X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fkernel%2Fao_data.h;h=55d82e488c83252682d709d62aae7817ce540bbb;hb=a87698663f8a5ced468755068a0468755d8f2746;hp=3918f4e04e4b9cf6931fcb5aaa85ad50695bc083;hpb=30e4e286eec31e69ad1e69a44cf00d4549a09f88;p=fw%2Faltos

diff --git a/src/kernel/ao_data.h b/src/kernel/ao_data.h
index 3918f4e0..55d82e48 100644
--- a/src/kernel/ao_data.h
+++ b/src/kernel/ao_data.h
@@ -69,9 +69,33 @@
 #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|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;
@@ -100,6 +124,15 @@ struct ao_data {
 #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))
@@ -119,6 +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
@@ -328,8 +367,6 @@ typedef int16_t	accel_t;
 
 #define HAS_ACCEL	1
 
-#define AO_ACCEL_INVERT		0
-
 typedef int16_t accel_t;
 
 /* MPU6000 is hooked up so that positive y is positive acceleration */
@@ -382,6 +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)
@@ -389,6 +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)
 {
@@ -425,9 +464,11 @@ 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
 
@@ -453,6 +494,12 @@ ao_data_fill(int head) {
 #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
 		ao_data_ring[head].tick = ao_tick_count;
 		ao_data_head = ao_data_ring_next(head);