/*
* 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
#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_ */