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

firmware/chibios/testhal/STM32F1xx/I2C/lis3.c

@@ -0,0 +1,91 @@
+/*
+    ChibiOS/RT - Copyright (C) 2006-2013 Giovanni Di Sirio
+
+    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.
+*/
+
+/**
+ * This is device realize "read through write" paradigm. This is not
+ * standard, but most of I2C devices use this paradigm.
+ * You must write to device reading address, send restart to bus,
+ * and then begin reading process.
+ */
+
+#include <stdlib.h>
+
+#include "ch.h"
+#include "hal.h"
+
+#include "lis3.h"
+
+
+#define lis3_addr 0b0011101
+
+
+/* buffers */
+static uint8_t accel_rx_data[ACCEL_RX_DEPTH];
+static uint8_t accel_tx_data[ACCEL_TX_DEPTH];
+
+static i2cflags_t errors = 0;
+
+static int16_t acceleration_x = 0;
+static int16_t acceleration_y = 0;
+static int16_t acceleration_z = 0;
+
+
+/**
+ * Init function. Here we will also start personal serving thread.
+ */
+int init_lis3(void){
+  msg_t status = RDY_OK;
+  systime_t tmo = MS2ST(4);
+
+  /* configure accelerometer */
+  accel_tx_data[0] = ACCEL_CTRL_REG1 | AUTO_INCREMENT_BIT; /* register address */
+  accel_tx_data[1] = 0b11100111;
+  accel_tx_data[2] = 0b01000001;
+  accel_tx_data[3] = 0b00000000;
+
+  /* sending */
+  i2cAcquireBus(&I2CD1);
+  status = i2cMasterTransmitTimeout(&I2CD1, lis3_addr, accel_tx_data, 4, accel_rx_data, 0, tmo);
+  i2cReleaseBus(&I2CD1);
+
+  if (status != RDY_OK){
+    errors = i2cGetErrors(&I2CD1);
+  }
+
+  return 0;
+}
+
+/**
+ *
+ */
+void request_acceleration_data(void){
+  msg_t status = RDY_OK;
+  systime_t tmo = MS2ST(4);
+
+  accel_tx_data[0] = ACCEL_OUT_DATA | AUTO_INCREMENT_BIT; /* register address */
+  i2cAcquireBus(&I2CD1);
+  status = i2cMasterTransmitTimeout(&I2CD1, lis3_addr, accel_tx_data, 1, accel_rx_data, 6, tmo);
+  i2cReleaseBus(&I2CD1);
+
+  if (status != RDY_OK){
+    errors = i2cGetErrors(&I2CD1);
+  }
+
+  acceleration_x = accel_rx_data[0] + (accel_rx_data[1] << 8);
+  acceleration_y = accel_rx_data[2] + (accel_rx_data[3] << 8);
+  acceleration_z = accel_rx_data[4] + (accel_rx_data[5] << 8);
+}
+