altos: Copy BMX160 data to data ring

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

diff --git a/src/kernel/ao_data.h b/src/kernel/ao_data.h
index 55d82e488c83252682d709d62aae7817ce540bbb..43bd0e21a235a822d2b1b73b8183cf5592cf0e39 100644 (file)
--- a/src/kernel/ao_data.h
+++ b/src/kernel/ao_data.h
@@ -441,6 +441,29 @@ static inline float ao_convert_accel(int16_t sensor)
 
 #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 */
+
+/* Y axis is aligned with the direction of motion (along) */
+/* X 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
@@ -500,6 +523,9 @@ 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);