diff --git a/conf/airframes/examples/stm32f4_discovery_test.xml b/conf/airframes/examples/stm32f4_discovery_test.xml
index 6735c16ec3..8fd1b7b542 100644
--- a/conf/airframes/examples/stm32f4_discovery_test.xml
+++ b/conf/airframes/examples/stm32f4_discovery_test.xml
@@ -29,6 +29,12 @@
     <subsystem name="ins"/>
   </firmware>
 
+  <firmware name="test_progs">
+    <target name="test_lis302dl" board="stm32f4_discovery">
+      <define name="STM32F4_DISCOVERY_SPI1_FOR_LIS302"/>
+    </target>
+  </firmware>
+
   <modules main_freq="512">
     <load name="baro_ets.xml">
       <define name="BARO_ETS_SCALE" value="40.0"/>
diff --git a/conf/firmwares/test_progs.makefile b/conf/firmwares/test_progs.makefile
new file mode 100644
index 0000000000..cf1a70674b
--- /dev/null
+++ b/conf/firmwares/test_progs.makefile
@@ -0,0 +1,153 @@
+# Hey Emacs, this is a -*- makefile -*-
+#
+# Copyright (C) 2013 The Paparazzi Team
+#
+# This file is part of Paparazzi.
+#
+# Paparazzi 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, or (at your option)
+# any later version.
+#
+# Paparazzi 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 Paparazzi; see the file COPYING.  If not, write to
+# the Free Software Foundation, 59 Temple Place - Suite 330,
+# Boston, MA 02111-1307, USA.
+#
+
+################################################################################
+#
+#
+#  Common test programs for the all LPC21 and STM32 boards
+#
+################################################################################
+
+
+SRC_ARCH=arch/$(ARCH)
+SRC_BOARD=boards/$(BOARD)
+SRC_SUBSYSTEMS=subsystems
+SRC_MODULES=modules
+
+CFG_SHARED=$(PAPARAZZI_SRC)/conf/firmwares/subsystems/shared
+
+
+#
+# common test
+#
+# configuration
+#   SYS_TIME_LED
+#   MODEM_PORT
+#   MODEM_BAUD
+#
+PERIODIC_FREQUENCY ?= 512
+
+COMMON_TEST_CFLAGS  = -I$(SRC_BOARD) -DBOARD_CONFIG=$(BOARD_CFG)
+COMMON_TEST_CFLAGS += -DPERIPHERALS_AUTO_INIT
+COMMON_TEST_SRCS    = mcu.c $(SRC_ARCH)/mcu_arch.c
+COMMON_TEST_SRCS   += $(SRC_ARCH)/mcu_periph/gpio_arch.c
+COMMON_TEST_CFLAGS += -DUSE_SYS_TIME
+ifneq ($(SYS_TIME_LED),none)
+  COMMON_TEST_CFLAGS += -DSYS_TIME_LED=$(SYS_TIME_LED)
+endif
+COMMON_TEST_CFLAGS += -DPERIODIC_FREQUENCY=$(PERIODIC_FREQUENCY)
+COMMON_TEST_SRCS   += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
+
+COMMON_TEST_CFLAGS += -DUSE_LED
+COMMON_TEST_SRCS   += $(SRC_ARCH)/led_hw.c
+
+COMMON_TELEMETRY_CFLAGS  = -DUSE_$(MODEM_PORT) -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
+COMMON_TELEMETRY_CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=$(MODEM_PORT)
+COMMON_TELEMETRY_SRCS    = mcu_periph/uart.c
+COMMON_TELEMETRY_SRCS   += $(SRC_ARCH)/mcu_periph/uart_arch.c
+COMMON_TELEMETRY_SRCS   += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c
+
+#COMMON_TEST_SRCS   += math/pprz_trig_int.c
+
+
+
+#
+# test sys_time
+#
+ifeq ($(BOARD), lisa_m)
+ifeq ($(BOARD_VERSION), 2.0)
+LED_DEFINES = -DLED_BLUE=3 -DLED_RED=4 -DLED_GREEN=5
+endif
+endif
+LED_DEFINES ?= -DLED_RED=2 -DLED_GREEN=3
+
+test_sys_time_timer.ARCHDIR = $(ARCH)
+test_sys_time_timer.CFLAGS += $(COMMON_TEST_CFLAGS) $(LED_DEFINES)
+test_sys_time_timer.srcs   += $(COMMON_TEST_SRCS)
+test_sys_time_timer.srcs   += $(SRC_AIRBORNE)/test/mcu_periph/test_sys_time_timer.c
+
+test_sys_time_usleep.ARCHDIR = $(ARCH)
+test_sys_time_usleep.CFLAGS += $(COMMON_TEST_CFLAGS) $(LED_DEFINES)
+test_sys_time_usleep.srcs   += $(COMMON_TEST_SRCS)
+test_sys_time_usleep.srcs   += $(SRC_AIRBORNE)/test/mcu_periph/test_sys_time_usleep.c
+
+
+#
+# test_telemetry : Sends ALIVE telemetry messages
+#
+# configuration
+#   MODEM_PORT :
+#   MODEM_BAUD :
+#
+test_telemetry.ARCHDIR = $(ARCH)
+test_telemetry.CFLAGS += $(COMMON_TEST_CFLAGS)
+test_telemetry.srcs   += $(COMMON_TEST_SRCS)
+test_telemetry.CFLAGS += $(COMMON_TELEMETRY_CFLAGS)
+test_telemetry.srcs   += $(COMMON_TELEMETRY_SRCS)
+test_telemetry.srcs   += test/test_telemetry.c
+
+
+#
+# test ms2100 mag
+#
+test_ms2100.ARCHDIR = $(ARCH)
+test_ms2100.CFLAGS += $(COMMON_TEST_CFLAGS)
+test_ms2100.srcs   += $(COMMON_TEST_SRCS)
+test_ms2100.CFLAGS += $(COMMON_TELEMETRY_CFLAGS)
+test_ms2100.srcs   += $(COMMON_TELEMETRY_SRCS)
+
+test_ms2100.srcs   += test/peripherals/test_ms2100.c
+test_ms2100.srcs   += peripherals/ms2100.c $(SRC_ARCH)/peripherals/ms2100_arch.c
+test_ms2100.CFLAGS += -DUSE_SPI -DSPI_MASTER
+test_ms2100.srcs   += mcu_periph/spi.c $(SRC_ARCH)/mcu_periph/spi_arch.c
+ifeq ($(ARCH), lpc21)
+test_ms2100.CFLAGS += -DUSE_SPI1
+test_ms2100.CFLAGS += -DUSE_SPI_SLAVE1
+test_ms2100.CFLAGS += -DMS2100_SLAVE_IDX=1
+test_ms2100.CFLAGS += -DMS2100_SPI_DEV=spi1
+test_ms2100.CFLAGS += -DMS2100_DRDY_VIC_SLOT=12
+else ifeq ($(ARCH), stm32)
+test_ms2100.CFLAGS += -DUSE_SPI2
+test_ms2100.CFLAGS += -DUSE_SPI_SLAVE4
+test_ms2100.CFLAGS += -DMS2100_SLAVE_IDX=4
+test_ms2100.CFLAGS += -DMS2100_SPI_DEV=spi2
+endif
+
+
+#
+# test lis302dl accelerometer
+#
+test_lis302dl.ARCHDIR = $(ARCH)
+test_lis302dl.CFLAGS += $(COMMON_TEST_CFLAGS)
+test_lis302dl.srcs   += $(COMMON_TEST_SRCS)
+test_lis302dl.CFLAGS += $(COMMON_TELEMETRY_CFLAGS)
+test_lis302dl.srcs   += $(COMMON_TELEMETRY_SRCS)
+
+test_lis302dl.srcs   += test/peripherals/test_lis302dl_spi.c
+test_lis302dl.srcs   += peripherals/lis302dl_spi.c
+test_lis302dl.CFLAGS += -DUSE_SPI -DSPI_MASTER
+test_lis302dl.srcs   += mcu_periph/spi.c $(SRC_ARCH)/mcu_periph/spi_arch.c
+
+test_lis302dl.CFLAGS += -DUSE_SPI1
+test_lis302dl.CFLAGS += -DUSE_SPI_SLAVE2
+test_lis302dl.CFLAGS += -DLIS302DL_SLAVE_IDX=2
+test_lis302dl.CFLAGS += -DLIS302DL_SPI_DEV=spi1
diff --git a/sw/airborne/boards/stm32f4_discovery.h b/sw/airborne/boards/stm32f4_discovery.h
index 87ced73af4..4ad9ca64a2 100755
--- a/sw/airborne/boards/stm32f4_discovery.h
+++ b/sw/airborne/boards/stm32f4_discovery.h
@@ -7,9 +7,9 @@
  * PA2  = PWM7
  * PA3  = PWM6
  * PA4  = ADC_4 (ADC12 IN 4)+CS43L22 DAC out, capacitively coupled+100Kohm, should not interfere.
- * PA5  = FREE
- * PA6  = CANNOT BE USED
- * PA7  = FREE
+ * PA5  = SPI1 SCK if STM32F4_DISCOVERY_SPI1_FOR_LIS302
+ * PA6  = SPI1 MISO if STM32F4_DISCOVERY_SPI1_FOR_LIS302
+ * PA7  = SPI1 MOSI if STM32F4_DISCOVERY_SPI1_FOR_LIS302
  * PA8  = SPECTRUM BIND
  * PA9  = FREE (ONLY if usb is not active during runtime, PC0 must be high or input )
  * PA10 = UART2 (Spektrum input)
@@ -73,7 +73,7 @@
  * PE0  = CANNOT BE USED (Accel int output)
  * PE1  = CANNOT BE USED (Accel int output)
  * PE2  = SPI SLAVE 0
- * PE3  = FREE (Needs some testing as it is used for the accel spi/i2c select pin)
+ * PE3  = SPI SLAVE 2 (used for the LIS302DL accel spi/i2c select pin)
  * PE4  = FREE
  * PE5  = PWM4
  * PE6  = PWM5
@@ -214,6 +214,15 @@
 /**************************************    SPI     *************************************************/
 /***************************************************************************************************/
 
+#if STM32F4_DISCOVERY_SPI1_FOR_LIS302
+#define SPI1_GPIO_AF GPIO_AF5
+#define SPI1_GPIO_PORT_SCK GPIOA
+#define SPI1_GPIO_SCK GPIO5
+#define SPI1_GPIO_PORT_MISO GPIOA
+#define SPI1_GPIO_MISO GPIO6
+#define SPI1_GPIO_PORT_MOSI GPIOA
+#define SPI1_GPIO_MOSI GPIO7
+#else
 #define SPI1_GPIO_AF GPIO_AF5
 #define SPI1_GPIO_PORT_SCK GPIOB
 #define SPI1_GPIO_SCK GPIO3
@@ -221,7 +230,7 @@
 #define SPI1_GPIO_MISO GPIO4
 #define SPI1_GPIO_PORT_MOSI GPIOB
 #define SPI1_GPIO_MOSI GPIO5
-
+#endif
 
 /* CANNOT BE USED IF PWM CHANNELS 10 & 11 ARE ACTIVE !!! */
 #define SPI2_GPIO_AF GPIO_AF5
@@ -245,6 +254,8 @@
 #define SPI_SELECT_SLAVE0_PIN GPIO2
 #define SPI_SELECT_SLAVE1_PORT GPIOE
 #define SPI_SELECT_SLAVE1_PIN GPIO7
+#define SPI_SELECT_SLAVE2_PORT GPIOE
+#define SPI_SELECT_SLAVE2_PIN GPIO3
 
 
 /***************************************************************************************************/
diff --git a/sw/airborne/test/peripherals/test_lis302dl_spi.c b/sw/airborne/test/peripherals/test_lis302dl_spi.c
new file mode 100644
index 0000000000..e08913cfa3
--- /dev/null
+++ b/sw/airborne/test/peripherals/test_lis302dl_spi.c
@@ -0,0 +1,103 @@
+/*
+ * Copyright (C) 2013 Felix Ruess <felix.ruess@gmail.com>
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi 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, or (at your option)
+ * any later version.
+ *
+ * paparazzi 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 paparazzi; see the file COPYING.  If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA.
+ */
+
+/**
+ * @file test/peripherals/test_lis302dl_spi.c
+ *
+ * Test for LIS302DL 3-axis accelerometer from ST using SPI.
+ */
+
+#include BOARD_CONFIG
+#include "mcu.h"
+#include "mcu_periph/sys_time.h"
+#include "mcu_periph/uart.h"
+#include "subsystems/datalink/downlink.h"
+#include "led.h"
+
+#include "peripherals/lis302dl_spi.h"
+
+#ifndef LIS302DL_SPI_DEV
+#define LIS302DL_SPI_DEV spi2
+#endif
+PRINT_CONFIG_VAR(LIS302DL_SPI_DEV)
+
+#ifndef LIS302DL_SPI_SLAVE_IDX
+#define LIS302DL_SPI_SLAVE_IDX SPI_SLAVE2
+#endif
+PRINT_CONFIG_VAR(LIS302DL_SPI_SLAVE_IDX)
+
+struct Lis302dl_Spi lis302;
+
+static inline void main_init( void );
+static inline void main_periodic_task( void );
+static inline void main_event_task( void );
+
+int main(void) {
+  main_init();
+
+  while(1) {
+    if (sys_time_check_and_ack_timer(0))
+      main_periodic_task();
+    main_event_task();
+  }
+
+  return 0;
+}
+
+
+static inline void main_init( void ) {
+  mcu_init();
+  mcu_int_enable();
+
+  sys_time_register_timer((1./50), NULL);
+
+  lis302dl_spi_init(&lis302, &(LIS302DL_SPI_DEV), LIS302DL_SPI_SLAVE_IDX);
+}
+
+static inline void main_periodic_task( void ) {
+  RunOnceEvery(100, DOWNLINK_SEND_ALIVE(DefaultChannel, DefaultDevice, 16, MD5SUM));
+
+  if (sys_time.nb_sec > 1) {
+    lis302dl_spi_periodic(&lis302);
+#if USE_LED_5
+    RunOnceEvery(10, LED_TOGGLE(5););
+#endif
+  }
+}
+
+static inline void main_event_task( void ) {
+  if (sys_time.nb_sec > 1)
+    lis302dl_spi_event(&lis302);
+
+  if (lis302.data_available) {
+    struct Int32Vect3 accel;
+    VECT3_COPY(accel, lis302.data.vect);
+    lis302.data_available = FALSE;
+
+    RunOnceEvery(10, {
+        DOWNLINK_SEND_IMU_ACCEL_RAW(DefaultChannel, DefaultDevice,
+                                    &accel.x, &accel.y, &accel.z);
+#if USE_LED_6
+        LED_TOGGLE(6);
+#endif
+      });
+  }
+}