From 4431f70044f4e1120d606f0ded1845349295d68e Mon Sep 17 00:00:00 2001 From: Keith Packard Date: Thu, 12 Oct 2017 00:31:26 -0700 Subject: [PATCH] altos: Add MPU9250 support to self test and data The remaining hooks to make the MPU9250 work in flight. Signed-off-by: Keith Packard --- src/kernel/ao.h | 1 + src/kernel/ao_data.h | 12 +++++++++++- 2 files changed, 12 insertions(+), 1 deletion(-) diff --git a/src/kernel/ao.h b/src/kernel/ao.h index e56fbb2e..139050cf 100644 --- a/src/kernel/ao.h +++ b/src/kernel/ao.h @@ -78,6 +78,7 @@ typedef AO_PORT_TYPE ao_port_t; #define AO_PANIC_SELF_TEST_CC1120 0x40 | 1 /* Self test failure */ #define AO_PANIC_SELF_TEST_HMC5883 0x40 | 2 /* Self test failure */ #define AO_PANIC_SELF_TEST_MPU6000 0x40 | 3 /* Self test failure */ +#define AO_PANIC_SELF_TEST_MPU9250 0x40 | 3 /* Self test failure */ #define AO_PANIC_SELF_TEST_MS5607 0x40 | 4 /* Self test failure */ /* Stop the operating system, beeping and blinking the reason */ diff --git a/src/kernel/ao_data.h b/src/kernel/ao_data.h index d62852ef..9a3b389c 100644 --- a/src/kernel/ao_data.h +++ b/src/kernel/ao_data.h @@ -41,6 +41,13 @@ #define AO_DATA_MPU6000 0 #endif +#if HAS_MPU9250 +#include +#define AO_DATA_MPU9250 (1 << 2) +#else +#define AO_DATA_MPU9250 0 +#endif + #if HAS_HMC5883 #include #define AO_DATA_HMC5883 (1 << 3) @@ -57,7 +64,7 @@ #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; @@ -74,6 +81,9 @@ struct ao_data { int16_t z_accel; #endif #endif +#if HAS_MPU9250 + struct ao_mpu9250_sample mpu9250; +#endif #if HAS_HMC5883 struct ao_hmc5883_sample hmc5883; #endif -- 2.30.2