diff --git a/drivers/Makefile.dep b/drivers/Makefile.dep
index 64f61a969309fcb4705a06b537dbec3884d87843..b0307a1e1eb15f7af93ebe4c011c4b0c3f358322 100644
--- a/drivers/Makefile.dep
+++ b/drivers/Makefile.dep
@@ -123,6 +123,11 @@ ifneq (,$(filter feetech,$(USEMODULE)))
USEMODULE += uart_half_duplex
endif
+ifneq (,$(filter fxos8700,$(USEMODULE)))
+ USEMODULE += xtimer
+ FEATURES_REQUIRED += periph_i2c
+endif
+
ifneq (,$(filter grove_ledbar,$(USEMODULE)))
USEMODULE += my9221
endif
diff --git a/drivers/Makefile.include b/drivers/Makefile.include
index 4f6c8687e6eef027b6ab2dfd50e54f965cceca36..72c0e6117abe3b946a1011fb7b86fd879f0d478b 100644
--- a/drivers/Makefile.include
+++ b/drivers/Makefile.include
@@ -70,6 +70,10 @@ ifneq (,$(filter feetech,$(USEMODULE)))
USEMODULE_INCLUDES += $(RIOTBASE)/drivers/feetech/include
endif
+ifneq (,$(filter fxos8700,$(USEMODULE)))
+ USEMODULE_INCLUDES += $(RIOTBASE)/drivers/fxos8700/include
+endif
+
ifneq (,$(filter grove_ledbar,$(USEMODULE)))
USEMODULE_INCLUDES += $(RIOTBASE)/drivers/grove_ledbar/include
endif
diff --git a/drivers/fxos8700/Makefile b/drivers/fxos8700/Makefile
new file mode 100644
index 0000000000000000000000000000000000000000..48422e909a47d7cd428d10fa73825060ccc8d8c2
--- /dev/null
+++ b/drivers/fxos8700/Makefile
@@ -0,0 +1 @@
+include $(RIOTBASE)/Makefile.base
diff --git a/drivers/fxos8700/fxos8700.c b/drivers/fxos8700/fxos8700.c
new file mode 100644
index 0000000000000000000000000000000000000000..1fb216cef8c4fa5ae4532409c82f53b6895faea2
--- /dev/null
+++ b/drivers/fxos8700/fxos8700.c
@@ -0,0 +1,235 @@
+/*
+ * Copyright (C) 2018 UC Berkeley
+ *
+ * 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.
+ */
+
+/**
+ * @file
+ * @brief Driver for the FXOS8700 3-axis accelerometer/magnetometer
+ *
+ * @author Michael Andersen <m.andersen@cs.berkeley.edu>
+ * @author Hyung-Sin Kim <hs.kim@cs.berkeleyedu>
+ */
+
+
+#include "periph/i2c.h"
+#include "xtimer.h"
+#include "fxos8700.h"
+
+#define ENABLE_DEBUG (0)
+#include "debug.h"
+
+#define I2C_SPEED I2C_SPEED_FAST
+
+#define FXOS8700_FULLDATA_LENGTH (12)
+
+static int fxos8700_read_regs(const fxos8700_t* dev, uint8_t reg, uint8_t* data, size_t len)
+{
+ i2c_acquire(dev->p.i2c);
+ if (i2c_read_regs(dev->p.i2c, dev->p.addr, reg, (char*) data, len) <= 0) {
+ DEBUG("[fxos8700] Can't read register 0x%x\n", reg);
+ i2c_release(dev->p.i2c);
+ return FXOS8700_BUSERR;
+ }
+ i2c_release(dev->p.i2c);
+
+ return FXOS8700_OK;
+}
+
+static int fxos8700_write_regs(const fxos8700_t* dev, uint8_t reg, uint8_t* data, size_t len)
+{
+ i2c_acquire(dev->p.i2c);
+ if (i2c_write_regs(dev->p.i2c, dev->p.addr, reg, (char*) data, len) <= 0) {
+ DEBUG("[fxos8700] Can't write to register 0x%x\n", reg);
+ i2c_release(dev->p.i2c);
+ return FXOS8700_BUSERR;
+ }
+ i2c_release(dev->p.i2c);
+
+ return FXOS8700_OK;
+}
+
+int fxos8700_init(fxos8700_t* dev, const fxos8700_params_t *params)
+{
+ uint8_t config;
+
+ if ((params->addr < 0x1C) || (params->addr > 0x1F)) {
+ DEBUG("[fxos8700] Invalid address\n");
+ return FXOS8700_ADDRERR;
+ }
+ dev->p.addr = params->addr;
+ dev->p.i2c = params->i2c;
+ dev->p.acc_range = params->acc_range;
+ dev->p.renew_interval = params->renew_interval;
+
+ i2c_acquire(dev->p.i2c);
+ if (i2c_init_master(dev->p.i2c, I2C_SPEED) != 0) {
+ DEBUG("[fxos8700] Can't initialize I2C master\n");
+ i2c_release(dev->p.i2c);
+ return FXOS8700_NOBUS;
+ }
+
+ if (i2c_read_regs(dev->p.i2c, dev->p.addr, FXOS8700_REG_WHO_AM_I, &config, 1) <= 0) {
+ i2c_release(dev->p.i2c);
+ DEBUG("[fxos8700] Could not read WHOAMI\n");
+ return FXOS8700_NOBUS;
+ }
+ if (config != FXOS8700_WHO_AM_I_VAL) {
+ i2c_release(dev->p.i2c);
+ DEBUG("[fxos8700] WHOAMI is wrong (%2x)\n", config);
+ return FXOS8700_NODEV;
+ }
+ i2c_release(dev->p.i2c);
+
+ /* Configure the ODR to maximum (400Hz in hybrid mode) */
+ config = FXOS8700_REG_CTRL_REG1_ODR__400HZ & FXOS8700_REG_CTRL_REG1_MASK__ODR;
+ if (fxos8700_write_regs(dev, FXOS8700_REG_CTRL_REG1, &config, 1) != FXOS8700_OK) {
+ return FXOS8700_BUSERR;
+ }
+ dev->config = config;
+ /* Activate hybrid mode */
+ config = FXOS8700_REG_M_CTRL_REG1_HMS__HYBRID & FXOS8700_REG_M_CTRL_REG1_MASK__HMS;
+ if (fxos8700_write_regs(dev, FXOS8700_REG_M_CTRL_REG1, &config, 1) != FXOS8700_OK) {
+ return FXOS8700_BUSERR;
+ }
+ /* Set burst read mode (accel + magnet together) */
+ config = FXOS8700_REG_M_CTRL_REG2_MASK__HYB_AUTOINC_MODE;
+ if (fxos8700_write_regs(dev, FXOS8700_REG_M_CTRL_REG2, &config, 1) != FXOS8700_OK) {
+ return FXOS8700_BUSERR;
+ }
+ /* Set accelerator's full-scale range */
+ if (fxos8700_read_regs(dev, FXOS8700_REG_XYZ_DATA_CFG, &config, 1) != FXOS8700_OK) {
+ return FXOS8700_BUSERR;
+ }
+ config &= ~FXOS8700_REG_XYZ_DATA_CFG_MASK__FS;
+ config |= dev->p.acc_range & FXOS8700_REG_XYZ_DATA_CFG_MASK__FS;
+ if (fxos8700_write_regs(dev, FXOS8700_REG_XYZ_DATA_CFG, &config, 1) != FXOS8700_OK) {
+ return FXOS8700_BUSERR;
+ }
+
+ /* initial read for caching operation */
+ if (fxos8700_read(dev, &dev->acc_cached, &dev->mag_cached) != FXOS8700_OK) {
+ return FXOS8700_BUSERR;
+ }
+ dev->last_read_time = xtimer_now_usec();
+
+ return FXOS8700_OK;
+}
+
+
+int fxos8700_set_active(const fxos8700_t* dev)
+{
+ uint8_t config = dev->config | FXOS8700_REG_CTRL_REG1_MASK__ACTIVE;
+ if (fxos8700_write_regs(dev, FXOS8700_REG_CTRL_REG1, &config, 1) != FXOS8700_OK) {
+ return FXOS8700_BUSERR;
+ }
+ return FXOS8700_OK;
+}
+
+int fxos8700_set_idle(const fxos8700_t* dev)
+{
+ uint8_t config = dev->config & ~FXOS8700_REG_CTRL_REG1_MASK__ACTIVE;
+ if (fxos8700_write_regs(dev, FXOS8700_REG_CTRL_REG1, &config, 1) != FXOS8700_OK) {
+ return FXOS8700_BUSERR;
+ }
+ return FXOS8700_OK;
+}
+
+int fxos8700_read(const fxos8700_t* dev, fxos8700_measurement_t* acc,
+ fxos8700_measurement_t* mag)
+{
+ uint8_t data[12];
+ uint8_t ready = 0;
+
+ if (fxos8700_set_active(dev)) {
+ return FXOS8700_BUSERR;
+ }
+
+ while (!(ready & FXOS8700_REG_STATUS_MASK__XYZ_READY)) {
+ fxos8700_read_regs(dev, FXOS8700_REG_STATUS, &ready, 1);
+ }
+ while (!(ready & FXOS8700_REG_M_DR_STATUS_MASK__XYZ_READY)) {
+ fxos8700_read_regs(dev, FXOS8700_REG_M_DR_STATUS, &ready, 1);
+ }
+
+ /* Read all data at once */
+ if (fxos8700_read_regs(dev, FXOS8700_REG_OUT_X_MSB, &data[0], FXOS8700_FULLDATA_LENGTH)) {
+ return FXOS8700_BUSERR;
+ }
+
+ if (fxos8700_set_idle(dev)) {
+ return FXOS8700_BUSERR;
+ }
+
+ /* Read accelerometer */
+ if (acc) {
+#if FXOS8700_USE_ACC_RAW_VALUES
+ acc->x = (int16_t) ((data[0] << 8) | data[1]) >> 2;
+ acc->y = (int16_t) ((data[2] << 8) | data[3]) >> 2;
+ acc->z = (int16_t) ((data[4] << 8) | data[5]) >> 2;
+#else
+ int32_t acc_raw_x = (int16_t) ((data[0] << 8) | data[1]) >> 2;
+ int32_t acc_raw_y = (int16_t) ((data[2] << 8) | data[3]) >> 2;
+ int32_t acc_raw_z = (int16_t) ((data[4] << 8) | data[5]) >> 2;
+ switch(dev->p.acc_range) {
+ case FXOS8700_REG_XYZ_DATA_CFG_FS__2G:
+ acc->x = (int16_t) ((acc_raw_x * 244) / 100);
+ acc->y = (int16_t) ((acc_raw_y * 244) / 100);
+ acc->z = (int16_t) ((acc_raw_z * 244) / 100);
+ break;
+ case FXOS8700_REG_XYZ_DATA_CFG_FS__4G:
+ acc->x = (int16_t) ((acc_raw_x * 488) / 1000);
+ acc->y = (int16_t) ((acc_raw_y * 488) / 1000);
+ acc->z = (int16_t) ((acc_raw_z * 488) / 1000);
+ break;
+ case FXOS8700_REG_XYZ_DATA_CFG_FS__8G:
+ acc->x = (int16_t) ((acc_raw_x * 976) / 1000);
+ acc->y = (int16_t) ((acc_raw_y * 976) / 1000);
+ acc->z = (int16_t) ((acc_raw_z * 976) / 1000);
+ break;
+ default:
+ return FXOS8700_NODEV;
+ }
+#endif
+ }
+ /* Read magnetometer */
+ if (mag) {
+ mag->x = (int16_t) ((data[6] << 8) | data[7]);
+ mag->y = (int16_t) ((data[8] << 8) | data[9]);
+ mag->z = (int16_t) ((data[10] << 8) | data[11]);
+ }
+ return FXOS8700_OK;
+}
+
+int fxos8700_read_cached(const void *dev, fxos8700_measurement_t* acc,
+ fxos8700_measurement_t* mag)
+{
+ fxos8700_t* fxos_dev = (fxos8700_t *)dev;
+ uint32_t now = xtimer_now_usec();
+
+ /* check if readings are outdated */
+ if (now - fxos_dev->last_read_time > fxos_dev->p.renew_interval) {
+ /* refresh cache and update last_read_time */
+ if (fxos8700_read(fxos_dev, &fxos_dev->acc_cached, &fxos_dev->mag_cached)
+ != FXOS8700_OK) {
+ return FXOS8700_BUSERR;
+ }
+ fxos_dev->last_read_time = now;
+ }
+
+ /* Read cached data */
+ if (acc) {
+ acc->x = fxos_dev->acc_cached.x;
+ acc->y = fxos_dev->acc_cached.y;
+ acc->z = fxos_dev->acc_cached.z;
+ }
+ if (mag) {
+ mag->x = fxos_dev->mag_cached.x;
+ mag->y = fxos_dev->mag_cached.y;
+ mag->z = fxos_dev->mag_cached.z;
+ }
+ return FXOS8700_OK;
+}
diff --git a/drivers/fxos8700/fxos8700_saul.c b/drivers/fxos8700/fxos8700_saul.c
new file mode 100644
index 0000000000000000000000000000000000000000..adc13877f3a3b51f410b6f97446b235cd064f857
--- /dev/null
+++ b/drivers/fxos8700/fxos8700_saul.c
@@ -0,0 +1,69 @@
+/*
+ * Copyright (C) 2018 UC Berkeley
+ *
+ * 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_fxos8700
+ * @{
+ *
+ * @file
+ * @brief FXOS8700 adaption to the RIOT actuator/sensor interface
+ *
+ * @author Hyung-Sin Kim <hs.kim@cs.berkeley.edu>
+ *
+ * @}
+ */
+
+#include <string.h>
+
+#include "saul.h"
+#include "fxos8700.h"
+
+static int read_mag(const void *dev, phydat_t *res)
+{
+ if (fxos8700_read_cached(dev, NULL, (fxos8700_measurement_t *)res)
+ != FXOS8700_OK) {
+ /* Read failure */
+ return -ECANCELED;
+ }
+ res->unit = UNIT_GS;
+ res->scale = -3;
+ return 3;
+}
+
+static int read_acc(const void *dev, phydat_t *res)
+{
+ if (fxos8700_read_cached(dev, (fxos8700_measurement_t *)res, NULL)
+ != FXOS8700_OK) {
+ /* Read failure */
+ return -ECANCELED;
+ }
+#if FXOS8700_USE_ACC_RAW_VALUES
+ res->unit = UNIT_NONE;
+ res->scale = 0;
+#else
+ res->unit = UNIT_G;
+ if (((fxos8700_t *)dev)->p.acc_range == FXOS8700_REG_XYZ_DATA_CFG_FS__2G) {
+ res->scale = -4;
+ } else {
+ res->scale = -3;
+ }
+#endif
+ return 3;
+}
+
+const saul_driver_t fxos8700_saul_mag_driver = {
+ .read = read_mag,
+ .write = saul_notsup,
+ .type = SAUL_SENSE_MAG,
+};
+
+const saul_driver_t fxos8700_saul_acc_driver = {
+ .read = read_acc,
+ .write = saul_notsup,
+ .type = SAUL_SENSE_ACCEL,
+};
diff --git a/drivers/fxos8700/include/fxos8700_params.h b/drivers/fxos8700/include/fxos8700_params.h
new file mode 100644
index 0000000000000000000000000000000000000000..2ceed74237c2c0fd1dbd7350ef10eb14178a2296
--- /dev/null
+++ b/drivers/fxos8700/include/fxos8700_params.h
@@ -0,0 +1,83 @@
+/*
+ * Copyright (C) 2018 UC Berkeley
+ *
+ * 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_fxos8700
+ *
+ * @{
+ * @file
+ * @brief Default configuration for FXOS8700 devices
+ *
+ * @author Hyung-Sin Kim <hs.kim@cs.berkeley.edu>
+ */
+
+#ifndef FXOS8700_PARAMS_H
+#define FXOS8700_PARAMS_H
+
+#include "board.h"
+#include "fxos8700.h"
+#include "saul_reg.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+ * @brief Default configuration parameters for the FXOS8700 driver
+ *
+ * The valid address range is 0x1E - 0x1F depending on the configuration of the
+ * address pins SA0 and SA1.
+ *
+ * @{
+ */
+#ifndef FXOS8700_PARAM_I2C
+#define FXOS8700_PARAM_I2C I2C_DEV(0)
+#endif
+#ifndef FXOS8700_PARAM_ADDR
+#define FXOS8700_PARAM_ADDR 0x1E
+#endif
+#ifndef FXOS8700_PARAM_ACC_RANGE
+#define FXOS8700_PARAM_ACC_RANGE FXOS8700_REG_XYZ_DATA_CFG_FS__8G
+#endif
+#ifndef FXOS8700_PARAM_RENEW_INTERVAL
+#define FXOS8700_PARAM_RENEW_INTERVAL 1000000ul
+#endif
+
+#ifndef FXOS8700_PARAMS
+#define FXOS8700_PARAMS { .i2c = FXOS8700_PARAM_I2C, \
+ .addr = FXOS8700_PARAM_ADDR, \
+ .acc_range = FXOS8700_PARAM_ACC_RANGE, \
+ .renew_interval = FXOS8700_PARAM_RENEW_INTERVAL }
+#endif
+#ifndef FXOS8700_SAUL_INFO
+#define FXOS8700_SAUL_INFO { .name = "fxos8700" }
+#endif
+/**@}*/
+
+/**
+ * @brief FXOS8700 configuration
+ */
+static const fxos8700_params_t fxos8700_params[] =
+{
+ FXOS8700_PARAMS
+};
+
+/**
+ * @brief Additional meta information to keep in the SAUL registry
+ */
+static const saul_reg_info_t fxos8700_saul_info[] =
+{
+ FXOS8700_SAUL_INFO
+};
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* FXOS8700_PARAMS_H */
+/** @} */
diff --git a/drivers/fxos8700/include/fxos8700_regs.h b/drivers/fxos8700/include/fxos8700_regs.h
new file mode 100644
index 0000000000000000000000000000000000000000..c0f235ab698588905e4b7b70b7430c83e72ff09f
--- /dev/null
+++ b/drivers/fxos8700/include/fxos8700_regs.h
@@ -0,0 +1,210 @@
+/*
+ * Copyright (C) 2018 UC Berkeley
+ *
+ * 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_fxos8700
+ * @{
+ *
+ * @file
+ * @brief Register definitions for FXOS8700 devices
+ *
+ * @author Michael Andersen <m.andersen@cs.berkeley.edu>
+ * @author Hyung-Sin Kim <hs.kim@cs.berkeley.edu>
+ */
+
+#ifndef FXOS8700_REGS_H
+#define FXOS8700_REGS_H
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+/**
+ * @name FXOS8700 register addresses
+ * @{
+ */
+#define FXOS8700_REG_STATUS (0x00)
+#define FXOS8700_REG_OUT_X_MSB (0x01)
+#define FXOS8700_REG_OUT_X_LSB (0x02)
+#define FXOS8700_REG_OUT_Y_MSB (0x03)
+#define FXOS8700_REG_OUT_Y_LSB (0x04)
+#define FXOS8700_REG_OUT_Z_MSB (0x05)
+#define FXOS8700_REG_OUT_Z_LSB (0x06)
+#define FXOS8700_REG_F_SETUP (0x09)
+#define FXOS8700_REG_TRIG_CFG (0x0A)
+#define FXOS8700_REG_SYSMOD (0x0B)
+#define FXOS8700_REG_INT_SOURCE (0x0C)
+#define FXOS8700_REG_WHO_AM_I (0x0D)
+#define FXOS8700_REG_XYZ_DATA_CFG (0x0E)
+#define FXOS8700_REG_HP_FILTER_CUTOFF (0x0F)
+#define FXOS8700_REG_PL_STATUS (0x10)
+#define FXOS8700_REG_PL_CFG (0x11)
+#define FXOS8700_REG_PL_COUNT (0x12)
+#define FXOS8700_REG_PL_BF_ZCOMP (0x13)
+#define FXOS8700_REG_PL_THS_REG (0x14)
+#define FXOS8700_REG_A_FFMT_CFG (0x15)
+#define FXOS8700_REG_A_FFMT_SRC (0x16)
+#define FXOS8700_REG_A_FFMT_THS (0x17)
+#define FXOS8700_REG_A_FFMT_COUNT (0x18)
+#define FXOS8700_REG_TRANSIENT_CFG (0x1D)
+#define FXOS8700_REG_TRANSIENT_SRC (0x1E)
+#define FXOS8700_REG_TRANSIENT_THS (0x1F)
+#define FXOS8700_REG_TRANSIENT_COUNT (0x20)
+#define FXOS8700_REG_PULSE_CFG (0x21)
+#define FXOS8700_REG_PULSE_SRC (0x22)
+#define FXOS8700_REG_PULSE_THSX (0x23)
+#define FXOS8700_REG_PULSE_THSY (0x24)
+#define FXOS8700_REG_PULSE_THSZ (0x25)
+#define FXOS8700_REG_PULSE_TMLT (0x26)
+#define FXOS8700_REG_PULSE_LTCY (0x27)
+#define FXOS8700_REG_PULSE_WIND (0x28)
+#define FXOS8700_REG_ASLP_COUNT (0x29)
+#define FXOS8700_REG_CTRL_REG1 (0x2A)
+#define FXOS8700_REG_CTRL_REG2 (0x2B)
+#define FXOS8700_REG_CTRL_REG3 (0x2C)
+#define FXOS8700_REG_CTRL_REG4 (0x2D)
+#define FXOS8700_REG_CTRL_REG5 (0x2E)
+#define FXOS8700_REG_OFF_X (0x2F)
+#define FXOS8700_REG_OFF_Y (0x30)
+#define FXOS8700_REG_OFF_Z (0x31)
+#define FXOS8700_REG_M_DR_STATUS (0x32)
+#define FXOS8700_REG_M_OUT_X_MSB (0x33)
+#define FXOS8700_REG_M_OUT_X_LSB (0x34)
+#define FXOS8700_REG_M_OUT_Y_MSB (0x35)
+#define FXOS8700_REG_M_OUT_Y_LSB (0x36)
+#define FXOS8700_REG_M_OUT_Z_MSB (0x37)
+#define FXOS8700_REG_M_OUT_Z_LSB (0x38)
+#define FXOS8700_REG_CMP_X_MSB (0x39)
+#define FXOS8700_REG_CMP_X_LSB (0x3A)
+#define FXOS8700_REG_CMP_Y_MSB (0x3B)
+#define FXOS8700_REG_CMP_Y_LSB (0x3C)
+#define FXOS8700_REG_CMP_Z_MSB (0x3D)
+#define FXOS8700_REG_CMP_Z_LSB (0x3E)
+#define FXOS8700_REG_M_OFF_X_MSB (0x3F)
+#define FXOS8700_REG_M_OFF_X_LSB (0x40)
+#define FXOS8700_REG_M_OFF_Y_MSB (0x41)
+#define FXOS8700_REG_M_OFF_Y_LSB (0x42)
+#define FXOS8700_REG_M_OFF_Z_MSB (0x43)
+#define FXOS8700_REG_M_OFF_Z_LSB (0x44)
+#define FXOS8700_REG_MAX_X_MSB (0x45)
+#define FXOS8700_REG_MAX_X_LSB (0x46)
+#define FXOS8700_REG_MAX_Y_MSB (0x47)
+#define FXOS8700_REG_MAX_Y_LSB (0x48)
+#define FXOS8700_REG_MAX_Z_MSB (0x49)
+#define FXOS8700_REG_MAX_Z_LSB (0x4A)
+#define FXOS8700_REG_MIN_X_MSB (0x4B)
+#define FXOS8700_REG_MIN_X_LSB (0x4C)
+#define FXOS8700_REG_MIN_Y_MSB (0x4D)
+#define FXOS8700_REG_MIN_Y_LSB (0x4E)
+#define FXOS8700_REG_MIN_Z_MSB (0x4F)
+#define FXOS8700_REG_MIN_Z_LSB (0x50)
+#define FXOS8700_REG_TEMP (0x51)
+#define FXOS8700_REG_M_THS_CFG (0x52)
+#define FXOS8700_REG_M_THS_SRC (0x53)
+#define FXOS8700_REG_M_THS_X_MSB (0x54)
+#define FXOS8700_REG_M_THS_X_LSB (0x55)
+#define FXOS8700_REG_M_THS_Y_MSB (0x56)
+#define FXOS8700_REG_M_THS_Y_LSB (0x57)
+#define FXOS8700_REG_M_THS_Z_MSB (0x58)
+#define FXOS8700_REG_M_THS_Z_LSB (0x59)
+#define FXOS8700_REG_M_THS_COUNT (0x5A)
+#define FXOS8700_REG_M_CTRL_REG1 (0x5B)
+#define FXOS8700_REG_M_CTRL_REG2 (0x5C)
+#define FXOS8700_REG_M_CTRL_REG3 (0x5D)
+#define FXOS8700_REG_M_INT_SRC (0x5E)
+#define FXOS8700_REG_A_VECM_CFG (0x5F)
+#define FXOS8700_REG_A_VECM_THS_MSB (0x60)
+#define FXOS8700_REG_A_VECM_THS_LSB (0x61)
+#define FXOS8700_REG_A_VECM_CNT (0x62)
+#define FXOS8700_REG_A_VECM_INITX_MSB (0x63)
+#define FXOS8700_REG_A_VECM_INITX_LSB (0x64)
+#define FXOS8700_REG_A_VECM_INITY_MSB (0x65)
+#define FXOS8700_REG_A_VECM_INITY_LSB (0x66)
+#define FXOS8700_REG_A_VECM_INITZ_MSB (0x67)
+#define FXOS8700_REG_A_VECM_INITZ_LSB (0x68)
+#define FXOS8700_REG_M_VECM_CFG (0x69)
+#define FXOS8700_REG_M_VECM_THS_MSB (0x6A)
+#define FXOS8700_REG_M_VECM_THS_LSB (0x6B)
+#define FXOS8700_REG_M_VECM_CNT (0x6C)
+#define FXOS8700_REG_M_VECM_INITX_MSB (0x6D)
+#define FXOS8700_REG_M_VECM_INITX_LSB (0x6E)
+#define FXOS8700_REG_M_VECM_INITY_MSB (0x6F)
+#define FXOS8700_REG_M_VECM_INITY_LSB (0x70)
+#define FXOS8700_REG_M_VECM_INITZ_MSB (0x71)
+#define FXOS8700_REG_M_VECM_INITZ_LSB (0x72)
+#define FXOS8700_REG_A_FFMT_THS_X_MSB (0x73)
+#define FXOS8700_REG_A_FFMT_THS_X_LSB (0x74)
+#define FXOS8700_REG_A_FFMT_THS_Y_MSB (0x75)
+#define FXOS8700_REG_A_FFMT_THS_Y_LSB (0x76)
+#define FXOS8700_REG_A_FFMT_THS_Z_MSB (0x77)
+#define FXOS8700_REG_A_FFMT_THS_Z_LSB (0x78)
+/** @} */
+
+/**
+ * @name Device ID
+ * @{
+ */
+#define FXOS8700_WHO_AM_I_VAL (0xC7)
+/** @} */
+
+/**
+ * @name Data ready status
+ * @{
+ */
+#define FXOS8700_REG_STATUS_MASK__XYZ_READY (0x08)
+#define FXOS8700_REG_M_DR_STATUS_MASK__XYZ_READY (0x08)
+/** @} */
+
+/**
+ * @name Output data rate (ODR) and Active mode configuration
+ * @{
+ */
+#define FXOS8700_REG_CTRL_REG1_MASK__ODR (0x38)
+#define FXOS8700_REG_CTRL_REG1_ODR__400HZ (0x00)
+#define FXOS8700_REG_CTRL_REG1_ODR__200HZ (0x08)
+#define FXOS8700_REG_CTRL_REG1_ODR__100HZ (0x10)
+#define FXOS8700_REG_CTRL_REG1_ODR__50HZ (0x18)
+#define FXOS8700_REG_CTRL_REG1_ODR__25HZ (0x20)
+
+#define FXOS8700_REG_CTRL_REG1_MASK__ACTIVE (0x01)
+/** @} */
+
+/**
+ * @name Sensing mode configuration
+ * @{
+ */
+#define FXOS8700_REG_M_CTRL_REG1_MASK__HMS (0x03)
+#define FXOS8700_REG_M_CTRL_REG1_HMS__ACC_ONLY (0x00)
+#define FXOS8700_REG_M_CTRL_REG1_HMS__MAG_ONLY (0x01)
+#define FXOS8700_REG_M_CTRL_REG1_HMS__HYBRID (0x03)
+/** @} */
+
+/**
+ * @name Burst-read mode configuration
+ * @{
+ */
+#define FXOS8700_REG_M_CTRL_REG2_MASK__HYB_AUTOINC_MODE (0x20)
+/** @} */
+
+/**
+ * @name Accelerator full-scale range configuration
+ * @{
+ */
+#define FXOS8700_REG_XYZ_DATA_CFG_MASK__FS (0x03)
+#define FXOS8700_REG_XYZ_DATA_CFG_FS__2G (0x00)
+#define FXOS8700_REG_XYZ_DATA_CFG_FS__4G (0x01)
+#define FXOS8700_REG_XYZ_DATA_CFG_FS__8G (0x02)
+/** @} */
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* FXOS8700_REGS_H */
+/** @} */
diff --git a/drivers/include/fxos8700.h b/drivers/include/fxos8700.h
new file mode 100644
index 0000000000000000000000000000000000000000..f6cc1ea981943a1c04de001307a74a9f2e97d6bb
--- /dev/null
+++ b/drivers/include/fxos8700.h
@@ -0,0 +1,163 @@
+/*
+ * Copyright (C) 2018 UC Berkeley
+ *
+ * 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_fxos8700 FXOS8700 3-axis accelerometer/magnetometer
+ * @ingroup drivers_sensors
+ * @brief Driver for the FXOS8700 3-axis accelerometer/magnetometer
+ *
+ * The connection between the MCU and the FXOS8700 is based on the
+ * I2C-interface.
+ *
+ * @{
+ *
+ * @file
+ * @brief Interface definition for the FXOS8700 sensor driver
+ *
+ * @author Michael Andersen <m.andersen@cs.berkeley.edu>
+ * @author Hyung-Sin Kim <hs.kim@cs.berkeley.edu>
+ */
+
+#ifndef FXOS8700_H
+#define FXOS8700_H
+
+#include <stdint.h>
+#include "periph/i2c.h"
+#include "fxos8700_regs.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+ * @brief Default raw value mode for accelerator
+ *
+ * If set to 0, measurements will be converted to mg.
+ * If set to 1, raw adc readings will be returned.
+ */
+#ifndef FXOS8700_USE_ACC_RAW_VALUES
+#define FXOS8700_USE_ACC_RAW_VALUES (0)
+#endif
+
+/**
+ * @brief FXOS8700 specific return values
+ */
+enum {
+ FXOS8700_OK = 0, /**< everything went as expected */
+ FXOS8700_ADDRERR = -1, /**< no FXOS8700 device found on the bus */
+ FXOS8700_NOBUS = -2, /**< errors while initializing the I2C bus */
+ FXOS8700_NODEV = -3, /**< no FXOS8700 device found on the bus */
+ FXOS8700_BUSERR = -4 /**< error during I2C communication */
+};
+
+/**
+ * @brief Parameters needed for device initialization
+ */
+typedef struct {
+ i2c_t i2c; /**< I2C device that sensor is connected to */
+ uint8_t addr; /**< I2C address of this particular sensor */
+ uint8_t acc_range; /**< Accelerator full-scale range */
+ uint32_t renew_interval; /**< Interval for cache renewal */
+} fxos8700_params_t;
+
+/**
+ * @brief Individual 3-axis measurement
+ */
+typedef struct {
+ int16_t x; /**< x axis of 3-axis measurement */
+ int16_t y; /**< y axis of 3-axis measurement */
+ int16_t z; /**< z axis of 3-axis measurement */
+} fxos8700_measurement_t;
+
+/**
+ * @brief Device descriptor for a FXOS8700 device
+ */
+typedef struct {
+ uint8_t config; /**< sensor configuration including active mode */
+ fxos8700_measurement_t acc_cached; /**< cached 3-axis acceleration */
+ fxos8700_measurement_t mag_cached; /**< cached 3-axis magnetic field */
+ uint32_t last_read_time; /**< last time when cached data was refreshed */
+ fxos8700_params_t p; /**< configuration parameters */
+} fxos8700_t;
+
+/**
+ * @brief Initialize an FXOS8700 device
+ *
+ * @param[out] dev device descriptor
+ * @param[in] params parameters for device
+ *
+ * @return FXOS8700_OK on success
+ * @return FXOS8700_NOBUS on I2C initialization error
+ * @return FXOS8700_BUSERR on I2C communication error
+ * @return FXOS8700_ADDRERR on invalid address
+ * @return FXOS8700_NODEV if no FXOS8700 device found on bus
+ */
+int fxos8700_init(fxos8700_t* dev, const fxos8700_params_t* params);
+
+/**
+ * @brief Convenience function for turning on the FXOS8700
+ *
+ * This function will trigger a new conversion, wait for the conversion to be
+ * finished and the get the results from the device.
+ *
+ * @param[in] dev device descriptor of sensor
+ *
+ * @return FXOS8700_OK on success
+ * @return FXOS8700_BUSERR on I2C communication failures
+ */
+int fxos8700_set_active(const fxos8700_t* dev);
+
+/**
+ * @brief Convenience function for turning off the FXOS8700
+ *
+ * This function will trigger a new conversion, wait for the conversion to be
+ * finished and the get the results from the device.
+ *
+ * @param[in] dev device descriptor of sensor
+ *
+ * @return FXOS8700_OK on success
+ * @return FXOS8700_BUSERR on I2C communication failures
+ */
+int fxos8700_set_idle(const fxos8700_t* dev);
+
+/**
+ * @brief Convenience function for reading acceleration and magnetic field
+ *
+ * This function will trigger a new conversion, wait for the conversion to be
+ * finished and the get the results from the device.
+ *
+ * @param[in] dev device descriptor of sensor
+ * @param[out] acc 3-axis acceleration [in milli grativy acceleration (mg) ]
+ * @param[out] mag 3-axis magnetic field [in degree milli Gauss (mGs) ]
+ *
+ * @return FXOS8700_OK on success
+ * @return FXOS8700_BUSERR on I2C communication failures
+ */
+int fxos8700_read(const fxos8700_t* dev, fxos8700_measurement_t* acc, fxos8700_measurement_t* mag);
+
+/**
+ * @brief Extended read function including caching capability
+ *
+ * This function will return cached values if they are within the sampling
+ * period (FXOS8700_RENEW_INTERVAL), or will trigger a new conversion, wait for
+ * the conversion to be finished and the get the results from the device.
+ *
+ * @param[in] dev device descriptor of sensor
+ * @param[out] acc 3-axis acceleration [in milli grativy acceleration (mg) ]
+ * @param[out] mag 3-axis magnetic field [in degree milli Gauss (mGs) ]
+ *
+ * @return FXOS8700_OK on success
+ * @return FXOS8700_BUSERR on I2C communication failures
+ */
+int fxos8700_read_cached(const void* dev, fxos8700_measurement_t* acc, fxos8700_measurement_t* mag);
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* FXOS8700_H */
+/** @} */
diff --git a/sys/auto_init/auto_init.c b/sys/auto_init/auto_init.c
index 6cdaded5b3ddbc6a32b03f9e227bfdc93685fa0d..87e7459783031215d2c1cb1440e463e5cc651fff 100644
--- a/sys/auto_init/auto_init.c
+++ b/sys/auto_init/auto_init.c
@@ -353,6 +353,10 @@ auto_init_mpu9150();
extern void auto_init_hdc1000(void);
auto_init_hdc1000();
#endif
+#ifdef MODULE_FXOS8700
+ extern void auto_init_fxos8700(void);
+ auto_init_fxos8700();
+#endif
#ifdef MODULE_HTS221
extern void auto_init_hts221(void);
auto_init_hts221();
diff --git a/sys/auto_init/saul/auto_init_fxos8700.c b/sys/auto_init/saul/auto_init_fxos8700.c
new file mode 100644
index 0000000000000000000000000000000000000000..3c78b4cb1add99799f8bb615197b16f47919198b
--- /dev/null
+++ b/sys/auto_init/saul/auto_init_fxos8700.c
@@ -0,0 +1,76 @@
+/*
+ * Copyright (C) 2018 UC Berkeley
+ *
+ * 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 for FXOS8700 devices
+ *
+ * @author Hyung-Sin Kim <hs.kim@cs.berkeley.edu>
+ *
+ * @}
+ */
+
+#ifdef MODULE_FXOS8700
+
+#include "log.h"
+#include "saul_reg.h"
+#include "fxos8700_params.h"
+
+/**
+ * @brief Define the number of configured sensors
+ */
+#define FXOS8700_NUM (sizeof(fxos8700_params)/sizeof(fxos8700_params[0]))
+
+/**
+ * @brief Allocate memory for the device descriptors
+ */
+static fxos8700_t fxos8700_devs[FXOS8700_NUM];
+
+/**
+ * @brief Memory for the SAUL registry entries
+ */
+static saul_reg_t saul_entries[FXOS8700_NUM * 2];
+
+/**
+ * @name Reference the driver struct
+ * @{
+ */
+extern saul_driver_t fxos8700_saul_acc_driver;
+extern saul_driver_t fxos8700_saul_mag_driver;
+/** @} */
+
+
+void auto_init_fxos8700(void)
+{
+ for (unsigned i = 0; i < FXOS8700_NUM; i++) {
+ LOG_DEBUG("[auto_init_saul] initializing fxos8700 #%u\n", i);
+
+ int res = fxos8700_init(&fxos8700_devs[i], &fxos8700_params[i]);
+ if (res != 0) {
+ LOG_ERROR("[auto_init_saul] error initializing fxos8700 #%u\n", i);
+ }
+ else {
+ saul_entries[(i * 2)].dev = &(fxos8700_devs[i]);
+ saul_entries[(i * 2)].name = fxos8700_saul_info[i].name;
+ saul_entries[(i * 2)].driver = &fxos8700_saul_acc_driver;
+ saul_entries[(i * 2) + 1].dev = &(fxos8700_devs[i]);
+ saul_entries[(i * 2) + 1].name = fxos8700_saul_info[i].name;
+ saul_entries[(i * 2) + 1].driver = &fxos8700_saul_mag_driver;
+ saul_reg_add(&(saul_entries[(i * 2)]));
+ saul_reg_add(&(saul_entries[(i * 2) + 1]));
+ }
+ }
+}
+
+#else
+typedef int dont_be_pedantic;
+#endif /* MODULE_FXOS8700 */
diff --git a/tests/driver_fxos8700/Makefile b/tests/driver_fxos8700/Makefile
new file mode 100644
index 0000000000000000000000000000000000000000..d33ac2a1e9838bd36e74f9de7d6741eb12e08bcb
--- /dev/null
+++ b/tests/driver_fxos8700/Makefile
@@ -0,0 +1,5 @@
+include ../Makefile.tests_common
+
+USEMODULE += fxos8700
+
+include $(RIOTBASE)/Makefile.include
diff --git a/tests/driver_fxos8700/README.md b/tests/driver_fxos8700/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..90b8961e5f0a8a12b078d81416585f73b9beda69
--- /dev/null
+++ b/tests/driver_fxos8700/README.md
@@ -0,0 +1,12 @@
+# About
+This is a manual test application for the FXOS8700 driver.
+
+# Usage
+This test application will initialize the FXOS8700 sensor with the configuration
+as specified in the default `fxos8700_params.h` file.
+
+If you want to use this test application with different parameters, you can
+simply override the default FXOS8700_PARAMS.
+
+After initialization, the sensor reads the 3-axis acceleration and 3-axis
+magnetic field values every second and prints them to STDOUT.
diff --git a/tests/driver_fxos8700/main.c b/tests/driver_fxos8700/main.c
new file mode 100644
index 0000000000000000000000000000000000000000..092be5f58b68cdce37e854c1d4bfd87d7c89780d
--- /dev/null
+++ b/tests/driver_fxos8700/main.c
@@ -0,0 +1,55 @@
+/*
+ * Copyright (C) 2018 UC Berkeley
+ *
+ * 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 tests
+ * @{
+ *
+ * @file
+ * @brief Test application for the PULSE_COUNTER driver
+ *
+ * @author Hyung-Sin Kim <hs.kim@cs.berkeley.edu>
+ *
+ * @}
+ */
+
+#include <stdio.h>
+
+#include "xtimer.h"
+#include "fxos8700_params.h"
+
+int main(void)
+{
+ fxos8700_t dev;
+
+ puts("FXOS8700 driver test application\n");
+
+ /* Initialization */
+ if (fxos8700_init(&dev, &fxos8700_params[0])) {
+ puts("[Failed]");
+ return 1;
+ }
+ else {
+ puts("[OK]\n");
+ }
+
+ while (1) {
+ /* Acceleration and Magnetic field reading */
+ fxos8700_measurement_t acc, mag;
+ if (fxos8700_read(&dev, &acc, &mag) != FXOS8700_OK) {
+ puts("Read failure\n");
+ }
+ else {
+ printf("acceleration: (%d, %d, %d)\n", acc.x, acc.y, acc.z);
+ printf("magnetic field: (%d, %d, %d)\n", mag.x, mag.y, mag.z);
+ }
+ xtimer_usleep(US_PER_SEC);
+ }
+
+ return 0;
+}