Squashed 'tmk_core/' changes from 7967731..b9e0ea0

b9e0ea0 Merge commit '7fa9d8bdea3773d1195b04d98fcf27cf48ddd81d' as 'tool/mbed/mbed-sdk'
7fa9d8b Squashed 'tool/mbed/mbed-sdk/' content from commit 7c21ce5

git-subtree-dir: tmk_core
git-subtree-split: b9e0ea08cb940de20b3610ecdda18e9d8cd7c552

14 files changed, 2748 insertions, 0 deletions

diff --git a/tool/mbed/mbed-sdk/libraries/tests/peripherals/ADXL345/ADXL345.cpp b/tool/mbed/mbed-sdk/libraries/tests/peripherals/ADXL345/ADXL345.cpp
new file mode 100644
index 0000000000..6f9c856826
--- /dev/null
+++ b/tool/mbed/mbed-sdk/libraries/tests/peripherals/ADXL345/ADXL345.cpp
@@ -0,0 +1,405 @@
+/**
+ * @author Aaron Berk
+ *
+ * @section LICENSE
+ *
+ * Copyright (c) 2010 ARM Limited
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ *
+ * @section DESCRIPTION
+ *
+ * ADXL345, triple axis, digital interface, accelerometer.
+ *
+ * Datasheet:
+ *
+ * http://www.analog.com/static/imported-files/data_sheets/ADXL345.pdf
+ */
+
+/**
+ * Includes
+ */
+#include "ADXL345.h"
+
+ADXL345::ADXL345(PinName mosi,
+                 PinName miso,
+                 PinName sck,
+                 PinName cs) : spi_(mosi, miso, sck), nCS_(cs) {
+
+    //2MHz, allowing us to use the fastest data rates.
+    spi_.frequency(2000000);
+    spi_.format(8,3);
+
+    nCS_ = 1;
+
+    wait_us(500);
+
+}
+
+int ADXL345::getDevId(void) {
+
+    return oneByteRead(ADXL345_DEVID_REG);
+
+}
+
+int ADXL345::getTapThreshold(void) {
+
+    return oneByteRead(ADXL345_THRESH_TAP_REG);
+
+}
+
+void ADXL345::setTapThreshold(int threshold) {
+
+    oneByteWrite(ADXL345_THRESH_TAP_REG, threshold);
+
+}
+
+int ADXL345::getOffset(int axis) {
+
+    int address = 0;
+
+    if (axis == ADXL345_X) {
+        address = ADXL345_OFSX_REG;
+    } else if (axis == ADXL345_Y) {
+        address = ADXL345_OFSY_REG;
+    } else if (axis == ADXL345_Z) {
+        address = ADXL345_OFSZ_REG;
+    }
+
+    return oneByteRead(address);
+
+}
+
+void ADXL345::setOffset(int axis, char offset) {
+
+    int address = 0;
+
+    if (axis == ADXL345_X) {
+        address = ADXL345_OFSX_REG;
+    } else if (axis == ADXL345_Y) {
+        address = ADXL345_OFSY_REG;
+    } else if (axis == ADXL345_Z) {
+        address = ADXL345_OFSZ_REG;
+    }
+
+    return oneByteWrite(address, offset);
+
+}
+
+int ADXL345::getTapDuration(void) {
+
+    return oneByteRead(ADXL345_DUR_REG)*625;
+
+}
+
+void ADXL345::setTapDuration(int duration_us) {
+
+    int tapDuration = duration_us / 625;
+
+    oneByteWrite(ADXL345_DUR_REG, tapDuration);
+
+}
+
+float ADXL345::getTapLatency(void) {
+
+    return oneByteRead(ADXL345_LATENT_REG)*1.25;
+
+}
+
+void ADXL345::setTapLatency(int latency_ms) {
+
+    int tapLatency = latency_ms / 1.25;
+
+    oneByteWrite(ADXL345_LATENT_REG, tapLatency);
+
+}
+
+float ADXL345::getWindowTime(void) {
+
+    return oneByteRead(ADXL345_WINDOW_REG)*1.25;
+
+}
+
+void ADXL345::setWindowTime(int window_ms) {
+
+    int windowTime = window_ms / 1.25;
+
+    oneByteWrite(ADXL345_WINDOW_REG, windowTime);
+
+}
+
+int ADXL345::getActivityThreshold(void) {
+
+    return oneByteRead(ADXL345_THRESH_ACT_REG);
+
+}
+
+void ADXL345::setActivityThreshold(int threshold) {
+
+    oneByteWrite(ADXL345_THRESH_ACT_REG, threshold);
+
+}
+
+int ADXL345::getInactivityThreshold(void) {
+
+    return oneByteRead(ADXL345_THRESH_INACT_REG);
+
+}
+
+void ADXL345::setInactivityThreshold(int threshold) {
+
+    return oneByteWrite(ADXL345_THRESH_INACT_REG, threshold);
+
+}
+
+int ADXL345::getTimeInactivity(void) {
+
+    return oneByteRead(ADXL345_TIME_INACT_REG);
+
+}
+
+void ADXL345::setTimeInactivity(int timeInactivity) {
+
+    oneByteWrite(ADXL345_TIME_INACT_REG, timeInactivity);
+
+}
+
+int ADXL345::getActivityInactivityControl(void) {
+
+    return oneByteRead(ADXL345_ACT_INACT_CTL_REG);
+
+}
+
+void ADXL345::setActivityInactivityControl(int settings) {
+
+    oneByteWrite(ADXL345_ACT_INACT_CTL_REG, settings);
+
+}
+
+int ADXL345::getFreefallThreshold(void) {
+
+    return oneByteRead(ADXL345_THRESH_FF_REG);
+
+}
+
+void ADXL345::setFreefallThreshold(int threshold) {
+
+    oneByteWrite(ADXL345_THRESH_FF_REG, threshold);
+
+}
+
+int ADXL345::getFreefallTime(void) {
+
+    return oneByteRead(ADXL345_TIME_FF_REG)*5;
+
+}
+
+void ADXL345::setFreefallTime(int freefallTime_ms) {
+
+    int freefallTime = freefallTime_ms / 5;
+
+    oneByteWrite(ADXL345_TIME_FF_REG, freefallTime);
+
+}
+
+int ADXL345::getTapAxisControl(void) {
+
+    return oneByteRead(ADXL345_TAP_AXES_REG);
+
+}
+
+void ADXL345::setTapAxisControl(int settings) {
+
+    oneByteWrite(ADXL345_TAP_AXES_REG, settings);
+
+}
+
+int ADXL345::getTapSource(void) {
+
+    return oneByteRead(ADXL345_ACT_TAP_STATUS_REG);
+
+}
+
+void ADXL345::setPowerMode(char mode) {
+
+    //Get the current register contents, so we don't clobber the rate value.
+    char registerContents = oneByteRead(ADXL345_BW_RATE_REG);
+
+    registerContents = (mode << 4) | registerContents;
+
+    oneByteWrite(ADXL345_BW_RATE_REG, registerContents);
+
+}
+
+int ADXL345::getPowerControl(void) {
+
+    return oneByteRead(ADXL345_POWER_CTL_REG);
+
+}
+
+void ADXL345::setPowerControl(int settings) {
+
+    oneByteWrite(ADXL345_POWER_CTL_REG, settings);
+
+}
+
+int ADXL345::getInterruptEnableControl(void) {
+
+    return oneByteRead(ADXL345_INT_ENABLE_REG);
+
+}
+
+void ADXL345::setInterruptEnableControl(int settings) {
+
+    oneByteWrite(ADXL345_INT_ENABLE_REG, settings);
+
+}
+
+int ADXL345::getInterruptMappingControl(void) {
+
+    return oneByteRead(ADXL345_INT_MAP_REG);
+
+}
+
+void ADXL345::setInterruptMappingControl(int settings) {
+
+    oneByteWrite(ADXL345_INT_MAP_REG, settings);
+
+}
+
+int ADXL345::getInterruptSource(void){
+
+    return oneByteRead(ADXL345_INT_SOURCE_REG);
+
+}
+
+int ADXL345::getDataFormatControl(void){
+
+    return oneByteRead(ADXL345_DATA_FORMAT_REG);
+
+}
+
+void ADXL345::setDataFormatControl(int settings){
+
+    oneByteWrite(ADXL345_DATA_FORMAT_REG, settings);
+
+}
+
+void ADXL345::setDataRate(int rate) {
+
+    //Get the current register contents, so we don't clobber the power bit.
+    char registerContents = oneByteRead(ADXL345_BW_RATE_REG);
+
+    registerContents &= 0x10;
+    registerContents |= rate;
+
+    oneByteWrite(ADXL345_BW_RATE_REG, registerContents);
+
+}
+
+void ADXL345::getOutput(int* readings){
+
+    char buffer[6];
+
+    multiByteRead(ADXL345_DATAX0_REG, buffer, 6);
+
+    readings[0] = (int)buffer[1] << 8 | (int)buffer[0];
+    readings[1] = (int)buffer[3] << 8 | (int)buffer[2];
+    readings[2] = (int)buffer[5] << 8 | (int)buffer[4];
+
+}
+
+int ADXL345::getFifoControl(void){
+
+    return oneByteRead(ADXL345_FIFO_CTL);
+
+}
+
+void ADXL345::setFifoControl(int settings){
+
+    oneByteWrite(ADXL345_FIFO_STATUS, settings);
+
+}
+
+int ADXL345::getFifoStatus(void){
+
+    return oneByteRead(ADXL345_FIFO_STATUS);
+
+}
+
+int ADXL345::oneByteRead(int address) {
+
+    int tx = (ADXL345_SPI_READ | (address & 0x3F));
+    int rx = 0;
+
+    nCS_ = 0;
+    //Send address to read from.
+    spi_.write(tx);
+    //Read back contents of address.
+    rx = spi_.write(0x00);
+    nCS_ = 1;
+
+    return rx;
+
+}
+
+void ADXL345::oneByteWrite(int address, char data) {
+
+    int tx = (ADXL345_SPI_WRITE | (address & 0x3F));
+
+    nCS_ = 0;
+    //Send address to write to.
+    spi_.write(tx);
+    //Send data to be written.
+    spi_.write(data);
+    nCS_ = 1;
+
+}
+
+void ADXL345::multiByteRead(int startAddress, char* buffer, int size) {
+
+    int tx = (ADXL345_SPI_READ | ADXL345_MULTI_BYTE | (startAddress & 0x3F));
+
+    nCS_ = 0;
+    //Send address to start reading from.
+    spi_.write(tx);
+
+    for (int i = 0; i < size; i++) {
+        buffer[i] = spi_.write(0x00);
+    }
+
+    nCS_ = 1;
+
+}
+
+void ADXL345::multiByteWrite(int startAddress, char* buffer, int size) {
+
+    int tx = (ADXL345_SPI_WRITE | ADXL345_MULTI_BYTE | (startAddress & 0x3F));
+
+    nCS_ = 0;
+    //Send address to start reading from.
+    spi_.write(tx);
+
+    for (int i = 0; i < size; i++) {
+        buffer[i] = spi_.write(0x00);
+    }
+
+    nCS_ = 1;
+
+}
diff --git a/tool/mbed/mbed-sdk/libraries/tests/peripherals/ADXL345/ADXL345.h b/tool/mbed/mbed-sdk/libraries/tests/peripherals/ADXL345/ADXL345.h
new file mode 100644
index 0000000000..af17c5f3e7
--- /dev/null
+++ b/tool/mbed/mbed-sdk/libraries/tests/peripherals/ADXL345/ADXL345.h
@@ -0,0 +1,537 @@
+/**
+ * @author Aaron Berk
+ *
+ * @section LICENSE
+ *
+ * Copyright (c) 2010 ARM Limited
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ *
+ * @section DESCRIPTION
+ *
+ * ADXL345, triple axis, digital interface, accelerometer.
+ *
+ * Datasheet:
+ *
+ * http://www.analog.com/static/imported-files/data_sheets/ADXL345.pdf
+ */
+
+#ifndef ADXL345_H
+#define ADXL345_H
+
+/**
+ * Includes
+ */
+#include "mbed.h"
+
+/**
+ * Defines
+ */
+//Registers.
+#define ADXL345_DEVID_REG          0x00
+#define ADXL345_THRESH_TAP_REG     0x1D
+#define ADXL345_OFSX_REG           0x1E
+#define ADXL345_OFSY_REG           0x1F
+#define ADXL345_OFSZ_REG           0x20
+#define ADXL345_DUR_REG            0x21
+#define ADXL345_LATENT_REG         0x22
+#define ADXL345_WINDOW_REG         0x23
+#define ADXL345_THRESH_ACT_REG     0x24
+#define ADXL345_THRESH_INACT_REG   0x25
+#define ADXL345_TIME_INACT_REG     0x26
+#define ADXL345_ACT_INACT_CTL_REG  0x27
+#define ADXL345_THRESH_FF_REG      0x28
+#define ADXL345_TIME_FF_REG        0x29
+#define ADXL345_TAP_AXES_REG       0x2A
+#define ADXL345_ACT_TAP_STATUS_REG 0x2B
+#define ADXL345_BW_RATE_REG        0x2C
+#define ADXL345_POWER_CTL_REG      0x2D
+#define ADXL345_INT_ENABLE_REG     0x2E
+#define ADXL345_INT_MAP_REG        0x2F
+#define ADXL345_INT_SOURCE_REG     0x30
+#define ADXL345_DATA_FORMAT_REG    0x31
+#define ADXL345_DATAX0_REG         0x32
+#define ADXL345_DATAX1_REG         0x33
+#define ADXL345_DATAY0_REG         0x34
+#define ADXL345_DATAY1_REG         0x35
+#define ADXL345_DATAZ0_REG         0x36
+#define ADXL345_DATAZ1_REG         0x37
+#define ADXL345_FIFO_CTL           0x38
+#define ADXL345_FIFO_STATUS        0x39
+
+//Data rate codes.
+#define ADXL345_3200HZ      0x0F
+#define ADXL345_1600HZ      0x0E
+#define ADXL345_800HZ       0x0D
+#define ADXL345_400HZ       0x0C
+#define ADXL345_200HZ       0x0B
+#define ADXL345_100HZ       0x0A
+#define ADXL345_50HZ        0x09
+#define ADXL345_25HZ        0x08
+#define ADXL345_12HZ5       0x07
+#define ADXL345_6HZ25       0x06
+
+#define ADXL345_SPI_READ    0x80
+#define ADXL345_SPI_WRITE   0x00
+#define ADXL345_MULTI_BYTE  0x60
+
+#define ADXL345_X           0x00
+#define ADXL345_Y           0x01
+#define ADXL345_Z           0x02
+
+/**
+ * ADXL345 triple axis, digital interface, accelerometer.
+ */
+class ADXL345 {
+
+public:
+
+    /**
+     * Constructor.
+     *
+     * @param mosi mbed pin to use for MOSI line of SPI interface.
+     * @param miso mbed pin to use for MISO line of SPI interface.
+     * @param sck mbed pin to use for SCK line of SPI interface.
+     * @param cs mbed pin to use for not chip select line of SPI interface.
+     */
+    ADXL345(PinName mosi, PinName miso, PinName sck, PinName cs);
+
+    /**
+     * Read the device ID register on the device.
+     *
+     * @return The device ID code [0xE5]
+     */
+    int getDevId(void);
+
+    /**
+     * Read the tap threshold on the device.
+     *
+     * @return The tap threshold as an 8-bit number with a scale factor of
+     *         62.5mg/LSB.
+     */
+    int getTapThreshold(void);
+
+    /**
+     * Set the tap threshold.
+     *
+     * @param The tap threshold as an 8-bit number with a scale factor of
+     *        62.5mg/LSB.
+     */
+    void setTapThreshold(int threshold);
+
+    /**
+     * Get the current offset for a particular axis.
+     *
+     * @param axis 0x00 -> X-axis
+     *             0x01 -> Y-axis
+     *             0x02 -> Z-axis
+     * @return The current offset as an 8-bit 2's complement number with scale
+     *         factor 15.6mg/LSB.
+     */
+    int getOffset(int axis);
+
+    /**
+     * Set the offset for a particular axis.
+     *
+     * @param axis 0x00 -> X-axis
+     *             0x01 -> Y-axis
+     *             0x02 -> Z-axis
+     * @param offset The offset as an 8-bit 2's complement number with scale
+     *               factor 15.6mg/LSB.
+     */
+    void setOffset(int axis, char offset);
+
+    /**
+     * Get the tap duration required to trigger an event.
+     *
+     * @return The max time that an event must be above the tap threshold to
+     *         qualify as a tap event, in microseconds.
+     */
+    int getTapDuration(void);
+
+    /**
+     * Set the tap duration required to trigger an event.
+     *
+     * @param duration_us The max time that an event must be above the tap
+     *                    threshold to qualify as a tap event, in microseconds.
+     *                    Time will be normalized by the scale factor which is
+     *                    625us/LSB. A value of 0 disables the single/double
+     *                    tap functions.
+     */
+    void setTapDuration(int duration_us);
+
+    /**
+     * Get the tap latency between the detection of a tap and the time window.
+     *
+     * @return The wait time from the detection of a tap event to the start of
+     *         the time window during which a possible second tap event can be
+     *         detected in milliseconds.
+     */
+    float getTapLatency(void);
+
+    /**
+     * Set the tap latency between the detection of a tap and the time window.
+     *
+     * @param latency_ms The wait time from the detection of a tap event to the
+     *                   start of the time window during which a possible
+     *                   second tap event can be detected in milliseconds.
+     *                   A value of 0 disables the double tap function.
+     */
+    void setTapLatency(int latency_ms);
+
+    /**
+     * Get the time of window between tap latency and a double tap.
+     *
+     * @return The amount of time after the expiration of the latency time
+     *         during which a second valid tap can begin, in milliseconds.
+     */
+    float getWindowTime(void);
+
+    /**
+     * Set the time of the window between tap latency and a double tap.
+     *
+     * @param window_ms The amount of time after the expiration of the latency
+     *                  time during which a second valid tap can begin,
+     *                  in milliseconds.
+     */
+    void setWindowTime(int window_ms);
+
+    /**
+     * Get the threshold value for detecting activity.
+     *
+     * @return The threshold value for detecting activity as an 8-bit number.
+     *         Scale factor is 62.5mg/LSB.
+     */
+    int getActivityThreshold(void);
+
+    /**
+     * Set the threshold value for detecting activity.
+     *
+     * @param threshold The threshold value for detecting activity as an 8-bit
+     *                  number. Scale factor is 62.5mg/LSB. A value of 0 may
+     *                  result in undesirable behavior if the activity
+     *                  interrupt is enabled.
+     */
+    void setActivityThreshold(int threshold);
+
+    /**
+     * Get the threshold value for detecting inactivity.
+     *
+     * @return The threshold value for detecting inactivity as an 8-bit number.
+     *         Scale factor is 62.5mg/LSB.
+     */
+    int getInactivityThreshold(void);
+
+    /**
+     * Set the threshold value for detecting inactivity.
+     *
+     * @param threshold The threshold value for detecting inactivity as an
+     *                  8-bit number. Scale factor is 62.5mg/LSB.
+     */
+    void setInactivityThreshold(int threshold);
+
+    /**
+     * Get the time required for inactivity to be declared.
+     *
+     * @return The amount of time that acceleration must be less than the
+     *         inactivity threshold for inactivity to be declared, in
+     *         seconds.
+     */
+    int getTimeInactivity(void);
+
+    /**
+     * Set the time required for inactivity to be declared.
+     *
+     * @param inactivity The amount of time that acceleration must be less than
+     *                   the inactivity threshold for inactivity to be
+     *                   declared, in seconds. A value of 0 results in an
+     *                   interrupt when the output data is less than the
+     *                   threshold inactivity.
+     */
+    void setTimeInactivity(int timeInactivity);
+
+    /**
+     * Get the activity/inactivity control settings.
+     *
+     *      D7            D6             D5            D4
+     * +-----------+--------------+--------------+--------------+
+     * | ACT ac/dc | ACT_X enable | ACT_Y enable | ACT_Z enable |
+     * +-----------+--------------+--------------+--------------+
+     *
+     *        D3             D2               D1              D0
+     * +-------------+----------------+----------------+----------------+
+     * | INACT ac/dc | INACT_X enable | INACT_Y enable | INACT_Z enable |
+     * +-------------+----------------+----------------+----------------+
+     *
+     * See datasheet for details.
+     *
+     * @return The contents of the ACT_INACT_CTL register.
+     */
+    int getActivityInactivityControl(void);
+
+    /**
+     * Set the activity/inactivity control settings.
+     *
+     *      D7            D6             D5            D4
+     * +-----------+--------------+--------------+--------------+
+     * | ACT ac/dc | ACT_X enable | ACT_Y enable | ACT_Z enable |
+     * +-----------+--------------+--------------+--------------+
+     *
+     *        D3             D2               D1              D0
+     * +-------------+----------------+----------------+----------------+
+     * | INACT ac/dc | INACT_X enable | INACT_Y enable | INACT_Z enable |
+     * +-------------+----------------+----------------+----------------+
+     *
+     * See datasheet for details.
+     *
+     * @param settings The control byte to write to the ACT_INACT_CTL register.
+     */
+    void setActivityInactivityControl(int settings);
+
+    /**
+     * Get the threshold for free fall detection.
+     *
+     * @return The threshold value for free-fall detection, as an 8-bit number,
+     *         with scale factor 62.5mg/LSB.
+     */
+    int getFreefallThreshold(void);
+
+    /**
+     * Set the threshold for free fall detection.
+     *
+     * @return The threshold value for free-fall detection, as an 8-bit number,
+     *         with scale factor 62.5mg/LSB. A value of 0 may result in
+     *         undesirable behavior if the free-fall interrupt is enabled.
+     *         Values between 300 mg and 600 mg (0x05 to 0x09) are recommended.
+     */
+    void setFreefallThreshold(int threshold);
+
+    /**
+     * Get the time required to generate a free fall interrupt.
+     *
+     * @return The minimum time that the value of all axes must be less than
+     *         the freefall threshold to generate a free-fall interrupt, in
+     *         milliseconds.
+     */
+    int getFreefallTime(void);
+
+    /**
+     * Set the time required to generate a free fall interrupt.
+     *
+     * @return The minimum time that the value of all axes must be less than
+     *         the freefall threshold to generate a free-fall interrupt, in
+     *         milliseconds. A value of 0 may result in undesirable behavior
+     *         if the free-fall interrupt is enabled. Values between 100 ms
+     *         and 350 ms (0x14 to 0x46) are recommended.
+     */
+    void setFreefallTime(int freefallTime_ms);
+
+    /**
+     * Get the axis tap settings.
+     *
+     *      D3           D2            D1             D0
+     * +----------+--------------+--------------+--------------+
+     * | Suppress | TAP_X enable | TAP_Y enable | TAP_Z enable |
+     * +----------+--------------+--------------+--------------+
+     *
+     * (D7-D4 are 0s).
+     *
+     * See datasheet for more details.
+     *
+     * @return The contents of the TAP_AXES register.
+     */
+    int getTapAxisControl(void);
+
+    /**
+     * Set the axis tap settings.
+     *
+     *      D3           D2            D1             D0
+     * +----------+--------------+--------------+--------------+
+     * | Suppress | TAP_X enable | TAP_Y enable | TAP_Z enable |
+     * +----------+--------------+--------------+--------------+
+     *
+     * (D7-D4 are 0s).
+     *
+     * See datasheet for more details.
+     *
+     * @param The control byte to write to the TAP_AXES register.
+     */
+    void setTapAxisControl(int settings);
+
+    /**
+     * Get the source of a tap.
+     *
+     * @return The contents of the ACT_TAP_STATUS register.
+     */
+    int getTapSource(void);
+
+    /**
+     * Set the power mode.
+     *
+     * @param mode 0 -> Normal operation.
+     *             1 -> Reduced power operation.
+     */
+    void setPowerMode(char mode);
+
+    /**
+     * Set the data rate.
+     *
+     * @param rate The rate code (see #defines or datasheet).
+     */
+    void setDataRate(int rate);
+
+    /**
+     * Get the power control settings.
+     *
+     * See datasheet for details.
+     *
+     * @return The contents of the POWER_CTL register.
+     */
+    int getPowerControl(void);
+
+    /**
+     * Set the power control settings.
+     *
+     * See datasheet for details.
+     *
+     * @param The control byte to write to the POWER_CTL register.
+     */
+    void setPowerControl(int settings);
+
+    /**
+     * Get the interrupt enable settings.
+     *
+     * @return The contents of the INT_ENABLE register.
+     */
+    int getInterruptEnableControl(void);
+
+    /**
+     * Set the interrupt enable settings.
+     *
+     * @param settings The control byte to write to the INT_ENABLE register.
+     */
+    void setInterruptEnableControl(int settings);
+
+    /**
+     * Get the interrupt mapping settings.
+     *
+     * @return The contents of the INT_MAP register.
+     */
+    int getInterruptMappingControl(void);
+
+    /**
+     * Set the interrupt mapping settings.
+     *
+     * @param settings The control byte to write to the INT_MAP register.
+     */
+    void setInterruptMappingControl(int settings);
+
+    /**
+     * Get the interrupt source.
+     *
+     * @return The contents of the INT_SOURCE register.
+     */
+    int getInterruptSource(void);
+
+    /**
+     * Get the data format settings.
+     *
+     * @return The contents of the DATA_FORMAT register.
+     */
+    int getDataFormatControl(void);
+
+    /**
+     * Set the data format settings.
+     *
+     * @param settings The control byte to write to the DATA_FORMAT register.
+     */
+    void setDataFormatControl(int settings);
+
+    /**
+     * Get the output of all three axes.
+     *
+     * @param Pointer to a buffer to hold the accelerometer value for the
+     *        x-axis, y-axis and z-axis [in that order].
+     */
+    void getOutput(int* readings);
+
+    /**
+     * Get the FIFO control settings.
+     *
+     * @return The contents of the FIFO_CTL register.
+     */
+    int getFifoControl(void);
+
+    /**
+     * Set the FIFO control settings.
+     *
+     * @param The control byte to write to the FIFO_CTL register.
+     */
+    void setFifoControl(int settings);
+
+    /**
+     * Get FIFO status.
+     *
+     * @return The contents of the FIFO_STATUS register.
+     */
+    int getFifoStatus(void);
+
+private:
+
+    SPI        spi_;
+    DigitalOut nCS_;
+
+    /**
+     * Read one byte from a register on the device.
+     *
+     * @param address Address of the register to read.
+     *
+     * @return The contents of the register address.
+     */
+    int oneByteRead(int address);
+
+    /**
+     * Write one byte to a register on the device.
+     *
+     * @param address Address of the register to write to.
+     * @param data The data to write into the register.
+     */
+    void oneByteWrite(int address, char data);
+
+    /**
+     * Read several consecutive bytes on the device.
+     *
+     * @param startAddress The address of the first register to read from.
+     * @param buffer Pointer to a buffer to store data read from the device.
+     * @param size The number of bytes to read.
+     */
+    void multiByteRead(int startAddress, char* buffer, int size);
+
+    /**
+     * Write several consecutive bytes on the device.
+     *
+     * @param startAddress The address of the first register to write to.
+     * @param buffer Pointer to a buffer which contains the data to write.
+     * @param size The number of bytes to write.
+     */
+    void multiByteWrite(int startAddress, char* buffer, int size);
+
+};
+
+#endif /* ADXL345_H */
diff --git a/tool/mbed/mbed-sdk/libraries/tests/peripherals/AX12/AX12.cpp b/tool/mbed/mbed-sdk/libraries/tests/peripherals/AX12/AX12.cpp
new file mode 100644
index 0000000000..ff578ec907
--- /dev/null
+++ b/tool/mbed/mbed-sdk/libraries/tests/peripherals/AX12/AX12.cpp
@@ -0,0 +1,534 @@
+/* mbed AX-12+ Servo Library
+ *
+ * Copyright (c) 2010, cstyles (http://mbed.org)
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#include "AX12.h"
+#include "mbed.h"
+
+AX12::AX12(PinName tx, PinName rx, int ID, int baud)
+        : _ax12(tx,rx) {
+    _baud = baud;
+    _ID = ID;
+    _ax12.baud(_baud);
+
+}
+
+// Set the mode of the servo
+//  0 = Positional (0-300 degrees)
+//  1 = Rotational -1 to 1 speed
+int AX12::SetMode(int mode) {
+
+    if (mode == 1) { // set CR
+        SetCWLimit(0);
+        SetCCWLimit(0);
+        SetCRSpeed(0.0);
+    } else {
+        SetCWLimit(0);
+        SetCCWLimit(300);
+        SetCRSpeed(0.0);
+    }
+    return(0);
+}
+
+
+// if flag[0] is set, were blocking
+// if flag[1] is set, we're registering
+// they are mutually exclusive operations
+int AX12::SetGoal(int degrees, int flags) {
+
+    char reg_flag = 0;
+    char data[2];
+
+    // set the flag is only the register bit is set in the flag
+    if (flags == 0x2) {
+        reg_flag = 1;
+    }
+
+    // 1023 / 300 * degrees
+    short goal = (1023 * degrees) / 300;
+#ifdef AX12_DEBUG
+    printf("SetGoal to 0x%x\n",goal);
+#endif
+
+    data[0] = goal & 0xff; // bottom 8 bits
+    data[1] = goal >> 8;   // top 8 bits
+
+    // write the packet, return the error code
+    int rVal = write(_ID, AX12_REG_GOAL_POSITION, 2, data, reg_flag);
+
+    if (flags == 1) {
+        // block until it comes to a halt
+        while (isMoving()) {}
+    }
+    return(rVal);
+}
+
+
+// Set continuous rotation speed from -1 to 1
+int AX12::SetCRSpeed(float speed) {
+
+    // bit 10     = direction, 0 = CCW, 1=CW
+    // bits 9-0   = Speed
+    char data[2];
+
+    int goal = (0x3ff * abs(speed));
+
+    // Set direction CW if we have a negative speed
+    if (speed < 0) {
+        goal |= (0x1 << 10);
+    }
+
+    data[0] = goal & 0xff; // bottom 8 bits
+    data[1] = goal >> 8;   // top 8 bits
+
+    // write the packet, return the error code
+    int rVal = write(_ID, 0x20, 2, data);
+
+    return(rVal);
+}
+
+
+int AX12::SetCWLimit (int degrees) {
+
+    char data[2];
+
+    // 1023 / 300 * degrees
+    short limit = (1023 * degrees) / 300;
+
+#ifdef AX12_DEBUG
+    printf("SetCWLimit to 0x%x\n",limit);
+#endif
+
+    data[0] = limit & 0xff; // bottom 8 bits
+    data[1] = limit >> 8;   // top 8 bits
+
+    // write the packet, return the error code
+    return (write(_ID, AX12_REG_CW_LIMIT, 2, data));
+
+}
+
+int AX12::SetCCWLimit (int degrees) {
+
+    char data[2];
+
+    // 1023 / 300 * degrees
+    short limit = (1023 * degrees) / 300;
+
+#ifdef AX12_DEBUG
+    printf("SetCCWLimit to 0x%x\n",limit);
+#endif
+
+    data[0] = limit & 0xff; // bottom 8 bits
+    data[1] = limit >> 8;   // top 8 bits
+
+    // write the packet, return the error code
+    return (write(_ID, AX12_REG_CCW_LIMIT, 2, data));
+}
+
+
+int AX12::SetID (int CurrentID, int NewID) {
+
+    char data[1];
+    data[0] = NewID;
+
+#ifdef AX12_DEBUG
+    printf("Setting ID from 0x%x to 0x%x\n",CurrentID,NewID);
+#endif
+
+    return (write(CurrentID, AX12_REG_ID, 1, data));
+
+}
+
+
+int AX12::SetBaud (int baud) {
+
+    char data[1];
+    data[0] = baud;
+
+#ifdef AX12_DEBUG
+    printf("Setting Baud rate to %d\n",baud);
+#endif
+
+    return (write(0xFE, AX12_REG_BAUD, 1, data));
+
+}
+
+
+
+// return 1 is the servo is still in flight
+int AX12::isMoving(void) {
+
+    char data[1];
+    read(_ID,AX12_REG_MOVING,1,data);
+    return(data[0]);
+}
+
+
+void AX12::trigger(void) {
+
+    char TxBuf[16];
+    char sum = 0;
+
+#ifdef AX12_TRIGGER_DEBUG
+    // Build the TxPacket first in RAM, then we'll send in one go
+    printf("\nTriggered\n");
+    printf("\nTrigger Packet\n  Header : 0xFF, 0xFF\n");
+#endif
+
+    TxBuf[0] = 0xFF;
+    TxBuf[1] = 0xFF;
+
+    // ID - Broadcast
+    TxBuf[2] = 0xFE;
+    sum += TxBuf[2];
+
+#ifdef AX12_TRIGGER_DEBUG
+    printf("  ID : %d\n",TxBuf[2]);
+#endif
+
+    // Length
+    TxBuf[3] = 0x02;
+    sum += TxBuf[3];
+
+#ifdef AX12_TRIGGER_DEBUG
+    printf("  Length %d\n",TxBuf[3]);
+#endif
+
+    // Instruction - ACTION
+    TxBuf[4] = 0x04;
+    sum += TxBuf[4];
+
+#ifdef AX12_TRIGGER_DEBUG
+    printf("  Instruction 0x%X\n",TxBuf[5]);
+#endif
+
+    // Checksum
+    TxBuf[5] = 0xFF - sum;
+#ifdef AX12_TRIGGER_DEBUG
+    printf("  Checksum 0x%X\n",TxBuf[5]);
+#endif
+
+    // Transmit the packet in one burst with no pausing
+    for (int i = 0; i < 6 ; i++) {
+        _ax12.putc(TxBuf[i]);
+    }
+
+    // This is a broadcast packet, so there will be no reply
+    return;
+}
+
+
+float AX12::GetPosition(void) {
+
+#ifdef AX12_DEBUG
+    printf("\nGetPosition(%d)",_ID);
+#endif
+
+    char data[2];
+
+    int ErrorCode = read(_ID, AX12_REG_POSITION, 2, data);
+    short position = data[0] + (data[1] << 8);
+    float angle = (position * 300)/1024;
+
+    return (angle);
+}
+
+
+float AX12::GetTemp (void) {
+
+#ifdef AX12_DEBUG
+    printf("\nGetTemp(%d)",_ID);
+#endif
+
+    char data[1];
+    int ErrorCode = read(_ID, AX12_REG_TEMP, 1, data);
+    float temp = data[0];
+    return(temp);
+}
+
+
+float AX12::GetVolts (void) {
+
+#ifdef AX12_DEBUG
+    printf("\nGetVolts(%d)",_ID);
+#endif
+
+    char data[1];
+    int ErrorCode = read(_ID, AX12_REG_VOLTS, 1, data);
+    float volts = data[0]/10.0;
+    return(volts);
+}
+
+
+int AX12::read(int ID, int start, int bytes, char* data) {
+
+    char PacketLength = 0x4;
+    char TxBuf[16];
+    char sum = 0;
+    char Status[16];
+
+    Status[4] = 0xFE; // return code
+
+#ifdef AX12_READ_DEBUG
+    printf("\nread(%d,0x%x,%d,data)\n",ID,start,bytes);
+#endif
+
+    // Build the TxPacket first in RAM, then we'll send in one go
+#ifdef AX12_READ_DEBUG
+    printf("\nInstruction Packet\n  Header : 0xFF, 0xFF\n");
+#endif
+
+    TxBuf[0] = 0xff;
+    TxBuf[1] = 0xff;
+
+    // ID
+    TxBuf[2] = ID;
+    sum += TxBuf[2];
+
+#ifdef AX12_READ_DEBUG
+    printf("  ID : %d\n",TxBuf[2]);
+#endif
+
+    // Packet Length
+    TxBuf[3] = PacketLength;    // Length = 4 ; 2 + 1 (start) = 1 (bytes)
+    sum += TxBuf[3];            // Accululate the packet sum
+
+#ifdef AX12_READ_DEBUG
+    printf("  Length : 0x%x\n",TxBuf[3]);
+#endif
+
+    // Instruction - Read
+    TxBuf[4] = 0x2;
+    sum += TxBuf[4];
+
+#ifdef AX12_READ_DEBUG
+    printf("  Instruction : 0x%x\n",TxBuf[4]);
+#endif
+
+    // Start Address
+    TxBuf[5] = start;
+    sum += TxBuf[5];
+
+#ifdef AX12_READ_DEBUG
+    printf("  Start Address : 0x%x\n",TxBuf[5]);
+#endif
+
+    // Bytes to read
+    TxBuf[6] = bytes;
+    sum += TxBuf[6];
+
+#ifdef AX12_READ_DEBUG
+    printf("  No bytes : 0x%x\n",TxBuf[6]);
+#endif
+
+    // Checksum
+    TxBuf[7] = 0xFF - sum;
+#ifdef AX12_READ_DEBUG
+    printf("  Checksum : 0x%x\n",TxBuf[7]);
+#endif
+
+    // Transmit the packet in one burst with no pausing
+    for (int i = 0; i<8 ; i++) {
+        _ax12.putc(TxBuf[i]);
+    }
+
+    // Wait for the bytes to be transmitted
+    wait (0.00002);
+
+    // Skip if the read was to the broadcast address
+    if (_ID != 0xFE) {
+
+
+
+        // response packet is always 6 + bytes
+        // 0xFF, 0xFF, ID, Length Error, Param(s) Checksum
+        // timeout is a little more than the time to transmit
+        // the packet back, i.e. (6+bytes)*10 bit periods
+
+        int timeout = 0;
+        int plen = 0;
+        while ((timeout < ((6+bytes)*10)) && (plen<(6+bytes))) {
+
+            if (_ax12.readable()) {
+                Status[plen] = _ax12.getc();
+                plen++;
+                timeout = 0;
+            }
+
+            // wait for the bit period
+            wait (1.0/_baud);
+            timeout++;
+        }
+
+        if (timeout == ((6+bytes)*10) ) {
+            return(-1);
+        }
+
+        // Copy the data from Status into data for return
+        for (int i=0; i < Status[3]-2 ; i++) {
+            data[i] = Status[5+i];
+        }
+
+#ifdef AX12_READ_DEBUG
+        printf("\nStatus Packet\n");
+        printf("  Header : 0x%x\n",Status[0]);
+        printf("  Header : 0x%x\n",Status[1]);
+        printf("  ID : 0x%x\n",Status[2]);
+        printf("  Length : 0x%x\n",Status[3]);
+        printf("  Error Code : 0x%x\n",Status[4]);
+
+        for (int i=0; i < Status[3]-2 ; i++) {
+            printf("  Data : 0x%x\n",Status[5+i]);
+        }
+
+        printf("  Checksum : 0x%x\n",Status[5+(Status[3]-2)]);
+#endif
+
+    } // if (ID!=0xFE)
+
+    return(Status[4]);
+}
+
+
+int AX12::write(int ID, int start, int bytes, char* data, int flag) {
+// 0xff, 0xff, ID, Length, Intruction(write), Address, Param(s), Checksum
+
+    char TxBuf[16];
+    char sum = 0;
+    char Status[6];
+
+#ifdef AX12_WRITE_DEBUG
+    printf("\nwrite(%d,0x%x,%d,data,%d)\n",ID,start,bytes,flag);
+#endif
+
+    // Build the TxPacket first in RAM, then we'll send in one go
+#ifdef AX12_WRITE_DEBUG
+    printf("\nInstruction Packet\n  Header : 0xFF, 0xFF\n");
+#endif
+
+    TxBuf[0] = 0xff;
+    TxBuf[1] = 0xff;
+
+    // ID
+    TxBuf[2] = ID;
+    sum += TxBuf[2];
+
+#ifdef AX12_WRITE_DEBUG
+    printf("  ID : %d\n",TxBuf[2]);
+#endif
+
+    // packet Length
+    TxBuf[3] = 3+bytes;
+    sum += TxBuf[3];
+
+#ifdef AX12_WRITE_DEBUG
+    printf("  Length : %d\n",TxBuf[3]);
+#endif
+
+    // Instruction
+    if (flag == 1) {
+        TxBuf[4]=0x04;
+        sum += TxBuf[4];
+    } else {
+        TxBuf[4]=0x03;
+        sum += TxBuf[4];
+    }
+
+#ifdef AX12_WRITE_DEBUG
+    printf("  Instruction : 0x%x\n",TxBuf[4]);
+#endif
+
+    // Start Address
+    TxBuf[5] = start;
+    sum += TxBuf[5];
+
+#ifdef AX12_WRITE_DEBUG
+    printf("  Start : 0x%x\n",TxBuf[5]);
+#endif
+
+    // data
+    for (char i=0; i<bytes ; i++) {
+        TxBuf[6+i] = data[i];
+        sum += TxBuf[6+i];
+
+#ifdef AX12_WRITE_DEBUG
+        printf("  Data : 0x%x\n",TxBuf[6+i]);
+#endif
+
+    }
+
+    // checksum
+    TxBuf[6+bytes] = 0xFF - sum;
+
+#ifdef AX12_WRITE_DEBUG
+    printf("  Checksum : 0x%x\n",TxBuf[6+bytes]);
+#endif
+
+    // Transmit the packet in one burst with no pausing
+    for (int i = 0; i < (7 + bytes) ; i++) {
+        _ax12.putc(TxBuf[i]);
+    }
+
+    // Wait for data to transmit
+    wait (0.00002);
+
+    // make sure we have a valid return
+    Status[4]=0x00;
+
+    // we'll only get a reply if it was not broadcast
+    if (_ID!=0xFE) {
+
+
+        // response packet is always 6 bytes
+        // 0xFF, 0xFF, ID, Length Error, Param(s) Checksum
+        // timeout is a little more than the time to transmit
+        // the packet back, i.e. 60 bit periods, round up to 100
+        int timeout = 0;
+        int plen = 0;
+        while ((timeout < 100) && (plen<6)) {
+
+            if (_ax12.readable()) {
+                Status[plen] = _ax12.getc();
+                plen++;
+                timeout = 0;
+            }
+
+            // wait for the bit period
+            wait (1.0/_baud);
+            timeout++;
+        }
+
+
+        // Build the TxPacket first in RAM, then we'll send in one go
+#ifdef AX12_WRITE_DEBUG
+        printf("\nStatus Packet\n  Header : 0x%X, 0x%X\n",Status[0],Status[1]);
+        printf("  ID : %d\n",Status[2]);
+        printf("  Length : %d\n",Status[3]);
+        printf("  Error : 0x%x\n",Status[4]);
+        printf("  Checksum : 0x%x\n",Status[5]);
+#endif
+
+
+    }
+
+    return(Status[4]); // return error code
+}
diff --git a/tool/mbed/mbed-sdk/libraries/tests/peripherals/AX12/AX12.h b/tool/mbed/mbed-sdk/libraries/tests/peripherals/AX12/AX12.h
new file mode 100644
index 0000000000..d1b3b42aef
--- /dev/null
+++ b/tool/mbed/mbed-sdk/libraries/tests/peripherals/AX12/AX12.h
@@ -0,0 +1,190 @@
+/* mbed AX-12+ Servo Library
+ *
+ * Copyright (c) 2010, cstyles (http://mbed.org)
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#ifndef MBED_AX12_H
+#define MBED_AX12_H
+
+#include "mbed.h"
+
+#define AX12_WRITE_DEBUG 1
+#define AX12_READ_DEBUG 1
+#define AX12_TRIGGER_DEBUG 1
+#define AX12_DEBUG 1
+
+#define AX12_REG_ID 0x3
+#define AX12_REG_BAUD 0x4
+#define AX12_REG_CW_LIMIT 0x06
+#define AX12_REG_CCW_LIMIT 0x08
+#define AX12_REG_GOAL_POSITION 0x1E
+#define AX12_REG_MOVING_SPEED 0x20
+#define AX12_REG_VOLTS 0x2A
+#define AX12_REG_TEMP 0x2B
+#define AX12_REG_MOVING 0x2E
+#define AX12_REG_POSITION 0x24
+
+#define AX12_MODE_POSITION  0
+#define AX12_MODE_ROTATION  1
+
+#define AX12_CW 1
+#define AX12_CCW 0
+
+/** Servo control class, based on a PwmOut
+ *
+ * Example:
+ * @code
+ * #include "mbed.h"
+ * #include "AX12.h"
+ *
+ * int main() {
+ *
+ *   AX12 myax12 (p9, p10, 1);
+ *
+ *   while (1) {
+ *       myax12.SetGoal(0);    // go to 0 degrees
+ *       wait (2.0);
+ *       myax12.SetGoal(300);  // go to 300 degrees
+ *       wait (2.0);
+ *   }
+ * }
+ * @endcode
+ */
+class AX12 {
+
+public:
+
+    /** Create an AX12 servo object connected to the specified serial port, with the specified ID
+     *
+     * @param pin tx pin
+     * @param pin rx pin
+     * @param int ID, the Bus ID of the servo 1-255
+     */
+    AX12(PinName tx, PinName rx, int ID, int baud=1000000);
+
+    /** Set the mode of the servo
+     * @param mode
+     *    0 = Positional, default
+     *    1 = Continuous rotation
+     */
+    int SetMode(int mode);
+
+    /** Set baud rate of all attached servos
+     * @param mode
+     *    0x01 = 1,000,000 bps
+     *    0x03 =   500,000 bps
+     *    0x04 =   400,000 bps
+     *    0x07 =   250,000 bps
+     *    0x09 =   200,000 bps
+     *    0x10 =   115,200 bps
+     *    0x22 =    57,600 bps
+     *    0x67 =    19,200 bps
+     *    0xCF =     9,600 bp
+     */
+    int SetBaud(int baud);
+
+
+    /** Set goal angle in integer degrees, in positional mode
+     *
+     * @param degrees 0-300
+     * @param flags, defaults to 0
+     *    flags[0] = blocking, return when goal position reached
+     *    flags[1] = register, activate with a broadcast trigger
+     *
+     */
+    int SetGoal(int degrees, int flags = 0);
+
+
+    /** Set the speed of the servo in continuous rotation mode
+     *
+     * @param speed, -1.0 to 1.0
+     *   -1.0 = full speed counter clock wise
+     *    1.0 = full speed clock wise
+     */
+    int SetCRSpeed(float speed);
+
+
+    /** Set the clockwise limit of the servo
+     *
+     * @param degrees, 0-300
+     */
+    int SetCWLimit(int degrees);
+
+    /** Set the counter-clockwise limit of the servo
+     *
+     * @param degrees, 0-300
+     */
+    int SetCCWLimit(int degrees);
+
+    // Change the ID
+
+    /** Change the ID of a servo
+     *
+     * @param CurentID 1-255
+     * @param NewID 1-255
+     *
+     * If a servo ID is not know, the broadcast address of 0 can be used for CurrentID.
+     * In this situation, only one servo should be connected to the bus
+     */
+    int SetID(int CurrentID, int NewID);
+
+
+    /** Poll to see if the servo is moving
+     *
+     * @returns true is the servo is moving
+     */
+    int isMoving(void);
+
+    /** Send the broadcast "trigger" command, to activate any outstanding registered commands
+     */
+    void trigger(void);
+
+    /** Read the current angle of the servo
+     *
+     * @returns float in the range 0.0-300.0
+     */
+    float GetPosition();
+
+    /** Read the temperature of the servo
+     *
+     * @returns float temperature
+     */
+    float GetTemp(void);
+
+    /** Read the supply voltage of the servo
+     *
+     * @returns float voltage
+     */
+    float GetVolts(void);
+
+    int read(int ID, int start, int length, char* data);
+    int write(int ID, int start, int length, char* data, int flag=0);
+
+private :
+
+    SerialHalfDuplex _ax12;
+    int _ID;
+    int _baud;
+
+
+};
+
+#endif
diff --git a/tool/mbed/mbed-sdk/libraries/tests/peripherals/MMA7660/MMA7660.cpp b/tool/mbed/mbed-sdk/libraries/tests/peripherals/MMA7660/MMA7660.cpp
new file mode 100644
index 0000000000..ff2bcd876d
--- /dev/null
+++ b/tool/mbed/mbed-sdk/libraries/tests/peripherals/MMA7660/MMA7660.cpp
@@ -0,0 +1,193 @@
+#include "MMA7660.h"
+
+MMA7660::MMA7660(PinName sda, PinName scl, bool active) : _i2c(sda, scl)
+{
+    setActive(active);
+    samplerate = 64;
+
+}
+
+//Since the MMA lacks a WHO_AM_I register, we can only check if there is a device that answers to the I2C address
+bool MMA7660::testConnection( void )
+{
+    if (_i2c.write(MMA7660_ADDRESS, NULL, 0) == 0 )
+        return true;
+    else
+        return false;
+}
+
+void MMA7660::setActive(bool state)
+{
+    char modereg = read(MMA7660_MODE_R);
+    modereg &= ~(1<<0);
+
+    //If it somehow was in testmode, disable that
+    if (modereg && (1<<2)) {
+        modereg &= ~(1<<2);
+        write(MMA7660_MODE_R, modereg);
+    }
+
+    modereg += state;
+    write(MMA7660_MODE_R, modereg);
+}
+
+void MMA7660::readData(int *data)
+{
+    if (!active) {
+        setActive(true);
+        active = true;
+        wait(0.012 + 1/samplerate); //Wait until new sample is ready, my experience is that 1/samplerate isnt needed, but datasheet says so
+    }
+
+    char temp[3];
+    bool alert;
+
+    do {
+        alert = false;
+        read(MMA7660_XOUT_R, temp, 3);
+        for (int i = 0; i<3; i++) {
+            if (temp[i] > 63)
+                alert = true;
+            if (temp[i] > 31)
+                temp[i] += 128+64;
+            data[i] = (signed char)temp[i];
+        }
+    } while (alert);
+
+    if (!active)
+        setActive(false);
+}
+
+
+void MMA7660::readData(float *data)
+{
+    int intdata[3];
+    readData(intdata);
+    for (int i = 0; i<3; i++)
+        data[i] = intdata[i]/MMA7660_SENSITIVITY;
+}
+
+float MMA7660::x( void )
+{
+    return getSingle(0);
+}
+
+float MMA7660::y( void )
+{
+    return getSingle(1);
+}
+
+float MMA7660::z( void )
+{
+    return getSingle(2);
+}
+
+
+void MMA7660::setSampleRate(int samplerate)
+{
+    setActive(false);                               //Not allowed to be active to change anything
+    int rates[] = {120, 64, 32, 16, 8, 4, 2, 1};    //Alowed samplerates (and their number in array is also number required for MMA)
+    int sampleLoc = 0, sampleError = 10000, temp;
+    for (int i = 0; i<8; i++) {
+        temp = abs( rates[i] - samplerate );
+        if (temp<sampleError) {
+            sampleLoc = i;
+            sampleError=temp;
+        }
+    }
+
+    //Update the samplerate reg
+    temp = read(MMA7660_SR_R);
+    temp &= ~0x07;                                  //Awake sample rate are lowest 3 bit
+    temp |= sampleLoc;
+    write(MMA7660_SR_R, temp);
+    this->samplerate = rates[sampleLoc];
+    setActive(active);                              //Restore previous active state
+}
+
+
+MMA7660::Orientation MMA7660::getSide( void )
+{
+    char tiltreg = read(MMA7660_TILT_R);
+
+    //We care about 2 LSBs
+    tiltreg &= 0x03;
+    if (tiltreg == 0x01)
+        return MMA7660::Front;
+    if (tiltreg == 0x02)
+        return MMA7660::Back;
+    return MMA7660::Unknown;
+}
+
+MMA7660::Orientation MMA7660::getOrientation( void )
+{
+    char tiltreg = read(MMA7660_TILT_R);
+
+    //We care about bit 2, 3 and 4 (counting from zero)
+    tiltreg &= 0x07<<2;
+    tiltreg >>= 2;
+    if (tiltreg == 0x01)
+        return MMA7660::Left;
+    if (tiltreg == 0x02)
+        return MMA7660::Right;
+    if (tiltreg == 0x05)
+        return MMA7660::Down;
+    if (tiltreg == 0x06)
+        return MMA7660::Up;
+    return MMA7660::Unknown;
+}
+
+
+
+//////////////////////////////////////////////
+///////////////PRIVATE////////////////////////
+//////////////////////////////////////////////
+
+
+void MMA7660::write(char address, char data)
+{
+    char temp[2];
+    temp[0]=address;
+    temp[1]=data;
+
+    _i2c.write(MMA7660_ADDRESS, temp, 2);
+}
+
+char MMA7660::read(char address)
+{
+    char retval;
+    _i2c.write(MMA7660_ADDRESS, &address, 1, true);
+    _i2c.read(MMA7660_ADDRESS, &retval, 1);
+    return retval;
+}
+
+void MMA7660::read(char address, char *data, int length)
+{
+    _i2c.write(MMA7660_ADDRESS, &address, 1, true);
+    _i2c.read(MMA7660_ADDRESS, data, length);
+}
+
+float MMA7660::getSingle( int number )
+{
+    if (!active) {
+        setActive(true);
+        wait(0.012 + 1/samplerate); //Wait until new sample is ready
+    }
+
+    signed char temp;
+    bool alert;
+
+    do {
+        alert = false;
+        temp = read(MMA7660_XOUT_R + number);
+        if (temp > 63)
+            alert = true;
+        if (temp > 31)
+            temp += 128+64;
+    } while (alert);
+
+    if (!active)
+        setActive(false);
+
+    return temp / MMA7660_SENSITIVITY;
+}
diff --git a/tool/mbed/mbed-sdk/libraries/tests/peripherals/MMA7660/MMA7660.h b/tool/mbed/mbed-sdk/libraries/tests/peripherals/MMA7660/MMA7660.h
new file mode 100644
index 0000000000..80c7ee0c54
--- /dev/null
+++ b/tool/mbed/mbed-sdk/libraries/tests/peripherals/MMA7660/MMA7660.h
@@ -0,0 +1,207 @@
+/* Copyright (c) <year> <copyright holders>, MIT License
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of this software
+ * and associated documentation files (the "Software"), to deal in the Software without restriction,
+ * including without limitation the rights to use, copy, modify, merge, publish, distribute,
+ * sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all copies or
+ * substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
+ * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
+ * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+#include "mbed.h"
+
+
+#ifndef MMA7660_H
+#define MMA7660_H
+
+#define MMA7660_ADDRESS     0x98
+#define MMA7660_SENSITIVITY 21.33
+
+#define MMA7660_XOUT_R      0x00
+#define MMA7660_YOUT_R      0x01
+#define MMA7660_ZOUT_R      0x02
+#define MMA7660_TILT_R      0x03
+#define MMA7660_INT_R       0x06
+#define MMA7660_MODE_R      0x07
+#define MMA7660_SR_R        0x08
+
+
+/** An interface for the MMA7660 triple axis accelerometer
+ *
+ * @code
+ * //Uses the measured z-acceleration to drive leds 2 and 3 of the mbed
+ *
+ * #include "mbed.h"
+ * #include "MMA7660.h"
+ *
+ * MMA7660 MMA(p28, p27);
+ *
+ * DigitalOut connectionLed(LED1);
+ * PwmOut Zaxis_p(LED2);
+ * PwmOut Zaxis_n(LED3);
+ *
+ * int main() {
+ *     if (MMA.testConnection())
+ *         connectionLed = 1;
+ *
+ *     while(1) {
+ *         Zaxis_p = MMA.z();
+ *         Zaxis_n = -MMA.z();
+ *     }
+ *
+ * }
+ * @endcode
+ */
+class MMA7660
+{
+public:
+    /**
+    * The 6 different orientations and unknown
+    *
+    * Up & Down = X-axis
+    * Right & Left = Y-axis
+    * Back & Front = Z-axis
+    *
+    */
+    enum Orientation {Up, Down,
+                      Right, Left,
+                      Back, Front,
+                      Unknown
+                     };
+
+    /**
+    * Creates a new MMA7660 object
+    *
+    * @param sda - I2C data pin
+    * @param scl - I2C clock pin
+    * @param active - true (default) to enable the device, false to keep it standby
+    */
+    MMA7660(PinName sda, PinName scl, bool active = true);
+
+    /**
+    * Tests if communication is possible with the MMA7660
+    *
+    * Because the MMA7660 lacks a WHO_AM_I register, this function can only check
+    * if there is an I2C device that responds to the MMA7660 address
+    *
+    * @param return - true for successfull connection, false for no connection
+    */
+    bool testConnection( void );
+
+    /**
+    * Sets the active state of the MMA7660
+    *
+    * Note: This is unrelated to awake/sleep mode
+    *
+    * @param state - true for active, false for standby
+    */
+    void setActive( bool state);
+
+    /**
+    * Reads acceleration data from the sensor
+    *
+    * When the parameter is a pointer to an integer array it will be the raw data.
+    * When it is a pointer to a float array it will be the acceleration in g's
+    *
+    * @param data - pointer to array with length 3 where the acceleration data will be stored, X-Y-Z
+    */
+    void readData( int *data);
+    void readData( float *data);
+
+    /**
+    * Get X-data
+    *
+    * @param return - X-acceleration in g's
+    */
+    float x( void );
+
+    /**
+    * Get Y-data
+    *
+    * @param return - Y-acceleration in g's
+    */
+    float y( void );
+
+    /**
+    * Get Z-data
+    *
+    * @param return - Z-acceleration in g's
+    */
+    float z( void );
+
+    /**
+    * Sets the active samplerate
+    *
+    * The entered samplerate will be rounded to nearest supported samplerate.
+    * Supported samplerates are: 120 - 64 - 32 - 16 - 8 - 4 - 2 - 1 samples/second.
+    *
+    * @param samplerate - the samplerate that will be set
+    */
+    void setSampleRate(int samplerate);
+
+    /**
+    * Returns if it is on its front, back, or unknown side
+    *
+    * This is read from MMA7760s registers, page 12 of datasheet
+    *
+    * @param return - Front, Back or Unknown orientation
+    */
+    Orientation getSide( void );
+
+    /**
+    * Returns if it is on it left, right, down or up side
+    *
+    * This is read from MMA7760s registers, page 12 of datasheet
+    *
+    * @param return - Left, Right, Down, Up or Unknown orientation
+    */
+    Orientation getOrientation ( void );
+
+
+private:
+
+    /**
+    * Writes data to the device
+    *
+    * @param adress - register address to write to
+    * @param data - data to write
+    */
+    void write( char address, char data);
+
+    /**
+    * Read data from the device
+    *
+    * @param adress - register address to write to
+    * @return - data from the register specified by RA
+    */
+    char read( char adress);
+
+    /**
+     * Read multiple regigsters from the device, more efficient than using multiple normal reads.
+     *
+     * @param adress - register address to write to
+     * @param length - number of bytes to read
+     * @param data - pointer where the data needs to be written to
+     */
+    void read( char adress, char *data, int length);
+
+    /**
+    * Reads single axis
+    */
+    float getSingle(int number);
+
+    I2C _i2c;
+    bool active;
+    float samplerate;
+};
+
+
+#endif
diff --git a/tool/mbed/mbed-sdk/libraries/tests/peripherals/MMA8451Q/MMA8451Q.cpp b/tool/mbed/mbed-sdk/libraries/tests/peripherals/MMA8451Q/MMA8451Q.cpp
new file mode 100644
index 0000000000..9bdf87af51
--- /dev/null
+++ b/tool/mbed/mbed-sdk/libraries/tests/peripherals/MMA8451Q/MMA8451Q.cpp
@@ -0,0 +1,81 @@
+/* Copyright (c) 2010-2011 mbed.org, MIT License
+*
+* Permission is hereby granted, free of charge, to any person obtaining a copy of this software
+* and associated documentation files (the "Software"), to deal in the Software without
+* restriction, including without limitation the rights to use, copy, modify, merge, publish,
+* distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the
+* Software is furnished to do so, subject to the following conditions:
+*
+* The above copyright notice and this permission notice shall be included in all copies or
+* substantial portions of the Software.
+*
+* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
+* BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
+* DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+*/
+
+#include "MMA8451Q.h"
+
+#define REG_WHO_AM_I      0x0D
+#define REG_CTRL_REG_1    0x2A
+#define REG_OUT_X_MSB     0x01
+#define REG_OUT_Y_MSB     0x03
+#define REG_OUT_Z_MSB     0x05
+
+#define UINT14_MAX        16383
+
+MMA8451Q::MMA8451Q(PinName sda, PinName scl, int addr) : m_i2c(sda, scl), m_addr(addr) {
+    // activate the peripheral
+    uint8_t data[2] = {REG_CTRL_REG_1, 0x01};
+    writeRegs(data, 2);
+}
+
+MMA8451Q::~MMA8451Q() { }
+
+uint8_t MMA8451Q::getWhoAmI() {
+    uint8_t who_am_i = 0;
+    readRegs(REG_WHO_AM_I, &who_am_i, 1);
+    return who_am_i;
+}
+
+int16_t MMA8451Q::getAccX() {
+    return getAccAxis(REG_OUT_X_MSB);
+}
+
+int16_t MMA8451Q::getAccY() {
+    return getAccAxis(REG_OUT_Y_MSB);
+}
+
+int16_t MMA8451Q::getAccZ() {
+    return getAccAxis(REG_OUT_Z_MSB);
+}
+
+void MMA8451Q::getAccAllAxis(int16_t * res) {
+    res[0] = getAccX();
+    res[1] = getAccY();
+    res[2] = getAccZ();
+}
+
+int16_t MMA8451Q::getAccAxis(uint8_t addr) {
+    int16_t acc;
+    uint8_t res[2];
+    readRegs(addr, res, 2);
+
+    acc = (res[0] << 6) | (res[1] >> 2);
+    if (acc > UINT14_MAX/2)
+        acc -= UINT14_MAX;
+
+    return acc;
+}
+
+void MMA8451Q::readRegs(int addr, uint8_t * data, int len) {
+    char t[1] = {addr};
+    m_i2c.write(m_addr, t, 1, true);
+    m_i2c.read(m_addr, (char *)data, len);
+}
+
+void MMA8451Q::writeRegs(uint8_t * data, int len) {
+    m_i2c.write(m_addr, (char *)data, len);
+}
diff --git a/tool/mbed/mbed-sdk/libraries/tests/peripherals/MMA8451Q/MMA8451Q.h b/tool/mbed/mbed-sdk/libraries/tests/peripherals/MMA8451Q/MMA8451Q.h
new file mode 100644
index 0000000000..1b222685d9
--- /dev/null
+++ b/tool/mbed/mbed-sdk/libraries/tests/peripherals/MMA8451Q/MMA8451Q.h
@@ -0,0 +1,108 @@
+/* Copyright (c) 2010-2011 mbed.org, MIT License
+*
+* Permission is hereby granted, free of charge, to any person obtaining a copy of this software
+* and associated documentation files (the "Software"), to deal in the Software without
+* restriction, including without limitation the rights to use, copy, modify, merge, publish,
+* distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the
+* Software is furnished to do so, subject to the following conditions:
+*
+* The above copyright notice and this permission notice shall be included in all copies or
+* substantial portions of the Software.
+*
+* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
+* BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
+* DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+*/
+
+#ifndef MMA8451Q_H
+#define MMA8451Q_H
+
+#include "mbed.h"
+
+/**
+* MMA8451Q accelerometer example
+* #include "mbed.h"
+* #include "MMA8451Q.h"
+*
+* #define MMA8451_I2C_ADDRESS (0x1d<<1)
+*
+* int main(void) {
+*    DigitalOut led(LED_GREEN);
+*    MMA8451Q acc(P_E25, P_E24, MMA8451_I2C_ADDRESS);
+*    printf("WHO AM I: 0x%2X\r\n", acc.getWhoAmI());
+*
+*    while (true) {
+*        printf("-----------\r\n");
+*        printf("acc_x: %d\r\n", acc.getAccX());
+*        printf("acc_y: %d\r\n", acc.getAccY());
+*        printf("acc_z: %d\r\n", acc.getAccZ());
+*
+*        wait(1);
+*        led = !led;
+*    }
+* }
+*/
+class MMA8451Q
+{
+public:
+  /**
+  * MMA8451Q constructor
+  *
+  * @param sda SDA pin
+  * @param sdl SCL pin
+  * @param addr addr of the I2C peripheral
+  */
+  MMA8451Q(PinName sda, PinName scl, int addr);
+
+  /**
+  * MMA8451Q destructor
+  */
+  ~MMA8451Q();
+
+  /**
+   * Get the value of the WHO_AM_I register
+   *
+   * @returns WHO_AM_I value
+   */
+  uint8_t getWhoAmI();
+
+  /**
+   * Get X axis acceleration
+   *
+   * @returns X axis acceleration
+   */
+  int16_t getAccX();
+
+  /**
+   * Get Y axis acceleration
+   *
+   * @returns Y axis acceleration
+   */
+  int16_t getAccY();
+
+  /**
+   * Get Z axis acceleration
+   *
+   * @returns Z axis acceleration
+   */
+  int16_t getAccZ();
+
+  /**
+   * Get XYZ axis acceleration
+   *
+   * @param res array where acceleration data will be stored
+   */
+  void getAccAllAxis(int16_t * res);
+
+private:
+  I2C m_i2c;
+  int m_addr;
+  void readRegs(int addr, uint8_t * data, int len);
+  void writeRegs(uint8_t * data, int len);
+  int16_t getAccAxis(uint8_t addr);
+
+};
+
+#endif
diff --git a/tool/mbed/mbed-sdk/libraries/tests/peripherals/SRF08/SRF08.cpp b/tool/mbed/mbed-sdk/libraries/tests/peripherals/SRF08/SRF08.cpp
new file mode 100644
index 0000000000..8e44a3ee23
--- /dev/null
+++ b/tool/mbed/mbed-sdk/libraries/tests/peripherals/SRF08/SRF08.cpp
@@ -0,0 +1,67 @@
+
+/*
+Copyright (c) 2010 Chris Styles ( chris dot styles at mbed dot org )
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE.
+*/
+
+#include "SRF08.h"
+
+
+SRF08::SRF08(PinName sda, PinName scl, int addr) : m_i2c(sda, scl), m_addr(addr) {
+    char cmd[2];
+
+// Set up SRF08 max range and receiver sensitivity over I2C bus
+    cmd[0] = 0x02;                          // Range register
+    cmd[1] = 0x1C;                          // Set max range about 100cm
+    m_i2c.write(m_addr, cmd, 2);
+    cmd[0] = 0x01;                          // Receiver gain register
+    cmd[1] = 0x1B;                          // Set max receiver gain
+    m_i2c.write(m_addr, cmd, 2);
+
+}
+
+SRF08::~SRF08() {
+
+}
+
+float SRF08::read() {
+
+    char cmd[2];
+    char echo[2];
+
+
+// Get range data from SRF08
+// Send Tx burst command over I2C bus
+    cmd[0] = 0x00;                      // Command register
+    cmd[1] = 0x51;                      // Ranging results in cm
+    m_i2c.write(m_addr, cmd, 2);          // Send ranging burst
+
+    wait(0.07);                         // Wait for return echo
+
+// Read back range over I2C bus
+    cmd[0] = 0x02;                        // Address of first echo
+    m_i2c.write(m_addr, cmd, 1, 1);         // Send address of first echo
+    m_i2c.read(m_addr, echo, 2);            // Read two-byte echo result
+
+// Generate PWM mark/space ratio from range data
+    float range = (echo[0]<<8)+echo[1];
+
+    return range;
+}
diff --git a/tool/mbed/mbed-sdk/libraries/tests/peripherals/SRF08/SRF08.h b/tool/mbed/mbed-sdk/libraries/tests/peripherals/SRF08/SRF08.h
new file mode 100644
index 0000000000..a3606338b8
--- /dev/null
+++ b/tool/mbed/mbed-sdk/libraries/tests/peripherals/SRF08/SRF08.h
@@ -0,0 +1,60 @@
+
+/*
+Copyright (c) 2010 Chris Styles (chris dot styles at mbed dot org)
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE.
+*/
+
+#ifndef SRF08_H
+#define SRF08_H
+
+#include "mbed.h"
+
+//!Library for the SRF08 Ultrasonic Ranger
+/*!
+The SRF08 is an Ultrasonic range finder, with an I2C interface that allows the measurement to be read directly in centimetres
+*/
+class SRF08
+{
+public:
+  //!Creates an instance of the class.
+  /*!
+  Connect module at I2C address addr using I2C port pins sda and scl.
+  SRF08
+  */
+  SRF08(PinName sda, PinName scl, int addr);
+
+  /*!
+  Destroys instance.
+  */
+  ~SRF08();
+
+  //!Reads the current temperature.
+  /*!
+  Reads the temperature register of the TMP102 and converts it to a useable value.
+  */
+  float read();
+
+private:
+  I2C m_i2c;
+  int m_addr;
+
+};
+
+#endif
diff --git a/tool/mbed/mbed-sdk/libraries/tests/peripherals/TMP102/TMP102.cpp b/tool/mbed/mbed-sdk/libraries/tests/peripherals/TMP102/TMP102.cpp
new file mode 100644
index 0000000000..934c690ed3
--- /dev/null
+++ b/tool/mbed/mbed-sdk/libraries/tests/peripherals/TMP102/TMP102.cpp
@@ -0,0 +1,23 @@
+#include "TMP102.h"
+
+#define TEMP_REG_ADDR 0x00
+
+TMP102::TMP102(PinName sda, PinName scl, int addr) : m_i2c(sda, scl), m_addr(addr) {
+    m_i2c.frequency(400000);
+}
+TMP102::~TMP102() { }
+
+float TMP102::read() {
+    const char tempRegAddr = TEMP_REG_ADDR;
+
+    m_i2c.write(m_addr, &tempRegAddr, 1);
+
+    char reg[2] = {0,0};
+    m_i2c.read(m_addr, reg, 2);
+
+    unsigned short res = (reg[0] << 4) | (reg[1] >> 4);
+
+    float temp =  (float) ((float)res * 0.0625);
+
+    return temp;
+}
diff --git a/tool/mbed/mbed-sdk/libraries/tests/peripherals/TMP102/TMP102.h b/tool/mbed/mbed-sdk/libraries/tests/peripherals/TMP102/TMP102.h
new file mode 100644
index 0000000000..ce7de83849
--- /dev/null
+++ b/tool/mbed/mbed-sdk/libraries/tests/peripherals/TMP102/TMP102.h
@@ -0,0 +1,39 @@
+#ifndef TMP102_H
+#define TMP102_H
+
+#include "mbed.h"
+
+//!Library for the TI TMP102 temperature sensor.
+/*!
+The TMP102 is an I2C digital temperature sensor in a small SOT563 package, with a 0.0625C resolution and 0.5C accuracy.
+*/
+class TMP102
+{
+public:
+  //!Creates an instance of the class.
+  /*!
+  Connect module at I2C address addr using I2C port pins sda and scl.
+  TMP102
+  \param addr <table><tr><th>A0 pin connection</th><th>Address</th></tr><tr><td>GND</td><td>0x90</td></tr><tr><td>V+</td><td>0x92</td></tr><tr><td>SDA</td><td>0x94</td></tr><tr><td>SCL</td><td>0x96</td></tr></table>
+  */
+  TMP102(PinName sda, PinName scl, int addr);
+
+  /*!
+  Destroys instance.
+  */
+  ~TMP102();
+
+  //!Reads the current temperature.
+  /*!
+  Reads the temperature register of the TMP102 and converts it to a useable value.
+  */
+  float read();
+
+  I2C m_i2c;
+
+private:
+  int m_addr;
+
+};
+
+#endif
diff --git a/tool/mbed/mbed-sdk/libraries/tests/peripherals/TSI/TSISensor.cpp b/tool/mbed/mbed-sdk/libraries/tests/peripherals/TSI/TSISensor.cpp
new file mode 100644
index 0000000000..b1d2c9413b
--- /dev/null
+++ b/tool/mbed/mbed-sdk/libraries/tests/peripherals/TSI/TSISensor.cpp
@@ -0,0 +1,231 @@
+/* Freescale Semiconductor Inc.
+ * (c) Copyright 2004-2005 Freescale Semiconductor, Inc.
+ * (c) Copyright 2001-2004 Motorola, Inc.
+ *
+ * mbed Microcontroller Library
+ * (c) Copyright 2009-2012 ARM Limited.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of this software
+ * and associated documentation files (the "Software"), to deal in the Software without
+ * restriction, including without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the
+ * Software is furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all copies or
+ * substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
+ * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
+ * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+#include "mbed.h"
+#include "TSISensor.h"
+
+#define NO_TOUCH                 0
+#define SLIDER_LENGTH           40 //LENGTH in mm
+#define TOTAL_ELECTRODE          2
+
+#define TSI0a        0
+#define TSI1         1
+#define TSI2         2
+#define TSI3         3
+#define TSI4         4
+#define TSI5         5
+#define TSI6         6
+#define TSI7         7
+#define TSI8         8
+#define TSI9         9
+#define TSI10        10
+#define TSI11        11
+#define TSI12        12
+#define TSI13        13
+#define TSI14        14
+#define TSI15        15
+
+/*Chose the correct TSI channel for the electrode number*/
+#define ELECTRODE0   TSI9
+#define ELECTRODE1   TSI10
+#define ELECTRODE2   TSI0a
+#define ELECTRODE3   TSI1
+#define ELECTRODE4   TSI2
+#define ELECTRODE5   TSI3
+#define ELECTRODE6   TSI4
+#define ELECTRODE7   TSI5
+#define ELECTRODE8   TSI6
+#define ELECTRODE9   TSI7
+#define ELECTRODE10  TSI8
+#define ELECTRODE11  TSI11
+#define ELECTRODE12  TSI12
+#define ELECTRODE13  TSI13
+#define ELECTRODE14  TSI14
+#define ELECTRODE15  TSI15
+
+#define THRESHOLD0   100
+#define THRESHOLD1   100
+#define THRESHOLD2   100
+#define THRESHOLD3   100
+#define THRESHOLD4   100
+#define THRESHOLD5   100
+#define THRESHOLD6   100
+#define THRESHOLD7   100
+#define THRESHOLD8   100
+#define THRESHOLD9   100
+#define THRESHOLD10   100
+#define THRESHOLD11   100
+#define THRESHOLD12   100
+#define THRESHOLD13   100
+#define THRESHOLD14   100
+#define THRESHOLD15   100
+
+static uint8_t total_electrode = TOTAL_ELECTRODE;
+static uint8_t elec_array[16]={ELECTRODE0,ELECTRODE1,ELECTRODE2,ELECTRODE3,ELECTRODE4,ELECTRODE5,
+                               ELECTRODE6,ELECTRODE7,ELECTRODE8,ELECTRODE9,ELECTRODE10,ELECTRODE11,
+                               ELECTRODE12,ELECTRODE13,ELECTRODE14,ELECTRODE15};
+static uint16_t gu16TSICount[16];
+static uint16_t gu16Baseline[16];
+static uint16_t gu16Threshold[16]={THRESHOLD0,THRESHOLD1,THRESHOLD2,THRESHOLD3,THRESHOLD4,THRESHOLD5,
+                                   THRESHOLD6,THRESHOLD7,THRESHOLD8,THRESHOLD9,THRESHOLD10,THRESHOLD11,
+                                   THRESHOLD12,THRESHOLD13,THRESHOLD14,THRESHOLD15};
+static uint16_t gu16Delta[16];
+static uint8_t ongoing_elec;
+static uint8_t end_flag = 1;
+
+static uint8_t SliderPercentegePosition[2] = {NO_TOUCH,NO_TOUCH};
+static uint8_t SliderDistancePosition[2] = {NO_TOUCH,NO_TOUCH};
+static uint32_t AbsolutePercentegePosition = NO_TOUCH;
+static uint32_t AbsoluteDistancePosition = NO_TOUCH;
+
+static void tsi_irq();
+
+TSISensor::TSISensor() {
+    SIM->SCGC5 |= SIM_SCGC5_PORTB_MASK;
+    SIM->SCGC5 |= SIM_SCGC5_TSI_MASK;
+
+    TSI0->GENCS |= (TSI_GENCS_ESOR_MASK
+                   | TSI_GENCS_MODE(0)
+                   | TSI_GENCS_REFCHRG(4)
+                   | TSI_GENCS_DVOLT(0)
+                   | TSI_GENCS_EXTCHRG(7)
+                   | TSI_GENCS_PS(4)
+                   | TSI_GENCS_NSCN(11)
+                   | TSI_GENCS_TSIIEN_MASK
+                   | TSI_GENCS_STPE_MASK
+                   );
+
+    TSI0->GENCS |= TSI_GENCS_TSIEN_MASK;
+
+    NVIC_SetVector(TSI0_IRQn, (uint32_t)&tsi_irq);
+    NVIC_EnableIRQ(TSI0_IRQn);
+
+    selfCalibration();
+}
+
+
+void TSISensor::selfCalibration(void)
+{
+    unsigned char cnt;
+    unsigned char trigger_backup;
+
+    TSI0->GENCS |= TSI_GENCS_EOSF_MASK;      // Clear End of Scan Flag
+    TSI0->GENCS &= ~TSI_GENCS_TSIEN_MASK;    // Disable TSI module
+
+    if(TSI0->GENCS & TSI_GENCS_STM_MASK)     // Back-up TSI Trigger mode from Application
+        trigger_backup = 1;
+    else
+        trigger_backup = 0;
+
+    TSI0->GENCS &= ~TSI_GENCS_STM_MASK;      // Use SW trigger
+    TSI0->GENCS &= ~TSI_GENCS_TSIIEN_MASK;    // Enable TSI interrupts
+
+    TSI0->GENCS |= TSI_GENCS_TSIEN_MASK;     // Enable TSI module
+
+    for(cnt=0; cnt < total_electrode; cnt++)  // Get Counts when Electrode not pressed
+    {
+        TSI0->DATA = ((elec_array[cnt] << TSI_DATA_TSICH_SHIFT) );
+        TSI0->DATA |= TSI_DATA_SWTS_MASK;
+        while(!(TSI0->GENCS & TSI_GENCS_EOSF_MASK));
+        TSI0->GENCS |= TSI_GENCS_EOSF_MASK;
+        gu16Baseline[cnt] = (TSI0->DATA & TSI_DATA_TSICNT_MASK);
+    }
+
+    TSI0->GENCS &= ~TSI_GENCS_TSIEN_MASK;    // Disable TSI module
+    TSI0->GENCS |= TSI_GENCS_TSIIEN_MASK;     // Enale TSI interrupt
+    if(trigger_backup)                      // Restore trigger mode
+        TSI0->GENCS |= TSI_GENCS_STM_MASK;
+    else
+        TSI0->GENCS &= ~TSI_GENCS_STM_MASK;
+
+    TSI0->GENCS |= TSI_GENCS_TSIEN_MASK;     // Enable TSI module
+
+    TSI0->DATA = ((elec_array[0]<<TSI_DATA_TSICH_SHIFT) );
+    TSI0->DATA |= TSI_DATA_SWTS_MASK;
+}
+
+
+void TSISensor::sliderRead(void ) {
+    if(end_flag) {
+        end_flag = 0;
+        if((gu16Delta[0] > gu16Threshold[0])||(gu16Delta[1] > gu16Threshold[1])) {
+            SliderPercentegePosition[0] = (gu16Delta[0]*100)/(gu16Delta[0]+gu16Delta[1]);
+            SliderPercentegePosition[1] = (gu16Delta[1]*100)/(gu16Delta[0]+gu16Delta[1]);
+            SliderDistancePosition[0] = (SliderPercentegePosition[0]* SLIDER_LENGTH)/100;
+            SliderDistancePosition[1] = (SliderPercentegePosition[1]* SLIDER_LENGTH)/100;
+            AbsolutePercentegePosition = ((100 - SliderPercentegePosition[0]) + SliderPercentegePosition[1])/2;
+            AbsoluteDistancePosition = ((SLIDER_LENGTH - SliderDistancePosition[0]) + SliderDistancePosition[1])/2;
+         } else {
+            SliderPercentegePosition[0] = NO_TOUCH;
+            SliderPercentegePosition[1] = NO_TOUCH;
+            SliderDistancePosition[0] = NO_TOUCH;
+            SliderDistancePosition[1] = NO_TOUCH;
+            AbsolutePercentegePosition = NO_TOUCH;
+            AbsoluteDistancePosition = NO_TOUCH;
+         }
+    }
+}
+
+float TSISensor::readPercentage() {
+    sliderRead();
+    return (float)AbsolutePercentegePosition/100.0;
+}
+
+uint8_t TSISensor::readDistance() {
+    sliderRead();
+    return AbsoluteDistancePosition;
+}
+
+
+static void changeElectrode(void)
+{
+    int16_t u16temp_delta;
+
+    gu16TSICount[ongoing_elec] = (TSI0->DATA & TSI_DATA_TSICNT_MASK);          // Save Counts for current electrode
+    u16temp_delta = gu16TSICount[ongoing_elec] - gu16Baseline[ongoing_elec];  // Obtains Counts Delta from callibration reference
+    if(u16temp_delta < 0)
+        gu16Delta[ongoing_elec] = 0;
+    else
+        gu16Delta[ongoing_elec] = u16temp_delta;
+
+    //Change Electrode to Scan
+    if(total_electrode > 1)
+    {
+        if((total_electrode-1) > ongoing_elec)
+            ongoing_elec++;
+        else
+            ongoing_elec = 0;
+
+        TSI0->DATA = ((elec_array[ongoing_elec]<<TSI_DATA_TSICH_SHIFT) );
+        TSI0->DATA |= TSI_DATA_SWTS_MASK;
+    }
+}
+
+
+void tsi_irq(void)
+{
+    end_flag = 1;
+    TSI0->GENCS |= TSI_GENCS_EOSF_MASK; // Clear End of Scan Flag
+    changeElectrode();
+}
+
diff --git a/tool/mbed/mbed-sdk/libraries/tests/peripherals/TSI/TSISensor.h b/tool/mbed/mbed-sdk/libraries/tests/peripherals/TSI/TSISensor.h
new file mode 100644
index 0000000000..1ac547b4a5
--- /dev/null
+++ b/tool/mbed/mbed-sdk/libraries/tests/peripherals/TSI/TSISensor.h
@@ -0,0 +1,73 @@
+/* Freescale Semiconductor Inc.
+ * (c) Copyright 2004-2005 Freescale Semiconductor, Inc.
+ * (c) Copyright 2001-2004 Motorola, Inc.
+ *
+ * mbed Microcontroller Library
+ * (c) Copyright 2009-2012 ARM Limited.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of this software
+ * and associated documentation files (the "Software"), to deal in the Software without
+ * restriction, including without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the
+ * Software is furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all copies or
+ * substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
+ * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
+ * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+#ifndef TSISENSOR_H
+#define TSISENSOR_H
+
+/**
+* TSISensor example
+*
+* @code
+* #include "mbed.h"
+* #include "TSISensor.h"
+*
+* int main(void) {
+*    DigitalOut led(LED_GREEN);
+*    TSISensor tsi;
+*
+*    while (true) {
+*        printf("slider percentage: %f%\r\n", tsi.readPercentage());
+*        printf("slider distance: %dmm\r\n", tsi.readDistance());
+*        wait(1);
+*        led = !led;
+*    }
+* }
+* @endcode
+*/
+class TSISensor {
+public:
+    /**
+     *   Initialize the TSI Touch Sensor
+     */
+    TSISensor();
+
+    /**
+     * Read Touch Sensor percentage value
+     *
+     * @returns percentage value between [0 ... 1]
+     */
+    float readPercentage();
+
+    /**
+     * Read Touch Sensor distance
+     *
+     * @returns distance in mm. The value is between [0 ... 40]
+     */
+    uint8_t readDistance();
+
+private:
+    void sliderRead(void);
+    void selfCalibration(void);
+};
+
+#endif