+struct ao_mpu6000_sample ao_mpu6000_current;
+uint8_t ao_mpu6000_valid;
+
+static void
+ao_mpu6000(void)
+{
+ ao_mpu6000_setup();
+ for (;;)
+ {
+ struct ao_mpu6000_sample ao_mpu6000_next;
+ ao_mpu6000_sample(&ao_mpu6000_next);
+ ao_arch_critical(
+ ao_mpu6000_current = ao_mpu6000_next;
+ ao_mpu6000_valid = 1;
+ );
+ ao_delay(0);
+ }
+}
+
+static struct ao_task ao_mpu6000_task;