From: Keith Packard <keithp@keithp.com>
Date: Thu, 16 Mar 2023 17:25:19 +0000 (-0700)
Subject: altos: Use BMI088 as z-axis accel as needed
X-Git-Tag: 1.9.18~2^2~103
X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=commitdiff_plain;h=05839dccf5afa431d93ae6124ab8b76f09bf6b54

altos: Use BMI088 as z-axis accel as needed

When there's no high-g accel available, use the 'along' axis
to measure acceleration.

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

diff --git a/src/kernel/ao_data.h b/src/kernel/ao_data.h
index 8545c7d4..a6ae6fa8 100644
--- a/src/kernel/ao_data.h
+++ b/src/kernel/ao_data.h
@@ -503,6 +503,18 @@ static inline float ao_convert_accel(int16_t sensor)
 
 #endif
 
+#if !HAS_ACCEL && HAS_BMI088
+
+#define HAS_ACCEL	1
+
+typedef int16_t accel_t;
+
+#define ao_data_accel_raw(packet) 		-ao_data_along(packet)
+#define ao_data_accel_invert(a)			(-(a))
+#define ao_data_accel_to_sample(accel)		ao_bmi_accel_to_sample(accel)
+
+#endif
+
 #if !HAS_GYRO && HAS_BMI088
 
 #define HAS_GYRO	1