altos: Add MMC5983 driver

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

diff --git a/src/kernel/ao_data.h b/src/kernel/ao_data.h
index dcd8fc31b8e9a33ee9debadf826bc9a6e6ed3303..60794cc2d110878e373aaf808ad54caa5e3339b6 100644 (file)
--- a/src/kernel/ao_data.h
+++ b/src/kernel/ao_data.h
@@ -55,6 +55,13 @@
 #define AO_DATA_HMC5883        0
 #endif
 
+#if HAS_MMC5983
+#include <ao_mmc5983.h>
+#define AO_DATA_MMC5983        (1 << 3)
+#else
+#define AO_DATA_MMC5983        0
+#endif
+
 #if HAS_MMA655X
 #include <ao_mma655x.h>
 #define AO_DATA_MMA655X (1 << 4)
@@ -95,7 +102,7 @@ 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|AO_DATA_BMX160)
+#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)
 
 struct ao_data {
        uint16_t                        tick;
@@ -121,6 +128,9 @@ struct ao_data {
 #if HAS_HMC5883
        struct ao_hmc5883_sample        hmc5883;
 #endif
+#if HAS_MMC5983
+       struct ao_mmc5983_sample        mmc5983;
+#endif
 #if HAS_MMA655X
        uint16_t                        mma655x;
 #endif
@@ -378,6 +388,7 @@ typedef int16_t angle_t;    /* in degrees */
 /* X axis is aligned in the other board axis (across) */
 /* Z axis is aligned perpendicular to the board (through) */
 
+#ifndef ao_data_along
 #define ao_data_along(packet)  ((packet)->mpu6000.accel_y)
 #define ao_data_across(packet) ((packet)->mpu6000.accel_x)
 #define ao_data_through(packet)        ((packet)->mpu6000.accel_z)
@@ -385,6 +396,7 @@ typedef int16_t angle_t;    /* in degrees */
 #define ao_data_roll(packet)   ((packet)->mpu6000.gyro_y)
 #define ao_data_pitch(packet)  ((packet)->mpu6000.gyro_x)
 #define ao_data_yaw(packet)    ((packet)->mpu6000.gyro_z)
+#endif
 
 static inline float ao_convert_gyro(float sensor)
 {
@@ -490,6 +502,14 @@ typedef int16_t ao_mag_t;          /* in raw sample units */
 
 #endif
 
+#if !HAS_MAG && HAS_MMC5983
+
+#define HAS_MAG                1
+
+typedef int16_t ao_mag_t;              /* in raw sample units */
+
+#endif
+
 #if !HAS_MAG && HAS_MPU9250
 
 #define HAS_MAG                1
@@ -523,6 +543,9 @@ ao_data_fill(int head) {
 #if HAS_HMC5883
                ao_data_ring[head].hmc5883 = ao_hmc5883_current;
 #endif
+#if HAS_MMC5983
+               ao_data_ring[head].mmc5983 = ao_mmc5983_current;
+#endif
 #if HAS_MPU6000
                ao_data_ring[head].mpu6000 = ao_mpu6000_current;
 #endif