X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=src%2Fkernel%2Fao_data.h;h=abbace8e88981463326d8fbb83593009028ab9d3;hp=f88b30c92666f001c26f3e3be21e11f5d4d22704;hb=df08028ff5dd892dafa667fde1fbf9de43f82fea;hpb=c6e57291d91f1f6c4de5c54a5cfd3eef66d9f830

diff --git a/src/kernel/ao_data.h b/src/kernel/ao_data.h
index f88b30c9..abbace8e 100644
--- a/src/kernel/ao_data.h
+++ b/src/kernel/ao_data.h
@@ -62,9 +62,16 @@
 #define AO_DATA_MMA655X 0
 #endif
 
+#if HAS_ADXL375
+#include <ao_adxl375.h>
+#define AO_DATA_ADXL375 (1 << 4)
+#else
+#define AO_DATA_ADXL375 0
+#endif
+
 #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)
+#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)
 
 struct ao_data {
 	uint16_t			tick;
@@ -90,6 +97,9 @@ struct ao_data {
 #if HAS_MMA655X
 	uint16_t			mma655x;
 #endif
+#if HAS_ADXL375
+	struct ao_adxl375_sample	adxl375;
+#endif
 };
 
 #define ao_data_ring_next(n)	(((n) + 1) & (AO_DATA_RING - 1))
@@ -293,11 +303,30 @@ typedef int16_t accel_t;
 
 #endif
 
-#if !HAS_ACCEL && HAS_MPU6000
+#if !HAS_ACCEL && HAS_ADXL375
 
 #define HAS_ACCEL	1
 
-#define AO_ACCEL_INVERT		0
+typedef int16_t	accel_t;
+
+#ifndef AO_ADXL375_INVERT
+#error AO_ADXL375_INVERT not defined
+#endif
+
+#define ao_data_accel(packet)			((packet)->adxl375.AO_ADXL375_AXIS)
+#if AO_ADXL375_INVERT
+#define ao_data_accel_cook(packet)		(-ao_data_accel(packet))
+#else
+#define ao_data_accel_cook(packet)		ao_data_accel(packet)
+#endif
+#define ao_data_set_accel(packet, accel)	(ao_data_accel(packet) = (accel))
+#define ao_data_accel_invert(accel)		(-(accel))
+
+#endif /* HAS_ADXL375 */
+
+#if !HAS_ACCEL && HAS_MPU6000
+
+#define HAS_ACCEL	1
 
 typedef int16_t accel_t;
 
@@ -351,6 +380,7 @@ 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)->mpu9250.accel_y)
 #define ao_data_across(packet)	((packet)->mpu9250.accel_x)
 #define ao_data_through(packet)	((packet)->mpu9250.accel_z)
@@ -358,6 +388,7 @@ typedef int16_t angle_t;	/* in degrees */
 #define ao_data_roll(packet)	((packet)->mpu9250.gyro_y)
 #define ao_data_pitch(packet)	((packet)->mpu9250.gyro_x)
 #define ao_data_yaw(packet)	((packet)->mpu9250.gyro_z)
+#endif
 
 static inline float ao_convert_gyro(float sensor)
 {
@@ -394,9 +425,42 @@ typedef int16_t ao_mag_t;		/* in raw sample units */
  * sensors. Also, the Z axis is flipped in sign.
  */
 
+#ifndef ao_data_mag_along
 #define ao_data_mag_along(packet)	((packet)->mpu9250.mag_x)
 #define ao_data_mag_across(packet)	((packet)->mpu9250.mag_y)
 #define ao_data_mag_through(packet)	((packet)->mpu9250.mag_z)
+#endif
+
+#endif
+
+#ifdef AO_DATA_RING
+
+static inline void
+ao_data_fill(int head) {
+	if (ao_data_present == AO_DATA_ALL) {
+#if HAS_MS5607
+		ao_data_ring[head].ms5607_raw = ao_ms5607_current;
+#endif
+#if HAS_MMA655X
+		ao_data_ring[head].mma655x = ao_mma655x_current;
+#endif
+#if HAS_HMC5883
+		ao_data_ring[head].hmc5883 = ao_hmc5883_current;
+#endif
+#if HAS_MPU6000
+		ao_data_ring[head].mpu6000 = ao_mpu6000_current;
+#endif
+#if HAS_MPU9250
+		ao_data_ring[head].mpu9250 = ao_mpu9250_current;
+#endif
+#if HAS_ADXL375
+		ao_data_ring[head].adxl375 = ao_adxl375_current;
+#endif
+		ao_data_ring[head].tick = ao_tick_count;
+		ao_data_head = ao_data_ring_next(head);
+		ao_wakeup((void *) &ao_data_head);
+	}
+}
 
 #endif