_ao_mpu6000_wait_alive();
/* Reset the whole chip */
-
+
_ao_mpu6000_reg_write(MPU6000_PWR_MGMT_1,
(1 << MPU6000_PWR_MGMT_1_DEVICE_RESET));
ao_delay(AO_MS_TO_TICKS(200));
_ao_mpu6000_sample(&normal_mode);
-
+
errors += ao_mpu6000_accel_check(normal_mode.accel_x, test_mode.accel_x);
errors += ao_mpu6000_accel_check(normal_mode.accel_y, test_mode.accel_y);
errors += ao_mpu6000_accel_check(normal_mode.accel_z, test_mode.accel_z);
/* Set sample rate divider to sample at 200Hz (v = gyro/rate - 1) */
_ao_mpu6000_reg_write(MPU6000_SMPRT_DIV,
1000 / 200 - 1);
-
+
ao_delay(AO_MS_TO_TICKS(100));
ao_mpu6000_configured = 1;
}
static void
ao_mpu6000(void)
{
+ struct ao_mpu6000_sample sample;
/* ao_mpu6000_init already grabbed the SPI bus and mutex */
_ao_mpu6000_setup();
#if AO_MPU6000_SPI
#if AO_MPU6000_SPI
ao_mpu6000_spi_get();
#endif
- _ao_mpu6000_sample(&ao_mpu6000_current);
+ _ao_mpu6000_sample(&sample);
#if AO_MPU6000_SPI
ao_mpu6000_spi_put();
-#endif
- ao_arch_critical(
- AO_DATA_PRESENT(AO_DATA_MPU6000);
- AO_DATA_WAIT();
- );
+#endif
+ ao_arch_block_interrupts();
+ ao_mpu6000_current = sample;
+ AO_DATA_PRESENT(AO_DATA_MPU6000);
+ AO_DATA_WAIT();
+ ao_arch_release_interrupts();
}
}
static void
ao_mpu6000_show(void)
{
- struct ao_data sample;
-
- ao_data_get(&sample);
printf ("Accel: %7d %7d %7d Gyro: %7d %7d %7d\n",
- sample.mpu6000.accel_x,
- sample.mpu6000.accel_y,
- sample.mpu6000.accel_z,
- sample.mpu6000.gyro_x,
- sample.mpu6000.gyro_y,
- sample.mpu6000.gyro_z);
+ ao_mpu6000_current.accel_x,
+ ao_mpu6000_current.accel_y,
+ ao_mpu6000_current.accel_z,
+ ao_mpu6000_current.gyro_x,
+ ao_mpu6000_current.gyro_y,
+ ao_mpu6000_current.gyro_z);
}
static const struct ao_cmds ao_mpu6000_cmds[] = {
ao_mpu6000_configured = 0;
ao_add_task(&ao_mpu6000_task, ao_mpu6000, "mpu6000");
-
+
#if AO_MPU6000_SPI
ao_spi_init_cs(AO_MPU6000_SPI_CS_PORT, (1 << AO_MPU6000_SPI_CS_PIN));
ao_cur_task = &ao_mpu6000_task;
ao_spi_get(AO_MPU6000_SPI_BUS, AO_SPI_SPEED_1MHz);
ao_cur_task = NULL;
-#endif
+#endif
ao_cmd_register(&ao_mpu6000_cmds[0]);
}