#define AO_DATA_BMX160 0
#endif
+#if HAS_BMI088
+#include <ao_bmi088.h>
+#define AO_DATA_BMI088 (1 << 2)
+#else
+#define AO_DATA_BMI088 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|AO_DATA_BMX160|AO_DATA_MMC5983)
+#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|AO_DATA_BMI088)
struct ao_data {
AO_TICK_TYPE tick;
int16_t z_accel;
#endif
#endif
+#if HAS_BMI088
+ struct ao_bmi088_sample bmi088;
+#if !HAS_ADXL375
+ int16_t z_accel;
+#endif
+#endif
};
#define ao_data_ring_next(n) (((n) + 1) & (AO_DATA_RING - 1))
#endif
+#if !HAS_ACCEL && HAS_BMI088
+
+#define HAS_ACCEL 1
+
+typedef int16_t accel_t;
+
+#define ao_data_accel_raw(packet) -ao_data_along(packet)
+#define ao_data_accel_invert(a) (-(a))
+#define ao_data_accel_to_sample(accel) ao_bmi_accel_to_sample(accel)
+
+#endif
+
+#if !HAS_GYRO && HAS_BMI088
+
+#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_bmi088_gyro(sensor);
+}
+
+static inline float ao_convert_accel(int16_t sensor)
+{
+ return ao_bmi088_accel(sensor);
+}
+
+#endif
+
#if !HAS_MAG && HAS_HMC5883
#define HAS_MAG 1
#endif
#if HAS_BMX160
ao_data_ring[head].bmx160 = ao_bmx160_current;
+#endif
+#if HAS_BMI088
+ ao_data_ring[head].bmi088 = ao_bmi088_current;
#endif
ao_data_ring[head].tick = ao_tick_count;
ao_data_head = ao_data_ring_next(head);