#define AO_DATA_MMA655X 0
#endif
+#ifdef AO_DATA_RING
+
#define AO_DATA_ALL (AO_DATA_ADC|AO_DATA_MS5607|AO_DATA_MPU6000|AO_DATA_HMC5883|AO_DATA_MMA655X)
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;
#define ao_data_ring_next(n) (((n) + 1) & (AO_DATA_RING - 1))
#define ao_data_ring_prev(n) (((n) - 1) & (AO_DATA_RING - 1))
+/* Get a copy of the last complete sample set */
+void
+ao_data_get(__xdata struct ao_data *packet);
+
extern volatile __xdata struct ao_data ao_data_ring[AO_DATA_RING];
extern volatile __data uint8_t ao_data_head;
extern volatile __data uint8_t ao_data_present;
ao_sleep((void *) &ao_data_count); \
} while (0)
+#endif /* AO_DATA_RING */
+
#if !HAS_BARO && HAS_MS5607
/* Either an MS5607 or an MS5611 hooked to a SPI port
#define HAS_BARO 1
typedef int32_t pres_t;
-typedef int32_t alt_t;
+
+#ifndef AO_ALT_TYPE
+#define AO_ALT_TYPE int32_t
+#endif
+
+typedef AO_ALT_TYPE alt_t;
#define ao_data_pres_cook(packet) ao_ms5607_convert(&packet->ms5607_raw, &packet->ms5607_cooked)
#endif
+#if !HAS_BARO
+typedef int16_t alt_t;
+#endif
+
/*
* Need a few macros to pull data from the sensors:
*
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_ */