X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fcore%2Fao_data.h;h=5a232885173b368c0a7ee9a6cab7a97a12adc5a7;hb=58f08c4b3cb9049d0c9cb02cde0d8dbdc3d33920;hp=c873e9d34d7ebe6ad1b9aaf7912051d3a4099c22;hpb=39475c7b8da4f29936f73ffa2bff112f50ee9328;p=fw%2Faltos

diff --git a/src/core/ao_data.h b/src/core/ao_data.h
index c873e9d3..5a232885 100644
--- a/src/core/ao_data.h
+++ b/src/core/ao_data.h
@@ -18,6 +18,8 @@
 #ifndef _AO_DATA_H_
 #define _AO_DATA_H_
 
+#define GRAVITY 9.80665
+
 #if HAS_ADC
 #define AO_DATA_ADC	(1 << 0)
 #else
@@ -101,7 +103,7 @@ extern volatile __data uint8_t		ao_data_count;
  * signaled by the timer tick
  */
 #define AO_DATA_WAIT() do {				\
-		ao_sleep((void *) &ao_data_count);	\
+		ao_sleep(DATA_TO_XDATA ((void *) &ao_data_count));	\
 	} while (0)
 
 #endif /* AO_DATA_RING */
@@ -300,8 +302,8 @@ typedef int16_t accel_t;
 
 #define HAS_GYRO	1
 
-typedef int16_t	gyro_t;
-typedef int32_t angle_t;
+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) */