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;
+
static void
ao_mpu6000(void)
{
ao_mpu6000_setup();
for (;;)
{
- ao_mpu6000_sample((struct ao_mpu6000_sample *) &ao_data_ring[ao_data_head].mpu6000);
+ ao_mpu6000_sample(&ao_mpu6000_current);
ao_arch_critical(
AO_DATA_PRESENT(AO_DATA_MPU6000);
AO_DATA_WAIT();