[merge] merge dartuino sensor development branch

9 files changed, 443 insertions, 1 deletions

diff --git a/app/accelerometer/accelerometer.c b/app/accelerometer/accelerometer.c
new file mode 100644
index 00000000..8ae3f73b
--- /dev/null
+++ b/app/accelerometer/accelerometer.c
@@ -0,0 +1,54 @@
+/*
+ * Copyright (c) 2008 Travis Geiselbrecht
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files
+ * (the "Software"), to deal in the Software without restriction,
+ * including without limitation the rights to use, copy, modify, merge,
+ * publish, distribute, sublicense, and/or sell copies of the Software,
+ * and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
+ * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
+ * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
+ * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
+ * SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+#include <app.h>
+#include <debug.h>
+#include <stdio.h>
+#include <dev/accelerometer.h>
+#include <compiler.h>
+
+
+#if defined(WITH_LIB_CONSOLE)
+#include <lib/console.h>
+
+void read_xyz(void);
+
+STATIC_COMMAND_START
+STATIC_COMMAND("read_xyz", "read xyz vectors", (console_cmd)&read_xyz)
+STATIC_COMMAND_END(accelerometer);
+
+#endif
+
+void read_xyz(void)
+{
+    position_vector_t pos_vector;
+    acc_read_xyz(&pos_vector);
+    printf("X value = %f\n",pos_vector.x);
+    printf("Y value = %f\n",pos_vector.y);
+    printf("Z value = %f\n",pos_vector.z);
+
+}
+
+APP_START(accelerometer)
+	.flags = 0,
+APP_END
+
diff --git a/app/accelerometer/rules.mk b/app/accelerometer/rules.mk
new file mode 100644
index 00000000..2a717b68
--- /dev/null
+++ b/app/accelerometer/rules.mk
@@ -0,0 +1,10 @@
+LOCAL_DIR := $(GET_LOCAL_DIR)
+
+MODULE := $(LOCAL_DIR)
+
+MODULE_SRCS += \
+    $(LOCAL_DIR)/accelerometer.c \
+
+MODULE_ARM_OVERRIDE_SRCS := \
+
+include make/module.mk
diff --git a/include/dev/accelerometer.h b/include/dev/accelerometer.h
new file mode 100644
index 00000000..343a68c3
--- /dev/null
+++ b/include/dev/accelerometer.h
@@ -0,0 +1,34 @@
+/*
+ * Copyright (c) 2015 Eric Holland
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files
+ * (the "Software"), to deal in the Software without restriction,
+ * including without limitation the rights to use, copy, modify, merge,
+ * publish, distribute, sublicense, and/or sell copies of the Software,
+ * and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
+ * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
+ * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
+ * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
+ * SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+#ifndef __DEV_ACCELEROMETER_H
+#define __DEV_ACCELEROMETER_H
+typedef struct
+{
+        double x;
+        double y;
+        double z;
+} position_vector_t;
+
+status_t acc_read_xyz(position_vector_t * pos_vector);
+
+#endif
diff --git a/target/dartuinoP0/include/target/bmi055.h b/target/dartuinoP0/include/target/bmi055.h
new file mode 100644
index 00000000..7fd75ffe
--- /dev/null
+++ b/target/dartuinoP0/include/target/bmi055.h
@@ -0,0 +1,150 @@
+/*
+ * Copyright (c) 2015 Eric Holland
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files
+ * (the "Software"), to deal in the Software without restriction,
+ * including without limitation the rights to use, copy, modify, merge,
+ * publish, distribute, sublicense, and/or sell copies of the Software,
+ * and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
+ * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
+ * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
+ * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
+ * SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+#ifndef __SENSOR_BMI055_H
+#define __SENSOR_BMI055_H
+
+#include <sys/types.h>
+
+#define BMI055_ADDRESS_READ(x) (x | 0x80)
+#define BMI055_ADDERSS_WRITE(x) (x & 0x7F)
+
+/**
+*       definitions for accelerometer IC
+*/
+#define BMI055_ACC_BGW_CHPID        0x00
+#define BMI055_ACC_ACCD_X_LSB       0X02
+#define BMI055_ACC_ACCD_X_MSB       0X03
+#define BMI055_ACC_ACCD_Y_LSB       0X04
+#define BMI055_ACC_ACCD_Y_MSB       0X05
+#define BMI055_ACC_ACCD_Z_LSB       0X06
+#define BMI055_ACC_ACCD_Z_MSB       0X07
+#define BMI055_ACC_ACCD_TEMP        0X08
+#define BMI055_ACC_INT_STATUS_0     0X09
+#define BMI055_ACC_INT_STATUS_1     0X0a
+#define BMI055_ACC_INT_STATUS_2     0x0b
+#define BMI055_ACC_INT_STATUS_3     0x0c
+#define BMI055_ACC_FIFO_STATUS      0x0e
+#define BMI055_ACC_PMU_RANGE        0x0f
+#define BMI055_ACC_PMU_BW           0x10
+#define BMI055_ACC_PMU_LPW          0x11
+#define BMI055_ACC_PMU_LOW_POWER    0x12
+#define BMI055_ACC_ACCD_HBW         0x13
+#define BMI055_ACC_BGW_SOFTRESET    0x14
+#define BMI055_ACC_INT_EN_0         0x16
+#define BMI055_ACC_INT_EN_1         0x17
+#define BMI055_ACC_INT_EN_2         0x18
+#define BMI055_ACC_INT_MAP_0        0x19
+#define BMI055_ACC_INT_MAP_1        0x1A
+#define BMI055_ACC_INT_MAP_2        0x1B
+#define BMI055_ACC_INT_SRC          0x1E
+#define BMI055_ACC_INT_OUT_CTRL     0x20
+#define BMI055_ACC_INT_RST_LATCH    0x21
+#define BMI055_ACC_INT_0            0x22
+#define BMI055_ACC_INT_1            0x23
+#define BMI055_ACC_INT_2            0x24
+#define BMI055_ACC_INT_3            0x25
+#define BMI055_ACC_INT_4            0x26
+#define BMI055_ACC_INT_5            0x27
+#define BMI055_ACC_INT_6            0x28
+#define BMI055_ACC_INT_7            0x29
+#define BMI055_ACC_INT_8            0x2a
+#define BMI055_ACC_INT_9            0x2b
+#define BMI055_ACC_INT_A            0x2c
+#define BMI055_ACC_INT_B            0x2d
+#define BMI055_ACC_INT_C            0x2e
+#define BMI055_ACC_INT_D            0x2f
+#define BMI055_ACC_FIFO_CONFIG_0    0x30
+#define BMI055_ACC_PMU_SELF_TEST    0x32
+#define BMI055_ACC_TRIM_NVM_CTRL    0x33
+#define BMI055_ACC_BGW_SPI3_WDT     0x34
+#define BMI055_ACC_OFC_CTRL         0x36
+#define BMI055_ACC_OFC_SETTING      0x37
+#define BMI055_ACC_OFC_OFFSET_X     0x38
+#define BMI055_ACC_OFC_OFFSET_Y     0x39
+#define BMI055_ACC_OFC_OFFSET_Z     0x3A
+#define BMI055_ACC_TRIM_GP0         0x3B
+#define BMI055_ACC_TRIM_GP1         0x3C
+#define BMI055_ACC_FIFO_CONFIG_1    0x3E
+#define BMI055_ACC_FIFO_DATA        0x3F
+
+
+/**
+*       definitions for gyro IC
+*/
+#define BMI055_GYRO_CHIP_ID          0x00
+#define BMI055_GYRO_RATE_X_LSB       0X02
+#define BMI055_GYRO_RATE_X_MSB       0X03
+#define BMI055_GYRO_RATE_Y_LSB       0X04
+#define BMI055_GYRO_RATE_Y_MSB       0X05
+#define BMI055_GYRO_RATE_Z_LSB       0X06
+#define BMI055_GYRO_RATE_Z_MSB       0X07
+#define BMI055_GYRO_INT_STATUS_0     0X09
+#define BMI055_GYRO_INT_STATUS_1     0X0a
+#define BMI055_GYRO_INT_STATUS_2     0x0b
+#define BMI055_GYRO_INT_STATUS_3     0x0c
+#define BMI055_GYRO_FIFO_STATUS      0x0e
+#define BMI055_GYRO_RANGE            0x0f
+#define BMI055_GYRO_BW               0x10
+#define BMI055_GYRO_LPM1             0x11
+#define BMI055_GYRO_LPM2             0x12
+#define BMI055_GYRO_RATE_HBW         0x13
+#define BMI055_GYRO_BGW_SOFTRESET    0x14
+#define BMI055_GYRO_INT_EN_0         0x15
+#define BMI055_GYRO_INT_EN_1         0x16
+#define BMI055_GYRO_INT_MAP_0        0x17
+#define BMI055_GYRO_INT_MAP_1        0x18
+#define BMI055_GYRO_INT_MAP_2        0x19
+#define BMI055_GYRO_0X1A             0x1A
+#define BMI055_GYRO_0X1B             0x1B
+#define BMI055_GYRO_0X1C             0x1C
+#define BMI055_GYRO_0X1E             0x1E
+#define BMI055_GYRO_INT_RST_LATCH    0x21
+#define BMI055_GYRO_HIGH_TH_X        0x22
+#define BMI055_GYRO_HIGH_DUR_X       0x23
+#define BMI055_GYRO_HIGH_TH_Y        0x24
+#define BMI055_GYRO_HIGH_DUR_Y       0x25
+#define BMI055_GYRO_HIGH_TH_Z        0x26
+#define BMI055_GYRO_HIGH_DUR_Z       0x27
+#define BMI055_GYRO_SOC              0x31
+#define BMI055_GYRO_A_FOC            0x32
+#define BMI055_GYRO_TRIM_NVM_CTRL    0x33
+#define BMI055_GYRO_BGW_SPI3_WDT     0x34
+#define BMI055_GYRO_OFC1             0x36
+#define BMI055_GYRO_OFC2             0x37
+#define BMI055_GYRO_OFC3             0x38
+#define BMI055_GYRO_OFC4             0x39
+#define BMI055_GYRO_TRIM_GP0         0x3A
+#define BMI055_GYRO_TRIM_GP1         0x3B
+#define BMI055_GYRO_BIST             0x3C
+#define BMI055_GYRO_FIFO_CONFIG_0    0x3D
+#define BMI055_GYRO_FIFO_CONFIG_1    0x3E
+
+
+
+
+
+
+
+
+#endif
+
diff --git a/target/dartuinoP0/include/target/gpioconfig.h b/target/dartuinoP0/include/target/gpioconfig.h
index c07bb5f0..0a1a5cfc 100644
--- a/target/dartuinoP0/include/target/gpioconfig.h
+++ b/target/dartuinoP0/include/target/gpioconfig.h
@@ -24,6 +24,7 @@
 #define __TARGET_GPIOCONFIG_H
 
 #include <platform/gpio.h>
+#include <platform/stm32.h>
 
 #define GPIO_LED_ON GPIO_PIN_RESET
 #define GPIO_LED_OFF GPIO_PIN_SET
@@ -68,4 +69,25 @@
 #define GPIO_SW102 GPIO(GPIO_PORT_J, 14)
 #define GPIO_SW103 GPIO(GPIO_PORT_J, 15)
 
+/**
+ *  Definitions for sensor bus signals. Includes
+ *   nrf51, accelerometer, and gyroscope
+ */
+
+#define __HAL_SENSOR_BUS_GPIO_CLK_ENABLE() \
+            __HAL_RCC_GPIOK_CLK_ENABLE(); \
+            __HAL_RCC_GPIOF_CLK_ENABLE()
+
+#define GPIO_NRF_CS         GPIO(GPIO_PORT_K, 0)
+#define GPIO_NRF_INT        GPIO(GPIO_PORT_K, 1)
+#define GPIO_GYRO_nCS       GPIO(GPIO_PORT_K, 4)
+#define GPIO_GYRO_INT       GPIO(GPIO_PORT_K, 5)
+#define GPIO_ACC_nCS        GPIO(GPIO_PORT_K, 2)
+#define GPIO_ACC_INT        GPIO(GPIO_PORT_K, 3)
+#define GPIO_SPI5_SCK       GPIO(GPIO_PORT_F, 7)
+#define GPIO_SPI5_MISO      GPIO(GPIO_PORT_F, 8)
+#define GPIO_SPI5_MOSI      GPIO(GPIO_PORT_F, 9)
+
+
+
 #endif
diff --git a/target/dartuinoP0/include/target/sensor_bus.h b/target/dartuinoP0/include/target/sensor_bus.h
new file mode 100644
index 00000000..97b0a4c8
--- /dev/null
+++ b/target/dartuinoP0/include/target/sensor_bus.h
@@ -0,0 +1,38 @@
+/*
+ * Copyright (c) 2015 Eric Holland
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files
+ * (the "Software"), to deal in the Software without restriction,
+ * including without limitation the rights to use, copy, modify, merge,
+ * publish, distribute, sublicense, and/or sell copies of the Software,
+ * and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
+ * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
+ * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
+ * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
+ * SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+#ifndef __SENSOR_BUS_H
+#define __SENSOR_BUS_H
+
+#include <sys/types.h>
+#include <dev/accelerometer.h>
+
+status_t sensor_bus_init_early(void);
+
+void sensor_bus_init(void);
+
+status_t acc_read(uint8_t address, uint8_t *data);
+
+status_t acc_flush(uint8_t * tbuff, uint8_t * rbuff, uint8_t numbytes);
+
+
+#endif
diff --git a/target/dartuinoP0/init.c b/target/dartuinoP0/init.c
index 6f04c3a0..0d3d08dd 100644
--- a/target/dartuinoP0/init.c
+++ b/target/dartuinoP0/init.c
@@ -28,15 +28,18 @@
 #include <compiler.h>
 #include <dev/gpio.h>
 #include <dev/usb.h>
+#include <dev/accelerometer.h>
 #include <platform/stm32.h>
 #include <platform/sdram.h>
 #include <platform/gpio.h>
 #include <platform/eth.h>
 #include <platform/qspi.h>
 #include <platform/n25q128a.h>
+#include <target/bmi055.h>
 #include <target/debugconfig.h>
 #include <target/gpioconfig.h>
 #include <target/memory_lcd.h>
+#include <target/sensor_bus.h>
 #include <reg.h>
 
 #if WITH_LIB_MINIP
@@ -86,7 +89,7 @@ void target_early_init(void)
     gpio_init.Pin  = GPIO_TO_PIN_MASK(GPIO_LED114) | GPIO_TO_PIN_MASK(GPIO_LED115);
     HAL_GPIO_Init(GPIOJ, &gpio_init);
 
-    // Initialize to a pattern just so we know we have something.
+    // Initialize to a pattern just so we know we have something
     gpio_set(GPIO_LED108, GPIO_LED_ON);
     gpio_set(GPIO_LED109, GPIO_LED_ON);
     gpio_set(GPIO_LED110, GPIO_LED_ON);
@@ -108,6 +111,9 @@ void target_early_init(void)
                       GPIO_TO_PIN_MASK(GPIO_SW102) | GPIO_TO_PIN_MASK(GPIO_SW103);
     HAL_GPIO_Init(GPIOJ, &gpio_init);
 
+    // Initialize Sensor bus (accelerometer / gyroscope / nrf51 spi bus
+    sensor_bus_init_early();
+
     // now that the uart gpios are configured, enable the debug uart.
     stm32_debug_early_init();
 
@@ -118,6 +124,7 @@ void target_early_init(void)
     target_set_debug_led(3, false);
 }
 
+
 void target_init(void)
 {
     stm32_debug_init();
@@ -154,6 +161,8 @@ void target_init(void)
 
     // start usb
     target_usb_setup();
+
+    sensor_bus_init();
 }
 
 void HAL_SPI_MspInit(SPI_HandleTypeDef *hspi)
diff --git a/target/dartuinoP0/rules.mk b/target/dartuinoP0/rules.mk
index 7c569abe..5271f9e5 100644
--- a/target/dartuinoP0/rules.mk
+++ b/target/dartuinoP0/rules.mk
@@ -25,10 +25,14 @@ GLOBAL_DEFINES += \
 \
     TARGET_HAS_DEBUG_LED=1
 
+MODULE_DEPS += \
+    app/accelerometer \
+
 GLOBAL_INCLUDES += $(LOCAL_DIR)/include
 
 MODULE_SRCS += \
     $(LOCAL_DIR)/init.c \
+    $(LOCAL_DIR)/sensor_bus.c \
     $(LOCAL_DIR)/usb.c \
 
 ifneq ($(DISPLAY_PANEL_TYPE),)
diff --git a/target/dartuinoP0/sensor_bus.c b/target/dartuinoP0/sensor_bus.c
new file mode 100644
index 00000000..82f608a4
--- /dev/null
+++ b/target/dartuinoP0/sensor_bus.c
@@ -0,0 +1,121 @@
+/*
+ * Copyright (c) 2015 Eric Holland
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files
+ * (the "Software"), to deal in the Software without restriction,
+ * including without limitation the rights to use, copy, modify, merge,
+ * publish, distribute, sublicense, and/or sell copies of the Software,
+ * and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
+ * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
+ * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
+ * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
+ * SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+#include <err.h>
+#include <kernel/mutex.h>
+#include <platform/gpio.h>
+#include <target/gpioconfig.h>
+#include <target/bmi055.h>
+#include <target/sensor_bus.h>
+#include <dev/accelerometer.h>
+
+static mutex_t sensorbus_mutex;
+static SPI_HandleTypeDef spi_handle;
+
+static uint8_t tx_buff[16];
+static uint8_t rx_buff[16];
+
+status_t acc_read_xyz(position_vector_t * pos_vector_p)
+{
+    tx_buff[0] = BMI055_ADDRESS_READ( BMI055_ACC_ACCD_X_LSB );
+    if ( acc_flush(tx_buff, rx_buff, 7) == NO_ERROR )
+    {
+            pos_vector_p->x = 0.001*(((int8_t)rx_buff[2] << 4) | ( (rx_buff[1] >> 4) & 0x0F));
+            pos_vector_p->y = 0.001*(((int8_t)rx_buff[4] << 4) | ( (rx_buff[3] >> 4) & 0x0F));
+            pos_vector_p->z = 0.001*(((int8_t)rx_buff[6] << 4) | ( (rx_buff[5] >> 4) & 0x0F));
+            return NO_ERROR;
+    }
+    else {
+            return ERR_GENERIC;
+    }
+}
+
+status_t acc_flush(uint8_t * tbuff, uint8_t * rbuff, uint8_t numbytes)
+{
+    status_t ret_status;
+
+    mutex_acquire(&sensorbus_mutex);
+
+    gpio_set(GPIO_ACC_nCS,GPIO_PIN_RESET);
+
+    ret_status = HAL_SPI_TransmitReceive(&spi_handle, tbuff, rbuff, numbytes, 5000);
+
+    gpio_set(GPIO_ACC_nCS,GPIO_PIN_SET);
+
+    mutex_release(&sensorbus_mutex);
+
+    return ret_status;
+}
+
+/**
+ * @brief Initiale SPI5 module and IO for control of spi bus linking nrf51, accelerometer, and gyroscope.
+ *
+ */
+status_t sensor_bus_init_early(void)
+{
+    __HAL_SENSOR_BUS_GPIO_CLK_ENABLE();
+    __HAL_RCC_SPI5_CLK_ENABLE();
+
+    gpio_config(GPIO_SPI5_SCK,  GPIO_STM32_AF | GPIO_STM32_AFn(GPIO_AF5_SPI5) | GPIO_PULLUP);
+    gpio_config(GPIO_SPI5_MISO, GPIO_STM32_AF | GPIO_STM32_AFn(GPIO_AF5_SPI5) | GPIO_PULLUP);
+    gpio_config(GPIO_SPI5_MOSI, GPIO_STM32_AF | GPIO_STM32_AFn(GPIO_AF5_SPI5) | GPIO_PULLUP);
+
+    gpio_config(GPIO_NRF_CS,    GPIO_OUTPUT );
+    gpio_config(GPIO_NRF_INT,   GPIO_INPUT   | GPIO_PULLUP);
+
+    gpio_config(GPIO_GYRO_nCS,  GPIO_OUTPUT );
+    gpio_config(GPIO_GYRO_INT,  GPIO_INPUT   | GPIO_PULLUP);
+
+    gpio_config(GPIO_ACC_nCS,   GPIO_OUTPUT );
+    gpio_config(GPIO_ACC_INT,   GPIO_INPUT   | GPIO_PULLUP);
+
+    gpio_set(GPIO_NRF_CS, GPIO_PIN_RESET);
+    gpio_set(GPIO_GYRO_nCS, GPIO_PIN_SET);
+    gpio_set(GPIO_ACC_nCS, GPIO_PIN_SET);
+
+	spi_handle.Instance               = SPI5;
+	spi_handle.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_128;
+	spi_handle.Init.Direction         = SPI_DIRECTION_2LINES;
+	spi_handle.Init.CLKPhase          = SPI_PHASE_1EDGE;
+	spi_handle.Init.CLKPolarity       = SPI_POLARITY_LOW;
+	spi_handle.Init.DataSize          = SPI_DATASIZE_8BIT;
+	spi_handle.Init.FirstBit          = SPI_FIRSTBIT_MSB;
+	spi_handle.Init.TIMode            = SPI_TIMODE_DISABLE;
+	spi_handle.Init.CRCCalculation    = SPI_CRCCALCULATION_DISABLE;
+	spi_handle.Init.CRCPolynomial     = 7;
+	spi_handle.Init.NSS               = SPI_NSS_SOFT;
+	spi_handle.Init.Mode              = SPI_MODE_MASTER;
+
+	if (HAL_SPI_Init(&spi_handle) != HAL_OK) {
+		return ERR_GENERIC;
+	}
+    return NO_ERROR;
+}
+
+
+
+void sensor_bus_init(void)
+{
+    mutex_init(&sensorbus_mutex);
+}
+
+