X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fkernel%2Fao_data.h;h=43bd0e21a235a822d2b1b73b8183cf5592cf0e39;hb=ee38b3bea20f1e3a73e67aea151f9fc6abdc8483;hp=55d82e488c83252682d709d62aae7817ce540bbb;hpb=a87698663f8a5ced468755068a0468755d8f2746;p=fw%2Faltos

diff --git a/src/kernel/ao_data.h b/src/kernel/ao_data.h
index 55d82e48..43bd0e21 100644
--- a/src/kernel/ao_data.h
+++ b/src/kernel/ao_data.h
@@ -441,6 +441,29 @@ static inline float ao_convert_accel(int16_t sensor)
 
 #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 */
+
+/* Y axis is aligned with the direction of motion (along) */
+/* X 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
@@ -500,6 +523,9 @@ ao_data_fill(int head) {
 #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);