From: Keith Packard <keithp@keithp.com>
Date: Sat, 13 Oct 2012 22:02:42 +0000 (-0700)
Subject: altos: When missing MMA655x, create fake Z accel value
X-Git-Tag: 1.1.9.1~24
X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=commitdiff_plain;h=5caf56e89678637c1afa79700a2fa09aa67dea9b

altos: When missing MMA655x, create fake Z accel value

This avoids overwriting the MPU6000 y acceleration value so that other
computations using that value can work unmodified.

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

diff --git a/src/core/ao_data.h b/src/core/ao_data.h
index 1153d433..86acd48f 100644
--- a/src/core/ao_data.h
+++ b/src/core/ao_data.h
@@ -67,6 +67,9 @@ struct ao_data {
 #endif
 #if HAS_MPU6000
 	struct ao_mpu6000_sample	mpu6000;
+#if !HAS_MMA655X
+	int16_t				z_accel;
+#endif
 #endif
 #if HAS_HMC5883
 	struct ao_hmc5883_sample	hmc5883;
@@ -285,9 +288,9 @@ typedef int16_t accel_t;
 typedef int16_t accel_t;
 
 /* MPU6000 is hooked up so that positive y is positive acceleration */
-#define ao_data_accel(packet)			((packet)->mpu6000.accel_y)
+#define ao_data_accel(packet)			((packet)->z_accel)
 #define ao_data_accel_cook(packet)		(-(packet)->mpu6000.accel_y)
-#define ao_data_set_accel(packet, accel)	((packet)->mpu6000.accel_y = (accel))
+#define ao_data_set_accel(packet, accel)	((packet)->z_accel = (accel))
 #define ao_data_accel_invert(a)			(-(a))
 
 #endif