altos: Allow BMX160 to be used as primary accel

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

diff --git a/src/kernel/ao_data.h b/src/kernel/ao_data.h
index 5a340c3f3b4526f5700ba487063368dcb5602f9c..a22eee87cfe394bb2b879878328b63d282c475ae 100644 (file)
--- 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);