X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=src%2Fkernel%2Fao.h;h=be663775e91fab86eb119d7690a67fb961c7e1ff;hp=c00de1fe064644e3189bfd8b024865477676f26e;hb=b8a9273162b7016afc29f4c98fc3b66324d4c85b;hpb=0448b9b638f8599633227a639ef9d8572780bbd9

diff --git a/src/kernel/ao.h b/src/kernel/ao.h
index c00de1fe..be663775 100644
--- a/src/kernel/ao.h
+++ b/src/kernel/ao.h
@@ -42,6 +42,11 @@ extern char ao_getchar(void);
 
 typedef AO_PORT_TYPE ao_port_t;
 
+#ifndef AO_TICK_TYPE
+#define AO_TICK_TYPE uint32_t
+#define AO_TICK_SIGNED int32_t
+#endif
+
 #if HAS_TASK
 #include <ao_task.h>
 #else
@@ -75,6 +80,7 @@ typedef AO_PORT_TYPE ao_port_t;
 #define AO_PANIC_SELF_TEST_HMC5883	0x40 | 2	/* Self test failure */
 #define AO_PANIC_SELF_TEST_MPU6000	0x40 | 3	/* Self test failure */
 #define AO_PANIC_SELF_TEST_MPU9250	0x40 | 3	/* Self test failure */
+#define AO_PANIC_SELF_TEST_BMX160	0x40 | 3	/* Self test failure */
 #define AO_PANIC_SELF_TEST_MS5607	0x40 | 4	/* Self test failure */
 #define AO_PANIC_SELF_TEST_ADS124S0X	0x40 | 5	/* Self test failure */
 
@@ -99,11 +105,6 @@ extern AO_ROMCONFIG_SYMBOL uint32_t ao_radio_cal;
  * ao_timer.c
  */
 
-#ifndef AO_TICK_TYPE
-#define AO_TICK_TYPE	uint32_t
-#define AO_TICK_SIGNED	int32_t
-#endif
-
 extern volatile AO_TICK_TYPE ao_tick_count;
 
 /* Our timer runs at 100Hz */
@@ -117,9 +118,13 @@ extern volatile AO_TICK_TYPE ao_tick_count;
 AO_TICK_TYPE
 ao_time(void);
 
+/* Returns the current time in ns */
+uint64_t
+ao_time_ns(void);
+
 /* Suspend the current task until ticks time has passed */
 void
-ao_delay(uint16_t ticks);
+ao_delay(AO_TICK_TYPE ticks);
 
 /* Set the ADC interval */
 void
@@ -744,9 +749,6 @@ enum ao_igniter {
 	ao_igniter_main = 1
 };
 
-void
-ao_ignite(enum ao_igniter igniter);
-
 enum ao_igniter_status {
 	ao_igniter_unknown,	/* unknown status (ambiguous voltage) */
 	ao_igniter_ready,	/* continuity detected */
@@ -933,12 +935,6 @@ ao_log_single(void);
 
 #define AO_TELEPYRO_NUM_ADC	9
 
-#ifndef ao_xmemcpy
-#define ao_xmemcpy(d,s,c) memcpy(d,s,c)
-#define ao_xmemset(d,v,c) memset(d,v,c)
-#define ao_xmemcmp(d,s,c) memcmp(d,s,c)
-#endif
-
 /*
  * ao_terraui.c
  */