X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fcore%2Fao_sample.h;h=5bd29536a81dd4c17304d82cbd8cf0541a15704c;hb=1fa3ff9ba6d04303b3de6952675532492c85182f;hp=fb0e69e87e23c998fee745464e0ad33fb6d9f403;hpb=040a6eb119451026e1ec7c3a6a8e76b439c632d5;p=fw%2Faltos

diff --git a/src/core/ao_sample.h b/src/core/ao_sample.h
index fb0e69e8..5bd29536 100644
--- a/src/core/ao_sample.h
+++ b/src/core/ao_sample.h
@@ -18,6 +18,8 @@
 #ifndef _AO_SAMPLE_H_
 #define _AO_SAMPLE_H_
 
+#include <ao_data.h>
+
 /*
  * ao_sample.c
  */
@@ -67,7 +69,11 @@
 /*
  * Above this height, the baro sensor doesn't work
  */
+#if HAS_MS5607
+#define AO_MAX_BARO_HEIGHT	30000
+#else
 #define AO_MAX_BARO_HEIGHT	12000
+#endif
 
 /*
  * Above this speed, baro measurements are unreliable
@@ -88,23 +94,31 @@
 #define AO_MSS_TO_ACCEL(mss)	((int16_t) ((mss) * 16))
 
 extern __pdata uint16_t	ao_sample_tick;		/* time of last data */
-extern __pdata int16_t	ao_sample_pres;		/* most recent pressure sensor reading */
-extern __pdata int16_t	ao_sample_alt;		/* MSL of ao_sample_pres */
-extern __pdata int16_t	ao_sample_height;	/* AGL of ao_sample_pres */
 extern __data uint8_t	ao_sample_adc;		/* Ring position of last processed sample */
-
-#if HAS_ACCEL
-extern __pdata int16_t	ao_sample_accel;	/* most recent accel sensor reading */
+extern __data uint8_t	ao_sample_data;		/* Ring position of last processed sample */
+
+#if HAS_BARO
+extern __pdata pres_t	ao_sample_pres;		/* most recent pressure sensor reading */
+extern __pdata alt_t	ao_sample_alt;		/* MSL of ao_sample_pres */
+extern __pdata alt_t	ao_sample_height;	/* AGL of ao_sample_pres */
+extern __pdata pres_t	ao_ground_pres;		/* startup pressure */
+extern __pdata alt_t	ao_ground_height;	/* MSL of ao_ground_pres */
 #endif
 
-extern __pdata int16_t	ao_ground_pres;		/* startup pressure */
-extern __pdata int16_t	ao_ground_height;	/* MSL of ao_ground_pres */
-
 #if HAS_ACCEL
-extern __pdata int16_t	ao_ground_accel;	/* startup acceleration */
-extern __pdata int16_t 	ao_accel_2g;		/* factory accel calibration */
+extern __pdata accel_t	ao_sample_accel;	/* most recent accel sensor reading */
+extern __pdata accel_t	ao_ground_accel;	/* startup acceleration */
+extern __pdata accel_t 	ao_accel_2g;		/* factory accel calibration */
 extern __pdata int32_t	ao_accel_scale;		/* sensor to m/s² conversion */
 #endif
+#if HAS_GYRO
+extern __pdata accel_t	ao_ground_accel_along;
+extern __pdata accel_t	ao_ground_accel_across;
+extern __pdata accel_t	ao_ground_accel_through;
+extern __pdata gyro_t	ao_ground_pitch;
+extern __pdata gyro_t	ao_ground_yaw;
+extern __pdata gyro_t	ao_ground_roll;
+#endif
 
 void ao_sample_init(void);
 
@@ -122,8 +136,8 @@ uint8_t ao_sample(void);
 extern __pdata int16_t			ao_height;	/* meters */
 extern __pdata int16_t			ao_speed;	/* m/s * 16 */
 extern __pdata int16_t			ao_accel;	/* m/s² * 16 */
-extern __pdata int16_t			ao_max_height;	/* max of ao_height */
-extern __pdata int16_t			ao_avg_height;	/* running average of height */
+extern __xdata int16_t			ao_max_height;	/* max of ao_height */
+extern __xdata int16_t			ao_avg_height;	/* running average of height */
 
 extern __pdata int16_t			ao_error_h;
 extern __pdata int16_t			ao_error_h_sq_avg;