Added BMI160 to STM32F3DISCOVERY (#3971)

src/main/drivers/accgyro/accgyro_spi_bmi160.c

@@ -37,6 +37,8 @@
 
 #include "platform.h"
 
+#ifdef USE_ACCGYRO_BMI160
+
 #include "drivers/bus_spi.h"
 #include "drivers/exti.h"
 #include "drivers/io.h"
@@ -48,8 +50,6 @@
 #include "accgyro_spi_bmi160.h"
 
 
-#ifdef USE_ACCGYRO_BMI160
-
 /* BMI160 Registers */
 #define BMI160_REG_CHIPID 0x00
 #define BMI160_REG_PMU_STAT 0x03

src/main/target/STM32F3DISCOVERY/target.h

@@ -94,6 +94,16 @@
 #define USE_GYRO_SPI_MPU9250
 #define MPU9250_CS_PIN          SPI2_NSS_PIN
 #define MPU9250_SPI_INSTANCE    SPI2
+// BMI160 gyro support
+//#define USE_ACCGYRO_BMI160
+#ifdef USE_ACCGYRO_BMI160
+#define BMI160_CS_PIN           SPI2_NSS_PIN
+#define BMI160_SPI_INSTANCE     SPI2
+#define BMI160_SPI_DIVISOR      16
+#define BMI160_INT_EXTI         PC13
+#define USE_MPU_DATA_READY_SIGNAL
+#define USE_EXTI
+#endif
 
 #define ACC
 #define USE_FAKE_ACC

src/main/target/STM32F3DISCOVERY/target.mk

@@ -15,6 +15,7 @@ TARGET_SRC = \
             drivers/accgyro/accgyro_mpu3050.c \
             drivers/accgyro/accgyro_mpu6050.c \
             drivers/accgyro/accgyro_mpu6500.c \
+            drivers/accgyro/accgyro_spi_bmi160.c \
             drivers/accgyro/accgyro_spi_mpu6000.c \
             drivers/accgyro/accgyro_spi_mpu6500.c \
             drivers/accgyro/accgyro_spi_mpu9250.c \