diff --git a/testhal/STM32/STM32F3xx/SPI-L3GD20/Makefile b/testhal/STM32/STM32F3xx/SPI-L3GD20/Makefile
index 728753010..bf9a4190a 100644
--- a/testhal/STM32/STM32F3xx/SPI-L3GD20/Makefile
+++ b/testhal/STM32/STM32F3xx/SPI-L3GD20/Makefile
@@ -100,6 +100,7 @@ include $(CHIBIOS)/os/common/ports/ARMCMx/compilers/GCC/mk/port_v7m.mk
 # Other files (optional).
 include $(CHIBIOS)/os/ex/ST/l3gd20.mk
 include $(CHIBIOS)/os/hal/lib/streams/streams.mk
+include $(CHIBIOS)/os/various/shell/shell.mk
 
 # Define linker script file here
 LDSCRIPT= $(STARTUPLD)/STM32F303xC.ld
@@ -115,6 +116,7 @@ CSRC = $(STARTUPSRC) \
        $(BOARDSRC) \
        $(L3GD20SRC) \
        $(STREAMSSRC) \
+       $(SHELLSRC) \
        usbcfg.c main.c
 
 # C++ sources that can be compiled in ARM or THUMB mode depending on the global
@@ -148,7 +150,7 @@ ASMXSRC = $(STARTUPASM) $(PORTASM) $(OSALASM)
 INCDIR = $(CHIBIOS)/os/license \
          $(STARTUPINC) $(KERNINC) $(PORTINC) $(OSALINC) \
          $(HALINC) $(PLATFORMINC) $(BOARDINC) $(L3GD20INC) \
-         $(STREAMSINC) $(CHIBIOS)/os/various
+         $(STREAMSINC) $(SHELLINC)
 
 #
 # Project, sources and paths
@@ -198,7 +200,7 @@ CPPWARN = -Wall -Wextra -Wundef
 #
 
 # List all user C define here, like -D_DEBUG=1
-UDEFS = -DCHPRINTF_USE_FLOAT=1
+UDEFS = -DCHPRINTF_USE_FLOAT=1 -DSHELL_CMD_TEST_ENABLED=0
 
 # Define ASM defines here
 UADEFS =
diff --git a/testhal/STM32/STM32F3xx/SPI-L3GD20/main.c b/testhal/STM32/STM32F3xx/SPI-L3GD20/main.c
index b1e7bcd49..6ac0c4f27 100644
--- a/testhal/STM32/STM32F3xx/SPI-L3GD20/main.c
+++ b/testhal/STM32/STM32F3xx/SPI-L3GD20/main.c
@@ -18,29 +18,24 @@
 #include "hal.h"
 
 #include "usbcfg.h"
+#include "string.h"
+#include "shell.h"
 #include "chprintf.h"
+
 #include "l3gd20.h"
 
-/*
- * DP resistor control is not possible on the STM32F3-Discovery, using stubs
- * for the connection macros.
- */
-#define usb_lld_connect_bus(usbp)
-#define usb_lld_disconnect_bus(usbp)
-
-/* Enable use of special ANSI escape sequences */
-#define CHPRINTF_USE_ANSI_CODE         TRUE
-
-static BaseSequentialStream * chp = (BaseSequentialStream*) &SDU1;
+/*===========================================================================*/
+/* L3GD20 related.                                                           */
+/*===========================================================================*/
 
 /* L3GD20 Driver: This object represent an L3GD20 instance */
 static L3GD20Driver L3GD20D1;
 
 static int32_t rawdata[L3GD20_NUMBER_OF_AXES];
 static float cookeddata[L3GD20_NUMBER_OF_AXES];
-static float temperature;
 
-static char axesID[L3GD20_NUMBER_OF_AXES] = {'X', 'Y', 'Z'};
+static char axisID[L3GD20_NUMBER_OF_AXES] = {'X', 'Y', 'Z'};
+static char unit[4] = "dps";
 static uint32_t i;
 
 static const SPIConfig spicfg = {
@@ -54,13 +49,138 @@ static const SPIConfig spicfg = {
 static L3GD20Config l3gd20cfg = {
   &SPID1,                                    /* Pointer to SPI Driver */
   &spicfg,                                   /* Pointer to SPI Configuration */
+  {0, 0, 0},                                 /* Use default sensitivity */
+  {0, 0, 0},                                 /* Use default bias */
   L3GD20_FS_250DPS,                          /* Full scale value */
-  L3GD20_ODR_760HZ_FC_30,                    /* Output data rate */
-  L3GD20_AE_XYZ,                             /* Enabled axes */
-  L3GD20_BDU_BLOCKED,                        /* Block data update */
-  L3GD20_END_LITTLE                          /* Endianness */
+  L3GD20_ODR_760HZ,                          /* Output data rate */
+  L3GD20_UNIT_DPS,
 };
 
+/*===========================================================================*/
+/* Command line related.                                                     */
+/*===========================================================================*/
+
+/*
+ * DP resistor control is not possible on the STM32F3-Discovery, using stubs
+ * for the connection macros.
+ */
+#define usb_lld_connect_bus(usbp)
+#define usb_lld_disconnect_bus(usbp)
+
+/* Enable use of special ANSI escape sequences */
+#define CHPRINTF_USE_ANSI_CODE         TRUE
+#define SHELL_WA_SIZE   THD_WORKING_AREA_SIZE(2048)
+
+static void cmd_get(BaseSequentialStream *chp, int argc, char *argv[]) {
+  (void)argv;
+  if (argc != 1) {
+    chprintf(chp, "Usage: get [raw|cooked]\r\n");
+    return;
+  }
+
+  while (chnGetTimeout((BaseChannel *)chp, 150) == Q_TIMEOUT) {
+    if (!strcmp (argv[0], "raw")) {
+#if CHPRINTF_USE_ANSI_CODE
+      chprintf(chp, "\033[2J\033[1;1H");
+#endif
+      gyroscopeReadRaw(&L3GD20D1, rawdata);
+      chprintf(chp, "L3GD20 Gyroscope raw data...\r\n");
+      for(i = 0; i < L3GD20_NUMBER_OF_AXES; i++) {
+        chprintf(chp, "%c-axis: %d\r\n", axisID[i], rawdata[i]);
+      }
+    }
+    else if (!strcmp (argv[0], "cooked")) {
+#if CHPRINTF_USE_ANSI_CODE
+      chprintf(chp, "\033[2J\033[1;1H");
+#endif
+      gyroscopeReadCooked(&L3GD20D1, cookeddata);
+      chprintf(chp, "L3GD20 Gyroscope cooked data...\r\n");
+      for(i = 0; i < L3GD20_NUMBER_OF_AXES; i++) {
+        chprintf(chp, "%c-axis: %.4f %s\r\n", axisID[i], cookeddata[i], unit);
+      }
+    }
+    else {
+      chprintf(chp, "Usage: get [raw|cooked]\r\n");
+      return;
+    }
+  }
+  chprintf(chp, "Stopped\r\n");
+}
+
+static void cmd_set(BaseSequentialStream *chp, int argc, char *argv[]) {
+  (void)argv;
+  if (argc < 1) {
+    chprintf(chp, "Usage: set [fs|unit] [value]\r\n");
+    return;
+  }
+  if (!strcmp (argv[0], "fs")) {
+#if CHPRINTF_USE_ANSI_CODE
+    chprintf(chp, "\033[2J\033[1;1H");
+#endif
+    if (argc != 2) {
+      chprintf(chp, "Usage: set fs [250|500|2000]\r\n");
+      return;
+    }
+    if(!strcmp (argv[1], "250")) {
+      gyroscopeSetFullScale(&L3GD20D1, L3GD20_FS_250DPS);
+      chprintf(chp, "L3GD20 Gyroscope full scale set to 250 dps...\r\n");
+    }
+    else if(!strcmp (argv[1], "500")) {
+      gyroscopeSetFullScale(&L3GD20D1, L3GD20_FS_500DPS);
+      chprintf(chp, "L3GD20 Gyroscope full scale set to 500 dps...\r\n");
+    }
+    else if(!strcmp (argv[1], "2000")) {
+      gyroscopeSetFullScale(&L3GD20D1, L3GD20_FS_2000DPS);
+      chprintf(chp, "L3GD20 Gyroscope full scale set to 2000 dps...\r\n");
+    }
+    else {
+      chprintf(chp, "Usage: set fs [250|500|2000]\r\n");
+      return;
+    }
+  }
+  else if (!strcmp (argv[0], "unit")) {
+#if CHPRINTF_USE_ANSI_CODE
+    chprintf(chp, "\033[2J\033[1;1H");
+#endif
+    if (argc != 2) {
+      chprintf(chp, "Usage: set unit [dps|rps]\r\n");
+      return;
+    }
+    if(!strcmp (argv[1], "dps")) {
+      gyroscopeSetMeasurementUnit(&L3GD20D1, L3GD20_UNIT_DPS);
+      strcpy(unit, "dps");
+      chprintf(chp, "L3GD20 Gyroscope unit set to degrees per second...\r\n");
+    }
+    else if(!strcmp (argv[1], "rps")) {
+      gyroscopeSetMeasurementUnit(&L3GD20D1, L3GD20_UNIT_RPS);
+      strcpy(unit, "rps");
+      chprintf(chp, "L3GD20 Gyroscope unit set to radians per second...\r\n");
+    }
+    else {
+      chprintf(chp, "Usage: set unit [dps|rps]\r\n");
+      return;
+    }
+  }
+  else {
+    chprintf(chp, "Usage: set [fs|unit] [value]\r\n");
+  }
+}
+
+static const ShellCommand commands[] = {
+  {"get", cmd_get},
+  {"set", cmd_set},
+  {NULL, NULL}
+};
+
+static const ShellConfig shell_cfg1 = {
+  (BaseSequentialStream *)&SDU1,
+  commands
+};
+
+/*===========================================================================*/
+/* Main code.                                                                */
+/*===========================================================================*/
+
 /*
  * LED blinker thread, times are in milliseconds.
  */
@@ -70,16 +190,13 @@ static THD_FUNCTION(Thread1, arg) {
   (void)arg;
   chRegSetThreadName("blinker");
   while (true) {
-    palToggleLine(LINE_LED6_GREEN);
-    chThdSleepMilliseconds(50);
-    palToggleLine(LINE_LED4_BLUE);
-    chThdSleepMilliseconds(50);
-    palToggleLine(LINE_LED3_RED);
-    chThdSleepMilliseconds(50);
-    palToggleLine(LINE_LED5_ORANGE);
-    chThdSleepMilliseconds(50);
-    palToggleLine(LINE_LED7_GREEN);
-    chThdSleepMilliseconds(200);
+    systime_t time;
+
+    time = serusbcfg.usbp->state == USB_ACTIVE ? 250 : 500;
+    palClearLine(LINE_LED3_RED);
+    chThdSleepMilliseconds(time);
+    palSetLine(LINE_LED3_RED);
+    chThdSleepMilliseconds(time);
   }
 }
 
@@ -129,44 +246,20 @@ int main(void) {
    */
   l3gd20Start(&L3GD20D1, &l3gd20cfg);
 
-  while(!palReadLine(LINE_BUTTON)){
-    chprintf(chp, "Press BTN to calibrate gyroscope...\r\n");
-    chThdSleepMilliseconds(150);
-#if CHPRINTF_USE_ANSI_CODE
-    chprintf(chp, "\033[2J\033[1;1H");
-#endif
-  }
+  /*
+   * Shell manager initialization.
+   */
+  shellInit();
 
-  chprintf(chp, "Calibrating Gyroscope sampling bias...\r\n");
-  chprintf(chp, "Keep it in the rest position while red LED is on\r\n");
-  chThdSleepMilliseconds(3000);
-
-  palSetLine(LINE_LED10_RED);
-  chThdSleepMilliseconds(1000);
-
-  gyroscopeSampleBias(&L3GD20D1);
-  palClearLine(LINE_LED10_RED);
-#if CHPRINTF_USE_ANSI_CODE
-  chprintf(chp, "\033[2J\033[1;1H");
-#endif
-
-  while (TRUE) {
-    palToggleLine(LINE_LED10_RED);
-    gyroscopeReadRaw(&L3GD20D1, rawdata);
-    for(i = 0; i < L3GD20_NUMBER_OF_AXES; i++)
-      chprintf(chp, "RAW-%c:%d\r\n", axesID[i], rawdata[i]);
-
-    gyroscopeReadCooked(&L3GD20D1, cookeddata);
-    for(i = 0; i < L3GD20_NUMBER_OF_AXES; i++)
-      chprintf(chp, "COOKED-%c:%.3f\r\n", axesID[i], cookeddata[i]);
-
-    gyroscopeGetTemp(&L3GD20D1, &temperature);
-    chprintf(chp, "TEMP:%.1f C°\r\n", temperature);
-
-    chThdSleepMilliseconds(150);
-#if CHPRINTF_USE_ANSI_CODE
-    chprintf(chp, "\033[2J\033[1;1H");
-#endif
+  while(TRUE) {
+    if (SDU1.config->usbp->state == USB_ACTIVE) {
+      thread_t *shelltp = chThdCreateFromHeap(NULL, SHELL_WA_SIZE,
+                                              "shell", NORMALPRIO + 1,
+                                              shellThread, (void *)&shell_cfg1);
+      chThdWait(shelltp);               /* Waiting termination.             */
+    }
+    chThdSleepMilliseconds(1000);
   }
   l3gd20Stop(&L3GD20D1);
+  return 0;
 }