first cut at turnon scripts for EasyTimer v2

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

diff --git a/src/kernel/ao_data.h b/src/kernel/ao_data.h
index b49d6a558db2b3b2eb0e18d6c950f42f5e4e04b5..a6ae6fa84b3efe1158901da889c9daea8e07e22d 100644 (file)
--- a/src/kernel/ao_data.h
+++ b/src/kernel/ao_data.h
@@ -90,6 +90,13 @@
 #define AO_DATA_BMX160 0
 #endif
 
+#if HAS_BMI088
+#include <ao_bmi088.h>
+#define AO_DATA_BMI088 (1 << 2)
+#else
+#define AO_DATA_BMI088 0
+#endif
+
 #ifndef HAS_SENSOR_ERRORS
 #if HAS_IMU || HAS_MMA655X || HAS_MS5607 || HAS_MS5611
 #define HAS_SENSOR_ERRORS      1
@@ -102,7 +109,7 @@ 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|AO_DATA_MMC5983)
+#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|AO_DATA_BMI088)
 
 struct ao_data {
        AO_TICK_TYPE                    tick;
@@ -149,6 +156,12 @@ struct ao_data {
        int16_t z_accel;
 #endif
 #endif
+#if HAS_BMI088
+       struct ao_bmi088_sample         bmi088;
+#if !HAS_ADXL375
+       int16_t z_accel;
+#endif
+#endif
 };
 
 #define ao_data_ring_next(n)   (((n) + 1) & (AO_DATA_RING - 1))
@@ -490,6 +503,41 @@ static inline float ao_convert_accel(int16_t sensor)
 
 #endif
 
+#if !HAS_ACCEL && HAS_BMI088
+
+#define HAS_ACCEL      1
+
+typedef int16_t accel_t;
+
+#define ao_data_accel_raw(packet)              -ao_data_along(packet)
+#define ao_data_accel_invert(a)                        (-(a))
+#define ao_data_accel_to_sample(accel)         ao_bmi_accel_to_sample(accel)
+
+#endif
+
+#if !HAS_GYRO && HAS_BMI088
+
+#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_bmi088_gyro(sensor);
+}
+
+static inline float ao_convert_accel(int16_t sensor)
+{
+       return ao_bmi088_accel(sensor);
+}
+
+#endif
+
 #if !HAS_MAG && HAS_HMC5883
 
 #define HAS_MAG                1
@@ -563,6 +611,9 @@ ao_data_fill(int head) {
 #endif
 #if HAS_BMX160
                ao_data_ring[head].bmx160 = ao_bmx160_current;
+#endif
+#if HAS_BMI088
+               ao_data_ring[head].bmi088 = ao_bmi088_current;
 #endif
                ao_data_ring[head].tick = ao_tick_count;
                ao_data_head = ao_data_ring_next(head);