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data_interval == 0 means no data collection
[fw/altos]
/
src
/
kernel
/
ao_sample.h
diff --git
a/src/kernel/ao_sample.h
b/src/kernel/ao_sample.h
index 4c51a58c3f0a0089f893f3004a239b3e37d7b3cf..ad7c50eff49081aa4050b9da9f49a87dde4047a2 100644
(file)
--- a/
src/kernel/ao_sample.h
+++ b/
src/kernel/ao_sample.h
@@
-115,7
+115,7
@@
typedef int16_t ao_v_t;
#define AO_MS_TO_SPEED(ms) ((ao_v_t) ((ms) * 16))
#define AO_MSS_TO_ACCEL(mss) ((ao_v_t) ((mss) * 16))
#define AO_MS_TO_SPEED(ms) ((ao_v_t) ((ms) * 16))
#define AO_MSS_TO_ACCEL(mss) ((ao_v_t) ((mss) * 16))
-extern
uint16_t ao_sample_tick;
/* time of last data */
+extern
AO_TICK_TYPE ao_sample_tick;
/* time of last data */
extern uint8_t ao_sample_adc; /* Ring position of last processed sample */
extern uint8_t ao_sample_data; /* Ring position of last processed sample */
extern uint8_t ao_sample_adc; /* Ring position of last processed sample */
extern uint8_t ao_sample_data; /* Ring position of last processed sample */
@@
-133,16
+133,21
@@
extern accel_t ao_ground_accel; /* startup acceleration */
extern accel_t ao_accel_2g; /* factory accel calibration */
extern int32_t ao_accel_scale; /* sensor to m/s² conversion */
#endif
extern accel_t ao_accel_2g; /* factory accel calibration */
extern int32_t ao_accel_scale; /* sensor to m/s² conversion */
#endif
-#if HAS_
GYRO
+#if HAS_
IMU
extern accel_t ao_ground_accel_along;
extern accel_t ao_ground_accel_across;
extern accel_t ao_ground_accel_through;
extern accel_t ao_ground_accel_along;
extern accel_t ao_ground_accel_across;
extern accel_t ao_ground_accel_through;
-extern int32_t ao_ground_pitch; /* * 512 */
-extern int32_t ao_ground_yaw; /* * 512 */
-extern int32_t ao_ground_roll; /* * 512 */
extern accel_t ao_sample_accel_along;
extern accel_t ao_sample_accel_across;
extern accel_t ao_sample_accel_through;
extern accel_t ao_sample_accel_along;
extern accel_t ao_sample_accel_across;
extern accel_t ao_sample_accel_through;
+#endif
+#if HAS_GYRO
+#ifndef HAS_IMU
+#define HAS_IMU 1
+#endif
+extern int32_t ao_ground_pitch; /* * 512 */
+extern int32_t ao_ground_yaw; /* * 512 */
+extern int32_t ao_ground_roll; /* * 512 */
extern gyro_t ao_sample_roll;
extern gyro_t ao_sample_pitch;
extern gyro_t ao_sample_yaw;
extern gyro_t ao_sample_roll;
extern gyro_t ao_sample_pitch;
extern gyro_t ao_sample_yaw;
@@
-151,6
+156,10
@@
extern angle_t ao_sample_orient;
extern angle_t ao_sample_orients[AO_NUM_ORIENT];
extern uint8_t ao_sample_orient_pos;
#endif
extern angle_t ao_sample_orients[AO_NUM_ORIENT];
extern uint8_t ao_sample_orient_pos;
#endif
+#if HAS_MOTOR_PRESSURE
+extern motor_pressure_t ao_ground_motor_pressure;
+extern motor_pressure_t ao_sample_motor_pressure;
+#endif
void ao_sample_init(void);
void ao_sample_init(void);
@@
-194,4
+203,8
@@
extern ao_v_t ao_error_a;
void ao_kalman(void);
void ao_kalman(void);
+#if !HAS_BARO
+void ao_kalman_reset_accumulate(void);
+#endif
+
#endif /* _AO_SAMPLE_H_ */
#endif /* _AO_SAMPLE_H_ */