diff --git a/sbs.conf b/sbs.conf
index 03ad8553382adc4d6a7db4727760906523993284..9d0fac4f9eb72030f047d9321258c68c8cfc4824 100644
--- a/sbs.conf
+++ b/sbs.conf
@@ -511,4 +511,12 @@ BoardId: stm32f407vg_skyward_tortellino
BinName: test-lis3dsh
Include: %shared %spi
Defines:
-Main: drivers/test-lis3dsh
\ No newline at end of file
+Main: drivers/test-lis3dsh
+
+[test-asm330lhh]
+Type: board
+BoardId: stm32f407vg_stm32f4discovery
+BinName: test-asm330lhh
+Include: %shared %spi
+Defines: -DDEBUG
+Main: asm330lhh_test
diff --git a/src/entrypoints/asm330lhh_test.cpp b/src/entrypoints/asm330lhh_test.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..87d8f415f60048953e9972184e59e57cda09cbe4
--- /dev/null
+++ b/src/entrypoints/asm330lhh_test.cpp
@@ -0,0 +1,44 @@
+#include "drivers/spi/SPIDriver.h"
+#include "sensors/ASM330LHH/ASM330LHH.h"
+#include "sensors/LIS3DSH/LIS3DSH.h"
+#include <Common.h>
+
+
+using namespace miosix;
+
+SPIBus bus(SPI1);
+
+SPIBusConfig cfg_mysensor; // Bus configuration for the sensor
+
+int main(){
+
+ GpioPin cs(GPIOA_BASE, 1); // Chip select pin of the sensor (GPIO A1)
+ GpioPin spi_ck(GPIOA_BASE, 5); // SPI clock pin PA5
+ GpioPin spi_out(GPIOA_BASE, 6); // SPI output pin PA6
+ GpioPin spi_in(GPIOA_BASE, 7); // SPI input pin PA7
+
+ {
+ FastInterruptDisableLock dLock;
+
+ RCC->APB2ENR |= RCC_APB2ENR_SPI1EN; // SPI1 enable
+
+ cs.mode(Mode::OUTPUT);
+ spi_ck.mode(Mode::ALTERNATE);
+ spi_ck.alternateFunction(5);
+ spi_out.mode(Mode::ALTERNATE);
+ spi_out.alternateFunction(5);
+ spi_in.mode(Mode::ALTERNATE);
+ spi_in.alternateFunction(5);
+ }
+
+ cs.high();
+
+ ASM330LHH sensor(bus, cs);
+ bool success = sensor.init();
+
+ if(success){
+ TRACE("Init done\n");
+ } else {
+ TRACE("Init failed\n");
+ }
+}
diff --git a/src/shared/sensors/ASM330LHH/ASM330LHH.h b/src/shared/sensors/ASM330LHH/ASM330LHH.h
new file mode 100644
index 0000000000000000000000000000000000000000..6411cb9a13c57d74d07c5cd2aeddf590e2e7fd13
--- /dev/null
+++ b/src/shared/sensors/ASM330LHH/ASM330LHH.h
@@ -0,0 +1,146 @@
+/* Copyright (c) 2020 Skyward Experimental Rocketry
+ * Authors: Vincenzo Santomarco
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#pragma once
+
+#include "sensors/Sensor.h"
+#include "Common.h"
+#include "drivers/spi/SPIDriver.h"
+
+using miosix::getTick;
+using miosix::TICK_FREQ;
+
+class ASM330LHH : public virtual Sensor
+{
+ public:
+ ASM330LHH(SPIBusInterface& bus,
+ GpioPin chip_select) :
+ spi_slave(bus, chip_select, {})
+ {
+ spi_slave.config.clock_div = SPIClockDivider::DIV64; // used to set the spi baud rate (maximum is 10 Mhz)
+ }
+
+ ASM330LHH(SPIBusInterface& bus,
+ GpioPin chip_select,
+ SPIBusConfig config) :
+ spi_slave(bus, chip_select, config) {}
+
+ ~ASM330LHH() {}
+
+ bool init() override
+ {
+
+ miosix::Thread::sleep(10);
+
+ setup_device();
+
+ if(!check_whoami()){
+ TRACE("Whoami check failed!\n");
+ return false;
+ }
+ return true;
+ }
+
+ bool onSimpleUpdate() override
+ {
+ return true;
+ }
+
+ bool selfTest() override
+ {
+ // check that the sensor is properly working
+ // e.g. check values tolerance over a set of samples
+ // or what the datasheet suggests
+ return true;
+ }
+
+ // not a Sensor class method: you should
+ // define methods to get the sampled data
+ float getData()
+ {
+ return 0;
+ }
+
+ private:
+ /**
+ * @brief Check that the WHO_AM_I register
+ * contains the correct value.
+ *
+ * @return boolean value indicating whether the value read
+ * from the WHO_AM_I register is correct or not
+ */
+ bool check_whoami()
+ {
+ SPITransaction spi(spi_slave);
+
+ uint8_t whoami = spi.read(WHO_AM_I_REG);
+
+ TRACE("whoami: %u\n", whoami);
+
+ return whoami == WHO_AM_I_DEFAULT_VALUE;
+ }
+
+ /**
+ * @brief I2C_disable = 1 in CTRL4_C and
+ * DEVICE_CONF = 1 in CTRL9_XL for setting up
+ * the device for SPI
+ */
+ void setup_device()
+ {
+ SPITransaction spi(spi_slave);
+
+ // Read and update CTRL4_C
+ uint8_t ctrl4_c_val = spi.read(CTRL4_C_REG);
+ TRACE("ctrl4_c_val: %u\n", ctrl4_c_val);
+ uint8_t i2c_disable_bit = 4; // 0b00000100
+ ctrl4_c_val |= i2c_disable_bit;
+ spi.write(CTRL4_C_REG, ctrl4_c_val);
+
+
+ // Read and update CTRL9_XL
+ uint8_t ctrl9_xl_val = spi.read(CTRL9_XL_REG);
+ TRACE("ctrl9_xl_val: %u\n", ctrl9_xl_val);
+ uint8_t device_conf = 2; // 0b00000010
+ ctrl9_xl_val |= device_conf;
+ spi.write(CTRL9_XL_REG, ctrl9_xl_val);
+
+ }
+
+ // Constant values
+ private:
+ const uint8_t WHO_AM_I_DEFAULT_VALUE = 0x6b;
+
+ private:
+
+ /**
+ * @brief Registers' addresses definition.
+ */
+ enum REG {
+ WHO_AM_I_REG = 0x0f,
+ CTRL4_C_REG = 0x13,
+ CTRL9_XL_REG = 0x18,
+ };
+
+ private:
+ SPISlave spi_slave;
+
+};
\ No newline at end of file
diff --git a/src/shared/sensors/ASM330LHH/ASM330LHH_data.h b/src/shared/sensors/ASM330LHH/ASM330LHH_data.h
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391