#define AO_DATA_HMC5883 0
#endif
+#if HAS_MMC5983
+#include <ao_mmc5983.h>
+#define AO_DATA_MMC5983 (1 << 3)
+#else
+#define AO_DATA_MMC5983 0
+#endif
+
#if HAS_MMA655X
#include <ao_mma655x.h>
#define AO_DATA_MMA655X (1 << 4)
#ifdef AO_DATA_RING
-#define AO_DATA_ALL (AO_DATA_ADC|AO_DATA_MS5607|AO_DATA_MPU6000|AO_DATA_HMC5883|AO_DATA_MMA655X|AO_DATA_MPU9250|AO_DATA_ADXL375|AO_DATA_BMX160)
+#define AO_DATA_ALL (AO_DATA_ADC|AO_DATA_MS5607|AO_DATA_MPU6000|AO_DATA_HMC5883|AO_DATA_MMA655X|AO_DATA_MPU9250|AO_DATA_ADXL375|AO_DATA_BMX160|AO_DATA_MMC5983)
struct ao_data {
- uint16_t tick;
+ AO_TICK_TYPE tick;
#if HAS_ADC
struct ao_adc adc;
#endif
#if HAS_HMC5883
struct ao_hmc5883_sample hmc5883;
#endif
+#if HAS_MMC5983
+ struct ao_mmc5983_sample mmc5983;
+#endif
#if HAS_MMA655X
uint16_t mma655x;
#endif
#endif
#define ao_data_accel_invert(accel) (-(accel))
+#if USE_ADXL375_IMU
+#define ao_data_along(packet) ((packet)->adxl375.AO_ADXL375_AXIS)
+#define ao_data_across(packet) ((packet)->adxl375.AO_ADXL375_ACROSS_AXIS)
+#define ao_data_through(packet) ((packet)->adxl375.z)
+#define ao_data_accel_to_sample(accel) ao_adxl375_accel_to_sample(accel)
+#endif
+
#endif /* HAS_ADXL375 */
#if !HAS_ACCEL && HAS_MPU6000
/* X axis is aligned in the other board axis (across) */
/* Z axis is aligned perpendicular to the board (through) */
+#ifndef ao_data_along
#define ao_data_along(packet) ((packet)->mpu6000.accel_y)
#define ao_data_across(packet) ((packet)->mpu6000.accel_x)
#define ao_data_through(packet) ((packet)->mpu6000.accel_z)
#define ao_data_roll(packet) ((packet)->mpu6000.gyro_y)
#define ao_data_pitch(packet) ((packet)->mpu6000.gyro_x)
#define ao_data_yaw(packet) ((packet)->mpu6000.gyro_z)
+#endif
static inline float ao_convert_gyro(float sensor)
{
#endif
+#if !HAS_MAG && HAS_MMC5983
+
+#define HAS_MAG 1
+
+typedef int16_t ao_mag_t; /* in raw sample units */
+
+#endif
+
#if !HAS_MAG && HAS_MPU9250
#define HAS_MAG 1
#if HAS_HMC5883
ao_data_ring[head].hmc5883 = ao_hmc5883_current;
#endif
+#if HAS_MMC5983
+ ao_data_ring[head].mmc5983 = ao_mmc5983_current;
+#endif
#if HAS_MPU6000
ao_data_ring[head].mpu6000 = ao_mpu6000_current;
#endif