altos: Add BMI088 test framework using Nucleo32 board for stm32f042

[fw/altos] / src / nucleao-32 / ao_pins.h

diff --git a/src/nucleao-32/ao_pins.h b/src/nucleao-32/ao_pins.h
index cee4616f08ceabd872beace2dcbd7782f8ae8665..0cc91d7334f5e0dcf91c89a0b8862fc6710dddf2 100644 (file)
--- a/src/nucleao-32/ao_pins.h
+++ b/src/nucleao-32/ao_pins.h
@@ -47,19 +47,40 @@
 #define HAS_USB                                1
 #define AO_USB_DIRECTIO                        0
 #define AO_PA11_PA12_RMP               0
-#define HAS_BEEP                       1
-
-#define BEEPER_TIMER                   2
-#define BEEPER_CHANNEL                 4
-#define BEEPER_PORT                    (&stm_gpioa)
-#define BEEPER_PIN                     3
+#define HAS_BEEP                       0
 
 #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_ */