X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fkernel%2Fao_data.h;h=43bd0e21a235a822d2b1b73b8183cf5592cf0e39;hb=ee38b3bea20f1e3a73e67aea151f9fc6abdc8483;hp=97f7e06e5669943c99266df66c63e497d2a4f6fd;hpb=80affca535c5c43a5d9963dfafc74f9675c9b155;p=fw%2Faltos

diff --git a/src/kernel/ao_data.h b/src/kernel/ao_data.h
index 97f7e06e..43bd0e21 100644
--- a/src/kernel/ao_data.h
+++ b/src/kernel/ao_data.h
@@ -62,9 +62,40 @@
 #define AO_DATA_MMA655X 0
 #endif
 
+#if HAS_ADXL375
+#include <ao_adxl375.h>
+#define AO_DATA_ADXL375 (1 << 4)
+#else
+#define AO_DATA_ADXL375 0
+#endif
+
+#if HAS_MAX6691
+#include <ao_max6691.h>
+#define AO_DATA_MAX6691 (1 << 4)
+#else
+#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
+#endif
+#endif
+
+#if HAS_SENSOR_ERRORS
+extern uint8_t			ao_sensor_errors;
+#endif
+
 #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)
+#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;
@@ -90,6 +121,18 @@ struct ao_data {
 #if HAS_MMA655X
 	uint16_t			mma655x;
 #endif
+#if HAS_ADXL375
+	struct ao_adxl375_sample	adxl375;
+#endif
+#if HAS_MAX6691
+	struct ao_max6691_sample	max6691;
+#endif
+#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))
@@ -109,6 +152,12 @@ extern volatile uint8_t		ao_data_count;
  */
 #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
@@ -293,11 +342,30 @@ typedef int16_t accel_t;
 
 #endif
 
-#if !HAS_ACCEL && HAS_MPU6000
+#if !HAS_ACCEL && HAS_ADXL375
 
 #define HAS_ACCEL	1
 
-#define AO_ACCEL_INVERT		0
+typedef int16_t	accel_t;
+
+#ifndef AO_ADXL375_INVERT
+#error AO_ADXL375_INVERT not defined
+#endif
+
+#define ao_data_accel(packet)			((packet)->adxl375.AO_ADXL375_AXIS)
+#if AO_ADXL375_INVERT
+#define ao_data_accel_cook(packet)		(-ao_data_accel(packet))
+#else
+#define ao_data_accel_cook(packet)		ao_data_accel(packet)
+#endif
+#define ao_data_set_accel(packet, accel)	(ao_data_accel(packet) = (accel))
+#define ao_data_accel_invert(accel)		(-(accel))
+
+#endif /* HAS_ADXL375 */
+
+#if !HAS_ACCEL && HAS_MPU6000
+
+#define HAS_ACCEL	1
 
 typedef int16_t accel_t;
 
@@ -351,6 +419,7 @@ typedef int16_t angle_t;	/* in degrees */
 /* 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)->mpu9250.accel_y)
 #define ao_data_across(packet)	((packet)->mpu9250.accel_x)
 #define ao_data_through(packet)	((packet)->mpu9250.accel_z)
@@ -358,6 +427,7 @@ typedef int16_t angle_t;	/* in degrees */
 #define ao_data_roll(packet)	((packet)->mpu9250.gyro_y)
 #define ao_data_pitch(packet)	((packet)->mpu9250.gyro_x)
 #define ao_data_yaw(packet)	((packet)->mpu9250.gyro_z)
+#endif
 
 static inline float ao_convert_gyro(float sensor)
 {
@@ -371,6 +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
@@ -394,9 +487,11 @@ typedef int16_t ao_mag_t;		/* in raw sample units */
  * sensors. Also, the Z axis is flipped in sign.
  */
 
+#ifndef ao_data_mag_along
 #define ao_data_mag_along(packet)	((packet)->mpu9250.mag_x)
 #define ao_data_mag_across(packet)	((packet)->mpu9250.mag_y)
 #define ao_data_mag_through(packet)	((packet)->mpu9250.mag_z)
+#endif
 
 #endif
 
@@ -419,6 +514,18 @@ ao_data_fill(int head) {
 #endif
 #if HAS_MPU9250
 		ao_data_ring[head].mpu9250 = ao_mpu9250_current;
+#endif
+#if HAS_ADXL375
+		ao_data_ring[head].adxl375 = ao_adxl375_current;
+#endif
+#if HAS_MAX6691
+		ao_data_ring[head].max6691 = ao_max6691_current;
+#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);