#define AO_DATA_MAX6691 0
#endif
+#if HAS_BMX160
+#include <ao_bmx160.h>
+#define AO_DATA_BMX160 (1 << 2)
+#else
+#define AO_DATA_BMX160 0
+#endif
+
#ifndef HAS_SENSOR_ERRORS
#if HAS_IMU || HAS_MMA655X || HAS_MS5607 || HAS_MS5611
#define HAS_SENSOR_ERRORS 1
#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)
+#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)
struct ao_data {
uint16_t tick;
#if HAS_ADS131A0X
struct ao_ads131a0x_sample ads131a0x;
#endif
+#if HAS_BMX160
+ struct ao_bmx160_sample bmx160;
+#endif
};
#define ao_data_ring_next(n) (((n) + 1) & (AO_DATA_RING - 1))
*/
#define AO_DATA_PRESENT(bit) (ao_data_present |= (bit))
+/*
+ * Mark sensor failed, and unblock the sample collection code by
+ * marking the data as present
+ */
+#define AO_SENSOR_ERROR(bit) (ao_data_present |= (ao_sensor_errors |= (bit)))
+
/*
* Wait until it is time to write a sensor sample; this is
* signaled by the timer tick
#endif
+#if !HAS_GYRO && HAS_BMX160
+
+#define HAS_GYRO 1
+
+typedef int16_t gyro_t; /* in raw sample units */
+typedef int16_t angle_t; /* in degrees */
+
+/* X axis is aligned with the direction of motion (along) */
+/* Y axis is aligned in the other board axis (across) */
+/* Z axis is aligned perpendicular to the board (through) */
+
+static inline float ao_convert_gyro(float sensor)
+{
+ return ao_bmx160_gyro(sensor);
+}
+
+static inline float ao_convert_accel(int16_t sensor)
+{
+ return ao_bmx160_accel(sensor);
+}
+
+#endif
+
#if !HAS_MAG && HAS_HMC5883
#define HAS_MAG 1
#endif
#if HAS_ADS131A0X
ao_data_ring[head].ads131a0x = ao_ads131a0x_current;
+#endif
+#if HAS_BMX160
+ ao_data_ring[head].bmx160 = ao_bmx160_current;
#endif
ao_data_ring[head].tick = ao_tick_count;
ao_data_head = ao_data_ring_next(head);