diff --git a/conf/modules/logger_spi_link.xml b/conf/modules/logger_spi_link.xml
new file mode 100644
index 00000000000..194d9a48c15
--- /dev/null
+++ b/conf/modules/logger_spi_link.xml
@@ -0,0 +1,16 @@
+
+
+
+
+ Openlog on-board data logger
+
+
+
+
+
+
+
+
+
diff --git a/sw/airborne/modules/loggers/spiLink.c b/sw/airborne/modules/loggers/spiLink.c
new file mode 100644
index 00000000000..9aa32ef400a
--- /dev/null
+++ b/sw/airborne/modules/loggers/spiLink.c
@@ -0,0 +1,134 @@
+#include "spiLink.h"
+#include
+#include
+#include
+#include
+#include
+#include
+
+#include "subsystems/imu.h"
+
+struct LoggerData loggerData;
+uint16_t testData = 1234;
+volatile bool_t previousSpi1TransferComplete = TRUE;
+
+DMA_InitTypeDef DMA_InitStructure;
+
+void logger_spiLink_init(void)
+{
+ GPIO_InitTypeDef GPIO_InitStructure;
+ //NVIC_InitTypeDef NVIC_InitStructure;
+ SPI_InitTypeDef SPI_InitStructure;
+
+ // Enable SPI1 Clock (APB2)
+ RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA | RCC_APB2Periph_SPI1 | RCC_APB2Periph_AFIO, ENABLE);
+
+ // Configure SPI pins as Alternative Functions pins
+ // Output pins (push/pull: MOSI,SCK,SS)
+ GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4 | GPIO_Pin_5 | GPIO_Pin_7;
+ //sck, miso, mosi
+ //GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_5 | GPIO_Pin_7;
+ GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
+ GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
+ GPIO_Init(GPIOA, &GPIO_InitStructure);
+
+ // Input pin (open drain: MISO)
+ GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6;
+ GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_OD;
+ GPIO_Init(GPIOA, &GPIO_InitStructure);
+
+ // SPI1 config
+ SPI_I2S_DeInit(SPI1);
+ SPI_InitStructure.SPI_Direction = SPI_Direction_2Lines_FullDuplex;
+ SPI_InitStructure.SPI_DataSize = SPI_DataSize_16b;
+ SPI_InitStructure.SPI_CPOL = SPI_CPOL_Low;
+ SPI_InitStructure.SPI_CPHA = SPI_CPHA_1Edge;
+ SPI_InitStructure.SPI_NSS = SPI_NSS_Soft;
+ SPI_InitStructure.SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_32;
+ SPI_InitStructure.SPI_FirstBit = SPI_FirstBit_MSB;
+ SPI_InitStructure.SPI_CRCPolynomial = 7;
+ SPI_InitStructure.SPI_Mode = SPI_Mode_Master;
+ SPI_Init(SPI1, &SPI_InitStructure);
+
+ SPI_Cmd(SPI1, ENABLE);
+ SPI_SSOutputCmd(SPI1,ENABLE);
+
+ RCC_AHBPeriphClockCmd(RCC_AHBPeriph_DMA1, ENABLE);
+
+ DMA_DeInit(DMA1_Channel3);
+ DMA_InitStructure.DMA_DIR = DMA_DIR_PeripheralDST;
+ DMA_InitStructure.DMA_MemoryBaseAddr = &loggerData;
+ DMA_InitStructure.DMA_BufferSize = sizeof(loggerData);
+ DMA_InitStructure.DMA_PeripheralBaseAddr = (uint32_t)(&SPI1->DR);
+ //DMA_InitStructure.DMA_PeripheralBaseAddr = (uint32_t)(SPI1_BASE+0x0C);
+ DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable;
+ DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Enable;
+ DMA_InitStructure.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte;
+ DMA_InitStructure.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte;
+ DMA_InitStructure.DMA_Mode = DMA_Mode_Normal;
+ DMA_InitStructure.DMA_Priority = DMA_Priority_VeryHigh;
+ DMA_InitStructure.DMA_M2M = DMA_M2M_Disable;
+ DMA_Init(DMA1_Channel3, &DMA_InitStructure);
+
+ // Enable DMA1 channel4 IRQ Channel ( SPI RX)
+ NVIC_InitTypeDef NVIC_Init_Structure;
+ NVIC_Init_Structure.NVIC_IRQChannel = DMA1_Channel3_IRQn;
+ NVIC_Init_Structure.NVIC_IRQChannelPreemptionPriority = 0;
+ NVIC_Init_Structure.NVIC_IRQChannelSubPriority = 0;
+ NVIC_Init_Structure.NVIC_IRQChannelCmd = ENABLE;
+ NVIC_Init(&NVIC_Init_Structure);
+
+
+ // Enable the SPI1 Tx DMA requests
+ SPI_I2S_DMACmd(SPI1, SPI_I2S_DMAReq_Tx, ENABLE);
+
+ // Enable the SPI1 Tx DMA stream
+ DMA_Cmd(DMA1_Channel3, ENABLE);
+
+ DMA_ITConfig(DMA1_Channel3, DMA_IT_TC, ENABLE);
+}
+
+void dma1_c3_irq_handler(void)
+{
+ if (DMA_GetITStatus(DMA1_IT_TC3)) {
+ DMA_ClearITPendingBit(DMA1_IT_GL3 | DMA1_IT_TC3);
+ previousSpi1TransferComplete = TRUE;
+ DMA_ClearFlag(DMA1_FLAG_HT3 | DMA1_FLAG_TC3);
+ DMA_ITConfig(DMA1_Channel3, DMA_IT_TC, DISABLE);
+ SPI_I2S_DMACmd(SPI1, SPI_I2S_DMAReq_Tx, DISABLE);
+ DMA_Cmd(DMA1_Channel3, DISABLE);
+ DMA_DeInit(DMA1_Channel3);
+ }
+}
+
+
+void logger_spiLink_periodic(void)
+{
+ if (previousSpi1TransferComplete) {
+ loggerData.gyro_p = imu.gyro_unscaled.p;
+ loggerData.gyro_q = imu.gyro_unscaled.q;
+ loggerData.gyro_r = imu.gyro_unscaled.r;
+ loggerData.acc_x = imu.accel_unscaled.x;
+ loggerData.acc_y = imu.accel_unscaled.y;
+ loggerData.acc_z = imu.accel_unscaled.z;
+ loggerData.mag_x = imu.mag_unscaled.x;
+ loggerData.mag_y = imu.mag_unscaled.x;
+ loggerData.mag_z = imu.mag_unscaled.x;
+
+
+ previousSpi1TransferComplete = FALSE;
+
+ DMA_Init(DMA1_Channel3, &DMA_InitStructure);
+ // Enable the SPI1 Tx DMA requests
+ SPI_I2S_DMACmd(SPI1, SPI_I2S_DMAReq_Tx, ENABLE);
+
+ // Enable the SPI1 Tx DMA stream
+ DMA_Cmd(DMA1_Channel3, ENABLE);
+
+ DMA_ITConfig(DMA1_Channel3, DMA_IT_TC, ENABLE);
+
+ //SPI_I2S_SendData(SPI1,testData);
+ }
+}
+
+
diff --git a/sw/airborne/modules/loggers/spiLink.h b/sw/airborne/modules/loggers/spiLink.h
new file mode 100644
index 00000000000..a59d8498d23
--- /dev/null
+++ b/sw/airborne/modules/loggers/spiLink.h
@@ -0,0 +1,24 @@
+#ifndef LOGGER_SPILINK_H_
+#define LOGGER_SPILINK_H_
+
+#include "std.h"
+#define USE_DMA1_C3_IRQ
+extern void logger_spiLink_init(void);
+extern void logger_spiLink_periodic(void);
+
+
+#define PACKED __attribute__((__packed__))
+
+struct PACKED LoggerData {
+ int32_t gyro_p;
+ int32_t gyro_q;
+ int32_t gyro_r;
+ int32_t acc_x;
+ int32_t acc_y;
+ int32_t acc_z;
+ int32_t mag_x;
+ int32_t mag_y;
+ int32_t mag_z;
+};
+
+#endif /* LOGGER_SPILINK_H_ */