diff options
| -rw-r--r-- | src/drivers/ao_bmx160.c | 2 | ||||
| -rw-r--r-- | src/drivers/ao_bmx160.h | 16 | ||||
| -rw-r--r-- | src/kernel/ao_data.h | 23 |
3 files changed, 41 insertions, 0 deletions
diff --git a/src/drivers/ao_bmx160.c b/src/drivers/ao_bmx160.c index 4c3c2a9f..e1af23a1 100644 --- 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 265be995..2b7e7bd7 100644 --- 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 55d82e48..a7e58762 100644 --- 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 |