diff --git a/drivers/Makefile.dep b/drivers/Makefile.dep
index 45ab703c8484f361d50c9755301bf56dac986108..71783893fa9063bc0657f99505b79169c85c3930 100644
--- a/drivers/Makefile.dep
+++ b/drivers/Makefile.dep
@@ -1,5 +1,9 @@
# driver dependencies (in alphabetical order)
+ifneq (,$(filter adxl345,$(USEMODULE)))
+ FEATURES_REQUIRED += periph_i2c
+endif
+
ifneq (,$(filter at30tse75x,$(USEMODULE)))
USEMODULE += xtimer
FEATURES_REQUIRED += periph_i2c
diff --git a/drivers/Makefile.include b/drivers/Makefile.include
index 07eaa78bd89727bbe8229407cd1b04823592067d..971e91089bf734a37af926f7387e4b35dc8f03c3 100644
--- a/drivers/Makefile.include
+++ b/drivers/Makefile.include
@@ -103,3 +103,6 @@ endif
ifneq (,$(filter veml6070,$(USEMODULE)))
USEMODULE_INCLUDES += $(RIOTBASE)/drivers/veml6070/include
endif
+ifneq (,$(filter adxl345,$(USEMODULE)))
+ USEMODULE_INCLUDES += $(RIOTBASE)/drivers/adxl345/include
+endif
diff --git a/drivers/adxl345/Makefile b/drivers/adxl345/Makefile
new file mode 100644
index 0000000000000000000000000000000000000000..48422e909a47d7cd428d10fa73825060ccc8d8c2
--- /dev/null
+++ b/drivers/adxl345/Makefile
@@ -0,0 +1 @@
+include $(RIOTBASE)/Makefile.base
diff --git a/drivers/adxl345/adxl345.c b/drivers/adxl345/adxl345.c
new file mode 100644
index 0000000000000000000000000000000000000000..dfad7bbc9e1b46a9b094c8fe375c5c70110215ad
--- /dev/null
+++ b/drivers/adxl345/adxl345.c
@@ -0,0 +1,224 @@
+/*
+ * Copyright (C) 2017 Mesotic SAS
+ *
+ * This file is subject to the terms and conditions of the GNU Lesser
+ * General Public License v2.1. See the file LICENSE in the top level
+ * directory for more details.
+ */
+
+/**
+ * @ingroup drivers_adxl345
+ * @{
+ *
+ * @file
+ * @brief Device driver implementation for the ADXL345 accelerometer (i2c only)
+ *
+ * @author Dylan Laduranty <dylan.laduranty@mesotic.com>
+ *
+ * @}
+ */
+#include <stdint.h>
+#include <stdbool.h>
+#include <string.h>
+
+#include "assert.h"
+#include "periph/i2c.h"
+#include "adxl345.h"
+#include "adxl345_regs.h"
+
+#define ENABLE_DEBUG (0)
+#include "debug.h"
+
+#define I2C_SPEED I2C_SPEED_NORMAL
+
+#define BUS (dev->params.i2c)
+#define ADDR (dev->params.addr)
+
+int adxl345_init(adxl345_t *dev, const adxl345_params_t* params)
+{
+ uint8_t reg;
+
+ assert(dev && params);
+
+ /* get device descriptor */
+ dev->params= *params;
+
+ /* Acquire exclusive access */
+ i2c_acquire(BUS);
+
+ /* Initialize I2C interface */
+ if (i2c_init_master(BUS, I2C_SPEED) < 0) {
+ i2c_release(BUS);
+ DEBUG("[adxl345] init - error: unable to initialize I2C bus\n");
+ return ADXL345_NOI2C;
+ }
+
+ /* test if the target device responds */
+ i2c_read_reg(BUS, ADDR, ACCEL_ADXL345_CHIP_ID_REG, ®);
+ if (reg != ACCEL_ADXL345_CHIP_ID) {
+ i2c_release(BUS);
+ DEBUG("[adxl345] init - error: invalid id value [0x%02x]\n", (int)reg);
+ return ADXL345_NODEV;
+ }
+ /* configure the user offset */
+ i2c_write_regs(BUS, ADDR, ACCEL_ADXL345_OFFSET_X, dev->params.offset, 3);
+ /* Basic device setup */
+ reg = (dev->params.full_res | dev->params.range);
+ i2c_write_reg(BUS, ADDR, ACCEL_ADXL345_DATA_FORMAT, reg);
+ i2c_write_reg(BUS, ADDR, ACCEL_ADXL345_BW_RATE, dev->params.rate);
+ /* Put device in measure mode */
+ i2c_write_reg(BUS, ADDR, ACCEL_ADXL345_POWER_CTL, MEASURE_BIT);
+
+ /* Release the bus */
+ i2c_release(BUS);
+
+ DEBUG("[adxl345] init: successful\n");
+
+ return ADXL345_OK;
+}
+
+void adxl345_read(adxl345_t *dev, adxl345_data_t *data)
+{
+ uint8_t result[6];
+
+ assert(dev && data);
+
+ i2c_acquire(BUS);
+ i2c_read_regs(BUS, ADDR, ACCEL_ADXL345_DATA_X0, result, 6);
+ i2c_release(BUS);
+
+ data->x = (((result[1] << 8)+result[0]) * dev->params.scale_factor);
+ data->y = (((result[3] << 8)+result[2]) * dev->params.scale_factor);
+ data->z = (((result[5] << 8)+result[4]) * dev->params.scale_factor);
+}
+
+void adxl345_set_interrupt(adxl345_t *dev)
+{
+ assert(dev);
+
+ DEBUG("[adxl345] Update interruptions configuration\n");
+
+ i2c_acquire(BUS);
+ /* Set threshold */
+ i2c_write_reg(BUS, ADDR, ACCEL_ADXL345_THRESH_TAP, dev->params.interrupt.thres_tap);
+ /* Set Map */
+ i2c_write_reg(BUS, ADDR, ACCEL_ADXL345_INT_MAP, dev->params.interrupt.map);
+ /* Set Duration */
+ i2c_write_reg(BUS, ADDR, ACCEL_ADXL345_TAP_DUR, dev->params.interrupt.thres_dur);
+ /* Enable axes */
+ i2c_write_reg(BUS, ADDR, ACCEL_ADXL345_TAP_AXES, dev->params.interrupt.tap_axes);
+ /* Set source */
+ i2c_write_reg(BUS, ADDR, ACCEL_ADXL345_INT_SOURCE, dev->params.interrupt.source);
+ /* Set latent threshold */
+ i2c_write_reg(BUS, ADDR, ACCEL_ADXL345_TAP_LAT, dev->params.interrupt.thres_latent);
+ /* Set window threshold */
+ i2c_write_reg(BUS, ADDR, ACCEL_ADXL345_TAP_WIN, dev->params.interrupt.thres_window);
+ /* Set activity threshold */
+ i2c_write_reg(BUS, ADDR, ACCEL_ADXL345_THRESH_ACT, dev->params.interrupt.thres_act);
+ /* Set inactivity threshold */
+ i2c_write_reg(BUS, ADDR, ACCEL_ADXL345_THRESH_INACT, dev->params.interrupt.thres_inact);
+ /* Set inactivity time */
+ i2c_write_reg(BUS, ADDR, ACCEL_ADXL345_TIME_INACT, dev->params.interrupt.time_inact);
+ /* Set free-fall threshold */
+ i2c_write_reg(BUS, ADDR, ACCEL_ADXL345_THRESH_FF, dev->params.interrupt.thres_ff);
+ /* Set free-fall time */
+ i2c_write_reg(BUS, ADDR, ACCEL_ADXL345_TIME_FF, dev->params.interrupt.time_ff);
+ /* Set axis control */
+ i2c_write_reg(BUS, ADDR, ACCEL_ADXL345_ACT_INACT_CTL, dev->params.interrupt.act_inact);
+ /* Enable interrupt */
+ i2c_write_reg(BUS, ADDR, ACCEL_ADXL345_INT_ENABLE, dev->params.interrupt.enable);
+
+ /* Release the bus */
+ i2c_release(BUS);
+}
+
+void adxl345_set_measure(adxl345_t *dev)
+{
+ uint8_t reg;
+
+ assert(dev);
+
+ DEBUG("[adxl345] set device to measure mode\n");
+
+ i2c_acquire(BUS);
+ i2c_read_reg(BUS, ADDR, ACCEL_ADXL345_POWER_CTL, ®);
+ reg |= MEASURE_BIT;
+ i2c_write_reg(BUS, ADDR, ACCEL_ADXL345_POWER_CTL, reg);
+ i2c_release(BUS);
+}
+
+void adxl345_set_standby(adxl345_t *dev)
+{
+ uint8_t reg;
+
+ assert(dev);
+
+ DEBUG("[adxl345] set device to standby mode\n");
+
+ i2c_acquire(BUS);
+ i2c_read_reg(BUS, ADDR, ACCEL_ADXL345_POWER_CTL, ®);
+ reg &= ~MEASURE_BIT;
+ i2c_write_reg(BUS, ADDR, ACCEL_ADXL345_POWER_CTL, reg);
+ i2c_release(BUS);
+}
+
+void adxl345_set_sleep(adxl345_t *dev)
+{
+ uint8_t reg;
+
+ assert(dev);
+
+ DEBUG("[adxl345] set device to sleep mode\n");
+
+ i2c_acquire(BUS);
+ i2c_read_reg(BUS, ADDR, ACCEL_ADXL345_POWER_CTL, ®);
+ reg |= SLEEP_BIT;
+ i2c_write_reg(BUS, ADDR, ACCEL_ADXL345_POWER_CTL, reg);
+ i2c_release(BUS);
+}
+
+void adxl345_set_autosleep(adxl345_t *dev)
+{
+ uint8_t reg;
+
+ assert(dev);
+
+ DEBUG("[adxl345] set device to autosleep mode\n");
+
+ i2c_acquire(BUS);
+ i2c_read_reg(BUS, ADDR, ACCEL_ADXL345_POWER_CTL, ®);
+ reg |= AUTOSLEEP_BIT;
+ i2c_write_reg(BUS, ADDR, ACCEL_ADXL345_POWER_CTL, reg);
+ i2c_release(BUS);
+}
+
+void adxl345_set_bandwidth_rate(adxl345_t *dev, uint8_t bw_rate)
+{
+ uint8_t reg;
+
+ assert(dev);
+
+ DEBUG("[adxl345] set device rate to %d Hz\n", (int)bw_rate);
+
+ i2c_acquire(BUS);
+ i2c_read_reg(BUS, ADDR, ACCEL_ADXL345_BW_RATE, ®);
+ reg |= bw_rate;
+ i2c_write_reg(BUS, ADDR, ACCEL_ADXL345_BW_RATE, reg);
+ i2c_release(BUS);
+}
+
+void adxl345_set_fifo_mode(adxl345_t *dev, uint8_t mode,
+ uint8_t output, uint8_t value)
+{
+ uint8_t reg;
+
+ assert(dev);
+
+ DEBUG("[adxl345] set fifo mode to %d, output trigger to %d and trigger "
+ "value to :%d\n", (int)mode, (int)output, (int)value);
+
+ i2c_acquire(BUS);
+ reg = ((mode << FIFO_MODE_POS) | (output << FIFO_TRIGGER_POS) | value);
+ i2c_write_reg(BUS, ADDR, ACCEL_ADXL345_FIFO_CTL, reg);
+ i2c_release(BUS);
+}
diff --git a/drivers/adxl345/adxl345_saul.c b/drivers/adxl345/adxl345_saul.c
new file mode 100644
index 0000000000000000000000000000000000000000..162afe54953b360dfce5e108b479c3b502e71a34
--- /dev/null
+++ b/drivers/adxl345/adxl345_saul.c
@@ -0,0 +1,43 @@
+/*
+ * Copyright (C) 2017 Mesotic SAS
+ *
+ * This file is subject to the terms and conditions of the GNU Lesser
+ * General Public License v2.1. See the file LICENSE in the top level
+ * directory for more details.
+ */
+
+/**
+ * @ingroup drivers_adxl345
+ * @{
+ *
+ * @file
+ * @brief SAUL adaption for ADXL345 device
+ *
+ * @author Dylan Laduranty <dylan.laduranty@mesotic.com>
+ *
+ * @}
+ */
+
+#include "saul.h"
+#include "adxl345.h"
+
+static int read_acc(void *dev, phydat_t *res)
+{
+ adxl345_t *d = (adxl345_t *)dev;
+ adxl345_read(d, (adxl345_data_t *)res->val);
+
+ res->unit = UNIT_G;
+ res->scale = -3;
+ return 3;
+}
+
+static int write(void *dev, phydat_t *state)
+{
+ return -ENOTSUP;
+}
+
+const saul_driver_t adxl345_saul_driver = {
+ .read = read_acc,
+ .write = write,
+ .type = SAUL_SENSE_ACCEL,
+};
diff --git a/drivers/adxl345/include/adxl345_params.h b/drivers/adxl345/include/adxl345_params.h
new file mode 100644
index 0000000000000000000000000000000000000000..af6b010ed3224e12498e26a12f2699738426b4fe
--- /dev/null
+++ b/drivers/adxl345/include/adxl345_params.h
@@ -0,0 +1,94 @@
+/*
+ * Copyright (C) 2017 Mesotic SAS
+ *
+ * This file is subject to the terms and conditions of the GNU Lesser
+ * General Public License v2.1. See the file LICENSE in the top level
+ * directory for more details.
+ */
+
+/**
+ * @ingroup drivers_adxl345
+ * @{
+ *
+ * @file
+ * @brief Default configuration for ADXL345 devices
+ *
+ * @author Dylan Laduranty <dylan.laduranty@mesotic.com>
+ */
+
+#ifndef ADXL345_PARAMS_H
+#define ADXL345_PARAMS_H
+
+#include "board.h"
+#include "saul_reg.h"
+#include "adxl345.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+ * @brief Set default configuration parameters for the ADXL345 driver
+ * @{
+ */
+#ifndef ADXL345_PARAM_I2C
+#define ADXL345_PARAM_I2C (I2C_DEV(0))
+#endif
+#ifndef ADXL345_PARAM_ADDR
+#define ADXL345_PARAM_ADDR (ADXL345_ADDR_53)
+#endif
+#ifndef ADXL345_PARAM_RATE
+#define ADXL345_PARAM_RATE (ADXL345_RATE_200HZ)
+#endif
+#ifndef ADXL345_PARAM_RANGE
+#define ADXL345_PARAM_RANGE (ADXL345_RANGE_16G)
+#endif
+#ifndef ADXL345_PARAM_OFFSET
+#define ADXL345_PARAM_OFFSET { 0, 0, 0 }
+#endif
+#ifndef ADXL345_PARAM_INTERRUPT
+#define ADXL345_PARAM_INTERRUPT {0x0F, 0xBF, 0x40, 0xF0, 0xFF, 0x00, 0x00, \
+ 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x0F}
+#endif
+#ifndef ADXL345_PARAM_FULL_RES
+#define ADXL345_PARAM_FULL_RES (1)
+#endif
+#ifndef ADXL345_PARAM_SCALE_FACTOR
+#define ADXL345_PARAM_SCALE_FACTOR (3.9)
+#endif
+#ifndef ADXL345_PARAMS
+#define ADXL345_PARAMS { .i2c = ADXL345_PARAM_I2C, \
+ .addr = ADXL345_PARAM_ADDR, \
+ .rate = ADXL345_PARAM_RATE, \
+ .range = ADXL345_PARAM_RANGE, \
+ .offset = ADXL345_PARAM_OFFSET, \
+ .interrupt = ADXL345_PARAM_INTERRUPT, \
+ .full_res = ADXL345_PARAM_FULL_RES, \
+ .scale_factor = ADXL345_PARAM_SCALE_FACTOR}
+#endif
+/**@}*/
+
+/**
+ * @brief ADXL345 configuration
+ */
+static const adxl345_params_t adxl345_params[] =
+{
+ ADXL345_PARAMS
+};
+
+/**
+ * @brief Additional meta information to keep in the SAUL registry
+ */
+static const saul_reg_info_t adxl345_saul_info[] =
+{
+ {
+ .name = "adxl345"
+ }
+};
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* ADXL345_PARAMS_H */
+/** @} */
diff --git a/drivers/adxl345/include/adxl345_regs.h b/drivers/adxl345/include/adxl345_regs.h
new file mode 100644
index 0000000000000000000000000000000000000000..fe0a329e4d00a4970df08014e2de80ee047d1ff7
--- /dev/null
+++ b/drivers/adxl345/include/adxl345_regs.h
@@ -0,0 +1,189 @@
+/*
+ * Copyright (C) 2017 Mesotic SAS
+ *
+ * This file is subject to the terms and conditions of the GNU Lesser
+ * General Public License v2.1. See the file LICENSE in the top level
+ * directory for more details.
+ */
+
+/**
+ * @ingroup drivers_adxl345
+ * @{
+ *
+ * @file
+ * @brief Register and bit definitions for the ADXL345
+ *
+ * @author Dylan Laduranty <dylan.laduranty@mesotic.com>
+ */
+
+#ifndef ADXL345_REGS_H
+#define ADXL345_REGS_H
+
+#ifdef __cplusplus
+ extern "C" {
+#endif
+
+/** \name Register addresses
+ * @{
+ */
+#define ACCEL_ADXL345_CHIP_ID_REG (0x00) /**< Device ID */
+#define ACCEL_ADXL345_THRESH_TAP (0x1D) /**< Tap threshold */
+#define ACCEL_ADXL345_OFFSET_X (0x1E) /**< X-axis offset */
+#define ACCEL_ADXL345_OFFSET_Y (0x1F) /**< Y-axis offset */
+#define ACCEL_ADXL345_OFFSET_Z (0x20) /**< Z-axis offset */
+#define ACCEL_ADXL345_TAP_DUR (0x21) /**< Tap duration */
+#define ACCEL_ADXL345_TAP_LAT (0x22) /**< Tap latency */
+#define ACCEL_ADXL345_TAP_WIN (0x23) /**< Tap window */
+#define ACCEL_ADXL345_THRESH_ACT (0x24) /**< Activity threshold */
+#define ACCEL_ADXL345_THRESH_INACT (0x25) /**< Inactivity threshold */
+#define ACCEL_ADXL345_TIME_INACT (0x26) /**< Inactivity time */
+#define ACCEL_ADXL345_ACT_INACT_CTL (0x27) /**< Axis enable control for activity and inactivity detection */
+#define ACCEL_ADXL345_THRESH_FF (0x28) /**< Free-fall threshold */
+#define ACCEL_ADXL345_TIME_FF (0x29) /**< Free-fall time */
+#define ACCEL_ADXL345_TAP_AXES (0x2A) /**< Axis control for single tap/double tap */
+#define ACCEL_ADXL345_ACT_TAP_STATUS (0x2B) /**< Source of single tap/double tap */
+#define ACCEL_ADXL345_BW_RATE (0x2C) /**< Data rate and power mode control */
+#define ACCEL_ADXL345_POWER_CTL (0x2D) /**< Power-saving features control */
+#define ACCEL_ADXL345_INT_ENABLE (0x2E) /**< Interrupt enable control */
+#define ACCEL_ADXL345_INT_MAP (0x2F) /**< Interrupt mapping control */
+#define ACCEL_ADXL345_INT_SOURCE (0x30) /**< Source of interrupts */
+#define ACCEL_ADXL345_DATA_FORMAT (0x31) /**< Data format control */
+#define ACCEL_ADXL345_DATA_X0 (0x32) /**< X-Axis Data 0 */
+#define ACCEL_ADXL345_DATA_X1 (0x33) /**< X-Axis Data 1 */
+#define ACCEL_ADXL345_DATA_Y0 (0x34) /**< Y-Axis Data 0 */
+#define ACCEL_ADXL345_DATA_Y1 (0x35) /**< Y-Axis Data 1 */
+#define ACCEL_ADXL345_DATA_Z0 (0x36) /**< Z-Axis Data 0 */
+#define ACCEL_ADXL345_DATA_Z1 (0x37) /**< Z-Axis Data 1 */
+#define ACCEL_ADXL345_FIFO_CTL (0x38) /**< FIFO control */
+#define ACCEL_ADXL345_FIFO_STATUS (0x39) /**< FIFO status */
+/** @} */
+
+/**
+ * @name Device ID for ADXL345
+ * @{
+ */
+#define ACCEL_ADXL345_CHIP_ID (0xE5)
+/** @} */
+
+/**
+ * @name Resolution masks for output data
+ * @{
+ */
+#define RES_10_BITS (0x03FF)
+#define RES_11_BITS (0x07FF)
+#define RES_12_BITS (0x0FFF)
+#define RES_13_BITS (0x1FFF)
+/** @} */
+
+/**
+ * @name bits definitions for ACT_INACT_CTL register
+ * @{
+ */
+#define INACT_Z_ENABLE (1 << 0)
+#define INACT_Y_ENABLE (1 << 1)
+#define INACT_X_ENABLE (1 << 2)
+#define INACT_ACDC (1 << 3)
+#define ACT_Z_ENABLE (1 << 4)
+#define ACT_Y_ENABLE (1 << 5)
+#define ACT_X_ENABLE (1 << 6)
+#define ACT_ACDC (1 << 7)
+/** @} */
+
+/**
+ * @name bits definitions for TAP_AXES register
+ * @{
+ */
+#define TAP_Z_ENABLE (1 << 0)
+#define TAP_Y_ENABLE (1 << 1)
+#define TAP_X_ENABLE (1 << 2)
+#define SUPPRESS (1 << 3)
+#define TAP_ALL_ENABLE (TAP_Z_ENABLE|TAP_Y_ENABLE|TAP_X_ENABLE)
+/** @} */
+
+/**
+ * @name bits definitions for ACT_TAP_STATUS register
+ * @{
+ */
+#define TAP_Z_SRC (1 << 0)
+#define TAP_Y_SRC (1 << 1)
+#define TAP_X_SRC (1 << 2)
+#define ASLEEP (1 << 3)
+#define ACT_Z_SRC (1 << 4)
+#define ACT_Y_SRC (1 << 5)
+#define ACT_X_SRC (1 << 6)
+/** @} */
+
+/**
+ * @name bits definitions for BW_RATE register
+ * @{
+ */
+#define RATE_MASK (0x0F)
+#define LOWPOWER (1 << 4)
+/** @} */
+
+/**
+ * @name bits definitions for PWR_CTL register
+ * @{
+ */
+#define WAKEUP_8HZ (0x00)
+#define WAKEUP_4HZ (0x01)
+#define WAKEUP_2HZ (0x02)
+#define WAKEUP_1HZ (0x03)
+#define SLEEP_BIT (1 << 2)
+#define MEASURE_BIT (1 << 3)
+#define AUTOSLEEP_BIT (1 << 4)
+#define LINK_BIT (1 << 5)
+/** @} */
+
+/**
+ * @name interrupts pins definitions for INT_ENABLE, INT_MAP and INT_SOURCE
+ * registers
+ * @{
+ */
+#define OVERRUN (1 << 0)
+#define WATERMARK (1 << 1)
+#define FREEFALL (1 << 2)
+#define INACTIVITY (1 << 3)
+#define ACTIVITY (1 << 4)
+#define DOUBLE_TAP (1 << 5)
+#define SINGLE_TAP (1 << 6)
+#define DATA_READY (1 << 7)
+/** @} */
+
+/**
+ * @name bits definitions for DATA_FORMAT register
+ * @{
+ */
+#define RANGE_MASK (0x03)
+#define JUSTIFY (1 << 2)
+#define FULL_RES (1 << 3)
+#define INT_INVERT (1 << 5)
+#define SPI_BIT (1 << 6)
+#define SELF_TEST (1 << 7)
+/** @} */
+
+/**
+ * @name bits definitions for FIFO_CTL register
+ * @{
+ */
+#define SAMPLES_MASK (0x0F)
+#define FIFO_TRIGGER_POS (4)
+#define FIFO_TRIGGER (1 << FIFO_TRIGGER_POS)
+#define FIFO_MODE_POS (6)
+#define FIFO_MODE_MASK (0xC0)
+/** @} */
+
+/**
+ * @name bits definitions for FIFO_STATUS register
+ * @{
+ */
+#define FIFO_ENTRIES_MASK (0x3F)
+#define FIFO_TRIG (1 << 7)
+/** @} */
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* ADXL345_REGS_H */
+/** @} */
diff --git a/drivers/include/adxl345.h b/drivers/include/adxl345.h
new file mode 100644
index 0000000000000000000000000000000000000000..9b78e0878c10708e0edd5849c1319f4049df0012
--- /dev/null
+++ b/drivers/include/adxl345.h
@@ -0,0 +1,233 @@
+/*
+ * Copyright (C) 2017 Mesotic SAS
+ *
+ * This file is subject to the terms and conditions of the GNU Lesser
+ * General Public License v2.1. See the file LICENSE in the top level
+ * directory for more details.
+ */
+
+/**
+ * @defgroup drivers_adxl345 ADXL345 3-Axis accelerometer
+ * @ingroup drivers_sensors
+ * @brief Device driver interface for the ADXL345
+ * @{
+ *
+ * @file
+ * @brief Interface definition for the ADXL345
+ *
+ * @author Dylan Laduranty <dylan.laduranty@mesotic.com>
+ */
+
+#ifndef ADXL345_H
+#define ADXL345_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "periph/i2c.h"
+
+/**
+ * @brief Possible ADXL345 hardware addresses (wiring specific)
+ */
+enum {
+ ADXL345_ADDR_1D = 0x1D, /**< I2C device address if SDO / Alt address pin is high */
+ ADXL345_ADDR_53 = 0x53, /**< I2C device address if SDO / Alt address pin is low */
+};
+
+/**
+ * @brief Define ADXL345 sensitivity
+ */
+enum {
+ ADXL345_RANGE_2G, /**< +/- 2 g Full Scale Rang */
+ ADXL345_RANGE_4G, /**< +/- 4 g Full Scale Rang */
+ ADXL345_RANGE_8G, /**< +/- 8 g Full Scale Rang */
+ ADXL345_RANGE_16G /**< +/- 16 g Full Scale Rang */
+};
+
+/**
+ * @brief List bandwidth rate
+ */
+enum {
+ ADXL345_RATE_0HZ1 = 0, /**< 0.1 Hz Output Data Rate */
+ ADXL345_RATE_0HZ2 = 1, /**< 0.2 Hz Output Data Rate */
+ ADXL345_RATE_0HZ39 = 2, /**< 0.39 Hz Output Data Rate */
+ ADXL345_RATE_0HZ78 = 3, /**< 0.78 Hz Output Data Rate */
+ ADXL345_RATE_1HZ56 = 4, /**< 1.56 Hz Output Data Rate */
+ ADXL345_RATE_3HZ13 = 5, /**< 3.13 Hz Output Data Rate */
+ ADXL345_RATE_6HZ25 = 6, /**< 6.25 Hz Output Data Rate */
+ ADXL345_RATE_12HZ50 = 7, /**< 12.5 Hz Output Data Rate */
+ ADXL345_RATE_25HZ = 8, /**< 25 Hz Output Data Rate */
+ ADXL345_RATE_50HZ = 9, /**< 50 Hz Output Data Rate */
+ ADXL345_RATE_100HZ = 10, /**< 100 Hz Output Data Rate */
+ ADXL345_RATE_200HZ = 11, /**< 200 Hz Output Data Rate */
+ ADXL345_RATE_400HZ = 12, /**< 400 Hz Output Data Rate */
+ ADXL345_RATE_800HZ = 13, /**< 800 Hz Output Data Rate */
+ ADXL345_RATE_1600HZ = 14, /**< 1600 Hz Output Data Rate */
+ ADXL345_RATE_3200HZ = 15 /**< 3200 Hz Output Data Rate */
+};
+
+/**
+ * @brief List fifo mode
+ */
+enum {
+ BYPASS = 0, /**< FIFO bypass mode */
+ FIFO = 1, /**< FIFO mode */
+ STREAM = 2, /**< FIFO stream mode */
+ TRIGGER = 3 /**< FIFO trigger mode */
+};
+/**
+ * @brief Output Interrupt selection
+ */
+enum {
+ INT1, /**< Output interrupt on INT1 pin */
+ INT2 /**< Output interrupt on INT2 pin */
+};
+
+/**
+ * @brief Named return values
+ */
+enum {
+ ADXL345_OK = 0, /**< everything was fine */
+ ADXL345_DATA_READY = 1, /**< new data ready to be read */
+ ADXL345_NOI2C = -1, /**< I2C communication failed */
+ ADXL345_NODEV = -2, /**< no ADXL345 device found on the bus */
+ ADXL345_NODATA = -3 /**< no data available */
+};
+
+/**
+ * @brief ADXL345 result vector struct
+ */
+typedef struct {
+ int16_t x; /**< X-Axis measurement result */
+ int16_t y; /**< Y-Axis measurement result */
+ int16_t z; /**< Z-Axis measurement result */
+} adxl345_data_t;
+
+/**
+ * @brief Interrupt configuration struct for the ADXL345 sensor
+ */
+typedef struct {
+ uint8_t source; /**< Source of interrupts */
+ uint8_t map; /**< Interrupt mapping control */
+ uint8_t enable; /**< Interrupt enable control */
+ uint8_t thres_tap; /**< Tap threshold */
+ uint8_t thres_dur; /**< Tap duration */
+ uint8_t thres_latent; /**< Tap latency */
+ uint8_t thres_window; /**< Tap window */
+ uint8_t thres_act; /**< Activity threshold */
+ uint8_t thres_inact; /**< Inactivity threshold */
+ uint8_t time_inact; /**< Inactivity time */
+ uint8_t thres_ff; /**< Free-fall threshold */
+ uint8_t time_ff; /**< Time threshold */
+ uint8_t act_inact; /**< Axis enable control for activity and inactivity detection */
+ uint8_t tap_axes; /**< Axis control for single tap/double tap */
+} adxl345_interrupt_t;
+
+/**
+ * @brief Configuration struct for the ADXL345 sensor
+ */
+typedef struct {
+ i2c_t i2c; /**< I2C device which is used */
+ uint8_t addr; /**< I2C address */
+ adxl345_interrupt_t interrupt; /**< Interrupts configuration */
+ uint8_t offset[3]; /**< offset axis */
+ uint8_t range; /**< Sensitivity configuration */
+ uint8_t rate; /**< Configured sample rate for accel */
+ uint8_t full_res; /**< Resolution bit */
+ uint8_t scale_factor; /**< Scale factor for converting value to mg */
+} adxl345_params_t;
+
+/**
+ * @brief Device descriptor for the ADXL345 sensor
+ */
+typedef struct {
+ adxl345_params_t params; /**< Device configuration */
+} adxl345_t;
+
+/**
+ * @brief Initialize the ADXL345 accelerometer driver.
+ *
+ * @param[out] dev device descriptor of accelerometer to initialize
+ * @param[in] params configuration parameters
+ *
+ * @return ADXL345_OK on success
+ * @return ADXL345_NOI2C if initialization of I2C bus failed
+ * @return ADXL345_NODEV if accelerometer test failed
+ */
+int adxl345_init(adxl345_t *dev, const adxl345_params_t* params);
+
+/**
+ * @brief Read accelerometer's data
+ *
+ * Acceleration will be calculated as:<br>
+ * \f$ accel = {value \times 3.9} \f$ if full scale is set to 2g<br>
+ * \f$ accel = {value \times 7.8} \f$ if full scale is set to 4g<br>
+ * \f$ accel = {value \times 15.6} \f$ if full scale is set to 8g<br>
+ * \f$ accel = {value \times 31.2} \f$ if full scale is set to 16g<br>
+ *
+ * @param[in] dev device descriptor of accelerometer
+ * @param[out] data the current acceleration data [in mg]
+ */
+void adxl345_read(adxl345_t *dev, adxl345_data_t *data);
+
+/**
+ * @brief set ADXL345's interrupts configuration
+ *
+ * @param[in] dev device descriptor of accelerometer
+ */
+void adxl345_set_interrupt(adxl345_t *dev);
+
+/**
+ * @brief set ADXL345's measure mode
+ *
+ * @param[in] dev device descriptor of accelerometer
+ */
+void adxl345_set_measure(adxl345_t *dev);
+
+/**
+ * @brief Set standby mode
+ *
+ * @param[in] dev device descriptor of accelerometer
+ */
+void adxl345_set_standby(adxl345_t *dev);
+
+/**
+ * @brief Set sleep mode
+ *
+ * @param[in] dev device descriptor of accelerometer
+ */
+void adxl345_set_sleep(adxl345_t *dev);
+
+/**
+ * @brief Set autosleep mode
+ *
+ * @param[in] dev device descriptor of accelerometer
+ */
+void adxl345_set_autosleep(adxl345_t *dev);
+
+/**
+ * @brief Set bandwidth rate
+ *
+ * @param[in] dev device descriptor of accelerometer
+ * @param[in] bw_rate new datarate
+ */
+void adxl345_set_bandwidth_rate(adxl345_t *dev, uint8_t bw_rate);
+
+/**
+ * @brief Set fifo mode with its configuration.
+ *
+ * @param[in] dev device descriptor of accelerometer
+ * @param[in] mode fifo mode configuration
+ * @param[in] output set trigger output
+ * @param[in] value set trigger's value
+ */
+void adxl345_set_fifo_mode(adxl345_t *dev, uint8_t mode,
+ uint8_t output, uint8_t value);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* ADXL345_H */
+/** @} */
diff --git a/sys/auto_init/auto_init.c b/sys/auto_init/auto_init.c
index 4a20d9dfb0b508d059997bfc27d3504716d8fbdf..be60b26303474768a4754890ac7302b8cfc7f1f5 100644
--- a/sys/auto_init/auto_init.c
+++ b/sys/auto_init/auto_init.c
@@ -319,6 +319,10 @@ void auto_init(void)
extern void auto_init_veml6070(void);
auto_init_veml6070();
#endif
+#ifdef MODULE_ADXL345
+ extern void auto_init_adxl345(void);
+ auto_init_adxl345();
+#endif
#endif /* MODULE_AUTO_INIT_SAUL */
diff --git a/sys/auto_init/saul/auto_init_adxl345.c b/sys/auto_init/saul/auto_init_adxl345.c
new file mode 100644
index 0000000000000000000000000000000000000000..dae23f1bc3368caa17e51722f1a7baec9d18b4dc
--- /dev/null
+++ b/sys/auto_init/saul/auto_init_adxl345.c
@@ -0,0 +1,70 @@
+/*
+ * Copyright (C) 2017 Mesotic SAS
+ *
+ * This file is subject to the terms and conditions of the GNU Lesser
+ * General Public License v2.1. See the file LICENSE in the top level
+ * directory for more details.
+ *
+ */
+
+/*
+ * @ingroup auto_init_saul
+ * @{
+ *
+ * @file
+ * @brief Auto initialization of ADXL345 accelerometer
+ *
+ * @author Dylan Laduranty <dylan.laduranty@mesotic.com>
+ *
+ * @}
+ */
+
+#ifdef MODULE_ADXL345
+
+#include "log.h"
+#include "saul_reg.h"
+#include "adxl345.h"
+#include "adxl345_params.h"
+
+/**
+ * @brief Define the number of configured sensors
+ */
+#define ADXL345_NUM (sizeof(adxl345_params)/sizeof(adxl345_params[0]))
+
+/**
+ * @brief Allocate memory for the device descriptors
+ */
+static adxl345_t adxl345_devs[ADXL345_NUM];
+
+/**
+ * @brief Memory for the SAUL registry entries
+ */
+static saul_reg_t saul_entries[ADXL345_NUM];
+
+/**
+ * @brief Reference the driver structs
+ * @{
+ */
+extern saul_driver_t adxl345_saul_driver;
+/** @} */
+
+void auto_init_adxl345(void)
+{
+ for (unsigned i = 0; i < ADXL345_NUM; i++) {
+ LOG_DEBUG("[auto_init_saul] initializing adxl345 #%u\n", i);
+
+ if (adxl345_init(&adxl345_devs[i], &adxl345_params[i]) != ADXL345_OK) {
+ LOG_ERROR("[auto_init_saul] error initializing adxl345 #%u\n", i);
+ continue;
+ }
+
+ saul_entries[i].dev = &(adxl345_devs[i]);
+ saul_entries[i].name = adxl345_saul_info[i].name;
+ saul_entries[i].driver = &adxl345_saul_driver;
+ saul_reg_add(&(saul_entries[i]));
+ }
+}
+
+#else
+typedef int dont_be_pedantic;
+#endif /* MODULE_ADXL345 */