*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; version 2 of the License.
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
#define AO_DATA_MPU6000 0
#endif
+#if HAS_MPU9250
+#include <ao_mpu9250.h>
+#define AO_DATA_MPU9250 (1 << 2)
+#else
+#define AO_DATA_MPU9250 0
+#endif
+
#if HAS_HMC5883
#include <ao_hmc5883.h>
#define AO_DATA_HMC5883 (1 << 3)
#ifdef AO_DATA_RING
-#define AO_DATA_ALL (AO_DATA_ADC|AO_DATA_MS5607|AO_DATA_MPU6000|AO_DATA_HMC5883|AO_DATA_MMA655X)
+#define AO_DATA_ALL (AO_DATA_ADC|AO_DATA_MS5607|AO_DATA_MPU6000|AO_DATA_HMC5883|AO_DATA_MMA655X|AO_DATA_MPU9250)
struct ao_data {
uint16_t tick;
int16_t z_accel;
#endif
#endif
+#if HAS_MPU9250
+ struct ao_mpu9250_sample mpu9250;
+#endif
#if HAS_HMC5883
struct ao_hmc5883_sample hmc5883;
#endif
typedef int32_t pres_t;
-#ifndef AO_ALT_TYPE
#define AO_ALT_TYPE int32_t
-#endif
typedef AO_ALT_TYPE alt_t;
#endif
-#if !HAS_BARO
-typedef int16_t alt_t;
-#endif
-
/*
* Need a few macros to pull data from the sensors:
*
#define AO_ACCEL_INVERT 4095
+#ifndef AO_MMA655X_INVERT
+#error AO_MMA655X_INVERT not defined
+#endif
+
#define ao_data_accel(packet) ((packet)->mma655x)
#if AO_MMA655X_INVERT
#define ao_data_accel_cook(packet) (AO_ACCEL_INVERT - (packet)->mma655x)
#define ao_data_pitch(packet) ((packet)->mpu6000.gyro_x)
#define ao_data_yaw(packet) ((packet)->mpu6000.gyro_z)
+static inline float ao_convert_gyro(float sensor)
+{
+ return ao_mpu6000_gyro(sensor);
+}
+
+static inline float ao_convert_accel(int16_t sensor)
+{
+ return ao_mpu6000_accel(sensor);
+}
+
+#endif
+
+#if !HAS_GYRO && HAS_MPU9250
+
+#define HAS_GYRO 1
+
+typedef int16_t gyro_t; /* in raw sample units */
+typedef int16_t angle_t; /* in degrees */
+
+/* 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)->mpu9250.accel_y)
+#define ao_data_across(packet) ((packet)->mpu9250.accel_x)
+#define ao_data_through(packet) ((packet)->mpu9250.accel_z)
+
+#define ao_data_roll(packet) ((packet)->mpu9250.gyro_y)
+#define ao_data_pitch(packet) ((packet)->mpu9250.gyro_x)
+#define ao_data_yaw(packet) ((packet)->mpu9250.gyro_z)
+
+static inline float ao_convert_gyro(float sensor)
+{
+ return ao_mpu9250_gyro(sensor);
+}
+
+static inline float ao_convert_accel(int16_t sensor)
+{
+ return ao_mpu9250_accel(sensor);
+}
+
#endif
#if !HAS_MAG && HAS_HMC5883
#endif
+#if !HAS_MAG && HAS_MPU9250
+
+#define HAS_MAG 1
+
+typedef int16_t ao_mag_t; /* in raw sample units */
+
+/* Note that this order is different from the accel and gyro. For some
+ * reason, the mag sensor axes aren't the same as the other two
+ * sensors. Also, the Z axis is flipped in sign.
+ */
+
+#define ao_data_mag_along(packet) ((packet)->mpu9250.mag_x)
+#define ao_data_mag_across(packet) ((packet)->mpu9250.mag_y)
+#define ao_data_mag_through(packet) ((packet)->mpu9250.mag_z)
+
+#endif
+
#endif /* _AO_DATA_H_ */