So... I'm not much of a programmer. I can hammer code together when I need to, but ChibiOS/RT is proving to have a steep learning curve. Most of what I've done to date has involved hacking apart existing code. For example:

I tried writing a more stand-alone program, but I had trouble getting my computer to recognize the board without the demo program's shell routine. Not quite sure why, but this will work for my purposes. As I mentioned in the video, the next steps are getting the I2C IMU running, increasing the data acquisition rate, grabbing the captured data, characterizing the sensor noise, and implementing a Kalman filtering routine to fuse the sensor data into proper angular orientation information.

Code is in the Dropbox repo under firmware/DemoProgram06242014-chibiosUSB. Suggestions welcome--this is new territory for Zach!