altos: Integrate BMX160 into data code

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

diff --git a/src/kernel/ao_data.h b/src/kernel/ao_data.h
index 4fc9db8f16a7810ba8b54c89619bf9331f97608e..a7e58762c0a58dafd11409cb6ed687816e236404 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;
@@ -123,6 +130,9 @@ struct ao_data {
 #if HAS_ADS131A0X
        struct ao_ads131a0x_sample      ads131a0x;
 #endif
+#if HAS_BMX160
+       struct ao_bmx160_sample         bmx160;
+#endif
 };
 
 #define ao_data_ring_next(n)   (((n) + 1) & (AO_DATA_RING - 1))
@@ -431,6 +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