ChibiOS 2.6.8, until I can figure out where to get it from git.

firmware/chibios/demos/ARMCM4-STM32F407-DISCOVERY-MEMS/readme.txt

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+*****************************************************************************
+** ChibiOS/RT port for ARM-Cortex-M4 STM32F407.                            **
+*****************************************************************************
+
+** TARGET **
+
+The demo runs on an ST STM32F4-Discovery board.
+
+** The Demo **
+
+The demo shows how to use PWM and SPI drivers using synchronous APIs. The PWM
+driver the four board LEDs with the data read from the LIS320DL accelerometer.
+The data is also transmitted on the SPI2 port.
+A simple command shell is activated on virtual serial port SD2 via USB-CDC
+driver (use micro-USB plug on STM32F4-Discovery board).
+
+** Build Procedure **
+
+The demo has been tested by using the free Codesourcery GCC-based toolchain
+and YAGARTO. just modify the TRGT line in the makefile in order to use
+different GCC toolchains.
+
+** Notes **
+
+Some files used by the demo are not part of ChibiOS/RT but are copyright of
+ST Microelectronics and are licensed under a different license.
+Also note that not all the files present in the ST library are distributed
+with ChibiOS/RT, you can find the whole library on the ST web site:
+
+                             http://www.st.com