altos: Integrate BMX160 into data code

Get conversion functions written and fix up a few warnings

Signed-off-by: Keith Packard <keithp@keithp.com>

diff --git a/src/drivers/ao_bmx160.c b/src/drivers/ao_bmx160.c
index 4c3c2a9f935cce8628924db4b17999cda2febd95..e1af23a1a7c471e4c41238af1832188059b3b392 100644 (file)
--- a/src/drivers/ao_bmx160.c
+++ b/src/drivers/ao_bmx160.c
@@ -90,6 +90,7 @@ _ao_bmm150_reg_write(uint8_t addr, uint8_t data)
        _ao_bmm150_wait_manual();
 }
 
+#if BMX160_TEST
 static uint8_t
 _ao_bmm150_reg_read(uint8_t addr)
 {
@@ -97,6 +98,7 @@ _ao_bmm150_reg_read(uint8_t addr)
        _ao_bmm150_wait_manual();
        return _ao_bmx160_reg_read(BMX160_DATA_0);
 }
+#endif
 
 static void
 _ao_bmx160_sample(struct ao_bmx160_sample *sample)

diff --git a/src/drivers/ao_bmx160.h b/src/drivers/ao_bmx160.h
index 265be995d3952fd081e939ff864145f967bf1727..2b7e7bd768c27caaf51e88af3372a3688024d4ea 100644 (file)
--- a/src/drivers/ao_bmx160.h
+++ b/src/drivers/ao_bmx160.h
@@ -19,6 +19,8 @@
 #ifndef _AO_BMX160_H_
 #define _AO_BMX160_H_
 
+#include <math.h>
+
 struct ao_bmx160_sample {
        int16_t         mag_x;
        int16_t         mag_y;
@@ -250,4 +252,18 @@ ao_bmx160_init(void);
 #define BMM150_REPZ                            0x52
 #define  BMM150_REPZ_VALUE(n)                          ((n) -1)
 
+#define BMX160_GYRO_FULLSCALE  ((float) 2000 * M_PI/180.0)
+
+static inline float
+ao_bmx160_gyro(float sensor) {
+       return sensor * ((float) (BMX160_GYRO_FULLSCALE / 32767.0));
+}
+
+#define BMX160_ACCEL_FULLSCALE 16
+
+static inline float
+ao_bmx160_accel(int16_t sensor) {
+       return (float) sensor * ((float) (BMX160_ACCEL_FULLSCALE * GRAVITY / 32767.0));
+}
+
 #endif /* _BMX160_H_ */

diff --git a/src/kernel/ao_data.h b/src/kernel/ao_data.h
index 55d82e488c83252682d709d62aae7817ce540bbb..a7e58762c0a58dafd11409cb6ed687816e236404 100644 (file)
--- a/src/kernel/ao_data.h
+++ b/src/kernel/ao_data.h
@@ -441,6 +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