X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fkernel%2Fao_data.h;h=988ac4897ecafbb8798ce1e1b5ceb2bf09368144;hb=HEAD;hp=60794cc2d110878e373aaf808ad54caa5e3339b6;hpb=eb77758b7dcdd0bcef12cd1d56cf4d447cbe5c8c;p=fw%2Faltos

diff --git a/src/kernel/ao_data.h b/src/kernel/ao_data.h
index 60794cc2..a6ae6fa8 100644
--- a/src/kernel/ao_data.h
+++ b/src/kernel/ao_data.h
@@ -90,6 +90,13 @@
 #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
@@ -102,10 +109,10 @@ extern uint8_t			ao_sensor_errors;
 
 #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 {
-	uint16_t			tick;
+	AO_TICK_TYPE			tick;
 #if HAS_ADC
 	struct ao_adc			adc;
 #endif
@@ -149,6 +156,12 @@ struct ao_data {
 	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))
@@ -182,6 +195,10 @@ extern volatile uint8_t		ao_data_count;
 
 #endif /* AO_DATA_RING */
 
+#define AO_ALT_TYPE	int32_t
+
+typedef AO_ALT_TYPE	alt_t;
+
 #if !HAS_BARO && HAS_MS5607
 
 /* Either an MS5607 or an MS5611 hooked to a SPI port
@@ -191,14 +208,10 @@ extern volatile uint8_t		ao_data_count;
 
 typedef int32_t	pres_t;
 
-#define AO_ALT_TYPE	int32_t
-
-typedef AO_ALT_TYPE	alt_t;
-
 #define ao_data_pres_cook(packet)	ao_ms5607_convert(&packet->ms5607_raw, &packet->ms5607_cooked)
 
 #define ao_data_pres(packet)	((packet)->ms5607_cooked.pres)
-#define ao_data_temp(packet)	((packet)->ms5607_cooked.temp)
+#define ao_data_temp(packet)	((int16_t) (packet)->ms5607_cooked.temp)
 
 #define pres_to_altitude(p)	ao_pa_to_altitude(p)
 
@@ -331,9 +344,9 @@ typedef int16_t accel_t;
 #endif
 
 #if AO_MMA655X_INVERT
-#define ao_data_accel_raw(packet)		(AO_ACCEL_INVERT - (packet)->mma655x)
+#define ao_data_accel_raw(packet)		((accel_t) (AO_ACCEL_INVERT - (packet)->mma655x))
 #else
-#define ao_data_accel_raw(packet)		((packet)->mma655x)
+#define ao_data_accel_raw(packet)		((accel_t) (packet)->mma655x)
 #endif
 #define ao_data_accel_invert(accel)		(AO_ACCEL_INVERT - (accel))
 
@@ -490,6 +503,41 @@ static inline float ao_convert_accel(int16_t sensor)
 
 #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
@@ -563,6 +611,9 @@ ao_data_fill(int head) {
 #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);