#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;
/*
* Mark a section of data as ready, check for data complete
*/
-#define AO_DATA_PRESENT(bit) do { \
- if ((ao_data_present |= (bit)) == AO_DATA_ALL) { \
- ao_data_ring[ao_data_head].tick = ao_tick_count; \
- ao_data_head = ao_data_ring_next(ao_data_head); \
- ao_data_present = 0; \
- ao_wakeup((void *) &ao_data_head); \
- } \
- } while (0);
+#define AO_DATA_PRESENT(bit) (ao_data_present |= (bit))
/*
* Wait until it is time to write a sensor sample; this is
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
+#if !HAS_GYRO && HAS_MPU6000
+
+#define HAS_GYRO 1
+
+typedef int16_t gyro_t;
+typedef int32_t angle_t;
+
+/* 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) */
+
+#define ao_data_along(packet) ((packet)->mpu6000.accel_y)
+#define ao_data_across(packet) ((packet)->mpu6000.accel_x)
+#define ao_data_through(packet) ((packet)->mpu6000.accel_z)
+
+#define ao_data_roll(packet) ((packet)->mpu6000.gyro_y)
+#define ao_data_pitch(packet) ((packet)->mpu6000.gyro_x)
+#define ao_data_yaw(packet) ((packet)->mpu6000.gyro_z)
+
+#endif
+
#endif /* _AO_DATA_H_ */