From 05839dccf5afa431d93ae6124ab8b76f09bf6b54 Mon Sep 17 00:00:00 2001 From: Keith Packard Date: Thu, 16 Mar 2023 10:25:19 -0700 Subject: [PATCH] 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 --- src/kernel/ao_data.h | 12 ++++++++++++ 1 file changed, 12 insertions(+) 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 -- 2.30.2