*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; version 2 of the License.
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
#define AO_DATA_MPU6000 0
#endif
+#if HAS_MPU9250
+#include <ao_mpu9250.h>
+#define AO_DATA_MPU9250 (1 << 2)
+#else
+#define AO_DATA_MPU9250 0
+#endif
+
#if HAS_HMC5883
#include <ao_hmc5883.h>
#define AO_DATA_HMC5883 (1 << 3)
#ifdef AO_DATA_RING
-#define AO_DATA_ALL (AO_DATA_ADC|AO_DATA_MS5607|AO_DATA_MPU6000|AO_DATA_HMC5883|AO_DATA_MMA655X)
+#define AO_DATA_ALL (AO_DATA_ADC|AO_DATA_MS5607|AO_DATA_MPU6000|AO_DATA_HMC5883|AO_DATA_MMA655X|AO_DATA_MPU9250)
struct ao_data {
uint16_t tick;
int16_t z_accel;
#endif
#endif
+#if HAS_MPU9250
+ struct ao_mpu9250_sample mpu9250;
+#endif
#if HAS_HMC5883
struct ao_hmc5883_sample hmc5883;
#endif
#define AO_ACCEL_INVERT 4095
+#ifndef AO_MMA655X_INVERT
+#error AO_MMA655X_INVERT not defined
+#endif
+
#define ao_data_accel(packet) ((packet)->mma655x)
#if AO_MMA655X_INVERT
#define ao_data_accel_cook(packet) (AO_ACCEL_INVERT - (packet)->mma655x)