X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=src%2Fkernel%2Fao_sample.h;h=ad7c50eff49081aa4050b9da9f49a87dde4047a2;hp=4c51a58c3f0a0089f893f3004a239b3e37d7b3cf;hb=7f46240dfc57164f0c1b0c4c4ed9695bca63860d;hpb=684741765117611b7d666efbdfafd87c6199752c

diff --git a/src/kernel/ao_sample.h b/src/kernel/ao_sample.h
index 4c51a58c..ad7c50ef 100644
--- a/src/kernel/ao_sample.h
+++ b/src/kernel/ao_sample.h
@@ -115,7 +115,7 @@ typedef int16_t			ao_v_t;
 #define AO_MS_TO_SPEED(ms)	((ao_v_t) ((ms) * 16))
 #define AO_MSS_TO_ACCEL(mss)	((ao_v_t) ((mss) * 16))
 
-extern uint16_t	ao_sample_tick;		/* time of last data */
+extern AO_TICK_TYPE ao_sample_tick;		/* time of last data */
 extern uint8_t	ao_sample_adc;		/* Ring position of last processed sample */
 extern uint8_t	ao_sample_data;		/* Ring position of last processed sample */
 
@@ -133,16 +133,21 @@ extern accel_t	ao_ground_accel;	/* startup acceleration */
 extern accel_t 	ao_accel_2g;		/* factory accel calibration */
 extern int32_t	ao_accel_scale;		/* sensor to m/s² conversion */
 #endif
-#if HAS_GYRO
+#if HAS_IMU
 extern accel_t	ao_ground_accel_along;
 extern accel_t	ao_ground_accel_across;
 extern accel_t	ao_ground_accel_through;
-extern int32_t	ao_ground_pitch;	/* * 512 */
-extern int32_t	ao_ground_yaw;		/* * 512 */
-extern int32_t	ao_ground_roll;		/* * 512 */
 extern accel_t	ao_sample_accel_along;
 extern accel_t	ao_sample_accel_across;
 extern accel_t	ao_sample_accel_through;
+#endif
+#if HAS_GYRO
+#ifndef HAS_IMU
+#define HAS_IMU	1
+#endif
+extern int32_t	ao_ground_pitch;	/* * 512 */
+extern int32_t	ao_ground_yaw;		/* * 512 */
+extern int32_t	ao_ground_roll;		/* * 512 */
 extern gyro_t	ao_sample_roll;
 extern gyro_t	ao_sample_pitch;
 extern gyro_t	ao_sample_yaw;
@@ -151,6 +156,10 @@ extern angle_t	ao_sample_orient;
 extern angle_t	ao_sample_orients[AO_NUM_ORIENT];
 extern uint8_t	ao_sample_orient_pos;
 #endif
+#if HAS_MOTOR_PRESSURE
+extern motor_pressure_t ao_ground_motor_pressure;
+extern motor_pressure_t ao_sample_motor_pressure;
+#endif
 
 void ao_sample_init(void);
 
@@ -194,4 +203,8 @@ extern ao_v_t			ao_error_a;
 
 void ao_kalman(void);
 
+#if !HAS_BARO
+void ao_kalman_reset_accumulate(void);
+#endif
+
 #endif /* _AO_SAMPLE_H_ */