+/*
+ * bmx160
+ */
+
+#define HAS_BMX160 1
+#define AO_BMX160_INT_PORT (&stm_gpioc)
+#define AO_BMX160_INT_PIN 15
+#define AO_BMX160_SPI_BUS (AO_SPI_2_PB13_PB14_PB15 | AO_SPI_MODE_0)
+#define AO_BMX160_SPI_CS_PORT (&stm_gpioc)
+#define AO_BMX160_SPI_CS_PIN 13
+#define HAS_IMU 1
+
+#define ao_data_along(packet) ((packet)->bmx160.acc_x)
+#define ao_data_across(packet) (-(packet)->bmx160.acc_y)
+#define ao_data_through(packet) ((packet)->bmx160.acc_z)
+
+#define ao_data_roll(packet) ((packet)->bmx160.gyr_x)
+#define ao_data_pitch(packet) (-(packet)->bmx160.gyr_y)
+#define ao_data_yaw(packet) ((packet)->bmx160.gyr_z)
+
+#define ao_data_mag_along(packet) ((packet)->bmx160.mag_x)
+#define ao_data_mag_across(packet) (-(packet)->bmx160.mag_y)
+#define ao_data_mag_through(packet) ((packet)->bmx160.mag_z)
+