From: Keith Packard <keithp@keithp.com>
Date: Sun, 2 Aug 2020 20:04:27 +0000 (-0700)
Subject: altos: Allow use of ADXL375 as IMU
X-Git-Tag: 1.9.6~1^2~38
X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=commitdiff_plain;h=3a3fb807394a534b6d44aa089f3b72a95ff9085d

altos: Allow use of ADXL375 as IMU

This lets EasyMotor report all three axes of acceleration and use
that for idle detection.

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

diff --git a/src/kernel/ao_data.h b/src/kernel/ao_data.h
index b43a1cd4..dcd8fc31 100644
--- a/src/kernel/ao_data.h
+++ b/src/kernel/ao_data.h
@@ -346,6 +346,13 @@ typedef int16_t	accel_t;
 #endif
 #define ao_data_accel_invert(accel)		(-(accel))
 
+#if USE_ADXL375_IMU
+#define ao_data_along(packet)			((packet)->adxl375.AO_ADXL375_AXIS)
+#define ao_data_across(packet)			((packet)->adxl375.AO_ADXL375_ACROSS_AXIS)
+#define ao_data_through(packet)			((packet)->adxl375.z)
+#define ao_data_accel_to_sample(accel)		ao_adxl375_accel_to_sample(accel)
+#endif
+
 #endif /* HAS_ADXL375 */
 
 #if !HAS_ACCEL && HAS_MPU6000