#define AO_LED_GREEN (1 << LED_PIN_GREEN)
#define AO_LED_PANIC AO_LED_GREEN
#define AO_CMD_LEN 128
-#define AO_LISP_POOL 1024
-#define AO_STACK_SIZE 1536
+#define AO_LISP_POOL_TOTAL 3072
+#define AO_LISP_SAVE 1
+#define AO_STACK_SIZE 1024
#define LEDS_AVAILABLE (AO_LED_GREEN)
#define IS_FLASH_LOADER 0
-#define HAS_SERIAL_2 1
+#define HAS_SERIAL_2 0
#define SERIAL_2_PA2_PA15 1
#define USE_SERIAL_2_FLOW 0
#define USE_SERIAL_2_STDIN 1
#define DELAY_SERIAL_2_STDIN 0
+#define HAS_SPI_1 1
+#define SPI_1_PA5_PA6_PA7 1
+#define SPI_1_OSPEEDR STM_OSPEEDR_HIGH
+#define SPI_1_PB3_PB4_PB5 0
+
+#define HAS_SPI_2 0
+
+#define HAS_BMI088 1
+#define HAS_IMU 1
+
+#define ao_data_along(packet) ((packet)->bmi088.acc.x)
+#define ao_data_across(packet) (-(packet)->bmi088.acc.y)
+#define ao_data_through(packet) ((packet)->bmi088.acc.z)
+
+#define ao_data_roll(packet) ((packet)->bmi088.gyr.x)
+#define ao_data_pitch(packet) (-(packet)->bmi088.gyr.y)
+#define ao_data_yaw(packet) ((packet)->bmi088.gyr.z)
+
+#define AO_BMI088_ACC_CS_PORT (&stm_gpioa)
+#define AO_BMI088_ACC_CS_PIN 0
+#define AO_BMI088_GYR_CS_PORT (&stm_gpioa)
+#define AO_BMI088_GYR_CS_PIN 1
+#define AO_BMI088_SPI_BUS (AO_SPI_1_PA5_PA6_PA7 | AO_SPI_MODE_0)
+
+#define AO_DATA_RING 32
+
#endif /* _AO_PINS_H_ */