altos: Add bmx160 driver

[fw/altos] / src / kernel / ao.h

diff --git a/src/kernel/ao.h b/src/kernel/ao.h
index 910c1d8ed97c532c70da13957fd087f6ee06b84a..fb7af24dac350c717c8620e425ce81bd1a6644f8 100644 (file)
--- a/src/kernel/ao.h
+++ b/src/kernel/ao.h
@@ -75,6 +75,7 @@ typedef AO_PORT_TYPE ao_port_t;
 #define AO_PANIC_SELF_TEST_HMC5883     0x40 | 2        /* Self test failure */
 #define AO_PANIC_SELF_TEST_MPU6000     0x40 | 3        /* Self test failure */
 #define AO_PANIC_SELF_TEST_MPU9250     0x40 | 3        /* Self test failure */
+#define AO_PANIC_SELF_TEST_BMX160      0x40 | 3        /* Self test failure */
 #define AO_PANIC_SELF_TEST_MS5607      0x40 | 4        /* Self test failure */
 #define AO_PANIC_SELF_TEST_ADS124S0X   0x40 | 5        /* Self test failure */
 
@@ -100,8 +101,8 @@ extern AO_ROMCONFIG_SYMBOL uint32_t ao_radio_cal;
  */
 
 #ifndef AO_TICK_TYPE
-#define AO_TICK_TYPE   uint16_t
-#define AO_TICK_SIGNED int16_t
+#define AO_TICK_TYPE   uint32_t
+#define AO_TICK_SIGNED int32_t
 #endif
 
 extern volatile AO_TICK_TYPE ao_tick_count;
@@ -117,6 +118,10 @@ extern volatile AO_TICK_TYPE ao_tick_count;
 AO_TICK_TYPE
 ao_time(void);
 
+/* Returns the current time in ns */
+uint64_t
+ao_time_ns(void);
+
 /* Suspend the current task until ticks time has passed */
 void
 ao_delay(uint16_t ticks);
@@ -933,12 +938,6 @@ ao_log_single(void);
 
 #define AO_TELEPYRO_NUM_ADC    9
 
-#ifndef ao_xmemcpy
-#define ao_xmemcpy(d,s,c) memcpy(d,s,c)
-#define ao_xmemset(d,v,c) memset(d,v,c)
-#define ao_xmemcmp(d,s,c) memcmp(d,s,c)
-#endif
-
 /*
  * ao_terraui.c
  */