errors += ao_mpu6000_gyro_check(normal_mode.gyro_z, test_mode.gyro_z, "z");
if (errors)
- ao_panic(AO_PANIC_SELF_TEST);
+ ao_panic(AO_PANIC_SELF_TEST_MPU6000);
/* Filter to about 100Hz, which also sets the gyro rate to 1000Hz */
ao_mpu6000_reg_write(MPU6000_CONFIG,
ao_mpu6000_configured = 1;
}
-struct ao_mpu6000_sample ao_mpu6000_current;
-uint8_t ao_mpu6000_valid;
+struct ao_mpu6000_sample ao_mpu6000_current;
static void
ao_mpu6000(void)
ao_mpu6000_setup();
for (;;)
{
- struct ao_mpu6000_sample ao_mpu6000_next;
- ao_mpu6000_sample(&ao_mpu6000_next);
+ ao_mpu6000_sample(&ao_mpu6000_current);
ao_arch_critical(
- ao_mpu6000_current = ao_mpu6000_next;
- ao_mpu6000_valid = 1;
+ AO_DATA_PRESENT(AO_DATA_MPU6000);
+ AO_DATA_WAIT();
);
- ao_delay(0);
}
}
static void
ao_mpu6000_show(void)
{
- struct ao_mpu6000_sample sample;
+ struct ao_data sample;
- ao_arch_critical(
- sample = ao_mpu6000_current;
- );
+ ao_data_get(&sample);
printf ("Accel: %7d %7d %7d Gyro: %7d %7d %7d\n",
- sample.accel_x,
- sample.accel_y,
- sample.accel_z,
- sample.gyro_x,
- sample.gyro_y,
- sample.gyro_z);
+ sample.mpu6000.accel_x,
+ sample.mpu6000.accel_y,
+ sample.mpu6000.accel_z,
+ sample.mpu6000.gyro_x,
+ sample.mpu6000.gyro_y,
+ sample.mpu6000.gyro_z);
}
static const struct ao_cmds ao_mpu6000_cmds[] = {
ao_mpu6000_init(void)
{
ao_mpu6000_configured = 0;
- ao_mpu6000_valid = 0;
ao_add_task(&ao_mpu6000_task, ao_mpu6000, "mpu6000");
ao_cmd_register(&ao_mpu6000_cmds[0]);