main.c

#include <stdlib.h>

#include "ch.h"
#include "hal.h"
#include "mma845x.h"

#define ACCEL_RX_DEPTH 8
#define ACCEL_TX_DEPTH 8

#define ACCEL_CTRL_REG1   0x2A

static uint8_t rxbuf[ACCEL_RX_DEPTH];
static uint8_t txbuf[ACCEL_TX_DEPTH];
#define mma8451_addr 0b0011100

#define I2CBUS I2CD1 // I2CD1 works, I2CD2 and I2CD3 don't

int main(void)
{
        halInit();
        chSysInit();

        systime_t timeout = MS2ST(100);
        static const I2CConfig i2cfg = {OPMODE_I2C, 100000, FAST_DUTY_CYCLE_2};
        i2cStart(&I2CBUS, &i2cfg);

        txbuf[0] = ACCEL_CTRL_REG1;
        while (TRUE) {
                i2cAcquireBus(&I2CBUS);
                i2cMasterTransmitTimeout(&I2CBUS, mma8451_addr, txbuf, 1, rxbuf, 0, timeout);
                i2cReleaseBus(&I2CBUS);

                chThdSleepMilliseconds(10);
        }
}

mcuconf.h

/*
 * I2C driver system settings.
 */
#define STM32_I2C_USE_I2C1                  TRUE
#define STM32_I2C_USE_I2C2                  TRUE
#define STM32_I2C_USE_I2C3                  TRUE
#define STM32_I2C_I2C1_RX_DMA_STREAM        STM32_DMA_STREAM_ID(1, 0)
#define STM32_I2C_I2C1_TX_DMA_STREAM        STM32_DMA_STREAM_ID(1, 6)
#define STM32_I2C_I2C2_RX_DMA_STREAM        STM32_DMA_STREAM_ID(1, 2)
#define STM32_I2C_I2C2_TX_DMA_STREAM        STM32_DMA_STREAM_ID(1, 7)
#define STM32_I2C_I2C3_RX_DMA_STREAM        STM32_DMA_STREAM_ID(1, 2)
#define STM32_I2C_I2C3_TX_DMA_STREAM        STM32_DMA_STREAM_ID(1, 4)
#define STM32_I2C_I2C1_IRQ_PRIORITY         5
#define STM32_I2C_I2C2_IRQ_PRIORITY         5
#define STM32_I2C_I2C3_IRQ_PRIORITY         5
#define STM32_I2C_I2C1_DMA_PRIORITY         3
#define STM32_I2C_I2C2_DMA_PRIORITY         3
#define STM32_I2C_I2C3_DMA_PRIORITY         3
#define STM32_I2C_I2C1_DMA_ERROR_HOOK()     chSysHalt()
#define STM32_I2C_I2C2_DMA_ERROR_HOOK()     chSysHalt()
#define STM32_I2C_I2C3_DMA_ERROR_HOOK()     chSysHalt()