From c04722d211b526bd70ffc38b8ac46c6ca5f7a9d5 Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Wed, 8 Apr 2020 17:21:26 -0700
Subject: [PATCH] easytimer-v1: Switch back to real ao_flight, enable BMX160

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/easytimer-v1/Makefile          |  2 +-
 src/easytimer-v1/ao_easytimer.c    |  4 +++-
 src/easytimer-v1/ao_pins.h         | 26 +++++++++++++++++++++++++-
 src/easytimer-v1/ao_timer_flight.c | 23 -----------------------
 4 files changed, 29 insertions(+), 26 deletions(-)
 delete mode 100644 src/easytimer-v1/ao_timer_flight.c

diff --git a/src/easytimer-v1/Makefile b/src/easytimer-v1/Makefile
index d17e6878..e53795b6 100644
--- a/src/easytimer-v1/Makefile
+++ b/src/easytimer-v1/Makefile
@@ -62,7 +62,7 @@ ALTOS_SRC = \
 	ao_sample.c \
 	ao_kalman.c \
 	ao_pyro.c \
-	ao_timer_flight.c \
+	ao_flight.c \
 	$(PROFILE) \
 	$(SAMPLE_PROFILE) \
 	$(STACK_GUARD)
diff --git a/src/easytimer-v1/ao_easytimer.c b/src/easytimer-v1/ao_easytimer.c
index 71191572..fe1299fa 100644
--- a/src/easytimer-v1/ao_easytimer.c
+++ b/src/easytimer-v1/ao_easytimer.c
@@ -56,7 +56,9 @@ main(void)
 
 //	ao_storage_init();
 
-	// ao_flight_init();
+	ao_bmx160_init();
+
+	ao_flight_init();
 	// ao_log_init();
 	ao_report_init();
 
diff --git a/src/easytimer-v1/ao_pins.h b/src/easytimer-v1/ao_pins.h
index e60153eb..e6c2755a 100644
--- a/src/easytimer-v1/ao_pins.h
+++ b/src/easytimer-v1/ao_pins.h
@@ -108,7 +108,7 @@
 #define LEDS_AVAILABLE		0
 
 #define HAS_GPS			0
-#define HAS_FLIGHT		0
+#define HAS_FLIGHT		1
 #define HAS_ADC			1
 #define HAS_ADC_TEMP		1
 #define HAS_LOG			0
@@ -223,4 +223,28 @@ struct ao_adc {
 #define AO_MONITOR_LED		0
 #define HAS_RSSI		0
 
+/*
+ * bmx160
+ */
+
+#define HAS_BMX160		1
+#define AO_BMX160_INT_PORT	(&stm_gpioc)
+#define AO_BMX160_INT_PIN	15
+#define AO_BMX160_SPI_BUS	(AO_SPI_2_PB13_PB14_PB15 | AO_SPI_MODE_0)
+#define AO_BMX160_SPI_CS_PORT	(&stm_gpioc)
+#define AO_BMX160_SPI_CS_PIN	13
+#define HAS_IMU			1
+
+#define ao_data_along(packet)	((packet)->bmx160.acc_x)
+#define ao_data_across(packet)	(-(packet)->bmx160.acc_y)
+#define ao_data_through(packet)	((packet)->bmx160.acc_z)
+
+#define ao_data_roll(packet)	((packet)->bmx160.gyr_x)
+#define ao_data_pitch(packet)	(-(packet)->bmx160.gyr_y)
+#define ao_data_yaw(packet)	((packet)->bmx160.gyr_z)
+
+#define ao_data_mag_along(packet)	((packet)->bmx160.mag_x)
+#define ao_data_mag_across(packet)	(-(packet)->bmx160.mag_y)
+#define ao_data_mag_through(packet)	((packet)->bmx160.mag_z)
+
 #endif /* _AO_PINS_H_ */
diff --git a/src/easytimer-v1/ao_timer_flight.c b/src/easytimer-v1/ao_timer_flight.c
deleted file mode 100644
index 23e2e90d..00000000
--- a/src/easytimer-v1/ao_timer_flight.c
+++ /dev/null
@@ -1,23 +0,0 @@
-/*
- * Copyright © 2020 Keith Packard <keithp@keithp.com>
- *
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 2 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
- * General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
- */
-
-#include "ao.h"
-#include <ao_flight.h>
-#include <ao_sample.h>
-
-enum ao_flight_state	ao_flight_state;	/* current flight state */
-- 
2.47.2