X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fnucleao-32%2Fao_pins.h;h=0cc91d7334f5e0dcf91c89a0b8862fc6710dddf2;hb=HEAD;hp=65de89edd014cfa0e2c18a79fa267793ff8d08da;hpb=77db0e8162cd01c2b42737b3d71b38cea942484f;p=fw%2Faltos

diff --git a/src/nucleao-32/ao_pins.h b/src/nucleao-32/ao_pins.h
index 65de89ed..0cc91d73 100644
--- a/src/nucleao-32/ao_pins.h
+++ b/src/nucleao-32/ao_pins.h
@@ -25,7 +25,9 @@
 #define AO_LED_GREEN	(1 << LED_PIN_GREEN)
 #define AO_LED_PANIC	AO_LED_GREEN
 #define AO_CMD_LEN	128
-#define AO_LISP_POOL	2048
+#define AO_LISP_POOL_TOTAL	3072
+#define AO_LISP_SAVE	1
+#define AO_STACK_SIZE	1024
 
 #define LEDS_AVAILABLE	(AO_LED_GREEN)
 
@@ -49,10 +51,36 @@
 
 #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_ */