altos/kernel: MPU9250 support

Use MPU9250 for accel, gyro and mag data in logging, telemetry and
flight status computations.

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

1 files changed, 58 insertions, 0 deletions

diff --git a/src/kernel/ao_data.h b/src/kernel/ao_data.h
index 9a3b389c..88d0e916 100644
--- a/src/kernel/ao_data.h
+++ b/src/kernel/ao_data.h
@@ -330,6 +330,47 @@ typedef int16_t angle_t;	/* in degrees */
 #define ao_data_pitch(packet)	((packet)->mpu6000.gyro_x)
 #define ao_data_yaw(packet)	((packet)->mpu6000.gyro_z)
 
+static inline float ao_convert_gyro(float sensor)
+{
+	return ao_mpu6000_gyro(sensor);
+}
+
+static inline float ao_convert_accel(int16_t sensor)
+{
+	return ao_mpu6000_accel(sensor);
+}
+
+#endif
+
+#if !HAS_GYRO && HAS_MPU9250
+
+#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) */
+
+#define ao_data_along(packet)	((packet)->mpu9250.accel_y)
+#define ao_data_across(packet)	((packet)->mpu9250.accel_x)
+#define ao_data_through(packet)	((packet)->mpu9250.accel_z)
+
+#define ao_data_roll(packet)	((packet)->mpu9250.gyro_y)
+#define ao_data_pitch(packet)	((packet)->mpu9250.gyro_x)
+#define ao_data_yaw(packet)	((packet)->mpu9250.gyro_z)
+
+static inline float ao_convert_gyro(float sensor)
+{
+	return ao_mpu9250_gyro(sensor);
+}
+
+static inline float ao_convert_accel(int16_t sensor)
+{
+	return ao_mpu9250_accel(sensor);
+}
+
 #endif
 
 #if !HAS_MAG && HAS_HMC5883
@@ -344,4 +385,21 @@ typedef int16_t ao_mag_t;		/* in raw sample units */
 
 #endif
 
+#if !HAS_MAG && HAS_MPU9250
+
+#define HAS_MAG		1
+
+typedef int16_t ao_mag_t;		/* in raw sample units */
+
+/* Note that this order is different from the accel and gyro. For some
+ * reason, the mag sensor axes aren't the same as the other two
+ * sensors. Also, the Z axis is flipped in sign.
+ */
+
+#define ao_data_mag_along(packet)	((packet)->mpu9250.mag_x)
+#define ao_data_mag_across(packet)	((packet)->mpu9250.mag_y)
+#define ao_data_mag_through(packet)	((packet)->mpu9250.mag_z)
+
+#endif
+
 #endif /* _AO_DATA_H_ */