X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fkernel%2Fao_data.h;h=a22eee87cfe394bb2b879878328b63d282c475ae;hb=d4f1dd045465fbb7436a22d82b279319f7449fed;hp=5a340c3f3b4526f5700ba487063368dcb5602f9c;hpb=245a49a85dd7b6a7cb9ec36ad02f6bb66e42f4e2;p=fw%2Faltos

diff --git a/src/kernel/ao_data.h b/src/kernel/ao_data.h
index 5a340c3f..a22eee87 100644
--- a/src/kernel/ao_data.h
+++ b/src/kernel/ao_data.h
@@ -76,6 +76,13 @@
 #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
@@ -88,7 +95,7 @@ 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)
+#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;
@@ -107,6 +114,9 @@ struct ao_data {
 #endif
 #if HAS_MPU9250
 	struct ao_mpu9250_sample	mpu9250;
+#if !HAS_MMA655X
+	int16_t				z_accel;
+#endif
 #endif
 #if HAS_HMC5883
 	struct ao_hmc5883_sample	hmc5883;
@@ -123,6 +133,12 @@ struct ao_data {
 #if HAS_ADS131A0X
 	struct ao_ads131a0x_sample	ads131a0x;
 #endif
+#if HAS_BMX160
+	struct ao_bmx160_sample		bmx160;
+#if !HAS_ADXL375
+	int16_t z_accel;
+#endif
+#endif
 };
 
 #define ao_data_ring_next(n)	(((n) + 1) & (AO_DATA_RING - 1))
@@ -142,6 +158,12 @@ 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
@@ -172,20 +194,6 @@ typedef AO_ALT_TYPE	alt_t;
 
 #endif
 
-#if !HAS_BARO && HAS_ADC
-
-#define HAS_BARO	1
-
-typedef int16_t pres_t;
-typedef int16_t alt_t;
-
-#define ao_data_pres(packet)	((packet)->adc.pres)
-#define ao_data_temp(packet)	((packet)->adc.temp)
-#define pres_to_altitude(p)	ao_pres_to_altitude(p)
-#define ao_data_pres_cook(p)
-
-#endif
-
 /*
  * Need a few macros to pull data from the sensors:
  *
@@ -392,6 +400,20 @@ static inline float ao_convert_accel(int16_t sensor)
 
 #endif
 
+#if !HAS_ACCEL && HAS_MPU9250
+
+#define HAS_ACCEL	1
+
+typedef int16_t accel_t;
+
+/* MPU9250 is hooked up so that positive y is positive acceleration */
+#define ao_data_accel(packet)			((packet)->z_accel)
+#define ao_data_accel_cook(packet)		(-(packet)->mpu9250.accel_y)
+#define ao_data_set_accel(packet, accel)	((packet)->z_accel = (accel))
+#define ao_data_accel_invert(a)			(-(a))
+
+#endif
+
 #if !HAS_GYRO && HAS_MPU9250
 
 #define HAS_GYRO	1
@@ -425,6 +447,43 @@ static inline float ao_convert_accel(int16_t sensor)
 
 #endif
 
+#if !HAS_ACCEL && HAS_BMX160
+
+#define HAS_ACCEL	1
+
+typedef int16_t accel_t;
+
+#define ao_data_accel(packet)			((packet)->z_accel)
+#define ao_data_set_accel(packet, accel)	((packet)->z_accel = (accel))
+#define ao_data_accel_invert(a)			(-(a))
+
+#define ao_data_accel_to_sample(accel)		ao_bmx_accel_to_sample(accel)
+
+#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 */
+
+/* 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_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
@@ -484,6 +543,9 @@ 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);