = LIS3DSH_ACC_6G;
+  }
+  else if(fs == LIS3DSH_ACC_FS_8G) {
+    newfs = LIS3DSH_ACC_8G;
+  }
+  else if(fs == LIS3DSH_ACC_FS_16G) {
+    newfs = LIS3DSH_ACC_16G;
+  }
+  else {
+    msg = MSG_RESET;
+    return msg;
+  }
+
+  if(newfs != devp->accfullscale) {
+    /* Computing scale value.*/
+    scale = newfs / devp->accfullscale;
+    devp->accfullscale = newfs;
+
+#if LIS3DSH_USE_SPI
+#if LIS3DSH_SHARED_SPI
+    spiAcquireBus(devp->config->spip);
+    spiStart(devp->config->spip,
+             devp->config->spicfg);
+#endif /* LIS3DSH_SHARED_SPI */
+
+    /* Getting data from register.*/
+    lis3dshSPIReadRegister(devp->config->spip, LIS3DSH_AD_CTRL_REG5, 1, &cr);
+
+#if LIS3DSH_SHARED_SPI
+    spiReleaseBus(devp->config->spip);
+#endif /* LIS3DSH_SHARED_SPI */
+#endif /* LIS3DSH_USE_SPI */
+
+    cr &= ~(LIS3DSH_CTRL_REG5_FS_MASK);
+    cr |= fs;
+
+#if LIS3DSH_USE_SPI
+#if LIS3DSH_SHARED_SPI
+    spiAcquireBus(devp->config->spip);
+    spiStart(devp->config->spip,
+             devp->config->spicfg);
+#endif /* LIS3DSH_SHARED_SPI */
+
+    /* Getting data from register.*/
+    lis3dshSPIWriteRegister(devp->config->spip, LIS3DSH_AD_CTRL_REG5, 1, &cr);
+
+#if LIS3DSH_SHARED_SPI
+    spiReleaseBus(devp->config->spip);
+#endif /* LIS3DSH_SHARED_SPI */
+#endif /* LIS3DSH_USE_SPI */
+
+    /* Scaling sensitivity and bias. Re-calibration is suggested anyway. */
+    for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++) {
+      devp->accsensitivity[i] *= scale;
+      devp->accbias[i] *= scale;
+    }
+  }
+  return msg;
+}
+
+static const struct LIS3DSHVMT vmt_device = {
+  (size_t)0,
+  acc_set_full_scale
+};
+
+static const struct BaseAccelerometerVMT vmt_accelerometer = {
+  sizeof(struct LIS3DSHVMT*),
+  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 LIS3DSHDriver object
+ *
+ * @init
+ */
+void lis3dshObjectInit(LIS3DSHDriver *devp) {
+  devp->vmt = &vmt_device;
+  devp->acc_if.vmt = &vmt_accelerometer;
+
+  devp->config = NULL;
+
+  devp->accaxes = LIS3DSH_ACC_NUMBER_OF_AXES;
+
+  devp->state = LIS3DSH_STOP;
+}
+
+/**
+ * @brief   Configures and activates LIS3DSH Complex Driver peripheral.
+ *
+ * @param[in] devp      pointer to the @p LIS3DSHDriver object
+ * @param[in] config    pointer to the @p LIS3DSHConfig object
+ *
+ * @api
+ */
+void lis3dshStart(LIS3DSHDriver *devp, const LIS3DSHConfig *config) {
+  uint32_t i;
+  uint8_t cr;
+  osalDbgCheck((devp != NULL) && (config != NULL));
+
+  osalDbgAssert((devp->state == LIS3DSH_STOP) ||
+                (devp->state == LIS3DSH_READY),
+                "lis3dshStart(), invalid state");               
+
+  devp->config = config;
+
+  /* Control register 4 configuration block.*/
+  {
+    cr = LIS3DSH_CTRL_REG4_XEN | LIS3DSH_CTRL_REG4_YEN | LIS3DSH_CTRL_REG4_ZEN |
+         devp->config->accoutputdatarate;
+#if LIS3DSH_USE_ADVANCED || defined(__DOXYGEN__)
+    cr |= devp->config->accblockdataupdate;
+#endif
+  }
+
+#if LIS3DSH_USE_SPI
+#if LIS3DSH_SHARED_SPI
+  spiAcquireBus(devp->config->spip);
+#endif /* LIS3DSH_SHARED_SPI */
+  spiStart(devp->config->spip, devp->config->spicfg);
+
+  lis3dshSPIWriteRegister(devp->config->spip, LIS3DSH_AD_CTRL_REG4, 1, &cr);
+
+#if LIS3DSH_SHARED_SPI
+  spiReleaseBus(devp->config->spip);
+#endif /* LIS3DSH_SHARED_SPI */
+#endif /* LIS3DSH_USE_SPI */
+
+  /* Control register 5 configuration block.*/
+  {
+    cr = devp->config->accfullscale;
+#if LIS3DSH_USE_ADVANCED || defined(__DOXYGEN__)
+    cr |= devp->config->accantialiasing;
+#endif
+  }
+
+#if LIS3DSH_USE_SPI
+#if LIS3DSH_SHARED_SPI
+  spiAcquireBus(devp->config->spip);
+  spiStart(devp->config->spip, devp->config->spicfg);
+#endif /* LIS3DSH_SHARED_SPI */
+
+  lis3dshSPIWriteRegister(devp->config->spip, LIS3DSH_AD_CTRL_REG5, 1, &cr);
+
+#if LIS3DSH_SHARED_SPI
+  spiReleaseBus(devp->config->spip);
+#endif /* LIS3DSH_SHARED_SPI */
+#endif /* LIS3DSH_USE_SPI */
+
+  /* Control register 6 configuration block.*/
+  {
+    cr = LIS3DSH_CTRL_REG6_ADD_INC;
+#if LIS3DSH_USE_ADVANCED || defined(__DOXYGEN__)
+    cr |= devp->config->accblockdataupdate;
+#endif
+  }
+
+#if LIS3DSH_USE_SPI
+#if LIS3DSH_SHARED_SPI
+  spiAcquireBus(devp->config->spip);
+  spiStart(devp->config->spip, devp->config->spicfg);
+#endif /* LIS3DSH_SHARED_SPI */
+
+  lis3dshSPIWriteRegister(devp->config->spip, LIS3DSH_AD_CTRL_REG6, 1, &cr);
+
+#if     LIS3DSH_SHARED_SPI
+  spiReleaseBus(devp->config->spip);
+#endif /* LIS3DSH_SHARED_SPI */
+#endif /* LIS3DSH_USE_SPI */
+
+  /* Storing sensitivity information according to user setting */
+  if(devp->config->accfullscale == LIS3DSH_ACC_FS_2G) {
+    devp->accfullscale = LIS3DSH_ACC_2G;
+    if(devp->config->accsensitivity == NULL)
+      for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++)
+        devp->accsensitivity[i] = LIS3DSH_ACC_SENS_2G;
+    else
+      for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++)
+        devp->accsensitivity[i] = devp->config->accsensitivity[i];
+  }
+  else if(devp->config->accfullscale == LIS3DSH_ACC_FS_4G) {
+    devp->accfullscale = LIS3DSH_ACC_4G;
+    if(devp->config->accsensitivity == NULL)
+      for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++)
+        devp->accsensitivity[i] = LIS3DSH_ACC_SENS_4G;
+    else
+      for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++)
+        devp->accsensitivity[i] = devp->config->accsensitivity[i];
+  }
+  else if(devp->config->accfullscale == LIS3DSH_ACC_FS_6G) {
+    devp->accfullscale = LIS3DSH_ACC_6G;
+    if(devp->config->accsensitivity == NULL)
+      for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++)
+        devp->accsensitivity[i] = LIS3DSH_ACC_SENS_6G;
+    else
+      for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++)
+        devp->accsensitivity[i] = devp->config->accsensitivity[i];
+  }
+  else if(devp->config->accfullscale == LIS3DSH_ACC_FS_8G) {
+    devp->accfullscale = LIS3DSH_ACC_8G;
+    if(devp->config->accsensitivity == NULL)
+      for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++)
+        devp->accsensitivity[i] = LIS3DSH_ACC_SENS_8G;
+    else
+      for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++)
+        devp->accsensitivity[i] = devp->config->accsensitivity[i];
+  }
+  else if(devp->config->accfullscale == LIS3DSH_ACC_FS_16G) {
+    devp->accfullscale = LIS3DSH_ACC_16G;
+    if(devp->config->accsensitivity == NULL)
+      for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++)
+        devp->accsensitivity[i] = LIS3DSH_ACC_SENS_16G;
+    else
+      for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++)
+        devp->accsensitivity[i] = devp->config->accsensitivity[i];
+  }
+  else {
+    osalDbgAssert(FALSE, "lis3dshStart(), accelerometer full scale issue");
+  }
+
+  /* Storing bias information according to user setting */
+  if(devp->config->accbias != NULL)
+    for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++)
+      devp->accbias[i] = devp->config->accbias[i];
+  else
+    for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++)
+      devp->accbias[i] = LIS3DSH_ACC_BIAS;
+
+  /* This is the Accelerometer transient recovery time */
+  osalThreadSleepMilliseconds(10);
+
+  devp->state = LIS3DSH_READY;
+}
+
+/**
+ * @brief   Deactivates the LIS3DSH Complex Driver peripheral.
+ *
+ * @param[in] devp       pointer to the @p LIS3DSHDriver object
+ *
+ * @api
+ */
+void lis3dshStop(LIS3DSHDriver *devp) {
+  uint8_t cr4;
+  osalDbgCheck(devp != NULL);
+
+  osalDbgAssert((devp->state == LIS3DSH_STOP) ||
+                (devp->state == LIS3DSH_READY),
+                "lis3dshStop(), invalid state");
+
+  if (devp->state == LIS3DSH_READY) {
+#if (LIS3DSH_USE_SPI)
+#if     LIS3DSH_SHARED_SPI
+    spiAcquireBus(devp->config->spip);
+    spiStart(devp->config->spip,
+             devp->config->spicfg);
+#endif /* LIS3DSH_SHARED_SPI */
+    /* Disabling all axes and enabling power down mode.*/
+    cr4 = 0;
+    lis3dshSPIWriteRegister(devp->config->spip, LIS3DSH_AD_CTRL_REG4,
+                           1, &cr4);
+
+    spiStop(devp->config->spip);
+#if     LIS3DSH_SHARED_SPI
+    spiReleaseBus(devp->config->spip);
+#endif /* LIS3DSH_SHARED_SPI */                 
+#endif /* LIS3DSH_USE_SPI */
+  }     
+  devp->state = LIS3DSH_STOP;
+}
+/** @} */