Merge pull request #3 from RT-Thread/master

111

21 files changed, 3632 insertions, 255 deletions

diff --git a/components/drivers/i2c/i2c_core.c b/components/drivers/i2c/i2c_core.c
index f274f70fcd..09616235d1 100644
--- a/components/drivers/i2c/i2c_core.c
+++ b/components/drivers/i2c/i2c_core.c
@@ -24,8 +24,6 @@
 
 #include <rtdevice.h>
 
-static struct rt_mutex i2c_core_lock;
-
 rt_err_t rt_i2c_bus_device_register(struct rt_i2c_bus_device *bus,
                                     const char               *bus_name)
 {
@@ -33,17 +31,12 @@ rt_err_t rt_i2c_bus_device_register(struct rt_i2c_bus_device *bus,
 
     rt_mutex_init(&bus->lock, "i2c_bus_lock", RT_IPC_FLAG_FIFO);
 
-    rt_mutex_take(&i2c_core_lock, RT_WAITING_FOREVER);
-
-    if (bus->timeout == 0)
-        bus->timeout = RT_TICK_PER_SECOND;
+    if (bus->timeout == 0) bus->timeout = RT_TICK_PER_SECOND;
 
     res = rt_i2c_bus_device_device_init(bus, bus_name);
 
     i2c_dbg("I2C bus [%s] registered\n", bus_name);
 
-    rt_mutex_release(&i2c_core_lock);
-
     return res;
 }
 
@@ -136,6 +129,6 @@ rt_size_t rt_i2c_master_recv(struct rt_i2c_bus_device *bus,
 
 int rt_i2c_core_init(void)
 {
-    return rt_mutex_init(&i2c_core_lock, "i2c_core_lock", RT_IPC_FLAG_FIFO);
+    return 0;
 }
 INIT_COMPONENT_EXPORT(rt_i2c_core_init);
diff --git a/components/drivers/include/drivers/pin.h b/components/drivers/include/drivers/pin.h
new file mode 100644
index 0000000000..704114cf99
--- /dev/null
+++ b/components/drivers/include/drivers/pin.h
@@ -0,0 +1,79 @@
+/*
+ * File      : pin.h
+ * This file is part of RT-Thread RTOS
+ * COPYRIGHT (C) 2015, RT-Thread Development Team
+ *
+ *  This program is free software; you can redistribute it and/or modify
+ *  it under the terms of the GNU General Public License as published by
+ *  the Free Software Foundation; either version 2 of the License, or
+ *  (at your option) any later version.
+ *
+ *  This program is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *  GNU General Public License for more details.
+ *
+ *  You should have received a copy of the GNU General Public License along
+ *  with this program; if not, write to the Free Software Foundation, Inc.,
+ *  51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
+ *
+ * Change Logs:
+ * Date           Author       Notes
+ * 2015-01-20     Bernard      the first version
+ */
+
+#ifndef PIN_H__
+#define PIN_H__
+
+#include <rtthread.h>
+#include <rtdevice.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* pin device and operations for RT-Thread */
+struct rt_device_pin
+{
+    struct rt_device parent;
+    const struct rt_pin_ops *ops;
+};
+
+#define PIN_LOW                 0x00
+#define PIN_HIGH                0x01
+
+#define PIN_MODE_OUTPUT         0x00
+#define PIN_MODE_INPUT          0x01
+#define PIN_MODE_INPUT_PULLUP   0x02
+
+struct rt_device_pin_mode
+{
+    rt_uint16_t pin;
+    rt_uint16_t mode;
+};
+struct rt_device_pin_status
+{
+    rt_uint16_t pin;
+    rt_uint16_t status;
+};
+
+struct rt_pin_ops
+{
+    void (*pin_mode)(struct rt_device *device, rt_base_t pin, rt_base_t mode);
+    void (*pin_write)(struct rt_device *device, rt_base_t pin, rt_base_t value);
+    int (*pin_read)(struct rt_device *device, rt_base_t pin);
+
+    /* TODO: add GPIO interrupt */
+};
+
+int rt_device_pin_register(const char *name, const struct rt_pin_ops *ops, void *user_data);
+
+void rt_pin_mode(rt_base_t pin, rt_base_t mode);
+void rt_pin_write(rt_base_t pin, rt_base_t value);
+int  rt_pin_read(rt_base_t pin);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif
diff --git a/components/drivers/include/drivers/serial.h b/components/drivers/include/drivers/serial.h
index bf2a25ae1e..3b0a009072 100644
--- a/components/drivers/include/drivers/serial.h
+++ b/components/drivers/include/drivers/serial.h
@@ -65,11 +65,6 @@
 #define RT_SERIAL_RB_BUFSZ              64
 #endif
 
-#define RT_DEVICE_CTRL_CONFIG           0x03    /* configure device */
-#define RT_DEVICE_CTRL_SET_INT          0x10    /* enable receive irq */
-#define RT_DEVICE_CTRL_CLR_INT          0x11    /* disable receive irq */
-#define RT_DEVICE_CTRL_GET_INT          0x12
-
 #define RT_SERIAL_EVENT_RX_IND          0x01    /* Rx indication */
 #define RT_SERIAL_EVENT_TX_DONE         0x02    /* Tx complete   */
 #define RT_SERIAL_EVENT_RX_DMADONE      0x03    /* Rx DMA transfer done */
diff --git a/components/drivers/include/rtdevice.h b/components/drivers/include/rtdevice.h
index dc9761032e..bb01da2d12 100644
--- a/components/drivers/include/rtdevice.h
+++ b/components/drivers/include/rtdevice.h
@@ -358,5 +358,9 @@ rt_inline void rt_work_init(struct rt_work* work, void (*work_func)(struct rt_wo
 #include "drivers/watchdog.h"
 #endif
 
+#ifdef RT_USING_PIN
+#include "drivers/pin.h"
+#endif
+
 #endif /* __RT_DEVICE_H__ */
 
diff --git a/components/drivers/misc/SConscript b/components/drivers/misc/SConscript
new file mode 100644
index 0000000000..7f269d4ee9
--- /dev/null
+++ b/components/drivers/misc/SConscript
@@ -0,0 +1,14 @@
+from building import *
+
+cwd = GetCurrentDir()
+src = [] 
+CPPPATH = [cwd + '/../include']
+group = []
+
+if GetDepend(['RT_USING_PIN']):
+    src = src + ['pin.c']
+
+if len(src):
+    group = DefineGroup('DeviceDrivers', src, depend = [''], CPPPATH = CPPPATH)
+
+Return('group')
diff --git a/components/drivers/misc/pin.c b/components/drivers/misc/pin.c
new file mode 100644
index 0000000000..f3577a11d5
--- /dev/null
+++ b/components/drivers/misc/pin.c
@@ -0,0 +1,118 @@
+/*
+ * File      : pin.c
+ * This file is part of RT-Thread RTOS
+ * COPYRIGHT (C) 2015, RT-Thread Development Team
+ *
+ *  This program is free software; you can redistribute it and/or modify
+ *  it under the terms of the GNU General Public License as published by
+ *  the Free Software Foundation; either version 2 of the License, or
+ *  (at your option) any later version.
+ *
+ *  This program is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *  GNU General Public License for more details.
+ *
+ *  You should have received a copy of the GNU General Public License along
+ *  with this program; if not, write to the Free Software Foundation, Inc.,
+ *  51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
+ *
+ * Change Logs:
+ * Date           Author       Notes
+ * 2015-01-20     Bernard      the first version
+ */
+
+#include <drivers/pin.h>
+
+#ifdef RT_USING_FINSH
+#include <finsh.h>
+#endif
+
+static struct rt_device_pin _hw_pin;
+static rt_size_t _pin_read(rt_device_t dev, rt_off_t pos, void *buffer, rt_size_t size)
+{
+    struct rt_device_pin_status *status;
+    struct rt_device_pin *pin = (struct rt_device_pin *)dev;
+
+    /* check parameters */
+    RT_ASSERT(pin != RT_NULL);
+
+    status = (struct rt_device_pin_status *) buffer;
+    if (status == RT_NULL || size != sizeof(*status)) return 0;
+
+    status->status = pin->ops->pin_read(dev, status->pin);
+    return size;
+}
+
+static rt_size_t _pin_write(rt_device_t dev, rt_off_t pos, const void *buffer, rt_size_t size)
+{
+    struct rt_device_pin_status *status;
+    struct rt_device_pin *pin = (struct rt_device_pin *)dev;
+
+    /* check parameters */
+    RT_ASSERT(pin != RT_NULL);
+
+    status = (struct rt_device_pin_status *) buffer;
+    if (status == RT_NULL || size != sizeof(*status)) return 0;
+
+    pin->ops->pin_write(dev, (rt_base_t)status->pin, (rt_base_t)status->status);
+
+    return size;
+}
+
+static rt_err_t  _pin_control(rt_device_t dev, rt_uint8_t cmd, void *args)
+{
+    struct rt_device_pin_mode *mode;
+    struct rt_device_pin *pin = (struct rt_device_pin *)dev;
+
+    /* check parameters */
+    RT_ASSERT(pin != RT_NULL);
+
+    mode = (struct rt_device_pin_mode *) args;
+    if (mode == RT_NULL) return -RT_ERROR;
+
+    pin->ops->pin_mode(dev, (rt_base_t)mode->pin, (rt_base_t)mode->mode);
+
+    return 0;
+}
+
+int rt_device_pin_register(const char *name, const struct rt_pin_ops *ops, void *user_data)
+{
+    _hw_pin.parent.type         = RT_Device_Class_Miscellaneous;
+    _hw_pin.parent.rx_indicate  = RT_NULL;
+    _hw_pin.parent.tx_complete  = RT_NULL;
+
+    _hw_pin.parent.init         = RT_NULL;
+    _hw_pin.parent.open         = RT_NULL;
+    _hw_pin.parent.close        = RT_NULL;
+    _hw_pin.parent.read         = _pin_read;
+    _hw_pin.parent.write        = _pin_write;
+    _hw_pin.parent.control      = _pin_control;
+
+    _hw_pin.ops                 = ops;
+    _hw_pin.parent.user_data    = user_data;
+
+    /* register a character device */
+    rt_device_register(&_hw_pin.parent, name, RT_DEVICE_FLAG_RDWR);
+
+    return 0;
+}
+
+/* RT-Thread Hardware PIN APIs */
+void rt_pin_mode(rt_base_t pin, rt_base_t mode)
+{
+    _hw_pin.ops->pin_mode(&_hw_pin.parent, pin, mode);
+}
+FINSH_FUNCTION_EXPORT_ALIAS(rt_pin_mode, pinMode, set hardware pin mode);
+
+void rt_pin_write(rt_base_t pin, rt_base_t value)
+{
+    _hw_pin.ops->pin_write(&_hw_pin.parent, pin, value);
+}
+FINSH_FUNCTION_EXPORT_ALIAS(rt_pin_write, pinWrite, write value to hardware pin);
+
+int  rt_pin_read(rt_base_t pin)
+{
+    return _hw_pin.ops->pin_read(&_hw_pin.parent, pin);
+}
+FINSH_FUNCTION_EXPORT_ALIAS(rt_pin_read, pinRead, read status from hardware pin);
diff --git a/components/drivers/sensors/SConscript b/components/drivers/sensors/SConscript
new file mode 100644
index 0000000000..db409cfd2b
--- /dev/null
+++ b/components/drivers/sensors/SConscript
@@ -0,0 +1,17 @@
+# SConscript for sensor framework 
+
+from building import *
+
+cwd = GetCurrentDir()
+src = ['sensor.cpp']
+CPPPATH = [cwd, cwd + '/../include']
+
+if GetDepend('SENSOR_USING_MPU6050') and GetDepend('RT_USING_I2C'):
+    src += ['mpu6050_sensor.cpp'];
+
+if GetDepend('SENSOR_USING_BMI055') and GetDepend('RT_USING_I2C'):
+    src += ['bmi055_sensor.cpp']
+
+group = DefineGroup('Sensors', src, depend = ['RT_USING_SENSOR', 'RT_USING_DEVICE'], CPPPATH = CPPPATH)
+
+Return('group')
diff --git a/components/drivers/sensors/bmi055_sensor.cpp b/components/drivers/sensors/bmi055_sensor.cpp
new file mode 100644
index 0000000000..705895f368
--- /dev/null
+++ b/components/drivers/sensors/bmi055_sensor.cpp
@@ -0,0 +1,455 @@
+/*
+ * File      : bmi055_sensor.cpp
+ * This file is part of RT-Thread RTOS
+ * COPYRIGHT (C) 2014, RT-Thread Development Team
+ *
+ * The license and distribution terms for this file may be
+ * found in the file LICENSE in this distribution or at
+ * http://www.rt-thread.org/license/LICENSE
+ *
+ * Change Logs:
+ * Date           Author           Notes
+ * 2015-1-11     RT_learning      the first version
+ */
+
+#include <string.h>
+#include <stdio.h>
+#include <rtdevice.h>
+#include "bmi055_sensor.h"
+
+
+const static sensor_t _BMI055_sensor[] = 
+{
+    {
+    .name = "Accelerometer",
+    .vendor = "Bosch",
+    .version = sizeof(sensor_t), 
+    .handle = 0, 
+    .type = SENSOR_TYPE_ACCELEROMETER, 
+    .maxRange = SENSOR_ACCEL_RANGE_16G,
+    .resolution = 1.0f, 
+    .power = 0.5f,
+    .minDelay = 10000, 
+    .fifoReservedEventCount = 0, 
+    .fifoMaxEventCount = 64, 
+    },
+    {
+    .name = "Gyroscope",
+    .vendor = "Bosch",
+    .version = sizeof(sensor_t), 
+    .handle = 0, 
+    .type = SENSOR_TYPE_GYROSCOPE, 
+    .maxRange = SENSOR_GYRO_RANGE_2000DPS,
+    .resolution = 1.0f,
+    .power = 0.5f,
+    .minDelay = 10000, 
+    .fifoReservedEventCount = 0, 
+    .fifoMaxEventCount = 64, 
+    }
+};
+
+BMI055::BMI055(int sensor_type, const char* iic_bus, int addr)
+	: SensorBase(sensor_type)
+{
+    this->i2c_bus = (struct rt_i2c_bus_device *)rt_device_find(iic_bus);
+    if (this->i2c_bus == NULL) 
+    {
+        printf("BMI055: No IIC device:%s\n", iic_bus);
+        return;
+    }
+
+    this->i2c_addr = addr;
+
+    /* register to sensor manager */
+    SensorManager::registerSensor(this);
+}
+
+int BMI055::read_reg(rt_uint8_t reg, rt_uint8_t *value)
+{
+    struct rt_i2c_msg msgs[2];
+
+    msgs[0].addr  = this->i2c_addr;
+    msgs[0].flags = RT_I2C_WR;
+    msgs[0].buf   = &reg;
+    msgs[0].len   = 1;
+
+    msgs[1].addr  = this->i2c_addr;
+    msgs[1].flags = RT_I2C_RD; /* Read from slave */
+    msgs[1].buf   = (rt_uint8_t *)value;
+    msgs[1].len   = 1;
+
+    if (rt_i2c_transfer(this->i2c_bus, msgs, 2) == 2)
+        return RT_EOK;
+
+    return -RT_ERROR;
+}
+
+int BMI055::read_buffer(rt_uint8_t reg, rt_uint8_t* value, rt_size_t size)
+{
+    struct rt_i2c_msg msgs[2];
+
+    msgs[0].addr  = this->i2c_addr;
+    msgs[0].flags = RT_I2C_WR;
+    msgs[0].buf   = &reg;
+    msgs[0].len   = 1;
+
+    msgs[1].addr  = this->i2c_addr;
+    msgs[1].flags = RT_I2C_RD; /* Read from slave */
+    msgs[1].buf   = (rt_uint8_t *)value;
+    msgs[1].len   = size;
+
+    if (rt_i2c_transfer(this->i2c_bus, msgs, 2) == 2)
+        return RT_EOK;
+
+    return -RT_ERROR;
+}
+
+int BMI055::write_reg(rt_uint8_t reg, rt_uint8_t value)
+{
+    struct rt_i2c_msg msgs[2];
+
+    msgs[0].addr  = this->i2c_addr;
+    msgs[0].flags = RT_I2C_WR;
+    msgs[0].buf   = &reg;
+    msgs[0].len   = 1;
+
+    msgs[1].addr  = this->i2c_addr;
+    msgs[1].flags = RT_I2C_WR | RT_I2C_NO_START;
+    msgs[1].buf   = (rt_uint8_t *)&value;
+    msgs[1].len   = 1;
+
+    if (rt_i2c_transfer(this->i2c_bus, msgs, 2) == 2)
+        return RT_EOK;
+    
+    return -RT_ERROR;
+}
+
+
+BMI055_Accelerometer::BMI055_Accelerometer(const char* iic_name, int addr)
+    : BMI055(SENSOR_TYPE_ACCELEROMETER, iic_name, addr)
+{
+	int index;
+	uint8_t id;
+	rt_uint8_t value[6] = {0};
+	rt_int32_t x, y, z;
+    SensorConfig config = {SENSOR_MODE_NORMAL, SENSOR_DATARATE_400HZ, SENSOR_ACCEL_RANGE_2G};
+	
+	write_reg(BMI055_BGW_SOFTRESET, 0xB6);			/* reset of the sensor  P57							*/
+	write_reg(BMI055_PMU_LPW, 0x00);				/* PMU_LPW   NORMAL mode P55						*/
+	write_reg(BMI055_PMU_BW, 0x0A);					/* 01010b  31.25 Hz P55								*/
+	write_reg(BMI055_PMU_RANGE, 0x05);				/* 0101b  ±4g range PMU_RANGE set acc +-4g/s  P54	*/
+	
+		
+	x_offset = y_offset = z_offset = 0;
+	x = y = z = 0;
+
+	/* read BMI055 id */
+	read_buffer(BMI055_ACC_BGW_CHIPID, &id, 1);		/* BGW_CHIPID P47*/
+	if (id != BMI055_ACC_BGW_CHIPID_VALUE)
+	{
+		printf("Warning: not found BMI055 id: %02x\n", id);
+	}
+
+	/* get offset */
+	for (index = 0; index < 200; index ++)
+	{
+		read_buffer(BMI055_ACCD_X_LSB, value, 6);					/*ACCD_X_LSB P47 */
+		
+		x += (((rt_int16_t)value[1] << 8)   | value[0]);
+		y += (((rt_int16_t)value[3] << 8)   | value[2]);
+		z += (((rt_int16_t)value[5] << 8)   | value[4]);		
+	}
+	x_offset = x / 200;
+	y_offset = y / 200;
+	z_offset = z / 200;
+    
+	this->enable = RT_FALSE;
+	this->sensitivity = SENSOR_ACCEL_SENSITIVITY_2G;
+    this->config = config;
+}
+
+int 
+BMI055_Accelerometer::configure(SensorConfig *config)
+{
+	int range;
+	uint8_t value;
+
+	if (config == RT_NULL) return -1;
+
+	/* TODO: set datarate */
+
+	/* get range and calc the sensitivity */
+	range = config->range.accel_range;
+	switch (range)
+	{
+	case SENSOR_ACCEL_RANGE_2G:
+		this->sensitivity = SENSOR_ACCEL_SENSITIVITY_2G;
+		range = 0x03;		//0011b
+		break;
+	case SENSOR_ACCEL_RANGE_4G:
+		this->sensitivity = SENSOR_ACCEL_SENSITIVITY_4G;
+		range = 0x05;		//0101b
+		break;
+	case SENSOR_ACCEL_RANGE_8G:
+		this->sensitivity = SENSOR_ACCEL_SENSITIVITY_8G;
+		range = 0x01 << 3;	//1000b
+		break;
+	case SENSOR_ACCEL_RANGE_16G:
+		this->sensitivity = SENSOR_ACCEL_SENSITIVITY_16G;
+		range = 0x03 << 2;	//1100b
+		break;
+	default:
+		return -1;
+	}
+
+	/* set range to sensor */
+	read_reg(BMI055_PMU_RANGE, &value);		/* PMU_RANGE P54 */
+	value &= 0xF0;
+	value |= range;
+	write_reg(BMI055_PMU_RANGE, value);
+
+    return 0;
+}
+
+int 
+BMI055_Accelerometer::activate(int enable)
+{
+	uint8_t value;
+
+    if (enable && this->enable == RT_FALSE)
+    {
+        /* enable accelerometer */
+		read_reg(BMI055_PMU_LPW, &value); 	/* P55 */
+		value &= ~(0x07 << 7);
+		write_reg(BMI055_PMU_LPW, value);
+    }
+
+	if (!enable && this->enable == RT_TRUE)
+    {
+        /* disable accelerometer */
+		read_reg(BMI055_PMU_LPW, &value); 
+		value &= ~(0x07 << 7);
+		value |= (0x01 << 7);
+		write_reg(BMI055_PMU_LPW, value);
+    }
+
+	if (enable) this->enable = RT_TRUE;
+	else this->enable = RT_FALSE;
+
+    return 0;
+}
+
+int 
+BMI055_Accelerometer::poll(sensors_event_t *event)
+{
+	rt_uint8_t value[6];
+	rt_int16_t x, y, z;
+
+    /* parameters check */
+    if (event == NULL) return -1;
+
+	/* get event data */
+	event->version = sizeof(sensors_event_t);
+	event->sensor = (int32_t) this;
+	event->timestamp = rt_tick_get();
+	event->type = SENSOR_TYPE_ACCELEROMETER;
+
+	read_buffer(0x02, value, 6);
+
+	/* get raw data */
+	x = (((rt_int16_t)value[1] << 8) | value[0]);
+	y = (((rt_int16_t)value[3] << 8) | value[2]);
+	z = (((rt_int16_t)value[5] << 8) | value[4]);
+
+	if (config.mode == SENSOR_MODE_RAW)
+	{
+		event->raw_acceleration.x = x;
+		event->raw_acceleration.y = y;
+		event->raw_acceleration.z = z;
+	}
+	else
+	{
+
+		x -= x_offset; y -= y_offset; z -= z_offset;
+		event->acceleration.x = x * this->sensitivity * SENSORS_GRAVITY_STANDARD;
+		event->acceleration.y = y * this->sensitivity * SENSORS_GRAVITY_STANDARD;
+		event->acceleration.z = z * this->sensitivity * SENSORS_GRAVITY_STANDARD;
+	}
+	
+	return 0;
+}
+
+void 
+BMI055_Accelerometer::getSensor(sensor_t *sensor)
+{
+    /* get sensor description */
+    if (sensor)
+    {
+        memcpy(sensor, &_BMI055_sensor[0], sizeof(sensor_t));
+    }
+}
+
+BMI055_Gyroscope::BMI055_Gyroscope(const char* iic_name, int addr)
+    : BMI055(SENSOR_TYPE_GYROSCOPE, iic_name, addr)
+{
+	int index;
+	uint8_t id;
+	rt_uint8_t value[6];
+	rt_int32_t x, y, z;
+
+    /* initialize BMI055 */
+    write_reg(BMI055_MODE_LPM1_ADDR, 0x00);			/* normal mode 						*/
+	write_reg(BMI055_MODE_LPM2_ADDR, 0x80);			/* fast powerup 					*/
+    write_reg(BMI055_BW_ADDR,        0x03);			/* ODR:400Hz Filter Bandwidth:47Hz	*/
+	write_reg(BMI055_RANGE_ADDR,     0x00);			/* 2000dps 							*/
+	
+
+	x_offset = y_offset = z_offset = 0;
+	x = y = z = 0;
+
+	/* read BMI055 id */
+	read_buffer(BMI055_CHIP_ID_ADDR, &id, 1);
+	if (id != BMI055_GRRO_CHIP_ID)
+	{
+		printf("Warning: not found BMI055 id: %02x\n", id);
+	}
+
+	/* get offset */
+	for (index = 0; index < 200; index ++)
+	{
+		read_buffer(BMI055_RATE_X_LSB_ADDR, value, 6);
+
+		x += (((rt_int16_t)value[1] << 8)   | value[0]);
+		y += (((rt_int16_t)value[3] << 8)   | value[2]);
+		z += (((rt_int16_t)value[5] << 8)   | value[4]);		
+	}
+	x_offset = x / 200;
+	y_offset = y / 200;
+	z_offset = z / 200;
+
+	this->enable = RT_FALSE;
+	this->sensitivity = SENSOR_GYRO_SENSITIVITY_250DPS;
+}
+
+int 
+BMI055_Gyroscope::configure(SensorConfig *config)
+{
+	int range;
+	uint8_t value;
+
+	if (config == RT_NULL) return -1;
+
+	/* TODO: set datarate */
+
+	/* get range and calc the sensitivity */
+	range = config->range.gyro_range;
+	switch (range)
+	{
+	//to do add more range e.g   125DPS
+	//case 
+	case SENSOR_GYRO_RANGE_250DPS:
+		this->sensitivity = SENSOR_GYRO_SENSITIVITY_250DPS;
+		range = 0x11;
+		break;
+	case SENSOR_GYRO_RANGE_500DPS:
+		this->sensitivity = SENSOR_GYRO_SENSITIVITY_500DPS;
+		range = 0x10;
+		break;
+	case SENSOR_GYRO_RANGE_1000DPS:
+		this->sensitivity = SENSOR_GYRO_SENSITIVITY_1000DPS;
+		range = 0x01;
+		break;
+	case SENSOR_GYRO_RANGE_2000DPS:
+		this->sensitivity = SENSOR_GYRO_SENSITIVITY_2000DPS;
+		range = 0x00;
+		break;
+	default:
+		return -1;
+	}
+
+	/* set range to sensor */
+	read_reg(BMI055_RANGE_ADDR, &value);
+	value &= ~0x07;
+	value |= range;
+	write_reg(BMI055_RANGE_ADDR, value);
+
+    return 0;
+}
+
+int 
+BMI055_Gyroscope::activate(int enable)
+{
+	uint8_t value;
+	
+    if (enable && this->enable == RT_FALSE)
+    {
+        /* enable gyroscope */
+		read_reg(BMI055_MODE_LPM1_ADDR, &value);   
+		value &= ~(0x1010 << 4);					//{0; 0}  NORMAL mode
+		write_reg(BMI055_MODE_LPM1_ADDR, value);	//P101 NORMAL mode
+    }
+
+	if (!enable && this->enable == RT_TRUE)
+    {
+        /* disable gyroscope */
+		read_reg(BMI055_MODE_LPM1_ADDR, &value); 
+		value &= ~(0x01 << 5);						//set bit5 deep_suspend 0
+		value |= (0x01 << 7);						//set bit1 suspend 1   
+		write_reg(BMI055_MODE_LPM1_ADDR, value);	//{1; 0} SUSPEND mode
+    }
+
+	if (enable) this->enable = RT_TRUE;
+	else this->enable = RT_FALSE;
+
+    return 0;
+}
+
+int 
+BMI055_Gyroscope::poll(sensors_event_t *event)
+{
+	rt_uint8_t value[6];
+	rt_int16_t x, y, z;
+
+	/* parameters check */
+	if (event == NULL) return -1;
+
+	/* get event data */
+	event->version = sizeof(sensors_event_t);
+	event->sensor = (int32_t) this;
+	event->timestamp = rt_tick_get();
+	event->type = SENSOR_TYPE_GYROSCOPE;
+
+	read_buffer(BMI055_RATE_X_LSB_ADDR, value, 6);
+
+	/* get raw data */
+	x = (((rt_int16_t)value[1] << 8) | value[0]);
+	y = (((rt_int16_t)value[3] << 8) | value[2]);
+	z = (((rt_int16_t)value[5] << 8) | value[4]);
+
+	
+	if (config.mode == SENSOR_MODE_RAW)
+	{
+		event->raw_gyro.x = x;
+		event->raw_gyro.y = y;
+		event->raw_gyro.z = z;
+	}
+	else
+	{
+		x -= x_offset; y -= y_offset; z -= z_offset;
+		event->gyro.x = x * this->sensitivity * SENSORS_DPS_TO_RADS;
+		event->gyro.y = y * this->sensitivity * SENSORS_DPS_TO_RADS;
+		event->gyro.z = z * this->sensitivity * SENSORS_DPS_TO_RADS;
+	}
+	
+	return 0;
+}
+
+void 
+BMI055_Gyroscope::getSensor(sensor_t *sensor)
+{
+    /* get sensor description */
+    if (sensor)
+    {
+        memcpy(sensor, &_BMI055_sensor[1], sizeof(sensor_t));
+    }
+}
diff --git a/components/drivers/sensors/bmi055_sensor.h b/components/drivers/sensors/bmi055_sensor.h
new file mode 100644
index 0000000000..7ec6d9e5cf
--- /dev/null
+++ b/components/drivers/sensors/bmi055_sensor.h
@@ -0,0 +1,338 @@
+/*
+ * File      : bmi055_sensor.h
+ * This file is part of RT-Thread RTOS
+ * COPYRIGHT (C) 2014, RT-Thread Development Team
+ *
+ * The license and distribution terms for this file may be
+ * found in the file LICENSE in this distribution or at
+ * http://www.rt-thread.org/license/LICENSE
+ *
+ * Change Logs:
+ * Date           Author           Notes
+ * 2015-1-11     RT_learning      the first version
+ */
+#ifndef __BMI055_H__
+#define __BMI055_H__
+
+#include <sensor.h>
+
+/**************************************************************************************************/
+/************************************Register map accelerometer************************************/
+
+#define	BMI055_ACC_I2C_ADDR1			   	0x18        //SDO is low(GND)
+#define BMI055_ACC_I2C_ADDR2			   	0x19		//SDO is high(VCC)
+
+#define BMI055_ACC_DEFAULT_ADDRESS     BMI055_ACC_I2C_ADDR2	//in the LPC54102 SPM-S 
+
+#define BMI055_ACC_BGW_CHIPID_VALUE			0xFA
+
+#define BMI055_ACC_BGW_CHIPID			   	0x00
+/**<Address of ACC Chip ID Register					 	   	*/
+#define	BMI055_ACCD_X_LSB					0x02		   
+/**<        Address of X axis ACC LSB Register       	   	*/
+#define	BMI055_ACCD_X_MSB					0x03		   
+/**<        Address of X axis ACC MSB Register       	   	*/
+#define	BMI055_ACCD_Y_LSB					0x04		   
+/**<        Address of Y axis ACC LSB Register       	   	*/
+#define	BMI055_ACCD_Y_MSB					0x05		   
+/**<        Address of Y axis ACC MSB Register       	   	*/
+#define	BMI055_ACCD_Z_LSB					0x06		   
+/**<        Address of Z axis ACC LSB Register       	   	*/
+#define BMI055_ACCD_Z_MSB					0x07		   
+/**<        Address of Z axis ACC MSB Register       	   	*/
+#define BMI055_ACCD_TEMP					0x08		   
+/**<        Address of Temperature Data  Register  	 	   	*/
+		                                                   
+/* Status Register */		                               
+#define BMI055_INT_STATUS_0					0x09		   
+/**<        Address of Interrupt status Register 0   	    */
+#define BMI055_INT_STATUS_1					0x0A		   
+/**<        Address of Interrupt status Register 1   	    */
+#define BMI055_INT_STATUS_2					0x0B		   
+/**<        Address of Interrupt status Register 2   	    */
+#define BMI055_INT_STATUS_3					0x0C		   
+/**<        Address of Interrupt status Register 3   	    */
+#define BMI055_FIFO_STATUS					0x0E		   
+/**<        Address of FIFO status Register          	    */
+
+/* Control Register */
+#define BMI055_PMU_RANGE					0x0F
+/**<        Address of Range address Register     	  		*/
+#define BMI055_PMU_BW						0x10		    
+/**<        Address of Bandwidth Register             		*/
+#define BMI055_PMU_LPW						0x11		    
+/**<        Address of PMU LPW			             		*/
+#define BMI055_PMU_LOW_POWER				0x12	  		
+/**<        Address of PMU LOW POWER     	        		*/
+#define	BMI055_ACCD_HBW						0x13	  		
+/**<        Address of ACCD HBW			             		*/
+#define	BMI055_BGW_SOFTRESET				0x14	  		
+/**<        Address of BGW SOFTRESET	             		*/	
+#define	BMI055_INT_EN_0						0x16	  		
+/**<        Address of interrupt engines in group 0    		*/
+#define	BMI055_INT_EN_1						0x17	  		
+/**<        Address of interrupt engines in group 1   		*/
+#define	BMI055_INT_EN_2						0x18	  			
+/**<        Address of interrupt engines in group 2   		*/
+#define	BMI055_INT_MAP_0					0x19	  		
+/**<        Address of Interrupt MAP 0				   		*/
+#define BMI055_INT_MAP_1					0x1A
+/**<        Address of Interrupt MAP 1			     		*/
+#define BMI055_INT_MAP_2					0x1B
+/**<        Address of Interrupt MAP 2	             		*/
+#define BMI055_INT_SRC						0x1E
+/**<        Address of Interrupt source             		*/
+#define BMI055_INT_OUT_CTRL					0x20
+/**<        Address of Interrupt Register             		*/
+#define BMI055_INT_RST_LATCH				0x21
+/**<        Address of Interrupt reset and mode  Register	*/
+#define BMI055_INT_0						0x22
+/**<        Address of low-g Interrupt delay time Register	*/
+#define BMI055_INT_1						0x23
+/**<        Address of low-g Interrupt threshold Register	*/
+#define BMI055_INT_2						0x24
+/**<        Address of Interrupt 2 Register					*/
+#define BMI055_INT_3						0x25
+/**<        Address of high-g Interrupt delay time Register */
+#define BMI055_INT_4						0x26
+/**<        Address of high-g Interrupt threshold Register  */
+#define BMI055_INT_5						0x27
+/**<        Address of high-g Interrupt 5 Register		    */
+#define BMI055_INT_6						0x28
+/**<   Address of any-motion Interrupt threshold Register   */
+#define BMI055_INT_7						0x29
+/**< Address of slow/no-motion interrupt threshold Register */
+#define BMI055_INT_8						0x2A
+/**<        Address of high-g Interrupt 8 Register		    */
+#define BMI055_INT_9						0x2B
+/**<        Address of high-g Interrupt 9 Register		    */
+#define BMI055_INT_A						0x2C
+/**<        Address of Interrupt A Register		    		*/
+#define BMI055_INT_B						0x2D
+/**<        Address of Interrupt B Register		    		*/
+#define BMI055_INT_C						0x2E
+/**<        Address of Interrupt C Register		    		*/
+#define BMI055_INT_D						0x2F
+/**<        Address of Interrupt D Register		    		*/
+#define BMI055_FIFO_CONFIG_0				0x30
+/**<        Address of FIFO CONFIG 0 Register		    	*/
+#define BMI055_PMU_SELF_TEST				0x32
+/**<        Address of PMU SELF TEST Register		    	*/
+#define BMI055_TRIM_NVM_CTRL				0x33
+/**<        Address of TRIM NVM CTRL Register		    	*/
+#define BMI055_BGW_SPI3_WDT					0x34
+/**<        Address of BGW SPI3 WDT Register		    	*/
+#define BMI055_OFC_CTRL						0x36
+/**<        Address of OFC CTRL Register			    	*/
+#define BMI055_OFC_SETTING					0x37
+/**<        Address of OFC SETTING Register			    	*/
+#define BMI055_OFC_OFFSET_X					0x38
+/**<        Address of OFC OFFSET X Register			    */
+#define BMI055_OFC_OFFSET_Y					0x39
+/**<        Address of OFC OFFSET Y Register			    */
+#define BMI055_OFC_OFFSET_Z					0x3A
+/**<        Address of OFC OFFSET Z Register			    */
+
+/* Trim Register */
+#define BMI055_TRIM_GP0						0x3B
+/**<        Address of TRIM GP0 Register				    */
+#define BMI055_TRIM_GP1						0x3C
+/**<        Address of TRIM GP1 Register				    */
+
+/* Control Register */
+#define BMI055_FIFO_CONFIG_1				0x3E
+/**<        Address of FIFO CONFIG 1 Register			    */
+
+/* Data Register */
+#define BMI055_FIFO_DATA					0x3F
+/**<        Address of FIFO DATA Register				    */
+
+
+/**************************************************************************************************/
+
+
+
+
+/**************************************************************************************************/
+/************************************Register map gyroscope****************************************/
+
+
+/**< This refers BMI055 return type as signed */
+
+// #define	BMI055_I2C_ADDR1				0x68		//SDO is low(GND)
+// #define	BMI055_I2C_ADDR2				0x69		//SDO is high(VCC)
+#define	BMI055_GYRO_I2C_ADDR1				0x68		//SDO is low(GND)
+#define	BMI055_GYRO_I2C_ADDR2				0x69		//SDO is high(VCC)
+
+#define BMI055_GYRO_DEFAULT_ADDRESS     BMI055_GYRO_I2C_ADDR2
+
+#define BMI055_GRRO_CHIP_ID					0x0F
+
+/*Define of registers*/
+
+/* Hard Wired */
+#define BMI055_CHIP_ID_ADDR						 0x00
+/**<Address of Chip ID Register*/
+
+/* Data Register */
+#define BMI055_RATE_X_LSB_ADDR                    0x02
+/**<        Address of X axis Rate LSB Register       		*/	
+#define BMI055_RATE_X_MSB_ADDR                    0x03		
+/**<        Address of X axis Rate MSB Register       		*/	
+#define BMI055_RATE_Y_LSB_ADDR                    0x04		
+/**<        Address of Y axis Rate LSB Register       		*/	
+#define BMI055_RATE_Y_MSB_ADDR                     0x05		
+/**<        Address of Y axis Rate MSB Register      		*/	
+#define BMI055_RATE_Z_LSB_ADDR                     0x06		
+/**<        Address of Z axis Rate LSB Register       		*/	
+#define BMI055_RATE_Z_MSB_ADDR                     0x07		
+/**<        Address of Z axis Rate MSB Register       		*/	
+#define BMI055_TEMP_ADDR                           0x08		
+/**<        Address of Temperature Data LSB Register  		*/	
+		                                                    
+/* Status Register */		                                
+#define BMI055_INTR_STAT0_ADDR                     0x09		
+/**<        Address of Interrupt status Register 0    		*/	
+#define BMI055_INTR_STAT1_ADDR                     0x0A		
+/**<        Address of Interrupt status Register 1    		*/	
+#define BMI055_INTR_STAT2_ADDR                     0x0B		
+/**<        Address of Interrupt status Register 2    		*/	
+#define BMI055_INTR_STAT3_ADDR                     0x0C		
+/**<        Address of Interrupt status Register 3    		*/	
+#define BMI055_FIFO_STAT_ADDR                      0x0E		
+/**<        Address of FIFO status Register           		*/	
+
+/* Control Register */
+#define BMI055_RANGE_ADDR                         0x0F
+/**<        Address of Range address Register     			*/
+#define BMI055_BW_ADDR                            0x10
+/**<        Address of Bandwidth Register         			*/
+#define BMI055_MODE_LPM1_ADDR                     0x11
+/**<        Address of Mode LPM1 Register         			*/
+#define BMI055_MODE_LPM2_ADDR                     0x12
+/**<        Address of Mode LPM2 Register         			*/
+#define BMI055_HIGH_BW_ADDR                       0x13
+/**<        Address of Rate HIGH_BW Register       			*/
+#define BMI055_BGW_SOFT_RST_ADDR                  0x14
+/**<        Address of BGW Softreset Register      			*/
+#define BMI055_INTR_ENABLE0_ADDR                  0x15
+/**<        Address of Interrupt Enable 0             		*/
+#define BMI055_INTR_ENABLE1_ADDR                  0x16
+/**<        Address of Interrupt Enable 1             		*/
+#define BMI055_INTR_MAP_ZERO_ADDR                 0x17
+/**<        Address of Interrupt MAP 0                		*/
+#define BMI055_INTR_MAP_ONE_ADDR                  0x18
+/**<        Address of Interrupt MAP 1                		*/
+#define BMI055_INTR_MAP_TWO_ADDR                  0x19
+/**<        Address of Interrupt MAP 2                		*/
+#define BMI055_INTR_ZERO_ADDR                     0x1A
+/**<        Address of Interrupt 0 register   				*/
+#define BMI055_INTR_ONE_ADDR                      0x1B
+/**<        Address of Interrupt 1 register   				*/
+#define BMI055_INTR_TWO_ADDR                      0x1C
+/**<        Address of Interrupt 2 register   				*/
+#define BMI055_INTR_4_ADDR                        0x1E
+/**<        Address of Interrupt 4 register   				*/
+#define BMI055_RST_LATCH_ADDR                     0x21
+/**<        Address of Reset Latch Register           		*/
+#define BMI055_HIGHRATE_THRES_X_ADDR              0x22
+/**<        Address of High Th x Address register     		*/
+#define BMI055_HIGHRATE_DURN_X_ADDR               0x23
+/**<        Address of High Dur x Address register    		*/
+#define BMI055_HIGHRATE_THRES_Y_ADDR              0x24
+/**<        Address of High Th y  Address register    		*/
+#define BMI055_HIGHRATE_DURN_Y_ADDR               0x25
+/**<        Address of High Dur y Address register    		*/
+#define BMI055_HIGHRATE_THRES_Z_ADDR              0x26
+/**<        Address of High Th z Address register  			*/
+#define BMI055_HIGHRATE_DURN_Z_ADDR               0x27
+/**<        Address of High Dur z Address register  		*/
+#define BMI055_SOC_ADDR                           0x31
+/**<        Address of SOC register        					*/
+#define BMI055_A_FOC_ADDR                         0x32
+/**<        Address of A_FOC Register        				*/
+#define BMI055_TRIM_NVM_CTRL_ADDR                 0x33
+/**<        Address of Trim NVM control register    		*/
+#define BMI055_BGW_SPI3_WDT_ADDR                  0x34
+/**<        Address of BGW SPI3,WDT Register           		*/
+
+/* Trim Register */
+#define BMI055_OFC1_ADDR                   0x36
+/**<        Address of OFC1 Register          				*/
+#define BMI055_OFC2_ADDR                   0x37
+/**<        Address of OFC2 Register          				*/
+#define BMI055_OFC3_ADDR                   0x38
+/**<        Address of OFC3 Register          				*/
+#define BMI055_OFC4_ADDR                   0x39
+/**<        Address of OFC4 Register          				*/
+#define BMI055_TRIM_GP0_ADDR               0x3A
+/**<        Address of Trim GP0 Register              		*/
+#define BMI055_TRIM_GP1_ADDR               0x3B
+/**<        Address of Trim GP1 Register              		*/
+#define BMI055_SELECTF_TEST_ADDR            0x3C
+/**<        Address of BGW Self test Register         		*/
+
+/* Control Register */
+#define BMI055_FIFO_CGF1_ADDR              0x3D
+/**<        Address of FIFO CGF0 Register             		*/
+#define BMI055_FIFO_CGF0_ADDR              0x3E
+/**<        Address of FIFO CGF1 Register             		*/
+
+/* Data Register */
+#define BMI055_FIFO_DATA_ADDR              0x3F
+/**<        Address of FIFO Data Register             		*/
+
+
+/**************************************************************************************************/
+
+class BMI055 :public SensorBase
+{
+public:
+    BMI055(int sensor_type, const char* iic_bus, int addr);
+
+    int read_reg(rt_uint8_t reg, rt_uint8_t* value);
+    int write_reg(rt_uint8_t reg, rt_uint8_t value);
+    int read_buffer(rt_uint8_t reg, rt_uint8_t* value, rt_size_t size);
+
+private:
+    struct rt_i2c_bus_device *i2c_bus;
+    int i2c_addr;
+};
+
+class BMI055_Accelerometer:public BMI055
+{
+public:
+    BMI055_Accelerometer(const char* iic_name, int addr);
+
+    virtual int configure(SensorConfig *config);
+    virtual int activate(int enable);
+
+    virtual int poll(sensors_event_t *event);
+    virtual void getSensor(sensor_t *sensor);
+
+private:
+	rt_int16_t x_offset, y_offset, z_offset;
+	
+	rt_bool_t enable;
+	float sensitivity;
+};
+
+class BMI055_Gyroscope:public BMI055
+{
+public:
+    BMI055_Gyroscope(const char* iic_name, int addr);
+
+    virtual int configure(SensorConfig *config);
+    virtual int activate(int enable);
+
+    virtual int poll(sensors_event_t *event);
+    virtual void getSensor(sensor_t *sensor);
+
+private:
+	rt_int16_t x_offset, y_offset, z_offset;
+	
+	rt_bool_t enable;
+	float sensitivity;
+};
+
+#endif
diff --git a/components/drivers/sensors/mpu6050_sensor.cpp b/components/drivers/sensors/mpu6050_sensor.cpp
new file mode 100644
index 0000000000..8f6557a7ce
--- /dev/null
+++ b/components/drivers/sensors/mpu6050_sensor.cpp
@@ -0,0 +1,462 @@
+/*
+ * File      : MPU6050_sensor.cpp
+ * This file is part of RT-Thread RTOS
+ * COPYRIGHT (C) 2014, RT-Thread Development Team
+ *
+ * The license and distribution terms for this file may be
+ * found in the file LICENSE in this distribution or at
+ * http://www.rt-thread.org/license/LICENSE
+ *
+ * Change Logs:
+ * Date           Author       Notes
+ * 2014-12-20     Bernard      the first version
+ * 2015-1-11      RT_learning  modify the mpu6050 initialize
+ */
+
+#include <string.h>
+#include <stdio.h>
+#include <rtdevice.h>
+
+#include "mpu6050_sensor.h"
+
+
+const static sensor_t _MPU6050_sensor[] = 
+{
+    {
+    .name = "Accelerometer",
+    .vendor = "Invensense",
+    .version = sizeof(sensor_t), 
+    .handle = 0, 
+    .type = SENSOR_TYPE_ACCELEROMETER, 
+    .maxRange = SENSOR_ACCEL_RANGE_16G,
+    .resolution = 1.0f, 
+    .power = 0.5f,
+    .minDelay = 10000, 
+    .fifoReservedEventCount = 0, 
+    .fifoMaxEventCount = 64, 
+    },
+    {
+    .name = "Gyroscope",
+    .vendor = "Invensense",
+    .version = sizeof(sensor_t), 
+    .handle = 0, 
+    .type = SENSOR_TYPE_GYROSCOPE, 
+    .maxRange = SENSOR_GYRO_RANGE_2000DPS,
+    .resolution = 1.0f,
+    .power = 0.5f,
+    .minDelay = 10000, 
+    .fifoReservedEventCount = 0, 
+    .fifoMaxEventCount = 64, 
+    }
+};
+
+MPU6050::MPU6050(int sensor_type, const char* iic_bus, int addr)
+	: SensorBase(sensor_type)
+{
+    this->i2c_bus = (struct rt_i2c_bus_device *)rt_device_find(iic_bus);
+    if (this->i2c_bus == NULL) 
+    {
+        printf("MPU6050: No IIC device:%s\n", iic_bus);
+        return;
+    }
+
+    this->i2c_addr = addr;
+
+    /* register to sensor manager */
+    SensorManager::registerSensor(this);
+}
+
+int MPU6050::read_reg(rt_uint8_t reg, rt_uint8_t *value)
+{
+    struct rt_i2c_msg msgs[2];
+
+    msgs[0].addr  = this->i2c_addr;
+    msgs[0].flags = RT_I2C_WR;
+    msgs[0].buf   = &reg;
+    msgs[0].len   = 1;
+
+    msgs[1].addr  = this->i2c_addr;
+    msgs[1].flags = RT_I2C_RD; /* Read from slave */
+    msgs[1].buf   = (rt_uint8_t *)value;
+    msgs[1].len   = 1;
+
+    if (rt_i2c_transfer(this->i2c_bus, msgs, 2) == 2)
+        return RT_EOK;
+
+    return -RT_ERROR;
+}
+
+int MPU6050::read_buffer(rt_uint8_t reg, rt_uint8_t* value, rt_size_t size)
+{
+    struct rt_i2c_msg msgs[2];
+
+    msgs[0].addr  = this->i2c_addr;
+    msgs[0].flags = RT_I2C_WR;
+    msgs[0].buf   = &reg;
+    msgs[0].len   = 1;
+
+    msgs[1].addr  = this->i2c_addr;
+    msgs[1].flags = RT_I2C_RD; /* Read from slave */
+    msgs[1].buf   = (rt_uint8_t *)value;
+    msgs[1].len   = size;
+
+    if (rt_i2c_transfer(this->i2c_bus, msgs, 2) == 2)
+        return RT_EOK;
+
+    return -RT_ERROR;
+}
+
+int MPU6050::write_reg(rt_uint8_t reg, rt_uint8_t value)
+{
+    struct rt_i2c_msg msgs[2];
+
+    msgs[0].addr  = this->i2c_addr;
+    msgs[0].flags = RT_I2C_WR;
+    msgs[0].buf   = &reg;
+    msgs[0].len   = 1;
+
+    msgs[1].addr  = this->i2c_addr;
+    msgs[1].flags = RT_I2C_WR | RT_I2C_NO_START;
+    msgs[1].buf   = (rt_uint8_t *)&value;
+    msgs[1].len   = 1;
+
+    if (rt_i2c_transfer(this->i2c_bus, msgs, 2) == 2)
+        return RT_EOK;
+    
+    return -RT_ERROR;
+}
+
+
+MPU6050_Accelerometer::MPU6050_Accelerometer(const char* iic_name, int addr)
+    : MPU6050(SENSOR_TYPE_ACCELEROMETER, iic_name, addr)
+{
+	int index;
+	uint8_t id;
+	rt_uint8_t value[6] = {0};
+	rt_int32_t x, y, z;
+    SensorConfig config = {SENSOR_MODE_NORMAL, SENSOR_DATARATE_400HZ, SENSOR_ACCEL_RANGE_2G};
+
+	/* initialize MPU6050 */
+    write_reg(MPU6050_PWR_MGMT_1,   0x80);			/* reset mpu6050 device 									*/
+	write_reg(MPU6050_SMPLRT_DIV,   0x00);			/* Sample Rate = Gyroscope Output Rate / (1 + SMPLRT_DIV) 	*/
+    write_reg(MPU6050_PWR_MGMT_1,   0x03);			/* Wake up device , set device clock Z axis gyroscope		*/
+	write_reg(MPU6050_CONFIG,   	0x03);			/* set DLPF_CFG 42Hz										*/
+    write_reg(MPU6050_GYRO_CONFIG,  0x18);			/* set gyro 2000deg/s 										*/
+    write_reg(MPU6050_ACCEL_CONFIG, 0x08);			/* set acc +-4g/s 											*/
+	
+		
+	x_offset = y_offset = z_offset = 0;
+	x = y = z = 0;
+
+	/* read MPU6050 id */
+	read_buffer(MPU6050_WHOAMI, &id, 1);
+	if (id != MPU6050_ID)
+	{
+		printf("Warning: not found MPU6050 id: %02x\n", id);
+	}
+
+	/* get offset */
+	for (index = 0; index < 200; index ++)
+	{
+		read_buffer(MPU6050_ACCEL_XOUT_H, value, 6);
+		
+		x += (((rt_int16_t)value[0] << 8)   | value[1]);
+		y += (((rt_int16_t)value[2] << 8)   | value[3]);
+		z += (((rt_int16_t)value[4] << 8)   | value[5]);		
+	}
+	x_offset = x / 200;
+	y_offset = y / 200;
+	z_offset = z / 200;
+    
+	this->enable = RT_FALSE;
+	this->sensitivity = SENSOR_ACCEL_SENSITIVITY_2G;
+  this->config = config;
+}
+
+int 
+MPU6050_Accelerometer::configure(SensorConfig *config)
+{
+	int range;
+	uint8_t value;
+
+	if (config == RT_NULL) return -1;
+
+	/* TODO: set datarate */
+
+	/* get range and calc the sensitivity */
+	range = config->range.accel_range;
+	switch (range)
+	{
+	case SENSOR_ACCEL_RANGE_2G:
+		this->sensitivity = SENSOR_ACCEL_SENSITIVITY_2G;
+		range = 0;
+		break;
+	case SENSOR_ACCEL_RANGE_4G:
+		this->sensitivity = SENSOR_ACCEL_SENSITIVITY_4G;
+		range = 0x01 << 2;
+		break;
+	case SENSOR_ACCEL_RANGE_8G:
+		this->sensitivity = SENSOR_ACCEL_SENSITIVITY_8G;
+		range = 0x02 << 2;
+		break;
+	case SENSOR_ACCEL_RANGE_16G:
+		this->sensitivity = SENSOR_ACCEL_SENSITIVITY_16G;
+		range = 0x03 << 2;
+		break;
+	default:
+		return -1;
+	}
+
+	/* set range to sensor */
+	read_reg(MPU6050_ACCEL_CONFIG, &value);
+	value &= ~(0x3 << 2);
+	value |= range;
+	write_reg(MPU6050_ACCEL_CONFIG, value);
+
+    return 0;
+}
+
+int 
+MPU6050_Accelerometer::activate(int enable)
+{
+	uint8_t value;
+
+    if (enable && this->enable == RT_FALSE)
+    {
+        /* enable accelerometer */
+		read_reg(MPU6050_PWR_MGMT_2, &value); 
+		value &= ~(0x07 << 2);
+		write_reg(MPU6050_PWR_MGMT_2, value);
+    }
+
+	if (!enable && this->enable == RT_TRUE)
+    {
+        /* disable accelerometer */
+		read_reg(MPU6050_PWR_MGMT_2, &value); 
+		value |= (0x07 << 2);
+		write_reg(MPU6050_PWR_MGMT_2, value);
+    }
+
+	if (enable) this->enable = RT_TRUE;
+	else this->enable = RT_FALSE;
+
+    return 0;
+}
+
+int 
+MPU6050_Accelerometer::poll(sensors_event_t *event)
+{
+	rt_uint8_t value[6];
+	rt_int16_t x, y, z;
+
+    /* parameters check */
+    if (event == NULL) return -1;
+
+	/* get event data */
+	event->version = sizeof(sensors_event_t);
+	event->sensor = (int32_t) this;
+	event->timestamp = rt_tick_get();
+	event->type = SENSOR_TYPE_ACCELEROMETER;
+
+	read_buffer(MPU6050_ACCEL_XOUT_H, value, 6);
+
+	/* get raw data */
+	x = (((rt_int16_t)value[0] << 8) | value[1]);
+	y = (((rt_int16_t)value[2] << 8) | value[3]);
+	z = (((rt_int16_t)value[4] << 8) | value[5]);
+
+	if (config.mode == SENSOR_MODE_RAW)
+	{
+		event->raw_acceleration.x = x;
+		event->raw_acceleration.y = y;
+		event->raw_acceleration.z = z;
+	}
+	else
+	{
+
+		x -= x_offset; y -= y_offset; z -= z_offset;
+		event->acceleration.x = x * this->sensitivity * SENSORS_GRAVITY_STANDARD;
+		event->acceleration.y = y * this->sensitivity * SENSORS_GRAVITY_STANDARD;
+		event->acceleration.z = z * this->sensitivity * SENSORS_GRAVITY_STANDARD;
+	}
+	
+	return 0;
+}
+
+void 
+MPU6050_Accelerometer::getSensor(sensor_t *sensor)
+{
+    /* get sensor description */
+    if (sensor)
+    {
+        memcpy(sensor, &_MPU6050_sensor[0], sizeof(sensor_t));
+    }
+}
+
+MPU6050_Gyroscope::MPU6050_Gyroscope(const char* iic_name, int addr)
+    : MPU6050(SENSOR_TYPE_GYROSCOPE, iic_name, addr)
+{
+	int index;
+	uint8_t id;
+	rt_uint8_t value[6];
+	rt_int32_t x, y, z;
+
+    /* initialize MPU6050 */
+    write_reg(MPU6050_PWR_MGMT_1,   0x80);			/* reset mpu6050 device 									*/
+	write_reg(MPU6050_SMPLRT_DIV,   0x00);			/* Sample Rate = Gyroscope Output Rate / (1 + SMPLRT_DIV) 	*/
+    write_reg(MPU6050_PWR_MGMT_1,   0x03);			/* Wake up device , set device clock Z axis gyroscope		*/
+	write_reg(MPU6050_CONFIG,   	0x03);			/* set DLPF_CFG 42Hz 										*/
+    write_reg(MPU6050_GYRO_CONFIG,  0x18);			/* set gyro 2000deg/s										*/
+    write_reg(MPU6050_ACCEL_CONFIG, 0x08);			/* set acc +-4g/s 											*/
+
+	x_offset = y_offset = z_offset = 0;
+	x = y = z = 0;
+
+	/* read MPU6050 id */
+	read_reg(MPU6050_WHOAMI, &id);
+	if (id != MPU6050_ID)
+	{
+		printf("Warning: not found MPU6050 id: %02x\n", id);
+	}
+
+	/* get offset */
+	for (index = 0; index < 200; index ++)
+	{
+		read_buffer(MPU6050_GYRO_XOUT_H, value, 6);
+
+		x += (((rt_int16_t)value[0] << 8)   | value[1]);
+		y += (((rt_int16_t)value[2] << 8)   | value[3]);
+		z += (((rt_int16_t)value[4] << 8)   | value[5]);		
+	}
+	x_offset = x / 200;
+	y_offset = y / 200;
+	z_offset = z / 200;
+
+	this->enable = RT_FALSE;
+	this->sensitivity = SENSOR_GYRO_SENSITIVITY_250DPS;
+}
+
+int 
+MPU6050_Gyroscope::configure(SensorConfig *config)
+{
+	int range;
+	uint8_t value;
+
+	if (config == RT_NULL) return -1;
+
+	/* TODO: set datarate */
+
+	/* get range and calc the sensitivity */
+	range = config->range.gyro_range;
+	switch (range)
+	{
+	case SENSOR_GYRO_RANGE_250DPS:
+		this->sensitivity = SENSOR_GYRO_SENSITIVITY_250DPS;
+		range = 0;
+		break;
+	case SENSOR_GYRO_RANGE_500DPS:
+		this->sensitivity = SENSOR_GYRO_SENSITIVITY_500DPS;
+		range = 0x01 << 2;
+		break;
+	case SENSOR_GYRO_RANGE_1000DPS:
+		this->sensitivity = SENSOR_GYRO_SENSITIVITY_1000DPS;
+		range = 0x02 << 2;
+		break;
+	case SENSOR_GYRO_RANGE_2000DPS:
+		this->sensitivity = SENSOR_GYRO_SENSITIVITY_2000DPS;
+		range = 0x03 << 2;
+		break;
+	default:
+		return -1;
+	}
+
+	/* set range to sensor */
+	read_reg(MPU6050_GYRO_CONFIG, &value);
+	value &= ~(0x3 << 2);
+	value |= range;
+	write_reg(MPU6050_GYRO_CONFIG, value);
+
+    return 0;
+}
+
+int 
+MPU6050_Gyroscope::activate(int enable)
+{
+	uint8_t value;
+	
+    if (enable && this->enable == RT_FALSE)
+    {
+        /* enable gyroscope */
+		read_reg(MPU6050_PWR_MGMT_1, &value);
+		value &= ~(0x01 << 4);
+		write_reg(MPU6050_PWR_MGMT_1, value);
+
+		read_reg(MPU6050_PWR_MGMT_2, &value); 
+		value &= ~(0x07 << 0);
+		write_reg(MPU6050_PWR_MGMT_2, value);
+    }
+
+	if (!enable && this->enable == RT_TRUE)
+    {
+        /* disable gyroscope */
+		read_reg(MPU6050_PWR_MGMT_2, &value); 
+		value |= (0x07 << 0);
+		write_reg(MPU6050_PWR_MGMT_2, value);
+    }
+
+	if (enable) this->enable = RT_TRUE;
+	else this->enable = RT_FALSE;
+
+    return 0;
+}
+
+int 
+MPU6050_Gyroscope::poll(sensors_event_t *event)
+{
+	rt_uint8_t value[6];
+	rt_int16_t x, y, z;
+
+	/* parameters check */
+	if (event == NULL) return -1;
+
+	/* get event data */
+	event->version = sizeof(sensors_event_t);
+	event->sensor = (int32_t) this;
+	event->timestamp = rt_tick_get();
+	event->type = SENSOR_TYPE_GYROSCOPE;
+
+	read_buffer(MPU6050_GYRO_XOUT_H, value, 6);
+
+	/* get raw data */
+	x = (((rt_int16_t)value[0] << 8) | value[1]);
+	y = (((rt_int16_t)value[2] << 8) | value[3]);
+	z = (((rt_int16_t)value[4] << 8) | value[5]);
+
+	
+	if (config.mode == SENSOR_MODE_RAW)
+	{
+		event->raw_gyro.x = x;
+		event->raw_gyro.y = y;
+		event->raw_gyro.z = z;
+	}
+	else
+	{
+		x -= x_offset; y -= y_offset; z -= z_offset;
+		event->gyro.x = x * this->sensitivity * SENSORS_DPS_TO_RADS;
+		event->gyro.y = y * this->sensitivity * SENSORS_DPS_TO_RADS;
+		event->gyro.z = z * this->sensitivity * SENSORS_DPS_TO_RADS;
+	}
+	
+	return 0;
+}
+
+void 
+MPU6050_Gyroscope::getSensor(sensor_t *sensor)
+{
+    /* get sensor description */
+    if (sensor)
+    {
+        memcpy(sensor, &_MPU6050_sensor[1], sizeof(sensor_t));
+    }
+}
+
diff --git a/components/drivers/sensors/mpu6050_sensor.h b/components/drivers/sensors/mpu6050_sensor.h
new file mode 100644
index 0000000000..c7e28ba28e
--- /dev/null
+++ b/components/drivers/sensors/mpu6050_sensor.h
@@ -0,0 +1,193 @@
+/*
+ * File      : MPU6050_sensor.h
+ * This file is part of RT-Thread RTOS
+ * COPYRIGHT (C) 2014, RT-Thread Development Team
+ *
+ * The license and distribution terms for this file may be
+ * found in the file LICENSE in this distribution or at
+ * http://www.rt-thread.org/license/LICENSE
+ *
+ * Change Logs:
+ * Date           Author       Notes
+ * 2014-12-20     Bernard      the first version
+ * 2015-1-11     RT_learning   modify the mpu6050 ID
+ */
+
+#ifndef MPU6050_SENSOR_H__
+#define MPU6050_SENSOR_H__
+
+#include <sensor.h>
+
+#define MPU6050_ADDRESS_AD0_LOW     0x68 // address pin low (GND), default for InvenSense evaluation board
+#define MPU6050_ADDRESS_AD0_HIGH    0x69 // address pin high (VCC)
+#define MPU6050_DEFAULT_ADDRESS     MPU6050_ADDRESS_AD0_LOW
+
+#define MPU6050_XG_OFFS_TC          0x00
+#define MPU6050_YG_OFFS_TC          0x01
+#define MPU6050_ZG_OFFS_TC          0x02
+#define MPU6050_X_FINE_GAIN         0x03
+#define MPU6050_Y_FINE_GAIN         0x04
+#define MPU6050_Z_FINE_GAIN         0x05
+#define MPU6050_XA_OFFS_H           0x06
+#define MPU6050_XA_OFFS_L           0x07
+#define MPU6050_YA_OFFS_H           0x08
+#define MPU6050_YA_OFFS_L           0x09
+#define MPU6050_ZA_OFFS_H           0x0A
+#define MPU6050_ZA_OFFS_L           0x0B
+#define MPU6050_PRODUCT_ID          0x0C
+#define MPU6050_SELF_TEST_X         0x0D
+#define MPU6050_SELF_TEST_Y         0x0E
+#define MPU6050_SELF_TEST_Z         0x0F
+#define MPU6050_SELF_TEST_A         0x10
+#define MPU6050_XG_OFFS_USRH        0x13
+#define MPU6050_XG_OFFS_USRL        0x14
+#define MPU6050_YG_OFFS_USRH        0x15
+#define MPU6050_YG_OFFS_USRL        0x16
+#define MPU6050_ZG_OFFS_USRH        0x17
+#define MPU6050_ZG_OFFS_USRL        0x18
+#define MPU6050_SMPLRT_DIV          0x19
+#define MPU6050_CONFIG              0x1A
+#define MPU6050_GYRO_CONFIG         0x1B
+#define MPU6050_ACCEL_CONFIG        0x1C
+#define MPU6050_ACCEL_CONFIG_2      0x1D
+#define MPU6050_LP_ACCEL_ODR        0x1E
+#define MPU6050_MOT_THR             0x1F
+#define MPU6050_FIFO_EN             0x23
+#define MPU6050_I2C_MST_CTRL        0x24
+#define MPU6050_I2C_SLV0_ADDR       0x25
+#define MPU6050_I2C_SLV0_REG        0x26
+#define MPU6050_I2C_SLV0_CTRL       0x27
+#define MPU6050_I2C_SLV1_ADDR       0x28
+#define MPU6050_I2C_SLV1_REG        0x29
+#define MPU6050_I2C_SLV1_CTRL       0x2A
+#define MPU6050_I2C_SLV2_ADDR       0x2B
+#define MPU6050_I2C_SLV2_REG        0x2C
+#define MPU6050_I2C_SLV2_CTRL       0x2D
+#define MPU6050_I2C_SLV3_ADDR       0x2E
+#define MPU6050_I2C_SLV3_REG        0x2F
+#define MPU6050_I2C_SLV3_CTRL       0x30
+#define MPU6050_I2C_SLV4_ADDR       0x31
+#define MPU6050_I2C_SLV4_REG        0x32
+#define MPU6050_I2C_SLV4_DO         0x33
+#define MPU6050_I2C_SLV4_CTRL       0x34
+#define MPU6050_I2C_SLV4_DI         0x35
+#define MPU6050_I2C_MST_STATUS      0x36
+#define MPU6050_INT_PIN_CFG         0x37
+#define MPU6050_INT_ENABLE          0x38
+#define MPU6050_ACCEL_XOUT_H        0x3B
+#define MPU6050_ACCEL_XOUT_L        0x3C
+#define MPU6050_ACCEL_YOUT_H        0x3D
+#define MPU6050_ACCEL_YOUT_L        0x3E
+#define MPU6050_ACCEL_ZOUT_H        0x3F
+#define MPU6050_ACCEL_ZOUT_L        0x40
+#define MPU6050_TEMP_OUT_H          0x41
+#define MPU6050_TEMP_OUT_L          0x42
+#define MPU6050_GYRO_XOUT_H         0x43
+#define MPU6050_GYRO_XOUT_L         0x44
+#define MPU6050_GYRO_YOUT_H         0x45
+#define MPU6050_GYRO_YOUT_L         0x46
+#define MPU6050_GYRO_ZOUT_H         0x47
+#define MPU6050_GYRO_ZOUT_L         0x48
+#define MPU6050_EXT_SENS_DATA_00    0x49
+#define MPU6050_EXT_SENS_DATA_01    0x4A
+#define MPU6050_EXT_SENS_DATA_02    0x4B
+#define MPU6050_EXT_SENS_DATA_03    0x4C
+#define MPU6050_EXT_SENS_DATA_04    0x4D
+#define MPU6050_EXT_SENS_DATA_05    0x4E
+#define MPU6050_EXT_SENS_DATA_06    0x4F
+#define MPU6050_EXT_SENS_DATA_07    0x50
+#define MPU6050_EXT_SENS_DATA_08    0x51
+#define MPU6050_EXT_SENS_DATA_09    0x52
+#define MPU6050_EXT_SENS_DATA_10    0x53
+#define MPU6050_EXT_SENS_DATA_11    0x54
+#define MPU6050_EXT_SENS_DATA_12    0x55
+#define MPU6050_EXT_SENS_DATA_13    0x56
+#define MPU6050_EXT_SENS_DATA_14    0x57
+#define MPU6050_EXT_SENS_DATA_15    0x58
+#define MPU6050_EXT_SENS_DATA_16    0x59
+#define MPU6050_EXT_SENS_DATA_17    0x5A
+#define MPU6050_EXT_SENS_DATA_18    0x5B
+#define MPU6050_EXT_SENS_DATA_19    0x5C
+#define MPU6050_EXT_SENS_DATA_20    0x5D
+#define MPU6050_EXT_SENS_DATA_21    0x5E
+#define MPU6050_EXT_SENS_DATA_22    0x5F
+#define MPU6050_EXT_SENS_DATA_23    0x60
+#define MPU6050_I2C_SLV0_DO         0x63
+#define MPU6050_I2C_SLV1_DO         0x64
+#define MPU6050_I2C_SLV2_DO         0x65
+#define MPU6050_I2C_SLV3_DO         0x66
+#define MPU6050_I2C_MST_DELAY_CTRL  0x67
+#define MPU6050_SIGNAL_PATH_RESET   0x68
+#define MPU6050_MOT_DETECT_CTRL     0x69
+#define MPU6050_USER_CTRL           0x6A
+#define MPU6050_PWR_MGMT_1          0x6B
+#define MPU6050_PWR_MGMT_2          0x6C
+#define MPU6050_BANK_SEL            0x6D
+#define MPU6050_MEM_START_ADDR      0x6E
+#define MPU6050_MEM_R_W             0x6F
+#define MPU6050_DMP_CFG_1           0x70
+#define MPU6050_DMP_CFG_2           0x71
+#define MPU6050_FIFO_COUNTH         0x72
+#define MPU6050_FIFO_COUNTL         0x73
+#define MPU6050_FIFO_R_W            0x74
+#define MPU6050_WHOAMI              0x75
+#define MPU6050_XA_OFFSET_H         0x77
+#define MPU6050_XA_OFFSET_L         0x78
+#define MPU6050_YA_OFFSET_H         0x7A
+#define MPU6050_YA_OFFSET_L         0x7B
+#define MPU6050_ZA_OFFSET_H         0x7D
+#define MPU6050_ZA_OFFSET_L         0x7E
+
+#define MPU6050_ID					0x68
+
+class MPU6050 :public SensorBase
+{
+public:
+    MPU6050(int sensor_type, const char* iic_bus, int addr);
+
+    int read_reg(rt_uint8_t reg, rt_uint8_t* value);
+    int write_reg(rt_uint8_t reg, rt_uint8_t value);
+    int read_buffer(rt_uint8_t reg, rt_uint8_t* value, rt_size_t size);
+
+private:
+    struct rt_i2c_bus_device *i2c_bus;
+    int i2c_addr;
+};
+
+class MPU6050_Accelerometer:public MPU6050
+{
+public:
+    MPU6050_Accelerometer(const char* iic_name, int addr);
+
+    virtual int configure(SensorConfig *config);
+    virtual int activate(int enable);
+
+    virtual int poll(sensors_event_t *event);
+    virtual void getSensor(sensor_t *sensor);
+
+private:
+	rt_int16_t x_offset, y_offset, z_offset;
+	
+	rt_bool_t enable;
+	float sensitivity;
+};
+
+class MPU6050_Gyroscope:public MPU6050
+{
+public:
+    MPU6050_Gyroscope(const char* iic_name, int addr);
+
+    virtual int configure(SensorConfig *config);
+    virtual int activate(int enable);
+
+    virtual int poll(sensors_event_t *event);
+    virtual void getSensor(sensor_t *sensor);
+
+private:
+	rt_int16_t x_offset, y_offset, z_offset;
+	
+	rt_bool_t enable;
+	float sensitivity;
+};
+
+#endif
diff --git a/components/drivers/sensors/sensor.cpp b/components/drivers/sensors/sensor.cpp
new file mode 100644
index 0000000000..18eb8eee18
--- /dev/null
+++ b/components/drivers/sensors/sensor.cpp
@@ -0,0 +1,232 @@
+/*
+ * File      : sensors.cpp
+ * This file is part of RT-Thread RTOS
+ * COPYRIGHT (C) 2014, RT-Thread Development Team
+ *
+ * The license and distribution terms for this file may be
+ * found in the file LICENSE in this distribution or at
+ * http://www.rt-thread.org/license/LICENSE
+ *
+ * Change Logs:
+ * Date           Author       Notes
+ * 2014-08-03     Bernard      the first version
+ */
+
+#include <stddef.h>
+#include <string.h>
+
+#include "sensor.h"
+
+/**
+ * SensorBase
+ */
+SensorBase::SensorBase(int type)
+{
+    memset(&(this->config), 0x0, sizeof(SensorConfig));
+
+    this->type = type;
+    this->next = this->prev = NULL;
+    subscribe(NULL, NULL);
+}
+
+SensorBase::~SensorBase()
+{
+}
+
+int SensorBase::getType(void)
+{
+    return this->type;
+}
+
+int SensorBase::setConfig(SensorConfig *config)
+{
+    int result;
+
+    /* configure to the low level sensor */
+    result = this->configure(config);
+    if (result == 0)
+    {
+        this->config = *config;
+    }
+
+    return result;
+}
+
+int SensorBase::getConfig(SensorConfig *config)
+{
+    *config = this->config;
+    return 0;
+}
+
+int SensorBase::subscribe(SensorEventHandler_t *handler, void *user_data)
+{
+    this->evtHandler = handler;
+    this->userData = user_data;
+
+    return 0;
+}
+
+int SensorBase::publish(sensors_event_t *event)
+{
+    if (this->evtHandler != NULL)
+    {
+        /* invoke subscribed handler */
+        (*evtHandler)(event, this->userData);
+    }
+
+    return 0;
+}
+
+/**
+ * Sensor Manager
+ */
+/* sensors list */
+static SensorBase *sensor_list = NULL;
+
+SensorManager::SensorManager()
+{
+}
+
+SensorManager::~SensorManager()
+{
+}
+
+int SensorManager::registerSensor(SensorBase *sensor)
+{
+    RT_ASSERT(sensor != RT_NULL);
+
+    /* add sensor into the list */
+    if (sensor_list == NULL)
+    {
+        sensor->prev = sensor->next = sensor;
+    }
+    else
+    {
+        sensor_list->prev->next = sensor;
+        sensor->prev = sensor_list->prev;
+
+        sensor_list->prev = sensor;
+        sensor->next = sensor_list;
+    }
+
+    /* point the sensorList to this sensor */
+    sensor_list = sensor;
+
+    return 0;
+}
+
+int SensorManager::unregisterSensor(SensorBase *sensor)
+{
+    /* disconnect sensor list */
+    sensor->next->prev = sensor->prev;
+    sensor->prev->next = sensor->next;
+
+    /* check the sensorList */
+    if (sensor == sensor_list)
+    {
+        if (sensor->next == sensor) sensor_list = NULL; /* empty list */
+        else sensor_list = sensor->next;
+    }
+
+    /* re-initialize sensor node */
+    sensor->next = sensor->prev = sensor;
+
+    return 0;
+}
+
+SensorBase *SensorManager::getDefaultSensor(int type)
+{
+    SensorBase *sensor = sensor_list;
+
+    if (sensor == NULL) return NULL;
+
+    do
+    {
+        /* find the same type */
+        if (sensor->getType() == type) return sensor;
+
+        sensor = sensor->next;
+    }while (sensor != sensor_list);
+
+    return NULL;
+}
+
+int SensorManager::subscribe(int type, SensorEventHandler_t *handler, void *user_data)
+{
+    SensorBase *sensor;
+
+    sensor = SensorManager::getDefaultSensor(type);
+    if (sensor != NULL)
+    {
+        sensor->subscribe(handler, user_data);
+        return 0;
+    }
+
+    return -1;
+}
+
+int SensorManager::sensorEventReady(SensorBase *sensor)
+{
+    return 0;
+}
+
+int SensorManager::pollSensor(SensorBase *sensor, sensors_event_t *events, int number, int duration)
+{
+    rt_tick_t tick;
+    int result, index;
+
+    if (sensor == NULL) return -1;
+
+    tick = rt_tick_get();
+    for (index = 0; index < number; index ++)
+    {
+        result = sensor->poll(&events[index]);
+        if (result < 0) break;
+
+        if (rt_tick_get() - tick > duration) break;
+    }
+
+    return index;
+}
+
+rt_sensor_t rt_sensor_get_default(int type)
+{
+    return (rt_sensor_t)SensorManager::getDefaultSensor(type);
+}
+
+int rt_sensor_subscribe(rt_sensor_t sensor, SensorEventHandler_t *handler, void *user_data)
+{
+    SensorBase *sensor_base;
+    if (sensor == NULL) return -1;
+
+    sensor_base = (SensorBase*)sensor;
+
+    return sensor_base->subscribe(handler, user_data);
+}
+
+int rt_sensor_poll(rt_sensor_t sensor, sensors_event_t *event)
+{
+    SensorBase *sensor_base;
+    if (sensor == NULL || event == NULL) return -1;
+
+    sensor_base = (SensorBase*)sensor;
+    return sensor_base->poll(event);
+}
+
+int rt_sensor_configure(rt_sensor_t sensor, SensorConfig *config)
+{
+    SensorBase *sensor_base;
+    if (sensor == NULL || config == NULL) return -1;
+
+    sensor_base = (SensorBase*)sensor;
+    return sensor_base->setConfig(config);
+}
+
+int rt_sensor_activate(rt_sensor_t sensor, int enable)
+{
+    SensorBase *sensor_base;
+    if (sensor == NULL) return -1;
+    
+    sensor_base = (SensorBase*)sensor;
+    return sensor_base->activate(enable);
+}
diff --git a/components/drivers/sensors/sensor.h b/components/drivers/sensors/sensor.h
new file mode 100644
index 0000000000..2962b21a80
--- /dev/null
+++ b/components/drivers/sensors/sensor.h
@@ -0,0 +1,1132 @@
+/*
+ * File      : sensors.h
+ * This file is part of RT-Thread RTOS
+ * COPYRIGHT (C) 2014, RT-Thread Development Team
+ *
+ * The license and distribution terms for this file may be
+ * found in the file LICENSE in this distribution or at
+ * http://www.rt-thread.org/license/LICENSE
+ *
+ * Change Logs:
+ * Date           Author       Notes
+ * 2014-08-03     Bernard      the first version
+ */
+
+/* Modified from: https://github.com/android/platform_hardware_libhardware/blob/master/include/hardware/sensors.h */
+
+/*
+ * Copyright (C) 2012 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef SENSORS_H__
+#define SENSORS_H__
+
+#include <rtdevice.h>
+#include <stdint.h>
+
+#ifdef __CC_ARM /* skip warning in armcc */
+#pragma anon_unions
+#endif
+
+/**
+ * Handles must be higher than SENSORS_HANDLE_BASE and must be unique.
+ * A Handle identifies a given sensors. The handle is used to activate
+ * and/or deactivate sensors.
+ * In this version of the API there can only be 256 handles.
+ */
+#define SENSORS_HANDLE_BASE             0
+#define SENSORS_HANDLE_BITS             8
+#define SENSORS_HANDLE_COUNT            (1<<SENSORS_HANDLE_BITS)
+
+
+/*
+ * flags for (*batch)()
+ * Availability: SENSORS_DEVICE_API_VERSION_1_0
+ * see (*batch)() documentation for details
+ */
+enum
+{
+    SENSORS_BATCH_DRY_RUN               = 0x00000001,
+    SENSORS_BATCH_WAKE_UPON_FIFO_FULL   = 0x00000002
+};
+
+/*
+ * what field for meta_data_event_t
+ */
+enum
+{
+    /* a previous flush operation has completed */
+    META_DATA_FLUSH_COMPLETE = 1,
+    META_DATA_VERSION   /* always last, leave auto-assigned */
+};
+
+/**
+ * Definition of the axis used by the sensor HAL API
+ *
+ * This API is relative to the screen of the device in its default orientation,
+ * that is, if the device can be used in portrait or landscape, this API
+ * is only relative to the NATURAL orientation of the screen. In other words,
+ * the axis are not swapped when the device's screen orientation changes.
+ * Higher level services /may/ perform this transformation.
+ *
+ *   x<0         x>0
+ *                ^
+ *                |
+ *    +-----------+-->  y>0
+ *    |           |
+ *    |           |
+ *    |           |
+ *    |           |   / z<0
+ *    |           |  /
+ *    |           | /
+ *    O-----------+/
+ *    |[]  [ ]  []/
+ *    +----------/+     y<0
+ *              /
+ *             /
+ *           |/ z>0 (toward the sky)
+ *
+ *    O: Origin (x=0,y=0,z=0)
+ *
+ */
+
+/*
+ * Interaction with suspend mode
+ *
+ * Unless otherwise noted, an enabled sensor shall not prevent the
+ * SoC to go into suspend mode. It is the responsibility of applications
+ * to keep a partial wake-lock should they wish to receive sensor
+ * events while the screen is off. While in suspend mode, and unless
+ * otherwise noted (batch mode, sensor particularities, ...), enabled sensors'
+ * events are lost.
+ *
+ * Note that conceptually, the sensor itself is not de-activated while in
+ * suspend mode -- it's just that the data it returns are lost. As soon as
+ * the SoC gets out of suspend mode, operations resume as usual. Of course,
+ * in practice sensors shall be disabled while in suspend mode to
+ * save power, unless batch mode is active, in which case they must
+ * continue fill their internal FIFO (see the documentation of batch() to
+ * learn how suspend interacts with batch mode).
+ *
+ * In batch mode, and only when the flag SENSORS_BATCH_WAKE_UPON_FIFO_FULL is
+ * set and supported, the specified sensor must be able to wake-up the SoC and
+ * be able to buffer at least 10 seconds worth of the requested sensor events.
+ *
+ * There are notable exceptions to this behavior, which are sensor-dependent
+ * (see sensor types definitions below)
+ *
+ *
+ * The sensor type documentation below specifies the wake-up behavior of
+ * each sensor:
+ *   wake-up: yes     this sensor must wake-up the SoC to deliver events
+ *   wake-up: no      this sensor shall not wake-up the SoC, events are dropped
+ *
+ */
+
+/*
+ * Sensor type
+ *
+ * Each sensor has a type which defines what this sensor measures and how
+ * measures are reported. All types are defined below.
+ *
+ * Device manufacturers (OEMs) can define their own sensor types, for
+ * their private use by applications or services provided by them. Such
+ * sensor types are specific to an OEM and can't be exposed in the SDK.
+ * These types must start at SENSOR_TYPE_DEVICE_PRIVATE_BASE.
+ */
+
+/*
+ * Base for device manufacturers private sensor types.
+ * These sensor types can't be exposed in the SDK.
+ */
+#define SENSOR_TYPE_DEVICE_PRIVATE_BASE     0x10000
+
+/*
+ * Sensor fusion and virtual sensors
+ *
+ * Many sensor types are or can be implemented as virtual sensors from
+ * physical sensors on the device. For instance the rotation vector sensor,
+ * orientation sensor, step-detector, step-counter, etc...
+ *
+ * From the point of view of this API these virtual sensors MUST appear as
+ * real, individual sensors. It is the responsibility of the driver and HAL
+ * to make sure this is the case.
+ *
+ * In particular, all sensors must be able to function concurrently.
+ * For example, if defining both an accelerometer and a step counter,
+ * then both must be able to work concurrently.
+ */
+
+/*
+ * Trigger modes
+ *
+ * Sensors can report events in different ways called trigger modes,
+ * each sensor type has one and only one trigger mode associated to it.
+ * Currently there are four trigger modes defined:
+ *
+ * continuous: events are reported at a constant rate defined by setDelay().
+ *             eg: accelerometers, gyroscopes.
+ * on-change:  events are reported only if the sensor's value has changed.
+ *             setDelay() is used to set a lower limit to the reporting
+ *             period (minimum time between two events).
+ *             The HAL must return an event immediately when an on-change
+ *             sensor is activated.
+ *             eg: proximity, light sensors
+ * one-shot:   upon detection of an event, the sensor deactivates itself and
+ *             then sends a single event. Order matters to avoid race
+ *             conditions. No other event is sent until the sensor get
+ *             reactivated. setDelay() is ignored.
+ *             eg: significant motion sensor
+ * special:    see details in the sensor type specification below
+ *
+ */
+
+/*
+ * SENSOR_TYPE_META_DATA
+ * trigger-mode: n/a
+ * wake-up sensor: n/a
+ *
+ * NO SENSOR OF THAT TYPE MUST BE RETURNED (*get_sensors_list)()
+ *
+ * SENSOR_TYPE_META_DATA is a special token used to populate the
+ * sensors_meta_data_event structure. It doesn't correspond to a physical
+ * sensor. sensors_meta_data_event are special, they exist only inside
+ * the HAL and are generated spontaneously, as opposed to be related to
+ * a physical sensor.
+ *
+ *   sensors_meta_data_event_t.version must be META_DATA_VERSION
+ *   sensors_meta_data_event_t.sensor must be 0
+ *   sensors_meta_data_event_t.type must be SENSOR_TYPE_META_DATA
+ *   sensors_meta_data_event_t.reserved must be 0
+ *   sensors_meta_data_event_t.timestamp must be 0
+ *
+ * The payload is a meta_data_event_t, where:
+ * meta_data_event_t.what can take the following values:
+ *
+ * META_DATA_FLUSH_COMPLETE
+ *   This event indicates that a previous (*flush)() call has completed for the sensor
+ *   handle specified in meta_data_event_t.sensor.
+ *   see (*flush)() for more details
+ *
+ * All other values for meta_data_event_t.what are reserved and
+ * must not be used.
+ *
+ */
+#define SENSOR_TYPE_META_DATA                           (0)
+
+/*
+ * SENSOR_TYPE_ACCELEROMETER
+ * trigger-mode: continuous
+ * wake-up sensor: no
+ *
+ *  All values are in SI units (m/s^2) and measure the acceleration of the
+ *  device minus the force of gravity.
+ *
+ *  Acceleration sensors return sensor events for all 3 axes at a constant
+ *  rate defined by setDelay().
+ *
+ *  x: Acceleration on the x-axis
+ *  y: Acceleration on the y-axis
+ *  z: Acceleration on the z-axis
+ *
+ * Note that the readings from the accelerometer include the acceleration
+ * due to gravity (which is opposite to the direction of the gravity vector).
+ *
+ *  Examples:
+ *    The norm of <x, y, z>  should be close to 0 when in free fall.
+ *
+ *    When the device lies flat on a table and is pushed on its left side
+ *    toward the right, the x acceleration value is positive.
+ *
+ *    When the device lies flat on a table, the acceleration value is +9.81,
+ *    which correspond to the acceleration of the device (0 m/s^2) minus the
+ *    force of gravity (-9.81 m/s^2).
+ *
+ *    When the device lies flat on a table and is pushed toward the sky, the
+ *    acceleration value is greater than +9.81, which correspond to the
+ *    acceleration of the device (+A m/s^2) minus the force of
+ *    gravity (-9.81 m/s^2).
+ */
+#define SENSOR_TYPE_ACCELEROMETER                    (1)
+
+/*
+ * SENSOR_TYPE_GEOMAGNETIC_FIELD
+ * trigger-mode: continuous
+ * wake-up sensor: no
+ *
+ *  All values are in micro-Tesla (uT) and measure the geomagnetic
+ *  field in the X, Y and Z axis.
+ *
+ *  Returned values include calibration mechanisms such that the vector is
+ *  aligned with the magnetic declination and heading of the earth's
+ *  geomagnetic field.
+ *
+ *  Magnetic Field sensors return sensor events for all 3 axes at a constant
+ *  rate defined by setDelay().
+ */
+#define SENSOR_TYPE_GEOMAGNETIC_FIELD                (2)
+#define SENSOR_TYPE_MAGNETIC_FIELD  SENSOR_TYPE_GEOMAGNETIC_FIELD
+
+/*
+ * SENSOR_TYPE_ORIENTATION
+ * trigger-mode: continuous
+ * wake-up sensor: no
+ *
+ * All values are angles in degrees.
+ *
+ * Orientation sensors return sensor events for all 3 axes at a constant
+ * rate defined by setDelay().
+ *
+ * azimuth: angle between the magnetic north direction and the Y axis, around
+ *  the Z axis (0<=azimuth<360).
+ *      0=North, 90=East, 180=South, 270=West
+ *
+ * pitch: Rotation around X axis (-180<=pitch<=180), with positive values when
+ *  the z-axis moves toward the y-axis.
+ *
+ * roll: Rotation around Y axis (-90<=roll<=90), with positive values when
+ *  the x-axis moves towards the z-axis.
+ *
+ * Note: For historical reasons the roll angle is positive in the clockwise
+ *  direction (mathematically speaking, it should be positive in the
+ *  counter-clockwise direction):
+ *
+ *                Z
+ *                ^
+ *  (+roll)  .--> |
+ *          /     |
+ *         |      |  roll: rotation around Y axis
+ *     X <-------(.)
+ *                 Y
+ *       note that +Y == -roll
+ *
+ *
+ *
+ * Note: This definition is different from yaw, pitch and roll used in aviation
+ *  where the X axis is along the long side of the plane (tail to nose).
+ */
+#define SENSOR_TYPE_ORIENTATION                      (3)
+
+/*
+ * SENSOR_TYPE_GYROSCOPE
+ * trigger-mode: continuous
+ * wake-up sensor: no
+ *
+ *  All values are in radians/second and measure the rate of rotation
+ *  around the X, Y and Z axis.  The coordinate system is the same as is
+ *  used for the acceleration sensor. Rotation is positive in the
+ *  counter-clockwise direction (right-hand rule). That is, an observer
+ *  looking from some positive location on the x, y or z axis at a device
+ *  positioned on the origin would report positive rotation if the device
+ *  appeared to be rotating counter clockwise. Note that this is the
+ *  standard mathematical definition of positive rotation and does not agree
+ *  with the definition of roll given earlier.
+ *  The range should at least be 17.45 rad/s (ie: ~1000 deg/s).
+ *
+ *  automatic gyro-drift compensation is allowed but not required.
+ */
+#define SENSOR_TYPE_GYROSCOPE                        (4)
+
+/*
+ * SENSOR_TYPE_LIGHT
+ * trigger-mode: on-change
+ * wake-up sensor: no
+ *
+ * The light sensor value is returned in SI lux units.
+ */
+#define SENSOR_TYPE_LIGHT                            (5)
+
+/*
+ * SENSOR_TYPE_PRESSURE
+ * trigger-mode: continuous
+ * wake-up sensor: no
+ *
+ * The pressure sensor return the athmospheric pressure in hectopascal (hPa)
+ */
+#define SENSOR_TYPE_PRESSURE                         (6)
+
+/* SENSOR_TYPE_TEMPERATURE is deprecated in the HAL */
+#define SENSOR_TYPE_TEMPERATURE                      (7)
+
+/*
+ * SENSOR_TYPE_PROXIMITY
+ * trigger-mode: on-change
+ * wake-up sensor: yes
+ *
+ * The distance value is measured in centimeters.  Note that some proximity
+ * sensors only support a binary "close" or "far" measurement.  In this case,
+ * the sensor should report its maxRange value in the "far" state and a value
+ * less than maxRange in the "near" state.
+ */
+#define SENSOR_TYPE_PROXIMITY                        (8)
+
+/*
+ * SENSOR_TYPE_GRAVITY
+ * trigger-mode: continuous
+ * wake-up sensor: no
+ *
+ * A gravity output indicates the direction of and magnitude of gravity in
+ * the devices's coordinates.  On Earth, the magnitude is 9.8 m/s^2.
+ * Units are m/s^2.  The coordinate system is the same as is used for the
+ * acceleration sensor. When the device is at rest, the output of the
+ * gravity sensor should be identical to that of the accelerometer.
+ */
+#define SENSOR_TYPE_GRAVITY                          (9)
+
+/*
+ * SENSOR_TYPE_LINEAR_ACCELERATION
+ * trigger-mode: continuous
+ * wake-up sensor: no
+ *
+ * Indicates the linear acceleration of the device in device coordinates,
+ * not including gravity.
+ *
+ * The output is conceptually:
+ *    output of TYPE_ACCELERATION - output of TYPE_GRAVITY
+ *
+ * Readings on all axes should be close to 0 when device lies on a table.
+ * Units are m/s^2.
+ * The coordinate system is the same as is used for the acceleration sensor.
+ */
+#define SENSOR_TYPE_LINEAR_ACCELERATION             (10)
+
+/*
+ * SENSOR_TYPE_ROTATION_VECTOR
+ * trigger-mode: continuous
+ * wake-up sensor: no
+ *
+ * The rotation vector symbolizes the orientation of the device relative to the
+ * East-North-Up coordinates frame. It is usually obtained by integration of
+ * accelerometer, gyroscope and magnetometer readings.
+ *
+ * The East-North-Up coordinate system is defined as a direct orthonormal basis
+ * where:
+ * - X points east and is tangential to the ground.
+ * - Y points north and is tangential to the ground.
+ * - Z points towards the sky and is perpendicular to the ground.
+ *
+ * The orientation of the phone is represented by the rotation necessary to
+ * align the East-North-Up coordinates with the phone's coordinates. That is,
+ * applying the rotation to the world frame (X,Y,Z) would align them with the
+ * phone coordinates (x,y,z).
+ *
+ * The rotation can be seen as rotating the phone by an angle theta around
+ * an axis rot_axis to go from the reference (East-North-Up aligned) device
+ * orientation to the current device orientation.
+ *
+ * The rotation is encoded as the 4 (reordered) components of a unit quaternion:
+ *   sensors_event_t.data[0] = rot_axis.x*sin(theta/2)
+ *   sensors_event_t.data[1] = rot_axis.y*sin(theta/2)
+ *   sensors_event_t.data[2] = rot_axis.z*sin(theta/2)
+ *   sensors_event_t.data[3] = cos(theta/2)
+ * where
+ *   - rot_axis.x,y,z are the North-East-Up coordinates of a unit length vector
+ *     representing the rotation axis
+ *   - theta is the rotation angle
+ *
+ * The quaternion must be of norm 1 (it is a unit quaternion). Failure to ensure
+ * this will cause erratic client behaviour.
+ *
+ * In addition, this sensor reports an estimated heading accuracy.
+ *   sensors_event_t.data[4] = estimated_accuracy (in radians)
+ * The heading error must be less than estimated_accuracy 95% of the time
+ *
+ * This sensor must use a gyroscope and an accelerometer as main orientation
+ * change input.
+ *
+ * This sensor can also include magnetometer input to make up for gyro drift,
+ * but it cannot be implemented using only a magnetometer.
+ */
+#define SENSOR_TYPE_ROTATION_VECTOR                 (11)
+
+/*
+ * SENSOR_TYPE_RELATIVE_HUMIDITY
+ * trigger-mode: on-change
+ * wake-up sensor: no
+ *
+ * A relative humidity sensor measures relative ambient air humidity and
+ * returns a value in percent.
+ */
+#define SENSOR_TYPE_RELATIVE_HUMIDITY               (12)
+
+/*
+ * SENSOR_TYPE_AMBIENT_TEMPERATURE
+ * trigger-mode: on-change
+ * wake-up sensor: no
+ *
+ * The ambient (room) temperature in degree Celsius.
+ */
+#define SENSOR_TYPE_AMBIENT_TEMPERATURE             (13)
+
+/*
+ * SENSOR_TYPE_MAGNETIC_FIELD_UNCALIBRATED
+ * trigger-mode: continuous
+ * wake-up sensor: no
+ *
+ *  Similar to SENSOR_TYPE_MAGNETIC_FIELD, but the hard iron calibration is
+ *  reported separately instead of being included in the measurement.
+ *  Factory calibration and temperature compensation should still be applied to
+ *  the "uncalibrated" measurement.
+ *  Separating away the hard iron calibration estimation allows the system to
+ *  better recover from bad hard iron estimation.
+ *
+ *  All values are in micro-Tesla (uT) and measure the ambient magnetic
+ *  field in the X, Y and Z axis. Assumptions that the the magnetic field
+ *  is due to the Earth's poles should be avoided.
+ *
+ *  The uncalibrated_magnetic event contains
+ *  - 3 fields for uncalibrated measurement: x_uncalib, y_uncalib, z_uncalib.
+ *    Each is a component of the measured magnetic field, with soft iron
+ *    and temperature compensation applied, but not hard iron calibration.
+ *    These values should be continuous (no re-calibration should cause a jump).
+ *  - 3 fields for hard iron bias estimates: x_bias, y_bias, z_bias.
+ *    Each field is a component of the estimated hard iron calibration.
+ *    They represent the offsets to apply to the calibrated readings to obtain
+ *    uncalibrated readings (x_uncalib ~= x_calibrated + x_bias)
+ *    These values are expected to jump as soon as the estimate of the hard iron
+ *    changes, and they should be stable the rest of the time.
+ *
+ *  If this sensor is present, then the corresponding
+ *  SENSOR_TYPE_MAGNETIC_FIELD must be present and both must return the
+ *  same sensor_t::name and sensor_t::vendor.
+ *
+ *  Minimum filtering should be applied to this sensor. In particular, low pass
+ *  filters should be avoided.
+ *
+ * See SENSOR_TYPE_MAGNETIC_FIELD for more information
+ */
+#define SENSOR_TYPE_MAGNETIC_FIELD_UNCALIBRATED     (14)
+
+/*
+ * SENSOR_TYPE_GAME_ROTATION_VECTOR
+ * trigger-mode: continuous
+ * wake-up sensor: no
+ *
+ *  Similar to SENSOR_TYPE_ROTATION_VECTOR, but not using the geomagnetic
+ *  field. Therefore the Y axis doesn't point north, but instead to some other
+ *  reference. That reference is allowed to drift by the same order of
+ *  magnitude than the gyroscope drift around the Z axis.
+ *
+ *  This sensor does not report an estimated heading accuracy:
+ *    sensors_event_t.data[4] is reserved and should be set to 0
+ *
+ *  In the ideal case, a phone rotated and returning to the same real-world
+ *  orientation should report the same game rotation vector
+ *  (without using the earth's geomagnetic field).
+ *
+ *  This sensor must be based on a gyroscope. It cannot be implemented using
+ *  a magnetometer.
+ *
+ * see SENSOR_TYPE_ROTATION_VECTOR for more details
+ */
+#define SENSOR_TYPE_GAME_ROTATION_VECTOR            (15)
+
+/*
+ * SENSOR_TYPE_GYROSCOPE_UNCALIBRATED
+ * trigger-mode: continuous
+ * wake-up sensor: no
+ *
+ *  All values are in radians/second and measure the rate of rotation
+ *  around the X, Y and Z axis. An estimation of the drift on each axis is
+ *  reported as well.
+ *
+ *  No gyro-drift compensation shall be performed.
+ *  Factory calibration and temperature compensation should still be applied
+ *  to the rate of rotation (angular speeds).
+ *
+ *  The coordinate system is the same as is
+ *  used for the acceleration sensor. Rotation is positive in the
+ *  counter-clockwise direction (right-hand rule). That is, an observer
+ *  looking from some positive location on the x, y or z axis at a device
+ *  positioned on the origin would report positive rotation if the device
+ *  appeared to be rotating counter clockwise. Note that this is the
+ *  standard mathematical definition of positive rotation and does not agree
+ *  with the definition of roll given earlier.
+ *  The range should at least be 17.45 rad/s (ie: ~1000 deg/s).
+ *
+ *  Content of an uncalibrated_gyro event: (units are rad/sec)
+ *   x_uncalib : angular speed (w/o drift compensation) around the X axis
+ *   y_uncalib : angular speed (w/o drift compensation) around the Y axis
+ *   z_uncalib : angular speed (w/o drift compensation) around the Z axis
+ *   x_bias : estimated drift around X axis in rad/s
+ *   y_bias : estimated drift around Y axis in rad/s
+ *   z_bias : estimated drift around Z axis in rad/s
+ *
+ *  IMPLEMENTATION NOTES:
+ *
+ *  If the implementation is not able to estimate the drift, then this
+ *  sensor MUST NOT be reported by this HAL. Instead, the regular
+ *  SENSOR_TYPE_GYROSCOPE is used without drift compensation.
+ *
+ *  If this sensor is present, then the corresponding
+ *  SENSOR_TYPE_GYROSCOPE must be present and both must return the
+ *  same sensor_t::name and sensor_t::vendor.
+ */
+#define SENSOR_TYPE_GYROSCOPE_UNCALIBRATED          (16)
+
+/*
+ * SENSOR_TYPE_SIGNIFICANT_MOTION
+ * trigger-mode: one-shot
+ * wake-up sensor: yes
+ *
+ * A sensor of this type triggers an event each time significant motion
+ * is detected and automatically disables itself.
+ * The only allowed value to return is 1.0.
+ *
+ * A significant motion is a motion that might lead to a change in the user
+ * location.
+ * Examples of such motions are:
+ *   walking, biking, sitting in a moving car, coach or train.
+ * Examples of situations that should not trigger significant motion:
+ * - phone in pocket and person is not moving
+ * - phone is on a table, even if the table shakes a bit due to nearby traffic
+ *   or washing machine
+ *
+ * A note on false positive / false negative / power consumption tradeoff
+ *  - The goal of this sensor is to save power.
+ *  - Triggering an event when the user is not moving (false positive) is costly
+ *    in terms of power, so it should be avoided.
+ *  - Not triggering an event when the user is moving (false negative) is
+ *    acceptable as long as it is not done repeatedly. If the user has been
+ *    walking for 10 seconds, not triggering an event within those 10 seconds
+ *    is not acceptable.
+ *
+ *  IMPORTANT NOTE: this sensor type is very different from other types
+ *  in that it must work when the screen is off without the need of
+ *  holding a partial wake-lock and MUST allow the SoC to go into suspend.
+ *  When significant motion is detected, the sensor must awaken the SoC and
+ *  the event be reported.
+ *
+ *  If a particular hardware cannot support this mode of operation then this
+ *  sensor type MUST NOT be reported by the HAL. ie: it is not acceptable
+ *  to "emulate" this sensor in the HAL.
+ *
+ *  The whole point of this sensor type is to save power by keeping the
+ *  SoC in suspend mode when the device is at rest.
+ *
+ *  When the sensor is not activated, it must also be deactivated in the
+ *  hardware: it must not wake up the SoC anymore, even in case of
+ *  significant motion.
+ *
+ *  setDelay() has no effect and is ignored.
+ *  Once a "significant motion" event is returned, a sensor of this type
+ *  must disables itself automatically, as if activate(..., 0) had been called.
+ */
+
+#define SENSOR_TYPE_SIGNIFICANT_MOTION              (17)
+
+/*
+ * SENSOR_TYPE_STEP_DETECTOR
+ * trigger-mode: special
+ * wake-up sensor: no
+ *
+ * A sensor of this type triggers an event each time a step is taken
+ * by the user. The only allowed value to return is 1.0 and an event is
+ * generated for each step. Like with any other event, the timestamp
+ * indicates when the event (here the step) occurred, this corresponds to when
+ * the foot hit the ground, generating a high variation in acceleration.
+ *
+ * While this sensor operates, it shall not disrupt any other sensors, in
+ * particular, but not limited to, the accelerometer; which might very well
+ * be in use as well.
+ *
+ * This sensor must be low power. That is, if the step detection cannot be
+ * done in hardware, this sensor should not be defined. Also, when the
+ * step detector is activated and the accelerometer is not, only steps should
+ * trigger interrupts (not accelerometer data).
+ *
+ * setDelay() has no impact on this sensor type
+ */
+
+#define SENSOR_TYPE_STEP_DETECTOR                   (18)
+
+/*
+ * SENSOR_TYPE_STEP_COUNTER
+ * trigger-mode: on-change
+ * wake-up sensor: no
+ *
+ * A sensor of this type returns the number of steps taken by the user since
+ * the last reboot while activated. The value is returned as a uint64_t and is
+ * reset to zero only on a system / android reboot.
+ *
+ * The timestamp of the event is set to the time when the first step
+ * for that event was taken.
+ * See SENSOR_TYPE_STEP_DETECTOR for the signification of the time of a step.
+ *
+ *  The minimum size of the hardware's internal counter shall be 16 bits
+ *  (this restriction is here to avoid too frequent wake-ups when the
+ *  delay is very large).
+ *
+ *  IMPORTANT NOTE: this sensor type is different from other types
+ *  in that it must work when the screen is off without the need of
+ *  holding a partial wake-lock and MUST allow the SoC to go into suspend.
+ *  Unlike other sensors, while in suspend mode this sensor must stay active,
+ *  no events are reported during that time but, steps continue to be
+ *  accounted for; an event will be reported as soon as the SoC resumes if
+ *  the timeout has expired.
+ *
+ *    In other words, when the screen is off and the device allowed to
+ *    go into suspend mode, we don't want to be woken up, regardless of the
+ *    setDelay() value, but the steps shall continue to be counted.
+ *
+ *    The driver must however ensure that the internal step count never
+ *    overflows. It is allowed in this situation to wake the SoC up so the
+ *    driver can do the counter maintenance.
+ *
+ *  While this sensor operates, it shall not disrupt any other sensors, in
+ *  particular, but not limited to, the accelerometer; which might very well
+ *  be in use as well.
+ *
+ *  If a particular hardware cannot support these modes of operation then this
+ *  sensor type MUST NOT be reported by the HAL. ie: it is not acceptable
+ *  to "emulate" this sensor in the HAL.
+ *
+ * This sensor must be low power. That is, if the step detection cannot be
+ * done in hardware, this sensor should not be defined. Also, when the
+ * step counter is activated and the accelerometer is not, only steps should
+ * trigger interrupts (not accelerometer data).
+ *
+ *  The whole point of this sensor type is to save power by keeping the
+ *  SoC in suspend mode when the device is at rest.
+ */
+
+#define SENSOR_TYPE_STEP_COUNTER                    (19)
+
+/*
+ * SENSOR_TYPE_GEOMAGNETIC_ROTATION_VECTOR
+ * trigger-mode: continuous
+ * wake-up sensor: no
+ *
+ *  Similar to SENSOR_TYPE_ROTATION_VECTOR, but using a magnetometer instead
+ *  of using a gyroscope.
+ *
+ *  This sensor must be based on a magnetometer. It cannot be implemented using
+ *  a gyroscope, and gyroscope input cannot be used by this sensor, as the
+ *  goal of this sensor is to be low power.
+ *  The accelerometer can be (and usually is) used.
+ *
+ *  Just like SENSOR_TYPE_ROTATION_VECTOR, this sensor reports an estimated
+ *  heading accuracy:
+ *    sensors_event_t.data[4] = estimated_accuracy (in radians)
+ *  The heading error must be less than estimated_accuracy 95% of the time
+ *
+ * see SENSOR_TYPE_ROTATION_VECTOR for more details
+ */
+#define SENSOR_TYPE_GEOMAGNETIC_ROTATION_VECTOR            (20)
+
+/**
+ * Values returned by the accelerometer in various locations in the universe.
+ * all values are in SI units (m/s^2)
+ */
+#define SENSORS_GRAVITY_SUN                 (275.0f)
+#define SENSORS_GRAVITY_MOON                (1.6f)
+#define SENSORS_GRAVITY_EARTH               (9.80665f)
+#define SENSORS_GRAVITY_STANDARD            (SENSORS_GRAVITY_EARTH)
+
+/** Maximum magnetic field on Earth's surface */
+#define MAGNETIC_FIELD_EARTH_MAX            (60.0f)
+
+/** Minimum magnetic field on Earth's surface */
+#define MAGNETIC_FIELD_EARTH_MIN            (30.0f)
+
+/** Average sea level pressure is 1013.25 hPa */
+#define SENSORS_PRESSURE_SEALEVELHPA        (1013.25F)
+
+/** Degrees/s to rad/s multiplier */
+#define SENSORS_DPS_TO_RADS                 (0.017453293F)
+/** Gauss to micro-Tesla multiplier */
+#define SENSORS_GAUSS_TO_MICROTESLA         (100)
+
+/**
+ * status of orientation sensor
+ */
+#define SENSOR_STATUS_UNRELIABLE        0
+#define SENSOR_STATUS_ACCURACY_LOW      1
+#define SENSOR_STATUS_ACCURACY_MEDIUM   2
+#define SENSOR_STATUS_ACCURACY_HIGH     3
+
+/**
+ * sensor event data
+ */
+typedef struct
+{
+    union
+    {
+        float v[3];
+        struct
+        {
+            float x;
+            float y;
+            float z;
+        };
+        struct
+        {
+            float azimuth;
+            float pitch;
+            float roll;
+        };
+    };
+    int8_t status;
+    uint8_t reserved[3];
+} sensors_vec_t;
+
+/**
+ * sensor raw vector data
+ */
+typedef struct 
+{
+    struct 
+    {
+        int16_t x;
+        int16_t y;
+        int16_t z;
+    };
+
+    int8_t status;
+    uint8_t reserved[1];
+} sensors_raw_vec_t;
+
+/**
+ * uncalibrated gyroscope and magnetometer event data
+ */
+typedef struct
+{
+    union
+    {
+        float uncalib[3];
+        struct
+        {
+            float x_uncalib;
+            float y_uncalib;
+            float z_uncalib;
+        };
+    };
+    union
+    {
+        float bias[3];
+        struct
+        {
+            float x_bias;
+            float y_bias;
+            float z_bias;
+        };
+    };
+} uncalibrated_event_t;
+
+typedef struct meta_data_event
+{
+    int32_t what;
+    int32_t sensor;
+} meta_data_event_t;
+
+/**
+ * Union of the various types of sensor data
+ * that can be returned.
+ */
+typedef struct sensors_event_t
+{
+    /* must be sizeof(struct sensors_event_t) */
+    int32_t version;
+
+    /* sensor identifier */
+    int32_t sensor;
+
+    /* sensor type */
+    int32_t type;
+
+    /* reserved */
+    int32_t reserved0;
+
+    /* time is in nanosecond */
+    int64_t timestamp;
+
+    union
+    {
+        union
+        {
+            float           data[16];
+
+            /* acceleration values are in meter per second per second (m/s^2) */
+            sensors_vec_t   acceleration;
+            /* raw acceleration data */
+            sensors_raw_vec_t raw_acceleration;
+
+            /* magnetic vector values are in micro-Tesla (uT) */
+            sensors_vec_t   magnetic;
+            /* raw magnetic data */
+            sensors_raw_vec_t raw_magnetic;
+
+            /* orientation values are in degrees */
+            sensors_vec_t   orientation;
+
+            /* gyroscope values are in rad/s */
+            sensors_vec_t   gyro;
+            /* raw gyroscope data */
+            sensors_raw_vec_t raw_gyro;
+
+            /* temperature is in degrees centigrade (Celsius) */
+            float           temperature;
+
+            /* distance in centimeters */
+            float           distance;
+
+            /* light in SI lux units */
+            float           light;
+
+            /* pressure in hectopascal (hPa) */
+            float           pressure;
+
+            /* relative humidity in percent */
+            float           relative_humidity;
+
+            /* uncalibrated gyroscope values are in rad/s */
+            uncalibrated_event_t uncalibrated_gyro;
+
+            /* uncalibrated magnetometer values are in micro-Teslas */
+            uncalibrated_event_t uncalibrated_magnetic;
+
+            /* this is a special event. see SENSOR_TYPE_META_DATA above.
+             * sensors_meta_data_event_t events are all reported with a type of
+             * SENSOR_TYPE_META_DATA. The handle is ignored and must be zero.
+             */
+            meta_data_event_t meta_data;
+        };
+
+        union
+        {
+            uint64_t        data[8];
+
+            /* step-counter */
+            uint64_t        step_counter;
+        } u64;
+    };
+    uint32_t reserved1[4];
+} sensors_event_t;
+
+/* see SENSOR_TYPE_META_DATA */
+typedef sensors_event_t sensors_meta_data_event_t;
+
+typedef struct sensor_t
+{
+    /* Name of this sensor.
+     * All sensors of the same "type" must have a different "name".
+     */
+    const char     *name;
+
+    /* vendor of the hardware part */
+    const char     *vendor;
+
+    /* version of the hardware part + driver. The value of this field
+     * must increase when the driver is updated in a way that changes the
+     * output of this sensor. This is important for fused sensors when the
+     * fusion algorithm is updated.
+     */
+    int             version;
+
+    /* handle that identifies this sensors. This handle is used to reference
+     * this sensor throughout the HAL API.
+     */
+    int             handle;
+
+    /* this sensor's type. */
+    int             type;
+
+    /* maximum range of this sensor's value in SI units */
+    float           maxRange;
+
+    /* smallest difference between two values reported by this sensor */
+    float           resolution;
+
+    /* rough estimate of this sensor's power consumption in mA */
+    float           power;
+
+    /* this value depends on the trigger mode:
+     *
+     *   continuous: minimum sample period allowed in microseconds
+     *   on-change : 0
+     *   one-shot  :-1
+     *   special   : 0, unless otherwise noted
+     */
+    int32_t         minDelay;
+
+    /* number of events reserved for this sensor in the batch mode FIFO.
+     * If there is a dedicated FIFO for this sensor, then this is the
+     * size of this FIFO. If the FIFO is shared with other sensors,
+     * this is the size reserved for that sensor and it can be zero.
+     */
+    uint32_t        fifoReservedEventCount;
+
+    /* maximum number of events of this sensor that could be batched.
+     * This is especially relevant when the FIFO is shared between
+     * several sensors; this value is then set to the size of that FIFO.
+     */
+    uint32_t        fifoMaxEventCount;
+
+    /* reserved fields, must be zero */
+    void           *reserved[6];
+} sensor_t;
+
+enum SensorMode
+{
+    SENSOR_MODE_RAW,
+    SENSOR_MODE_CALIBRATED,
+    SENSOR_MODE_NORMAL,
+};
+
+enum SensorAccelRange
+{
+    SENSOR_ACCEL_RANGE_2G,
+    SENSOR_ACCEL_RANGE_4G,
+    SENSOR_ACCEL_RANGE_8G,
+    SENSOR_ACCEL_RANGE_16G,
+};
+#define SENSOR_ACCEL_SENSITIVITY_2G  (0.001F)
+#define SENSOR_ACCEL_SENSITIVITY_4G  (0.002F)
+#define SENSOR_ACCEL_SENSITIVITY_8G  (0.004F)
+#define SENSOR_ACCEL_SENSITIVITY_16G (0.012F)
+
+enum SensorGyroRange
+{
+    SENSOR_GYRO_RANGE_250DPS,
+    SENSOR_GYRO_RANGE_500DPS,
+    SENSOR_GYRO_RANGE_1000DPS,
+    SENSOR_GYRO_RANGE_2000DPS,
+};
+#define SENSOR_GYRO_SENSITIVITY_250DPS  (0.00875F)
+#define SENSOR_GYRO_SENSITIVITY_500DPS  (0.0175F)
+#define SENSOR_GYRO_SENSITIVITY_1000DPS (0.035F)
+#define SENSOR_GYRO_SENSITIVITY_2000DPS (0.070F)
+
+enum SensorDataRate
+{
+    SENSOR_DATARATE_3200HZ,
+    SENSOR_DATARATE_1600HZ,
+    SENSOR_DATARATE_800HZ,
+    SENSOR_DATARATE_400HZ,
+    SENSOR_DATARATE_200HZ,
+    SENSOR_DATARATE_100HZ,
+    SENSOR_DATARATE_50HZ,
+    SENSOR_DATARATE_25HZ,
+    SENSOR_DATARATE_12_5HZ,
+    SENSOR_DATARATE_6_25HZ,
+    SENSOR_DATARATE_3_13HZ,
+    SENSOR_DATARATE_1_56HZ,
+    SENSOR_DATARATE_0_78HZ,
+    SENSOR_DATARATE_0_39HZ,
+    SENSOR_DATARATE_0_20HZ,
+    SENSOR_DATARATE_0_10HZ,
+};
+
+/**
+ * Sensor Configuration
+ */
+typedef struct SensorConfig
+{
+    int mode;
+
+    enum SensorDataRate data_rate;
+
+    union range
+    {
+        enum SensorAccelRange accel_range;
+        enum SensorGyroRange  gyro_range;
+    } range;
+}SensorConfig;
+
+typedef void (*SensorEventHandler_t)(sensors_event_t *event, void *user_data);
+
+#ifdef __cplusplus
+class SensorBase;
+class SensorManager;
+
+/**
+ * Sensor Base Class
+ */
+class SensorBase
+{
+private:
+    int type;
+
+public:
+    SensorBase(int type);
+    ~SensorBase();
+
+    virtual int configure(SensorConfig *config) = 0;
+    virtual int activate(int enable) = 0;
+
+    virtual int poll(sensors_event_t *events) = 0;
+    virtual void getSensor(struct sensor_t *sensor) = 0;
+
+    int getType(void);
+
+    int setConfig(SensorConfig *config);
+    int getConfig(SensorConfig *config);
+
+    int subscribe(SensorEventHandler_t *handler, void *user_data);
+    int publish(sensors_event_t *event);
+
+protected:
+    SensorBase *next;
+    SensorBase *prev;
+
+    /* sensor configuration */
+    SensorConfig config;
+
+    SensorEventHandler_t *evtHandler;
+    void *userData;
+
+    friend class SensorManager;
+};
+
+/**
+ * Sensor Manager
+ */
+class SensorManager
+{
+public:
+    SensorManager();
+    ~SensorManager();
+
+    static int registerSensor(SensorBase *sensor);
+    static int unregisterSensor(SensorBase *sensor);
+
+    static SensorBase *getDefaultSensor(int type);
+    static int subscribe(int type, SensorEventHandler_t *handler, void *user_data);
+
+    static int sensorEventReady(SensorBase *sensor);
+    static int pollSensor(SensorBase *sensor, sensors_event_t *events, int number, int duration);
+};
+#endif
+
+/* C programming language APIs */
+/* rt_sensor_t is a C typedef for SensorBase */
+typedef void* rt_sensor_t;
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+rt_sensor_t rt_sensor_get_default(int type);
+
+int rt_sensor_subscribe(rt_sensor_t sensor, SensorEventHandler_t *handler, void *user_data);
+int rt_sensor_activate (rt_sensor_t sensor, int enable);
+int rt_sensor_configure(rt_sensor_t sensor, SensorConfig *config);
+int rt_sensor_poll(rt_sensor_t sensor, sensors_event_t *event);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif
diff --git a/components/drivers/serial/serial.c b/components/drivers/serial/serial.c
index f04b1df4f4..8744aa4657 100644
--- a/components/drivers/serial/serial.c
+++ b/components/drivers/serial/serial.c
@@ -26,6 +26,7 @@
  * 2013-02-20     bernard      use RT_SERIAL_RB_BUFSZ to define
  *                             the size of ring buffer.
  * 2014-07-10     bernard      rewrite serial framework
+ * 2014-12-31     bernard      use open_flag for poll_tx stream mode.
  */
 
 #include <rthw.h>
@@ -67,7 +68,7 @@ rt_inline int _serial_poll_tx(struct rt_serial_device *serial, const rt_uint8_t
          * to be polite with serial console add a line feed
          * to the carriage return character
          */
-        if (*data == '\n' && (serial->parent.flag & RT_DEVICE_FLAG_STREAM))
+        if (*data == '\n' && (serial->parent.open_flag & RT_DEVICE_FLAG_STREAM))
         {
             serial->ops->putc(serial, '\r');
         }
@@ -278,7 +279,7 @@ static rt_err_t rt_serial_open(struct rt_device *dev, rt_uint16_t oflag)
                 serial->config.bufsz);
             RT_ASSERT(rx_fifo != RT_NULL);
             rx_fifo->buffer = (rt_uint8_t*) (rx_fifo + 1);
-            rt_memset(rx_fifo->buffer, 0, RT_SERIAL_RB_BUFSZ);
+            rt_memset(rx_fifo->buffer, 0, serial->config.bufsz);
             rx_fifo->put_index = 0;
             rx_fifo->get_index = 0;
 
diff --git a/components/drivers/spi/spi_wifi_rw009.c b/components/drivers/spi/spi_wifi_rw009.c
index 4906a97712..9f5601bf26 100644
--- a/components/drivers/spi/spi_wifi_rw009.c
+++ b/components/drivers/spi/spi_wifi_rw009.c
@@ -20,6 +20,7 @@
  * Change Logs:
  * Date           Author       Notes
  * 2014-07-31     aozima       the first version
+ * 2014-09-18     aozima       update command & response.
  */
 
 #include <rtthread.h>
@@ -30,24 +31,33 @@
 #include <lwip/icmp.h>
 #include "lwipopts.h"
 
-#include "spi_wifi_rw009.h"
-
-#define SSID_NAME      "AP_SSID"
-#define SSID_PASSWORD  "AP_passwd"
-
-// #define WIFI_DEBUG_ON
+#define WIFI_DEBUG_ON
 // #define ETH_RX_DUMP
 // #define ETH_TX_DUMP
 
 #ifdef WIFI_DEBUG_ON
-#define WIFI_DEBUG         rt_kprintf("[WIFI] ");rt_kprintf
+#define WIFI_DEBUG         rt_kprintf("[RW009] ");rt_kprintf
+//#define SPI_DEBUG         rt_kprintf("[SPI] ");rt_kprintf
+#define SPI_DEBUG(...)
 #else
 #define WIFI_DEBUG(...)
+#define SPI_DEBUG(...)
 #endif /* #ifdef WIFI_DEBUG_ON */
 
-#define MAX_BUFFER_SIZE     (sizeof(struct response) + MAX_DATA_LEN)
+/********************************* RW009 **************************************/
+#include "spi_wifi_rw009.h"
+
+/* tools */
+#define node_entry(node, type, member) \
+    ((type *)((char *)(node) - (unsigned long)(&((type *)0)->member)))
+#define member_offset(type, member) \
+    ((unsigned long)(&((type *)0)->member))
+
+#define MAX_SPI_PACKET_SIZE     (member_offset(struct spi_data_packet, buffer) + SPI_MAX_DATA_LEN)
+#define MAX_SPI_BUFFER_SIZE     (sizeof(struct spi_response) + MAX_SPI_PACKET_SIZE)
 #define MAX_ADDR_LEN 6
-struct spi_wifi_eth
+
+struct rw009_wifi
 {
     /* inherit from ethernet device */
     struct eth_device parent;
@@ -67,8 +77,9 @@ struct spi_wifi_eth
     int spi_tx_mb_pool[SPI_TX_POOL_SIZE + 1];
     int eth_rx_mb_pool[SPI_RX_POOL_SIZE + 1];
 
-    int spi_wifi_cmd_mb_pool[3];
-    struct rt_mailbox spi_wifi_cmd_mb;
+    int rw009_cmd_mb_pool[3];
+    struct rt_mailbox rw009_cmd_mb;
+    uint32_t last_cmd;
 
     ALIGN(4)
     rt_uint8_t spi_tx_mempool[(sizeof(struct spi_data_packet) + 4) * SPI_TX_POOL_SIZE];
@@ -76,58 +87,257 @@ struct spi_wifi_eth
     rt_uint8_t spi_rx_mempool[(sizeof(struct spi_data_packet) + 4) * SPI_RX_POOL_SIZE];
 
     ALIGN(4)
-    uint8_t spi_hw_rx_buffer[MAX_BUFFER_SIZE];
+    uint8_t spi_hw_rx_buffer[MAX_SPI_BUFFER_SIZE];
+
+    /* status for RW009 */
+    rw009_ap_info ap_info;  /* AP info for conn. */
+    rw009_ap_info *ap_scan; /* AP list for SCAN. */
+    uint32_t ap_scan_count;
 };
-static struct spi_wifi_eth spi_wifi_device;
+static struct rw009_wifi rw009_wifi_device;
 static struct rt_event spi_wifi_data_event;
 
-static void resp_handler(struct spi_wifi_eth *wifi_device, struct spi_wifi_resp *resp)
+static void resp_handler(struct rw009_wifi *wifi_device, struct rw009_resp *resp)
 {
-    struct spi_wifi_resp *resp_return;
+    struct rw009_resp *resp_return = RT_NULL;
 
     switch (resp->cmd)
     {
-    case SPI_WIFI_CMD_INIT:
-        WIFI_DEBUG("resp_handler SPI_WIFI_CMD_INIT\n");
-        resp_return = (struct spi_wifi_resp *)rt_malloc(sizeof(struct spi_wifi_resp)); //TODO:
-        memcpy(resp_return, resp, 10);
-        rt_mb_send(&wifi_device->spi_wifi_cmd_mb, (rt_uint32_t)resp_return);
+    case RW009_CMD_INIT:
+        WIFI_DEBUG("resp_handler RW009_CMD_INIT\n");
+        resp_return = (struct rw009_resp *)rt_malloc(member_offset(struct rw009_resp, resp) + sizeof(rw009_resp_init)); //TODO:
+        if(resp_return == RT_NULL) break;
+        memcpy(resp_return, resp, member_offset(struct rw009_resp, resp) + sizeof(rw009_resp_init));
+
+        WIFI_DEBUG("sn:%-*.*s\n", sizeof(resp->resp.init.sn), sizeof(resp->resp.init.sn), resp->resp.init.sn);
+        WIFI_DEBUG("version:%-*.*s\n", sizeof(resp->resp.init.version), sizeof(resp->resp.init.version), resp->resp.init.version);
+
+        rt_memcpy(wifi_device->dev_addr, resp->resp.init.mac, 6);
         break;
 
-    case SPI_WIFI_CMD_SCAN:
-        WIFI_DEBUG("resp_handler SPI_WIFI_CMD_SCAN\n");
+    case RW009_CMD_SCAN:
+        if( resp->len == sizeof(rw009_ap_info) )
+        {
+            rw009_ap_info *ap_scan = rt_realloc(wifi_device->ap_scan, sizeof(rw009_ap_info) * (wifi_device->ap_scan_count + 1) );
+            if(ap_scan != RT_NULL)
+            {
+                memcpy( &ap_scan[wifi_device->ap_scan_count], &resp->resp.ap_info, sizeof(rw009_ap_info) );
+
+                //dump
+                if(1)
+                {
+#ifdef WIFI_DEBUG_ON
+                    rw009_ap_info *ap_info = &resp->resp.ap_info;
+                    WIFI_DEBUG("SCAN SSID:%-32.32s\n", ap_info->ssid);
+                    WIFI_DEBUG("SCAN BSSID:%02X-%02X-%02X-%02X-%02X-%02X\n",
+                               ap_info->bssid[0],
+                               ap_info->bssid[1],
+                               ap_info->bssid[2],
+                               ap_info->bssid[3],
+                               ap_info->bssid[4],
+                               ap_info->bssid[5]);
+                    WIFI_DEBUG("SCAN rssi:%ddBm\n", ap_info->rssi);
+                    WIFI_DEBUG("SCAN rate:%dMbps\n", ap_info->max_data_rate/1000);
+                    WIFI_DEBUG("SCAN channel:%d\n", ap_info->channel);
+                    WIFI_DEBUG("SCAN security:%08X\n\n", ap_info->security);
+#endif /* WIFI_DEBUG_ON */
+                }
+
+                wifi_device->ap_scan_count++;
+                wifi_device->ap_scan = ap_scan;
+            }
+
+            return; /* wait for next ap */
+        }
         break;
+    case RW009_CMD_JOIN:
+    case RW009_CMD_EASY_JOIN:
+        WIFI_DEBUG("resp_handler RW009_CMD_EASY_JOIN\n");
+        resp_return = (struct rw009_resp *)rt_malloc(member_offset(struct rw009_resp, resp) + sizeof(rw009_resp_join)); //TODO:
+        if(resp_return == RT_NULL) break;
+        memcpy(resp_return, resp, member_offset(struct rw009_resp, resp) + sizeof(rw009_resp_join));
+
+        if( resp->result == 0 )
+        {
+            memcpy(&wifi_device->ap_info, &resp_return->resp.ap_info, sizeof(rw009_resp_join));
+            wifi_device->active = 1;
+            eth_device_linkchange(&wifi_device->parent, RT_TRUE);
+        }
+        else
+        {
+            WIFI_DEBUG("RW009_CMD_EASY_JOIN result: %d\n", resp->result );
+        }
 
-    case SPI_WIFI_CMD_JOIN:
-        WIFI_DEBUG("resp_handler SPI_WIFI_CMD_JOIN\n");
-        wifi_device->active = 1;
-        eth_device_linkchange(&wifi_device->parent, RT_TRUE);
+        //dupm
+        if(1)
+        {
+#ifdef WIFI_DEBUG_ON
+            rw009_ap_info *ap_info = &resp->resp.ap_info;
+            WIFI_DEBUG("JOIN SSID:%-32.32s\n", ap_info->ssid);
+            WIFI_DEBUG("JOIN BSSID:%02X-%02X-%02X-%02X-%02X-%02X\n",
+                       ap_info->bssid[0],
+                       ap_info->bssid[1],
+                       ap_info->bssid[2],
+                       ap_info->bssid[3],
+                       ap_info->bssid[4],
+                       ap_info->bssid[5]);
+            WIFI_DEBUG("JOIN rssi:%ddBm\n", ap_info->rssi);
+            WIFI_DEBUG("JOIN rate:%dMbps\n", ap_info->max_data_rate/1000);
+            WIFI_DEBUG("JOIN channel:%d\n", ap_info->channel);
+            WIFI_DEBUG("JOIN security:%08X\n\n", ap_info->security);
+#endif /* WIFI_DEBUG_ON */
+        }
         break;
 
+    case RW009_CMD_RSSI:
+        // TODO: client RSSI.
+    {
+        rw009_ap_info *ap_info = &resp->resp.ap_info;
+        wifi_device->ap_info.rssi = ap_info->rssi;
+        WIFI_DEBUG("current RSSI: %d\n", wifi_device->ap_info.rssi);
+    }
+    break;
+
+    case RW009_CMD_SOFTAP:
+    {
+        if( resp->result == 0 )
+        {
+            ;
+            wifi_device->active = 1;
+            eth_device_linkchange(&wifi_device->parent, RT_TRUE);
+        }
+        else
+        {
+            WIFI_DEBUG("RW009_CMD_EASY_JOIN result: %d\n", resp->result );
+        }
+
+    }
+    break;
+
     default:
         WIFI_DEBUG("resp_handler %d\n", resp->cmd);
         break;
     }
 
+
+    if(resp->cmd == wifi_device->last_cmd)
+    {
+        rt_mb_send(&wifi_device->rw009_cmd_mb, (rt_uint32_t)resp_return);
+        return;
+    }
+    else
+    {
+        rt_free(resp_return);
+    }
+}
+
+static rt_err_t rw009_cmd(struct rw009_wifi *wifi_device, uint32_t cmd, void *args)
+{
+    rt_err_t result = RT_EOK;
+    rt_int32_t timeout = RW009_CMD_TIMEOUT;
+
+    struct spi_data_packet *data_packet;
+    struct rw009_cmd *wifi_cmd = RT_NULL;
+    struct rw009_resp *resp = RT_NULL;
+
+    wifi_device->last_cmd = cmd;
+
+    data_packet = (struct spi_data_packet *)rt_mp_alloc(&wifi_device->spi_tx_mp, RT_WAITING_FOREVER);
+    wifi_cmd = (struct rw009_cmd *)data_packet->buffer;
+
+    wifi_cmd->cmd = cmd;
+    wifi_cmd->len = 0;
+
+    if( cmd == RW009_CMD_INIT )
+    {
+        wifi_cmd->len = sizeof(rw009_cmd_init);
+    }
+    else if( cmd == RW009_CMD_SCAN )
+    {
+        wifi_cmd->len = 0;
+        timeout += RT_TICK_PER_SECOND*10;
+
+        if(wifi_device->ap_scan)
+        {
+            rt_free(wifi_device->ap_scan);
+            wifi_device->ap_scan = RT_NULL;
+            wifi_device->ap_scan_count = 0;
+        }
+    }
+    else if( cmd == RW009_CMD_JOIN )
+    {
+        wifi_cmd->len = sizeof(rw009_cmd_join);
+    }
+    else if( cmd == RW009_CMD_EASY_JOIN )
+    {
+        wifi_cmd->len = sizeof(rw009_cmd_easy_join);
+        timeout += RT_TICK_PER_SECOND*5;
+    }
+    else if( cmd == RW009_CMD_RSSI )
+    {
+        wifi_cmd->len = sizeof(rw009_cmd_rssi);
+    }
+    else if( cmd == RW009_CMD_SOFTAP )
+    {
+        wifi_cmd->len = sizeof(rw009_cmd_softap);
+    }
+    else
+    {
+        WIFI_DEBUG("unkown RW009 CMD %d\n", cmd);
+        result = -RT_ENOSYS;
+        rt_mp_free(data_packet);
+        data_packet = RT_NULL;
+    }
+
+    if(data_packet == RT_NULL)
+    {
+        goto _exit;
+    }
+
+    if(wifi_cmd->len)
+        memcpy(&wifi_cmd->params, args, wifi_cmd->len);
+
+    data_packet->data_type = data_type_cmd;
+    data_packet->data_len = member_offset(struct rw009_cmd, params) + wifi_cmd->len;
+
+    rt_mb_send(&wifi_device->spi_tx_mb, (rt_uint32_t)data_packet);
+    rt_event_send(&spi_wifi_data_event, 1);
+
+    result = rt_mb_recv(&wifi_device->rw009_cmd_mb,
+                        (rt_uint32_t *)&resp,
+                        timeout);
+
+    if ( result != RT_EOK )
+    {
+        WIFI_DEBUG("CMD %d error, resultL %d\n", cmd, result );
+    }
+
+    if(resp != RT_NULL)
+        result = resp->result;
+
+_exit:
+    wifi_device->last_cmd = 0;
+    if(resp) rt_free(resp);
+    return result;
 }
 
-static rt_err_t spi_wifi_transfer(struct spi_wifi_eth *dev)
+static rt_err_t spi_wifi_transfer(struct rw009_wifi *dev)
 {
     struct pbuf *p = RT_NULL;
-    struct cmd_request cmd;
-    struct response resp;
+    struct spi_cmd_request cmd;
+    struct spi_response resp;
 
     rt_err_t result;
     const struct spi_data_packet *data_packet = RT_NULL;
 
-    struct spi_wifi_eth *wifi_device = (struct spi_wifi_eth *)dev;
+    struct rw009_wifi *wifi_device = (struct rw009_wifi *)dev;
     struct rt_spi_device *rt_spi_device = wifi_device->rt_spi_device;
 
     spi_wifi_int_cmd(0);
     while (spi_wifi_is_busy());
-    WIFI_DEBUG("sequence start!\n");
+    SPI_DEBUG("sequence start!\n");
 
-    memset(&cmd, 0, sizeof(struct cmd_request));
+    memset(&cmd, 0, sizeof(struct spi_cmd_request));
     cmd.magic1 = CMD_MAGIC1;
     cmd.magic2 = CMD_MAGIC2;
 
@@ -139,7 +349,7 @@ static rt_err_t spi_wifi_transfer(struct spi_wifi_eth *dev)
     if ((result == RT_EOK) && (data_packet != RT_NULL) && (data_packet->data_len > 0))
     {
         cmd.M2S_len = data_packet->data_len + member_offset(struct spi_data_packet, buffer);
-        //WIFI_DEBUG("cmd.M2S_len = %d\n", cmd.M2S_len);
+        //SPI_DEBUG("cmd.M2S_len = %d\n", cmd.M2S_len);
     }
 
     rt_spi_send(rt_spi_device, &cmd, sizeof(cmd));
@@ -163,22 +373,22 @@ static rt_err_t spi_wifi_transfer(struct spi_wifi_eth *dev)
 
         if ((resp.magic1 != RESP_MAGIC1) || (resp.magic2 != RESP_MAGIC2))
         {
-            WIFI_DEBUG("bad resp magic, abort!\n");
+            SPI_DEBUG("bad resp magic, abort!\n");
             goto _bad_resp_magic;
         }
 
         if (resp.flag & RESP_FLAG_SRDY)
         {
-            WIFI_DEBUG("RESP_FLAG_SRDY\n");
+            SPI_DEBUG("RESP_FLAG_SRDY\n");
             max_data_len = cmd.M2S_len;
         }
 
         if (resp.S2M_len)
         {
-            WIFI_DEBUG("resp.S2M_len: %d\n", resp.S2M_len);
+            SPI_DEBUG("resp.S2M_len: %d\n", resp.S2M_len);
             if (resp.S2M_len > MAX_SPI_PACKET_SIZE)
             {
-                WIFI_DEBUG("resp.S2M_len %d > %d(MAX_SPI_PACKET_SIZE), drop!\n", resp.S2M_len, MAX_SPI_PACKET_SIZE);
+                SPI_DEBUG("resp.S2M_len %d > %d(MAX_SPI_PACKET_SIZE), drop!\n", resp.S2M_len, MAX_SPI_PACKET_SIZE);
                 resp.S2M_len = 0;//drop
             }
 
@@ -188,10 +398,10 @@ static rt_err_t spi_wifi_transfer(struct spi_wifi_eth *dev)
 
         if (max_data_len == 0)
         {
-            WIFI_DEBUG("no rx or tx data!\n");
+            SPI_DEBUG("no rx or tx data!\n");
         }
 
-        //WIFI_DEBUG("max_data_len = %d\n", max_data_len);
+        //SPI_DEBUG("max_data_len = %d\n", max_data_len);
 
 _bad_resp_magic:
         /* setup message */
@@ -227,25 +437,25 @@ _bad_resp_magic:
                 }
                 else
                 {
-                    WIFI_DEBUG("!active, RX drop.\n");
+                    SPI_DEBUG("!active, RX drop.\n");
                 }
             }
             else if (data_packet->data_type == data_type_resp)
             {
-                WIFI_DEBUG("data_type_resp\n");
-                resp_handler(dev, (struct spi_wifi_resp *)data_packet->buffer);
+                SPI_DEBUG("data_type_resp\n");
+                resp_handler(dev, (struct rw009_resp *)data_packet->buffer);
             }
             else
             {
-                WIFI_DEBUG("data_type: %d, %dbyte\n",
-                           data_packet->data_type,
-                           data_packet->data_len);
+                SPI_DEBUG("data_type: %d, %dbyte\n",
+                          data_packet->data_type,
+                          data_packet->data_len);
             }
         }
     }
     spi_wifi_int_cmd(1);
 
-    WIFI_DEBUG("sequence finish!\n\n");
+    SPI_DEBUG("sequence finish!\n\n");
 
     if ((cmd.M2S_len == 0) && (resp.S2M_len == 0))
     {
@@ -289,127 +499,57 @@ static void packet_dump(const char *msg, const struct pbuf *p)
 }
 #endif /* dump */
 
-/* initialize the interface */
-static rt_err_t spi_wifi_eth_init(rt_device_t dev)
+/********************************* RT-Thread Ethernet interface begin **************************************/
+static rt_err_t rw009_wifi_init(rt_device_t dev)
 {
     return RT_EOK;
 }
 
-static rt_err_t spi_wifi_eth_open(rt_device_t dev, rt_uint16_t oflag)
+static rt_err_t rw009_wifi_open(rt_device_t dev, rt_uint16_t oflag)
 {
     return RT_EOK;
 }
 
-static rt_err_t spi_wifi_eth_close(rt_device_t dev)
+static rt_err_t rw009_wifi_close(rt_device_t dev)
 {
     return RT_EOK;
 }
 
-static rt_size_t spi_wifi_eth_read(rt_device_t dev, rt_off_t pos, void *buffer, rt_size_t size)
+static rt_size_t rw009_wifi_read(rt_device_t dev, rt_off_t pos, void *buffer, rt_size_t size)
 {
     rt_set_errno(-RT_ENOSYS);
     return 0;
 }
 
-static rt_size_t spi_wifi_eth_write(rt_device_t dev, rt_off_t pos, const void *buffer, rt_size_t size)
+static rt_size_t rw009_wifi_write(rt_device_t dev, rt_off_t pos, const void *buffer, rt_size_t size)
 {
     rt_set_errno(-RT_ENOSYS);
     return 0;
 }
 
-
-static rt_err_t spi_wifi_eth_control(rt_device_t dev, rt_uint8_t cmd, void *args)
+static rt_err_t rw009_wifi_control(rt_device_t dev, rt_uint8_t cmd, void *args)
 {
-    struct spi_wifi_eth *wifi_device = (struct spi_wifi_eth *)dev;
-    struct spi_data_packet *data_packet;
-    struct spi_wifi_cmd *wifi_cmd;
-    struct spi_wifi_resp *resp;
+    struct rw009_wifi *wifi_device = (struct rw009_wifi *)dev;
+    rt_err_t result = RT_EOK;
 
-    switch (cmd)
+    if (cmd == NIOCTL_GADDR)
     {
-    case NIOCTL_GADDR:
         memcpy(args, wifi_device->dev_addr, 6);
-        break;
-
-    case SPI_WIFI_CMD_INIT:
-        /* get mac address */
-        if (args)
-        {
-            rt_err_t result;
-
-            data_packet = (struct spi_data_packet *)rt_mp_alloc(&wifi_device->spi_tx_mp, RT_WAITING_FOREVER);
-            // TODO: check result.
-
-            wifi_cmd = (struct spi_wifi_cmd *)data_packet->buffer;
-            wifi_cmd->cmd = SPI_WIFI_CMD_INIT;
-
-            data_packet->data_type = data_type_cmd;
-            data_packet->data_len = member_offset(struct spi_wifi_cmd, buffer) + 0;
-
-            rt_mb_send(&wifi_device->spi_tx_mb, (rt_uint32_t)data_packet);
-            rt_event_send(&spi_wifi_data_event, 1);
-
-            result = rt_mb_recv(&wifi_device->spi_wifi_cmd_mb,
-                                (rt_uint32_t *)&resp,
-                                RT_WAITING_FOREVER);
-
-            if ((result == RT_EOK) && (resp != RT_NULL))
-            {
-                WIFI_DEBUG("resp cmd: %d\n", resp->cmd);
-
-                rt_memcpy(args, resp->buffer, 6);
-            }
-        }
-        else return -RT_ERROR;
-        break;
-
-
-    case SPI_WIFI_CMD_SCAN:
-
-    case SPI_WIFI_CMD_JOIN:
-        if (args)
-        {
-            struct cmd_join *cmd_join;
-
-            data_packet = (struct spi_data_packet *)rt_mp_alloc(&wifi_device->spi_tx_mp, RT_WAITING_FOREVER);
-
-            wifi_cmd = (struct spi_wifi_cmd *)data_packet->buffer;
-            wifi_cmd->cmd = SPI_WIFI_CMD_JOIN;
-            cmd_join = (struct cmd_join *)wifi_cmd->buffer;
-
-#define WPA_SECURITY    0x00200000
-#define WPA2_SECURITY   0x00400000
-
-#define TKIP_ENABLED    0x0002
-#define AES_ENABLED     0x0004
-
-
-            strncpy(cmd_join->ssid, SSID_NAME, SSID_NAME_LENGTH_MAX);
-            strncpy(cmd_join->passwd, SSID_PASSWORD, PASSWORD_LENGTH_MAX);
-            cmd_join->security = WPA_SECURITY | TKIP_ENABLED | AES_ENABLED;
-            // cmd_join->security = WPA_SECURITY | TKIP_ENABLED;
-            data_packet->data_type = data_type_cmd;
-            data_packet->data_len = sizeof(struct cmd_join) + member_offset(struct spi_wifi_cmd, buffer);
-
-            rt_mb_send(&wifi_device->spi_tx_mb, (rt_uint32_t)data_packet);
-            rt_event_send(&spi_wifi_data_event, 1);
-        }
-        else return -RT_ERROR;
-        break;
-
-    default :
-        break;
+    }
+    else
+    {
+        result = rw009_cmd(wifi_device, cmd, args);
     }
 
-    return RT_EOK;
+    return result;
 }
 
 /* transmit packet. */
-rt_err_t spi_wifi_eth_tx(rt_device_t dev, struct pbuf *p)
+rt_err_t rw009_wifi_tx(rt_device_t dev, struct pbuf *p)
 {
     rt_err_t result = RT_EOK;
     struct spi_data_packet *data_packet;
-    struct spi_wifi_eth *wifi_device = (struct spi_wifi_eth *)dev;
+    struct rw009_wifi *wifi_device = (struct rw009_wifi *)dev;
 
     if (!wifi_device->active)
     {
@@ -441,10 +581,10 @@ rt_err_t spi_wifi_eth_tx(rt_device_t dev, struct pbuf *p)
 }
 
 /* reception packet. */
-struct pbuf *spi_wifi_eth_rx(rt_device_t dev)
+struct pbuf *rw009_wifi_rx(rt_device_t dev)
 {
     struct pbuf *p = RT_NULL;
-    struct spi_wifi_eth *wifi_device = (struct spi_wifi_eth *)dev;
+    struct rw009_wifi *wifi_device = (struct rw009_wifi *)dev;
 
     if (rt_mb_recv(&wifi_device->eth_rx_mb, (rt_uint32_t *)&p, 0) != RT_EOK)
     {
@@ -452,12 +592,13 @@ struct pbuf *spi_wifi_eth_rx(rt_device_t dev)
     }
 
 #ifdef ETH_RX_DUMP
-	if(p)
-		packet_dump("RX dump", p);
+    if(p)
+        packet_dump("RX dump", p);
 #endif /* ETH_RX_DUMP */
 
     return p;
 }
+/********************************* RT-Thread Ethernet interface end **************************************/
 
 static void spi_wifi_data_thread_entry(void *parameter)
 {
@@ -476,7 +617,7 @@ static void spi_wifi_data_thread_entry(void *parameter)
             continue;
         }
 
-        result = spi_wifi_transfer(&spi_wifi_device);
+        result = spi_wifi_transfer(&rw009_wifi_device);
 
         if (result == RT_EOK)
         {
@@ -485,15 +626,19 @@ static void spi_wifi_data_thread_entry(void *parameter)
     }
 }
 
-rt_err_t rt_hw_wifi_init(const char *spi_device_name)
+rt_err_t rt_hw_wifi_init(const char *spi_device_name, wifi_mode_t mode)
 {
-    memset(&spi_wifi_device, 0, sizeof(struct spi_wifi_eth));
+    /* align and struct size check. */
+    RT_ASSERT( (SPI_MAX_DATA_LEN & 0x03) == 0);
+    RT_ASSERT( sizeof(struct rw009_resp) <= SPI_MAX_DATA_LEN);
 
-    spi_wifi_device.rt_spi_device = (struct rt_spi_device *)rt_device_find(spi_device_name);
+    memset(&rw009_wifi_device, 0, sizeof(struct rw009_wifi));
 
-    if (spi_wifi_device.rt_spi_device == RT_NULL)
+    rw009_wifi_device.rt_spi_device = (struct rt_spi_device *)rt_device_find(spi_device_name);
+
+    if (rw009_wifi_device.rt_spi_device == RT_NULL)
     {
-        WIFI_DEBUG("spi device %s not found!\r\n", spi_device_name);
+        SPI_DEBUG("spi device %s not found!\r\n", spi_device_name);
         return -RT_ENOSYS;
     }
 
@@ -502,49 +647,49 @@ rt_err_t rt_hw_wifi_init(const char *spi_device_name)
         struct rt_spi_configuration cfg;
         cfg.data_width = 8;
         cfg.mode = RT_SPI_MODE_0 | RT_SPI_MSB; /* SPI Compatible: Mode 0. */
-        cfg.max_hz = 15 * 1000000; /* 30M */
-        rt_spi_configure(spi_wifi_device.rt_spi_device, &cfg);
+        cfg.max_hz = 15 * 1000000; /* 10M */
+        rt_spi_configure(rw009_wifi_device.rt_spi_device, &cfg);
     }
 
-    spi_wifi_device.parent.parent.init       = spi_wifi_eth_init;
-    spi_wifi_device.parent.parent.open       = spi_wifi_eth_open;
-    spi_wifi_device.parent.parent.close      = spi_wifi_eth_close;
-    spi_wifi_device.parent.parent.read       = spi_wifi_eth_read;
-    spi_wifi_device.parent.parent.write      = spi_wifi_eth_write;
-    spi_wifi_device.parent.parent.control    = spi_wifi_eth_control;
-    spi_wifi_device.parent.parent.user_data  = RT_NULL;
+    rw009_wifi_device.parent.parent.init       = rw009_wifi_init;
+    rw009_wifi_device.parent.parent.open       = rw009_wifi_open;
+    rw009_wifi_device.parent.parent.close      = rw009_wifi_close;
+    rw009_wifi_device.parent.parent.read       = rw009_wifi_read;
+    rw009_wifi_device.parent.parent.write      = rw009_wifi_write;
+    rw009_wifi_device.parent.parent.control    = rw009_wifi_control;
+    rw009_wifi_device.parent.parent.user_data  = RT_NULL;
 
-    spi_wifi_device.parent.eth_rx     = spi_wifi_eth_rx;
-    spi_wifi_device.parent.eth_tx     = spi_wifi_eth_tx;
+    rw009_wifi_device.parent.eth_rx     = rw009_wifi_rx;
+    rw009_wifi_device.parent.eth_tx     = rw009_wifi_tx;
 
-    rt_mp_init(&spi_wifi_device.spi_tx_mp,
+    rt_mp_init(&rw009_wifi_device.spi_tx_mp,
                "spi_tx",
-               &spi_wifi_device.spi_tx_mempool[0],
-               sizeof(spi_wifi_device.spi_tx_mempool),
+               &rw009_wifi_device.spi_tx_mempool[0],
+               sizeof(rw009_wifi_device.spi_tx_mempool),
                sizeof(struct spi_data_packet));
 
-    rt_mp_init(&spi_wifi_device.spi_rx_mp,
+    rt_mp_init(&rw009_wifi_device.spi_rx_mp,
                "spi_rx",
-               &spi_wifi_device.spi_rx_mempool[0],
-               sizeof(spi_wifi_device.spi_rx_mempool),
+               &rw009_wifi_device.spi_rx_mempool[0],
+               sizeof(rw009_wifi_device.spi_rx_mempool),
                sizeof(struct spi_data_packet));
 
-    rt_mb_init(&spi_wifi_device.spi_tx_mb,
+    rt_mb_init(&rw009_wifi_device.spi_tx_mb,
                "spi_tx",
-               &spi_wifi_device.spi_tx_mb_pool[0],
+               &rw009_wifi_device.spi_tx_mb_pool[0],
                SPI_TX_POOL_SIZE,
                RT_IPC_FLAG_PRIO);
 
-    rt_mb_init(&spi_wifi_device.eth_rx_mb,
+    rt_mb_init(&rw009_wifi_device.eth_rx_mb,
                "eth_rx",
-               &spi_wifi_device.eth_rx_mb_pool[0],
+               &rw009_wifi_device.eth_rx_mb_pool[0],
                SPI_TX_POOL_SIZE,
                RT_IPC_FLAG_PRIO);
 
-    rt_mb_init(&spi_wifi_device.spi_wifi_cmd_mb,
+    rt_mb_init(&rw009_wifi_device.rw009_cmd_mb,
                "wifi_cmd",
-               &spi_wifi_device.spi_wifi_cmd_mb_pool[0],
-               sizeof(spi_wifi_device.spi_wifi_cmd_mb_pool) / 4,
+               &rw009_wifi_device.rw009_cmd_mb_pool[0],
+               sizeof(rw009_wifi_device.rw009_cmd_mb_pool) / 4,
                RT_IPC_FLAG_PRIO);
     rt_event_init(&spi_wifi_data_event, "wifi", RT_IPC_FLAG_FIFO);
 
@@ -567,24 +712,18 @@ rt_err_t rt_hw_wifi_init(const char *spi_device_name)
 
     /* init: get mac address */
     {
-        WIFI_DEBUG("wifi_control SPI_WIFI_CMD_INIT\n");
-        spi_wifi_eth_control((rt_device_t)&spi_wifi_device,
-                             SPI_WIFI_CMD_INIT,
-                             (void *)&spi_wifi_device.dev_addr[0]);
+        rw009_cmd_init init;
+        init.mode = mode;
+        WIFI_DEBUG("wifi_control RW009_CMD_INIT\n");
+        rw009_wifi_control((rt_device_t)&rw009_wifi_device,
+                           RW009_CMD_INIT,
+                           (void *)&init); // 0: firmware, 1: STA, 2:AP
 
     }
-    /* register eth device */
-    eth_device_init(&(spi_wifi_device.parent), "w0");
-    eth_device_linkchange(&spi_wifi_device.parent, RT_FALSE);
-
-    {
-        WIFI_DEBUG("wifi_control SPI_WIFI_CMD_JOIN\n");
-        spi_wifi_eth_control((rt_device_t)&spi_wifi_device,
-                             SPI_WIFI_CMD_JOIN,
-                             (void *)&spi_wifi_device.dev_addr[0]);
 
-        WIFI_DEBUG("wifi_control exit\n");
-    }
+    /* register eth device */
+    eth_device_init(&(rw009_wifi_device.parent), "w0");
+    eth_device_linkchange(&rw009_wifi_device.parent, RT_FALSE);
 
     return RT_EOK;
 }
@@ -594,9 +733,115 @@ void spi_wifi_isr(int vector)
     /* enter interrupt */
     rt_interrupt_enter();
 
-    WIFI_DEBUG("spi_wifi_isr\n");
+    SPI_DEBUG("spi_wifi_isr\n");
     rt_event_send(&spi_wifi_data_event, 1);
 
     /* leave interrupt */
     rt_interrupt_leave();
 }
+
+/********************************* RW009 tools **************************************/
+rt_err_t rw009_join(const char * SSID, const char * passwd)
+{
+    rt_err_t result;
+    rt_device_t wifi_device;
+    rw009_cmd_easy_join easy_join;
+
+    wifi_device = rt_device_find("w0");
+    if(wifi_device == RT_NULL)
+        return -RT_ENOSYS;
+
+    strncpy( easy_join.ssid, SSID, sizeof(easy_join.ssid) );
+    strncpy( easy_join.passwd, passwd, sizeof(easy_join.passwd) );
+
+    result = rt_device_control(wifi_device,
+                               RW009_CMD_EASY_JOIN,
+                               (void *)&easy_join);
+
+    return result;
+}
+
+rt_err_t rw009_softap(const char * SSID, const char * passwd,uint32_t security,uint32_t channel)
+{
+    rt_err_t result;
+    rt_device_t wifi_device;
+    rw009_cmd_softap softap;
+
+    wifi_device = rt_device_find("w0");
+    if(wifi_device == RT_NULL)
+        return -RT_ENOSYS;
+
+    strncpy( softap.ssid, SSID, sizeof(softap.ssid) );
+    strncpy( softap.passwd, passwd, sizeof(softap.passwd) );
+
+    softap.security = security;
+    softap.channel = channel;
+    result = rt_device_control(wifi_device,
+                               RW009_CMD_SOFTAP,
+                               (void *)&softap);
+
+    return result;
+}
+
+int32_t rw009_rssi(void)
+{
+    rt_err_t result;
+    struct rw009_wifi * wifi_device;
+
+    wifi_device = (struct rw009_wifi *)rt_device_find("w0");
+
+    if(wifi_device == RT_NULL)
+        return 0;
+
+    if(wifi_device->active == 0)
+        return 0;
+
+    // SCAN
+    result = rt_device_control((rt_device_t)wifi_device,
+                               RW009_CMD_RSSI,
+                               RT_NULL);
+
+    if(result == RT_EOK)
+    {
+        return wifi_device->ap_info.rssi;
+    }
+
+    return 0;
+}
+
+#ifdef RT_USING_FINSH
+#include <finsh.h>
+
+static rt_err_t rw009_scan(void)
+{
+    rt_err_t result;
+    struct rw009_wifi * wifi_device;
+
+    wifi_device = (struct rw009_wifi *)rt_device_find("w0");
+
+    rt_kprintf("\nCMD RW009_CMD_SCAN \n");
+    result = rt_device_control((rt_device_t)wifi_device,
+                               RW009_CMD_SCAN,
+                               RT_NULL);
+
+    rt_kprintf("CMD RW009_CMD_SCAN result:%d\n", result);
+
+    if(result == RT_EOK)
+    {
+        uint32_t i;
+        rw009_ap_info *ap_info;
+
+        for(i=0; i<wifi_device->ap_scan_count; i++)
+        {
+            ap_info = &wifi_device->ap_scan[i];
+            rt_kprintf("AP #%02d SSID: %-32.32s\n", i, ap_info->ssid );
+        }
+    }
+
+    return result;
+}
+FINSH_FUNCTION_EXPORT(rw009_scan, SACN and list AP.);
+FINSH_FUNCTION_EXPORT(rw009_join, RW009 join to AP.);
+FINSH_FUNCTION_EXPORT(rw009_rssi, get RW009 current AP rssi.);
+
+#endif // RT_USING_FINSH
diff --git a/components/drivers/spi/spi_wifi_rw009.h b/components/drivers/spi/spi_wifi_rw009.h
index bb6fea5b01..4b684b9b24 100644
--- a/components/drivers/spi/spi_wifi_rw009.h
+++ b/components/drivers/spi/spi_wifi_rw009.h
@@ -20,6 +20,7 @@
  * Change Logs:
  * Date           Author       Notes
  * 2014-07-31     aozima       the first version
+ * 2014-09-18     aozima       update command & response.
  */
 
 #ifndef SPI_WIFI_H_INCLUDED
@@ -28,7 +29,7 @@
 #include <stdint.h>
 
 // little-endian
-struct cmd_request
+struct spi_cmd_request
 {
     uint32_t flag;
     uint32_t M2S_len; // master to slave data len.
@@ -42,7 +43,7 @@ struct cmd_request
 #define CMD_FLAG_MRDY       (0x01)
 
 // little-endian
-struct response
+struct spi_response
 {
     uint32_t flag;
     uint32_t S2M_len; // slave to master data len.
@@ -55,20 +56,16 @@ struct response
 #define RESP_MAGIC2         (0x10325476)
 
 /* spi slave configure. */
-#define MAX_DATA_LEN        1520
+#define SPI_MAX_DATA_LEN    1520
 #define SPI_TX_POOL_SIZE    2
 #define SPI_RX_POOL_SIZE    2
 
-// align check
-#if (MAX_DATA_LEN & 0x03) != 0
-#error MAX_DATA_LEN must ALIGN to 4byte!
-#endif
-
 typedef enum
 {
     data_type_eth_data = 0,
     data_type_cmd,
     data_type_resp,
+    data_type_status,
 }
 app_data_type_typedef;
 
@@ -76,52 +73,154 @@ struct spi_data_packet
 {
     uint32_t data_len;
     uint32_t data_type;
-    char buffer[MAX_DATA_LEN];
+    char buffer[SPI_MAX_DATA_LEN];
 };
 
-/* tools */
-#define node_entry(node, type, member) \
-    ((type *)((char *)(node) - (unsigned long)(&((type *)0)->member)))
-#define member_offset(type, member) \
-    ((unsigned long)(&((type *)0)->member))
+/********************************* RW009 **************************************/
 
-#define MAX_SPI_PACKET_SIZE    (member_offset(struct spi_data_packet, buffer) + MAX_DATA_LEN)
+/* option */
+#define RW009_CMD_TIMEOUT           (RT_TICK_PER_SECOND*3)
+#define SSID_NAME_LENGTH_MAX        (32)
+#define PASSWORD_LENGTH_MAX         (64)
 
-/********************************* RW009 **************************************/
+typedef enum
+{
+    MODE_STATION=0,
+    MODE_SOFTAP=1,
+} wifi_mode_t;
 
-struct spi_wifi_cmd
+typedef struct _rw009_ap_info
+{
+    char        ssid[SSID_NAME_LENGTH_MAX];
+    uint8_t     bssid[8]; // 6byte + 2byte PAD.
+    int         rssi;               /* Receive Signal Strength Indication in dBm. */
+    uint32_t    max_data_rate;      /* Maximum data rate in kilobits/s */
+    uint32_t    security;           /* Security type  */
+    uint32_t    channel;            /* Radio channel that the AP beacon was received on   */
+} rw009_ap_info;
+
+typedef struct _rw009_cmd_init
+{
+    uint32_t mode;
+} rw009_cmd_init;
+
+typedef struct _rw009_resp_init
+{
+    uint8_t mac[8];     // 6byte + 2byte PAD.
+    uint8_t sn[24];     // serial.
+    char version[16];   // firmware version.
+} rw009_resp_init;
+
+typedef struct _rw009_cmd_easy_join
+{
+    char ssid[SSID_NAME_LENGTH_MAX];
+    char passwd[PASSWORD_LENGTH_MAX];
+} rw009_cmd_easy_join;
+
+typedef struct _rw009_cmd_join
+{
+    uint8_t bssid[8]; // 6byte + 2byte PAD.
+    char passwd[PASSWORD_LENGTH_MAX];
+} rw009_cmd_join;
+
+typedef struct _rw009_cmd_rssi
+{
+    uint8_t bssid[8]; // 6byte + 2byte PAD.
+} rw009_cmd_rssi;
+
+typedef struct _rw009_cmd_softap
+{
+    char ssid[SSID_NAME_LENGTH_MAX];
+    char passwd[PASSWORD_LENGTH_MAX];
+
+    uint32_t    security;           /* Security type. */
+    uint32_t    channel;            /* Radio channel that the AP beacon was received on   */
+} rw009_cmd_softap;
+
+typedef struct _rw009_resp_join
+{
+    rw009_ap_info ap_info;
+} rw009_resp_join;
+
+struct rw009_cmd
 {
     uint32_t cmd;
-    char buffer[128];
+    uint32_t len;
+
+    /** command body */
+    union
+    {
+        rw009_cmd_init init;
+        rw009_cmd_easy_join easy_join;
+        rw009_cmd_join join;
+        rw009_cmd_rssi rssi;
+        rw009_cmd_softap softap;
+    } params;
 };
 
-struct spi_wifi_resp
+struct rw009_resp
 {
     uint32_t cmd;
-    char buffer[128];
+    uint32_t len;
+
+    int32_t result; // result for CMD.
+
+    /** resp Body */
+    union
+    {
+        rw009_resp_init init;
+        rw009_ap_info ap_info;
+    } resp;
 };
 
-#define SPI_WIFI_CMD_INIT         128  //wait
-#define SPI_WIFI_CMD_SCAN         129  //no wait
-#define SPI_WIFI_CMD_JOIN         130  //no wait
+#define RW009_CMD_INIT              128
+#define RW009_CMD_SCAN              129
+#define RW009_CMD_JOIN              130
+#define RW009_CMD_EASY_JOIN         131
+#define RW009_CMD_RSSI              132
+#define RW009_CMD_SOFTAP            133
+
+/** cond !ADDTHIS*/
+#define SHARED_ENABLED  0x00008000
+#define WPA_SECURITY    0x00200000
+#define WPA2_SECURITY   0x00400000
+#define WPS_ENABLED     0x10000000
+#define WEP_ENABLED        0x0001
+#define TKIP_ENABLED        0x0002
+#define AES_ENABLED        0x0004
+#define WSEC_SWFLAG        0x0008
+/** endcond */
+/**
+ * Enumeration of Wi-Fi security modes
+ */
+typedef enum
+{
+    SECURITY_OPEN           = 0,                                                /**< Open security                           */
+    SECURITY_WEP_PSK        = WEP_ENABLED,                                      /**< WEP Security with open authentication   */
+    SECURITY_WEP_SHARED     = ( WEP_ENABLED | SHARED_ENABLED ),                 /**< WEP Security with shared authentication */
+    SECURITY_WPA_TKIP_PSK   = ( WPA_SECURITY  | TKIP_ENABLED ),                 /**< WPA Security with TKIP                  */
+    SECURITY_WPA_AES_PSK    = ( WPA_SECURITY  | AES_ENABLED ),                  /**< WPA Security with AES                   */
+    SECURITY_WPA2_AES_PSK   = ( WPA2_SECURITY | AES_ENABLED ),                  /**< WPA2 Security with AES                  */
+    SECURITY_WPA2_TKIP_PSK  = ( WPA2_SECURITY | TKIP_ENABLED ),                 /**< WPA2 Security with TKIP                 */
+    SECURITY_WPA2_MIXED_PSK = ( WPA2_SECURITY | AES_ENABLED | TKIP_ENABLED ),   /**< WPA2 Security with AES & TKIP           */
+
+    SECURITY_WPS_OPEN       = WPS_ENABLED,                                      /**< WPS with open security                  */
+    SECURITY_WPS_SECURE     = (WPS_ENABLED | AES_ENABLED),                      /**< WPS with AES security                   */
+
+    SECURITY_UNKNOWN        = -1,                                               /**< May be returned by scan function if security is unknown. Do not pass this to the join function! */
+
+    SECURITY_FORCE_32_BIT   = 0x7fffffff                                        /**< Exists only to force wiced_security_t type to 32 bits */
+} security_t;
 
 /* porting */
 extern void spi_wifi_hw_init(void);
 extern void spi_wifi_int_cmd(rt_bool_t cmd);
 extern rt_bool_t spi_wifi_is_busy(void);
 
-#define SSID_NAME_LENGTH_MAX        (32)
-#define PASSWORD_LENGTH_MAX         (32)
-
-struct cmd_join
-{
-    char ssid[SSID_NAME_LENGTH_MAX];
-    char passwd[PASSWORD_LENGTH_MAX];
-
-    uint8_t bssid[8]; // 6byte + 2byte PAD.
-
-    uint32_t channel;
-    uint32_t security;
-};
+/* export API. */
+extern rt_err_t rt_hw_wifi_init(const char *spi_device_name,wifi_mode_t mode);
+extern int32_t rw009_rssi(void);
+extern rt_err_t rw009_join(const char * SSID, const char * passwd);
+extern rt_err_t rw009_softap(const char * SSID, const char * passwd,uint32_t security,uint32_t channel);
 
 #endif // SPI_WIFI_H_INCLUDED
diff --git a/components/drivers/src/completion.c b/components/drivers/src/completion.c
index f49e44c48f..48afc2ee34 100644
--- a/components/drivers/src/completion.c
+++ b/components/drivers/src/completion.c
@@ -95,10 +95,10 @@ rt_err_t rt_completion_wait(struct rt_completion *completion,
             result = thread->error;
 
             level = rt_hw_interrupt_disable();
-            /* clean completed flag */
-            completion->flag = RT_UNCOMPLETED;
         }
     }
+    /* clean completed flag */
+    completion->flag = RT_UNCOMPLETED;
 
 __exit:
     rt_hw_interrupt_enable(level);
diff --git a/components/drivers/src/ringbuffer.c b/components/drivers/src/ringbuffer.c
index 6212b10258..8c2705ceb1 100644
--- a/components/drivers/src/ringbuffer.c
+++ b/components/drivers/src/ringbuffer.c
@@ -100,13 +100,13 @@ rt_size_t rt_ringbuffer_put_force(struct rt_ringbuffer *rb,
                             const rt_uint8_t     *ptr,
                             rt_uint16_t           length)
 {
-    enum rt_ringbuffer_state old_state;
+    rt_uint16_t space_length;
 
     RT_ASSERT(rb != RT_NULL);
 
-    old_state = rt_ringbuffer_status(rb);
+    space_length = rt_ringbuffer_space_len(rb);
 
-    if (length > rb->buffer_size)
+    if (length > space_length)
         length = rb->buffer_size;
 
     if (rb->buffer_size - rb->write_index > length)
@@ -117,7 +117,7 @@ rt_size_t rt_ringbuffer_put_force(struct rt_ringbuffer *rb,
          * length of data in current mirror */
         rb->write_index += length;
 
-        if (old_state == RT_RINGBUFFER_FULL)
+        if (length > space_length)
             rb->read_index = rb->write_index;
 
         return length;
@@ -134,7 +134,7 @@ rt_size_t rt_ringbuffer_put_force(struct rt_ringbuffer *rb,
     rb->write_mirror = ~rb->write_mirror;
     rb->write_index = length - (rb->buffer_size - rb->write_index);
 
-    if (old_state == RT_RINGBUFFER_FULL)
+    if (length > space_length)
     {
         rb->read_mirror = ~rb->read_mirror;
         rb->read_index = rb->write_index;
diff --git a/components/drivers/usb/usbhost/class/adk.c b/components/drivers/usb/usbhost/class/adk.c
index fd6619599c..1481d27ea6 100644
--- a/components/drivers/usb/usbhost/class/adk.c
+++ b/components/drivers/usb/usbhost/class/adk.c
@@ -67,7 +67,7 @@ RTM_EXPORT(rt_usbh_adk_set_string);
 */
 static rt_err_t rt_usbh_adk_get_protocol(struct uintf* intf, rt_uint16_t *protocol)
 {
-    struct ureqest setup;
+    struct urequest setup;
     uinst_t device;    
     int timeout = 100;
             
@@ -101,7 +101,7 @@ static rt_err_t rt_usbh_adk_get_protocol(struct uintf* intf, rt_uint16_t *protoc
 static rt_err_t rt_usbh_adk_send_string(struct uintf* intf, rt_uint16_t index, 
     const char* str)
 {
-    struct ureqest setup;
+    struct urequest setup;
     uinst_t device;    
     int timeout = 100;
             
@@ -134,7 +134,7 @@ static rt_err_t rt_usbh_adk_send_string(struct uintf* intf, rt_uint16_t index,
 */
 static rt_err_t rt_usbh_adk_start(struct uintf* intf)
 {
-    struct ureqest setup;
+    struct urequest setup;
     uinst_t device;    
     int timeout = 100;
             
diff --git a/components/drivers/usb/usbhost/core/core.c b/components/drivers/usb/usbhost/core/core.c
index af53370f4b..144358a4d3 100644
--- a/components/drivers/usb/usbhost/core/core.c
+++ b/components/drivers/usb/usbhost/core/core.c
@@ -246,7 +246,7 @@ rt_err_t rt_usbh_detach_instance(uinst_t device)
 rt_err_t rt_usbh_get_descriptor(uinst_t device, rt_uint8_t type, void* buffer, 
     int nbytes)
 {
-    struct ureqest setup;
+    struct urequest setup;
     int timeout = 100;
     
     RT_ASSERT(device != RT_NULL);
@@ -272,7 +272,7 @@ rt_err_t rt_usbh_get_descriptor(uinst_t device, rt_uint8_t type, void* buffer,
  */
 rt_err_t rt_usbh_set_address(uinst_t device)
 {
-    struct ureqest setup;
+    struct urequest setup;
     int timeout = 100;
     
     RT_ASSERT(device != RT_NULL);
@@ -306,7 +306,7 @@ rt_err_t rt_usbh_set_address(uinst_t device)
  */
 rt_err_t rt_usbh_set_configure(uinst_t device, int config)
 {
-    struct ureqest setup;
+    struct urequest setup;
     int timeout = 100;
 
     /* check parameter */
@@ -335,7 +335,7 @@ rt_err_t rt_usbh_set_configure(uinst_t device, int config)
  */
 rt_err_t rt_usbh_set_interface(uinst_t device, int intf)
 {
-    struct ureqest setup;
+    struct urequest setup;
     int timeout = 100;
 
     /* check parameter */
@@ -364,7 +364,7 @@ rt_err_t rt_usbh_set_interface(uinst_t device, int intf)
  */
 rt_err_t rt_usbh_clear_feature(uinst_t device, int endpoint, int feature)
 {
-    struct ureqest setup;
+    struct urequest setup;
     int timeout = 100;
 
     /* check parameter */
diff --git a/components/drivers/usb/usbhost/core/hub.c b/components/drivers/usb/usbhost/core/hub.c
index a71aa4f89c..bde316ae77 100644
--- a/components/drivers/usb/usbhost/core/hub.c
+++ b/components/drivers/usb/usbhost/core/hub.c
@@ -43,7 +43,7 @@ static struct uclass_driver hub_driver;
 rt_err_t rt_usbh_hub_get_descriptor(struct uinstance* device, rt_uint8_t *buffer, 
     rt_size_t nbytes)
 {
-    struct ureqest setup;
+    struct urequest setup;
     int timeout = 100;
         
     /* parameter check */
@@ -72,7 +72,7 @@ rt_err_t rt_usbh_hub_get_descriptor(struct uinstance* device, rt_uint8_t *buffer
  */
 rt_err_t rt_usbh_hub_get_status(struct uinstance* device, rt_uint8_t* buffer)
 {
-    struct ureqest setup;
+    struct urequest setup;
     int timeout = 100;
     int length = 4;
     
@@ -104,7 +104,7 @@ rt_err_t rt_usbh_hub_get_status(struct uinstance* device, rt_uint8_t* buffer)
 rt_err_t rt_usbh_hub_get_port_status(uhub_t hub, rt_uint16_t port, 
     rt_uint8_t* buffer)
 {
-    struct ureqest setup;
+    struct urequest setup;
     int timeout = 100;
     int length = 4;
     
@@ -144,7 +144,7 @@ rt_err_t rt_usbh_hub_get_port_status(uhub_t hub, rt_uint16_t port,
 rt_err_t rt_usbh_hub_clear_port_feature(uhub_t hub, rt_uint16_t port, 
     rt_uint16_t feature)
 {
-    struct ureqest setup;
+    struct urequest setup;
     int timeout = 100;
         
     /* parameter check */
@@ -183,7 +183,7 @@ rt_err_t rt_usbh_hub_clear_port_feature(uhub_t hub, rt_uint16_t port,
 rt_err_t rt_usbh_hub_set_port_feature(uhub_t hub, rt_uint16_t port, 
     rt_uint16_t feature)
 {
-    struct ureqest setup;
+    struct urequest setup;
     int timeout = 100;
         
     /* parameter check */